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index de1ca07e7ecaee3c24c7d67752f0a5eaab96bc76..c0b063a217bc77e71712621c4cad04d72b982675 100644
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/fem_node.csv
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index 0000000000000000000000000000000000000000..422469574d4ee743bbf2d50f1008d45b3dddc47d
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d801ab3fa84288fe84fe8ac72480866a46b4a314
--- /dev/null
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+27,0.450000000,BASELINE,768.704096398,747,725,689,671,643,888,789,820,657,633,657,0.400800903637,-0.00542604089937,0.0598768543737,0.999999942249,6.71137903653e-05,-0.000330967617309,-3.81778565854e-05,1793251517501702400
+28,0.466666667,BASELINE,769,747,725,689,671,643,888.284742922,789.284742922,820,657,633,657,0.400800392949,-0.00542610812409,0.0598764341755,0.999999941974,6.77437784473e-05,-0.000331683649876,-3.80587288056e-05,1793251517518369280
+29,0.483333333,BASELINE,769,747,725,689,671,643,888.872404068,789.872404068,820,657,633,657,0.400798212416,-0.00542534251152,0.0598749044463,0.99999994105,6.68424358884e-05,-0.000334639567352,-3.80553851802e-05,1793251517535035904
+30,0.500000000,BASELINE,769,747,725,689,670.543829129,643,888.543829129,789.543829129,820,657,632.543829129,656.543829129,0.400798180844,-0.00542531034791,0.0598751161781,0.999999941181,6.62244741406e-05,-0.000334378448328,-3.80044501217e-05,1793251517551702272
+31,0.516666667,BASELINE,768.961642084,746.961642084,725,689.038357916,670.038357916,643,887.961642084,789,819.961642084,657,632.038357916,656.038357916,0.400798802434,-0.00542550688036,0.0598758175008,0.999999941603,6.58135845608e-05,-0.00033320567587,-3.79147559553e-05,1793251517568368640
+32,0.533333333,BASELINE,768.386448284,746.386448284,725,689.613551716,670.613551716,643,887.386448284,789,819.386448284,657,632.613551716,656.613551716,0.400800224031,-0.00542605720395,0.059876611313,0.999999942007,6.72008071498e-05,-0.000331760965849,-3.74673390438e-05,1793251517585035264
+33,0.550000000,BASELINE,768,746.18865384,725,689.81134616,671,643,887.18865384,789,819.18865384,657,633,657,0.400801274227,-0.00542613688059,0.0598771441688,0.999999942361,6.79211469827e-05,-0.000330559744079,-3.73606086826e-05,1793251517601701888
+34,0.566666667,BASELINE,768,746.763568191,725,689.236431809,671,643,887.763568191,789,819.763568191,657,633,657,0.400801563996,-0.00542525292807,0.0598771427275,0.999999942614,6.72760732844e-05,-0.000329857054069,-3.79514192313e-05,1793251517618368512
+35,0.583333333,BASELINE,768.347832429,747,725,689,671,643,888,789,820,657,633,657,0.400801304732,-0.005425237084,0.0598772468575,0.999999942625,6.6438391247e-05,-0.000329979520694,-3.80619661617e-05,1793251517635035136
+36,0.600000000,BASELINE,768.938627672,747,725,689,671,643,888,789,820,657,633,657,0.400800661966,-0.00542582761823,0.0598774247295,0.999999942467,6.5466171188e-05,-0.000330678363572,-3.78370464439e-05,1793251517651702272
+37,0.616666667,BASELINE,769,747,725,689,671,643,888,789,820,657,633,657,0.400798800594,-0.00542642274271,0.0598759963818,0.999999941732,6.51376463262e-05,-0.000332958320425,-3.7839169031e-05,1793251517668368896
+38,0.633333333,BASELINE,768.906079349,747,725,689,671.093920651,643,888.093920651,789,820,657,633,656.906079349,0.400797173433,-0.00542666273925,0.0598747301958,0.999999941077,6.52313247429e-05,-0.000334894319027,-3.78986045862e-05,1793251517685035264
+39,0.650000000,BASELINE,768.330970603,747,725,689,671.669029397,643,888.669029397,789,820,657,633,656.330970603,0.400797469958,-0.0054250805661,0.0598752487764,0.999999941201,6.7105797352e-05,-0.000334129055117,-3.81168307527e-05,1793251517701701888
+40,0.666666667,BASELINE,768,746.757188321,725,689.242811679,671.757188321,643,888.757188321,789,820,657,633,656.242811679,0.40079774551,-0.00542501707232,0.0598757328484,0.999999941324,6.78274568261e-05,-0.000333618526477,-3.80780235916e-05,1793251517718368512
+41,0.683333333,BASELINE,768,746.18520432,725,689.81479568,671.18520432,643,888.18520432,789,820,657,633,656.81479568,0.400797992628,-0.00542701240555,0.0598761701381,0.999999941451,6.69862828995e-05,-0.000333453334648,-3.76907642454e-05,1793251517735035136
+42,0.700000000,BASELINE,768,746.403919041,725,690,671,643,888,789.403919041,820,657,633.403919041,657,0.400798164371,-0.00542693828858,0.059875934951,0.999999941355,6.73249947993e-05,-0.000333669000032,-3.77223722893e-05,1793251517751701760
+43,0.716666667,BASELINE,768.001200597,747,725,689.998799403,671,643,888,789.998799403,820,657,633.998799403,657,0.400798302568,-0.005425877321,0.0598753801936,0.999999941153,6.82251344755e-05,-0.000334063197198,-3.79536978547e-05,1793251517768368384
+44,0.733333333,BASELINE,768.575225971,747,725,689.424774029,671,643,888,789.424774029,820,657,633.424774029,657,0.400799656093,-0.00542676209644,0.0598759877453,0.999999941692,6.74339550206e-05,-0.000332626873732,-3.77787272735e-05,1793251517785035264
+45,0.750000000,BASELINE,768.850905225,747,725,689,671,643,887.850905225,789.149094775,820,656.850905225,633,657,0.400800729955,-0.00542747521186,0.0598764554027,0.999999942074,6.68274450584e-05,-0.000331618857481,-3.7617379527e-05,1793251517801702144
+46,0.766666667,BASELINE,768.277482119,747,725,689,671,643,887.277482119,789.722517881,820,656.277482119,633,657,0.400801007886,-0.00542769977742,0.0598765249164,0.999999942014,6.67465103045e-05,-0.000331829817018,-3.74948028186e-05,1793251517818369792
+47,0.783333333,BASELINE,768.30490101,747,725,689.30490101,671,643,887.30490101,789.69509899,820,656.30490101,633,656.69509899,0.400799955702,-0.00542653434688,0.0598760561856,0.999999941584,6.79142671122e-05,-0.000332853403371,-3.77847675686e-05,1793251517835036672
+48,0.800000000,BASELINE,768.895685363,747,725,689.895685363,671,643,887.895685363,789.104314637,820,656.895685363,633,656.104314637,0.400797656367,-0.00542406561883,0.0598750827822,0.999999940801,7.02528305203e-05,-0.000334638930386,-3.84615422108e-05,1793251517851703552
+49,0.816666667,BASELINE,768.523202066,747,725,690,671,643,888.476797934,789,820,657,633,656.476797934,0.400798012032,-0.00542536171711,0.0598754401438,0.99999994106,6.99390652552e-05,-0.000333986297572,-3.79817245791e-05,1793251517868369920
+50,0.833333333,BASELINE,768,747,725,689.944315983,671,643,888.944315983,789,820,657,633,657,0.400798890437,-0.00542719207793,0.0598760302174,0.9999999415,6.91109331389e-05,-0.000332910211332,-3.73451151759e-05,1793251517885036544
+51,0.850000000,BASELINE,768,747,725,689.366858974,671,643,888.366858974,789,820,657,633,657,0.400799332401,-0.00542646402141,0.0598761269811,0.999999941562,6.87923272599e-05,-0.0003327652072,-3.75632455387e-05,1793251517901703424
+52,0.866666667,BASELINE,768.207624113,747,725,689,671,643,888,789,820,657,633,656.792375887,0.400799643987,-0.00542525381837,0.0598762542806,0.999999941557,6.926864637e-05,-0.000332649928586,-3.78505620919e-05,1793251517918370304
+53,0.883333333,BASELINE,768.776926633,747,725,689,671,643,888,789,820,657,633,656.223073367,0.400799728456,-0.00542320372264,0.0598764347732,0.999999941432,7.11297141123e-05,-0.000332586431431,-3.82584000422e-05,1793251517935037184
+54,0.900000000,BASELINE,769,747,725,689.363760917,671,643,888.363760917,789,820,657,633,656.363760917,0.400799278456,-0.00542328437341,0.0598763978213,0.999999941333,7.11239222388e-05,-0.000332879038168,-3.82920813076e-05,1793251517951703808
+55,0.916666667,BASELINE,769,747,725,689.96189079,671,643,888.96189079,789,820,657,633,656.96189079,0.400798484102,-0.00542473785133,0.0598762207713,0.999999941253,6.99153239497e-05,-0.000333401080488,-3.8084695671e-05,1793251517968370176
+56,0.933333333,BASELINE,768.459540336,747,725,690,671,643,888.459540336,789,820,657,633,657,0.400798622216,-0.0054245879432,0.059876076367,0.999999941374,6.85289445945e-05,-0.000333341548305,-3.79313333435e-05,1793251517985036800
+57,0.950000000,BASELINE,768,747,725,690,671,643,888,789,820,657,633,657,0.400798674924,-0.0054243890433,0.0598758340547,0.999999941401,6.75542666402e-05,-0.00033346971817,-3.78472534443e-05,1793251518001703168
+58,0.966666667,BASELINE,768,747,725,690,671,643,888,789,820,657,633,657,0.400798146425,-0.00542442486977,0.059875200794,0.999999941009,6.82342797844e-05,-0.000334485276851,-3.8019327611e-05,1793251518018369536
+59,0.983333333,BASELINE,768.548694594,747,725,689.725652703,671,643,888,789,820,657,633,657,0.400798085334,-0.00542499747077,0.0598754604338,0.999999941066,6.84057817443e-05,-0.000334279031045,-3.80197925409e-05,1793251518035036160
+60,1.000000000,BASELINE,769.728351167,747,725,689.135824416,671,643,888,789,820,657,633,657,0.400798561733,-0.00542618732647,0.0598767468492,0.999999941639,6.79925300401e-05,-0.000332667792167,-3.78229183821e-05,1793251518051703040
+61,1.016666667,BASELINE,769.109035905,747,725,689,671,643,888,789,820,657,633,657,0.400798931238,-0.0054263149431,0.0598765966822,0.999999941566,6.82225855049e-05,-0.000332829853491,-3.79220080799e-05,1793251518068369920
+62,1.033333333,BASELINE,768.024087673,747,725,689,671.024087673,643,888,789.024087673,820,656.975912327,633,656.975912327,0.400799249692,-0.00542610820607,0.0598760376511,0.999999941314,6.85789658683e-05,-0.000333492132021,-3.81132431059e-05,1793251518085036800
+63,1.050000000,BASELINE,768.599231369,747,725,689,671.599231369,643,888,789.599231369,820,656.400768631,633,656.400768631,0.400799131839,-0.00542552254582,0.0598759571792,0.999999941392,6.74224062368e-05,-0.000333461205207,-3.83868764379e-05,1793251518101702656
+64,1.066666667,BASELINE,769,747,725,689,671.822603318,643,888,789.822603318,820,656,633,656.177396682,0.40079944947,-0.00542521806313,0.0598761979022,0.999999941582,6.70271357577e-05,-0.000332959802399,-3.84831244585e-05,1793251518118368768
+65,1.083333333,BASELINE,769,747,725,689,671.237493416,643,888,789.237493416,820,656,633,656.762506584,0.400800767979,-0.00542555981473,0.0598771768321,0.999999942028,6.8381546625e-05,-0.000331377098177,-3.81716853742e-05,1793251518135035392
+66,1.100000000,BASELINE,768.654630629,747,725,689.345369371,671,643,888,789,820,656.345369371,633,657,0.400800613451,-0.0054260198075,0.0598773021981,0.999999942078,6.83705947797e-05,-0.000331251398223,-3.79848684589e-05,1793251518151702016
+67,1.116666667,BASELINE,768.073303108,747,725,689.926696892,671,643,888,789,820,656.926696892,633,657,0.400799452536,-0.00542656058324,0.0598768444048,0.999999941857,6.74268199726e-05,-0.000332121131226,-3.78831940706e-05,1793251518168368384
+68,1.133333333,BASELINE,768,747,725,689.494637298,671,643,888,789,820,657,633,656.494637298,0.400799097616,-0.00542480171896,0.0598764425088,0.999999941534,7.00812855326e-05,-0.000332540433234,-3.79036590869e-05,1793251518185036032
+69,1.150000000,BASELINE,768,747,725,689.0829894,671,643,887.9170106,789,820,657,632.9170106,656,0.400798789566,-0.00542313376692,0.0598760549716,0.999999941211,7.26440812844e-05,-0.000332957450556,-3.79453367845e-05,1793251518201703424
+70,1.166666667,BASELINE,768,747,725,689.656742167,671,643,887.343257833,789,820,657,632.343257833,656,0.400798070961,-0.00542396564896,0.0598757046509,0.999999941022,7.1594503681e-05,-0.000333745297104,-3.80082389843e-05,1793251518218369792
+71,1.183333333,BASELINE,768.236612345,747,725,689.763387655,671,643,887.236612345,789,820,657,632.236612345,656,0.400797794962,-0.00542433711507,0.0598753158636,0.999999940931,7.09241579535e-05,-0.000334141848964,-3.81627922636e-05,1793251518235036416
+72,1.200000000,BASELINE,768.825592788,747,725,689.174407212,671,643,887.825592788,789,820,657,632.825592788,656,0.400798178099,-0.00542402292018,0.059874869791,0.99999994099,7.08185721807e-05,-0.000333955676634,-3.84538342734e-05,1793251518251703296
+73,1.216666667,BASELINE,769,747,725,689.4079397,671,643,888,789,820,657,633,656.4079397,0.400798680374,-0.00542559069042,0.0598750956021,0.99999994116,6.95870145218e-05,-0.000333735632938,-3.81883708388e-05,1793251518268370176
+74,1.233333333,BASELINE,769,747,725,689.987495912,671,643,888,789,820,657,633,656.987495912,0.40079923277,-0.00542795018625,0.0598756040686,0.999999941374,6.78817707651e-05,-0.000333501339878,-3.76887906214e-05,1793251518285036800
+75,1.250000000,BASELINE,769,747,725,689.43468942,671,643,888,789,820,657,633,657,0.400799144624,-0.00542701874708,0.059876257801,0.999999941587,6.70602537818e-05,-0.000333008922462,-3.78613036234e-05,1793251518301702656
+76,1.266666667,BASELINE,768.858141926,747,725,689,671,643,888,789,820,657,633,657,0.400798867076,-0.00542592334172,0.0598765069146,0.999999941604,6.71367468276e-05,-0.000332925619242,-3.80033982632e-05,1793251518318369024
+77,1.283333333,BASELINE,768.285327395,747,725,689,671,643,888,789,820,657,633,657,0.400798057046,-0.00542455027573,0.0598755170888,0.999999941024,6.98821407476e-05,-0.000334102472524,-3.80080603448e-05,1793251518335036160
+78,1.300000000,BASELINE,768.296451266,747,725,689,671,643,888,789,820,657,633,656.703548734,0.400798317214,-0.0054240557717,0.0598755525794,0.999999941049,7.09277666085e-05,-0.000333807357452,-3.8000774963e-05,1793251518351703040
+79,1.316666667,BASELINE,768.88712668,747,725,689,671,643,888,789,820,657,633,656.11287332,0.400799639543,-0.00542443322943,0.0598766056836,0.99999994168,7.02863939141e-05,-0.000332051332258,-3.79816318744e-05,1793251518368369664
+80,1.333333333,BASELINE,769,747.468178903,725,689,671,643,888.468178903,789,820,657,633,656,0.400799686828,-0.00542489400993,0.059876336616,0.999999941546,7.13202430193e-05,-0.000332247155037,-3.78684338389e-05,1793251518385036544
+81,1.350000000,BASELINE,769,747.906415841,725,689.046792079,671,643,888.953207921,789,820,657,633,656.046792079,0.40079938381,-0.00542542859384,0.0598757567391,0.999999941243,7.24001633743e-05,-0.00033293670552,-3.77485719399e-05,1793251518401703424
+82,1.366666667,BASELINE,769,746.752944113,725,689.623527944,671,643,888.376472056,789,820,657,633,656.623527944,0.400798524785,-0.00542657611026,0.0598751942278,0.999999941092,6.95198504313e-05,-0.00033399585132,-3.78048801101e-05,1793251518418369792
+83,1.383333333,BASELINE,769,746.198919001,725,690,671,643,888,789.198919001,820,657,633,657,0.400798296369,-0.00542652459778,0.0598750970141,0.999999941042,6.90526431825e-05,-0.000334236435545,-3.78635454084e-05,1793251518435036416
+84,1.400000000,BASELINE,769,746.771782078,725,690,671,643,888,789.771782078,820,657,633,657,0.400799253422,-0.00542421905368,0.0598758745045,0.999999941183,7.31217873177e-05,-0.000332938221484,-3.79266418374e-05,1793251518451703040
+85,1.416666667,BASELINE,768.643808948,747,725,690,671,643,888,789.643808948,820,657,633,657,0.400800151353,-0.00542420572147,0.0598765118295,0.999999941551,7.29571080603e-05,-0.000331872954277,-3.78848093249e-05,1793251518468369664
+86,1.433333333,BASELINE,768.051754523,747,725,690,671,643,888,789.051754523,820,657,633,657,0.400801010132,-0.00542571025133,0.0598770563395,0.999999942069,6.99888660758e-05,-0.000330961940407,-3.77734947317e-05,1793251518485036544
+87,1.450000000,BASELINE,768,747,725,689.472008525,671,643,888,789,820,657,633,657,0.400801215013,-0.00542569248986,0.0598771422744,0.99999994221,6.92709072614e-05,-0.000330659797288,-3.80293940158e-05,1793251518501703424
+88,1.466666667,BASELINE,768,747,725,689.106070918,671,643,888,789,820,657,633,656.893929082,0.40080135914,-0.00542553042261,0.0598772519949,0.999999942298,6.89916921117e-05,-0.000330428637346,-3.82332276067e-05,1793251518518370048
+89,1.483333333,BASELINE,768,747,725,689.681990706,671,643,888,789,820,657,633,656.318009294,0.400801511603,-0.00542537505387,0.0598776616496,0.999999942313,6.97011239672e-05,-0.000330253557377,-3.8050622747e-05,1793251518535035648
+90,1.500000000,BASELINE,768.262922816,747,725,690,671,643,888,789,820,656.737077184,633,656,0.400801017938,-0.00542524157677,0.0598774263669,0.999999942049,7.02685540499e-05,-0.00033094961118,-3.78994736486e-05,1793251518551701760
+91,1.516666667,BASELINE,768.850035183,747,725,690,671,643,888,789,820,656.149964817,633,656,0.400799727581,-0.00542513509254,0.0598763958626,0.999999941438,7.06608928052e-05,-0.000332719791888,-3.77871102013e-05,1793251518568368640
+92,1.533333333,BASELINE,768.566231438,747,725,690,671,643,888.433768562,789,820,656.433768562,633,656.433768562,0.400800647323,-0.00542541010157,0.0598770369706,0.999999941723,7.09287994474e-05,-0.000331804628452,-3.78014224489e-05,1793251518585035008
+93,1.550000000,BASELINE,768.016110645,747,725,690,671,643,888.983889355,789.016110645,820,657,633,657,0.400802176366,-0.00542578940155,0.0598781328964,0.999999942256,7.11618046327e-05,-0.000330136412502,-3.78596456399e-05,1793251518601701376
+94,1.566666667,BASELINE,768.590408697,747,725,690,671,643,888.409591303,789.590408697,820,657,633,657,0.400798547126,-0.0054252477284,0.05987511849,0.999999940836,7.16645496114e-05,-0.000334294567927,-3.79336142285e-05,1793251518618368000
+95,1.583333333,BASELINE,769,747,725,690,671,643,888,789.835275202,820,657,633,657,0.400796091814,-0.00542467778164,0.0598732326154,0.999999939942,7.17423529146e-05,-0.000336927817844,-3.80624827415e-05,1793251518635035136
+96,1.600000000,BASELINE,769,747,725,690,671,643,888,789.260914096,820,657,633,657,0.400796555813,-0.00542403752414,0.0598741531642,0.999999940391,7.07634147677e-05,-0.000335768945831,-3.83278759641e-05,1793251518651702528
+97,1.616666667,BASELINE,769,747,725,689.676338018,671,643,888,789,820,657,633,657,0.400798241268,-0.0054244784461,0.0598755661229,0.999999941096,7.03827514404e-05,-0.000333755845009,-3.82182087403e-05,1793251518668370432
+98,1.633333333,BASELINE,769,747,725,689.083259009,671,643,888,789,820,657,633,657,0.400800943464,-0.00542581934453,0.0598773889649,0.99999994201,7.05000935998e-05,-0.000331031682099,-3.77963402644e-05,1793251518685039104
+99,1.650000000,BASELINE,768.504265099,747,725,689,671,643,888,789,820,657,632.504265099,657,0.400801273958,-0.005426455006,0.0598775825887,0.999999942152,7.028545523e-05,-0.000330659426161,-3.76791691618e-05,1793251518701704448
+100,1.666666667,BASELINE,768.072170319,747,725,689.072170319,671,643,888,789,820,657,632.072170319,657,0.400801046873,-0.00542683430066,0.0598773214525,0.999999942089,7.00051248264e-05,-0.000330918654064,-3.76179906434e-05,1793251518718369792
+101,1.683333333,BASELINE,768.646807781,747,725,689.646807781,671,643,888,789,820,657,632.646807781,657,0.400799634428,-0.00542623056765,0.0598757466007,0.999999941457,6.96448950808e-05,-0.000332900288198,-3.76002027197e-05,1793251518735036160
+102,1.700000000,BASELINE,769,747,725,689.772858002,671,643,887.772858002,789,820,657,633,657,0.400798690477,-0.0054258293609,0.0598749346981,0.999999940969,6.95467220453e-05,-0.000334380837173,-3.76182206258e-05,1793251518751702528
+103,1.716666667,BASELINE,769,747,725,689.18343785,671,643,887.18343785,789,820,657,633,657,0.400798493748,-0.00542575117171,0.0598753396549,0.999999940716,6.98665141138e-05,-0.00033506218455,-3.76933467303e-05,1793251518768369152
+104,1.733333333,BASELINE,769,747,724.601090191,689.398909809,671,643,887.398909809,789,820,657,633,656.601090191,0.400798762056,-0.00542620413335,0.0598757707082,0.999999940919,7.03022270559e-05,-0.000334361557172,-3.77143987943e-05,1793251518785035776
+105,1.750000000,BASELINE,769,747,724.021938096,689.978061904,671,643,887.978061904,789,820,657,633,656.021938096,0.400799240483,-0.00542689708868,0.059876213553,0.999999941327,7.07903173874e-05,-0.000333036502265,-3.77110182024e-05,1793251518801702400
+106,1.766666667,BASELINE,768.447478488,747,724.552521512,690,671,643,888,789,820,657,633,656,0.400800577328,-0.0054260343667,0.0598773730583,0.999999941911,6.9777324538e-05,-0.000331475512742,-3.78504729326e-05,1793251518818369280
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,725,690,671,643,888,789,820,657,633,657,0.400799983266,-0.00542414075702,0.0598765670195,0.999999941416,7.46582960624e-05,-0.000331908294182,-3.78189975723e-05,1793251518860361472
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.592865143,747,725,689.407134857,671,643,888.592865143,789,820,657,633,657,0.400798072026,-0.00542416221938,0.0598760498422,0.999999941041,7.34682644118e-05,-0.00033329189722,-3.7897275795e-05,1793251518877027584
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724.819004026,689,671,643,888.819004026,789.180995974,820,657,632.819004026,657,0.400796993276,-0.00542461395146,0.0598756008443,0.999999940864,7.16023003938e-05,-0.000334216595441,-3.79957348851e-05,1793251518893693952
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,724.241251055,689,671,643,888.241251055,789.758748945,820,657,632.241251055,657,0.400797739405,-0.00542600886765,0.0598753013006,0.99999994112,6.82546407836e-05,-0.000334135339521,-3.81384319927e-05,1793251518910360832
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724.33481319,689.33481319,671,643,888,790,820,657,632.33481319,657,0.400797828109,-0.00542632662555,0.0598748295444,0.999999940899,6.75302001777e-05,-0.000334942378449,-3.81527929247e-05,1793251518927027456
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724.90966669,689.90966669,671,643,888,790,820,657,632.90966669,657,0.400797445481,-0.00542587212762,0.0598742343225,0.999999940338,6.8686445239e-05,-0.000336386269742,-3.80751447632e-05,1793251518943694080
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,725,689.503547124,671,643,888,789.503547124,820,657,633.496452876,657,0.400798293314,-0.00542533281477,0.0598749994119,0.999999940324,7.00323464799e-05,-0.000336152550202,-3.80520398508e-05,1793251518960360448
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.915982416,747,725,689.084017584,671,643.084017584,888,789,820,657,633.915982416,657,0.400799749403,-0.00542496701709,0.0598761825407,0.999999940564,7.10584760311e-05,-0.000335232500944,-3.79846734379e-05,1793251518977026816
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.336938588,747,725,689.663061412,671,643.663061412,888,789,820,657,633.336938588,657,0.400803437651,-0.00542571672763,0.0598783344496,0.999999941695,6.99921967418e-05,-0.000332111470902,-3.75966061523e-05,1793251518993693696
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,747,725,689.758552795,671,643.758552795,888,789,820,657,633,657,0.40080922998,-0.00542583172497,0.0598802355446,0.999999942204,7.02518690859e-05,-0.000330550746091,-3.73151723728e-05,1793251519010360576
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,747,725,689.18108284,671,643.18108284,888,789,820,657,633,657,0.400817950566,-0.00542506339015,0.0598817875808,0.999999941857,7.23568721084e-05,-0.000331161502686,-3.71821407738e-05,1793251519027026944
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.393662537,747,725,689.393662537,671,643,888,789.393662537,820,657,633,657,0.400838445766,-0.00542570385563,0.0598835399772,0.999999941795,7.1397652111e-05,-0.000331555013893,-3.72067721336e-05,1793251519043693824
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.967163286,747,725,689.967163286,671,643,888,789.967163286,820,657,633,657,0.400864320005,-0.00542698790813,0.0598853839048,0.999999941859,6.90385927445e-05,-0.000331849280193,-3.73034291939e-05,1793251519060360960
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.44323107,747,725,690,671.55676893,643,888,789.44323107,820.55676893,657,633,657,0.400903953572,-0.00542844332794,0.0598864585494,0.999999942944,6.85193121197e-05,-0.000328651948691,-3.74838362552e-05,1793251519077027328
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.144426745,747,725,690,671.855573255,643,888,789,820.855573255,657,633,657,0.400947725669,-0.00543012120051,0.0598862891921,0.999999943564,6.77137178509e-05,-0.000326890955653,-3.78135945942e-05,1793251519093693440
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.723283575,747,725,690,671.276716425,643,888,789,820.276716425,657,633,657,0.401001432685,-0.00543243689642,0.059882518462,0.999999942618,6.57108018598e-05,-0.000330088277471,-3.85772959461e-05,1793251519110360064
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.699623043,747,725,690,671,643,888.300376957,789,820,657,633,657,0.401069399795,-0.00543408895018,0.0598814855384,0.999999942882,6.43679828035e-05,-0.000329453649953,-3.94023837451e-05,1793251519127026944
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.124144759,747,725,690,671,643,888.875855241,789,820,657,633,657,0.401150427061,-0.0054351332047,0.0598829600452,0.999999944251,6.36297160447e-05,-0.000325309517512,-4.02836924989e-05,1793251519143693568
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.446647889,747,725,690,671,643,888.553352111,789,820,657,633,657,0.401247720173,-0.00543708142582,0.0598846384355,0.999999946104,6.16196408371e-05,-0.000319823264737,-4.13333543693e-05,1793251519160360192
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.016938674,747,725,690,671,643,888,789,820,657,633,657,0.401350483903,-0.00543929322415,0.0598865054709,0.999999948128,5.93348371475e-05,-0.000313727644291,-4.24182574501e-05,1793251519177026816
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.614191428,747,725,690,671,643,888,789,820,657,633,657,0.401487387463,-0.00544201652956,0.0598929141312,0.999999952472,5.96228630437e-05,-0.000299402797496,-4.31240309792e-05,1793251519193693440
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.795877106,747,725,690,671,643,888,789,820,657,633,656.795877106,0.401632336336,-0.00544458150895,0.0598984724616,0.999999956356,5.98629818249e-05,-0.000285929838574,-4.41488640111e-05,1793251519210360064
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.219304388,747,725,690,671,643,888,789,820,657,633,656.219304388,0.401791964954,-0.00544685760081,0.0599024792493,0.999999959611,6.00156875773e-05,-0.000274011265914,-4.57558641859e-05,1793251519227026688
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,725,690,671,643,888,789,820,656.660807691,633,656.339192309,0.401965400433,-0.00544817958118,0.0599027792588,0.99999996107,6.04610623778e-05,-0.000268188232628,-4.77340952364e-05,1793251519243693312
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,725,690,671,643,888,789,820,656.113406666,633,656.886593334,0.402147311086,-0.00544891589304,0.0599008039118,0.999999961481,6.10860882236e-05,-0.00026610686449,-4.99402016121e-05,1793251519260359936
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.507118163,747,725,689.507118163,671,643,888.492881837,789,820,656.492881837,633,657,0.402363362584,-0.00545218561332,0.0598988975826,0.999999961848,5.81918786477e-05,-0.000264890517638,-5.2451833079e-05,1793251519277026816
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,747,725,689.106974676,671,643,889,789,820.106974676,657,633,657,0.40259552778,-0.00545578991664,0.05989756418,0.999999962531,5.46750231838e-05,-0.000262522483929,-5.50535474073e-05,1793251519293693440
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,747,725,689.687497605,671,643,889,789,820.687497605,657,633,657,0.402859531807,-0.00545794482237,0.0598986871331,0.999999964686,5.2472738999e-05,-0.000254055631187,-5.77006205669e-05,1793251519310360320
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.265101182,747,725,689.734898818,671,643,889,789,820.734898818,657,633,657,0.403139991932,-0.00546042222403,0.0599006227887,0.999999966655,4.8591446613e-05,-0.000246318841859,-6.04672522204e-05,1793251519327026944
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.839300865,747,725,689.160699135,671,643,889,789,820.160699135,657,633,657,0.403439639262,-0.00546327564432,0.0599035060265,0.999999968414,4.27524908308e-05,-0.000239433280882,-6.33732846447e-05,1793251519343693312
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.584953679,747,725,689.415046321,671,643,888.584953679,789,820,657,633,657,0.403757593801,-0.0054618318275,0.0598938218009,0.999999964708,4.21346816273e-05,-0.000253637349083,-6.69122569415e-05,1793251519360359936
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.008607499,747,725,689.991392501,671,643,888.008607499,789,820,657,633,657,0.404082663083,-0.00545871797116,0.0598792534697,0.999999958454,4.35459718456e-05,-0.000276037500561,-7.06972091843e-05,1793251519377026560
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.584029165,747,725,690,671,643,888.584029165,789,820,657,633,656.415970835,0.404430429301,-0.00544636559356,0.0598663933596,0.999999951578,4.01214557034e-05,-0.000299124699983,-7.58810107905e-05,1793251519393693184
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,725,690,671,643,889.172146829,789.172146829,820.172146829,657,633,656.172146829,0.404796845568,-0.00543848418469,0.0598558258772,0.999999945742,2.64863241418e-05,-0.000318308635426,-8.05877328052e-05,1793251519410360064
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725,690,671,643,889.749058273,789.749058273,820.749058273,657,633,656.749058273,0.405206304098,-0.00544144458909,0.0598505881017,0.999999942514,-1.09843907879e-05,-0.000328290427078,-8.41228427255e-05,1793251519427026944
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,725,690.325990027,671,643,890,790,820.674009973,657,633.325990027,657,0.405661762266,-0.00544852077012,0.0598602088128,0.99999994726,-2.99019195287e-05,-0.000311819544096,-8.57601472364e-05,1793251519443693824
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+148,2.466666667,POSE1_TO_POSE2_PRESS,768.193779289,747,725,690,671,643,890,789.193779289,820.806220711,657,633,657.806220711,0.408904661968,-0.00546402086932,0.0599362999671,0.999999976016,-3.38710293387e-05,-0.000200180801745,-8.21492485849e-05,1793251519543693312
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.382566883,747,725,690,671,643,890.382566883,789.382566883,821,657,633.382566883,658,0.409513853065,-0.00546202950468,0.0599298536585,0.999999973448,-2.75480550741e-05,-0.000213528138852,-8.21620979399e-05,1793251519560360192
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.959559155,747,725,690,671,643,890.959559155,789.959559155,821,657,633.959559155,658,0.410141901693,-0.00546017132415,0.0599241721819,0.999999971308,-1.79707863644e-05,-0.000224455540368,-8.17352730185e-05,1793251519577027072
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,725,690,671,643.548251536,891,790,821.548251536,657,634,657.451748464,0.410833659205,-0.00546325854626,0.0599312960788,0.999999976119,-2.28146700987e-05,-0.000201156012783,-8.23274542295e-05,1793251519593693696
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.864607728,747,725,690.135392272,671.135392272,643.864607728,891,790,822,656.864607728,634,657,0.411531610088,-0.00546718607241,0.0599354775754,0.999999979128,-2.9505806176e-05,-0.000184371437031,-8.29504325844e-05,1793251519610360320
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.285443356,747,725,690.714556644,671.714556644,643.285443356,891,790,822,656.285443356,634,657,0.412234121766,-0.00547264610893,0.0599268513374,0.999999976289,-3.86889723316e-05,-0.000197396343855,-8.34226142825e-05,1793251519627026944
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.291582195,747,725,691,671.708417805,643,891.291582195,790,822,656.291582195,633.708417805,657,0.412922771466,-0.00547440873326,0.0599038617686,0.99999996669,-3.79485533771e-05,-0.000241262943616,-8.34961718069e-05,1793251519643693568
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.86652927,747,725,691,671.13347073,643,891.86652927,790,822,656.86652927,633.13347073,657,0.413597949926,-0.00547257814584,0.0598669136527,0.999999946516,-2.75642148913e-05,-0.000315102062025,-8.31823388321e-05,1793251519660360192
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.549131102,747,725,691,671,643.450868898,892.450868898,789.549131102,822.450868898,657,633.450868898,657,0.414382124733,-0.0054701850637,0.0598715354047,0.999999949966,-2.47886727799e-05,-0.000304063798631,-8.36572161298e-05,1793251519677026560
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.037538327,747,725,691,671,643.962461673,893.037538327,789.037538327,823.037538327,657,634,657,0.415203177831,-0.0054680294873,0.059890989663,0.999999961349,-2.47039342331e-05,-0.000263833102996,-8.41624027023e-05,1793251519693693440
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.616850139,747,725,691,671,643.383149861,893.616850139,789.616850139,823.616850139,657,634,657,0.416080888446,-0.00547175608934,0.0599431302535,0.999999981307,-3.02543839334e-05,-0.000172632263574,-8.16635997103e-05,1793251519710360064
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,691.195396042,671.195396042,643.195396042,894.195396042,789.804603958,824,657,633.804603958,657.195396042,0.416939678731,-0.00547547861797,0.0599745867229,0.999999989112,-3.52605802936e-05,-0.000118953130987,-7.98989567818e-05,1793251519727026432
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,691.772445914,671.772445914,643.772445914,894.772445914,789.227554086,824,657,633.227554086,657.772445914,0.417761513168,-0.00547919319007,0.0599656422992,0.999999986466,-3.920372361e-05,-0.000138562609898,-7.95683001201e-05,1793251519743693056
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747.348623324,725,692,671.651376676,643.651376676,895,789.348623324,824.348623324,657,633.348623324,657.651376676,0.41861034639,-0.0054833708896,0.0599538562069,0.999999983777,-4.45523969458e-05,-0.000154841216135,-8.05297678845e-05,1793251519760359936
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747.92423266,725,692,671.07576734,643.07576734,895,789.92423266,824.92423266,657,633.92423266,657.07576734,0.419476758285,-0.00548785012774,0.0599402199262,0.999999981047,-5.08162000969e-05,-0.000168951115587,-8.23325281065e-05,1793251519777026560
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747.48873796,725,691.48873796,671,643,895,789.48873796,825,657,634,657,0.420329650168,-0.00548768117849,0.059908103403,0.999999971938,-5.19500837411e-05,-0.000215144915407,-8.44813910256e-05,1793251519793693184
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.901598771,747,725,691.098401229,671,643,895.098401229,789,825,657,634,657,0.421180753461,-0.00548686686595,0.0598736672761,0.999999958796,-5.19935800052e-05,-0.000268816090159,-8.62719338505e-05,1793251519810359808
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.322381765,747,725,691.677618235,671,643,895.677618235,789,825,657,634,657,0.422033130848,-0.00548634192375,0.0598415847794,0.999999938822,-5.05087419111e-05,-0.000335260051256,-8.6055275465e-05,1793251519827026432
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,747,725,692,671.256050135,643.256050135,896,789.256050135,825.256050135,657,633.743949865,657,0.422961491545,-0.0054868894199,0.0598515737294,0.999999944113,-4.86336178209e-05,-0.000319670342306,-8.49683276014e-05,1793251519843693056
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,747,725,692,671.833496641,643.833496641,896,789.833496641,825.833496641,657,633.166503359,657,0.423985227271,-0.00548878304997,0.0599143711232,0.99999997528,-4.62686028474e-05,-0.000201111259481,-8.27889842394e-05,1793251519860359936
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.408719164,747,724.591280836,692,671.591280836,643.591280836,896,789.591280836,826,657,633.408719164,657,0.424973649323,-0.00549255526017,0.0599660482806,0.999999989084,-5.14747016415e-05,-0.000113018602859,-8.00548947401e-05,1793251519877026560
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.983040553,747,724.016959447,692,671.016959447,643.016959447,896,789.016959447,826,657,633.983040553,657,0.425947763145,-0.00549708862137,0.0600132198077,0.999999994549,-5.97484160964e-05,-3.72701456596e-05,-7.70960367699e-05,1793251519893693184
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.571903767,692.571903767,671,643.571903767,896.571903767,789,826.571903767,657,634,657,0.426898384494,-0.00549933093277,0.0599965553294,0.999999993517,-6.30381411277e-05,-5.23096118051e-05,-7.90934633687e-05,1793251519910359808
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,692.841459853,671,643.841459853,897,789,827,657,633.841459853,657,0.427840624866,-0.00550148883398,0.0599753440216,0.999999991701,-6.58940265346e-05,-7.55552313187e-05,-8.09211558906e-05,1793251519927026688
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,692.261911944,671,643.261911944,897,789,827,657,633.261911944,657,0.428762507522,-0.00550360770418,0.0599472165968,0.999999987921,-6.80005577756e-05,-0.00011325661953,-8.18976341306e-05,1793251519943693312
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.68473603,747.31526397,725,692.31526397,671,643.31526397,897,789,827,656.68473603,633,657,0.42965542913,-0.0055025420173,0.0599138433255,0.999999979643,-6.71897455147e-05,-0.000171331494509,-8.27327152669e-05,1793251519960359936
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.109516011,747.890483989,725,692.890483989,671,643.890483989,897,789,827,656.109516011,633,657,0.430524470387,-0.00549885045184,0.0598761445072,0.999999964163,-6.39733897449e-05,-0.000246205657862,-8.34512047777e-05,1793251519977026560
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,748,725,693,671,644,897.474724092,788.525275908,827,656,633.474724092,657,0.431504189797,-0.00550147840224,0.0599026123218,0.999999976788,-6.18833061284e-05,-0.000189349617025,-8.21012243323e-05,1793251519993693184
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747.939615042,725,692.939615042,671,643.939615042,898,788,827,656.060384958,633.939615042,657,0.43250912754,-0.00550542681154,0.0599431188647,0.99999998933,-6.07251820804e-05,-0.000105847142006,-8.03088981985e-05,1793251520010359808
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747.359977486,725,692.359977486,671,643.359977486,898,788,827,656.640022514,633.359977486,657,0.433507108074,-0.00550795076344,0.0599745891447,0.99999999298,-6.53035055105e-05,-5.95918063888e-05,-7.88956262607e-05,1793251520027026688
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.219403933,747,724.780596067,692,671.219403933,643,898,788,827,657,633.219403933,657.219403933,0.434472557157,-0.00551020608606,0.0599841694092,0.999999993294,-7.06642753357e-05,-4.74091702977e-05,-7.8555055238e-05,1793251520043693312
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.798365688,747,724.201634312,692,671.798365688,643,898,788,827,657,633.798365688,657.798365688,0.435384694054,-0.00551202118109,0.059957876455,0.999999989668,-7.73073143457e-05,-9.10646584251e-05,-7.99724198061e-05,1793251520060359936
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.62652782,747,724.37347218,692,671.62652782,643.37347218,898.37347218,788,827.37347218,657,634,658,0.436272211627,-0.00551505887995,0.0599320376042,0.999999984471,-8.21215558863e-05,-0.0001332205399,-8.10385178471e-05,1793251520077026304
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.053481519,747,724.946518481,692,671.053481519,643.946518481,898.946518481,788,827.946518481,657,634,658,0.4371465732,-0.00551874990738,0.0599064414164,0.999999977712,-8.59585336868e-05,-0.000174575066642,-8.19169077642e-05,1793251520093692928
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.465875723,747.534124277,725,692.534124277,671.534124277,644,898.465875723,788,828,657,634,658,0.437964909116,-0.00551555282853,0.0598781140711,0.999999966351,-7.47635989725e-05,-0.00023481247582,-8.10693108635e-05,1793251520110359808
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.121153906,747.878846094,725,693,672,644,898.121153906,788,828,657,634,658,0.438808842685,-0.00551309941795,0.0598635374157,0.9999999584,-6.70672414405e-05,-0.000268884005399,-8.00200312034e-05,1793251520127026432
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.700339376,747.299660624,725,693,672,644,898.700339376,788,828,657,634,658,0.439771352739,-0.00551613803933,0.0599020091339,0.999999974469,-7.84472584357e-05,-0.00019668507661,-7.88799507933e-05,1793251520143693056
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.278548405,725,692.721451595,672,644,899,788,828.278548405,657,634,657.721451595,0.440701688401,-0.00552042441835,0.0599444622312,0.99999998583,-8.44640171414e-05,-0.000123694961592,-7.68529609526e-05,1793251520160359680
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.855710616,725,692.144289384,672,644,899,788,828.855710616,657,634,657.144289384,0.441597531907,-0.00552604843779,0.0599911835061,0.999999992439,-8.47311713015e-05,-4.98566716261e-05,-7.38751727289e-05,1793251520177026304
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,725,692,672,644,899,788,828.56910953,657,633.56910953,657.43089047,0.442420845367,-0.00552791819669,0.0599911886965,0.99999999222,-8.77339764513e-05,-4.86451694338e-05,-7.41326260959e-05,1793251520193692928
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,692,672,643.994450457,899,788,828,656.994450457,633,657.994450457,0.443219677968,-0.00552858762621,0.0599756211299,0.999999990388,-9.16881674273e-05,-7.15798053201e-05,-7.54590461524e-05,1793251520210359808
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,748,725,692,672,643.40506797,899,788,828,656.40506797,633,657.40506797,0.443986475929,-0.00553463057417,0.0599599593362,0.999999988281,-9.97991330161e-05,-8.79358844473e-05,-7.57927967451e-05,1793251520227026432
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,748,725,692,671.818631061,643.181368939,899,787.818631061,828.181368939,656.181368939,633.181368939,657,0.44475177123,-0.0055384680657,0.05994949721,0.999999986494,-0.000104572163997,-0.000101666671783,-7.57666630351e-05,1793251520243693312
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,748,725,692,671.238667536,643.761332464,899,787.238667536,828.761332464,656.761332464,633.761332464,657,0.445513764285,-0.00553745862593,0.0599504623916,0.999999985979,-0.000102009416434,-0.000109627857538,-7.49496115642e-05,1793251520260359936
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,748,725,692,671.33938877,644,899,787.33938877,829,656.66061123,634,657.33938877,0.44622571036,-0.0055371335508,0.0599356705198,0.999999982651,-9.92164582022e-05,-0.000138755780534,-7.48405191243e-05,1793251520277026304
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,748,725,692,671.916111329,644,899,787.916111329,829,656.083888671,634,657.916111329,0.446902658651,-0.00553728705036,0.0599098597768,0.99999997585,-9.62625141808e-05,-0.000182685553606,-7.52265007458e-05,1793251520293692928
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,725,691.50969992,672,643.50969992,899.49030008,788,829,656.49030008,634,658,0.447615894979,-0.00554161653116,0.0599241662678,0.999999981151,-0.000101311581059,-0.000147726343349,-7.4900194272e-05,1793251520310359808
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,691,672.656349217,643.656349217,900,788,829,657,634,658,0.448974732299,-0.00554929336192,0.0599664159235,0.999999988847,-0.000108742075785,-7.19356685612e-05,-7.28411418366e-05,1793251520343693312
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,690.579777737,671.420222263,643,901,787,829,657,633.420222263,658,0.456931058663,-0.00558742464445,0.0598455123558,0.999999963644,-0.000143887555136,-0.000217204998883,-6.95006109517e-05,1793251520710360320
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642.038331777,901,787,829.038331777,657,633.961668223,658,0.457640594867,-0.00557923727949,0.0597934369479,0.999999946657,-0.000132984061033,-0.000290391789859,-6.83674556109e-05,1793251521043694080
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642.617579181,901,787,829.617579181,657,633.382420819,658,0.457641235184,-0.00557563737099,0.0597926387401,0.999999946982,-0.00012656187546,-0.000292059055165,-6.87003316269e-05,1793251521060360960
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+247,4.116666667,HOLD_POSE2,769,748,725,691,671,643,901,788,829,657,634,658,0.457640966055,-0.0055738332321,0.059789495133,0.999999946537,-0.000122445044858,-0.000295568491336,-6.7616417314e-05,1793251521215211776
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,690,671,642,900,787,829,656,633,658,0.457642609498,-0.00557239879782,0.0597891143094,0.999999946044,-0.000120479809661,-0.000298268025951,-6.65795977696e-05,1793251521531205632
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.587131726,671,642,900.587131726,787,829,656.587131726,633,658,0.457644434197,-0.00557182493721,0.059790019527,0.999999946818,-0.000120141118363,-0.000295789273843,-6.66276193753e-05,1793251521547872768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.82808118,671,642,901,787,829,657,633,658,0.457645639473,-0.00557138303675,0.0597904916831,0.99999994733,-0.000119901798472,-0.000294143495248,-6.6651004969e-05,1793251521564539648
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.248848915,671,642,901,787,829,657,633,658,0.457645377197,-0.00557125377876,0.0597899378218,0.999999947237,-0.000119897911199,-0.000294471213357,-6.66160224495e-05,1793251521581206528
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.670329595,748,725,690.329670405,671,642,901,787,829,657,633,657.670329595,0.457645600331,-0.00557126098574,0.0597901416993,0.999999947358,-0.000119547084844,-0.000294249514523,-6.64094204916e-05,1793251521597873152
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.092347308,748,725,690.907652692,671,642,901,787,829,657,633,657.092347308,0.457646189082,-0.00557137097985,0.0597909163152,0.99999994764,-0.000118934939623,-0.00029361398794,-6.60735526236e-05,1793251521614540032
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,691,671,642,901,787,829,657,633,657.478287425,0.457646202664,-0.00557196113224,0.0597916213704,0.99999994778,-0.000119669509376,-0.000292840265672,-6.60586207293e-05,1793251521631206656
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.950367895,671,642,901,787,829,657,633,658,0.457645852448,-0.00557262823208,0.0597920068804,0.999999947786,-0.000120715857094,-0.00029238192036,-6.60948431874e-05,1793251521647873280
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.232454024,748,725,690,671,642,901,787,829,657,633,658,0.457634280926,-0.00557255913641,0.0597839056999,0.999999944544,-0.00012150659078,-0.000302928443866,-6.62015909081e-05,1793251521681206272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.811655028,748,725,690,671,642,901,787,829,657,633,658,0.457617968957,-0.00557035753767,0.0597755791658,0.999999940985,-0.000116873677741,-0.0003160928455,-6.6755061048e-05,1793251521697872896
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.965031539,671,642,900.034968461,787,829,657,633,658,0.457538820628,-0.00556834248236,0.0597414543189,0.999999921094,-0.000117196529359,-0.000373369973025,-6.83502942149e-05,1793251521731205888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.460902705,671,642,900,787,829,656.460902705,633,658,0.457475651832,-0.00556561841527,0.0597194923449,0.999999909034,-0.000114735218352,-0.000404898504095,-6.94662301278e-05,1793251521747873024
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.116379547,671,642,900.116379547,787,829,656.116379547,633,658,0.457410047863,-0.00556309606723,0.0596992747723,0.999999897537,-0.000112606729871,-0.000432766967049,-7.04162244473e-05,1793251521764539904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.707340867,671,642,900.707340867,787,829,656.707340867,633,658,0.457339539982,-0.00556190963929,0.0596870146447,0.999999891806,-0.000112771709972,-0.000445740284878,-7.06181518355e-05,1793251521781206784
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,656.707270672,633,658,0.45726067502,-0.00555962952567,0.0596803210592,0.999999888507,-0.000111399727513,-0.000453415243365,-7.06436261396e-05,1793251521797873408
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,656.12734968,633,658,0.457173611073,-0.00555627641608,0.0596790887122,0.999999887708,-0.000108519857767,-0.000455892072747,-7.04959853815e-05,1793251521814539776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.553906702,748,725,691,671,642,901,787,829,656,633,657.553906702,0.45707385557,-0.005552345617,0.0596849009889,0.999999891118,-0.000106169488538,-0.000449013970912,-6.98530523601e-05,1793251521831206144
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.018312294,748,725,691,671,642,900.981687706,787,829,656,633.018312294,657,0.456969891429,-0.0055482554017,0.0596926817557,0.999999895671,-0.000103857473768,-0.000439437961077,-6.90414080535e-05,1793251521847872512
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,725.196222598,691,671,642,900.196222598,787,829,656,633.803777402,657,0.456709822095,-0.00554026850977,0.0597062414859,0.999999905472,-9.33720218516e-05,-0.000419559335535,-6.56399030625e-05,1793251521881206272
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725.77541394,691,671,642,900.77541394,787,829,656,633.22458606,657,0.45654967813,-0.00553626801219,0.059710230462,0.999999906518,-9.07238430184e-05,-0.000417883500706,-6.40782943146e-05,1793251521897872896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.645616983,748,725.645616983,690.645616983,671,642,900.645616983,787,829,656,633,657,0.456375019814,-0.00553165520622,0.059716674289,0.999999911027,-8.68592228076e-05,-0.000408027652924,-6.25709958591e-05,1793251521914539776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.066788619,748,725.066788619,690.066788619,671,642,900.066788619,787,829,656,633,657,0.456191168947,-0.00552665459975,0.0597246728744,0.999999917532,-8.22241799385e-05,-0.000392991066083,-6.10980941812e-05,1793251521931206400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,690,671,642,900.506966227,787,829,656,633,657.506966227,0.455966461202,-0.00552043357841,0.0597365095321,0.999999923313,-7.51303558386e-05,-0.000379884605655,-5.8461727763e-05,1793251521947873280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,690.082374795,671,642,900.917625205,787,829,656,633,658,0.455732427331,-0.00551375789635,0.0597484139998,0.999999928729,-6.7729468414e-05,-0.000367218911246,-5.5715424376e-05,1793251521964539904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725,690.672043252,671,642,900.327956748,787,829,656,633,658,0.455473778999,-0.005505262575,0.0597576530469,0.999999933491,-6.0412647114e-05,-0.000355717186655,-5.32266697329e-05,1793251521981206528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.743039178,671,642,900,787,829,656,633,657.743039178,0.455194099806,-0.00549742223386,0.0597653327598,0.99999993663,-5.36526223323e-05,-0.000348287385293,-5.05700483246e-05,1793251521997873152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,725,690.164075084,671,642,900,787,829,656,633,657.164075084,0.454888066393,-0.00549040266339,0.0597710584364,0.999999937886,-4.75903319929e-05,-0.00034596020146,-4.77030695291e-05,1793251522014539776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.587078466,725,690,671.412921534,642,900,787.412921534,829,656,633,657.412921534,0.454547826565,-0.00548254144299,0.0597721148385,0.999999938362,-4.09961592556e-05,-0.000345740157515,-4.53829994923e-05,1793251522031206400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.010859933,725,690,671.989140067,642,900,787.989140067,829,656,633,657.989140067,0.454194059222,-0.00547434737766,0.0597713246949,0.999999938499,-3.41916445211e-05,-0.00034635341871,-4.32792140975e-05,1793251522047873024
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.561044948,725,690,671.438955052,642.561044948,900,787.438955052,828.438955052,656.561044948,633.561044948,657.438955052,0.453781305807,-0.00546563829959,0.059760272025,0.999999933526,-2.42812073336e-05,-0.000361489485364,-4.10385790263e-05,1793251522064539648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,725.137910808,690,671.137910808,643,899.862089192,787,828.137910808,656.862089192,633.862089192,657.137910808,0.453363513844,-0.0054565062841,0.0597506576386,0.999999928979,-1.39307467296e-05,-0.000374624746181,-3.87888919771e-05,1793251522081206528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725.731439975,690,671.731439975,643,899.268560025,787,828.731439975,656.268560025,633.268560025,657.731439975,0.452932819335,-0.00544600968776,0.0597464462059,0.999999927044,-2.32367962731e-06,-0.000380228276892,-3.65179848389e-05,1793251522097873408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,725.683893697,690,672,643,899,787.316106303,829,656,633,657.683893697,0.452493789704,-0.00544013703194,0.059754499966,0.999999932379,3.07632111213e-06,-0.000366175609292,-3.38855453479e-05,1793251522114540032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725.106551707,690,672,643,899,787.893448293,829,656,633,657.106551707,0.452047871739,-0.00543808567896,0.059772689892,0.999999943108,3.34669669944e-06,-0.000335878721652,-3.09543290311e-05,1793251522131206400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.529172449,725,690,672.470827551,643,899,788,828.529172449,656.470827551,633.470827551,657,0.451555181113,-0.00545065003785,0.0597928438235,0.999999953303,-8.4676263582e-06,-0.000304442576865,-2.52587949385e-05,1793251522147872768
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.635377973,725,690,673,643,899,787.364622027,828.635377973,656.364622027,633.364622027,657,0.450464083619,-0.00546761475195,0.0597956869224,0.999999954973,-2.48621932242e-05,-0.000298627620828,-1.60352801282e-05,1793251522181206016
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,725,689.781105094,672.781105094,643,899,787.218894906,828.781105094,656.218894906,633,657,0.44985642264,-0.00546479370742,0.0597757211329,0.999999945792,-2.03747855825e-05,-0.000328373968119,-1.31058433463e-05,1793251522197872896
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,725,689.202343457,672.202343457,643,899,787.797656543,828.202343457,656.797656543,633,657,0.449205432394,-0.00545366614595,0.0597472617349,0.999999930829,-3.86683455247e-06,-0.000371772994483,-1.05650490524e-05,1793251522214540032
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.909419158,672.954709579,643,898.045290421,787.045290421,828,656.045290421,633,657,0.447902492216,-0.00543385945018,0.059730263236,0.999999912408,0.000114528008655,-0.000402554206124,-4.26778865827e-06,1793251522247873280
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,725,690,671,642.892258091,898,787.892258091,828,656,633,657,0.446598809528,-0.00544024102959,0.0598012569996,0.999999952466,0.000106642309008,-0.000289140722311,9.66526088154e-06,1793251522281206272
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724.933755095,690.066244905,672,643,893,788.066244905,826,656.066244905,633,656,0.43662240285,-0.00542424688478,0.0597720519018,0.999999912768,0.000150826593007,-0.000388437197585,2.88452519695e-05,1793251522481205504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724.340629912,690.659370088,672,643,893,788.659370088,826,656.659370088,633,656,0.435681358534,-0.00542220621942,0.0597362648032,0.999999898907,0.000155441594571,-0.000421090347761,2.65697873608e-05,1793251522497872384
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,724,691,672,643,893,788.177118178,826,656.177118178,632.177118178,656.822881822,0.433852470435,-0.0054270912371,0.0597429430809,0.999999917674,0.000150703588356,-0.000375874027634,2.56559755175e-05,1793251522531206144
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,724,691,671.601090087,642.601090087,893,788.398909913,825.601090087,656,632,656.601090087,0.432929022852,-0.00542632118603,0.0597635918568,0.999999927928,0.000149270110732,-0.000348044126189,2.69706935523e-05,1793251522547872512
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,724,691,671.02557031,642.02557031,893,788.97442969,825.02557031,656,632,656.02557031,0.431996845318,-0.00542332930729,0.0597849263959,0.9999999347,0.000149496343455,-0.000327757672419,2.87454440112e-05,1793251522564539136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,724,691,671,642.547802298,893,789.547802298,825,656.547802298,632.547802298,656.547802298,0.431094833548,-0.00542637632091,0.0598097086506,0.999999946818,0.00015898882456,-0.000283080454169,3.08384774011e-05,1793251522581205760
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747,724,691,671,643,892.874343408,789.748686816,824.874343408,657,633,657,0.430171321436,-0.00542843227314,0.0598266005336,0.999999953121,0.000165506858989,-0.000255522729894,3.27577058873e-05,1793251522597872384
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,724,691,671.303209706,643,892,788.303209706,824,657,633,656.696790294,0.428174930663,-0.00542355349347,0.0597823119211,0.999999927184,0.000156165069175,-0.000346677290556,3.25539985402e-05,1793251522631205376
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,724,691,671.874839405,643,892,788.874839405,824,657,633,656.125160595,0.427206811412,-0.00542182006112,0.0597353213034,0.999999905042,0.000155731196841,-0.00040599808954,2.88042654041e-05,1793251522647872256
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,724,691,671,642.964967324,891.964967324,789.035032676,824,656.964967324,632,656,0.425361434095,-0.00542622242254,0.0597733083412,0.999999926264,0.00017543705628,-0.000340034918334,3.27114768018e-05,1793251522681206528
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,747,724,691,671,642.392539642,891.392539642,789.607460358,824,656.392539642,632,656,0.424441706108,-0.00542493965538,0.0598029379303,0.999999934733,0.00017009273052,-0.000316724351214,3.58789466267e-05,1793251522697872896
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746.812896043,724,691,671.187103957,642.187103957,891.187103957,789.812896043,823.625792086,656.187103957,632.187103957,656,0.423527736462,-0.00542459498447,0.0598285721712,0.999999944013,0.000166507869071,-0.000287739343111,3.81437176798e-05,1793251522714539776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746.217506239,724,691,671.782493761,642.782493761,891.782493761,789.217506239,822.435012478,656.782493761,632.782493761,656,0.42262633211,-0.00542629736475,0.059845488034,0.999999955007,0.00016676239293,-0.000246371941754,3.84386799387e-05,1793251522731206656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746.367233392,724,691.367233392,671.632766608,643,891.632766608,789,821.632766608,657,633,656,0.421690229466,-0.00542410936006,0.0598329712649,0.99999994892,0.000169668224168,-0.000268282008294,3.73877376595e-05,1793251522747873024
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746.424817124,724,691,671,643,890,789,820,657,633,656.575182876,0.414124946175,-0.00541498198821,0.0598382897722,0.999999942085,0.000192408239981,-0.000277943138848,3.94673392126e-05,1793251522897872896
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.093782598,747,724,691,671,643,889,789,820,656.093782598,633,656.093782598,0.411075704728,-0.00540534357379,0.0597261960021,0.99999987414,0.000206551506712,-0.000456111692705,3.19170200866e-05,1793251522964539136
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.483128888,747,724,691,671,643,889,789,820,656.483128888,633,656.483128888,0.41044928653,-0.0054049033037,0.059752678394,0.999999893411,0.000208014318136,-0.000410812629163,3.37892209322e-05,1793251522981205760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.938676907,747,724,691,671.061323093,643,889,788.938676907,820,657,633,657,0.409848252661,-0.00540533856303,0.0597908671296,0.99999991689,0.000208425337368,-0.000348486871037,3.65448377046e-05,1793251522997872384
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.81422274,747,724,690.18577726,672,643,888.18577726,788.81422274,820,657,633,657,0.4081245208,-0.00540796983137,0.0598506327087,0.999999945524,0.000206920794726,-0.000254164532157,3.92023967821e-05,1793251523047872000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.387101994,746.612898006,724,690,671.612898006,643,888,789,820,657,633,657,0.407554521794,-0.00540639067902,0.0598340281373,0.999999938606,0.000209170608281,-0.000278567247469,3.78989986062e-05,1793251523064538624
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,747,724,689.754588429,671.754588429,643,887,788,819.754588429,656.245411571,633,657,0.400963845967,-0.00539304066573,0.0598349517862,0.999999936798,0.000225384463585,-0.000273448787375,2.88497442207e-05,1793251523864538624
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,689,671,643,887,788,819.404378599,657,633,657,0.400962816008,-0.00539328761123,0.0598346286994,0.999999936607,0.000224866670542,-0.00027458809443,2.86748467788e-05,1793251523897872128
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,689.552208701,671,643,887,788,820.552208701,656.447791299,633,657,0.400962803832,-0.00539612796244,0.059835383595,0.999999937828,0.00022081855683,-0.000273436180657,2.85546460112e-05,1793251523931205376
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,747,724,689.87058232,671,643,887,788,820.87058232,656.12941768,633,656.87058232,0.400962515946,-0.00539723195068,0.0598354699712,0.999999938273,0.000218770563741,-0.000273440922456,2.86893187361e-05,1793251523947872256
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,747,724,689.280373168,671,643,887,788,820.280373168,656.719626832,633,656.280373168,0.400962220708,-0.00539603875203,0.0598342094345,0.999999937413,0.00022066265278,-0.000275058017311,2.87089654929e-05,1793251523964538624
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a1b420f665632fcc8a5af71525e544710a7daac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.585752408946,5.10129032179e-06,1.05002108303,0.556323753509,0.00867751367437,1.04963246167
+395,6.583333333,pose2_to_pose3_retreat,0.585752325749,5.09442397445e-06,1.05002105686,0.55632367053,0.00867750754373,1.04963243549
+396,6.600000000,pose2_to_pose3_retreat,0.585752201791,5.08419349537e-06,1.05002101787,0.556323546895,0.00867749840941,1.04963239648
+397,6.616666667,pose2_to_pose3_retreat,0.585752199016,5.08396441971e-06,1.050021017,0.556323544127,0.00867749820488,1.0496323956
+398,6.633333333,pose2_to_pose3_retreat,0.585752184027,5.08272735182e-06,1.05002101228,0.556323529177,0.00867749710036,1.04963239088
+399,6.650000000,pose2_to_pose3_retreat,0.585752177767,5.08221069083e-06,1.05002101032,0.556323522933,0.00867749663906,1.04963238891
+400,6.666666667,pose2_to_pose3_retreat,0.585751927127,5.06152500075e-06,1.05002093148,0.556323272948,0.00867747816978,1.04963231003
+401,6.683333333,pose2_to_pose3_retreat,0.585751564821,5.03162317371e-06,1.05002081753,0.556322911587,0.00867745147184,1.049632196
+402,6.700000000,pose2_to_pose3_retreat,0.585751408109,5.0186894832e-06,1.05002076824,0.556322755285,0.00867743992395,1.04963214668
+403,6.716666667,pose2_to_pose3_retreat,0.585751359036,5.03316065925e-06,1.05002079665,0.556322705814,0.00867745306056,1.04963217544
+404,6.733333333,pose2_to_pose3_retreat,0.585751201579,5.0888833904e-06,1.0500209098,0.556322546816,0.00867750361412,1.04963228991
+405,6.750000000,pose2_to_pose3_retreat,0.585751067649,5.13627982482e-06,1.05002100604,0.556322411575,0.00867754661377,1.04963238728
+406,6.766666667,pose2_to_pose3_retreat,0.585750971176,5.1704206821e-06,1.05002107536,0.556322314159,0.00867757758751,1.04963245742
+407,6.783333333,pose2_to_pose3_retreat,0.585750934821,5.18328633518e-06,1.05002110149,0.556322277448,0.00867758925967,1.04963248385
+408,6.800000000,pose2_to_pose3_retreat,0.585750931022,5.17780592979e-06,1.05002112176,0.556322273533,0.0086775832319,1.04963250063
+409,6.816666667,pose2_to_pose3_retreat,0.58575093129,5.17398826194e-06,1.05002113113,0.556322273761,0.0086775791925,1.04963250808
+410,6.833333333,pose2_to_pose3_retreat,0.58575093152,5.17070703335e-06,1.05002113919,0.556322273957,0.0086775757207,1.04963251449
+411,6.850000000,pose2_to_pose3_retreat,0.5857510495,5.04375309706e-06,1.05002116989,0.556322393237,0.00867745275118,1.04963253563
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddddd0f3209748d5f3136d285fe68e3bfc29e7f8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:327f29591977c553268b89bddfe20c729d1a26f5d669be97808cb949bef47050
+size 26275026
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1de59b0636de5f904db70f8f1e5d58ac3a4e87bf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+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,769,746,724,689,671,643,888,788,820,656,632,657,0.400962085002,-0.00539246814489,0.0598359048601,0.999999936994,0.000226170597854,-0.000272140348553,2.82592287533e-05,1793251524117494016
+1,0.016666667,BASELINE,769,746.600667909,724,690.201335818,671,643,888,788,820,656.600667909,632.600667909,657,0.400962254182,-0.0053947860597,0.0598357738714,0.999999937939,0.000221996091364,-0.000272102550017,2.82964498429e-05,1793251524134160128
+2,0.033333333,BASELINE,769,747,724,690.806855199,671,643,887.806855199,788.193144801,820,657,633,656.806855199,0.400962692234,-0.0053958302404,0.0598360153652,0.999999938467,0.000220109960096,-0.000271692045805,2.83165474096e-05,1793251524150826496
+3,0.050000000,BASELINE,769,747,724,690.230624374,671,643,887.230624374,788.769375626,820,657,633,656.230624374,0.400963663568,-0.00539434807993,0.0598369956457,0.999999938191,0.000222762622604,-0.000270542312089,2.83026819557e-05,1793251524167492608
+4,0.066666667,BASELINE,769,747,724,689.642722298,671,643,887,788.642722298,820,657,633,656.357277702,0.400963174307,-0.00539410863228,0.0598367820807,0.999999937927,0.000223544379189,-0.000270892072151,2.81462287223e-05,1793251524184159232
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+6,0.100000000,BASELINE,769,747,724,689.528546335,671,643,887.528546335,788,820,657,633,657,0.400962177188,-0.00539524262916,0.0598359690384,0.999999938158,0.000221390417527,-0.00027181442806,2.80582965972e-05,1793251524217492480
+7,0.116666667,BASELINE,769,747,724.102904153,690,671,643,888,788,820,657,633,657,0.400962729163,-0.0053957880901,0.059836169693,0.999999938582,0.000220024603172,-0.000271339714922,2.82864412754e-05,1793251524234159104
+8,0.133333333,BASELINE,769,747,724.679580197,690,671,643,888,788,820,657,633,657,0.400962911279,-0.00539635747037,0.0598359098274,0.999999938437,0.000220620419134,-0.000271351903091,2.86475328271e-05,1793251524250825728
+9,0.150000000,BASELINE,769,747,724.739103693,689.739103693,671.260896307,643,887.739103693,788.260896307,820,657,633,657,0.400963106629,-0.00539643376235,0.0598361821053,0.999999938583,0.000220281815527,-0.00027109549723,2.8596331239e-05,1793251524267492352
+10,0.166666667,BASELINE,769,747,724.151985741,689.151985741,671.848014259,643,887.151985741,788.848014259,820,657,633,657,0.400963318526,-0.00539589350254,0.0598371197695,0.99999993909,0.000218774824741,-0.000270503244582,2.80296031781e-05,1793251524284159232
+11,0.183333333,BASELINE,769,747,724,689.428646127,671.571353873,643,887,789,820,657,633,656.571353873,0.400962962415,-0.00539503353996,0.0598362698355,0.999999938664,0.000219795874702,-0.000271271807771,2.7825041285e-05,1793251524300826112
+12,0.200000000,BASELINE,769,747,724,690,671,643,887,788.992996024,820,657,633,656.007003976,0.400962410412,-0.00539406944905,0.059834822515,0.999999937918,0.000221672017692,-0.000272498006517,2.77473109011e-05,1793251524317492992
+13,0.216666667,BASELINE,769,747,724,690,671,643,887,788.415336128,820,657,633,656.584663872,0.400962062508,-0.00539371965054,0.0598355748246,0.999999938066,0.000221273574937,-0.00027228379605,2.7696615622e-05,1793251524334159616
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+15,0.250000000,BASELINE,769,747,724,690,671,643,887,788.754698236,819.245301764,657,633,657,0.40096352492,-0.00539515751519,0.0598373045086,0.99999993882,0.000220565287245,-0.000270041277703,2.80721075607e-05,1793251524367492352
+16,0.266666667,BASELINE,769,747,724,690,671,643,887,789,819.33805366,656.66194634,633,657,0.400963937855,-0.00539517372726,0.0598376264573,0.99999993903,0.000220306144668,-0.000269478521328,2.80519718371e-05,1793251524384159488
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+18,0.300000000,BASELINE,769,747,724,689.508209397,671,643,887.491790603,788.508209397,820,656.491790603,633,657,0.400964005191,-0.00539437141339,0.0598378579518,0.999999938897,0.000220948310988,-0.00026946872434,2.78255330257e-05,1793251524417492992
+19,0.316666667,BASELINE,769.065863841,747,724,689,671,643,887.934136159,788,820,657,633,657,0.400964251151,-0.00539481827307,0.0598381901059,0.999999938813,0.000221548658455,-0.000269276296696,2.79315619608e-05,1793251524434159616
+20,0.333333333,BASELINE,769.642613262,747,724,689,671,643,887.357386738,788,820,657,633,657,0.40096324937,-0.00539654919609,0.0598378620202,0.99999993928,0.000218832279977,-0.000269736661871,2.81798121148e-05,1793251524450826240
+21,0.350000000,BASELINE,769.775203824,747,724,689.224796176,671,643,887,788,820,657,633,657,0.400962828417,-0.0053975629652,0.059837669113,0.999999939443,0.000217682429534,-0.000270040511405,2.83902518176e-05,1793251524467492864
+22,0.366666667,BASELINE,769.184168694,747,724,689.815831306,671,643,887,788,820,657,633,657,0.400963353753,-0.00539740834373,0.0598376964389,0.99999993912,0.000219084773964,-0.0002700893649,2.8539090537e-05,1793251524484159488
+23,0.383333333,BASELINE,769.398192797,747,724,689.601807203,671,643,887,788.398192797,820,657,633,657,0.400963951573,-0.00539665499648,0.059838227462,0.999999939045,0.000220506669319,-0.000269209698117,2.849765722e-05,1793251524500826368
+24,0.400000000,BASELINE,769.976628202,747,724,689.023371798,671,643,887,788.976628202,820,657,633,657,0.400964582203,-0.00539563063503,0.0598389864843,0.999999939082,0.000221937414553,-0.000267909735143,2.83700969728e-05,1793251524517492992
+25,0.416666667,BASELINE,769.448442556,747,724,689.551557444,671.551557444,643,887,788.448442556,820,657,633,657,0.400963330098,-0.00539636277522,0.0598379552371,0.999999939006,0.000220270751275,-0.00026958290997,2.8191013024e-05,1793251524534159360
+26,0.433333333,BASELINE,769,747,724,690,671.873998636,643,887,788.126001364,820,657,633,657,0.400962300713,-0.00539693476873,0.0598371368983,0.999999938937,0.00021897316486,-0.00027090605897,2.80573162078e-05,1793251524550826240
+27,0.450000000,BASELINE,769,747,724,690,671.300753193,643,887,788.699246807,820,657,633,657,0.400962343266,-0.00539667579599,0.0598373418509,0.99999993893,0.000219448554849,-0.000270542426806,2.80924223979e-05,1793251524567493376
+28,0.466666667,BASELINE,769,747,724,689.719067501,671.280932499,643,887.280932499,789,820,657,633,657,0.400962494305,-0.0053961971479,0.0598374384421,0.99999993892,0.000219899536065,-0.000270233987318,2.79026800564e-05,1793251524584160000
+29,0.483333333,BASELINE,769,747,724,689.128066233,671.871933767,643,887.871933767,789,820,657,633,657,0.400962765084,-0.00539547604135,0.0598374154334,0.999999938905,0.000220323576977,-0.000269986464711,2.7464769532e-05,1793251524600826368
+30,0.500000000,BASELINE,769,747,724,689.455132652,671.544867348,643,887.544867348,788.544867348,820,656.544867348,633,657,0.400963629216,-0.00539566776927,0.0598376471009,0.99999993915,0.0002202439109,-0.000269115418423,2.77293933077e-05,1793251524617493248
+31,0.516666667,BASELINE,769,747,724,690,671,643,887,788,820,656.035659189,632.964340811,656.964340811,0.400964509415,-0.00539608670473,0.0598378919612,0.999999939444,0.000219949510695,-0.0002682204371,2.81348494555e-05,1793251524634159872
+32,0.533333333,BASELINE,769,747,724,690,671,643,887,788,820,656.608445096,632.391554904,656.391554904,0.400963159135,-0.0053961242694,0.0598372743131,0.999999939408,0.000218519545795,-0.000269563128824,2.77341975e-05,1793251524650826752
+33,0.550000000,BASELINE,769,747,724,690,671,643,887.374208094,788,820,657,632.187104047,656.187104047,0.400962598374,-0.00539562007114,0.0598371623934,0.999999939253,0.000218720486864,-0.000269997124161,2.74982069179e-05,1793251524667493376
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+39,0.650000000,BASELINE,769,746.66609096,724,689.66609096,671.66609096,643,887.33390904,788,820,657,633,657,0.40096356165,-0.00539688253733,0.0598380504155,0.999999939045,0.000220651006211,-0.000269145213485,2.79846523174e-05,1793251524767493120
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+41,0.683333333,BASELINE,769.839696591,747,724,690,671.160303409,643,887,788,820,657,633,656.160303409,0.400963279456,-0.00539578128644,0.0598377659693,0.999999939169,0.000220819419418,-0.000268569687029,2.77528217244e-05,1793251524800826112
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+47,0.783333333,BASELINE,769,747,724,689.323935481,671,643,888,788,820,657,633,656.323935481,0.400963383141,-0.00539779685602,0.0598384483246,0.999999939528,0.000219092115828,-0.000268620450869,2.80391828217e-05,1793251524900826368
+48,0.800000000,BASELINE,769,747,724,689.903240265,671,643,888,788,820,657,633,656.903240265,0.400963858904,-0.00539700753847,0.0598385054788,0.999999939495,0.000219507818907,-0.000268416349893,2.789282146e-05,1793251524917492736
+49,0.816666667,BASELINE,769.480555304,746.519444696,724,689.519444696,671,643.480555304,887.519444696,788.480555304,820,657,633,656.519444696,0.400963431904,-0.00539793567452,0.0598385765698,0.999999939806,0.000217586995456,-0.000268802146053,2.8095927182e-05,1793251524934159360
+50,0.833333333,BASELINE,769.942619851,746.057380149,724,689.057380149,671,643.942619851,887.114760299,789,820,657,633,656.057380149,0.40096307894,-0.0053990346118,0.0598387219715,0.999999940178,0.000215616049051,-0.000268985635874,2.83043678434e-05,1793251524950825984
+51,0.850000000,BASELINE,769.366619059,746.633380941,724,689.633380941,671,643.366619059,888.266761882,789,820,657,633,656.633380941,0.400965031263,-0.00539856466005,0.0598395137594,0.999999940523,0.000217426705217,-0.000266271507745,2.7927666768e-05,1793251524967492608
+52,0.866666667,BASELINE,769,747,724,690,671,643,889,789,820,657,633,657,0.400964937324,-0.00539775011834,0.0598391973607,0.999999940184,0.000219094382619,-0.000266196966522,2.77115708355e-05,1793251524984159232
+53,0.883333333,BASELINE,769,747,724,690,671,643,889,789,820,657,633,657,0.400961260463,-0.00539633221345,0.0598369405719,0.99999993865,0.000220511709826,-0.000270744236372,2.77766880962e-05,1793251525000826112
+54,0.900000000,BASELINE,769,747,724,690,671,643,888.615753291,788.615753291,820,657,633,656.615753291,0.400960269536,-0.00539628316486,0.059836112359,0.999999938324,0.000220130819738,-0.000272261218183,2.77158831071e-05,1793251525017492480
+55,0.916666667,BASELINE,769,747,724,690,671,643,888.036818906,788.036818906,820,657,633,656.036818906,0.400960639501,-0.00539692767972,0.0598360079678,0.999999938616,0.000218838820325,-0.000272242832818,2.75912766329e-05,1793251525034159104
+56,0.933333333,BASELINE,768.459523753,747,724.540476247,690,671,643,888,788,820,657,633,656,0.400962604813,-0.00539670740467,0.0598374315558,0.999999939476,0.000217996685441,-0.000269764292298,2.74225279614e-05,1793251525050825984
+57,0.950000000,BASELINE,768.116323684,747,724.883676316,690,671,643,888,788,820,657,633,656.116323684,0.400964224409,-0.00539640977377,0.0598387536587,0.999999940142,0.000217596603316,-0.000267623965697,2.7305262807e-05,1793251525067492608
+58,0.966666667,BASELINE,768.686951705,747,724.313048295,690,671,643,888,788,820,657,633,656.686951705,0.400964070632,-0.00539603941498,0.0598392741109,0.99999993992,0.000218803639539,-0.000267457100377,2.74007763248e-05,1793251525084159232
+59,0.983333333,BASELINE,769,746.731866936,724,690,671,643,888,788,820,656.731866936,633,657,0.400964087017,-0.0053962325623,0.0598391768344,0.999999939805,0.000219466727955,-0.000267343933238,2.73997632635e-05,1793251525100826112
+60,1.000000000,BASELINE,769,746.137859548,724,690,671,643,888,788,820,656.137859548,633,657,0.400964310206,-0.0053971105642,0.0598383288044,0.999999939821,0.00021946873199,-0.000267296027924,2.72814370679e-05,1793251525117492736
+61,1.016666667,BASELINE,769,746.444506072,724,690,671,643,887.555493928,788,820,656.444506072,633,657,0.400963061668,-0.00539720539421,0.0598373343522,0.999999939637,0.00021863024446,-0.0002686692483,2.72655571497e-05,1793251525134159360
+62,1.033333333,BASELINE,769,747,724,690,671,643,887,788.02316683,820,657,633,657,0.400961434879,-0.00539709290081,0.059836348153,0.999999939391,0.000217604120783,-0.000270411540498,2.72842918286e-05,1793251525150825984
+63,1.050000000,BASELINE,769,747,724,690,671,643,887,788.597394065,820,657,633,657,0.400961390919,-0.0053976790476,0.0598366108845,0.999999939185,0.000218156996302,-0.00027071644073,2.7389912153e-05,1793251525167492608
+64,1.066666667,BASELINE,769,747,724,690,671,643,887.175834536,788.824165464,820,657,633,657,0.400961832816,-0.00539762721933,0.0598370054395,0.999999939139,0.000218765647384,-0.000270395720061,2.73932792165e-05,1793251525184159488
+65,1.083333333,BASELINE,769,747,724,690,671,643,887.764158789,788.235841211,820,657,633,657,0.400963414486,-0.00539607876721,0.059837709239,0.999999939465,0.000219505142156,-0.000268607357151,2.71567706517e-05,1793251525200826112
+66,1.100000000,BASELINE,769,747,724,690,671,643,888,788.3480719,820,657,633,657,0.400963238869,-0.005396406886,0.059837826194,0.999999939669,0.00021844451548,-0.000268710081351,2.71720583141e-05,1793251525217492736
+67,1.116666667,BASELINE,769,747,724,690,671,643,888,788.929033559,820,657,633,657,0.400961887477,-0.0053979905907,0.0598375505,0.999999939788,0.000216179454147,-0.000270078104031,2.73558191161e-05,1793251525234159360
+68,1.133333333,BASELINE,769,747,724,690,671,643,887.497060659,788.497060659,820,657,633,656.497060659,0.400961787915,-0.0053982257828,0.0598375577536,0.999999940148,0.000214479287166,-0.000270102156686,2.73250772578e-05,1793251525250826496
+69,1.150000000,BASELINE,769,747,724,690,671,643,887.07330771,788,820,657,633,656.07330771,0.400961896028,-0.00539837516473,0.0598375835607,0.999999940455,0.000213248346059,-0.000269942400846,2.73120142046e-05,1793251525267493632
+70,1.166666667,BASELINE,769,747,724,690,671,643,887.626931535,788,820,657,633,656.626931535,0.400962223515,-0.00539919178794,0.0598374729604,0.9999999402,0.000214576770244,-0.000269803654446,2.76103513645e-05,1793251525284160000
+71,1.183333333,BASELINE,769,747,724,690,671.20106337,643,887.79893663,788.20106337,820,657,633,657,0.400962737346,-0.00539938734315,0.0598376718748,0.999999940059,0.000215983852865,-0.000269185203938,2.77986328351e-05,1793251525300826368
+72,1.200000000,BASELINE,769,747,724,690,671.81756953,643,887.18243047,788.81756953,820,657,633,657,0.400963636208,-0.0053982996303,0.0598385103171,0.999999940152,0.000217553462001,-0.000267575575283,2.77595141991e-05,1793251525317493248
+73,1.216666667,BASELINE,769,747,724,690.408458752,671.591541248,643,887.816917503,789,820,657,633,657,0.400963256134,-0.00539813065658,0.0598382149813,0.999999940129,0.000216752528732,-0.000268348691404,2.73850235307e-05,1793251525334159872
+74,1.233333333,BASELINE,769,747,724,690.98858182,671.01141818,643,888.97716364,789,820,657,633,657,0.400962338558,-0.00539834780446,0.0598374431487,0.999999940053,0.000214955319633,-0.000270123211684,2.68695849461e-05,1793251525350826240
+75,1.250000000,BASELINE,769,747,724,690.435507111,671,643,888.435507111,788.435507111,820,657,633,657,0.400962624607,-0.00539707342293,0.0598383945307,0.999999939921,0.000216850496404,-0.000269062979042,2.7175317373e-05,1793251525367492864
+76,1.266666667,BASELINE,769,747,724,690,671,643,888,788,820,657,633,657,0.400962981911,-0.00539603465379,0.0598392253785,0.999999939823,0.000218549995659,-0.000268026540878,2.74192032801e-05,1793251525384159232
+77,1.283333333,BASELINE,769,747,724,690,671,643,888,788,820,657,633,657,0.400963485368,-0.00539582009473,0.0598395747455,0.999999939844,0.000219412085299,-0.000267240598855,2.74199664402e-05,1793251525400825856
+78,1.300000000,BASELINE,769,747,724,690,671,643,887.707295562,788,820,657,633,657,0.400962974695,-0.00539637648599,0.0598392225695,0.999999939735,0.000219130347575,-0.000267877434558,2.74472306149e-05,1793251525417492480
+79,1.316666667,BASELINE,769,747,724,690,671,643,887.113517153,788,820,657,633,657,0.400961420892,-0.00539772587199,0.0598381487906,0.999999939487,0.000217672076064,-0.000269977730657,2.75017535685e-05,1793251525434159360
+80,1.333333333,BASELINE,769,747,724,690,671,643.468902223,887.468902223,788.468902223,820,657,633,657,0.400961340764,-0.00539774337167,0.0598378278242,0.999999939385,0.000217465572539,-0.000270534717936,2.73916141036e-05,1793251525450826240
+81,1.350000000,BASELINE,769,747,724,690,671.048199981,643.951800019,887.951800019,788.951800019,820,657,633,657,0.400961711673,-0.00539746190013,0.059837778836,0.999999939371,0.000217586121712,-0.000270499842689,2.72632594617e-05,1793251525467492864
+82,1.366666667,BASELINE,769,747,724,690,671.622728272,643.377271728,887.377271728,788.377271728,820,657,633,657,0.400963204165,-0.00539735340354,0.0598387567279,0.999999939945,0.000218047124926,-0.000267985351849,2.73610004297e-05,1793251525484159232
+83,1.383333333,BASELINE,769,746.802029745,724,690,671.802029745,643,887,788.197970255,820,657,633,657,0.400963852098,-0.00539711720072,0.0598391501793,0.999999940294,0.000218084235632,-0.00026664575047,2.74269459821e-05,1793251525500825856
+84,1.400000000,BASELINE,769,746.225422657,724,690,671.225422657,643,887,788.774577343,820,657,633,657,0.400962884733,-0.00539663674765,0.059838425833,0.999999940219,0.000217310611923,-0.000267553235833,2.74320798133e-05,1793251525517492480
+85,1.416666667,BASELINE,769,746.35929147,724,690,671,643,887,788.64070853,819.64070853,657,633,656.64070853,0.400963019437,-0.00539643612611,0.0598385553275,0.999999939934,0.000218444310184,-0.00026769510327,2.7432066844e-05,1793251525534159104
+86,1.433333333,BASELINE,769,746.949209408,724,690,671,643,887,788.050790592,819.050790592,657,633,656.050790592,0.400963861549,-0.00539641512633,0.059839232896,0.99999993951,0.000220802303994,-0.000267345526312,2.74287501822e-05,1793251525550825728
+87,1.450000000,BASELINE,769,747,724,690,671.528774984,643,887.528774984,788,819.528774984,657,633,656,0.400963484236,-0.00539857677338,0.0598385950372,0.999999939846,0.000218450196943,-0.000268018665727,2.74509838925e-05,1793251525567492352
+88,1.466666667,BASELINE,769,747,724.1063211,690,671.8936789,643,888,788.1063211,820,657,633,656,0.400963398572,-0.00540041924253,0.0598381859581,0.99999994024,0.000216200581216,-0.000268369374358,2.74728881822e-05,1793251525584158976
+89,1.483333333,BASELINE,769,747,724.679284326,690,671.320715674,643,888,788.679284326,820,657,633,656,0.400965097172,-0.00539995835869,0.0598393248955,0.999999940606,0.000216348339811,-0.000266882063255,2.74827820334e-05,1793251525600825600
+90,1.500000000,BASELINE,769,747,725,690,671,643.259661457,887.740338543,788.740338543,820,657,633,656.259661457,0.400965296623,-0.00539932865465,0.0598397085719,0.99999994073,0.000216620690867,-0.000266191033815,2.75122264211e-05,1793251525617492224
+91,1.516666667,BASELINE,769,747,725,690,671,643.849464821,887.150535179,788.150535179,820,657,633,656.849464821,0.400963590008,-0.00539848430722,0.0598391319851,0.99999994055,0.000217051452766,-0.000266512422546,2.75665279874e-05,1793251525634159104
+92,1.533333333,BASELINE,769,747,724.568530622,690,671,643.568530622,887,788,820,657,633,657,0.400964132692,-0.00539767612065,0.0598394403447,0.999999940673,0.000217217226289,-0.000265932878452,2.73874401997e-05,1793251525650825984
+93,1.550000000,BASELINE,769,747,724.010761879,690,671,643,887.010761879,788,820,657,633,657,0.400965406141,-0.00539693282039,0.0598400443967,0.999999940901,0.000217258454282,-0.000265066255289,2.71417969738e-05,1793251525667492608
+94,1.566666667,BASELINE,769,747,724.587975961,690,671,643,887.587975961,788,820,657,633,657,0.400964571104,-0.00539895255666,0.0598402497488,0.999999941191,0.000215524025636,-0.000265340050939,2.76028340551e-05,1793251525684159232
+95,1.583333333,BASELINE,769,747,724.835602075,690,671,643,887.835602075,788,820,657,632.835602075,657,0.400963732338,-0.00539976690211,0.0598400363299,0.99999994105,0.000215031987114,-0.000266244563517,2.7845606994e-05,1793251525700825856
+96,1.600000000,BASELINE,769,747,724.261155725,690,671,643,887.261155725,788,820,657,632.261155725,657,0.400962884269,-0.00539757471,0.0598387783942,0.999999939832,0.00021763877147,-0.000268722237633,2.75439761538e-05,1793251525717492224
+97,1.616666667,BASELINE,769,747,724,690,671,643,887,788,820,657,632.321741303,657,0.40096287658,-0.00539694050708,0.0598387992,0.99999993971,0.00021843830714,-0.000268546935647,2.73221074181e-05,1793251525734158848
+98,1.633333333,BASELINE,769,747,724,690,671,643,887,788,820,657,632.911682691,657,0.400963569423,-0.00539760502732,0.059839885951,0.999999940507,0.000217731339614,-0.000266160141213,2.7166727532e-05,1793251525750825728
+99,1.650000000,BASELINE,769,747,724,690,671,643,887,788,820,657,633,657,0.400964678067,-0.00539772749646,0.0598405952147,0.999999940542,0.000218522139648,-0.000265349511192,2.7438866959e-05,1793251525767492608
+100,1.666666667,BASELINE,769.072396414,747,724,689.927603586,671,643,887,788,820,657,633,657,0.400965856071,-0.0053976976523,0.0598411838185,0.999999940552,0.000219277092756,-0.000264663030058,2.77095694974e-05,1793251525784159232
+101,1.683333333,BASELINE,769.647246483,747,724,689.352753517,671,643,887,788,820,657,633,657,0.400967007374,-0.00539727305495,0.0598413962686,0.99999994131,0.000217953089588,-0.000262912217919,2.74479008143e-05,1793251525800826368
+102,1.700000000,BASELINE,769.773631362,747,724,689.226368638,671,643,887.452737276,788.226368638,820,657,633,657,0.400966942474,-0.00539726278939,0.0598409543741,0.999999941572,0.00021671949318,-0.000262951015288,2.73052939905e-05,1793251525817493504
+103,1.716666667,BASELINE,769.187723956,747,724,689.812276044,671,643,888.624552088,788.812276044,820,657,633,657,0.400964945893,-0.00539791060243,0.0598394731915,0.999999941045,0.000215629488941,-0.000265832229523,2.7351791807e-05,1793251525834159872
+104,1.733333333,BASELINE,769,747,724,690,671,643,888.60385389,788.60385389,820,657,633,657,0.400964731225,-0.00539755251277,0.0598395916841,0.999999940806,0.000216153684906,-0.000266311224753,2.72857342308e-05,1793251525850826240
+105,1.750000000,BASELINE,769,747,724,690,671,643,888.02094428,788.02094428,820,657,633,657,0.400965356643,-0.00539672018928,0.0598404643452,0.999999940704,0.000217438897162,-0.000265657691555,2.71666123e-05,1793251525867492864
+106,1.766666667,BASELINE,769,747,724,690,671,643,888,788.553584599,820,657,633,657,0.400965975908,-0.00539634775498,0.0598410713734,0.999999940963,0.000217805472018,-0.000264389746607,2.70846639375e-05,1793251525884159744
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,672,643,887,788,820,657,633,656,0.400963707005,-0.0053988901149,0.0598396687512,0.999999940931,0.000216058261793,-0.000265885892295,2.76093578177e-05,1793251525926832128
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.391740291,747,724,689.391740291,671.391740291,643,887.608259709,788,820,657,633,656,0.400964555194,-0.00539798629532,0.0598398026614,0.999999940813,0.00021722099765,-0.000265373041204,2.76920869064e-05,1793251525943498496
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724,689.205326228,671,643.205326228,888,788,820,657,633,656.205326228,0.400965213315,-0.00539757314285,0.0598399389366,0.999999940878,0.000217457690849,-0.000264946486139,2.75698251045e-05,1793251525960165120
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,724,689.782141435,671,643.782141435,888,788,820,657,633,656.782141435,0.400965527552,-0.00539804773568,0.0598400794906,0.999999941275,0.000216018930292,-0.00026467606312,2.7076681053e-05,1793251525976831744
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643.642918875,887.642918875,788,820,657,633,657,0.400965209107,-0.00539844901649,0.0598398185169,0.99999994133,0.00021527174719,-0.000265086723777,2.69675402498e-05,1793251525993498624
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643.06911751,887.06911751,788,820,657,633,657,0.400964506673,-0.00539880580262,0.0598393138475,0.999999941178,0.000214944297453,-0.000265910748832,2.70914593333e-05,1793251526010164992
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888.039356148,788,820,657,633,656.480321926,0.400964332665,-0.00539853690021,0.0598397092845,0.999999941096,0.00021567442094,-0.000265592280675,2.74311408771e-05,1793251526026831872
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888.78402435,788,820,657,633,656.107987825,0.40096427298,-0.00539831344823,0.0598401764897,0.999999941021,0.000216261996615,-0.000265367658338,2.77311936979e-05,1793251526043498752
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.62947534,788,820,657,633,656.68526233,0.400964395619,-0.00539865989524,0.0598404198749,0.999999940934,0.000215600674058,-0.000266230828979,2.77306178001e-05,1793251526060165632
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,633,657,0.400969140331,-0.00539846537006,0.0598422482522,0.999999941428,0.000216164842621,-0.000263894650212,2.78619282192e-05,1793251526076832000
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,633,657,0.400979426134,-0.00539762230995,0.0598459767691,0.999999942588,0.000218198169516,-0.00025772298809,2.81513482091e-05,1793251526093498624
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.388148481,788,820,657,633,657,0.401009017976,-0.00539851017227,0.0598577130727,0.999999948103,0.000216852629109,-0.000236552078648,2.84918131807e-05,1793251526110164992
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.933721373,788,820,657,633,657,0.401046439922,-0.00540010005824,0.0598726971573,0.999999954754,0.000214136695133,-0.000209297806648,2.88529808707e-05,1793251526126831360
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.446180957,788.553819043,820,657,633,656.446180957,0.401107693337,-0.00540218987282,0.059892195393,0.999999960677,0.000215320616796,-0.00017714150621,3.00772061215e-05,1793251526143498240
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,724.168925334,690,671,643,887,788.831074666,820,657,633,656.168925334,0.401174694689,-0.00540479084287,0.0599100863713,0.999999965206,0.000215289477841,-0.000149213842772,3.1200473482e-05,1793251526160164864
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,724.74698299,690,671,643,887,788.25301701,820,657,633,656.74698299,0.401247635774,-0.00540846238147,0.0599225727459,0.999999968365,0.000211009360393,-0.000133169594895,3.17901693541e-05,1793251526176831488
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,724.67666621,690,671,643,887,788,820,657,633,657,0.401331602253,-0.00541039768277,0.059931914712,0.999999970335,0.000210693519937,-0.000118029189031,3.17273495454e-05,1793251526193498368
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,724.101644088,690,671,643,887,788,820,657,633,657,0.401424151077,-0.00541098146823,0.0599388090183,0.999999971366,0.000213463538032,-0.000103592349594,3.11566007813e-05,1793251526210164736
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788.471550071,820,657,633,657,0.401535824661,-0.00541360602477,0.0599435606254,0.999999972804,0.000211268062561,-9.39634161619e-05,3.04650162204e-05,1793251526226831360
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,789,820,657,633,657,0.401652749059,-0.00541667366478,0.0599475400073,0.999999974259,0.000207910511862,-8.58683335893e-05,2.97004686535e-05,1793251526243498240
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,789,820,657,633,657,0.401783308145,-0.00541979954036,0.0599478002083,0.999999975403,0.000203410544269,-8.37485373559e-05,2.83757137763e-05,1793251526260164864
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.774942509,747,724,690,671,643,887.225057491,788.774942509,820,657,633,657,0.401924629018,-0.00542368861964,0.059946961686,0.99999997627,0.00019986370626,-8.23894394926e-05,2.69519186514e-05,1793251526276831744
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.194274725,747,724,690,671,643,887.805725275,788.194274725,820,657,633,657,0.402082954433,-0.00542878362646,0.059944387086,0.99999997673,0.000197822895826,-8.22323110197e-05,2.53716314995e-05,1793251526293498368
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.382292949,747,724,689.617707051,671,643,888,788,820,657,632.617707051,657,0.402268571722,-0.00543299943614,0.0599445811965,0.999999977516,0.00019599831808,-7.74643984813e-05,2.34933976899e-05,1793251526310164992
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.956799178,747,724,689.043200822,671,643,888,788,820,657,632.043200822,657,0.402467911121,-0.00543677319427,0.0599461673881,0.99999997842,0.000194282459892,-7.03782272842e-05,2.14653589738e-05,1793251526326831872
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,689.542034775,671,643,888,788,820,657,632.542034775,657,0.402702981749,-0.0054437153792,0.0599487691893,0.999999980788,0.000185526473571,-6.01912895861e-05,1.9542472514e-05,1793251526343498496
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,724.126762281,690,671,643,888,788,820,657,633,657,0.402948232726,-0.00545058285107,0.0599512150567,0.999999982973,0.000176579562557,-5.06903564866e-05,1.74373444299e-05,1793251526360165120
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,724.70655621,690,671,643,888,788,820,657,633,657,0.403219483725,-0.00545626258527,0.0599528085079,0.999999984621,0.000168996126724,-4.45421737626e-05,1.46503517466e-05,1793251526376831488
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,724.714552809,690,671.285447191,643,888,788.285447191,820,657,633,657,0.403500128576,-0.00546257916495,0.0599488159295,0.999999985774,0.000160776466612,-4.97388637462e-05,1.13905775882e-05,1793251526393498368
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,724.136587178,690,671.863412822,643,888,788.863412822,820,657,633,657,0.403790399972,-0.00546954836603,0.0599390989413,0.999999986218,0.000151904821766,-6.65614679501e-05,7.64631012851e-06,1793251526410165504
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671.561620688,643,888.438379312,788.561620688,820,657,633,656.561620688,0.404111939745,-0.00547786894552,0.0599287320301,0.999999986464,0.000141864393395,-8.3241928222e-05,4.16907809671e-06,1793251526426832128
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671.012738519,643,888.987261481,788.012738519,820,656.987261481,633,656.012738519,0.40444382312,-0.00548653971267,0.0599180713218,0.999999986334,0.000131545698744,-0.00010013603518,7.45190371778e-07,1793251526443498496
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671.601607967,643,888.398392033,788.601607967,820,656.398392033,633,656.601607967,0.404805892372,-0.00549213482028,0.0599032191655,0.9999999839,0.000124999904974,-0.000128682287902,-4.00347528579e-06,1793251526460165376
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671.811710646,643,888.188289354,789,820,656.188289354,633,657,0.405195663316,-0.00549804400979,0.0598956075928,0.99999998262,0.000117356432538,-0.00014463253925,-8.2781836177e-06,1793251526476832000
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671.229605761,643,888.770394239,789,820,656.770394239,633,657,0.405643373532,-0.0055046101148,0.0599031400235,0.999999985154,0.000107417117503,-0.000134237691865,-1.15615885991e-05,1793251526493498880
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,789,820,657,633,657,0.406129746241,-0.00551033466197,0.059925858985,0.999999994175,4.57752677927e-05,-9.67770521519e-05,-1.37500151724e-05,1793251526510165504
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,789,820,657,633,657,0.406641302414,-0.00551551104794,0.0599584699314,0.999999997788,-4.95438381188e-05,-4.16866832298e-05,-1.52252106272e-05,1793251526526832384
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,789,820,657,633,657,0.407192082746,-0.00551020376303,0.0599864028531,0.999999998859,-4.43752880027e-05,2.42133404124e-06,-1.74926332333e-05,1793251526543499008
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,789,820,657,633,657,0.407745227375,-0.00550338032759,0.0600080546636,0.999999998924,-2.44744361812e-05,3.38865057084e-05,-2.00996044648e-05,1793251526560165376
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,789,820,657,633,657,0.408280104504,-0.00549690676268,0.0600011330851,0.999999999651,-6.90319301876e-06,9.051524708e-06,-2.38333863857e-05,1793251526576832000
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,724.252188874,690.252188874,671,643,889.252188874,789,820,657,633,657,0.408833668179,-0.0054977457018,0.0599899971597,0.999999999417,-3.42193128831e-06,-1.98553023767e-05,-2.75817691686e-05,1793251526593498624
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,724.829917076,690.829917076,671,643,889.829917076,789,820,657,633,657,0.409411353449,-0.00550802402543,0.0599734211231,0.999999997885,-1.81287969797e-05,-5.40182918108e-05,-3.13489993235e-05,1793251526610165504
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,890,789,820,657,633,657,0.410043611292,-0.00551625858256,0.0599732350478,0.999999998287,-1.14191428417e-05,-5.09164341997e-05,-2.65187105041e-05,1793251526626832128
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,890,789,820,657,633,657,0.41069863858,-0.00552364041336,0.0599798873994,0.999999999307,4.22618243452e-06,-3.22664658021e-05,-1.81012561833e-05,1793251526643498752
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,890.568250142,789,820,657,633,657,0.411406839161,-0.00551911703267,0.0599873914496,0.999999999669,4.83388606114e-06,-1.41369906663e-05,-2.09396050735e-05,1793251526660165120
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,724.845022266,690.845022266,671,643,891,789.154977734,820.154977734,657,633,657,0.41210903669,-0.00551416422608,0.0599862570094,0.999999999584,5.59315015285e-06,-1.39766810961e-05,-2.46140210432e-05,1793251526676832000
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,724.265110522,690.265110522,671,643,891,789.734889478,820.734889478,657,633,657,0.412789395767,-0.00550923820126,0.0599613505093,0.999999997546,8.28905052824e-06,-6.30334463635e-05,-2.9442314817e-05,1793251526693498624
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.687824077,747,724,690.312175923,671.312175923,643,891,789.687824077,821.312175923,657,633,657,0.413486371538,-0.00550550703657,0.0599343424534,0.999999992867,3.97476618226e-06,-0.000114636597096,-3.33019452506e-05,1793251526710165248
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.11274847,747,724,690.88725153,671.88725153,643,891,789.11274847,821.88725153,657,633,657,0.414197341171,-0.00550278212561,0.0599055645646,0.999999985143,-6.24316135234e-06,-0.000168384197608,-3.63458140872e-05,1793251526726831872
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,747,724.461107898,691,671.538892102,643,891.461107898,789,822,657,633,657,0.415025833947,-0.00550962277665,0.0599376475369,0.999999993437,-1.28962894102e-05,-0.00010819921252,-3.54020811439e-05,1793251526743498496
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.035782506,747,724.964217494,691,671.035782506,643,892,789,822.035782506,657,633,657,0.415883373626,-0.00551845198896,0.0599835726817,0.99999999901,-1.83461171368e-05,-2.28263391899e-05,-3.34974757038e-05,1793251526760165120
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.627799197,747,724.372200803,691,671.627799197,643,892,789,822.627799197,657,633,657,0.416746919778,-0.00552193054582,0.0600139520052,0.999999999076,-1.86047929712e-05,2.21760322571e-05,-3.17730434324e-05,1793251526776831744
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724.212363183,691,671.787636817,643,892.212363183,789,823.212363183,657,633.212363183,657,0.417598009392,-0.00552246267088,0.0600267245954,0.999999998439,-1.83534487934e-05,4.20676988509e-05,-3.18673844177e-05,1793251526793498112
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724.784307927,691,671.215692073,643,892.784307927,789,823.784307927,657,633.784307927,657,0.41842800706,-0.00551800578336,0.0600096847817,0.999999999048,-1.72385190231e-05,1.94409455698e-05,-3.50413428472e-05,1793251526810164992
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.639011841,747,725,691,671,643,893.360988159,789,824,657,633.639011841,657,0.419273198931,-0.00551604337293,0.0599859190385,0.999999998932,-1.77666622064e-05,-2.01944584258e-05,-3.7594085002e-05,1793251526826831616
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.059464542,747,725,691,671,643,893.940535458,789,824,657,633.059464542,657,0.420127590053,-0.00551559123593,0.059958081103,0.999999996564,-1.92895987223e-05,-7.01276953585e-05,-3.97707135445e-05,1793251526843498240
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.529914321,747.529914321,725,691.529914321,671,643,894,789,824,656.470085679,633,657,0.420949126817,-0.00551780994546,0.0599204003181,0.999999990008,-2.30046410776e-05,-0.000132736694027,-4.28477444057e-05,1793251526860164864
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747.881951318,725,692.118048682,671,643,894.118048682,789,824.118048682,656.118048682,633.118048682,657,0.421791624969,-0.00552005192031,0.0598884211252,0.999999981311,-2.74447747923e-05,-0.000185861980017,-4.55974117445e-05,1793251526876831488
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747.303063706,725,692.696936294,671,643,894.696936294,789,824.696936294,656.696936294,633.696936294,657,0.422730616545,-0.00552119259065,0.0598830931777,0.999999979074,-3.37370802467e-05,-0.000196306892682,-4.66672229144e-05,1793251526893498368
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724.725922509,692.725922509,671,643,895,789,825,656.725922509,633.725922509,657,0.423709429114,-0.00552474285385,0.0599161697837,0.999999988178,-3.93489793619e-05,-0.000141439867626,-4.57265539763e-05,1793251526910164992
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724.150700127,692.150700127,671,643,895,789,825,656.150700127,633.150700127,657,0.424731995444,-0.00553094067709,0.0599914437069,0.999999998007,-4.42132767785e-05,-1.48108148175e-05,-4.25768531254e-05,1793251526926831872
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.577182758,747,724.422817242,692,671,643,895,788.577182758,825.422817242,656.422817242,633,657,0.425707810645,-0.00553076474723,0.0600259070375,0.999999997263,-4.31700076563e-05,4.29098398653e-05,-4.20695250992e-05,1793251526943498752
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.004270682,747,724.995729318,692,671,643,895,788.004270682,825.995729318,656.995729318,633,657,0.426667029719,-0.00552832621434,0.0600458831133,0.999999995395,-4.00296261041e-05,7.61688672446e-05,-4.25002066862e-05,1793251526960165376
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.589430196,747,724.410569804,692,671,643.589430196,896.178860392,788,826.589430196,656.410569804,633,657,0.427608634477,-0.0055285356888,0.0600252690379,0.999999996324,-4.27510356422e-05,5.90227693533e-05,-4.51645173906e-05,1793251526976831744
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.821537118,747,724.178462882,692.178462882,671,643.821537118,897,788.178462882,826.821537118,656.178462882,633,657,0.428540197336,-0.00552852371424,0.0599987682042,0.99999999744,-4.62995307635e-05,2.62816149724e-05,-4.78005246677e-05,1793251526993498368
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.243311116,747,724.756688884,692.756688884,671,643.243311116,897,788.756688884,826.243311116,656.756688884,633,657,0.429449562264,-0.00552797113761,0.0599597636902,0.99999999658,-5.16021111453e-05,-4.05450271831e-05,-5.03355537894e-05,1793251527010164992
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.332627776,747,725,692.667372224,671,643,897,788.667372224,826.332627776,657,633,657.332627776,0.430367201987,-0.00552851619057,0.0599328136036,0.999999993621,-5.08238777896e-05,-8.64141213361e-05,-5.20346128512e-05,1793251527026831616
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.90690509,747,725,692.09309491,671,643,897,788.09309491,826.90690509,657,633,657.90690509,0.431290853198,-0.00552985865647,0.0599146208955,0.999999990697,-4.56280161452e-05,-0.000117057840225,-5.31263510489e-05,1793251527043498240
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.479452789,724.520547211,692.479452789,671,643.479452789,897,788,827,657,633,657.520547211,0.43229773233,-0.00553166282556,0.0599592424717,0.999999996264,-5.6527059522e-05,-3.8814577036e-05,-5.26287607954e-05,1793251527060165376
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.94621669,747.94621669,724.05378331,693,671.05378331,643.94621669,897.05378331,788.05378331,827,657,633.05378331,657,0.433312784204,-0.00553333976289,0.0600112934858,0.999999994961,-6.90157767585e-05,5.12861662936e-05,-5.18216900029e-05,1793251527076831744
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.350552704,747.350552704,724.649447296,693,671.649447296,643.350552704,897.649447296,788.649447296,827,657,633.649447296,657,0.434247943997,-0.00553283482135,0.0600157558606,0.999999995331,-6.6147521713e-05,4.86037025304e-05,-5.09945610878e-05,1793251527093498368
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.237672862,747.237672862,724.762327138,692.762327138,671.762327138,643.237672862,898,788.762327138,827,657,634,657.237672862,0.435179612314,-0.00553403831474,0.0600041127341,0.99999999629,-6.51643398434e-05,2.25836570774e-05,-5.16072832091e-05,1793251527110164992
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.815260249,747.815260249,724.184739751,692.184739751,671.184739751,643.815260249,898,788.184739751,827,657,634,657.815260249,0.436106287334,-0.00553768517428,0.0599694358726,0.999999995613,-6.68771477996e-05,-3.68132874946e-05,-5.42792485274e-05,1793251527126832128
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,748,724.390519312,692.390519312,671.390519312,643.609480688,898.390519312,788,827,657,634,658,0.436980079652,-0.00553802655454,0.0599372669591,0.999999992058,-6.59006528433e-05,-9.16251943093e-05,-5.60894980306e-05,1793251527143498752
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,748,724.964683428,692.964683428,671.964683428,643.035316572,898.964683428,788,827,657,634,658,0.437829003406,-0.00553681350675,0.0599062774301,0.999999985912,-6.36594916818e-05,-0.000144280947053,-5.74945186076e-05,1793251527160165376
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.446968939,747.446968939,725,692.446968939,672,643,899,788,827.553031061,657,634,657.446968939,0.438676239211,-0.00553369040373,0.0598920856915,0.999999980625,-6.8206045586e-05,-0.00017526910918,-5.81226053137e-05,1793251527176832000
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.140355778,747.140355778,725,692,672,643,899,787.859644222,828,657,634,657.140355778,0.439554737261,-0.00553229358519,0.0598981445493,0.999999981051,-7.25994880584e-05,-0.000170966589412,-5.82904741609e-05,1793251527193498368
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.72154791,747.72154791,725,692,672,643,899,787.27845209,828,657,634,657.72154791,0.440531772737,-0.00553671195915,0.0599643495848,0.999999993728,-7.51147502753e-05,-6.02817165873e-05,-5.71728027997e-05,1793251527210165248
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.701234773,748,725,692,672,643,899,787.298765227,828,656.701234773,634,658,0.441453479926,-0.00554104055107,0.0600026799916,0.999999995355,-7.84874058529e-05,1.9717533667e-06,-5.59047088417e-05,1793251527226831616
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.127673414,748,725,692,672,643,899,787.872326586,828,656.127673414,634,658,0.442324297604,-0.00554528656365,0.060015372069,0.999999994906,-8.26486690053e-05,1.9679329373e-05,-5.44982607911e-05,1793251527243498240
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,725,692,672,643,899.436408037,788,828.436408037,656,634,657.563591963,0.44312050777,-0.00554752522824,0.0599999321053,0.999999994633,-8.72832373372e-05,-7.56267920827e-07,-5.58183296765e-05,1793251527260165120
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,692,672,643,899.9977751,788,828.9977751,656,634,657.0022249,0.443895355239,-0.00554918911858,0.0599764369461,0.99999999357,-9.20533298972e-05,-3.21136007768e-05,-5.79190964483e-05,1793251527276831744
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,748.607154689,725,692,672,643.607154689,899.392845311,788,829,656.607154689,633.392845311,657.607154689,0.444683367407,-0.0055477495222,0.0599737509958,0.999999993503,-9.04762742404e-05,-3.62776887133e-05,-5.90996767754e-05,1793251527293498368
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,748.79472707,725,692.20527293,672,644,899.20527293,787.79472707,828.79472707,657,633.20527293,658,0.445442498668,-0.00554629617515,0.059964660814,0.999999992484,-9.02225666488e-05,-5.73531929239e-05,-6.00218571427e-05,1793251527310164736
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,748.21736782,725,692.78263218,672,644,899.78263218,787.21736782,828.21736782,657,633.78263218,658,0.446149184364,-0.00554484028747,0.0599438119617,0.99999998793,-9.24133951486e-05,-0.000109279177875,-6.04822880622e-05,1793251527326831616
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.356449001,748,725,692.643550999,672,644,900,787.356449001,828.356449001,657,634,658,0.446872712514,-0.00554508200605,0.0599328901138,0.999999986148,-9.05283852805e-05,-0.000125607509627,-6.10900314152e-05,1793251527343498496
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.928126821,748,725,692.071873179,672,644,900,787.928126821,828.928126821,657,634,658,0.447606410326,-0.00554634876276,0.0599279623291,0.999999987124,-8.61823280127e-05,-0.000120441484884,-6.17867240837e-05,1793251527360165120
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,748,725,692.517884238,672,643.482115762,900.517884238,787.482115762,829,657,634,658,0.448327510939,-0.00555022691177,0.0599610654384,0.999999992431,-8.4842293405e-05,-6.5453163288e-05,-6.04684574512e-05,1793251527376832000
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.892235898,748,725,692.784471797,672,643,900.892235898,787.107764102,829,657,634,658,0.449026492721,-0.00555448399405,0.0599901730875,0.999999994322,-8.65116797246e-05,-1.9197881696e-05,-5.91796829299e-05,1793251527393498368
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.313190581,748,725,691.626381162,672,643,900.313190581,787.686809419,829,657,634,658,0.449636665138,-0.00555875598221,0.0599778903866,0.999999992395,-9.94516207532e-05,-4.24671129074e-05,-5.92870677908e-05,1793251527410164992
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.264480151,748,725.264480151,691,672,643,900,788,829,657,634,658,0.450226195793,-0.00556026103343,0.0599550133823,0.999999988922,-0.000111856572658,-7.708915689e-05,-6.08382098397e-05,1793251527426831616
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.84053151,748,725.84053151,691,672,643,900,788,829,657,634,658,0.450791409347,-0.00555850649048,0.0599196557452,0.999999982481,-0.00012363127884,-0.000125085395947,-6.40901719662e-05,1793251527443498240
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,725.584088745,691.415911255,672,643.415911255,900,788.415911255,829,657,634,658,0.451347695589,-0.00555849102278,0.0599053896174,0.999999979862,-0.00012562091812,-0.000141844425151,-6.61428435873e-05,1793251527460164864
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725.008966048,691.991033952,672,643.991033952,900,788.991033952,829,657,634,658,0.451900564491,-0.00555914127553,0.0598991973476,0.999999979282,-0.00012386482037,-0.000146645808294,-6.77364253366e-05,1793251527476831488
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672.833510112,643,900,788,829,656.166489888,633.833510112,658,0.452932127208,-0.00556719885494,0.0599431837557,0.999999986909,-0.000126884171334,-7.45534236922e-05,-6.72611422672e-05,1793251527510165504
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672.255348423,643,900,788,829,656.744651577,633.255348423,658,0.453387476819,-0.00556811034257,0.0599447727223,0.999999987124,-0.000124765438956,-7.41982074605e-05,-6.84122625493e-05,1793251527526832128
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,748,725,691.678780696,672,643,900,788,829,657,633.321219304,658,0.453795837046,-0.0055687575689,0.0599298462278,0.999999985266,-0.000117315327296,-0.000105220955116,-6.80734696257e-05,1793251527543498752
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,748,725,691.103473843,672,643,900,788,829,657,633.896526157,658,0.45416702819,-0.00556919576194,0.0599018558453,0.999999979234,-0.000105648043322,-0.000161063972902,-6.65561408258e-05,1793251527560165376
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+207,3.450000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642.950530413,901,787,829,656.950530413,633.049469587,658,0.454929432976,-0.00557598233028,0.0598847566791,0.999999982654,-5.80659120154e-05,-0.000169537100028,-5.07774414063e-05,1793251527593498368
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642.358692829,901,787,829,656.358692829,633.641307171,658,0.455277158624,-0.00558116877258,0.0598972600573,0.999999984925,-7.97262859786e-05,-0.000145197981167,-5.20614573023e-05,1793251527610164992
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,690.772318664,672,642.227681336,901.227681336,787,829,656.227681336,634,658,0.455609150399,-0.00558495443969,0.0599089987011,0.999999985144,-0.000105864930572,-0.000125214820938,-5.31500988113e-05,1793251527626831872
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,725,690.194350012,672,642.805649988,901.805649988,787,829,656.805649988,634,658,0.455916935605,-0.00558658501627,0.0599195608015,0.999999982635,-0.000138893384277,-0.00011193329733,-5.39381570902e-05,1793251527643499264
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+232,3.866666667,POSE1_TO_POSE2_PRESS,769,748,725,690,671.42989281,642,901,787,829,657,633,658,0.458111377277,-0.0055750194761,0.0597869303101,0.999999945099,-0.00012060034784,-0.000301642823512,-6.53426245437e-05,1793251528010165248
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.843166769,748,725,690.156833231,671,642.156833231,901,787,829,657,633,657.843166769,0.4581160167,-0.00557367156258,0.0597856550531,0.99999994463,-0.000120422594476,-0.000303243064781,-6.54415372668e-05,1793251528026831872
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768.887968587,748,725,691,671,642.112031413,901,787,829.887968587,656.112031413,633,657.887968587,0.458123769385,-0.00557356034304,0.0597846227888,0.999999944313,-0.00012162321055,-0.000303908936621,-6.49647892131e-05,1793251528076832256
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768.202178293,748,725,690.797821707,671,641.202178293,901,787,829,657,633.202178293,658,0.458123368257,-0.00556788026401,0.0597801041599,0.999999943195,-0.000117008778247,-0.000309264548958,-6.53714994905e-05,1793251528160165632
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.745882743,748,725,690.627058629,671,641.372941371,901,787,829,657,633,658,0.458123202836,-0.00556812093072,0.0597803588881,0.999999943217,-0.000115818112537,-0.000309704748588,-6.50778471723e-05,1793251528176832256
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+247,4.116666667,HOLD_POSE2,768,748,725,690,671,642,901,787,829,657,633,658,0.458126118497,-0.00557049516525,0.0597797631663,0.999999942858,-0.000119509666516,-0.000309704844449,-6.3907730138e-05,1793251528281021184
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+256,4.266666667,HOLD_POSE2,768.790200444,748,725,690.790200444,671.790200444,642,901,787,829,657,633,658,0.45812489522,-0.00556624109892,0.0597784624304,0.999999942365,-0.000115580286419,-0.000312676165886,-6.43803840017e-05,1793251528431021312
+257,4.283333333,HOLD_POSE2,768.198583854,748,725,690.198583854,671.198583854,642,901,787,829,657,633,658,0.458126547827,-0.00556860032988,0.0597797703004,0.999999942866,-0.00011672493392,-0.000310702854566,-6.40845493273e-05,1793251528447687936
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+262,4.366666667,HOLD_POSE2,769,748,725,690.313285049,671,642,901,787,828.313285049,656.686714951,633,658,0.458126630543,-0.00556870355011,0.0597790187463,0.99999994238,-0.000117805543374,-0.000311955879689,-6.36005673596e-05,1793251528531021568
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.255967136,748.255967136,725,690.255967136,671,642,901,787,829,657,633,658,0.458126749493,-0.00556835136666,0.0597784064485,0.999999942438,-0.000116744732051,-0.000312183511619,-6.35240708417e-05,1793251528647025664
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.481668581,671.518331419,641.518331419,901.518331419,787,829,657,633,658,0.458128133809,-0.0055676911908,0.0597793428205,0.999999942822,-0.000117439223922,-0.000310658252187,-6.36833893869e-05,1793251528697026304
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725.463880807,690.536119193,671,642,901,787,829,657,634,657.463880807,0.457961526973,-0.00556290153834,0.0597099036661,0.999999901669,-0.000113878833238,-0.000423481150872,-6.60163515812e-05,1793251528813692160
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725,690,671.774445901,642,900.225554099,787,829,656.774445901,633,658,0.457031423835,-0.00553386115505,0.0596798184122,0.999999889607,-8.99449046294e-05,-0.000456993538824,-6.20686854769e-05,1793251528963691776
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.647450322,748,725,690.352549678,671.647450322,642,900.352549678,787,829,656.647450322,633,658,0.456855648648,-0.00552848049088,0.059685603518,0.999999893312,-8.4714128888e-05,-0.0004500392389,-6.05360043327e-05,1793251528980358656
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.069982668,748,725,690.930017332,671.069982668,642,900.930017332,787,829,656.069982668,633,658,0.456670379353,-0.00552338382047,0.0596931144382,0.999999898039,-7.91245128689e-05,-0.000440674804786,-5.88846761646e-05,1793251528997025536
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.502489849,748,725,690.497510151,671,642,900.497510151,787,829,656,633,657.497510151,0.456459433464,-0.00551705748944,0.059703865246,0.999999904868,-7.33473191231e-05,-0.000426197163936,-5.69250164067e-05,1793251529013691904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,748,725.076886604,690.076886604,671.076886604,642,900,787.076886604,829,656.076886604,633.076886604,657,0.456239851142,-0.00551044255152,0.0597155041607,0.999999912051,-6.74385974068e-05,-0.000410299800563,-5.48153812272e-05,1793251529030358016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725.668786901,690.668786901,671.668786901,642,900,787.668786901,829,656.668786901,633.668786901,657,0.455986136551,-0.00550303026867,0.0597300992198,0.999999920899,-6.08221195139e-05,-0.000389615744122,-5.19859655352e-05,1793251529047024640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725.744970904,691,672,642,900,787.744970904,829,656.744970904,633.744970904,657.255029096,0.455715121863,-0.00549557968885,0.059745827395,0.99999992974,-5.34550227681e-05,-0.000367787898853,-4.89421276488e-05,1793251529063691264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725.16591758,691,672,642,900,787.16591758,829,656.16591758,633.16591758,657.83408242,0.455422126754,-0.0054880804517,0.0597629952367,0.999999938598,-4.51342364364e-05,-0.000344506827354,-4.56258583282e-05,1793251529080358144
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.588017767,748,725,691,672,642.411982233,900,787,829,656.411982233,633,658,0.455093536294,-0.00547889919611,0.0597726736554,0.999999942299,-3.574358802e-05,-0.00033510138172,-4.27841465719e-05,1793251529097025024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.010581224,748,725,691,672,642.989418776,900,787,829,656.989418776,633,658,0.454750650553,-0.00546904243292,0.0597793442804,0.999999943989,-2.59232773638e-05,-0.000331268463626,-4.01330198022e-05,1793251529113691904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.561069791,748,725,691,672,643,900,787,828.438930209,656.438930209,633,658,0.454357137159,-0.00546307525532,0.0597763085891,0.999999941703,-1.80076895655e-05,-0.000338922339621,-3.74219440401e-05,1793251529130359296
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.862486429,748,725,690.862486429,672,643,900,787,828.137513571,656,633.137513571,657.862486429,0.453948213299,-0.0054561998513,0.0597702166056,0.999999938145,-9.29721200616e-06,-0.000349873635641,-3.48007048623e-05,1793251529147026432
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.269821925,748,725,690.269821925,672,643,900,787,828.730178075,656,633.730178075,657.269821925,0.453491410969,-0.00544607803163,0.0597546084093,0.999999930639,2.16192003378e-06,-0.000371029238946,-3.24805167913e-05,1793251529163692544
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.315623359,748,725,690,672,643,900,787,828.684376641,656,633.684376641,657,0.453033598548,-0.00543837587834,0.0597496602339,0.999999929796,1.1566226741e-05,-0.000373329057392,-3.00022398639e-05,1793251529180358656
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.895035103,748,725,690,672,643,900,787,828.104964897,656,633.104964897,657,0.452574941874,-0.00543269600737,0.0597536213774,0.999999934686,1.92531743118e-05,-0.000359869787817,-2.73918368377e-05,1793251529197025024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.529242661,748,725,690.470757339,672,643,899.529242661,787,828,656,633,657.470757339,0.452094952918,-0.00544111963326,0.0597729867057,0.99999994501,1.15315019729e-05,-0.000330592192715,-2.35843766658e-05,1793251529213691648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.046644466,748,725,691,672,643,899,787.046644466,828.046644466,656.046644466,633,658,0.451604616476,-0.00545276982585,0.0597950705521,0.999999955177,2.49389135402e-07,-0.000298784891246,-1.93120797769e-05,1793251529230358784
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.633903609,748,725,691,672,643,899,787.633903609,828.633903609,656.633903609,633,658,0.451049050409,-0.005465652755,0.0598091636377,0.999999961135,-1.27885578692e-05,-0.000278218617609,-1.27217092643e-05,1793251529247030528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.7818432,748,725,691,672,643,898.7818432,787.7818432,828.7818432,657,633,657.7818432,0.450462267357,-0.00546823600061,0.0598072810528,0.999999960548,-1.42183485178e-05,-0.000280416118758,-8.26148402753e-06,1793251529263698688
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.202565874,748,725,691,672,643,898.202565874,787.202565874,828.202565874,657,633,657.202565874,0.449823810067,-0.00545376991605,0.0597789535311,0.999999948672,3.56713953159e-06,-0.000320295079235,-7.32734310374e-06,1793251529280360448
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.371352082,747.628647918,725,690.628647918,672,643,898,787,828,657,633,657,0.449160816621,-0.00544218880544,0.0597529926259,0.999999932883,6.28061665689e-05,-0.000360919088227,-5.08536185535e-06,1793251529297025280
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.94238817,747.05761183,725,690.05761183,672,643,898,787,828,657,633,657,0.448484629577,-0.00543215900787,0.0597283043022,0.999999908802,0.000144335652783,-0.00040194372233,-2.14012671368e-06,1793251529313691648
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.477391641,747.522608359,725,690.522608359,672,643,898,787.522608359,828,656.477391641,633,657,0.447823386854,-0.00542931559169,0.0597421285147,0.999999917443,0.000152057325522,-0.000376809147041,2.6761692217e-06,1793251529330358272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,748,724.894679788,690.894679788,672.105320212,643,898,787.894679788,827.894679788,656,632.894679788,657,0.447156513279,-0.00542865424859,0.0597640041868,0.999999930612,0.000149712037243,-0.000341019615314,8.18503147969e-06,1793251529347024896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,748,724.305252091,690.305252091,672.694747909,643,898,787.305252091,827.305252091,656,632.305252091,657,0.446456049533,-0.00543431627081,0.0598030245905,0.999999948031,0.00013916233288,-0.000290377934147,1.5912236244e-05,1793251529363691776
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.27925806,748,724.27925806,690.27925806,672.72074194,643,898,787.27925806,827.27925806,656.27925806,632.27925806,657,0.445706668028,-0.00543749793485,0.059810021075,0.999999949802,0.000134133988539,-0.000286251715011,2.15515762586e-05,1793251529380358400
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768.858486017,748,724.858486017,690.858486017,672.141513983,643,898,787.858486017,827.858486017,656.858486017,632.858486017,657,0.444904740575,-0.00543801527978,0.0597826185152,0.999999935429,0.000135036507759,-0.000332090881291,2.49482010535e-05,1793251529397024768
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.010373334,747,724.989626666,690.989626666,672,643,896.989626666,788,827,656.989626666,633,657,0.44333112257,-0.00542947700913,0.0597605823332,0.999999922843,0.000168134617405,-0.000353696750094,3.07282690342e-05,1793251529430358272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.585259267,747,724.414740733,690.414740733,672,643,896.414740733,788,827,656.414740733,633,657,0.442537694451,-0.00542572057005,0.0597840226447,0.999999928124,0.000200801145745,-0.000319600177171,3.58694320248e-05,1793251529447024640
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769,747,724.164993183,690,672,643,896,788,827,656,633.164993183,657,0.441715262861,-0.00542292285523,0.0597984992271,0.999999927826,0.000223534724267,-0.000304469938145,4.09657535829e-05,1793251529463691264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769,747,724.757282269,690,672,643,896,788,827,656,633.757282269,657,0.440817718736,-0.00542260802469,0.0597897617293,0.999999917348,0.0002205441556,-0.000338458318115,4.5945945578e-05,1793251529480357888
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.659020197,747.340979803,724.659020197,690.340979803,671.659020197,643,895.659020197,788,826.659020197,656,633.659020197,656.659020197,0.43993650407,-0.00542250006726,0.0597889904274,0.999999918741,0.000204638553185,-0.000344493186635,4.43233505096e-05,1793251529497024768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.081288055,747.918711945,724.081288055,690.918711945,671.081288055,643,895.081288055,788,826.081288055,656,633.081288055,656.081288055,0.439066627469,-0.00542253574793,0.0597937502907,0.999999928296,0.000179765661834,-0.000331119105814,3.81162453276e-05,1793251529513691904
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.493628983,747.506371017,724.493628983,691,671,643,894.012742034,788.493628983,826,656.493628983,632.506371017,656.493628983,0.438175460474,-0.00542484852251,0.0598046402163,0.999999938367,0.000149795463092,-0.000316337690981,2.75368204486e-05,1793251529530359040
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.930282849,747,724.930282849,691,671,642.930282849,893,788.930282849,826,656.930282849,632.069717151,656.930282849,0.437273476278,-0.00542658702415,0.0598087190786,0.999999943022,0.000123744597479,-0.000313571456566,1.77715426958e-05,1793251529547026432
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.342056692,747,724.342056692,691,671,642.342056692,893,788.342056692,826,656.342056692,632.657943308,656.342056692,0.436316968788,-0.0054212814444,0.0597546767142,0.999999910207,0.000133050556307,-0.000401879854952,1.93859217738e-05,1793251529563692800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.243345589,747,724,691.243345589,671,642.243345589,893,788,825.756654411,656,633,656,0.435370609057,-0.00541821294367,0.0597257519425,0.999999894765,0.000144325372258,-0.000434981045655,2.07863404174e-05,1793251529580358912
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.824824128,747,724,691.824824128,671,642.824824128,893,788,825.175175872,656,633,656,0.434438349676,-0.0054182529026,0.0597317284971,0.99999991064,0.000158335951893,-0.000391370871643,2.18894576674e-05,1793251529597025536
+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,747,724.401618555,692,671.401618555,643,893,788.401618555,825,656,633,656,0.433511832766,-0.00542113083876,0.0597523919405,0.999999923837,0.000157299003554,-0.000356354930581,2.43695378702e-05,1793251529613691904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,747,724.976393409,692,671.976393409,643,893,788.976393409,825,656,633,656,0.432587791757,-0.00542523235793,0.0597793875795,0.99999993558,0.000149774370321,-0.000325044362632,2.74432902977e-05,1793251529630358272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.451254542,747,724.451254542,691.451254542,672,643,893,789,825,656.548745458,633,656,0.431666688249,-0.00542257408974,0.05979752124,0.999999943407,0.000159816551941,-0.000294719927025,2.80160511866e-05,1793251529647025152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.125374503,746.874625497,724,691,671.874625497,643,893,789.125374503,825,656.874625497,633,656.125374503,0.43074329909,-0.00542025271053,0.0598150043464,0.9999999499,0.000167944428531,-0.000266758538273,2.88873594271e-05,1793251529663691264
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.718341891,746.281658109,724,691,671.281658109,643,893,789.718341891,825,656.281658109,633,656.718341891,0.429810916251,-0.00542026757591,0.0598314767582,0.999999955096,0.000166126687453,-0.000247452776054,3.12716236475e-05,1793251529680358144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.6960302,746.3039698,724,691,671,643,892.6960302,789.6960302,824.6960302,656.3039698,633,656.6960302,0.428814631593,-0.00541883402583,0.0598089906921,0.999999943148,0.000163239860029,-0.000293403513864,3.1160218461e-05,1793251529697025280
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.117042741,746.882957259,724,691,671,643,892.117042741,789.117042741,824.117042741,656.882957259,633,656.117042741,0.427760531607,-0.00541609001717,0.059751256816,0.999999907524,0.000159385772034,-0.000398395280024,2.87908479166e-05,1793251529713692416
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746.53954077,724,691,671.46045923,643,892,789.46045923,824,657,632.53954077,656,0.426812250342,-0.0054187073869,0.0597440081606,0.999999907285,0.000161305081453,-0.000398276495545,2.80581882637e-05,1793251529730358784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746.036770269,724,691.036770269,671.963229731,643,892,789.963229731,823.963229731,657,632.036770269,656,0.425891884272,-0.00542227968924,0.0597514128983,0.99999991724,0.000164686687521,-0.000370967343323,2.79717634752e-05,1793251529747025152
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.782234905,747,724,691.217765095,671.782234905,643,892,789.782234905,822.217765095,657,632.217765095,656.782234905,0.423178765304,-0.00541995695312,0.059834007053,0.999999951445,0.000161781501201,-0.000263947668465,3.56039214477e-05,1793251529797024768
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.058450143,747,724.941549857,691,671.058450143,643,892,790,821.058450143,657,632.941549857,656.058450143,0.421324259849,-0.00541884916995,0.0598412643385,0.99999995157,0.000176986022226,-0.000253463362649,3.59405739188e-05,1793251529830358016
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.478509094,643,889,789,820,656.521490906,632.478509094,657,0.410830641051,-0.00540066708398,0.0597415543754,0.999999886455,0.000209485098853,-0.0004268298956,3.19696791885e-05,1793251530047024896
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,888.958921688,789,820,656.958921688,632.041078312,656.041078312,0.407324728645,-0.00540586406465,0.0598275967711,0.999999937586,0.000205520473493,-0.000285104850644,3.6123324784e-05,1793251530147024896
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747,724,690.021399975,671,643,887.978600025,789,820,656.978600025,632.021399975,657,0.404173912543,-0.00538116940477,0.0597685530839,0.999999903632,0.000235339886855,-0.00036929203612,3.12259942064e-05,1793251530263691264
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,747,724,689.836985174,671,643,887.836985174,788,820,657,633,657,0.401810790402,-0.00539617702117,0.0598203750256,0.999999929563,0.000235782472764,-0.00029104067745,2.40160792009e-05,1793251530430358272
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,888,788,820,657,633,657,0.401555486622,-0.00539504626017,0.0598247450428,0.999999926561,0.000251349540418,-0.000288052156481,2.69522601259e-05,1793251530463692032
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887.895744312,788,820,657,633,657,0.401156744889,-0.00539245486636,0.0598280756356,0.999999931045,0.000238546250931,-0.000283202323219,2.83163381569e-05,1793251530547024384
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40f408724deafbaa2a3142eb8acdb09b63390b9a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9368c0a9d7c1e24242ce9f6796f263043643b428
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f6f2b1be1b8614eecef9834ffe2d3d3d06101dd7037d7243690664ef634695
+size 26413136
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57884ef9448e24f9bde0446b88474574544d2890
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+6,0.100000000,BASELINE,769.020189753,746.489905123,724,690,671,643,887.489905123,788.489905123,820,657,632.489905123,656.510094877,0.400963426761,-0.00539289113168,0.0598380012824,0.999999937137,0.000229562821587,-0.000268865360754,2.71740874389e-05,1793251531282328832
+7,0.116666667,BASELINE,768.117368349,747,724,690,671,643,888,788.941315825,820,657,633,656.058684175,0.400962657245,-0.00539278885846,0.0598373710066,0.999999936758,0.000230115911134,-0.000269818768057,2.69802155743e-05,1793251531298995712
+8,0.133333333,BASELINE,769.223528465,747,724,690,671,643,888,788.388235768,820,657,633,656.611764232,0.400962863899,-0.00539319441542,0.0598374747981,0.999999936968,0.000229271175835,-0.000269770135964,2.68916701022e-05,1793251531315661824
+9,0.150000000,BASELINE,769.814805318,747,724,690,671,643,887.814805318,788.185194682,820,657,632.814805318,657,0.400963639024,-0.00539334890555,0.0598381309802,0.999999937396,0.000228475238845,-0.000268855917297,2.68809545697e-05,1793251531332328448
+10,0.166666667,BASELINE,769.193446391,747,724,690,671,643,887.193446391,788.806553609,820,657,632.193446391,657,0.400965752993,-0.00539291209153,0.0598400881339,0.999999938337,0.000227794230096,-0.000265903098442,2.70535414883e-05,1793251531348995840
+11,0.183333333,BASELINE,769,747,724,690,671,643,887,788.601150575,820,657,632.398849425,657,0.400964688045,-0.00539203055576,0.0598398438022,0.999999937637,0.000229883536767,-0.000266721132237,2.71831969999e-05,1793251531365662720
+12,0.200000000,BASELINE,769,747,724,690,671,643,887,788.021993267,820,657,632.978006733,657,0.400962186004,-0.00539094797455,0.0598386042451,0.999999936184,0.000233225220028,-0.000269243855345,2.72934445226e-05,1793251531382329088
+13,0.216666667,BASELINE,769,747,724,689.44892138,671,643,887,788,820,657,633,657,0.400963151691,-0.00539142769727,0.0598392896085,0.999999936762,0.000232281350638,-0.000267913483373,2.72718685179e-05,1793251531398995456
+14,0.233333333,BASELINE,769,747,724,689.127483494,671,643,887.127483494,788.127483494,820,657,633,657,0.400964057902,-0.00539213833437,0.0598397479865,0.999999937282,0.000231313822632,-0.000266803486788,2.73076475184e-05,1793251531415661824
+15,0.250000000,BASELINE,769,747,724,689.716834073,671,643,887.716834073,788.716834073,820,657,633,657,0.400964252712,-0.00539346213748,0.0598391087217,0.999999937313,0.000230873461746,-0.000267042935451,2.75700733957e-05,1793251531432328704
+16,0.266666667,BASELINE,769,747,724,689.698913461,671,643,887.698913461,788.698913461,820,657,632.698913461,657,0.400963765667,-0.00539325620321,0.0598388368341,0.999999937108,0.000231159438108,-0.000267566871374,2.75173001181e-05,1793251531448995584
+17,0.283333333,BASELINE,769,747,724,689.11937587,671,643,887.11937587,788.11937587,820,657,632.11937587,657,0.400962648028,-0.00539163553612,0.0598389047045,0.999999936685,0.000232117146189,-0.000268353906978,2.71730241344e-05,1793251531465662208
+18,0.300000000,BASELINE,769,747,724,689.456739658,671.456739658,643,887.456739658,788,820,657,632.456739658,657,0.400964123697,-0.00539269010719,0.0598397873852,0.99999993757,0.000230558800701,-0.00026639011081,2.71955128708e-05,1793251531482329600
+19,0.316666667,BASELINE,769.031916356,747,724,690,671.968083644,643,887.968083644,788,820,657,633,657,0.400966056972,-0.00539431380168,0.0598407617631,0.999999938675,0.000228495510511,-0.000263996178472,2.72996650501e-05,1793251531498996736
+20,0.333333333,BASELINE,769.606225237,747,724,690,671.393774763,643,887.393774763,788,820,657,633,657,0.400964333868,-0.00539381507504,0.0598397022412,0.999999937933,0.000228943516047,-0.000266419908901,2.71746806958e-05,1793251531515663104
+21,0.350000000,BASELINE,769.814053313,747,724,689.814053313,671,643,887,788,820,656.814053313,633,657,0.400963266161,-0.00539321545839,0.0598389347241,0.999999937449,0.000229071010148,-0.000268137575558,2.70177460199e-05,1793251531532329216
+22,0.366666667,BASELINE,769.222526236,747,724,689.222526236,671,643,887,788,820,656.222526236,633,657,0.40096362798,-0.00539239578407,0.0598388041175,0.999999937539,0.000228499415895,-0.000268315200366,2.67911224398e-05,1793251531548995584
+23,0.383333333,BASELINE,769,747,724,689.361810179,671,643,887,788,820.361810179,656.361810179,633,657,0.40096267444,-0.00539231304136,0.0598384231988,0.999999937281,0.000228637659326,-0.000269150760137,2.68630693439e-05,1793251531565662464
+24,0.400000000,BASELINE,769,747,724,689.941810316,671,643,887,788,820.941810316,656.941810316,633,657,0.400960927672,-0.00539267470583,0.059837891329,0.999999936812,0.000229203970963,-0.0002703830882,2.71150694272e-05,1793251531582329088
+25,0.416666667,BASELINE,769,747,724,690,671,643,887.516466084,788,820.483533916,657,633,657,0.400961847504,-0.0053931614958,0.0598383768619,0.999999937559,0.00022780982229,-0.000268799388671,2.70400032187e-05,1793251531598995968
+26,0.433333333,BASELINE,769,747,724,690,671,643,887.909755025,788,820,656.909755025,633,657,0.400962960323,-0.00539369037948,0.0598388893458,0.999999938295,0.000226536008147,-0.000267141914414,2.69387754276e-05,1793251531615662848
+27,0.450000000,BASELINE,769,747,724,690,671,643,887.337476311,788,820,656.337476311,633,657,0.400963515619,-0.00539436957196,0.0598389397753,0.999999938275,0.000227072685967,-0.000266767733018,2.68926238026e-05,1793251531632329472
+28,0.466666667,BASELINE,769,747,723.755060457,690,671,643,887,788,820,656.244939543,633,657,0.400963207294,-0.00539410127201,0.05983863663,0.999999938047,0.000227442997146,-0.000267325354983,2.67068863487e-05,1793251531648995840
+29,0.483333333,BASELINE,769,747,723.158074753,690,671,643,887,788,820,656.841925247,633,657,0.400961657704,-0.00539247116222,0.0598378252996,0.999999937518,0.00022757419322,-0.000269222237232,2.6320525288e-05,1793251531665662208
+30,0.500000000,BASELINE,769,747,723.423986991,690,671,643,887,788,820,657,633,657,0.400960881691,-0.00539315730185,0.059837934139,0.999999937617,0.000226413612734,-0.00026979706888,2.66906390068e-05,1793251531682328832
+31,0.516666667,BASELINE,769,747,724,689.999328897,671,643,887.000671103,788.000671103,820,657,633,657,0.400960386384,-0.00539467479117,0.0598383737941,0.999999937939,0.000224791503577,-0.000269895177278,2.73317441854e-05,1793251531698995712
+32,0.533333333,BASELINE,769,747,724,689.424970635,671,643,887.575029365,788.575029365,820,657,633,657,0.400961687181,-0.00539375372277,0.0598383130078,0.999999937715,0.000226338709773,-0.000269494236759,2.67294001141e-05,1793251531715662592
+33,0.550000000,BASELINE,769.153542189,747,724,689,671,643,887.846457811,788.846457811,820,657,633,657,0.400963106338,-0.00539323594269,0.0598385931458,0.999999937716,0.000227387059294,-0.00026863538312,2.64066119485e-05,1793251531732329472
+34,0.566666667,BASELINE,769.743873609,747,724,689,671,643,887.256126391,788.256126391,820,657,633,657,0.400964862197,-0.00539386541741,0.0598398431284,0.999999938366,0.000227016285734,-0.000266473880924,2.68790907137e-05,1793251531748996096
+35,0.583333333,BASELINE,769.672198728,747,724,689.327801272,671,643,887,788,820.327801272,657,633,657,0.400964680265,-0.00539360326066,0.0598397023294,0.999999938356,0.000226930157778,-0.000266599447535,2.67490790018e-05,1793251531765662720
+36,0.600000000,BASELINE,769.093178683,747,724,689.906821317,671,643,887,788,820.906821317,657,633,657,0.400963013256,-0.00539265777971,0.0598384956699,0.999999937839,0.000227062175122,-0.000268477766788,2.61573335647e-05,1793251531782329344
+37,0.616666667,BASELINE,769,747,724,690,671,643,887,788.483361989,820.516638011,657,633,657,0.400963468001,-0.00539244350936,0.0598388962835,0.999999937905,0.000227216323208,-0.000268073565399,2.64363960773e-05,1793251531798995968
+38,0.633333333,BASELINE,769,747,724,690,671,643,887.05937489,789,820,656.94062511,633,657,0.400964298079,-0.00539247572195,0.0598396207719,0.999999938105,0.000227310286086,-0.000267209396896,2.6827762259e-05,1793251531815662336
+39,0.650000000,BASELINE,769,747,724,690,671,643,887.634933835,789,820,656.365066165,633,657,0.400964853487,-0.00539343159332,0.059840481044,0.999999938495,0.000226844120937,-0.000266152173509,2.67435247691e-05,1793251531832328448
+40,0.666666667,BASELINE,769,747,724,689.784236568,671,643,887.784236568,788.784236568,820,656,633,657,0.400964705617,-0.00539453081274,0.0598404572111,0.999999938783,0.00022563990562,-0.000266090343122,2.67663087569e-05,1793251531848994816
+41,0.683333333,BASELINE,769,747,724,689.194265903,671,643,887.194265903,788.194265903,820,656,633,657,0.400963338025,-0.00539587864641,0.0598389000393,0.999999938891,0.000223155660115,-0.000267754863081,2.69747044211e-05,1793251531865661184
+42,0.700000000,BASELINE,769,747,724,689,671,643,887.388274973,788.388274973,820,656.388274973,633,656.611725027,0.400962275462,-0.00539512162905,0.0598384062974,0.999999938612,0.000223298759181,-0.000268694066214,2.67649953259e-05,1793251531882327808
+43,0.716666667,BASELINE,769,747,724,689,671,643,887.967168275,788.967168275,820,656.967168275,633,656.032831725,0.40096136265,-0.00539333126361,0.0598384346319,0.999999938146,0.000224731717492,-0.000269277184842,2.63500233654e-05,1793251531898994688
+44,0.733333333,BASELINE,769,747,724,689.541521225,671,643,888,788.458478775,820,657,633,656.541521225,0.400961414429,-0.00539230396574,0.0598379339827,0.999999937247,0.000228573565763,-0.000269360105364,2.65481778525e-05,1793251531915661056
+45,0.750000000,BASELINE,769,747,724,690,671,643,887.881564487,788,820,657,633,657,0.400961692701,-0.00539184503629,0.0598377656821,0.999999936663,0.000231452233571,-0.000269051643659,2.67296060144e-05,1793251531932327680
+46,0.766666667,BASELINE,769,747,724,690,671,643,887.293409301,788,820,657,633,657,0.400962639236,-0.00539345831913,0.0598390416283,0.999999937481,0.000229936475584,-0.000267310220833,2.66984929974e-05,1793251531948994304
+47,0.783333333,BASELINE,769,747,724,689.709660919,671,643,887,788.290339081,820,657,633,657,0.400963061099,-0.00539433752405,0.0598396924395,0.999999937935,0.000228651136477,-0.000266704180219,2.68046354898e-05,1793251531965661184
+48,0.800000000,BASELINE,769,747,724,689.130299286,671,643,887,788.869700714,820,657,633,657,0.40096296067,-0.0053944859799,0.0598397209504,0.999999938029,0.000227595171247,-0.000267228373268,2.70474111091e-05,1793251531982327808
+49,0.816666667,BASELINE,769,747,724,689.44794004,671,643,887,788.55205996,820,656.55205996,633,657,0.400963026595,-0.00539385103641,0.059839087774,0.999999937851,0.000228056021452,-0.000267509463712,2.6969322308e-05,1793251531998994432
+50,0.833333333,BASELINE,769,747,724,689.974339968,671,643,887,788,820,656.025660032,633,657,0.40096318283,-0.00539307496175,0.0598383614483,0.999999937634,0.000228895401663,-0.00026761940591,2.68065203261e-05,1793251532015661056
+51,0.850000000,BASELINE,769,747,724,689.40075504,671,643,887,788,820,656.59924496,633,657,0.400964236769,-0.0053941390841,0.0598397457835,0.999999938286,0.000228419701325,-0.000265580999928,2.68228372066e-05,1793251532032327680
+52,0.866666667,BASELINE,769,747,724,689.177531253,671,643,887,788,819.822468747,657,633,657,0.40096468621,-0.00539463276328,0.0598405362586,0.999999938578,0.000228332434468,-0.000264552657953,2.68490424047e-05,1793251532048994560
+53,0.883333333,BASELINE,769,747,724,689.766718956,671,643,887,788,819.233281044,657,633,657,0.400963733947,-0.00539380370845,0.0598399497011,0.999999938042,0.000229145860591,-0.000265866435348,2.68981764644e-05,1793251532065661184
+54,0.900000000,BASELINE,769.34980917,747,724,690,671,643,887,788,819.34980917,656.65019083,632.65019083,656.65019083,0.400964179374,-0.00539293806218,0.0598403808032,0.999999938058,0.000229310186185,-0.00026568319489,2.67101772477e-05,1793251532082327808
+55,0.916666667,BASELINE,769.928902728,747,724,690,671,643,887,788,819.928902728,656.071097272,632.071097272,656.071097272,0.400965540925,-0.00539204843188,0.0598414789359,0.999999938436,0.000229049055153,-0.000264518725611,2.63667476893e-05,1793251532098994432
+56,0.933333333,BASELINE,768.986820226,747,724,689.493410113,671,643,887,788,820,656,632.506589887,656.506589887,0.400965675003,-0.00539392471134,0.0598412130597,0.999999938706,0.000228094243336,-0.000264276465644,2.67971673925e-05,1793251532115661056
+57,0.950000000,BASELINE,768.16596117,747,724,689.082980585,671,643,887,788.082980585,820,656.082980585,633,657,0.400965563725,-0.00539566708462,0.0598407565197,0.99999993885,0.000227483425967,-0.000264217757594,2.72187829528e-05,1793251532132327680
+58,0.966666667,BASELINE,769.305836175,747,724,689.652918087,671,643,887,788.652918087,820,656.652918087,633,657,0.400965020752,-0.00539435198625,0.0598403013753,0.999999938336,0.000229461005835,-0.000264478773044,2.69531635699e-05,1793251532148995328
+59,0.983333333,BASELINE,769.767682281,747,724,690,671.232317719,643,887,788.767682281,820,657,633,657,0.400964860198,-0.00539403090515,0.0598404768829,0.999999938316,0.00022948148073,-0.000264550114272,2.68404363674e-05,1793251532165662464
+60,1.000000000,BASELINE,769.173545957,747,724,690,671.826454043,643,887,788.173545957,820,657,633,657,0.400965295237,-0.00539525793626,0.059841634587,0.999999939062,0.000226453901771,-0.000264326051201,2.69658280053e-05,1793251532182328832
+61,1.016666667,BASELINE,768.590940429,746.590940429,724,689.590940429,671.590940429,643,887,788,820,657,632.590940429,656.590940429,0.40096484631,-0.00539438717174,0.0598414804425,0.999999938484,0.000227884486277,-0.000265275624782,2.6991114421e-05,1793251532198995456
+62,1.033333333,BASELINE,768.013092825,746.013092825,724,689.013092825,671.013092825,643,887,788,820,657,632.013092825,656.013092825,0.400964032635,-0.00539265080511,0.0598407849969,0.999999937353,0.000231154618768,-0.0002667094697,2.69750949539e-05,1793251532215662080
+63,1.050000000,BASELINE,768.564660666,746.564660666,724,689.564660666,671,643,887,788,820,657,632.564660666,656.564660666,0.400964924932,-0.00539258162106,0.0598414905026,0.999999937884,0.000231279409472,-0.000264619724489,2.67995407837e-05,1793251532232328960
+64,1.066666667,BASELINE,768.85559246,747,724,689.85559246,671,643,887,788,820,657,633,656.85559246,0.400965712137,-0.00539300532455,0.0598419482342,0.999999938398,0.000230713961092,-0.000263171044152,2.67513972598e-05,1793251532248995328
+65,1.083333333,BASELINE,768.269745371,747,724,689.269745371,671,643,887,788,820,657,633,656.269745371,0.400966057187,-0.00539481758528,0.0598415492613,0.999999938751,0.000228261426659,-0.000263931748233,2.71040414989e-05,1793251532265661696
+66,1.100000000,BASELINE,768.628629299,747,724,689,671,643,887,788,820,657,632.68568535,656,0.400966348806,-0.00539451248664,0.0598416090463,0.99999993884,0.000228161071793,-0.000263682865946,2.71011937014e-05,1793251532282328064
+67,1.116666667,BASELINE,769.79369929,747,724,689,671,643,887,788,820,657,632.103150355,656,0.40096659483,-0.00539240053971,0.0598420603123,0.999999938703,0.000230067949035,-0.00026257245329,2.6794986825e-05,1793251532298994432
+68,1.133333333,BASELINE,769.527068978,747,724,689.472931022,671,643,887,788,820,657,632.472931022,656.472931022,0.400965078762,-0.00539479800947,0.0598413946747,0.999999938944,0.000227780218004,-0.000263612580573,2.71549486488e-05,1793251532315661056
+69,1.150000000,BASELINE,769,746.952390491,724,689.952390491,671,643,887,788,819.952390491,656.952390491,632.952390491,657,0.400963344486,-0.00539776637027,0.0598405106081,0.999999939221,0.000224853064731,-0.000265027943272,2.75722917342e-05,1793251532332327936
+70,1.166666667,BASELINE,769,746.377870181,724,689.377870181,671,643,887,788,819.377870181,656.377870181,632.377870181,657,0.400963391462,-0.00539631430868,0.0598398688933,0.99999993912,0.000224838194684,-0.000265474895862,2.70382869584e-05,1793251532348994816
+71,1.183333333,BASELINE,769,746.202701468,724,689.202701468,671,643,887.202701468,788,819.202701468,656,632,656.797298532,0.40096308138,-0.00539502655794,0.0598392951016,0.99999993877,0.000225617200904,-0.000266167235357,2.66692144963e-05,1793251532365661440
+72,1.200000000,BASELINE,769,746.794901083,724,689.794901083,671,643,887.794901083,788,819.794901083,656,632,656.205098917,0.400962085195,-0.00539405453612,0.0598388518263,0.999999937939,0.000227921668871,-0.000267331094677,2.66170653022e-05,1793251532382328320
+73,1.216666667,BASELINE,769.378285627,747,724,690,671,643,887.621714373,788,820,656.378285627,632.378285627,656.378285627,0.40096201537,-0.00539427941369,0.0598390470229,0.999999937913,0.000228204984344,-0.00026718796843,2.65727318849e-05,1793251532398994944
+74,1.233333333,BASELINE,769.956999616,747,724,690,671,643,887.043000384,788,820,656.956999616,632.956999616,656.956999616,0.400962436362,-0.00539513844861,0.0598395805032,0.999999938317,0.000227417425568,-0.0002663523575,2.65325395302e-05,1793251532415661312
+75,1.250000000,BASELINE,769.467813912,747,724,690,671,643,887,788,820,657,633,656.467813912,0.400965672992,-0.00539522086911,0.0598413217259,0.999999939393,0.000226025320634,-0.000263482803773,2.65325490526e-05,1793251532432327936
+76,1.266666667,BASELINE,769,747,724,689.890521471,671,643,887,788,820,657,633,656.109478529,0.400967985346,-0.00539515745602,0.0598426483024,0.999999940236,0.0002247653447,-0.000261354812213,2.65097213588e-05,1793251532448994304
+77,1.283333333,BASELINE,769,747,724,689.302792353,671,643,887,788,820,657,633,656.697207647,0.400965272771,-0.00539472929242,0.0598417400338,0.999999939866,0.000224294547074,-0.000263179481522,2.6373034074e-05,1793251532465660928
+78,1.300000000,BASELINE,769,747,724,689.280399775,671,643,887,788.280399775,820,656.719600225,632.719600225,657,0.400964906279,-0.00539401599071,0.059841795242,0.999999939527,0.000225904863436,-0.000263092129434,2.63660047243e-05,1793251532482328064
+79,1.316666667,BASELINE,769,747,724,689.858770566,671,643,887,788.858770566,820,656.141229434,632.141229434,657,0.40096703289,-0.00539299968272,0.0598428743032,0.999999939208,0.000229726706733,-0.000260972939091,2.64967583271e-05,1793251532498995456
+80,1.333333333,BASELINE,769,747,724,689.564191304,671,643,887,788.564191304,820,656,632.435808696,657,0.400966371564,-0.00539400612882,0.0598420610513,0.999999939125,0.000228667477117,-0.00026219817924,2.66907669462e-05,1793251532515662336
+81,1.350000000,BASELINE,769,747,724,689.01238407,671,643,887,788,820,656.01238407,633,657,0.400964811484,-0.00539563488733,0.0598406461173,0.999999939108,0.000226071870665,-0.000264485455637,2.68994237259e-05,1793251532532328704
+82,1.366666667,BASELINE,769,747,724,689.587493888,671,643,887,788,820,656.587493888,633,657,0.400963340317,-0.00539584643612,0.0598396709098,0.999999938895,0.000225320012023,-0.000265933658314,2.68450781558e-05,1793251532548995072
+83,1.383333333,BASELINE,769,747,724,690,671,643,887,788,820,657,633,657,0.40096278821,-0.00539573197535,0.0598394597426,0.999999938864,0.000225135604433,-0.000266204969188,2.68610529798e-05,1793251532565661696
+84,1.400000000,BASELINE,769,747,724,690,671,643,887,788,820,657,633,657,0.400964567647,-0.00539479046715,0.0598411868541,0.999999939294,0.000226390752415,-0.000263490646036,2.70554222565e-05,1793251532582328576
+85,1.416666667,BASELINE,769.340545753,747,724,690,671,643,887.340545753,788,819.659454247,657,633,657,0.400965939166,-0.005394594761,0.0598421785831,0.999999939496,0.000227228406537,-0.000261982273134,2.72132250387e-05,1793251532598994944
+86,1.433333333,BASELINE,769.919816536,747,724,690,671,643,887.919816536,788,819.080183464,657,633,657,0.40096702473,-0.00539492186752,0.0598426548037,0.999999939542,0.000227773394377,-0.000261319280222,2.73453944329e-05,1793251532615661312
+87,1.450000000,BASELINE,769.504611744,747,724,689.504611744,671,643,888,788,819.495388256,657,633,657,0.400966840475,-0.00539541635313,0.0598423403781,0.999999939784,0.00022610429823,-0.000261871760372,2.70448209876e-05,1793251532632328192
+88,1.466666667,BASELINE,769,747,724,689.071822809,671,643,887.928177191,788,820,657,632.928177191,657,0.400966198788,-0.00539578275187,0.0598418195004,0.999999939898,0.000224528519003,-0.000262826863087,2.66944441849e-05,1793251532648995072
+89,1.483333333,BASELINE,769,747,724,689.658706817,671,643,887.341293183,788,820,657,632.341293183,657,0.400963739742,-0.00539503776037,0.0598407290315,0.999999938888,0.000226172872806,-0.000265268889973,2.64854934824e-05,1793251532665661952
+90,1.500000000,BASELINE,769,747,724,689.757512099,671,643,887.242487901,788,820,656.757512099,632.242487901,656.757512099,0.400962744309,-0.00539512457901,0.0598402664696,0.999999938581,0.000226437472918,-0.000266198940245,2.65095223771e-05,1793251532682328320
+91,1.516666667,BASELINE,769,747,724,689.178043143,671,643,887.821956857,788,820,656.178043143,632.821956857,656.178043143,0.400963782835,-0.00539636734922,0.0598406764988,0.999999939255,0.000224784654111,-0.000265027823727,2.6857318827e-05,1793251532698994688
+92,1.533333333,BASELINE,769,747,724,689,671,643,887.600608023,788,820,656.399391977,633,656,0.400964393211,-0.00539547311899,0.0598410884457,0.999999939319,0.000225557969818,-0.000264131583757,2.68288096784e-05,1793251532715661056
+93,1.550000000,BASELINE,769,747,724,689,671,643,887.024074915,788,820,656.975925085,633,656,0.400964813692,-0.00539363107146,0.0598415012432,0.99999993911,0.000227407341582,-0.000263357258858,2.66333988607e-05,1793251532732327424
+94,1.566666667,BASELINE,769,747,724,689,671,643,887,788,819.450840628,656.450840628,632.450840628,656.549159372,0.400963011629,-0.00539468730486,0.0598396917778,0.999999938506,0.000226921210002,-0.000266057327906,2.66041805944e-05,1793251532748994304
+95,1.583333333,BASELINE,769,747,724,689,671,643,887.126134428,788,819.126134428,656,632.126134428,656.873865572,0.400961903462,-0.00539549556569,0.0598385253273,0.999999938085,0.00022671757195,-0.000267811203049,2.65660012493e-05,1793251532765660928
+96,1.600000000,BASELINE,769,747,724,689,671,643,887.717435232,788,819.717435232,656,632.717435232,656.282564768,0.400963711471,-0.00539492355857,0.0598400873641,0.999999938424,0.000227931067165,-0.000265517280231,2.6468066048e-05,1793251532782327552
+97,1.616666667,BASELINE,769,747,724,689,671,643,887.697613308,788.302386692,820,656.302386692,633,656.302386692,0.400964942941,-0.00539525419257,0.0598410588328,0.999999938936,0.000227386663201,-0.00026403865964,2.66011315514e-05,1793251532798994432
+98,1.633333333,BASELINE,769,747,724,689,671,643,887.118473,788.881527,820,656.881527,633,656.881527,0.400965646745,-0.00539641095158,0.0598414897953,0.999999939607,0.00022523337568,-0.000263306228908,2.69456160224e-05,1793251532815661312
+99,1.650000000,BASELINE,769,746.540287791,724,689.459712209,671,643,887,788.540287791,820,657,633,657,0.400964941155,-0.00539576914546,0.0598409960464,0.999999939422,0.000225207608716,-0.000264040215611,2.68263977424e-05,1793251532832327936
+100,1.666666667,BASELINE,769,746.037326139,724,690,671,643,887,788,820,657,633,657,0.400964069985,-0.00539473976532,0.0598403948506,0.999999939096,0.000225618648601,-0.000264947981804,2.66042535366e-05,1793251532848994304
+101,1.683333333,BASELINE,769,746.610267226,724,690,671,643,887,788,820,657,633,657,0.400966024022,-0.00539478625174,0.0598416643755,0.99999993989,0.000224446320814,-0.000262937769216,2.66164054506e-05,1793251532865660928
+102,1.700000000,BASELINE,769,747,724,690,671,643,887,788,820,657,633,657,0.400966508778,-0.00539422234661,0.0598421338211,0.999999940007,0.000224669709357,-0.000262314930548,2.64690529304e-05,1793251532882327552
+103,1.716666667,BASELINE,769,747,724,690,671,643,887,788,820,657,633,657,0.400963867982,-0.00539235997664,0.0598409012856,0.999999938684,0.000227862157073,-0.000264643404639,2.59823921488e-05,1793251532898994176
+104,1.733333333,BASELINE,769.361620939,747,724,690,671,643,887,788,820,657,633,656.638379061,0.400963438481,-0.00539309565481,0.0598409284025,0.999999938729,0.0002274379212,-0.000264823664127,2.61205242819e-05,1793251532915661056
+105,1.750000000,BASELINE,769.939827878,747,724,690,671,643,887,788,820,657,633,656.060172122,0.400964333392,-0.00539538738443,0.0598417099641,0.999999939594,0.000224847541623,-0.000263717291464,2.66328642294e-05,1793251532932327936
+106,1.766666667,BASELINE,769.484881041,747,724,690,671.515118959,643,887,788,820,657,633,656,0.400963948718,-0.00539511785382,0.0598409321156,0.999999939599,0.000224104185123,-0.000264375499613,2.61720506273e-05,1793251532948994560
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,633,657,0.400964379398,-0.00539422752621,0.0598415727506,0.999999938318,0.000230592214711,-0.000263593188259,2.66567916487e-05,1793251532991385344
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,724,689.418608155,671.581391845,643,887,788,820,657,632.418608155,656.418608155,0.400964777582,-0.00539462067986,0.0598407742967,0.999999938837,0.000227694271093,-0.000264150452789,2.65787850306e-05,1793251533008051712
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724,689.161031366,671.838968634,643,887.161031366,788,820,657,632.161031366,656.161031366,0.40096502317,-0.00539482700846,0.0598404940264,0.999999939214,0.000225594542764,-0.000264533862209,2.64835629118e-05,1793251533024718080
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,724,689.7361648,671.2638352,643,887.7361648,788,820,657,632.7361648,656.7361648,0.400964876349,-0.00539455290502,0.0598415462971,0.999999939245,0.000225547473568,-0.000264470192636,2.6344070057e-05,1793251533041384960
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724,689.689426424,671,643,888,788,820,656.689426424,633,657,0.400964167776,-0.00539561170604,0.0598412215576,0.999999939123,0.00022492059839,-0.000265449379349,2.6472200338e-05,1793251533058051584
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724,689.115631855,671,643,888,788,820,656.115631855,633,657,0.400962983101,-0.00539780018603,0.059839729758,0.999999938868,0.000223802319183,-0.000267312419969,2.68271497553e-05,1793251533074718208
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887.528602234,788,819.528602234,656,633,657,0.400964088448,-0.00539627206857,0.0598403580853,0.999999939023,0.000225361592061,-0.000265456058209,2.64316297043e-05,1793251533091385088
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724.060642501,689.060642501,671,643,886.939357499,788,819.060642501,656.060642501,633,656.939357499,0.400965608008,-0.00539405807887,0.0598414130766,0.999999939246,0.000227272610912,-0.000263027963974,2.59247482099e-05,1793251533108051968
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724.64025817,689.64025817,671,643,886.35974183,788,819.64025817,656.64025817,633,656.35974183,0.400965726245,-0.00539400178423,0.0598415402435,0.999999939249,0.000226410703908,-0.000263740421068,2.6085754082e-05,1793251533124718592
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,724.78133347,690,671,643,886.21866653,788,820,657,633,656,0.400969184924,-0.0053943800565,0.0598432505054,0.999999939891,0.000225778341083,-0.000261812658771,2.63922087999e-05,1793251533141385216
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,724.20490048,690,671,643,886.79509952,788,820,657,633,656,0.400978108994,-0.00539546933594,0.0598475509136,0.99999994155,0.000225521542027,-0.000255565159198,2.69366364486e-05,1793251533158052096
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.37124703,788,820,656.62875297,633,656.37124703,0.401004927505,-0.00539611754004,0.05985860554,0.999999946375,0.0002256130707,-0.000235784245246,2.74731215782e-05,1793251533174718464
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.947237152,788,820,656.052762848,633,656.947237152,0.401041614816,-0.00539652249076,0.0598733851246,0.999999952349,0.000225896702291,-0.000208539639602,2.80052264354e-05,1793251533191384832
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.462514989,788,820,656.537485011,633,656.462514989,0.401099565309,-0.00539916849583,0.0598927390632,0.999999959161,0.000223917755671,-0.000175158366921,2.92996540066e-05,1793251533208051712
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,724,689.874062885,671,643,887.125937115,788,819.874062885,657,633,656.125937115,0.401161840358,-0.00540180202238,0.0599108062685,0.999999964202,0.000222456065645,-0.000145536763853,3.04531029169e-05,1793251533224718592
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,724,689.297188742,671,643,887.702811258,788,819.297188742,657,633,656.702811258,0.401231922511,-0.00540358167497,0.0599226144396,0.999999965854,0.000223663457098,-0.000131593032225,3.08264994022e-05,1793251533241385472
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,724,689.277915902,671,643,888,788,819,657,632.722084098,657,0.401309650303,-0.00540533491829,0.0599310296673,0.999999967417,0.000223667937307,-0.00011913064398,3.0759925335e-05,1793251533258052096
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,724,689.851140274,671,643,888,788,819,657,632.148859726,657,0.401395502211,-0.00540706009947,0.0599358396134,0.999999968955,0.00022239422547,-0.000108242305587,3.02258464024e-05,1793251533274718720
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.437665142,747,724,690,671,643,888,788,819.437665142,657,632.437665142,656.562334858,0.401501105208,-0.00540956114861,0.0599409965036,0.999999970617,0.000219783030907,-9.79220674948e-05,2.95552701762e-05,1793251533291385344
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+127,2.116666667,POSE1_TO_POSE2_PRESS,769.392906593,747,724,690,671,643,887.392906593,788.607093407,820,657,633,656.607093407,0.40174322457,-0.00541585848034,0.0599474790641,0.999999973124,0.00021391495594,-8.50816707357e-05,2.74640949356e-05,1793251533324718336
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788.814865754,820,657,633,657,0.401881168652,-0.00541986802048,0.0599482313639,0.999999974002,0.000211150335516,-8.20010217338e-05,2.62104052995e-05,1793251533341385216
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788.238515031,820,657,633,657,0.402038447694,-0.00542497716799,0.0599476285154,0.999999974844,0.000208463296492,-7.88849567504e-05,2.51439000407e-05,1793251533358051840
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.334993903,788,820,657,633,656.665006097,0.402214160651,-0.00542826569103,0.0599466734405,0.999999975781,0.00020581158191,-7.44552406821e-05,2.31587128176e-05,1793251533374718464
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.906496566,788,820,657,633,656.093503434,0.402402888136,-0.00543026883706,0.0599454696904,0.99999997676,0.000203184806428,-6.90980746104e-05,2.05249276143e-05,1793251533391385600
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,689.503649713,671,643,888,788,819.503649713,657,632.503649713,656.496350287,0.402627966081,-0.00543684269022,0.059945434515,0.999999978489,0.000195977456502,-6.54539732316e-05,1.81819995602e-05,1793251533408052480
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,888,788,819.087628642,657,632.087628642,657,0.402864962582,-0.00544409660877,0.0599456898818,0.999999980287,0.000187984574711,-6.19364705838e-05,1.58949574461e-05,1793251533424719104
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,888,788,819.666763289,657,632.666763289,657,0.403128926471,-0.00545015004455,0.0599462927374,0.999999981958,0.000180611444077,-5.72494915535e-05,1.3602250232e-05,1793251533441385216
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.755874638,747,724,689,671,643,887.755874638,788,820,657,633,657,0.403406068927,-0.00545660167831,0.0599453537574,0.99999998356,0.000171993354363,-5.63833195712e-05,1.08733127046e-05,1793251533458051584
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.180914765,747,724,689,671,643,887.180914765,788,820,657,633,657,0.403701070736,-0.00546359294279,0.0599423253082,0.999999985058,0.000161688117854,-6.0695040184e-05,7.55320346076e-06,1793251533474718464
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.394663724,747,724,689.394663724,671,643,887.394663724,788,820,657,633,657,0.40401076518,-0.00547071632759,0.0599315582037,0.999999985088,0.000153474232366,-7.90890810224e-05,3.91541439037e-06,1793251533491385088
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.970526218,747,724,689.970526218,671,643,887.970526218,788,820,657,633,657,0.404327205325,-0.00547790037152,0.059917238113,0.999999983907,0.00014622053219,-0.000103948623694,1.31771635291e-07,1793251533508051712
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888,788,820,657,633,657,0.404686383387,-0.00548473979127,0.0599025261247,0.999999981592,0.000139699840132,-0.000131459935819,-4.17314803696e-06,1793251533524718848
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888,788.146951454,820,657,633,657,0.405065343905,-0.00549186907152,0.0598921681004,0.99999997965,0.000132654352154,-0.000151770292137,-8.33646085302e-06,1793251533541385984
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888,788.727425292,820,657,633,657,0.405495863507,-0.00549990831225,0.0598947170997,0.999999980935,0.000123944013123,-0.000150415064433,-1.19990630504e-05,1793251533558052608
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888.303757786,789,820,657,633,657,0.405966709051,-0.00550741590621,0.0599123437828,0.999999985592,0.000117549910646,-0.000121598848467,-1.45329890119e-05,1793251533574719488
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,888.876424127,789,820,657,633,657,0.406473254109,-0.00551445284857,0.0599433183318,0.999999991119,0.000113206308524,-6.84721616893e-05,-1.60677288047e-05,1793251533591386368
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,788.536163835,820,657,633,657,0.407010817297,-0.00550930973032,0.0599745251916,0.999999995259,9.44840091101e-05,-1.47996104993e-05,-1.82968046821e-05,1793251533608052480
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,724,690.054065293,671,643,889.054065293,788.054065293,820,657,633,657,0.407557044865,-0.00550061456504,0.0600025969284,0.999999997096,6.58330363589e-05,3.22051119084e-05,-2.09036792414e-05,1793251533624718592
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,724,690.632268983,671,643,889.632268983,788.632268983,820,657,633,657,0.408104524783,-0.00548997593625,0.0599996553727,0.999999999379,-2.07147236563e-05,1.31121352791e-05,-2.53209029744e-05,1793251533641384960
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,724,690.790466441,671,643,889.790466441,789,820,656.790466441,633,657,0.408658761296,-0.00548756535053,0.0599916747149,0.999999996559,-7.66221849965e-05,-1.17391103522e-05,-2.95497555006e-05,1793251533658051840
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,724,690.214842687,671,643,889.214842687,789,820,656.214842687,633,657,0.409224802677,-0.00549953053372,0.0599748899027,0.999999995232,-7.89959118296e-05,-4.66510143299e-05,-3.34494920048e-05,1793251533674719232
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,724,690.367760124,671,643,889.367760124,789,820,656.367760124,633,657,0.409832493293,-0.00551033821719,0.0599717961109,0.999999994599,-8.09244069314e-05,-5.32859476284e-05,-3.76029528134e-05,1793251533691386624
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,724,690.954518897,671,643,889.954518897,789,820,656.954518897,633,657,0.410464985724,-0.00552045661704,0.0599768552289,0.999999994783,-8.25877695188e-05,-4.30821363734e-05,-4.19075045907e-05,1793251533708053504
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,890,788.46573284,820,656.46573284,633,657,0.411164246181,-0.00552306952472,0.0599855158949,0.999999995634,-7.94638667542e-05,-2.16939000746e-05,-4.41279182718e-05,1793251533724719872
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,890,788.113217067,820.113217067,656,633,657,0.411868366548,-0.00552208649503,0.0599885869269,0.999999997046,-6.27335298685e-05,-1.1554773579e-05,-4.28790044855e-05,1793251533741385728
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,890,788.691307445,820.691307445,656,633,657,0.412569405951,-0.00550892789919,0.0599674641448,0.999999998247,8.2136476868e-06,-5.14636539985e-05,-2.81039595464e-05,1793251533758052352
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,890.268305888,789,821.268305888,656.268305888,633,657,0.413266630371,-0.00549863373768,0.0599398996412,0.999999993419,4.07252826013e-05,-0.000104612089879,-2.36505978833e-05,1793251533774718720
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,890.844053201,789,821.844053201,656.844053201,633,657,0.413959483436,-0.00549162181989,0.0599049538133,0.99999998414,2.91951128082e-05,-0.000172931229645,-3.10244552901e-05,1793251533791385344
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,724.427857625,691,671,643,891.855715249,789.427857625,822,656.572142375,633,657.427857625,0.414750069952,-0.00549890744816,0.0599218613882,0.999999989662,1.26678248224e-05,-0.000139164816376,-3.38989910096e-05,1793251533808052480
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,724.985460589,691,671,643,892.985460589,789.985460589,822,656.014539411,633,657.985460589,0.415578073886,-0.00551138119913,0.0599581373394,0.999999997084,-5.43591144731e-06,-6.7651235495e-05,-3.50114598011e-05,1793251533824719616
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,724.403293586,691,671,643,892.403293586,789.403293586,822,656.596706414,633,657.403293586,0.416449475702,-0.00551904884562,0.05999855013,0.999999999385,-1.26132797646e-05,-2.9853933783e-06,-3.2584265018e-05,1793251533841386240
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,892.176417974,789.176417974,822.176417974,657,633,657,0.417317798398,-0.00552278013832,0.0600238163211,0.999999998665,-1.60590042301e-05,3.76767079881e-05,-3.15119929734e-05,1793251533858052864
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,892.750593384,789.750593384,822.750593384,657,633,657,0.418179178761,-0.00551763640522,0.0600149325169,0.999999999084,-1.10912484015e-05,2.42192270942e-05,-3.34945721615e-05,1793251533874719488
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,893.648776081,789.675611959,823.324388041,657,633,657,0.419030536392,-0.00551433155426,0.0599956279596,0.999999999273,-1.07028885286e-05,-7.13129739897e-06,-3.58985641341e-05,1793251533891385856
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,894.79578054,789.10210973,823.89789027,657,633,657,0.419874197014,-0.0055124388753,0.0599683207728,0.999999997795,-1.38312815367e-05,-5.22228057625e-05,-3.86261804204e-05,1793251533908052224
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,894.51395825,789,824,657,633,657,0.420703020775,-0.00551254304685,0.0599346016003,0.999999993587,-1.70021345287e-05,-0.000103758412847,-4.20836565224e-05,1793251533924718848
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,691.075548692,670.924451308,643.075548692,894,789,824,657,633,657,0.421536635035,-0.00551346997931,0.059901457881,0.999999986665,-2.05154554823e-05,-0.000155537484824,-4.53592573596e-05,1793251533941385216
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724,691.652979693,670.347020307,643.652979693,894,789,824,657,633,657,0.422423423141,-0.00551698918817,0.0598813638249,0.999999978648,-2.62427460523e-05,-0.000199660881294,-4.63763649699e-05,1793251533958052096
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,692,670.229501883,643.770498117,894.229501883,789,824.229501883,657,633,657,0.423377008741,-0.00552147676853,0.059899163651,0.999999983294,-3.25900743679e-05,-0.000173910294135,-4.58710590614e-05,1793251533974719232
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,692,670.804655403,643.195344597,894.804655403,789,824.804655403,657,633,657,0.424431197846,-0.00552742280892,0.0599740352603,0.999999997356,-3.98712389939e-05,-4.29228542158e-05,-4.30728534672e-05,1793251533991385856
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.38083949,692,671,643.38083949,895,789,825.38083949,657,633,657,0.425429623458,-0.00552855796536,0.0600180797571,0.999999997789,-4.10232637716e-05,3.15745416187e-05,-4.17428014535e-05,1793251534008052480
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.957553587,692,671,643.957553587,895,789,825.957553587,657,633,657,0.426399368545,-0.00552721877195,0.0600462691486,0.999999995425,-3.90229291237e-05,7.70177861169e-05,-4.11678553169e-05,1793251534024718848
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.451993315,692,671,643.451993315,895.548006685,788.451993315,826,657,633.548006685,657,0.427339691732,-0.00552817716195,0.0600309688398,0.99999999594,-4.27145826853e-05,6.59667139773e-05,-4.40784619943e-05,1793251534041385472
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,692.136297124,671,643,896.136297124,788,826,656.863702876,634,657,0.428271003274,-0.00552914509677,0.0600086196728,0.99999999692,-4.76419565176e-05,4.11288958946e-05,-4.68934645032e-05,1793251534058051840
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,692.714047516,671,643,896.714047516,788,826,656.285952484,634,657,0.429180697883,-0.00552955272319,0.0599746308723,0.99999999721,-5.51070245161e-05,-1.38255269015e-05,-4.8501898035e-05,1793251534074718464
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.289860394,724,693,671,643,897,788,826.289860394,656.289860394,633.710139606,657,0.430099821651,-0.00552831732555,0.059942126733,0.999999994892,-5.24188642821e-05,-6.99736570434e-05,-5.07186332454e-05,1793251534091385344
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.863774537,724,693,671,643,897,788,826.863774537,656.863774537,633.136225463,657,0.431028185635,-0.0055254718178,0.0599110775154,0.999999989674,-3.97808704921e-05,-0.000127291578203,-5.35314841818e-05,1793251534108051968
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.550579151,747.550579151,724.449420849,693,671,643,897,788,827,657,633.449420849,657.449420849,0.432029512299,-0.00552654568332,0.059947131598,0.999999995737,-4.526250472e-05,-6.02424724394e-05,-5.33669061959e-05,1793251534124718592
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725,692.961808462,671,643,897,788,827,656.961808462,633.961808462,658,0.433049052809,-0.00552882503379,0.0600009946413,0.999999996312,-5.59087746816e-05,3.89856922311e-05,-5.2244906424e-05,1793251534141385216
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725,692.380534101,671,643,897,788,827,656.380534101,633.380534101,658,0.434004674326,-0.00553089998415,0.0600111147848,0.999999995898,-5.98021728588e-05,4.53755036273e-05,-5.06859064768e-05,1793251534158051840
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747.19870384,725,692.19870384,671,643,897.19870384,787.80129616,827.19870384,656,633.19870384,657.80129616,0.434946143412,-0.00553336085809,0.0600069482112,0.999999996368,-6.14403632982e-05,3.06860386455e-05,-5.04631515847e-05,1793251534174718464
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747.774081532,725,692.774081532,671,643,897.774081532,787.225918468,827.774081532,656,633.774081532,657.225918468,0.435860784542,-0.0055365533102,0.0599756989578,0.999999996591,-5.88034593164e-05,-2.39624530715e-05,-5.27734554446e-05,1793251534191385088
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747.65142343,725,692.65142343,671.34857657,643,898,787.34857657,827.65142343,656,633.65142343,657,0.436759983055,-0.00553622541877,0.0599448369131,0.999999993983,-5.75709414274e-05,-7.55274707856e-05,-5.4910834233e-05,1793251534208051712
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747.077499045,725,692.077499045,671.922500955,643,898,787.922500955,827.077499045,656,633.077499045,657,0.437649198169,-0.00553362169511,0.0599142251928,0.999999988916,-5.7246331316e-05,-0.000125099080575,-5.69364202303e-05,1793251534224718336
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747.510254477,725,692.510254477,671.489745523,643,898,788,827,656,633.510254477,657.510254477,0.438504049922,-0.00552933668951,0.0598937642239,0.999999982345,-5.99819612878e-05,-0.000168386470205,-5.79426614601e-05,1793251534241385216
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.098188941,747.901811059,725,693.098188941,671,643,898.098188941,788,827.098188941,656,634,658,0.439374110955,-0.00552655533042,0.0598887177386,0.999999979081,-6.28755491515e-05,-0.000185674981649,-5.83873760675e-05,1793251534258051840
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.676452459,747.323547541,725,693.676452459,671,643,898.676452459,788,827.676452459,656,634,658,0.44034476376,-0.00553240904357,0.0599512892439,0.99999999307,-6.42055944081e-05,-8.0644010126e-05,-5.68646758535e-05,1793251534274718720
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747.254367554,725,693.745632446,671.254367554,643,899,787.745632446,828,656.254367554,634,658,0.44127708767,-0.00553699027558,0.0599966970647,0.99999999605,-6.91192826514e-05,-6.4348539811e-06,-5.55138410328e-05,1793251534291385344
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.83184003,725,693.16815997,671.83184003,643,899,787.16815997,828,656.83184003,634,658,0.442160725052,-0.0055399551653,0.0600203030793,0.999999995024,-7.85850169578e-05,2.86235445909e-05,-5.43813152182e-05,1793251534308052224
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+243,4.050000000,POSE1_TO_POSE2_PRESS,768.895776833,748.895776833,725,691,671,642,901,787.104223167,829,656.104223167,633,658,0.45861676965,-0.00557202527095,0.0597775014931,0.999999942034,-0.000111546424451,-0.000315476779205,-6.29539395224e-05,1793251535258051584
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748.513222135,725,691,671,642,901,787,829,656.486777865,633,658,0.458615829719,-0.00557159729568,0.0597760677615,0.999999941548,-0.000111136461706,-0.000317204101805,-6.27307797415e-05,1793251535274718464
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.921084766,901,787,829,657,633,657.921084766,0.458614766379,-0.00557123434795,0.0597746729756,0.999999941077,-0.000110557272146,-0.000318942908653,-6.24442994785e-05,1793251535291385344
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.344336887,901,787,829,657,633,657.344336887,0.45861753645,-0.00557049704147,0.0597769687456,0.999999942237,-0.000109708820191,-0.000315598531265,-6.23494971952e-05,1793251535308051968
+247,4.116666667,POSE1_TO_POSE2_PRESS,768.768706146,748,725,691,671,641.231293854,900.768706146,786.768706146,829,657,633,657.231293854,0.458618643028,-0.00557038264629,0.059777587276,0.999999942536,-0.000109435130191,-0.00031473351903,-6.2409889657e-05,1793251535324718336
+248,4.133333333,POSE1_TO_POSE2_PRESS,768.194730456,748,725,691,671,641.805269544,900.194730456,786.194730456,829,657,633,657.805269544,0.458617284995,-0.00557119114793,0.0597757208312,0.999999941566,-0.000110012999579,-0.00031754190007,-6.27002165334e-05,1793251535341385216
+249,4.150000000,HOLD_POSE2,768,748,725,691,671,642,901,786,829,657,633,658,0.458615456941,-0.00557173911814,0.0597746604771,0.999999940385,-0.000113315511698,-0.000320180583247,-6.22405469547e-05,1793251535376737280
+250,4.166666667,HOLD_POSE2,768.608306508,748,725,691,671,642,901,786.608306508,829,656.391693492,633,658,0.45861699179,-0.00556932327796,0.0597752434609,0.999999941188,-0.000110124405236,-0.000318639460595,-6.29740794205e-05,1793251535393404416
+251,4.183333333,HOLD_POSE2,769,748,725,690.794699245,671,642,901,787,829,656,633,658,0.458617894838,-0.00556812306548,0.0597756646694,0.999999941711,-0.000107922704576,-0.000317709006038,-6.31727761325e-05,1793251535410071296
+252,4.200000000,HOLD_POSE2,769,748,725,690.218160453,671,642,901,787,829,656,633,658,0.458617655426,-0.0055691210288,0.0597757933453,0.999999941749,-0.000107510110618,-0.000317882800577,-6.24043485421e-05,1793251535426737920
+253,4.216666667,HOLD_POSE2,769,748,725,690.3562271,671,641.6437729,901,787,829,656.3562271,633,658,0.458617695783,-0.00556967143963,0.0597757703604,0.999999941531,-0.000108801325653,-0.000318156796795,-6.22568247053e-05,1793251535443404544
+254,4.233333333,HOLD_POSE2,769,748,725,690.929305065,671,641.070694935,901,787,829,656.929305065,633,658,0.458617906448,-0.00556994940581,0.059775655053,0.999999941154,-0.000111129723044,-0.000318491790103,-6.2487271923e-05,1793251535460070912
+255,4.250000000,HOLD_POSE2,768.479722253,748,725,691,671,641,901,787,829,657,633,658,0.458617686174,-0.00557187505803,0.0597751717117,0.999999940907,-0.000112485256979,-0.000318917007835,-6.18495884801e-05,1793251535476737280
+256,4.266666667,HOLD_POSE2,768.110610691,748,725,691,671,641.110610691,901,787,829,657,633,658,0.458617975066,-0.00557338578349,0.0597750728306,0.999999940934,-0.00011316047171,-0.000318702827848,-6.12797632742e-05,1793251535493403648
+257,4.283333333,HOLD_POSE2,768.687627998,748,725,691,671,641.687627998,901,787,829,657,633,658,0.458620666631,-0.00557216923078,0.0597768134624,0.999999942042,-0.000111544279959,-0.000315738995299,-6.1511189726e-05,1793251535510070272
+258,4.300000000,HOLD_POSE2,768.735657045,748,725,691,671,642,901,787,829,657,633,658,0.458621572925,-0.00557075908491,0.0597774719511,0.999999942529,-0.000110139403754,-0.000314639364934,-6.17527571726e-05,1793251535526737152
+259,4.316666667,HOLD_POSE2,768.159299007,748,725,691,671,642,901,787,829,657,633,658,0.458620371986,-0.005569120433,0.0597768531409,0.999999942293,-0.000108983952275,-0.000315740130857,-6.20062944453e-05,1793251535543403776
+260,4.333333333,HOLD_POSE2,768,748,725,691,671,642,901,787,829,657,633,658,0.458619974932,-0.00556866927021,0.0597767635522,0.999999942286,-0.000107633574313,-0.000316256182356,-6.18412582143e-05,1793251535560070400
+261,4.350000000,HOLD_POSE2,768,748,725,691,671,642,901,787,829,657,633,658,0.458619884928,-0.00556867167831,0.0597768761038,0.999999942366,-0.000106208742513,-0.000316548897564,-6.15163444845e-05,1793251535576737024
+262,4.366666667,HOLD_POSE2,768.583223916,748,725.583223916,691,671,642,900.416776084,787,828.416776084,657,633,658,0.458620262291,-0.00556742256677,0.0597763422703,0.999999942245,-0.000106702978119,-0.000316663991165,-6.20358917062e-05,1793251535593403904
+263,4.383333333,HOLD_POSE2,769,748,725.827184678,691,671,642,900.172815322,787,828.172815322,657,633,658,0.458620653566,-0.00556675735021,0.0597761112309,0.999999942214,-0.000107165689564,-0.000316537322678,-6.2375945287e-05,1793251535610070272
+264,4.400000000,HOLD_POSE2,769,748,725.252288214,691,671,642,900.747711786,787,828.747711786,657,633,658,0.45862105356,-0.00556751397838,0.0597766173938,0.999999942406,-0.000107457954277,-0.000315857145241,-6.22556516253e-05,1793251535626737152
+265,4.416666667,HOLD_POSE2,769,748,725,690.677198999,671.322801001,642,901,787.322801001,829,657,633,658,0.458620559248,-0.00556797298052,0.0597765292049,0.99999994214,-0.000107903425528,-0.000316596077879,-6.19998142815e-05,1793251535643403776
+266,4.433333333,HOLD_POSE2,769,748,725,690.101959082,671.898040918,642,901,787.898040918,829,657,633,658,0.458619365565,-0.00556819923119,0.0597759762171,0.999999941514,-0.000108468708325,-0.000318444792152,-6.16379782017e-05,1793251535660070144
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,786,829,657,633,658,0.458621580691,-0.0055670232109,0.0597761932254,0.999999942317,-0.000108197742713,-0.000315790124909,-6.27285996831e-05,1793251535691133952
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748.577326531,725,691,671,642,901.577326531,786.577326531,829,657,633,658,0.458621976876,-0.00556578538128,0.0597770273064,0.999999942725,-0.000106049727979,-0.000315309067053,-6.23240331619e-05,1793251535707800576
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748.845856502,725,691,671,642,901.845856502,787,829,657,633,658,0.458622026206,-0.00556536567224,0.0597772990412,0.999999942805,-0.000105288255904,-0.000315375157941,-6.19894357195e-05,1793251535724467200
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748.270432067,725,691,671,642,901.270432067,787,829,657,633,658,0.458621127564,-0.00556718192229,0.0597760338593,0.999999941997,-0.000108316265225,-0.000316936630232,-6.18460667473e-05,1793251535741133568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,657,633,658,0.458620421264,-0.00556786572335,0.0597753059766,0.999999941403,-0.00011044489867,-0.000318086791264,-6.17790338959e-05,1793251535757800192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,657,633,658,0.458619885511,-0.00556754539924,0.0597750545089,0.999999941005,-0.000111776069205,-0.000318872248851,-6.17796871151e-05,1793251535774466816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641.531444465,901,787,829,657,633,658,0.458619848019,-0.00556759875071,0.0597750728483,0.999999941305,-0.000110365790162,-0.00031845984559,-6.158235645e-05,1793251535791133440
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.939948492,671,641.060051508,901,787,829,657,633,658,0.458619339304,-0.00556761257845,0.0597748074552,0.999999941572,-0.00010845214913,-0.000318305985888,-6.1437794555e-05,1793251535807800064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.365832002,671,641.634167998,901,787,829,657,633,658,0.458613659098,-0.00556643489686,0.0597714971785,0.999999939984,-0.000108488764009,-0.000323100300551,-6.21969882982e-05,1793251535824466688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.20894548,670.79105452,642,901,786.79105452,829,657,633,658,0.458602055315,-0.00556531629045,0.0597657033796,0.999999936961,-0.000108575017742,-0.000332157039381,-6.2942487372e-05,1793251535841133056
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.784883871,670.215116129,642,901,786.215116129,829,657,633,658,0.458580047333,-0.00556430144413,0.0597555475101,0.999999931264,-0.000108748457392,-0.000348700321319,-6.36639329687e-05,1793251535857799936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,670.370484681,642,901.370484681,786.370484681,829,657,633,658,0.458540239583,-0.00556306385547,0.0597386330046,0.999999921133,-0.00010616160017,-0.000377337215,-6.38752306372e-05,1793251535874466816
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,670.961846118,642,901.961846118,786.961846118,829,657,633,658,0.458489819908,-0.00556169347146,0.0597176891126,0.999999907411,-0.000101929100135,-0.000413184118525,-6.378238667e-05,1793251535891133440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901.458706619,787,829,657,633,658,0.458425884361,-0.00556023605018,0.0596980784383,0.999999895869,-0.00010312238012,-0.000439819922316,-6.47038506819e-05,1793251535907800320
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,657,633,658,0.4583591845,-0.00555850083994,0.0596810462097,0.9999998855,-0.000103696884467,-0.000462548744646,-6.55471001216e-05,1793251535924466944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,657,633,658,0.45828547641,-0.00555572600918,0.0596735251713,0.999999881034,-0.000100473088487,-0.000472762840833,-6.58235795072e-05,1793251535941133312
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,748,725.263340881,691.263340881,671.263340881,642,901,787,829,657,633,658,0.458204709153,-0.00555276847101,0.0596685998821,0.999999878534,-9.72922523894e-05,-0.000478684339138,-6.57813036947e-05,1793251535957799680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,725.826401544,691.826401544,671.826401544,642,901,787,829,657,633,658,0.458115907555,-0.00554960298572,0.0596666289292,0.999999878364,-9.41603110156e-05,-0.000479720243365,-6.53762386311e-05,1793251535974466560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,725.581221644,691.581221644,671.581221644,642,901,787,829,656.581221644,633,658,0.458008236698,-0.00554611929163,0.0596666283538,0.999999878951,-9.25141810901e-05,-0.00047890043058,-6.47539114469e-05,1793251535991133184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,656.023032054,633,658,0.457891251235,-0.0055424950994,0.0596674818028,0.999999879886,-9.14574852791e-05,-0.00047724599716,-6.40295180063e-05,1793251536007799808
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,901,787,829,656.598720845,633,658,0.457752577837,-0.00553890305599,0.0596677533845,0.999999881066,-8.86527486043e-05,-0.000475412670296,-6.31797718181e-05,1793251536024466432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.825052165,671,642,901,787,829,657,633,658,0.457604897351,-0.00553488440215,0.059668156313,0.999999882194,-8.52463187855e-05,-0.000473778905956,-6.22840431361e-05,1793251536041133312
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.247586972,671,642,901,787,829,657,633,658,0.457436493508,-0.00552988420991,0.0596688614422,0.999999883208,-8.04555227828e-05,-0.000472604292336,-6.12825187386e-05,1793251536057799936
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.663873351,748,725,690.336126649,671,642,900.663873351,786.663873351,829,656.663873351,633,658,0.457251237975,-0.00552454781519,0.0596706947944,0.999999884348,-7.55686774954e-05,-0.000471181928094,-5.98441349444e-05,1793251536074466560
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.07546997,748,725,690.92453003,671,642,900.07546997,786.07546997,829,656.07546997,633,658,0.457053334544,-0.00551895908629,0.0596733749238,0.999999885571,-7.0609742806e-05,-0.000469573616794,-5.80778702837e-05,1793251536091132928
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.504737279,748,725,690.495262721,671,642,900,786.504737279,828.495262721,656.504737279,633,658,0.456821575598,-0.00551255992333,0.0596811648456,0.999999890657,-6.43108101022e-05,-0.000459849484821,-5.55671079017e-05,1793251536107799808
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.916355586,748,725,690.083644414,671,642,900,787,828,657,633.083644414,658,0.456582152647,-0.00550574576244,0.0596908536923,0.999999897176,-5.73593992619e-05,-0.000446711024335,-5.2974147518e-05,1793251536124466688
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.338005247,748,725,690.661994753,671,642,900,787,828,657,633.661994753,658,0.456326863022,-0.00549718238466,0.0597073269448,0.999999909199,-4.77150514514e-05,-0.000420441335888,-5.0542903089e-05,1793251536141133312
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,690.761605653,671,642,900,787,828,656.761605653,633.761605653,658,0.456053821629,-0.00548937255036,0.059725425409,0.999999920401,-3.94319696615e-05,-0.000394177613514,-4.76209815315e-05,1793251536157799936
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.187949489,671,642,900,787,828,656.187949489,633.187949489,658,0.455755815358,-0.00548262244955,0.059745809461,0.999999930802,-3.30632816735e-05,-0.000367922283155,-4.40090047442e-05,1793251536174466816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,725,690.396230601,671.396230601,642,900,787,828.396230601,656.396230601,633,658,0.455433594674,-0.00547546261753,0.0597655118724,0.999999940284,-2.39676901045e-05,-0.000342377013438,-4.04515780978e-05,1793251536191133184
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,725,690.985538836,671.985538836,642,900,787,828.985538836,656.985538836,633,658,0.455099574653,-0.00546810312941,0.0597848821293,0.999999948926,-1.35433167073e-05,-0.000317177746984,-3.69207330628e-05,1793251536207799808
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.565060308,748,725,690.434939692,672,642.565060308,899.434939692,787,828.434939692,656.434939692,633,658,0.454684550309,-0.00546029923191,0.0597846057536,0.999999946907,-3.87188741586e-06,-0.000324072875136,-3.38827703959e-05,1793251536224466688
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.85608928,748,725,690,672,643,899.14391072,787,828.14391072,656.14391072,633,657.85608928,0.45425705692,-0.00545206029426,0.0597809682772,0.999999943571,5.42331384986e-06,-0.000334449996214,-3.11616786388e-05,1793251536241133568
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.278519247,748,725,690,672,643,899.721480753,787,828.721480753,656.721480753,633,657.278519247,0.453798130151,-0.00544254410094,0.0597686918321,0.999999937211,1.3641869117e-05,-0.000352886759339,-2.93580798087e-05,1793251536257800960
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.29692342,748,725,690,672,643,899.70307658,787,828.70307658,656.70307658,633,657,0.453322057154,-0.00543430514971,0.0597569965295,0.999999931461,2.29220457168e-05,-0.00036851189489,-2.74081909015e-05,1793251536274467840
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.870384841,748,725,690,672,643,899.129615159,787,828.129615159,656.129615159,633,657,0.452830015058,-0.00542725574981,0.0597458424693,0.99999992635,3.31909584877e-05,-0.00038151843865,-2.53220553248e-05,1793251536291133696
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.54363372,748,725,690.45636628,672,643,899,787,828.45636628,656,633.45636628,657,0.452340875752,-0.00543769997929,0.0597564481738,0.999999934031,2.35478327829e-05,-0.000361849303263,-2.11789978985e-05,1793251536307800576
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,888.454608457,788.545391543,820,657,633,657,0.406811068072,-0.00540112180796,0.0598255891117,0.99999993629,0.000212271209511,-0.000284932474495,3.428164251e-05,1793251537257799936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671.122535258,643,888,788.877464742,820,657,633,657,0.406322740427,-0.0053972427962,0.0598234465618,0.99999993698,0.000211399958814,-0.000283280472342,3.31980062227e-05,1793251537274466560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,747,724,690,671.696466121,643,888,788.303533879,820,657,633,657,0.405873621154,-0.00539056697363,0.0598277749834,0.99999993737,0.000222205641147,-0.000273468509897,3.31702993419e-05,1793251537291133184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769.277771522,747,724,690,672,643,888,788,820,656.722228478,633,657,0.405436334739,-0.00538580998648,0.0598260363207,0.999999935565,0.000229349320713,-0.000274161402736,3.3237573063e-05,1793251537307800064
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.867355171,747,724,690,672,643,888,788,820,656.132644829,633,657,0.405012331313,-0.00538320698638,0.0598174870588,0.999999931358,0.000232382222343,-0.000286646510278,3.34114671611e-05,1793251537324466688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724,689.551162409,671.551162409,643,888,788.448837591,820,656,632.551162409,656.551162409,0.404590082883,-0.00537977110358,0.0597963018622,0.999999918821,0.000236578100924,-0.000324500750943,3.29854864249e-05,1793251537341133568
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.972245673,747,724,689.055508654,671,643,888,788.972245673,820,656.027754327,632.027754327,656.027754327,0.404172650156,-0.00537629629247,0.0597722421854,0.999999902787,0.000240903054409,-0.000367886492756,3.24242868236e-05,1793251537357800192
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.397545557,747,724,690.204908886,671,643,888,788.397545557,820,656.602454443,632.602454443,656.602454443,0.403840079107,-0.00537681896785,0.0597638218621,0.999999900029,0.000241118664484,-0.000375151721281,3.26300502766e-05,1793251537374466816
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,888,788.176891519,820,657,633,657,0.403530116336,-0.00537777778375,0.0597646311775,0.999999902581,0.000241091529945,-0.000368230145585,3.34481269069e-05,1793251537391133440
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,747,724,690.664356152,671,643,888,789,820,657,633,657,0.403029780722,-0.00538331156487,0.0598070301599,0.999999927904,0.000236739305172,-0.000294439624754,3.8097417831e-05,1793251537424466688
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887.240977423,788,820,656.759022577,633,657,0.401974805346,-0.0053922915718,0.0598270349174,0.999999939303,0.000207317297595,-0.000277658795683,3.63092765051e-05,1793251537507800320
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.985550986,747,724,690,671.985550986,643,887.014449014,788.985550986,820,656.985550986,633,657,0.401562909988,-0.00539881598109,0.0598265084188,0.999999931163,0.000235174276569,-0.000286347074006,1.93012848283e-05,1793251537557799680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.433602802,747,724,690,671.433602802,643,887.566397198,788.433602802,820,657,633,657,0.401461286943,-0.00539615479791,0.0598287518003,0.999999931414,0.000240127184709,-0.000281248680855,2.0261347039e-05,1793251537574466560
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887.854271081,788,820,657,632.854271081,657,0.401366671171,-0.00539373804818,0.059830719935,0.999999931963,0.000242537612555,-0.000277125987933,2.1224049242e-05,1793251537591133184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887.278865042,788,820,657,632.278865042,657,0.401291452436,-0.0053925248868,0.0598319002702,0.999999932828,0.00024022645941,-0.00027593229742,2.22845870903e-05,1793251537607800064
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887,788,820,657,632.29680912,657,0.401223766241,-0.00539182131394,0.0598313021045,0.999999932648,0.000239707329797,-0.000276981967694,2.29428049795e-05,1793251537624466432
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887,788,820,657,632.872735491,657,0.401163163585,-0.00539159695446,0.059829031449,0.999999931481,0.000240873406483,-0.00028014127884,2.32226840768e-05,1793251537641133312
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,689.051384675,671,643,887,788,820,657,632.948615325,657,0.401066065787,-0.00538847275018,0.0598220265501,0.999999927404,0.000240401894566,-0.000294696546349,2.35262483399e-05,1793251537674466816
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,724,689.628873077,671,643,887,788,820,657,632.371126923,657,0.401037473828,-0.00538802720452,0.0598222873069,0.999999927588,0.000240912564028,-0.000293624164411,2.3868502802e-05,1793251537691133184
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.794663607,747,724,690,671.205336393,643,887.205336393,788,820,657,632.205336393,657,0.401013489515,-0.00538736473033,0.0598229307104,0.999999927752,0.000242158822395,-0.000292017654137,2.41156890655e-05,1793251537707799808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.220043877,747,724,690,671.779956123,643,887.779956123,788,820,657,632.779956123,657,0.40099779174,-0.00538631212518,0.0598242622779,0.999999927871,0.000244727986635,-0.000289450550956,2.41919017105e-05,1793251537724466432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.360371338,747,724,690,671.639628662,643,887.639628662,788.360371338,820,657,633.360371338,657,0.400985564627,-0.00538620342294,0.0598252390187,0.999999928538,0.00024370573646,-0.000288004389061,2.41704118944e-05,1793251537741133312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.944383112,747,724,690,671.055616888,643,887.055616888,788.944383112,820,657,633.944383112,657,0.400975491349,-0.00538668049113,0.0598259955601,0.999999929543,0.000240454714353,-0.000287253864711,2.4088289559e-05,1793251537757800192
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.471370771,747,724,689.471370771,671,643,887,788.471370771,820,657,633.471370771,657,0.400969379804,-0.00538727873447,0.0598265715224,0.999999929706,0.000239800733608,-0.000287211431385,2.43618834916e-05,1793251537774466816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,747,724,689.111127896,671,643,887,788.111127896,820,657,633,656.888872104,0.400965008471,-0.00538782163088,0.0598275425107,0.999999930077,0.000239415738333,-0.000286214089985,2.46425055629e-05,1793251537791133696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,689.686227613,671,643,887,788.686227613,820,657,633,656.313772387,0.40096616171,-0.00538808019604,0.0598302421347,0.999999931671,0.000239012500061,-0.00028091872121,2.47961487604e-05,1793251537807800320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.261232819,747,724,690,671.261232819,643,887.261232819,789,820,657,633,656.261232819,0.400966728898,-0.00538821159039,0.0598320494586,0.999999932675,0.000238980178473,-0.000277352282323,2.47842109096e-05,1793251537824466688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.836124623,747,724,690,671.836124623,643,887.836124623,789,820,657,633,656.836124623,0.40096659242,-0.00538819029237,0.0598327854094,0.999999932994,0.000239393211867,-0.00027586174727,2.45734619826e-05,1793251537841133312
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.576945693,643,887.576945693,789,820,657,633,657,0.400965892692,-0.00538847013152,0.0598326689382,0.999999933164,0.000238600013405,-0.000275921268217,2.46702903857e-05,1793251537857799936
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.985567448,747,724,690,671,643,887,789,820,657,633,657,0.40096494774,-0.00538886015969,0.0598322301046,0.999999933278,0.000237339266979,-0.000276577367653,2.48844117195e-05,1793251537874466560
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.16912392,747,724,690,671.16912392,643,887,789,820,657,633,657,0.400962255358,-0.00538911225568,0.0598327583477,0.999999933709,0.000236099877968,-0.000276083799469,2.4836676677e-05,1793251537907800064
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.744528335,747,724,690,671.744528335,643,887,789,820,657,633,657,0.40096325831,-0.00538994336115,0.0598331374548,0.999999933871,0.000236168925059,-0.000275453110824,2.46411673165e-05,1793251537924466944
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.673047689,747,724,690,671.673047689,643,887,788.673047689,820,657,632.673047689,657,0.400964684012,-0.005390216454,0.0598342205846,0.999999934643,0.000235318869503,-0.00027337840708,2.45607751655e-05,1793251537941133824
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.085018504,747,724,690,671.085018504,643,887,788.085018504,820,657,632.085018504,657,0.400966447286,-0.00539004396442,0.0598358658885,0.999999935891,0.000233734895148,-0.000270150633224,2.45723060351e-05,1793251537957800448
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,747,724.495486343,690,671,643,887.495486343,788,820,657,632.495486343,657,0.400964997336,-0.00538986305504,0.0598355388984,0.999999935432,0.000233872278555,-0.000271748751666,2.43425465168e-05,1793251537974467072
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,747,724.926226078,690,671,643,888,788,820,657,633,656.926226078,0.400963309911,-0.00538979600158,0.0598349531526,0.999999934839,0.000234017212463,-0.000273820513681,2.41032806599e-05,1793251537991133696
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,747,724.354322966,690,671,643,888,788,820,657,633,656.354322966,0.40096368607,-0.00539050732424,0.0598348711138,0.999999935317,0.000232248652874,-0.000273582884281,2.40751963668e-05,1793251538007800320
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671.220040498,643,887.779959502,788,820,657,633,656.220040498,0.400963909291,-0.00539092934373,0.0598349237164,0.999999935553,0.000231506869323,-0.000273334343487,2.42054736159e-05,1793251538024466944
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,690,671.798410667,643,887.201589333,788,820,657,633,656.798410667,0.400963883455,-0.0053908802414,0.0598351955787,0.999999935401,0.000232437160964,-0.000273068033767,2.45936381115e-05,1793251538041133568
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769.385251647,747,724,690,671.614748353,643,887.385251647,788.385251647,820,657,633,656.614748353,0.400963673666,-0.00539065409806,0.0598358126868,0.999999935345,0.000233300568136,-0.000272531092736,2.46393866443e-05,1793251538057799936
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769.976624736,747,724,690,671.023375264,643,887.976624736,788.976624736,820,657,633,656.023375264,0.400963365455,-0.00539033323235,0.0598366145119,0.999999935341,0.000234128190014,-0.000271849355672,2.45019321154e-05,1793251538074466560
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,887.441568979,788.441568979,820,657,633,656.558431021,0.400963703747,-0.00539011606573,0.0598365610749,0.999999935214,0.00023483978407,-0.000271695248022,2.45560358083e-05,1793251538091134208
+412,6.866666667,POSE2_TO_POSE3_RETREAT,769.862011736,747,724,690,671,643,887,788,820,657,633,657,0.40096421844,-0.00539018509267,0.0598367023245,0.999999935298,0.000235183202197,-0.000271087044433,2.45959774111e-05,1793251538107801088
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,769,747,724,690.284915119,671,643,887,788,820,657,633,656.715084881,0.400965097724,-0.00539220675482,0.0598373066248,0.999999936419,0.000232828310985,-0.000268973952476,2.46101385967e-05,1793251538141133312
+415,6.916666667,POSE2_TO_POSE3_RETREAT,769,747,724,690.857667461,671,643,887,788,820,657,633,656.142332539,0.40096388199,-0.00539337343572,0.059835902249,0.999999936376,0.00023052303052,-0.000271101240443,2.47282214363e-05,1793251538157799936
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..252428b98e02deb6c644766d93a874f550f6da19
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
+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,0.5857510495,5.04375309706e-06,1.05002116989,0.556322393237,0.00867745275113,1.04963253563
+1,0.016666667,pose1_baseline,0.5857510495,5.04375309706e-06,1.05002116989,0.556322393237,0.00867745275113,1.04963253563
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+358,5.966666667,pose2_to_pose3_retreat,0.591630414311,5.13313972959e-06,1.05002113454,0.562201757897,0.00867754173338,1.04963250199
+359,5.983333333,pose2_to_pose3_retreat,0.591187224857,5.02207326391e-06,1.05002110204,0.561758570183,0.00867743666068,1.04963247139
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+367,6.116666667,pose2_to_pose3_retreat,0.58829537558,5.08200215478e-06,1.05002091934,0.558866720065,0.00867749417177,1.04963229851
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+371,6.183333333,pose2_to_pose3_retreat,0.587364280106,5.20479490261e-06,1.05002096086,0.557935624585,0.00867761684779,1.04963233798
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+377,6.283333333,pose2_to_pose3_retreat,0.586422296737,5.08388553099e-06,1.0500208862,0.556993641025,0.00867749535451,1.04963226482
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+379,6.316666667,pose2_to_pose3_retreat,0.586219010835,5.21075510545e-06,1.05002103376,0.55679035346,0.00867761618619,1.04963240388
+380,6.333333333,pose2_to_pose3_retreat,0.586137918682,5.17889059853e-06,1.05002099758,0.556709262961,0.008677590281,1.04963237581
+381,6.350000000,pose2_to_pose3_retreat,0.586067052304,5.11782509639e-06,1.05002100848,0.556638396497,0.00867752898079,1.04963238789
+382,6.366666667,pose2_to_pose3_retreat,0.586005257761,5.17486904375e-06,1.05002083343,0.556576600118,0.00867757957354,1.04963220784
+383,6.383333333,pose2_to_pose3_retreat,0.58595158059,5.18136241643e-06,1.05002079858,0.556522923648,0.00867758828007,1.04963216929
+384,6.400000000,pose2_to_pose3_retreat,0.585905472598,5.16616801262e-06,1.0500210003,0.556476816123,0.00867757438437,1.04963236457
+385,6.416666667,pose2_to_pose3_retreat,0.585866682014,5.20290259038e-06,1.05002104252,0.556438025075,0.00867760960148,1.04963240799
+386,6.433333333,pose2_to_pose3_retreat,0.585834799274,5.25545720643e-06,1.050020831,0.556406142152,0.00867766203495,1.04963220762
+387,6.450000000,pose2_to_pose3_retreat,0.585809896576,5.17087740607e-06,1.05002102742,0.556381239981,0.0086775791665,1.04963240238
+388,6.466666667,pose2_to_pose3_retreat,0.585791111492,5.13718532267e-06,1.05002118142,0.556362454218,0.00867754263584,1.04963254442
+389,6.483333333,pose2_to_pose3_retreat,0.585777945017,4.91116439928e-06,1.05002085542,0.556349290573,0.00867732648692,1.04963222446
+390,6.500000000,pose2_to_pose3_retreat,0.585768125162,4.96554000012e-06,1.05002102531,0.556339470743,0.00867738113063,1.04963239811
+391,6.516666667,pose2_to_pose3_retreat,0.585761348389,5.09662552128e-06,1.05002097142,0.556332693334,0.00867751008753,1.0496323449
+392,6.533333333,pose2_to_pose3_retreat,0.585757126023,5.17823773336e-06,1.05002086103,0.556328470608,0.00867759038061,1.04963223265
+393,6.550000000,pose2_to_pose3_retreat,0.585754789683,5.15215632999e-06,1.05002109887,0.55632613441,0.00867756460292,1.04963246638
+394,6.566666667,pose2_to_pose3_retreat,0.585753708124,5.13690004834e-06,1.05002113004,0.556325052803,0.00867754920781,1.0496324981
+395,6.583333333,pose2_to_pose3_retreat,0.585753303669,5.12836768233e-06,1.05002107157,0.556324648229,0.00867754037528,1.04963244204
+396,6.600000000,pose2_to_pose3_retreat,0.585753296625,5.12821908397e-06,1.05002107055,0.556324641183,0.00867754022146,1.04963244106
+397,6.616666667,pose2_to_pose3_retreat,0.585752952743,5.12096455471e-06,1.05002102085,0.556324297199,0.00867753271172,1.04963239339
+398,6.633333333,pose2_to_pose3_retreat,0.585752433877,5.11001856827e-06,1.05002094584,0.55632377818,0.00867752138067,1.04963232146
+399,6.650000000,pose2_to_pose3_retreat,0.585752047168,5.10186057196e-06,1.05002088994,0.556323391357,0.00867751293568,1.04963226785
+400,6.666666667,pose2_to_pose3_retreat,0.585751924954,5.10159787937e-06,1.05002089203,0.556323269097,0.00867751255195,1.04963227071
+401,6.683333333,pose2_to_pose3_retreat,0.585751784073,5.10288253146e-06,1.05002090797,0.556323128155,0.00867751367627,1.0496322876
+402,6.700000000,pose2_to_pose3_retreat,0.585751614917,5.10442500561e-06,1.0500209271,0.556322958928,0.00867751502623,1.04963230788
+403,6.716666667,pose2_to_pose3_retreat,0.585751515842,5.10532843486e-06,1.05002093831,0.556322859812,0.00867751581691,1.04963231975
+404,6.733333333,pose2_to_pose3_retreat,0.585751475655,5.10569489429e-06,1.05002094286,0.556322819607,0.00867751613763,1.04963232457
+405,6.750000000,pose2_to_pose3_retreat,0.58575140287,5.10635859314e-06,1.0500209511,0.556322746791,0.0086775167185,1.0496323333
+406,6.766666667,pose2_to_pose3_retreat,0.585751164636,5.10943177052e-06,1.05002098036,0.556322508434,0.00867751943707,1.04963236394
+407,6.783333333,pose2_to_pose3_retreat,0.585751104917,5.1320636064e-06,1.05002104367,0.556322448158,0.00867753995401,1.0496324223
+408,6.800000000,pose2_to_pose3_retreat,0.585751102411,5.13301328622e-06,1.05002104632,0.556322445629,0.00867754081494,1.04963242475
+409,6.816666667,pose2_to_pose3_retreat,0.585751101614,5.13331552391e-06,1.05002104717,0.556322444824,0.00867754108894,1.04963242553
+410,6.833333333,pose2_to_pose3_retreat,0.585751087666,5.13860128957e-06,1.05002106196,0.556322430746,0.00867754588076,1.04963243916
+411,6.850000000,pose2_to_pose3_retreat,0.585751027993,5.16121606185e-06,1.05002112522,0.556322370515,0.00867756638223,1.04963249747
+412,6.866666667,pose2_to_pose3_retreat,0.585751018719,5.11390870398e-06,1.05002116642,0.556322361626,0.00867752017391,1.04963253405
+413,6.883333333,pose2_to_pose3_retreat,0.585751040798,5.06358538677e-06,1.05002116891,0.556322384301,0.00867747181097,1.04963253519
+414,6.900000000,pose2_to_pose3_retreat,0.585751048417,5.0462200988e-06,1.05002116977,0.556322392125,0.00867745512215,1.04963253558
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ca985b3ce50f0d96e28f7a07b926cbc108654a7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6f8bc9c58c020f4c2cfb88bb72f4096cda4a1d92ca7a06fc903c28e821e47a6
+size 26406862
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5ee42955b5c2d3c0705e66340427f23e698c0a0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+23,0.383333333,BASELINE,769,747,724,689.662238801,671,643,888.337761199,788,820,657,633,656.337761199,0.400964978104,-0.00539222706995,0.0598382817045,0.999999937319,0.000230450279132,-0.000267708537744,2.42041196702e-05,1793251538659565312
+24,0.400000000,BASELINE,769,747,724,689.076893819,671,643,888.923106181,788,820,657,633,656.923106181,0.400964900262,-0.00539170188371,0.0598383645132,0.999999937306,0.000230573806664,-0.000267668498473,2.40169755302e-05,1793251538676232192
+25,0.416666667,BASELINE,769,747,724,689.505305194,671,643,887.989389613,788,820,657,632.494694806,657,0.4009629408,-0.00539188970104,0.0598377428113,0.999999936661,0.000231617491244,-0.000269148085543,2.43016496661e-05,1793251538692898560
+26,0.433333333,BASELINE,769,747,724,689.913131655,671,643,887,788,820,656.913131655,632,657,0.400961195805,-0.00539200362402,0.0598371617666,0.999999936044,0.000232640820504,-0.000270533601068,2.4545997803e-05,1793251538709564928
+27,0.450000000,BASELINE,769,747,724,689.332478275,671,643,887,788,820,656.332478275,632,657,0.40096228742,-0.00539108458091,0.0598374174571,0.999999936149,0.000232757437328,-0.000270078049732,2.41555256546e-05,1793251538726231552
+28,0.466666667,BASELINE,769,747,724,689,671,643,887,788,820,656.245578983,632.245578983,656.754421017,0.400962722474,-0.00539143657011,0.0598378493783,0.999999936548,0.000231622646073,-0.000269578474146,2.41369387636e-05,1793251538742898176
+29,0.483333333,BASELINE,769,747,724,689,671,643,887,788,820,656.820158203,632.820158203,656.179841797,0.40096227794,-0.00539349135138,0.0598385173943,0.999999937334,0.000228811353231,-0.000269019919647,2.46165636559e-05,1793251538759564800
+30,0.500000000,BASELINE,769,747,724,689.402458665,671.402458665,643,887.402458665,788,820,657,633,656.402458665,0.400961822922,-0.00539308648823,0.0598381661996,0.999999936987,0.000229759035939,-0.000269509955513,2.45175710102e-05,1793251538776231168
+31,0.516666667,BASELINE,769,747,724,689.988276899,671.988276899,643,887.988276899,788,820,657,633,656.988276899,0.400961363128,-0.00539156101469,0.059837350654,0.99999993612,0.000232419302386,-0.000270477727603,2.41549610625e-05,1793251538792897792
+32,0.533333333,BASELINE,769,747,724,690,671.430166422,643,888,788,820,657,633,657,0.40096267411,-0.00539252291408,0.0598379237926,0.999999936807,0.000230944482693,-0.000269181959243,2.43291043552e-05,1793251538809564928
+33,0.550000000,BASELINE,769,747,724,690,671,643,887.850850956,788.149149044,820,657,633,657,0.400963891446,-0.00539308730537,0.0598384678028,0.999999937444,0.000229702328924,-0.000267869212413,2.44036298471e-05,1793251538826231808
+34,0.566666667,BASELINE,769,747,724,690,671,643,887.277660123,788.722339877,820,657,633,657,0.400964739736,-0.00539237714467,0.0598388483779,0.999999937856,0.000229361728315,-0.000266639606792,2.41637727864e-05,1793251538842898432
+35,0.583333333,BASELINE,769,747,724,690,671,643,887.296610827,788.703389173,820,657,632.703389173,657,0.400964450645,-0.00539167602015,0.0598390980505,0.999999937783,0.000229688086818,-0.000266643588651,2.40737927252e-05,1793251538859565056
+36,0.600000000,BASELINE,769,747,724,690,671,643,887.871896645,788.128103355,820,657,632.128103355,657,0.400963092951,-0.00539098338532,0.0598392247364,0.999999937251,0.000230641073876,-0.000267806563731,2.41246266853e-05,1793251538876231680
+37,0.616666667,BASELINE,769.459752525,747,724,690,671,643,887.540247475,788,820,657,632.459752525,657,0.400963182458,-0.00539095574035,0.0598389764894,0.999999937525,0.000229835738611,-0.000267494059778,2.3933696197e-05,1793251538892898560
+38,0.633333333,BASELINE,769.949871332,747,724,690,671,643,887.050128668,788,820,657,633,657,0.400963667497,-0.0053912854694,0.05983867255,0.999999937998,0.000228552535311,-0.000266844832907,2.37038211686e-05,1793251538909564928
+39,0.650000000,BASELINE,769.370895458,747,724,690,671,643,887.629104542,788,820,657,633,657,0.400963951626,-0.00539337570492,0.0598389141793,0.999999938157,0.00022754188095,-0.000267102405239,2.37937437924e-05,1793251538926231552
+40,0.666666667,BASELINE,769,747,724,690,671,643,888,788,820,657,633,657,0.400964272637,-0.00539410132506,0.0598391319265,0.999999938043,0.000227852053085,-0.000267255361008,2.39250143449e-05,1793251538942898432
+41,0.683333333,BASELINE,769,747,724,690,671,643,888,788,820,657,633,657,0.400964659389,-0.0053923945701,0.0598393071046,0.999999937436,0.000230516548243,-0.000267221841722,2.41299860013e-05,1793251538959565056
+42,0.700000000,BASELINE,769.36243476,747,724,690,671,643,888,788,820,657,633,657,0.400963049765,-0.00539212306162,0.0598384127038,0.999999936934,0.000230997718076,-0.000268677774151,2.41782723295e-05,1793251538976231680
+43,0.716666667,BASELINE,769.951861311,747,724,690,671,643,888,788,820,657,633,657,0.400960189817,-0.00539275044372,0.0598368484289,0.999999936495,0.000230111477778,-0.000271066545673,2.4128427104e-05,1793251538992898304
+44,0.733333333,BASELINE,770,747,724,690,671,643,888,788,820,657,632.468596783,657,0.400960048881,-0.00539250554294,0.0598364719992,0.999999936469,0.000229382308479,-0.000271802941054,2.38527160954e-05,1793251539009565184
+45,0.750000000,BASELINE,769.889791232,747,724,689.889791232,671,643,887.889791232,788,820,657,632.110208768,656.889791232,0.400960459104,-0.00539245908539,0.0598365993968,0.999999936613,0.000228934497823,-0.000271665418342,2.36976561313e-05,1793251539026232064
+46,0.766666667,BASELINE,769.310378219,747,724,689.310378219,671,643,887.310378219,788,820,657,632.689621781,656.310378219,0.400962186344,-0.00539358775275,0.0598384220443,0.999999937317,0.00022962507598,-0.000268432899669,2.41417764979e-05,1793251539042898688
+47,0.783333333,BASELINE,769.266383276,747,724,689.266383276,671,643,887,788,820,657,632.733616724,656.266383276,0.400963132809,-0.00539449401465,0.059839250684,0.99999993784,0.000228999863561,-0.000266992623685,2.43904004971e-05,1793251539059565312
+48,0.800000000,BASELINE,769.840085858,747,724,689.840085858,671,643,887,788,820,657,632.159914142,656.840085858,0.400963178515,-0.00539514369341,0.0598389325637,0.99999993816,0.000226856658611,-0.000267620010044,2.441348559e-05,1793251539076231936
+49,0.816666667,BASELINE,769.575560488,747,724,690,671,643,887.424439512,788.424439512,820,657,632.424439512,657,0.4009636575,-0.00539438555504,0.0598395637452,0.999999938345,0.000227639379667,-0.000266268959659,2.43075104086e-05,1793251539092898816
+50,0.833333333,BASELINE,769.012715624,747,724,690.012715624,671,643,888,788.987284376,820,657,633,657,0.400964268801,-0.00539309974406,0.0598405002744,0.999999938455,0.000229512239928,-0.00026425667553,2.41544905231e-05,1793251539109565440
+51,0.850000000,BASELINE,769.592353139,747,724,690.592353139,671,643,888,788.407646861,820,657,633,657,0.400963313849,-0.00539254500073,0.0598386938355,0.999999937752,0.000229573876171,-0.000266852652843,2.41277511742e-05,1793251539126232064
+52,0.866666667,BASELINE,770,747,724,690.828415589,671,643,887.828415589,788.171584411,820,657,633,657,0.400962606846,-0.00539241028674,0.059837537689,0.999999937278,0.000229643205525,-0.000268564592395,2.41122774567e-05,1793251539142898688
+53,0.883333333,BASELINE,770,747,724,690.250147216,671,643,887.250147216,788.749852784,820,657,633,657,0.400962487525,-0.00539327111304,0.0598379228452,0.99999993736,0.000229730768847,-0.000268181213369,2.41235051855e-05,1793251539159565312
+54,0.900000000,BASELINE,769.675375571,747,724,690,671.324624429,643,887,788.675375571,820,657,633,657,0.400962854319,-0.00539396375007,0.0598385620615,0.999999937569,0.000229438699615,-0.000267648073058,2.41562891916e-05,1793251539176231680
+55,0.916666667,BASELINE,769.103269726,747,724,690,671.896730274,643,887,788.103269726,820,657,633,657,0.400963591707,-0.00539452816591,0.0598393949635,0.999999937875,0.000228857212844,-0.000267000760412,2.42055068893e-05,1793251539192898304
+56,0.933333333,BASELINE,769,747,724.48400534,690,671.51599466,643,887.48400534,788,820,657,633,657,0.40096442187,-0.00539325324713,0.0598402188619,0.999999938234,0.000229113026923,-0.000265445263552,2.40351084752e-05,1793251539209565440
+57,0.950000000,BASELINE,769,747,724.926683333,690,671,643,887.926683333,788,820,657,633,657,0.400965270075,-0.00539175955929,0.0598408453705,0.99999993848,0.000229790520577,-0.000263943917759,2.38912303422e-05,1793251539226232576
+58,0.966666667,BASELINE,769,747,724.346396382,690,671,643,887.346396382,788,820,657,633,657,0.400966101728,-0.00539155463949,0.059840120681,0.999999937868,0.000232108542375,-0.0002642002828,2.42652347009e-05,1793251539242898944
+59,0.983333333,BASELINE,769.2315228,747,724,690,671,643,887.2315228,788,820,657,633,657,0.400966519285,-0.00539199935644,0.0598398370766,0.999999937828,0.000232196103986,-0.000264254910437,2.44418413081e-05,1793251539259565568
+60,1.000000000,BASELINE,769.805935354,747,724,690,671,643,887.805935354,788,820,657,633,657,0.400966323562,-0.00539340619794,0.0598402067276,0.999999938637,0.000228980311175,-0.000264010761107,2.43260980751e-05,1793251539276232192
+61,1.016666667,BASELINE,769.611154313,747,724,690,671,643,888,788,820,657,633,657,0.400964757802,-0.00539332156356,0.0598394615392,0.999999938338,0.000228758691757,-0.000265336054732,2.43066935392e-05,1793251539292899072
+62,1.033333333,BASELINE,769.0239082,747,724,690,671,643,888,788,820,657,633,657,0.400962493011,-0.00539247593453,0.0598381475272,0.999999937471,0.000230064787245,-0.000267462124002,2.43364438271e-05,1793251539309565696
+63,1.050000000,BASELINE,769,747,724.559012558,690,671,643,888,788,820,657,633,657,0.400964041928,-0.00539258547504,0.0598391482364,0.999999938081,0.000229181101414,-0.000265947703703,2.42135675303e-05,1793251539326231808
+64,1.066666667,BASELINE,769.139833914,747,724.860166086,690.139833914,671,643,888,788,820,657,633,657,0.400965389341,-0.00539256717679,0.0598400674655,0.99999993857,0.000228642430493,-0.000264578633134,2.41193554786e-05,1793251539342898176
+65,1.083333333,BASELINE,769.714695027,747,724.285304973,690.714695027,671,643,888,788,820,657,633,657,0.400965606333,-0.0053920250549,0.0598404275888,0.999999938496,0.000229466233547,-0.000264142413696,2.41344704115e-05,1793251539359565056
+66,1.100000000,BASELINE,769.710226019,747,724,690.420452038,671,643,888,788.289773981,820,657,633,657,0.400965957467,-0.00539167091451,0.0598405661213,0.999999938555,0.000229728968904,-0.000263711271925,2.38860612361e-05,1793251539376232192
+67,1.116666667,BASELINE,769.134932456,747,724,689.269864912,671,643,888,788.865067544,820,657,633,657,0.400966440774,-0.00539150199575,0.0598404863164,0.999999938746,0.00022943887399,-0.000263285133299,2.33779969561e-05,1793251539392899072
+68,1.133333333,BASELINE,769,747,724,689.450415252,671,643,888,788.549584748,820,657,633,657,0.400965665377,-0.00539218604528,0.0598398441041,0.99999993864,0.000228720532093,-0.000264280929935,2.37033895976e-05,1793251539409565440
+69,1.150000000,BASELINE,769.03839155,747,724,690,671,643,887.96160845,788.03839155,820,657,633,657,0.400964538692,-0.00539310461262,0.0598390644912,0.999999938426,0.000227987404985,-0.000265674158331,2.42420906405e-05,1793251539426231808
+70,1.166666667,BASELINE,769.619970162,747,724,690,671,643,887.380029838,788.619970162,820,657,633,657,0.40096389865,-0.00539364338874,0.0598387790686,0.999999937991,0.00022890167669,-0.0002665259465,2.41855052441e-05,1793251539442898176
+71,1.183333333,BASELINE,769.801162563,747,724,690,671,643,887.198837437,788.801162563,820,657,633,657,0.400963808613,-0.00539354509601,0.059838853289,0.99999993776,0.000229709242759,-0.000266709863282,2.40564290785e-05,1793251539459564800
+72,1.200000000,BASELINE,769.227407545,747,724,690,671,643,887.772592455,788.227407545,820,657,633,657,0.400964755634,-0.00539224557933,0.0598396056336,0.999999937914,0.000230315610363,-0.000265634476488,2.37906680604e-05,1793251539476231680
+73,1.216666667,BASELINE,769,746.654245198,724,690,671.345754802,643,887.654245198,788,820,657,633,657,0.400965418725,-0.00539287342404,0.0598400310724,0.999999938387,0.00022917487623,-0.000264828358479,2.3903034232e-05,1793251539492898048
+74,1.233333333,BASELINE,769,746.081472027,724,690,671.918527973,643,887.081472027,788,820,657,633,657,0.400965895391,-0.00539476675072,0.0598402418688,0.999999939066,0.000226887016453,-0.000264199039122,2.42636741018e-05,1793251539509564672
+75,1.250000000,BASELINE,769,746.511802771,724,689.488197229,671.488197229,643,887.511802771,788,820,657,633,657,0.400964296368,-0.00539430017484,0.0598398862016,0.999999938803,0.000226084907404,-0.000265895023952,2.40642523625e-05,1793251539526231296
+76,1.266666667,BASELINE,769.104642015,747,724,689.104642015,671.104642015,643,887.895357985,788,820,657,633,656.895357985,0.400962910661,-0.00539351421344,0.0598395847963,0.999999938452,0.000225997435111,-0.000267309669078,2.38120754153e-05,1793251539542898176
+77,1.283333333,BASELINE,769.680220564,747,724,689.680220564,671.680220564,643,887.319779436,788,820,657,633,656.319779436,0.400964034079,-0.0053930520822,0.0598399503491,0.999999938418,0.000228017327476,-0.000265722769009,2.37404535435e-05,1793251539559564800
+78,1.300000000,BASELINE,769.744481024,746.744481024,724,690,671.744481024,643,887.255518976,788,820,657,633,656.255518976,0.400964562215,-0.00539244410763,0.0598401886806,0.999999938164,0.000230058159863,-0.000264915291057,2.37719416153e-05,1793251539576231424
+79,1.316666667,BASELINE,769.169532858,746.169532858,724,690,671.169532858,643,887.830467142,788,820,657,633,656.830467142,0.400964346176,-0.00539165381156,0.0598402679704,0.999999937638,0.000232125169621,-0.000265082183816,2.39323294175e-05,1793251539592898048
+80,1.333333333,BASELINE,769,746.406020941,724,690,671,643,887.593979059,788,820,657,633,657,0.400963142893,-0.00539249642571,0.0598390466644,0.99999993775,0.000229784246986,-0.000266699287521,2.39068105216e-05,1793251539609564672
+81,1.350000000,BASELINE,769,746.981828046,724,690,671,643,887.018171954,788,820,657,633,657,0.400961526772,-0.00539402187543,0.0598372814869,0.999999938109,0.000225600055218,-0.000268922827334,2.38035508572e-05,1793251539626231296
+82,1.366666667,BASELINE,769.572572685,747,724,690,671,643,887,788,820,656.427427315,632.427427315,657,0.400962871379,-0.00539270475511,0.0598389365457,0.999999937786,0.000229538270242,-0.000266777216017,2.38964502947e-05,1793251539642898176
+83,1.383333333,BASELINE,769.840056224,747,724,690,671,643,887,788,820,656.159943776,632.159943776,657,0.400964204942,-0.0053914266561,0.059840283095,0.999999937552,0.000232630781699,-0.000264963717656,2.39206558921e-05,1793251539659564544
+84,1.400000000,BASELINE,769.26275807,747,724,690,671,643,887,788,820,656.73724193,632.73724193,657,0.400965257929,-0.00539049209144,0.0598405337917,0.999999937663,0.00023282585541,-0.000264388351721,2.37489329971e-05,1793251539676231168
+85,1.416666667,BASELINE,769.312691681,747,724,690,671,643,887,788.312691681,820,657,633,657,0.400965635905,-0.00539135380872,0.0598405873965,0.999999938123,0.000230945484373,-0.000264301148593,2.37195160131e-05,1793251539692897792
+86,1.433333333,BASELINE,769.886597291,747,724,690,671,643,887,788.886597291,820,657,633,657,0.400965449993,-0.00539371609001,0.0598404763562,0.999999938864,0.00022733134453,-0.000264621743121,2.38089774377e-05,1793251539709564416
+87,1.450000000,BASELINE,770,747,724,690,671,643,887,788.526151236,819.526151236,657,633,657,0.400965289074,-0.00539355800835,0.0598402839556,0.999999938945,0.000227035945507,-0.000264557786613,2.39535936102e-05,1793251539726231296
+88,1.466666667,BASELINE,769.936817315,747,724,690,671,643,887,788,819,657,633,656.936817315,0.400965095411,-0.00539276428989,0.0598400567409,0.999999938842,0.000227579052999,-0.000264472660378,2.40592274837e-05,1793251539742897920
+89,1.483333333,BASELINE,769.357322785,747,724,690,671,643,887,788,819,657,633,656.357322785,0.400964583883,-0.00539184818942,0.0598397087621,0.999999938549,0.000228295717471,-0.000264988394868,2.37353174924e-05,1793251539759564544
+90,1.500000000,BASELINE,769,747,724,690,671,643,887,788,819.220547192,657,633,656.220547192,0.400963777014,-0.0053920765829,0.0598393798858,0.999999938388,0.000228236503113,-0.000265655533936,2.36537049699e-05,1793251539776231168
+91,1.516666667,BASELINE,769,747,724,690,671,643,887,788,819.795804319,657,633,656.795804319,0.400962495143,-0.00539414568624,0.0598390817324,0.999999938436,0.000226929429097,-0.000266566179604,2.39617837649e-05,1793251539792898048
+92,1.533333333,BASELINE,769,747,724,690,671,643,887.378412054,788,820,657,633,657,0.400962652429,-0.00539385714261,0.0598390771424,0.999999938374,0.000227175212023,-0.000266611649954,2.37101950042e-05,1793251539809564416
+93,1.550000000,BASELINE,769,747,724,690,671,643,887.965064894,788,820,657,633,657,0.400963601687,-0.00539227118208,0.0598392341007,0.999999938251,0.000228275534605,-0.000266181012959,2.31506202782e-05,1793251539826231296
+94,1.566666667,BASELINE,769.545189682,747,724,690,671.545189682,643,887.454810318,788,820,657,633,656.454810318,0.400963427195,-0.00539158162117,0.05983828352,0.999999937995,0.000228190744911,-0.000267221433818,2.30782774064e-05,1793251539842898176
+95,1.583333333,BASELINE,769.751109486,747,724,690,671.875554743,643,887,788,820,657,633,656.124445257,0.40096303671,-0.00539114548286,0.059837517469,0.999999937699,0.0002284233479,-0.000268121937312,2.31267344642e-05,1793251539859564800
+96,1.600000000,BASELINE,768.595917858,747,724,690,671.297958929,643,887,788,820,657,633,656.702041071,0.400962118819,-0.00539142546253,0.059837678727,0.999999937296,0.000230084948764,-0.00026817376411,2.35027253762e-05,1793251539876231424
+97,1.616666667,BASELINE,768.556669724,747,724,690,671,643,887,788,820,657,633,657,0.400963051353,-0.00539149179854,0.0598388364718,0.999999937581,0.000231025803277,-0.000266269922426,2.37742185178e-05,1793251539892897792
+98,1.633333333,BASELINE,769.706482572,747,724,690,671,643,887,788,820,657,633,657,0.400965955553,-0.00539133049281,0.0598410559938,0.999999938591,0.000231198687519,-0.000262282275458,2.39343670978e-05,1793251539909564416
+99,1.650000000,BASELINE,769.561507064,747,724,690,671,643,887.438492936,788,820,657,633,657,0.400965756069,-0.00539226969657,0.0598407802978,0.999999938758,0.000229490069713,-0.000263142725078,2.39795904881e-05,1793251539926231296
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+101,1.683333333,BASELINE,769,747,724,690,671,643,887.395460879,788,820,657,633,657,0.400963917381,-0.00539420277543,0.0598396955365,0.999999938644,0.00022719652064,-0.000265554508622,2.39603976094e-05,1793251539959564800
+102,1.700000000,BASELINE,769,747,724,690,671,643,887,788,820,657,632.818543253,656.818543253,0.400963512408,-0.00539424804523,0.0598398018257,0.999999938478,0.000227993580164,-0.000265494280052,2.40009024036e-05,1793251539976231424
+103,1.716666667,BASELINE,769,747,724,690,671,643,887,788,820,657,632.24345316,656.24345316,0.400963543113,-0.00539298658467,0.0598401515127,0.999999937925,0.000230621459532,-0.000265290067957,2.41805909832e-05,1793251539992898304
+104,1.733333333,BASELINE,769,747,724,690,671,643,887,788,820,657,632.311143641,656,0.400964281335,-0.00539354799493,0.0598405985279,0.999999938469,0.000229219318337,-0.000264453432057,2.42045664071e-05,1793251540009564672
+105,1.750000000,BASELINE,769,747,724,690,671,643,887,788,820,657,632.850696467,656,0.400965538944,-0.00539544756655,0.0598411169913,0.999999939804,0.000224858756963,-0.000263152536584,2.41142335036e-05,1793251540026231296
+106,1.766666667,BASELINE,769,747,724,690,671,643,887.460406191,788.460406191,820,657,632.539593809,656.460406191,0.400963868725,-0.00539535018104,0.059839624264,0.999999939095,0.000225332438722,-0.00026545162152,2.39082298765e-05,1793251540042898176
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,788,820,657,633,657,0.400962085028,-0.00539201982687,0.0598381215115,0.999999937115,0.000231156155064,-0.000267927998952,2.34931089444e-05,1793251540085950464
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.424992049,747,724,689.424992049,671,643,887.424992049,788,820,657,633,657,0.400962861177,-0.005393351995,0.0598391335368,0.99999993747,0.000231348112441,-0.000266387643391,2.3986824015e-05,1793251540102617088
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,788,820,656.846055903,633,657,0.400963209096,-0.00539439823021,0.0598395815968,0.999999937665,0.000231286849514,-0.000265676145008,2.43317708535e-05,1793251540119284224
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+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724,689.328080356,671,643,887,788,820,656,633,656.671919644,0.400961747211,-0.00539376015973,0.059838169418,0.999999937408,0.0002299014101,-0.000267868860054,2.39772608286e-05,1793251540152617728
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724,689.907559311,671,643,887,788,820,656,633,656.092440689,0.400961356405,-0.00539203498513,0.0598385866468,0.999999937601,0.00022942626486,-0.000267596934592,2.35448662829e-05,1793251540169283840
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.483089981,788.483089981,820,656,632.516910019,656.483089981,0.400962763619,-0.00539209992255,0.0598394784428,0.999999938208,0.000228511938866,-0.000266104618149,2.35658333643e-05,1793251540185950464
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.942501087,788.942501087,820,656.057498913,632.057498913,657,0.400964201641,-0.00539252375372,0.0598402325876,0.999999938744,0.000227655027894,-0.000264808761888,2.36878562358e-05,1793251540202617088
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.371417955,788.371417955,820,656.628582045,632.628582045,657,0.400962866621,-0.00539311843267,0.0598389526788,0.999999937974,0.000228055504438,-0.0002673366566,2.39439225241e-05,1793251540219283968
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,724,689.791781423,671,643,887.208218577,788,820,657,633,657,0.400965319294,-0.00539359210658,0.0598397387244,0.999999938036,0.000228609369906,-0.000266601482113,2.42586209031e-05,1793251540235950592
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,724,689.196233886,671,643,887.803766114,788,820,657,633,657,0.400974817847,-0.0053938406864,0.0598443678661,0.999999939625,0.000229448569957,-0.000259796334075,2.46823868823e-05,1793251540252617728
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.388905851,747,724,689.388905851,671,643,888,788.388905851,820,657,633,657,0.401001036181,-0.00539434024882,0.0598552401461,0.999999944262,0.00022985730345,-0.0002408483178,2.51798997885e-05,1793251540269284864
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+120,2.000000000,POSE1_TO_POSE2_PRESS,769.454669482,747,724,689.454669482,671,643,887.454669482,788.454669482,820,657,633,657,0.401096378206,-0.00539693551124,0.0598899084917,0.999999957682,0.000227022992419,-0.000179978105743,2.65251071607e-05,1793251540302617856
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,724,689.121335944,671,643,887.121335944,788,820,657,633,657,0.40116084982,-0.005398885149,0.0599093123503,0.999999963479,0.000224480868493,-0.00014800012231,2.73317348374e-05,1793251540319283968
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,724,689.69663463,671,643,887.69663463,788,820,657,633,657,0.401233052084,-0.00540046402855,0.0599223247844,0.99999996554,0.000224453357747,-0.000133238654341,2.80615066318e-05,1793251540335950592
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.270575687,747,724,690,671,643,887.729424313,788.270575687,820,656.729424313,633,657,0.401313023055,-0.00540273465199,0.0599325666889,0.999999967652,0.000223603709629,-0.000117878470202,2.83170013354e-05,1793251540352617216
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.843002155,747,724,690,671,643,887.156997845,788.843002155,820,656.156997845,633,657,0.401401660693,-0.00540577697599,0.059939717825,0.999999969814,0.000221836895562,-0.000101850366833,2.80433985297e-05,1793251540369283840
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.567948336,747,724,690,671.432051664,643,887.432051664,788.567948336,820,656,633,656.567948336,0.401506242521,-0.00540908463015,0.0599432475769,0.999999971021,0.000220004834447,-9.38232622914e-05,2.74500606547e-05,1793251540385950976
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724,689.973512977,671.973512977,643,887.973512977,788,819.973512977,656.026487023,632.973512977,656.026487023,0.401617796107,-0.00541243274695,0.0599454340267,0.999999971896,0.000218195266046,-8.87906173109e-05,2.6727037661e-05,1793251540402618368
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724,689.397667092,671.397667092,643,887.397667092,788,819.397667092,656.602332908,632.397667092,656.602332908,0.401748973842,-0.00541454035808,0.0599481448705,0.999999972586,0.000217363634937,-8.31511018003e-05,2.58204268762e-05,1793251540419284736
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,724,689.181883362,671,643,887.181883362,788,819.181883362,657,632,656.818116638,0.401884992905,-0.00541762262278,0.0599487650634,0.9999999733,0.000215345775482,-8.01404638435e-05,2.45836055063e-05,1793251540435951104
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,724,689.769701753,671,643,887.769701753,788,819.769701753,657,632,656.230298247,0.402031817034,-0.00542288016052,0.0599447192523,0.999999974107,0.000210680441247,-8.29970674422e-05,2.26098062226e-05,1793251540452617216
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746.646135859,724,690,671,643,887.646135859,788,820,657,632.353864141,656.353864141,0.402205324864,-0.00542725205855,0.059942854514,0.999999975149,0.000206223381863,-8.21736272845e-05,2.05452332986e-05,1793251540469283584
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746.064328443,724,690,671,643,887.064328443,788,820,657,632.935671557,656.935671557,0.402396021142,-0.00543105346804,0.0599423947236,0.99999997633,0.000201900483252,-7.89796696737e-05,1.84221879066e-05,1793251540485950208
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+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,724,690,670.913506781,643,887.913506781,788,820,657,633,656.913506781,0.402875330818,-0.00544191958117,0.0599495949379,0.999999979901,0.000192032635469,-5.59141431754e-05,1.39547310797e-05,1793251540519283456
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+136,2.266666667,POSE1_TO_POSE2_PRESS,769.830425384,747,724,690,670.830425384,643,887.830425384,788.830425384,820,657,632.169574616,656.830425384,0.403693892499,-0.0054622212438,0.0599466752103,0.999999984737,0.000165412796291,-5.59282919957e-05,6.04759017345e-06,1793251540569283584
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+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671.953992408,643,889,789,820,657,633,657,0.40754746346,-0.0055060080374,0.0600014137338,0.999999992229,0.000119247148636,2.89409301493e-05,-2.19895649303e-05,1793251540719283712
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671.37931457,643,889,789,820,657,633,657,0.40809205585,-0.00549320043203,0.0599989204278,0.999999999389,-1.97869590714e-05,1.13298569013e-05,-2.65030961494e-05,1793251540735950848
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.797858265,747,724,690,671,643,889.202141735,789,820,657,633,657,0.408642644675,-0.00548756674292,0.0599924033115,0.999999993426,-0.000109809360184,-1.1270314907e-05,-3.10384147189e-05,1793251540752617472
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.203241016,747,724,690,671,643,889.796758984,789,820,657,633,657,0.409204876059,-0.00549586182819,0.0599780736225,0.999999992939,-0.000104671322626,-4.35572480264e-05,-3.56160358565e-05,1793251540769284096
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,724.379741723,690.379741723,671,643,890.379741723,789,820,657,633,657,0.409821478802,-0.00550705462042,0.059975664291,0.999999992405,-0.000106029175366,-4.83702979108e-05,-4.00941477253e-05,1793251540785950464
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,724.956682664,690.956682664,671,643,890.956682664,789,820,657,633,657,0.41046631648,-0.00551975218659,0.0599794451809,0.999999992118,-0.000110760332842,-3.8916206966e-05,-4.45205844711e-05,1793251540802617088
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.465054566,724.465054566,691,671,643,891,789,820,657,633,657,0.411166254773,-0.00552330608071,0.0599878670042,0.999999992749,-0.000108543342446,-1.65937693312e-05,-4.94511823391e-05,1793251540819283712
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.114724159,746.114724159,724,691,671,643,891,789,820.114724159,657,633,657,0.411866775029,-0.00552323735134,0.0599910339419,0.999999995342,-8.33679707784e-05,-4.75319393611e-06,-4.84114834137e-05,1793251540835950336
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.700283946,746.700283946,724,691,671,643,891,789,820.700283946,657,633,657,0.412551326687,-0.00551134735564,0.0599710883436,0.999999998365,3.37153518376e-05,-4.02179918255e-05,-2.27013233219e-05,1793251540852616960
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.717292478,747,724,691,671,643,890.717292478,789,821,656.717292478,633,657,0.413238108025,-0.00549939283625,0.0599423531071,0.999999991741,8.33165313557e-05,-9.68677952991e-05,-1.39226800618e-05,1793251540869283584
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.138157247,747,724,691,671,643,890.138157247,789,821,656.138157247,633,657,0.413927227336,-0.00548737066029,0.0599044016569,0.999999982365,6.2160580396e-05,-0.000175730746621,-2.28972606354e-05,1793251540885950208
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.440043357,747,724.440043357,691.440043357,671,643,890.440043357,789,821.440043357,656.440043357,633,657,0.414736012641,-0.00549261832795,0.0599223216654,0.99999998904,3.91444801485e-05,-0.000139957479506,-2.8287597517e-05,1793251540902616832
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.98211842,747,724.98211842,691.98211842,671,643,891.01788158,789,822,657,633,656.98211842,0.415582832576,-0.00550328270245,0.0599578892358,0.999999997005,1.58063042594e-05,-6.84935291568e-05,-3.23847365526e-05,1793251540919283456
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.406449042,747,724.406449042,691.406449042,671,643,891.593550958,789,822,657,633,656.406449042,0.416446610494,-0.00551413769182,0.0599979231521,0.999999999506,6.00346383855e-07,-4.03373940104e-06,-3.11707787349e-05,1793251540935950080
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,892.168203468,789,822,657,633,656.168203468,0.417308758675,-0.00552122219583,0.060023701412,0.999999998763,-1.05830642546e-05,3.75764574709e-05,-3.08143961135e-05,1793251540952616960
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,892.740413538,789,822,657,633,656.740413538,0.41816699235,-0.00551925039975,0.0600152391192,0.999999999103,-1.21047490885e-05,2.43043912073e-05,-3.2517817029e-05,1793251540969283584
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724,691.325059706,671,643,893,788.674940294,822.325059706,657,633,657,0.419019640858,-0.0055159988149,0.0599982768952,0.999999999328,-1.09281990434e-05,-3.20905264303e-06,-3.48499682209e-05,1793251540985950208
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,691.920032137,671,643,893,788.079967863,822.920032137,657,633,657,0.41986765169,-0.00551168455993,0.0599742567696,0.999999998356,-7.5111745823e-06,-4.25477972993e-05,-3.77041843091e-05,1793251541002616832
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724.499220297,691.500779703,671,643,893.499220297,788.499220297,823.499220297,656.500779703,633.499220297,657,0.420701445193,-0.00551111131859,0.0599362086412,0.999999994006,-1.19655271094e-05,-0.000100715766421,-4.12474997225e-05,1793251541019284224
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.924677526,747,724.924677526,691.075322474,671,643,894.075322474,788.924677526,824,656,633.924677526,657,0.421539556355,-0.00551156749247,0.0598986103775,0.999999986121,-1.70921935691e-05,-0.000159620014774,-4.459024353e-05,1793251541035951616
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.352762521,747,724.352762521,691.647237479,671,643,894.647237479,788.352762521,824,656,633.352762521,657,0.422420687488,-0.00551498074403,0.0598783387467,0.999999977945,-1.8593282911e-05,-0.000204102641081,-4.59051977693e-05,1793251541052617984
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.227200672,747,724,692,671,643,895,788,824.227200672,656.227200672,633,657,0.423366044409,-0.0055192208879,0.0598951382779,0.999999982378,-2.38744943097e-05,-0.000180513415571,-4.57147974656e-05,1793251541069284352
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.820118859,747,724,692,671,643,895,788,824.820118859,656.820118859,633,657,0.424414783623,-0.00552479205389,0.0599716100473,0.999999997329,-3.52404450139e-05,-4.73511535452e-05,-4.31012767661e-05,1793251541085950720
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.403978586,692,671,643,895.403978586,788.403978586,825,656.596021414,633,657,0.425415622902,-0.00552536030954,0.0600160617478,0.999999998167,-3.52733990197e-05,2.57726647845e-05,-4.19174808016e-05,1793251541102617600
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.983893241,692,671,643,895.983893241,788.983893241,825,656.016106759,633,657,0.426395601293,-0.00552374975535,0.0600465684346,0.999999996037,-3.03707371695e-05,7.27492282876e-05,-4.1356342266e-05,1793251541119284480
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.443854472,692,671,643,896.556145528,788.443854472,825.556145528,657.112291056,633,657,0.427346598414,-0.00552410262229,0.060030414001,0.99999999663,-2.88865252249e-05,6.32288190263e-05,-4.36796085725e-05,1793251541135951360
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.131902798,692,671,643,897,788,826,657.868097202,633,657.131902798,0.428289367535,-0.00552502751754,0.0600093601644,0.999999997517,-3.22125531816e-05,4.25556649537e-05,-4.60046489753e-05,1793251541152618496
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.720554986,692,671,643,897,788,826,657.279445014,633,657.720554986,0.429206511854,-0.00552773898756,0.0599759567075,0.999999997439,-5.18571817903e-05,-1.11480098862e-05,-4.80504960517e-05,1793251541169284864
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,692.306003226,671,643,897,788,826.306003226,657,633.306003226,657.693996774,0.430124553346,-0.00552700979208,0.059942721336,0.999999995079,-5.09581899447e-05,-6.8769939167e-05,-5.01510754804e-05,1793251541185951232
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,692.888555875,671,643,897,788,826.888555875,657,633.888555875,657.111444125,0.431043405607,-0.00552317110617,0.0599096378731,0.999999989695,-3.14929666363e-05,-0.000129932975148,-5.23011189333e-05,1793251541202617856
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.535260359,747.464739641,725,693,671,643,897.464739641,788,827,657,633.535260359,657,0.432060548971,-0.00552597159156,0.0599470125271,0.999999996139,-3.70907686794e-05,-6.03487287265e-05,-5.19942568782e-05,1793251541219284480
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747.960617616,724.960617616,693,671.039382384,643,898,788,827,657,633,657.039382384,0.433094878634,-0.00552994703069,0.059998170808,0.999999996958,-4.8147720725e-05,3.39467863077e-05,-5.11254966382e-05,1793251541235951104
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747.386442824,724.386442824,693,671.613557176,643,898,788,827,657,633,657.613557176,0.434046845366,-0.00552855055516,0.0600101692042,0.999999996369,-5.28265216129e-05,4.38057057817e-05,-5.05188348664e-05,1793251541252617984
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747.19354915,724.19354915,693,671.80645085,643,898,788,827,657,633.19354915,658,0.434993864293,-0.00552898941988,0.0600078169177,0.999999996672,-5.51582836577e-05,3.2128111438e-05,-5.08117244638e-05,1793251541269284608
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747.785515796,724.785515796,693,671.214484204,643,898,788,827,657,633.785515796,658,0.435930698427,-0.00553320629973,0.0599759240074,0.999999996926,-5.26587085895e-05,-2.38820132285e-05,-5.29563244073e-05,1793251541285951232
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.369370348,747.630629652,725,693,671.369370348,643,898,787.630629652,827,656.630629652,633.630629652,657.630629652,0.436831162532,-0.00553432742316,0.0599467245157,0.999999994113,-5.70627135428e-05,-7.40545510534e-05,-5.50743986914e-05,1793251541302617856
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.948615603,747.051384397,725,693,671.948615603,643,898,787.051384397,827,656.051384397,633.051384397,657.051384397,0.437710961263,-0.00553368954865,0.0599190554168,0.999999988918,-6.53893079955e-05,-0.000120910189547,-5.71774010257e-05,1793251541319284480
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.477347527,747,725,693,671.477347527,643,898,787,827,656,633.522652473,657,0.438582299655,-0.00552965169819,0.0598995936483,0.999999983321,-6.04866015605e-05,-0.000162221455849,-5.81768442806e-05,1793251541335951104
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,724.901460135,693,671.098539865,643,898,787,827.098539865,656.098539865,633.901460135,657,0.439467900574,-0.00552664441162,0.0598943026325,0.999999980752,-5.62050699629e-05,-0.000178605197742,-5.86298379706e-05,1793251541352617728
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,724.313872476,693,671.686127524,643,898,787,827.686127524,656.686127524,633.313872476,657,0.440428372914,-0.00553039433743,0.0599553751747,0.999999993762,-6.13976772243e-05,-7.39536124074e-05,-5.69039799611e-05,1793251541369284864
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.270034627,747.270034627,724.270034627,692.729965373,671.729965373,643,898.270034627,787,828,657,633.270034627,657,0.441363932275,-0.00553256727015,0.0599962160758,0.999999996318,-6.49385531819e-05,-5.85162095088e-06,-5.57954114587e-05,1793251541385951744
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.849721152,747.849721152,724.849721152,692.150278848,671.150278848,643,898.849721152,787,828,657,633.849721152,657,0.442270923562,-0.00553293184597,0.0600138571108,0.999999996042,-6.6585369539e-05,2.03385113965e-05,-5.53946967687e-05,1793251541402618112
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,748,725,692,671.427654421,643,899,787,828,657,633.572345579,657,0.443114232941,-0.00553808286812,0.0600030577755,0.999999996155,-6.71152546563e-05,4.36973608449e-06,-5.62632145028e-05,1793251541419284736
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.995038828,748,725,692.004961172,672,643,899,787.004961172,828,656.995038828,633,657,0.443935089554,-0.00554485845815,0.0599824500483,0.999999995727,-6.74494061833e-05,-2.61198196147e-05,-5.75715208758e-05,1793251541435951360
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.419225635,748,725,692.580774365,672,643,899,787.580774365,828,656.419225635,633,657,0.444736820449,-0.00554581933335,0.0599785062076,0.999999993782,-9.02390213459e-05,-2.97441253295e-05,-5.83733304633e-05,1793251541452617472
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.840093076,725,693,672,643,899,788,828,656,633,657.159906924,0.445511658002,-0.00554530469887,0.0599688776361,0.999999991914,-0.000102006396696,-4.8238957307e-05,-5.86573493247e-05,1793251541469283584
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.25207358,725,693,672,643,899,788,828,656,633,657.74792642,0.446214495234,-0.00554083974009,0.059944029556,0.999999989117,-8.42643641156e-05,-0.000106546070116,-5.75551073768e-05,1793251541485950208
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.332227648,747.332227648,725,693,671.667772352,643,899,788,828,656.332227648,633,658,0.44696209677,-0.00554016110372,0.0599327249171,0.999999987963,-7.31901658982e-05,-0.000123807598273,-5.8211721252e-05,1793251541502616832
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.913738877,747.913738877,725,693,671.086261123,643,899,788,828,656.913738877,633,658,0.447743286695,-0.00554232349549,0.0599315824608,0.999999989856,-6.71191094738e-05,-0.000110270993033,-6.01880745811e-05,1793251541519283712
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.511586719,747.511586719,725,692.511586719,671.488413281,643,899,788,828,656.511586719,633,657.511586719,0.448492574759,-0.00554602675255,0.0599613967427,0.999999994018,-6.87835526278e-05,-6.0251851613e-05,-6.00230382794e-05,1793251541535951104
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747.06178923,725.06178923,692,672,643,899.06178923,787.93821077,828,656,633.06178923,657,0.449223756595,-0.00555009774019,0.0599907179859,0.999999995247,-7.58886607061e-05,-1.38859709666e-05,-5.96230511614e-05,1793251541552618496
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.63427555,725.63427555,692,672,643,899.63427555,787.36572445,828,656,633.63427555,657,0.449851213662,-0.0055549898492,0.0599713989445,0.999999990092,-0.000116825660742,-5.02350031734e-05,-6.03639016964e-05,1793251541569284864
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,748,725.78623338,691.78623338,672,643,899.78623338,787.21376662,828,656,633.78623338,657.21376662,0.450464155203,-0.00555680221533,0.0599484065062,0.999999984764,-0.000137633693411,-8.757682618e-05,-6.21242917121e-05,1793251541585951488
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,748,725.194352232,691.194352232,672,643,899.194352232,787.805647768,828,656,633.194352232,657.805647768,0.451051421335,-0.00555316707226,0.0599189164946,0.999999982275,-0.000122837215757,-0.000126674713021,-6.5688062968e-05,1793251541602618368
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.389780773,748,725,691.389780773,672,643,899.389780773,787.610219227,828,656,633,657.610219227,0.451644387084,-0.00555053569304,0.0599108796151,0.999999982259,-0.000113558127543,-0.000133911168498,-6.82184713563e-05,1793251541619284992
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.970125756,748,725,691.970125756,672,643,899.970125756,787.029874244,828,656,633,657.029874244,0.452240139433,-0.00554839505465,0.0599133311907,0.999999983927,-0.000106976495293,-0.000125570541798,-7.02436679526e-05,1793251541635951360
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,900,787.544624924,828,656.544624924,633.544624924,657.544624924,0.452794937099,-0.00555185996126,0.05993278446,0.99999998759,-0.000107850765792,-9.04599029614e-05,-7.0748759509e-05,1793251541652617728
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,900.122371727,788,828.122371727,657,633.877628273,658,0.453324963058,-0.00555586726893,0.0599453210812,0.999999989046,-0.000109376103208,-6.97333310098e-05,-7.12834594655e-05,1793251541669284352
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,900.713782582,788,828.713782582,657,633.286217418,658,0.453768560705,-0.00556078752237,0.0599278102831,0.999999985117,-0.000111845993219,-0.000109708014538,-7.2247847706e-05,1793251541685950720
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,748,725,692,671.701276523,643,900.701276523,787.701276523,829,657,633,658,0.454203679785,-0.0055642033409,0.0599081396255,0.999999980558,-0.000112608592614,-0.000144083078032,-7.37760279679e-05,1793251541702617344
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,748,725,692,671.122403341,643,900.122403341,787.122403341,829,657,633,658,0.454630847442,-0.00556620826568,0.0598864434034,0.999999975878,-0.00011177005575,-0.000173206687506,-7.58329452506e-05,1793251541719284224
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.546844996,748,725,692,671.453155004,643,900.453155004,787,829,656.546844996,633,658,0.455056185456,-0.00557050169416,0.0598870349363,0.999999977321,-0.000110792482366,-0.000165997295001,-7.43546245057e-05,1793251541735951360
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.02790238,748,725,692,672,643,900.97209762,787,829,656,633,658,0.455479036166,-0.0055752497363,0.0598941189584,0.999999980395,-0.000109822876376,-0.00014860057047,-7.11805716648e-05,1793251541752618240
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.604181107,748,725,692,672,643,900.395818893,787,829,656,633,658,0.455862645442,-0.00557687184168,0.0599113437606,0.999999985058,-0.000109742592664,-0.000122466698342,-5.33106835961e-05,1793251541769284864
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.815056208,748,725,691.815056208,672,642.815056208,900.184943792,787,829,656.184943792,633,658,0.456225235725,-0.00557698395895,0.059922297338,0.999999987793,-0.000107732432866,-0.000105172075505,-4.17872560848e-05,1793251541785951232
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.224458532,748,725,691.224458532,672,642.224458532,900.775541468,787,829,656.775541468,633,658,0.456541723109,-0.00557378408307,0.0599194956707,0.999999988121,-0.000101489302166,-0.000107265378248,-4.4184094804e-05,1793251541802617600
+211,3.516666667,POSE1_TO_POSE2_PRESS,768.358730385,747.641269615,725.358730385,691.358730385,671.641269615,642,901,787,829,657,633,658,0.456814254721,-0.00556778490829,0.059898748574,0.999999984996,-9.3822077609e-05,-0.000137567756056,-4.77589666999e-05,1793251541819283968
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.937377482,747.062622518,725.937377482,691.937377482,671.062622518,642,901,787,829,657,633,658,0.457059839638,-0.00556006964606,0.0598670001791,0.999999977866,-8.52818232463e-05,-0.000185163475167,-5.20560222841e-05,1793251541835950848
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748.022231512,726,692,671,642,901,787,829,657,633,658,0.457279402622,-0.00555627954923,0.0598360876049,0.999999968736,-8.06151266211e-05,-0.000230032738323,-5.58024655941e-05,1793251541852617984
+214,3.566666667,POSE1_TO_POSE2_PRESS,768.914239224,748.914239224,725.914239224,692,671,642,901,787,829,657,633,658,0.45749327724,-0.00555443837392,0.0598087138425,0.999999958969,-7.82881898418e-05,-0.000269152529584,-5.90763879928e-05,1793251541869284864
+215,3.583333333,POSE1_TO_POSE2_PRESS,768.330876384,748.330876384,725.330876384,692,671,642,901,787,829,657,633,658,0.457692469705,-0.00556114141834,0.0598012844708,0.999999956114,-8.68095379123e-05,-0.000276832478553,-5.9996349981e-05,1793251541885951488
+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,691.746940542,671,642,901,787,829,656.746940542,633,658,0.457882850501,-0.00556617660031,0.0597975537648,0.999999954319,-9.27206289384e-05,-0.00028117139751,-6.08834212989e-05,1793251541902618112
+217,3.616666667,POSE1_TO_POSE2_PRESS,768,748,725,691.162253831,671,642,901,787,829,656.162253831,633,658,0.458061683841,-0.00556902609538,0.0597986700557,0.999999954045,-9.52110515373e-05,-0.000281131990835,-6.17273902776e-05,1793251541919284480
+218,3.633333333,POSE1_TO_POSE2_PRESS,768,748,725,691,671,642,901,787,829,656.416871276,633,658,0.458214408617,-0.00557122708207,0.0597976912606,0.999999952512,-9.96437070977e-05,-0.000284860070252,-6.24685377958e-05,1793251541935951104
+219,3.650000000,POSE1_TO_POSE2_PRESS,768,748,725,691,671,642,901,787,829,656.993860192,633,658,0.458357105253,-0.00557317898068,0.0597959077561,0.999999950451,-0.000104822362088,-0.000290035217419,-6.31701922142e-05,1793251541952617472
+220,3.666666667,POSE1_TO_POSE2_PRESS,768,748,725,691,671,642,901,787,828.43256517,657,633,658,0.458485803645,-0.00557534998128,0.0597984078755,0.999999951773,-0.000105831286038,-0.000285084690557,-6.30846646545e-05,1793251541969284096
+221,3.683333333,POSE1_TO_POSE2_PRESS,768.145133309,748,725,691,671,642,901.145133309,786.854866691,828.145133309,657,633,658,0.458605704565,-0.00557675549339,0.0598003767261,0.999999952889,-0.000105879313665,-0.00028113049317,-6.30717684314e-05,1793251541985950720
+222,3.700000000,POSE1_TO_POSE2_PRESS,768.735598077,748,725,691,671,642,901.735598077,786.264401923,828.735598077,657,633,658,0.458699073014,-0.00557580492597,0.0598005740432,0.99999995332,-0.000103116510075,-0.000280567639232,-6.33077155809e-05,1793251542002617600
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901.680412952,786.319587048,829,657,633,657.680412952,0.458777609848,-0.00557572514537,0.0597984413886,0.999999951952,-0.000103538704551,-0.000285163419826,-6.36963243985e-05,1793251542019284480
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901.101675095,786.898324905,829,657,633,657.101675095,0.458844119846,-0.00557635147934,0.0597944193769,0.999999949062,-0.000106543590447,-0.000293942299501,-6.42087254723e-05,1793251542035951360
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901,787,829.475584762,657,633,657.475584762,0.458897985389,-0.00557682240279,0.0597892810668,0.999999947515,-0.000106602301965,-0.000299104075401,-6.43705273919e-05,1793251542052618240
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.947897067,901,786.947897067,829.947897067,657,633,658,0.45894781785,-0.00557724874725,0.059784113388,0.999999946225,-0.000105997100621,-0.000303587220009,-6.44183908538e-05,1793251542069284864
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.375638199,901,786.375638199,829.375638199,657,633,658,0.458984290732,-0.00557756071647,0.0597810276591,0.999999944693,-0.00010503247551,-0.000308991543253,-6.40747496629e-05,1793251542085951232
+228,3.800000000,POSE1_TO_POSE2_PRESS,768.796545886,748,725,691,671,641.203454114,900.796545886,786,829,657,633,658,0.459017871032,-0.00557779877048,0.0597799510747,0.999999944077,-0.000104591624881,-0.000311211101889,-6.36687674264e-05,1793251542102617856
+229,3.816666667,POSE1_TO_POSE2_PRESS,768.204398506,748,725,691,671,641.795601494,900.204398506,786,829,657,633,658,0.459045925134,-0.00557789561156,0.0597827129036,0.999999945247,-0.000105151430479,-0.000307346258533,-6.31436844286e-05,1793251542119284480
+230,3.833333333,POSE1_TO_POSE2_PRESS,768,748,725,691,671,642,900.379400351,786,829,657,633,658,0.459065602177,-0.00557702811485,0.0597830802909,0.999999945244,-0.000105022807627,-0.000307332227804,-6.34750328464e-05,1793251542135951104
+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,725,691,671,642,900.958798338,786,829,657,633,658,0.459080863324,-0.00557565227575,0.0597821854688,0.999999944624,-0.000104531285614,-0.00030934812,-6.42578417452e-05,1793251542152617472
+232,3.866666667,POSE1_TO_POSE2_PRESS,768.529489126,748,725,691,671,642,901,786.529489126,829,657,633,658,0.459088359015,-0.00557530585726,0.0597804466002,0.99999994388,-0.000103705382287,-0.000312124670047,-6.3738890508e-05,1793251542169284608
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901,787,829,657,633,658,0.459094786648,-0.00557506156028,0.0597786037577,0.999999943066,-0.000103096076716,-0.000315037370311,-6.31750945585e-05,1793251542185951488
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901,787,829,657,633,658,0.459098975175,-0.00557492749525,0.0597765748273,0.999999941991,-0.000103631904087,-0.000318318475121,-6.28704546415e-05,1793251542202618112
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.267325158,748,725,691.267325158,671,641.732674842,901,786.732674842,829,657,633,658,0.459102353741,-0.00557462374785,0.0597757452968,0.999999941565,-0.000103398586968,-0.000319777938165,-6.26163707464e-05,1793251542219284480
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.861249462,748,725,691.861249462,671,641.138750538,901,786.138750538,829,657,633,658,0.459104742755,-0.0055741126944,0.0597763811089,0.999999941942,-0.000102225583078,-0.00031901184738,-6.24240526167e-05,1793251542235951360
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.116754401,748,725,691.116754401,671,641,901,786.4416228,829,657,633,657.5583772,0.459104824182,-0.00557187279964,0.0597755620708,0.999999941576,-0.00010118428629,-0.000320430203583,-6.27173570415e-05,1793251542252617984
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.017727232,748,725,690.017727232,671,641.017727232,901,787,829,657,633,657.017727232,0.459104293896,-0.00556924985268,0.0597743541089,0.999999941009,-0.000100234343255,-0.000322414009652,-6.31272574221e-05,1793251542269284096
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.589514427,748,725,690.589514427,671,641.589514427,901,787,829,657,633,657.589514427,0.45910662994,-0.0055711260253,0.0597748513358,0.999999941351,-0.000100884812667,-0.000321258759182,-6.25546260124e-05,1793251542285950976
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901,787,829,657,633,658,0.459108521195,-0.00557199812638,0.0597752565374,0.999999941675,-0.000101026623238,-0.000320294853662,-6.2084362013e-05,1793251542302617856
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,642,901,787,829,657,633,658,0.459109280536,-0.00557031503393,0.0597754275501,0.999999941957,-9.98739824433e-05,-0.000319817888976,-6.18746059157e-05,1793251542319284736
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,725,691,670.655002044,642,901,786.655002044,829,657,632.655002044,658,0.459109716031,-0.0055692141453,0.0597755911666,0.999999941905,-9.97873754487e-05,-0.000319994709976,-6.19269168167e-05,1793251542335951104
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,725,691,670.078167413,642,901,786.078167413,829,657,632.078167413,658,0.459109933902,-0.0055685044944,0.059775749813,0.999999941631,-0.000100417137184,-0.000320610871278,-6.21553352662e-05,1793251542352617216
+244,4.066666667,POSE1_TO_POSE2_PRESS,768.500432038,748,725,691,670.499567962,641.500432038,900.500432038,786.499567962,829,657,632.499567962,658,0.459110489632,-0.00556892726271,0.0597751762715,0.999999941591,-9.99013348236e-05,-0.000320953309391,-6.18633709902e-05,1793251542369284096
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.078563385,748,725,691,671,641.078563385,900.078563385,787,829,657,633,658,0.45911102606,-0.00556942663362,0.0597746087632,0.999999941585,-9.93567738778e-05,-0.000321207485786,-6.15125136399e-05,1793251542385950976
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.664788367,748,725,691,671,641.664788367,900.664788367,787,829,657,633,658,0.459111095536,-0.00556927396175,0.0597748218782,0.999999941567,-9.97867292353e-05,-0.000321168587468,-6.13081993171e-05,1793251542402617344
+247,4.116666667,POSE1_TO_POSE2_PRESS,768.751883292,748,725,691,671,642,901,786.751883292,829,656.751883292,633,658,0.459111457225,-0.00556933929869,0.0597750497803,0.99999994158,-0.00010056998998,-0.000320897546143,-6.12419010059e-05,1793251542419284224
+248,4.133333333,POSE1_TO_POSE2_PRESS,768.17242314,748,725,691,671,642,901,786.17242314,829,656.17242314,633,658,0.459112209145,-0.00556969577195,0.0597752974294,0.999999941632,-0.000101825066751,-0.00032031649319,-6.13599139159e-05,1793251542435950848
+249,4.150000000,HOLD_POSE2,769,748,725,691,671,642,901,786,829,656,633,658,0.459110557724,-0.00556555262558,0.0597751326383,0.999999941484,-9.69933468016e-05,-0.000322201112423,-6.17387731432e-05,1793251542469941248
+250,4.166666667,HOLD_POSE2,769,748,725,691,671,641.421573447,901,786.578426553,829,656.578426553,633.578426553,658,0.459110695509,-0.00556563803218,0.0597740183832,0.999999941022,-9.87510322295e-05,-0.000323112122412,-6.16681800221e-05,1793251542486607360
+251,4.183333333,HOLD_POSE2,769,748,725,691,671,641,901,787,829,657,633.840488769,658,0.459110742261,-0.0055655890559,0.0597731560616,0.999999940658,-9.97419026174e-05,-0.000323937604541,-6.16381232648e-05,1793251542503273472
+252,4.200000000,HOLD_POSE2,769,748,725,691,671,641,901,787,829,657,633.252259726,658,0.459110544346,-0.00556517889921,0.0597729708606,0.999999940567,-9.86718071309e-05,-0.000324533213924,-6.17170159442e-05,1793251542519940352
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+262,4.366666667,HOLD_POSE2,769,748,725,691,671,642,901,787,829,657,633,658,0.459112631327,-0.00556348508785,0.0597746693973,0.99999994131,-9.94364365787e-05,-0.000322049251489,-6.14529488951e-05,1793251542686606848
+263,4.383333333,HOLD_POSE2,769,748,725,691,671,641.878067912,901,787,829,656.878067912,633,658,0.459111976147,-0.00556342301706,0.0597737575424,0.999999940813,-0.000100452489294,-0.000323260714951,-6.15360287562e-05,1793251542703273472
+264,4.400000000,HOLD_POSE2,769,748,725,691,671,641.293315235,901,787,829,656.293315235,633,658,0.459111626502,-0.00556534497411,0.0597725081511,0.999999940283,-0.000101726277727,-0.000324565512059,-6.11773548071e-05,1793251542719940096
+265,4.416666667,HOLD_POSE2,768.71021546,748,725,691,671,641,901,786.71021546,829,656,633,658,0.459112097664,-0.00556535640795,0.0597728923651,0.999999940361,-0.000101610611757,-0.000324413965026,-6.09042853036e-05,1793251542736606720
+266,4.433333333,HOLD_POSE2,768.128779271,748,725,691,671,641,901,786.128779271,829,656,633,658,0.459113394921,-0.00556344500881,0.0597749207099,0.999999941048,-0.000100096538924,-0.00032279669042,-6.07173718243e-05,1793251542753273344
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,691,670,642,901,786,829,657,633,658,0.459112461111,-0.00556171203819,0.0597724487945,0.999999940562,-9.86217283581e-05,-0.000324658456368,-6.12020740908e-05,1793251542785727744
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.573730389,748,725,691,670.573730389,641.426269611,901,786.573730389,829,657,633,658,0.459112416988,-0.00556424137035,0.0597720849235,0.999999940046,-0.000101715083332,-0.000325288343279,-6.12265596481e-05,1793251542802394624
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,670.84809589,641,901,787,829,657,633.15190411,658,0.459112507505,-0.00556575421191,0.059772057583,0.999999939793,-0.0001033626781,-0.000325555711272,-6.11824633295e-05,1793251542819061248
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,670.257077548,641,901,787,829,657,633.742922452,658,0.459112987227,-0.00556432865108,0.0597730030621,0.99999994032,-0.000100830966794,-0.000324775134005,-6.09401151222e-05,1793251542835727360
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,670.32718537,641,901,786.67281463,829.32718537,656.67281463,633.67281463,658,0.459113116569,-0.00556494652364,0.0597732023157,0.999999940296,-0.000101555061572,-0.000324704056427,-6.05082265778e-05,1793251542852393728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,670.906247728,641,901,786.093752272,829.906247728,656.093752272,633.093752272,658,0.459112976178,-0.00556713749183,0.0597728271028,0.999999939843,-0.000104785572443,-0.000325179172767,-5.99304242829e-05,1793251542869060352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901,786,829.519767945,656.480232055,633,657.519767945,0.459112273807,-0.00556568064308,0.0597720834261,0.999999940012,-0.000102297540762,-0.000325416418733,-6.01350938888e-05,1793251542885726976
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901,786,829,657,633,657.053406148,0.45911117502,-0.00556356315478,0.0597711655658,0.999999940173,-9.89176810941e-05,-0.000325894058923,-6.05135333844e-05,1793251542902393600
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901,786,829,657,633,657.628247295,0.459107265756,-0.00556187571529,0.0597692420201,0.999999939193,-9.76163000531e-05,-0.000329167460734,-6.1112745474e-05,1793251542919060224
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.790271159,748,725,691,671,641.209728841,901,786.209728841,829,656.790271159,633,658,0.459097512829,-0.00556133905931,0.0597644059493,0.999999936452,-9.85421629765e-05,-0.000337024764665,-6.16436335503e-05,1793251542935726848
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.19663445,748,725,691,671,641.80336555,901,786.80336555,829,656.19663445,633,658,0.4590770631,-0.00556290890847,0.0597542385123,0.999999930313,-0.000103544987859,-0.000353272884041,-6.20494546964e-05,1793251542952393216
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.385199428,748,725,691,671,641.614800572,901,787,829,656.385199428,633,658,0.45904243382,-0.00556146122545,0.0597390483884,0.999999921229,-0.000101665327153,-0.000378545588362,-6.25292091143e-05,1793251542969059840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.96118744,748,725,691,671,641.03881256,901,787,829,656.96118744,633,658,0.459000781431,-0.00555851896431,0.0597213705358,0.999999910019,-9.63767841114e-05,-0.000408288154561,-6.30455825434e-05,1793251542985726464
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.463812766,748,725,691,671,641.536187234,901,786.463812766,829,657,633,658,0.458939923773,-0.00555881846361,0.0597016985655,0.999999897685,-9.95570383798e-05,-0.000436616947287,-6.39115454477e-05,1793251543002393088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.114062039,748,725,691,671,641.885937961,901,786.114062039,829,657,633,658,0.45887604351,-0.00555817270108,0.0596832914051,0.999999886078,-0.000101421743297,-0.000461909670835,-6.47841210163e-05,1793251543019059968
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.704235781,748,725,691,671,641.295764219,901,786.704235781,829,657,633,658,0.458805338639,-0.00555260357884,0.0596707651561,0.999999880523,-9.52410081771e-05,-0.000474955792361,-6.5578864894e-05,1793251543035726592
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901,787,829,657,633,658,0.45872401055,-0.0055485645852,0.0596626644346,0.999999876171,-9.0892679691e-05,-0.000484858682714,-6.56358922388e-05,1793251543052393216
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901,787,829,657,633,658,0.458632010369,-0.00554606276104,0.0596590096045,0.999999873147,-8.83851896402e-05,-0.000491603878276,-6.49518085692e-05,1793251543069059840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.551611996,748,725.448388004,691.448388004,671,641,901,787,829,656.551611996,633,657.551611996,0.458524727968,-0.00554229884365,0.0596576649978,0.999999872959,-8.42240091129e-05,-0.000492800255005,-6.43148413347e-05,1793251543085726464
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.022243509,748,725.977756491,691.977756491,671,641,900.977756491,786.977756491,829,656.022243509,633,657.022243509,0.458412407405,-0.00553829847226,0.0596571677859,0.999999873626,-7.97971043856e-05,-0.000492267264178,-6.36590334304e-05,1793251543102393344
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.595610181,748,725.404389819,691.404389819,671,641,900.404389819,786.404389819,829,656.595610181,633,657.595610181,0.458281225857,-0.00553719102136,0.0596616469599,0.999999876084,-8.02532778086e-05,-0.000487362203631,-6.22097029323e-05,1793251543119059968
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748.173891406,725,691,671.173891406,641.173891406,900.173891406,786.173891406,828.826108594,657,633,658,0.458140719254,-0.00553456346615,0.0596644436339,0.999999877824,-7.86306256772e-05,-0.000484211868847,-6.08938323888e-05,1793251543135726592
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748.763933894,725,691,671.763933894,641.763933894,900.763933894,786.763933894,828.236066106,657,633,658,0.457977896257,-0.00552829804849,0.0596632138048,0.999999877873,-7.20329978864e-05,-0.000485260885627,-5.98973539424e-05,1793251543152393216
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,749,725,691,671.651967904,642,901,786.651967904,828.348032096,657,633,658,0.457793953847,-0.00552224789545,0.0596610365715,0.999999877052,-6.73692911788e-05,-0.000487718693448,-5.90630608397e-05,1793251543169059840
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,749,725,691,671.071833876,642,901,786.071833876,828.928166124,657,633,658,0.457595926925,-0.00551634130137,0.0596582275161,0.999999875653,-6.39953120407e-05,-0.000491116021395,-5.83369287295e-05,1793251543185726208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748.495331813,725,691,671,642,900.495331813,787.009336375,829,657,633,657.495331813,0.457366433262,-0.00551050191887,0.0596609707782,0.999999877679,-5.95310395487e-05,-0.000487767779144,-5.6391803159e-05,1793251543202393088
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,900,787.919688532,829,657,633,657.080311468,0.457128941963,-0.00550434428046,0.0596653043639,0.999999880816,-5.43916363776e-05,-0.000482154086931,-5.41997648405e-05,1793251543219059968
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,642,900,787.346166844,829,657,633,657.653833156,0.456869644942,-0.0054961738285,0.0596745856863,0.999999887873,-4.60523589098e-05,-0.000468482168985,-5.15493301528e-05,1793251543235726592
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.76570651,748,725,691,671,642,900,787,829,657,633,658,0.456601507168,-0.00548829109789,0.0596868179922,0.999999896567,-3.79961234943e-05,-0.00045058665559,-4.89359671921e-05,1793251543252393472
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.174681539,748,725,691,671,642,900,787,829,657,633,658,0.456319908625,-0.00548084644767,0.059703543417,0.999999907614,-3.03708438292e-05,-0.000426260364794,-4.63790491963e-05,1793251543269060096
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.40689005,748,725,691,671,642,900,787,829,656.59310995,633,658,0.45600507523,-0.00547489248947,0.0597240791878,0.99999991996,-2.24819842899e-05,-0.000397120906737,-4.32428867611e-05,1793251543285726720
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.984495353,748,725,691,671,642,900,787,829,656.015504647,633,658,0.45567629779,-0.00546956396791,0.0597462136312,0.999999932136,-1.44825370553e-05,-0.000365962031084,-3.98636959038e-05,1793251543302393600
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671.56827646,642,900,787,829,656,633.56827646,658,0.455308321412,-0.0054633042271,0.0597687515821,0.999999943168,-2.90472496484e-06,-0.000335275696741,-3.53038751835e-05,1793251543319059968
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642.151711972,900,787,828.848288028,656,633.848288028,658,0.454920257185,-0.00545654113126,0.0597859794056,0.999999950305,7.95894642986e-06,-0.000313621846967,-3.11246738275e-05,1793251543335726848
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642.733684148,900,787,828.266315852,656,633.266315852,658,0.454478289652,-0.00544842335179,0.0597881159613,0.99999994905,1.65173626653e-05,-0.000317547464621,-2.81172802046e-05,1793251543352393728
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642.686839264,900,787,828,656.313160736,633.313160736,658,0.454005796185,-0.00543977957421,0.059779811473,0.999999943963,2.55263016827e-05,-0.000332812143876,-2.56649710689e-05,1793251543369060608
+303,5.050000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642.109468113,900,787,828,656.890531887,633.890531887,658,0.453507548262,-0.00543069201667,0.0597626979861,0.999999935156,3.49153429602e-05,-0.000357643470233,-2.36809805225e-05,1793251543385727488
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.536444431,748,725,691,672,642.463555569,899.536444431,787,828,656.536444431,633.536444431,658,0.452990469788,-0.00543253850199,0.059749306026,0.999999929338,3.13994477729e-05,-0.000373966035457,-2.21007571771e-05,1793251543402394112
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.036029527,748,725,690.963970473,672.036029527,643,899,787,828,656.036029527,633,658,0.452467880969,-0.0054379110408,0.0597395236653,0.999999925639,2.41125371032e-05,-0.000384359242697,-2.02040867726e-05,1793251543419060480
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.615554437,748,725,690.384445563,672.615554437,643,899,787,828,656.615554437,633,658,0.451928625299,-0.00545788533518,0.0597710572983,0.999999943686,5.48424758416e-06,-0.000335338370403,-1.21089475102e-05,1793251543435726848
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769,747.800893945,725,690,672.800893945,643,899,787,828,656.800893945,633,658,0.45137442723,-0.00546783740811,0.0597966543395,0.999999956289,-3.02665545711e-06,-0.000295604498156,-5.61750039904e-06,1793251543452393216
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,747.209406874,725,690,672.209406874,643,899,787,828,656.209406874,633,658,0.450790782004,-0.00545803855138,0.0598105520563,0.999999962377,8.40091411793e-06,-0.000274172647876,-2.28647181177e-06,1793251543469060096
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768.628697611,747.371302389,725,690,672,643,899,787,828,656,632.628697611,657.628697611,0.450148517747,-0.00544637830282,0.0597994453179,0.999999957533,2.28470536837e-05,-0.000290537891848,4.93522183359e-07,1793251543485726720
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.053895366,747.946104634,725,690,672,643,899,787,828,656,632.053895366,657.053895366,0.449474126152,-0.00543369788079,0.0597746343769,0.99999994557,3.89475817658e-05,-0.000327618605463,2.97151030882e-06,1793251543502393600
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.523621414,672,643,898.476378586,787,828,656,632.523621414,657,0.44875193762,-0.00542695671907,0.059749137798,0.999999922525,0.000132630118167,-0.000370562911459,6.44068669224e-06,1793251543519060480
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,724,691.880205004,671,643,892.119794996,789,824,657,633,656,0.428615431034,-0.00541430955618,0.059799977744,0.999999932988,0.000166952050476,-0.000324320582642,3.10867736714e-05,1793251543902393088
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887,788.91387731,820,657,633,656.08612269,0.400963019928,-0.00538888570572,0.0598327529478,0.99999993561,0.000228250725908,-0.000276177798134,2.01754045598e-05,1793251545052393216
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,690.186333058,671,643,887.813666942,788,820,657,633,656.186333058,0.400964740704,-0.00538625247946,0.059836022804,0.999999936119,0.000231264809527,-0.000271803223526,2.00439044651e-05,1793251545135727360
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,689.602519665,671,643,887.602519665,788,820,657,633,656.397480335,0.400963765939,-0.00538727079299,0.0598357825784,0.999999936174,0.000230172091792,-0.000272537546952,1.99192646084e-05,1793251545152393984
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,747,724,689.022947411,671,643,887.022947411,788,820,657,633,656.977052589,0.400961735167,-0.00538932980458,0.0598348748419,0.999999935864,0.000229096010175,-0.000274563783572,2.00232816814e-05,1793251545169060608
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,747,724,689.552283312,671,643,887.552283312,788,820,657,633,657,0.400963236675,-0.0053885537234,0.0598361187963,0.999999936016,0.000230820477683,-0.000272532173718,2.04122400205e-05,1793251545185727232
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,888,788,820,657,633,657,0.400965540945,-0.00538995174439,0.0598371134908,0.999999936744,0.00022997032548,-0.00027054001059,2.08366223687e-05,1793251545219060224
+414,6.900000000,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887.700337316,788,820,657,633,657,0.400965351095,-0.00539025317623,0.0598368056713,0.999999936885,0.000229041651262,-0.000270810009436,2.07744722866e-05,1793251545235727104
+415,6.916666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,887.116337084,788,820,657,633,657,0.400964187275,-0.00538921450079,0.059836239079,0.999999936696,0.000229005057809,-0.000271553847981,2.05660288555e-05,1793251545252394240
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..138d1d6ca54b09704ed4dd3bc446427fb3b7b8ff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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+387,6.450000000,pose2_to_pose3_retreat,0.585832832823,5.26084675076e-06,1.05002089057,0.556404174999,0.00867766501908,1.04963226669
+388,6.466666667,pose2_to_pose3_retreat,0.585808553219,5.23186396308e-06,1.05002090483,0.556379894545,0.008677633174,1.04963228151
+389,6.483333333,pose2_to_pose3_retreat,0.58579144064,5.10303143754e-06,1.05002110854,0.556362783683,0.00867751019813,1.04963248583
+390,6.500000000,pose2_to_pose3_retreat,0.585779239343,5.02630073179e-06,1.05002105841,0.556350581323,0.00867742938495,1.04963242516
+391,6.516666667,pose2_to_pose3_retreat,0.58577092338,5.12456063415e-06,1.05002096262,0.556342265299,0.00867752758147,1.04963233254
+392,6.533333333,pose2_to_pose3_retreat,0.585764743236,5.18709154832e-06,1.05002089273,0.556336085406,0.00867759119375,1.04963226779
+393,6.550000000,pose2_to_pose3_retreat,0.585760033343,5.15396327103e-06,1.05002086582,0.556331376116,0.00867756038795,1.04963224705
+394,6.566666667,pose2_to_pose3_retreat,0.58575670336,5.17437899555e-06,1.05002091504,0.556328045996,0.0086775805142,1.04963230019
+395,6.583333333,pose2_to_pose3_retreat,0.585754599194,5.20181967273e-06,1.05002096877,0.556325941557,0.00867760713132,1.04963235626
+396,6.600000000,pose2_to_pose3_retreat,0.585753738899,5.17784098371e-06,1.05002101187,0.556325082125,0.00867758604375,1.04963239847
+397,6.616666667,pose2_to_pose3_retreat,0.585753457972,5.16862962584e-06,1.05002102677,0.556324801518,0.00867757790315,1.04963241301
+398,6.633333333,pose2_to_pose3_retreat,0.585753367091,5.16564972833e-06,1.05002103159,0.556324710741,0.00867757526964,1.04963241772
+399,6.650000000,pose2_to_pose3_retreat,0.585753012646,5.15402778596e-06,1.05002105039,0.556324356701,0.00867756499866,1.04963243607
+400,6.666666667,pose2_to_pose3_retreat,0.585752874785,5.14950742361e-06,1.05002105771,0.556324218996,0.00867756100375,1.0496324432
+401,6.683333333,pose2_to_pose3_retreat,0.585752493081,5.1369916612e-06,1.05002107796,0.556323837727,0.00867754994285,1.04963246296
+402,6.700000000,pose2_to_pose3_retreat,0.585752362869,5.13272212517e-06,1.05002108486,0.556323707663,0.00867754616961,1.0496324697
+403,6.716666667,pose2_to_pose3_retreat,0.585752298628,5.13061571268e-06,1.05002108827,0.556323643496,0.00867754430806,1.04963247303
+404,6.733333333,pose2_to_pose3_retreat,0.585752051943,5.11151861231e-06,1.05002108863,0.556323397118,0.00867752611959,1.04963247047
+405,6.750000000,pose2_to_pose3_retreat,0.585751862233,5.08882023281e-06,1.05002107964,0.556323207662,0.008677504097,1.04963245735
+406,6.766666667,pose2_to_pose3_retreat,0.585751708951,5.07048037906e-06,1.05002107238,0.556323054585,0.00867748630317,1.04963244675
+407,6.783333333,pose2_to_pose3_retreat,0.585751699274,5.06932249445e-06,1.05002107192,0.55632304492,0.00867748517975,1.04963244608
+408,6.800000000,pose2_to_pose3_retreat,0.585751410591,5.03478228521e-06,1.05002105824,0.556322756624,0.00867745166789,1.04963242612
+409,6.816666667,pose2_to_pose3_retreat,0.585751368395,5.029733586e-06,1.05002105624,0.556322714485,0.0086774467695,1.0496324232
+410,6.833333333,pose2_to_pose3_retreat,0.585751261876,5.03144199314e-06,1.05002106089,0.556322607767,0.00867744773438,1.04963242634
+411,6.850000000,pose2_to_pose3_retreat,0.585751210429,5.05807051995e-06,1.05002108043,0.556322555614,0.00867747199894,1.04963244661
+412,6.866666667,pose2_to_pose3_retreat,0.58575110852,5.11081759119e-06,1.05002111914,0.556322452306,0.00867752006336,1.04963248675
+413,6.883333333,pose2_to_pose3_retreat,0.585751013934,5.12251021303e-06,1.05002116588,0.556322356713,0.00867752835057,1.0496325338
+414,6.900000000,pose2_to_pose3_retreat,0.585751046591,5.05019503579e-06,1.05002116956,0.55632239025,0.00867745893485,1.04963253548
+415,6.916666667,pose2_to_pose3_retreat,0.5857510495,5.04375309706e-06,1.05002116989,0.556322393237,0.00867745275111,1.04963253563
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6574af46c9d4fb44219889a9e84582a05e9149b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac06b9e73192e4c55a0aa67d89df39d0f41f80660819c4d5e31517bfa9702711
+size 26479856
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ca4c5cbab7376320b6abfdd723c10ae9db09b9e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+1,0.016666667,BASELINE,769,747,724,690,671,643,887,788,820,657,633,657,0.400961379484,-0.00539055172382,0.0598358822319,0.999999936802,0.000226948470624,-0.000272866605605,2.08298275408e-05,1793251545389596928
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+27,0.450000000,BASELINE,769.731935946,747,724,690,671,643,887.268064054,788,820,656.731935946,633,656.731935946,0.40096396038,-0.00539051275818,0.05983824372,0.99999993797,0.000227017675369,-0.000268502310165,2.07435278888e-05,1793251545822928896
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+30,0.500000000,BASELINE,769.511299298,747,724,689.511299298,671,643,887,788,820,657,633,656,0.400963725366,-0.00538962880626,0.0598387698211,0.999999937766,0.00022908988455,-0.000267493800654,2.08033914886e-05,1793251545872929280
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+42,0.700000000,BASELINE,769.452194415,747,724,689.547805585,671,643,887.452194415,788,820,657,633,657,0.400964488694,-0.0053914711864,0.0598392876314,0.999999937939,0.000228211850047,-0.000267554631153,2.13378459019e-05,1793251546072929024
+43,0.716666667,BASELINE,769.969638819,747,724,689.030361181,671,643,887.969638819,788,820,656.969638819,633,657,0.400964867273,-0.00539228975662,0.0598393822686,0.999999938728,0.00022513595214,-0.000267239582881,2.09834556044e-05,1793251546089595392
+44,0.733333333,BASELINE,769.395378023,747,724,689.604621977,671,643,887.395378023,788,820,656.395378023,633,657,0.40096471554,-0.00539002993573,0.0598390314623,0.999999938229,0.000228043251582,-0.00026665534006,2.07903154579e-05,1793251546106262272
+45,0.750000000,BASELINE,769,747,724,690,671,643,887,788,820,656.179421037,633,657,0.400964680918,-0.00538903599769,0.0598389010026,0.999999938023,0.00022961378314,-0.00026608804922,2.06809904484e-05,1793251546122928896
+46,0.766666667,BASELINE,769,747,724,690,671,643,887,788,820,656.755409726,633,657,0.400964905139,-0.00539083999379,0.0598392575669,0.99999993848,0.000228229705933,-0.000265558226797,2.0756918947e-05,1793251546139595520
+47,0.783333333,BASELINE,769,747,724.340573353,690,671,643,887,788,820,657,633,657,0.400963766085,-0.00539100428332,0.0598390943323,0.999999938089,0.000228537264961,-0.000266757541223,2.08104819299e-05,1793251546156262144
+48,0.800000000,BASELINE,769,747,724.932508651,690,671,643,887,788,820,657,633,657,0.400961620858,-0.00538995837902,0.0598385474574,0.999999937068,0.00023009334482,-0.000269233054092,2.08475379347e-05,1793251546172929024
+49,0.816666667,BASELINE,769,747,724.487998923,690,671,643,887.512001077,788,820,657,633,657,0.40096238712,-0.00538972527755,0.0598385961203,0.999999937342,0.000229702046033,-0.000268565970492,2.06159906766e-05,1793251546189595648
+50,0.833333333,BASELINE,769.089283709,747,724,690,671,643,887.910716291,788.089283709,820,657,633,657,0.40096336217,-0.00538986125162,0.0598388430745,0.999999937823,0.00022878628996,-0.000267567495525,2.04657705942e-05,1793251546206262016
+51,0.850000000,BASELINE,769.663263175,747,724,690,671,643,887.336736825,788.663263175,820,657,633,657,0.400963436619,-0.00539143298445,0.0598397504358,0.999999938521,0.00022638389818,-0.000266965497109,2.09447061891e-05,1793251546222928640
+52,0.866666667,BASELINE,770,747,724,689.762461895,671,643,887,789,820,656.762461895,633,657,0.400963509788,-0.00539189432807,0.0598400713472,0.999999938842,0.000225243911363,-0.000266712718871,2.11022056494e-05,1793251546239595520
+53,0.883333333,BASELINE,770,747,724,689.187767625,671,643,887,789,820,656.187767625,633,657,0.400963581141,-0.00539077961049,0.0598395598653,0.999999938637,0.000225895753486,-0.000266955615826,2.08034659671e-05,1793251546256262400
+54,0.900000000,BASELINE,769.600019961,747,724,689.399980039,671,643,887.399980039,788.600019961,820,656.399980039,633,657,0.400963817855,-0.00539052618836,0.0598397469862,0.999999938436,0.000227071247773,-0.000266703066054,2.08792157126e-05,1793251546272929280
+55,0.916666667,BASELINE,769.005937768,747,724,689.994062232,671,643,887.994062232,788.005937768,820,656.994062232,633,657,0.400964134815,-0.00539069073537,0.0598402731248,0.999999938236,0.000228500859753,-0.000266210086086,2.11366975474e-05,1793251546289595904
+56,0.933333333,BASELINE,769,747,724,690,671,643,887.428954067,788.571045933,820,656.428954067,633,657,0.400965773283,-0.00538979291918,0.0598407977601,0.999999938704,0.000228209967506,-0.000264727728629,2.07571433716e-05,1793251546306262272
+57,0.950000000,BASELINE,769,747,724,689.852648867,671,643,887,788.852648867,820,656,633,656.852648867,0.400966223106,-0.00538955103996,0.0598405627116,0.99999993884,0.000227675552886,-0.000264689554656,2.05556831827e-05,1793251546322928640
+58,0.966666667,BASELINE,769,747,724,689.277811392,671,643,887,788.277811392,820,656,633,656.277811392,0.400963185799,-0.00539124324203,0.0598381237572,0.999999937988,0.000226485037953,-0.000268870138253,2.08895570366e-05,1793251546339595520
+59,0.983333333,BASELINE,769,747,724,689.304805004,671,643,887.304805004,788,820,656.304805004,633.304805004,656.304805004,0.400962520309,-0.00539181634608,0.0598377128867,0.999999937794,0.000226351817184,-0.000269693764316,2.10411540768e-05,1793251546356262144
+60,1.000000000,BASELINE,769,747,724,689.894697172,671,643,887.894697172,788,820,656.894697172,633.894697172,656.894697172,0.400964073205,-0.00539134274677,0.0598391989029,0.999999938222,0.000227207494061,-0.000267377594979,2.10222658327e-05,1793251546372928768
+61,1.016666667,BASELINE,769,747,724,690,671,643,887.524333469,788,820,656.524333469,633.524333469,657,0.400963875263,-0.0053915605305,0.0598391476658,0.999999938253,0.000227471153322,-0.000267040224052,2.10083033466e-05,1793251546389595392
+62,1.033333333,BASELINE,769,747,724.054381817,690.054381817,671,643,887.054381817,788.054381817,820,656.054381817,633,657,0.400963397814,-0.00539189212427,0.0598388480228,0.99999993822,0.000227521111999,-0.000267119501285,2.10133335446e-05,1793251546406262272
+63,1.050000000,BASELINE,769,747,724.630076687,690.630076687,671,643,887.630076687,788.630076687,820,656.630076687,633,657,0.400963888149,-0.00539187449693,0.0598393693796,0.999999938403,0.000226755736356,-0.000267070792499,2.11901698613e-05,1793251546422928896
+64,1.066666667,BASELINE,769,747,724.794750858,690.794750858,671,643,888,788.794750858,820,657,633,657,0.40096388481,-0.00539176391653,0.0598393846113,0.999999938294,0.000226742779414,-0.000267477815506,2.1354153785e-05,1793251546439595520
+65,1.083333333,BASELINE,769,747,724.220517603,690.220517603,671,643,888,788.220517603,820,657,633,657,0.400962993978,-0.00539148623093,0.0598384899631,0.999999937657,0.00022808247395,-0.000268704124722,2.14950324673e-05,1793251546456262144
+66,1.100000000,BASELINE,769,747,724,690,671,643,888,788,820,657,633,657,0.400963601777,-0.00539059936177,0.0598385173072,0.99999993766,0.000228796037946,-0.000268112543417,2.11726226913e-05,1793251546472929024
+67,1.116666667,BASELINE,769,747,724,690,671,643,888,788,820,657,633,657,0.40096514387,-0.00538933270821,0.0598391194505,0.99999993806,0.000229119252209,-0.000266387631326,2.05613841574e-05,1793251546489595648
+68,1.133333333,BASELINE,769,747,724,689.463643701,671,643,887.463643701,788,820,657,633,657,0.400965551075,-0.00539126981921,0.059839118655,0.999999938743,0.000226168305348,-0.000266335395078,2.06537369522e-05,1793251546506262272
+69,1.150000000,BASELINE,769,747,724,689.114306866,671,643,887,788,820,656.885693134,633,657,0.400965723587,-0.00539288748954,0.0598391569606,0.999999939322,0.000223651702649,-0.00026627902006,2.07676429824e-05,1793251546522928896
+70,1.166666667,BASELINE,769,747,724,689.688404208,671,643,887,788,820,656.311595792,633,657,0.400965314235,-0.0053921978441,0.0598395449581,0.999999939422,0.000223927071367,-0.000265672210465,2.07437141204e-05,1793251546539595520
+71,1.183333333,BASELINE,769,747,724,690,671,643,887,788,820,656.269042973,632.730957027,656.730957027,0.400965244668,-0.0053919808078,0.0598399079489,0.999999939504,0.000224235783243,-0.000265098623611,2.08049971185e-05,1793251546556262144
+72,1.200000000,BASELINE,769,747,724,690,671,643,887,788,820,656.857446645,632.142553355,656.142553355,0.400965578436,-0.0053923247702,0.0598402412563,0.999999939564,0.000224584074311,-0.000264564472899,2.09674287108e-05,1793251546572928768
+73,1.216666667,BASELINE,769,747.438941961,724,690,671,643,887,788,820,657,632.438941961,656,0.400964770068,-0.00539205846088,0.0598400555983,0.999999938789,0.000226598957955,-0.000265752495983,2.1248184477e-05,1793251546589595392
+74,1.233333333,BASELINE,769,747.981844191,724,690,671,643,887.018155809,788,820,657,633,656.018155809,0.400963689403,-0.0053915718117,0.059839756952,0.999999937801,0.000229042865927,-0.000267346381798,2.15401019471e-05,1793251546606262272
+75,1.250000000,BASELINE,769,747.404864822,724,690,671,643,887.595135178,788,820,657,633,656.595135178,0.400965467659,-0.00539030904716,0.0598410878357,0.999999938745,0.000228290609902,-0.000264484218658,2.10111194962e-05,1793251546622928896
+76,1.266666667,BASELINE,769,746.828216727,724,690,671.171783273,643,887.828216727,787.828216727,820,657,633,656.828216727,0.400966024645,-0.00538946939088,0.0598414205479,0.999999939124,0.000227782755584,-0.000263522867043,2.05677392847e-05,1793251546639595520
+77,1.283333333,BASELINE,769,746.252347921,724,690,671.747652079,643,887.252347921,787.252347921,820,657,633,656.252347921,0.40096370884,-0.00538962501161,0.0598394052629,0.999999938182,0.000227849807082,-0.000267032791697,2.03257211243e-05,1793251546656262144
+78,1.300000000,BASELINE,768.66944524,746.33055476,724,689.66944524,671.66944524,643,887,787.33055476,820,657,633,656.33055476,0.400963573647,-0.00539033813638,0.0598390987204,0.999999938146,0.000227645513975,-0.0002673302255,2.05118764018e-05,1793251546672928768
+79,1.316666667,BASELINE,768.081056129,746.918943871,724,689.081056129,671.081056129,643,887,787.918943871,820,657,633,656.918943871,0.400965139341,-0.00539148611706,0.0598401250058,0.999999938817,0.00022722957073,-0.000265121900359,2.10320090938e-05,1793251546689595392
+80,1.333333333,BASELINE,768.501853295,747,724,689.501853295,671,643,887,788,820,657,633,656.498146705,0.400964009296,-0.00539120979296,0.0598398214482,0.999999938468,0.000227075053288,-0.000266567282307,2.10330136058e-05,1793251546706262016
+81,1.350000000,BASELINE,769.082418821,747,724,689.917581179,671,643,887.082418821,788,820,657,633,656.082418821,0.400962667324,-0.00539083109755,0.0598393297121,0.999999938049,0.00022689772572,-0.000268293096305,2.09336661792e-05,1793251546722928640
+82,1.366666667,BASELINE,769.654264243,747,724,689.345735757,671,643,887.654264243,788,820,657,633,656.654264243,0.400962624465,-0.00539119580797,0.0598389822128,0.999999938201,0.000226336916181,-0.000268217723679,2.07309254842e-05,1793251546739595520
+83,1.383333333,BASELINE,769.767877087,747,724,689.232122913,671.232122913,643,887.767877087,788,820,657,633,656.767877087,0.400963652066,-0.00539122892607,0.0598394773166,0.999999938567,0.000226275847956,-0.00026690641356,2.06661914766e-05,1793251546756262400
+84,1.400000000,BASELINE,769.1808237,747,724,689.8191763,671.8191763,643,887.1808237,788,820,657,633,656.1808237,0.400966316468,-0.00539075501879,0.0598412608133,0.999999939253,0.000226978915419,-0.000263705277574,2.08124783088e-05,1793251546772929536
+85,1.416666667,BASELINE,769,747,724,690,671.599227758,643,887,788,820,657,632.599227758,656.400772242,0.40096688235,-0.00538957007559,0.0598414907724,0.999999938965,0.000228782266553,-0.000263243696089,2.07491918915e-05,1793251546789596160
+86,1.433333333,BASELINE,769,747,724,690,671.020061106,643,887,788,820,657,632.020061106,656.979938894,0.400966514125,-0.00538806863138,0.0598410292105,0.999999938242,0.000231075383241,-0.000264001563541,2.05926188248e-05,1793251546806262528
+87,1.450000000,BASELINE,768.442736757,746.442736757,724,690,671,643,887,788,819.442736757,657,632,656.442736757,0.400964780692,-0.0053895057213,0.0598399460416,0.999999938684,0.000227712282474,-0.000265256934433,2.04658309621e-05,1793251546822929408
+88,1.466666667,BASELINE,768.266616363,746.133308181,724,689.866691819,671,643,887.133308181,788,819.133308181,657,632,656.133308181,0.400963245894,-0.0053907368408,0.0598390871874,0.999999938987,0.00022508508272,-0.000266354743272,2.04245007879e-05,1793251546839595776
+89,1.483333333,BASELINE,769.410719709,746.705359854,724,689.294640146,671,643,887.705359854,788,819.705359854,657,632,656.705359854,0.400962526064,-0.00539094305805,0.059839040003,0.999999938739,0.000225547823923,-0.000266875233862,2.06609113631e-05,1793251546856262400
+90,1.500000000,BASELINE,769.713066425,747,724,689.286933575,671,643,887.713066425,788,820,657,632,656.713066425,0.400962730013,-0.00539035827457,0.0598391385567,0.999999938452,0.000226871204325,-0.000266831078118,2.06728143188e-05,1793251546872929024
+91,1.516666667,BASELINE,769.121379328,747,724,689.878620672,671,643,887.121379328,788,820,657,632,656.121379328,0.400963915113,-0.00538893336541,0.0598393918994,0.999999938118,0.000229108673705,-0.000266187208772,2.04462666436e-05,1793251546889596160
+92,1.533333333,BASELINE,769,747,724,690,671,643,887,788,820,657,632,656.461567734,0.400964356577,-0.0053907634517,0.0598397558506,0.999999938773,0.000226896594082,-0.000265602106143,2.06825444418e-05,1793251546906263040
+93,1.550000000,BASELINE,769,746.958049038,724,690,671,643,887,788,820,657,632.041950962,657,0.400964487155,-0.00539314415676,0.0598400774144,0.999999939549,0.000223926066479,-0.000265175811442,2.09940993179e-05,1793251546922929408
+94,1.566666667,BASELINE,769,746.381592722,724,690,671,643,887,788,820,657,632.618407278,657,0.40096310196,-0.0053918369668,0.0598394951957,0.999999938732,0.000225923504136,-0.000266579676838,2.07428602438e-05,1793251546939596032
+95,1.583333333,BASELINE,769,746.194722005,724,690,671,643,887,788,820,657,633,656.805277995,0.400962410639,-0.00539092094806,0.0598391955781,0.999999938286,0.000227192943126,-0.000267183512806,2.05791684867e-05,1793251546956262400
+96,1.600000000,BASELINE,769,746.770759567,724,690,671,643,887,788,820,657,633,656.229240433,0.400963078101,-0.0053907709425,0.0598394493657,0.999999938579,0.000227036774633,-0.000266220686511,2.05869167536e-05,1793251546972929024
+97,1.616666667,BASELINE,769,747,724,690,671,643,887,788,820,657,633,656,0.400963970033,-0.00539147708631,0.0598400326504,0.999999938872,0.000226959793632,-0.000265167655355,2.07631568026e-05,1793251546989595648
+98,1.633333333,BASELINE,769,747,724,690,671,643,887,788,820,657,633,656,0.400965010344,-0.00539274916339,0.0598408337397,0.999999939166,0.000226935157283,-0.000264054996891,2.10507735617e-05,1793251547006262528
+99,1.650000000,BASELINE,769.52239787,747,724,690,671,643,887.52239787,788,820,657,633,656.52239787,0.400963258588,-0.00539134323592,0.0598397742589,0.999999938655,0.000227211533749,-0.000265766613769,2.07914437654e-05,1793251547022928896
+100,1.666666667,BASELINE,769.898195997,747,724,690,671,643,887.898195997,788,820,657,633,656.898195997,0.40096195996,-0.00539011779954,0.0598389902536,0.999999938321,0.000227221207484,-0.000267032120698,2.05657329117e-05,1793251547039595520
+101,1.683333333,BASELINE,769.323058092,747,724,690,671,643,887.323058092,788,820,657,633,656.323058092,0.400964207607,-0.00539111221436,0.0598404462916,0.999999939232,0.000225835667521,-0.000264767380526,2.07783143259e-05,1793251547056262400
+102,1.700000000,BASELINE,769,747,724,690,671,643,887,788.256675427,819.743324573,657,633,656.256675427,0.400964893303,-0.00539204130329,0.059840688726,0.999999939649,0.000224600859264,-0.000264236674463,2.08773443727e-05,1793251547072929280
+103,1.716666667,BASELINE,769,747,724,690,671,643,887,788.842298502,819.157701498,657,633,656.842298502,0.400963577247,-0.00539288667243,0.0598393758416,0.999999939435,0.000223559224423,-0.000265928255499,2.08308503228e-05,1793251547089595648
+104,1.733333333,BASELINE,769,747,724,689.574271073,671,643,887,788.574271073,819.425728927,657,633,657,0.4009627273,-0.00539199830533,0.0598388364523,0.999999938761,0.000224868234373,-0.000267364760939,2.06976488836e-05,1793251547106262272
+105,1.750000000,BASELINE,769,747,724,689.008249717,671,643,887,788,820,657,633,657,0.400962086673,-0.00539051072244,0.0598385976582,0.999999937939,0.000226992500087,-0.000268654805509,2.05351884315e-05,1793251547122928896
+106,1.766666667,BASELINE,769,747,724,689.583782229,671,643,887,788,820,657,633,657,0.400964027899,-0.00539175419196,0.0598394274437,0.999999938871,0.000225608079653,-0.000266337617282,2.05580594574e-05,1793251547139595520
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,633,657,0.400963147003,-0.00539177843,0.0598389828407,0.999999938568,0.000227074639554,-0.000266197449662,2.0971354997e-05,1793251547180764928
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,633,656.406964891,0.400963490583,-0.00539189013548,0.0598394212104,0.999999938567,0.000227384061114,-0.000265922592424,2.1178831786e-05,1793251547197431552
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746.818573625,724,689.818573625,671,643,887,788,820,657,633,656,0.400963980997,-0.0053918034985,0.0598399362459,0.999999938672,0.000227500910745,-0.000265419148175,2.12573299681e-05,1793251547214098176
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746.240339062,724,689.240339062,671,643,887,788,820,657,633,656,0.400964792559,-0.00539128305518,0.0598406189615,0.999999939011,0.000227196575161,-0.000264415747915,2.10537315706e-05,1793251547230764800
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746.335405989,723.664594011,689.335405989,671,643,887,788,820,657,633,656.335405989,0.400963828552,-0.00539107274891,0.0598399742917,0.999999938817,0.000226846129066,-0.00026546070906,2.09208722203e-05,1793251547247431936
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746.909380261,723.090619739,689.909380261,671,643,887,788,820,657,633,656.909380261,0.400961601613,-0.0053910830376,0.0598383854762,0.999999938238,0.000226462885407,-0.000267962633107,2.08383283017e-05,1793251547264099584
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,723.495658135,690,671,643.495658135,887.495658135,788,820,657,633,656.504341865,0.400962508085,-0.00539110293672,0.059839114243,0.999999938524,0.000226506832762,-0.0002668644888,2.07398772591e-05,1793251547280766464
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643.917091501,887.917091501,788,820,657,632.917091501,656.082908499,0.4009638941,-0.0053911609103,0.0598401809411,0.999999938934,0.00022650179641,-0.000265337066977,2.06250227589e-05,1793251547297433088
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643.337828691,887.337828691,788,820,657,632.337828691,656.662171309,0.400964634082,-0.00539143604018,0.0598406694905,0.999999939129,0.000225724024248,-0.000265280394612,2.04298187341e-05,1793251547314099200
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,632,657,0.400967296653,-0.00539146631444,0.059842022806,0.999999939647,0.000225468956748,-0.000263532110037,2.04886796539e-05,1793251547330765824
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,820,657,632,657,0.400972649422,-0.00539115397247,0.0598445861527,0.999999940607,0.000225945288033,-0.000259416823406,2.09030430166e-05,1793251547347432704
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.392330799,747,724,690,671.392330799,643,887,788,820,657,632.392330799,657,0.400991902307,-0.00539228583356,0.0598527914908,0.999999944349,0.000225174626158,-0.000245219103604,2.1606776076e-05,1793251547364099072
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.965782158,747,724,690,671.965782158,643,887,788,820,657,632.965782158,657,0.401017572216,-0.0053940844148,0.0598636014696,0.999999949078,0.000223828286542,-0.000226366801216,2.24440974572e-05,1793251547380765440
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671.444268611,643,887.555731389,788.555731389,820,657,633,657,0.401069669482,-0.00539518092654,0.0598815093608,0.999999956191,0.000223334050833,-0.000192894004892,2.30702360298e-05,1793251547397431808
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.85575456,747,724,690,671,643,887.85575456,788.85575456,819.85575456,657,633,657,0.401126976227,-0.00539649664432,0.059899212275,0.999999961572,0.000223043475681,-0.0001629174187,2.37944925004e-05,1793251547414098432
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.274755718,747,724,690,671,643,887.274755718,788.274755718,819.274755718,657,633,657,0.401194978839,-0.00539861097833,0.0599149307857,0.999999964074,0.000223205834169,-0.000146335951891,2.48564112912e-05,1793251547430765056
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,819,657,633,656.697400509,0.401271596025,-0.00540078563226,0.0599268745232,0.999999966525,0.000222715157178,-0.000129255732978,2.53113457634e-05,1793251547447431936
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887,788,819,657,633,656.123314335,0.401355942042,-0.00540301440398,0.0599354316029,0.999999968879,0.000221638588778,-0.000111728043866,2.52217050338e-05,1793251547464098816
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.448883099,788,819.448883099,656.551116901,633,656,0.401454383142,-0.0054060166202,0.0599395196481,0.999999970234,0.000219551546611,-0.000103476888561,2.49403987856e-05,1793251547480765952
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.021358055,747,724,689.978641945,671,643,887.978641945,788,820,656.021358055,633,656.021358055,0.401557600004,-0.00540920675249,0.0599424720533,0.999999971362,0.000217172611276,-9.7515055269e-05,2.45703703937e-05,1793251547497432832
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.615118278,747,724,689.384881722,671,643,887.384881722,788,820,656.615118278,633,656.615118278,0.401685469833,-0.005411762538,0.0599477539664,0.999999973147,0.000214379200432,-8.48962654666e-05,2.32277693957e-05,1793251547514099456
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.796270944,747,724,689.203729056,671,643,887.203729056,788,820,657,633,657,0.401819351408,-0.0054143960709,0.05995086654,0.999999974373,0.000211846511581,-7.68110307399e-05,2.17970810556e-05,1793251547530765824
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.217148652,747,724,689.782851348,671,643,887.782851348,788,820,657,633,657,0.401964310276,-0.00541717286166,0.0599499818662,0.999999974818,0.000209794232093,-7.70793722161e-05,2.02040822357e-05,1793251547547432448
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.640790105,788,820,657,633,656.640790105,0.402129477145,-0.0054213016921,0.0599480080398,0.999999975649,0.000206101209488,-7.67727058759e-05,1.81880855206e-05,1793251547564099328
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.066089479,788,820,657,633,656.066089479,0.402306766849,-0.0054262416141,0.0599453808286,0.99999997669,0.000201423901619,-7.61210912265e-05,1.59183313733e-05,1793251547580766464
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,887.519895787,788,820,657,633,656,0.402525340255,-0.00543308683153,0.0599487021381,0.999999978822,0.000194593172413,-6.54398265745e-05,1.43738258842e-05,1793251547597432832
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.105801217,747,724,690,671,643,888,788,820,657,633,656.105801217,0.402754474719,-0.00543981921322,0.0599518718683,0.999999980797,0.000187584297865,-5.52875359484e-05,1.27020762413e-05,1793251547614099456
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.684791673,747,724,690,671,643,888,788,820,657,633,656.684791673,0.40300685076,-0.00544493967792,0.0599509066688,0.999999982142,0.000181030145111,-5.33298076677e-05,1.00397541204e-05,1793251547630766336
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,788,819.73643691,657,633,657,0.403272493843,-0.00545067995696,0.0599494633736,0.999999983436,0.000173833004269,-5.34661257254e-05,7.11174188954e-06,1793251547647432960
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,788,819.157927272,657,633,657,0.403553990456,-0.00545716088713,0.0599474487745,0.999999984663,0.000165867520725,-5.61047391534e-05,3.86624157143e-06,1793251547664099584
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.581918613,747,724,690,671,643,888,788,819,657,632.581918613,656.581918613,0.40385903697,-0.00546422288556,0.0599386396496,0.999999984852,0.000159372232649,-6.99760850813e-05,3.84318046331e-07,1793251547680766208
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.006849078,747,724,690,671,643,888,788,819,657,632.006849078,656.006849078,0.404172926387,-0.005471503073,0.0599272792031,0.999999984347,0.000153428998135,-8.80652840493e-05,-3.18638152158e-06,1793251547697432832
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746.419051593,724,690,671,643,888,788,819,657,632.580948407,656,0.40451448644,-0.00547958627219,0.059913006969,0.999999982957,0.000144234846449,-0.000115041280027,-6.96456313812e-06,1793251547714099456
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,724,690,671,643,888,788.166371496,819.166371496,657,633,656.166371496,0.404869363346,-0.00548731329212,0.0599015267994,0.999999981341,0.000135781345834,-0.000136981964653,-1.08081541084e-05,1793251547730765824
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,724,690,671,643,888,788.745522807,819.745522807,657,633,656.745522807,0.405256452772,-0.00549413258941,0.0598970610265,0.999999980854,0.000129262677294,-0.000146163904376,-1.4807824989e-05,1793251547747432448
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746.322921887,724,690,671,643,888,789,820,657,633,657,0.405705219542,-0.00549908060547,0.0599068195802,0.999999983014,0.000127808898995,-0.00013156913536,-1.80587007263e-05,1793251547764099328
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+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,724,690,670.526137597,643,888,788.526137597,820,657,633,657,0.406738692711,-0.00550364682746,0.0599591835374,0.9999999898,0.000133993236876,-4.40614597045e-05,-2.24439905834e-05,1793251547797432832
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+146,2.433333333,POSE1_TO_POSE2_PRESS,769.641050002,747,724,690.641050002,670.641050002,643,888.641050002,788.641050002,820,657,633,657,0.407826788107,-0.00548974900091,0.0599985230111,0.999999999396,-1.4876361135e-05,1.38940651504e-05,-2.81555672997e-05,1793251547830765824
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.772966886,747,724,691,671,643,889.227033114,789,820,657,633,657,0.408373384597,-0.00548412712739,0.0599971624949,0.999999993757,-0.000106988291465,7.32552188527e-07,-3.22455520342e-05,1793251547847432704
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.194926446,747,724,691,671,643,889.805073554,789,820,657,633,657,0.408924793551,-0.00549037741618,0.0599816016192,0.999999990876,-0.000124168045148,-3.87135102885e-05,-3.65011672929e-05,1793251547864099328
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+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,724,690.043846617,671,643,889.043846617,789,820,656.043846617,633,657,0.410140240785,-0.00551431228751,0.0599741537854,0.999999987619,-0.000138586832835,-5.94339504261e-05,-4.49776072412e-05,1793251547897432320
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889,789.543466126,820,656.543466126,633,657,0.410832863147,-0.00551873416853,0.0599828761921,0.999999989817,-0.000130137243057,-3.07515656406e-05,-4.98476297679e-05,1793251547914098688
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889.130258631,789.869741369,820,657,632.869741369,657,0.411531569665,-0.00552097181544,0.0599891640752,0.999999994323,-9.49752648773e-05,-9.25976139961e-06,-4.74077456719e-05,1793251547930765056
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+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,890.288623678,788.711376322,820.288623678,656.711376322,632.288623678,657,0.412912967158,-0.00550380612268,0.0599604377166,0.999999993677,8.73119075234e-05,-7.00571689655e-05,-1.073767804e-05,1793251547964098816
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+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,691,670,643,894,788.489485123,823.510514877,657,633,657,0.420298945113,-0.00550613802932,0.0599567747291,0.999999996853,-4.78370977722e-06,-6.77878371974e-05,-4.09331131632e-05,1793251548114098688
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,691.097790312,670.097790312,643,894,788,824.097790312,657,633,657,0.421139486697,-0.0055043716664,0.0599220739953,0.999999991262,-1.2603415665e-05,-0.000123826533776,-4.45541377208e-05,1793251548130765312
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724,691.676887371,670.676887371,643,894,788,824.676887371,657,633,657,0.422007606456,-0.00550818773519,0.0598836148463,0.999999978179,-1.31707457951e-05,-0.000203204497582,-4.66473427263e-05,1793251548147431680
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.745701882,747,724.254298118,692,670.745701882,643,894.254298118,788,825,656.745701882,633,657,0.422943532425,-0.00551255291016,0.0598885178137,0.999999979194,-1.63076578853e-05,-0.000197866900813,-4.68459754101e-05,1793251548164098304
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.170419578,747,724.829580422,692,670.170419578,643,894.829580422,788,825,656.170419578,633,657,0.423965045938,-0.00551761118712,0.0599481539911,0.999999995082,-2.26879883146e-05,-8.55983016618e-05,-4.4653211248e-05,1793251548180764928
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.406146734,747,724.593853266,692,670,643,895.406146734,788,825,656.406146734,633,657,0.424965647807,-0.0055206812838,0.0599992748828,0.999999998685,-2.81617136606e-05,-6.57427194956e-07,-4.28621331352e-05,1793251548197432064
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.983253492,747,724.016746508,692,670,643,895.983253492,788,825,656.983253492,633,657,0.42595744724,-0.00552291449212,0.0600468114175,0.999999995948,-3.32538197895e-05,7.27803355975e-05,-4.12401374868e-05,1793251548214098944
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.571726862,692.571726862,670,643,896.571726862,788.571726862,825,656.428273138,633,657.571726862,0.426906263793,-0.00552252730371,0.0600380186296,0.999999996173,-2.79501154096e-05,7.09159046386e-05,-4.29463366321e-05,1793251548230765568
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.842019335,747,724.842019335,692.842019335,670.157980665,643,897,788.842019335,825.157980665,656.157980665,633,657.842019335,0.427856338513,-0.00552267050577,0.0600222835856,0.999999997009,-2.90951272785e-05,5.58411259308e-05,-4.4916076875e-05,1793251548247431936
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.262592921,747,724.262592921,692.262592921,670.737407079,643,897,788.262592921,825.737407079,656.737407079,633,657.262592921,0.428813196407,-0.00552443754418,0.05999251951,0.999999997649,-4.82722158689e-05,1.15285109155e-05,-4.73235263353e-05,1793251548264098304
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.62881639,747,724.314408195,692.314408195,671.314408195,643,897,788,826,657,633.314408195,657.314408195,0.42972893425,-0.00552328046858,0.0599549649782,0.999999996094,-4.91772559003e-05,-5.39630126031e-05,-4.98171438441e-05,1793251548280764928
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.778798371,747,724.889399186,692.889399186,671.889399186,643,897,788,826,657,633.889399186,657.889399186,0.430610591581,-0.00551969987527,0.059910953686,0.999999988632,-3.49383463604e-05,-0.000137007699502,-5.23821774599e-05,1793251548297431808
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.534539664,747,725,693,671.534539664,643,897,788,826.465460336,657,634,657.534539664,0.431625837068,-0.00552229177463,0.0599386756001,0.999999994805,-3.18762647615e-05,-8.09308647912e-05,-5.31502047961e-05,1793251548314098176
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,897.042739672,788,827,657,633.957260328,657,0.432666834643,-0.00552600001098,0.0599821127267,0.999999998025,-3.29551355197e-05,4.28406007323e-06,-5.33520344271e-05,1793251548330764800
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,897.632344296,788,827,657,633.367655704,657,0.43363024412,-0.00552518223218,0.0600080328182,0.999999996521,-5.29586925103e-05,3.83743617331e-05,-5.1785354976e-05,1793251548347431680
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.218067311,725,693,671,643,898,788,827,657,633,657,0.434594103369,-0.00552499476845,0.0600141478781,0.999999995965,-5.96046597041e-05,4.32120515086e-05,-5.14760404304e-05,1793251548364098816
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.797360578,725,693,671,643,898,788,827,657,633,657,0.435558707811,-0.00552585141414,0.0599874561383,0.999999997609,-4.41239384653e-05,-4.06863544935e-07,-5.32495359629e-05,1793251548380765440
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.626679592,748,725,693.373320408,671,643,898,788,827,657,633,657.373320408,0.436475608015,-0.00552772241365,0.0599601722718,0.999999996423,-4.34206521935e-05,-4.72766846763e-05,-5.50692583613e-05,1793251548397432064
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.052513182,748,725,693.947486818,671,643,898,788,827,657,633,657.947486818,0.437366843331,-0.00553013913443,0.0599325698433,0.999999992499,-5.06676118642e-05,-9.58954873007e-05,-5.69138505926e-05,1793251548414098688
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.534317097,748,725,693.465682903,671,643,898,787.465682903,827,656.465682903,633,658,0.438202228301,-0.00552632397829,0.0598974315376,0.999999982471,-4.88814277385e-05,-0.000171272869456,-5.77488549531e-05,1793251548430765312
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,748,725,693,671,643,898.120563295,787,827.120563295,656.120563295,633.120563295,658,0.43906698472,-0.00552323630824,0.0598799187092,0.999999974474,-4.89418284267e-05,-0.000212742507184,-5.82815870545e-05,1793251548447431680
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,748,725,693,671,643,898.699738339,787,827.699738339,656.699738339,633.699738339,658,0.440064854042,-0.00552530228568,0.0599323372804,0.999999989935,-5.94855084463e-05,-0.000114983589318,-5.80511027696e-05,1793251548464098304
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747.721973609,725,693,671.278026391,643,898.721973609,787,828,656.721973609,633.721973609,658,0.44103714574,-0.00552738099044,0.0599792307536,0.999999995697,-6.42920179711e-05,-3.48257247043e-05,-5.709580517e-05,1793251548480765184
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.144640479,725,693,671.855359521,643,898.144640479,787,828,656.144640479,633.144640479,658,0.44198190202,-0.00552947339655,0.0600201762302,0.99999999614,-6.29222292914e-05,2.63838819053e-05,-5.53602168138e-05,1793251548497431808
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.570229274,747.429770726,725,693,672.429770726,643.429770726,898.429770726,787.429770726,828,656.429770726,633.429770726,658,0.442839959544,-0.00553272992153,0.0600128754405,0.999999996509,-5.88938091572e-05,1.82591180903e-05,-5.64003540979e-05,1793251548514098688
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.003301778,748,725,693.003301778,672.996698222,643.996698222,899,787.996698222,828,657,634,657.996698222,0.443668861619,-0.00553637272092,0.0599895337265,0.999999996746,-5.41667888995e-05,-1.29525607131e-05,-5.83598380551e-05,1793251548530765568
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.59400828,748,725,693.59400828,672.40599172,643.40599172,899,787.40599172,828,657,634,657.40599172,0.444466832931,-0.00553950537761,0.0599816408257,0.999999994409,-8.32645101477e-05,-2.81211610967e-05,-5.8803048517e-05,1793251548547432192
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,748,725,693.818908672,672,643,899.181091328,787,828,656.818908672,634,657.181091328,0.445252081173,-0.00554059529133,0.0599705796693,0.999999992106,-9.78062553536e-05,-5.24598420157e-05,-5.8906796887e-05,1793251548564098560
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,748,725,693.239789639,672,643,899.760210361,787,828,656.239789639,634,657.760210361,0.446009365038,-0.00553719538113,0.0599525548789,0.999999990374,-8.03548579071e-05,-9.69538040077e-05,-5.82644283809e-05,1793251548580764928
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,900,787,828,656.337801937,634,658,0.446778243259,-0.00553459077447,0.0599388435008,0.999999989335,-6.33134004212e-05,-0.000117810616445,-5.86610806081e-05,1793251548597431552
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,900,787,828,656.914314091,634,658,0.447555314673,-0.0055325481751,0.0599281802282,0.999999989691,-4.65616311326e-05,-0.000121964061174,-5.97919645494e-05,1793251548614098432
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,900,787.498560171,828,657,633.501439829,657.501439829,0.4483180838,-0.00553979988952,0.059957485935,0.999999994374,-5.31299072064e-05,-6.97490722956e-05,-5.97073380832e-05,1793251548630765312
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.916760624,748,725,692.916760624,672,643,900,787.916760624,828.083239376,657,633.083239376,657.083239376,0.44906387369,-0.00554788530755,0.059987136951,0.999999995699,-6.81973247969e-05,-2.0042025805e-05,-5.95787228923e-05,1793251548647431936
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.337545444,748,725,692.337545444,672,643,900,787.337545444,828.662454556,657,633.662454556,657.662454556,0.449723371141,-0.00555127042193,0.0599772700732,0.999999991197,-0.000109648950289,-4.39123405854e-05,-6.04523687983e-05,1793251548664098560
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.240795746,747.759204254,725,692.240795746,672,643,900,787.240795746,828.759204254,657,634,658,0.45036705119,-0.00555379539233,0.0599575829365,0.999999986768,-0.000130198820703,-7.50341285741e-05,-6.23052265494e-05,1793251548680764928
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.817916168,747.182083832,725,692.817916168,672,643,900,787.817916168,828.182083832,657,634,658,0.45098863867,-0.00555511898057,0.0599241796308,0.999999983704,-0.000121554750145,-0.000116284205541,-6.55257708644e-05,1793251548697431552
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.39451618,725,692.60548382,672.39451618,643,900,788,828.39451618,657,634,658,0.451605283703,-0.00555173338496,0.0599144701499,0.999999983481,-0.000112354376682,-0.000125598087312,-6.81203320996e-05,1793251548714098176
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747.97087637,725,692.02912363,672.97087637,643,900,788,828.97087637,657,634,658,0.452219650672,-0.0055461771893,0.0599156818408,0.999999985003,-0.000102897586284,-0.000120191649143,-7.04263597913e-05,1793251548730764800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672.145165517,643,901,787,828.145165517,657,634,658,0.453326760956,-0.0055507648431,0.0599439835597,0.999999989475,-0.00010073911725,-7.5841857065e-05,-7.176508893e-05,1793251548764098304
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672.727536227,643,901,787,828.727536227,657,634,658,0.453808662794,-0.00555553440459,0.0599277561774,0.99999998621,-9.94952101107e-05,-0.000111627094073,-7.22502249332e-05,1793251548780765184
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.695383004,748,725,692,672.695383004,643,901,787,829,656.695383004,633.695383004,658,0.45427121181,-0.00556109176435,0.0599090229233,0.99999998185,-0.000101701630646,-0.000143463899217,-7.33202997152e-05,1793251548797432064
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.122953076,748,725,692,672.122953076,643,901,787,829,656.122953076,633.122953076,658,0.454716746198,-0.00556734173969,0.05988808656,0.999999976714,-0.000106941507663,-0.000171829322979,-7.49046405001e-05,1793251548814098688
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.450320792,748,725,692,672,643,901,787,829,656,633.450320792,658,0.455164482969,-0.00556980586113,0.0598891900391,0.999999978496,-0.000104488590396,-0.000163056908631,-7.41836598191e-05,1793251548830765312
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,642.97525312,900.97525312,787,829,656.02474688,633.97525312,658,0.455611180243,-0.00557128394727,0.059896841754,0.999999982078,-0.000100187729754,-0.000143570422439,-7.20734277118e-05,1793251548847432192
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672,642.379570052,900.379570052,787,829,656.620429948,633.379570052,658,0.45601999612,-0.00557390575609,0.059916474294,0.999999987251,-0.000101802235227,-0.0001112766211,-5.24606414416e-05,1793251548864098560
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672,642,900.208911643,787.208911643,828.791088357,657,633,658,0.456400088849,-0.00557426934674,0.0599246386804,0.999999989174,-0.000102712036754,-9.70354803254e-05,-4.10768002517e-05,1793251548880765184
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,642,900.784745148,787.784745148,828.215254852,657,633,658,0.456729733648,-0.00557066671674,0.0599126609784,0.999999987229,-0.000102384131868,-0.00011450112475,-4.41458649088e-05,1793251548897431808
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725,691.640445935,671.640445935,642,901,787.640445935,828.359554065,657,633,658,0.457014721694,-0.00556545990457,0.0598858604651,0.999999981946,-9.80723303711e-05,-0.000155562643662,-4.78460128509e-05,1793251548914098432
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,725,691.066248612,671.066248612,642,901,787.066248612,828.933751388,657,633,658,0.457273050997,-0.00555929544222,0.0598502111658,0.999999972277,-9.13822588792e-05,-0.000210710210648,-5.19228992317e-05,1793251548930764800
+213,3.550000000,POSE1_TO_POSE2_PRESS,768.48020678,748,725,691,671.51979322,642,901,787,829,657,633,658,0.457515583995,-0.00555607959724,0.0598224355753,0.999999963956,-8.57676826552e-05,-0.000248265756597,-5.56329248412e-05,1793251548947431424
+214,3.566666667,POSE1_TO_POSE2_PRESS,768.106445145,748,725,691.106445145,671.893554855,642,901,787,829,657,633,658,0.457753577036,-0.00555440648729,0.0597992039734,0.999999956075,-8.20818883224e-05,-0.000278640411891,-5.89325485363e-05,1793251548964098048
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.584004273,901,786.584004273,829,657,633,658,0.45856163868,-0.00556992082078,0.0597971643861,0.999999952573,-9.6132859933e-05,-0.000285959781677,-6.19707406026e-05,1793251549030765568
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+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.583831808,901,786.583831808,829,657,633,658,0.458869080684,-0.00557145967388,0.059801103375,0.999999954585,-9.65930109881e-05,-0.000278312199975,-6.35783582792e-05,1793251549064098560
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671.171901217,642,901,787,829,657,633,658,0.458992572146,-0.00557216111492,0.0597973184414,0.99999995298,-9.71384598701e-05,-0.000283700173449,-6.41812466138e-05,1793251549080765440
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671.747490832,642,901,787,829,657,633,658,0.459090155436,-0.00557490202177,0.0597889258955,0.99999994875,-9.9224867755e-05,-0.000297564867374,-6.41130050479e-05,1793251549097432832
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671.676091947,641.676091947,901.323908053,787,829,657,633,658,0.459178991891,-0.00557582156325,0.0597850403494,0.999999946581,-9.89831450074e-05,-0.000304775435087,-6.44438836851e-05,1793251549114099712
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671.099027835,641.099027835,901.900972165,787,829,657,633,658,0.459260992113,-0.00557531758476,0.0597846773277,0.999999946126,-9.69218308846e-05,-0.000306785354467,-6.50867017645e-05,1793251549130766336
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,691.471744924,671,641.471744924,901.528255076,786.528255076,828.528255076,657,633,658,0.459328503959,-0.00557536656959,0.0597845029211,0.999999946157,-9.59166443022e-05,-0.000307089539611,-6.46637040632e-05,1793251549147432960
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,692,671,642,901.043339529,786.043339529,828.043339529,657,633,657.956660471,0.459391779161,-0.0055754747699,0.0597843724528,0.999999946275,-9.51818226021e-05,-0.000307059713191,-6.40718116285e-05,1793251549164099584
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,692,671,642,901.642172989,786.642172989,828.642172989,657,633,657.357827011,0.459439221307,-0.00557487374134,0.0597843043472,0.99999994621,-9.51081435643e-05,-0.000307277780598,-6.41450683257e-05,1793251549180766208
+228,3.800000000,POSE1_TO_POSE2_PRESS,768.768004958,748,725,691.768004958,671,641.768004958,901.768004958,787,829,657,633,657.231995042,0.459480675684,-0.00557482321235,0.0597840101591,0.999999945914,-9.55935148333e-05,-0.000308112625515,-6.40393256257e-05,1793251549197432832
+229,3.816666667,POSE1_TO_POSE2_PRESS,768.191562353,748,725,691.191562353,671,641.191562353,901.191562353,787,829,657,633,657.808437647,0.459513239899,-0.00557559002086,0.0597833803019,0.99999994527,-9.69089189965e-05,-0.000309863212011,-6.36678190259e-05,1793251549214099712
+230,3.833333333,POSE1_TO_POSE2_PRESS,768,748,725,691,671,641.383285737,901,786.616714263,829,657,633,658,0.459537820649,-0.00557490981558,0.059782533992,0.999999945031,-9.45568746254e-05,-0.000311412626146,-6.34003071158e-05,1793251549230766848
+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,725,691,671,641.957340189,901,786.042659811,829,657,633,658,0.459558427874,-0.00557350940356,0.0597815799493,0.999999944978,-9.03794702301e-05,-0.000312861912852,-6.31845553818e-05,1793251549247433728
+232,3.866666667,POSE1_TO_POSE2_PRESS,768.546441058,748,725,691.546441058,671,641.453558942,901,786,829,657,633,658,0.459571359456,-0.00557484735877,0.0597801602724,0.999999944179,-9.22372180267e-05,-0.000314963320943,-6.27035043536e-05,1793251549264099840
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,748,725.134162984,691.865837016,671,641.134162984,901,786.134162984,829,657,633,658,0.459582507987,-0.00557501111488,0.0597790431507,0.999999943528,-9.3111829951e-05,-0.000316806699671,-6.25074917282e-05,1793251549280766464
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,748,725.713304957,691.286695043,671,641.713304957,901,786.713304957,829,657,633,658,0.459589786389,-0.00557055127705,0.0597790534964,0.999999943582,-8.91187407646e-05,-0.000317620635883,-6.33275064132e-05,1793251549297433344
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,748,725.708941383,691,671,641.708941383,901,786.708941383,829,657,633,658,0.459594746462,-0.00556829949069,0.0597785242948,0.999999943516,-8.67684014196e-05,-0.000318460268713,-6.34253941224e-05,1793251549314099968
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,748,725.132548662,691,671,641.132548662,901,786.132548662,829,657,633,658,0.459597433801,-0.00556821232753,0.0597774661578,0.999999943342,-8.60285019941e-05,-0.00031932509286,-6.2815357679e-05,1793251549330766336
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.441518789,901,786,829,657,633,658,0.45959884668,-0.00556883357677,0.0597771369342,0.999999943238,-8.57028832202e-05,-0.000319873850029,-6.21195774381e-05,1793251549347432448
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,691.015391146,671,641.984608854,901,786.015391146,829,656.984608854,633,658,0.459599894302,-0.00556961914678,0.0597770032062,0.999999943145,-8.5504753718e-05,-0.000320352660716,-6.14274749034e-05,1793251549364098816
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,691.607990556,671,641.392009444,901,786.607990556,829,656.392009444,633,658,0.459601517402,-0.00556863316903,0.0597760374603,0.999999942677,-8.54479847453e-05,-0.000321748152791,-6.18335994432e-05,1793251549380765696
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,691.804514736,671,641.195485264,901,786.804514736,829,656.195485264,633,658,0.459602189028,-0.00556791403185,0.0597751072617,0.999999942197,-8.53622654432e-05,-0.000323228216283,-6.19823996668e-05,1793251549397432320
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,691.226996092,671,641.773003908,901,786.226996092,829,656.773003908,633,658,0.459601001202,-0.00556771637652,0.0597742465326,0.999999941698,-8.52199690303e-05,-0.000324873556108,-6.16283155238e-05,1793251549414098944
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.65084892,901,786.34915108,829,657,633,658,0.459602136931,-0.00556793446038,0.0597749038781,0.999999942149,-8.49903712367e-05,-0.00032363984132,-6.11206081568e-05,1793251549430765568
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641.075589928,901,786.924410072,829,657,633,658,0.459604777378,-0.00556842177418,0.0597765443186,0.999999943208,-8.4704237656e-05,-0.000320541669884,-6.0513415427e-05,1793251549447432192
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641,901,786.489031607,829,657,633.510968393,658,0.459603929477,-0.00556669317234,0.0597757171216,0.999999942852,-8.24080630315e-05,-0.000322236634423,-6.05605388766e-05,1793251549464098560
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641,901,786,829,656.901820813,633.901820813,658,0.459603126237,-0.00556467562988,0.0597748280053,0.999999942446,-8.03294085348e-05,-0.000323981566007,-6.07527036745e-05,1793251549480764928
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641,901,786,829,656.319818519,633.319818519,658,0.459605143648,-0.00556288616919,0.0597754733809,0.999999942892,-8.08211744359e-05,-0.000322399441357,-6.1171832562e-05,1793251549497431552
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641,901,786.258789457,829,656.258789457,633,658,0.459605752725,-0.00556327125363,0.0597754956208,0.999999942855,-8.1992172675e-05,-0.000322200898812,-6.12718250462e-05,1793251549514098432
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671,641,901,786.833257033,829,656.833257033,633,658,0.45960464388,-0.00556630890463,0.0597747577435,0.999999942226,-8.39917162715e-05,-0.000323690085536,-6.09825266914e-05,1793251549530765056
+249,4.150000000,POSE1_TO_POSE2_PRESS,769,748,725,691.407439971,671,641,901,787,829,657,633,658,0.45960485415,-0.00556447991881,0.0597747797306,0.999999942427,-8.10648406848e-05,-0.000323837043823,-6.08654990078e-05,1793251549547432192
+250,4.166666667,POSE1_TO_POSE2_PRESS,769,748,725,691.98150647,671,641,901,787,829,657,633,658,0.459605603884,-0.00556066067449,0.0597751124716,0.999999942948,-7.61232580698e-05,-0.000323435084677,-6.08189231019e-05,1793251549564099328
+251,4.183333333,HOLD_POSE2,769,748,725,691,671,641,901,787,829,657,633,658,0.459607313414,-0.00556366171942,0.0597766476112,0.999999943063,-8.14766618457e-05,-0.000321733845195,-6.10190291418e-05,1793251549592908288
+252,4.200000000,HOLD_POSE2,769,748,725.581789807,691,671,641,901,787,829,657,633,658,0.459606898542,-0.00556351850441,0.0597744551896,0.999999942293,-8.22921324021e-05,-0.000323915688115,-6.1003751231e-05,1793251549609574656
+253,4.216666667,HOLD_POSE2,769,748,725.838923338,691,671,641.161076662,901,786.838923338,829,657,633,658,0.459606590251,-0.00556295997574,0.0597730819132,0.999999941833,-8.20261224692e-05,-0.00032541165465,-6.09265271713e-05,1793251549626241280
+254,4.233333333,HOLD_POSE2,769,748,725.26603545,691,671,641.73396455,901,786.26603545,829,657,633,658,0.459606554448,-0.00556133964934,0.0597738028764,0.999999942176,-7.89951820077e-05,-0.000325154098877,-6.06909305714e-05,1793251549642907392
+255,4.250000000,HOLD_POSE2,768.691376371,748.308623629,725,691.308623629,671,641.691376371,901,786,829,656.691376371,633,658,0.459606598502,-0.00556072102158,0.0597741621546,0.999999942316,-7.84080403632e-05,-0.000324911092578,-6.04363484416e-05,1793251549659574016
+256,4.266666667,HOLD_POSE2,768.115181738,748.884818262,725,691.884818262,671,641.115181738,901,786,829,656.115181738,633,658,0.459606711791,-0.00556097084819,0.0597742078585,0.999999942286,-7.99396274828e-05,-0.000324680700422,-6.01653062215e-05,1793251549676240896
+257,4.283333333,HOLD_POSE2,768.472025082,748.527974918,725,691.527974918,671,641,901,786,829,656,633,658,0.459607056795,-0.0055599990064,0.0597741282241,0.999999942418,-7.8578456212e-05,-0.000324548588294,-6.04740897571e-05,1793251549692908032
+258,4.300000000,HOLD_POSE2,769,748,725,691,671,641,901,786,829,656.060974912,633,658,0.459607595186,-0.00555905491329,0.0597742290083,0.999999942622,-7.69316008154e-05,-0.000324250973751,-6.08170179554e-05,1793251549709574912
+259,4.316666667,HOLD_POSE2,769,748,725,691,671,641,901,786,829,656.641335805,633,658,0.459609287729,-0.00556094712194,0.0597761333461,0.999999943116,-7.90076081515e-05,-0.000322334446882,-6.02168142606e-05,1793251549726241280
+260,4.333333333,HOLD_POSE2,768.781083397,748,725,691,670.781083397,641,901,786,829,657,633,658,0.459609828494,-0.00556173140734,0.0597767504799,0.999999943285,-7.9971382252e-05,-0.000321618781322,-5.99682605107e-05,1793251549742907648
+261,4.350000000,HOLD_POSE2,768.208000333,748,725,691,670.208000333,641,901,786,829,657,633,658,0.459608505897,-0.00556072327825,0.0597752851564,0.999999942937,-7.91357690608e-05,-0.000322845886827,-6.02886112103e-05,1793251549759574016
+262,4.366666667,HOLD_POSE2,768.374700831,748,725,691,670.374700831,641,901,786,829,657,633,658,0.459606451691,-0.005558808305,0.0597736527391,0.999999942174,-7.72368845524e-05,-0.000325629579818,-6.04236152594e-05,1793251549776240640
+263,4.383333333,HOLD_POSE2,768.962881816,748,725,691,670.962881816,641,901,786,829,657,633,658,0.459603980663,-0.00555637667086,0.0597719251224,0.999999941161,-7.47322171443e-05,-0.000329300115195,-6.04530208751e-05,1793251549792907264
+264,4.400000000,HOLD_POSE2,768.45722533,748,725,691,671,641,901,786,829,657,633,658,0.459606982458,-0.00555799318755,0.0597739258188,0.999999941975,-7.75913557435e-05,-0.000326136891008,-6.05365276889e-05,1793251549809573888
+265,4.416666667,HOLD_POSE2,768.121476144,748,725,691,671,641,901,786.121476144,829,657,633,658,0.459609599443,-0.00555966805379,0.0597754957842,0.999999942681,-8.02285701404e-05,-0.000323318932234,-6.0549258632e-05,1793251549826241024
+266,4.433333333,HOLD_POSE2,768.697807156,748,725,691,671,641,901,786.697807156,829,657,633,658,0.459609395235,-0.00556054040807,0.0597745125935,0.999999942596,-8.06819915923e-05,-0.000323517346137,-6.02833316426e-05,1793251549842908160
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901,787,829,657,633,657,0.459610456194,-0.00555990199477,0.0597755639256,0.999999943373,-7.77773799146e-05,-0.000321869425458,-6.00324064557e-05,1793251549880703488
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901.591049613,787,829,657,633,657.591049613,0.459609763053,-0.00556112068479,0.0597743109133,0.999999942511,-8.05352292546e-05,-0.000323893138544,-5.98760003638e-05,1793251549897370112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901.821149456,787,828.821149456,656.821149456,633,658,0.459609504056,-0.00556140617569,0.0597737694529,0.999999942125,-8.11796144748e-05,-0.000324940566893,-5.9780341349e-05,1793251549914036992
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641,901.240644159,787,828.240644159,656.240644159,633,658,0.459610220041,-0.00555959592894,0.0597748259643,0.999999942818,-7.70776746574e-05,-0.000323795497939,-5.98211054422e-05,1793251549930703360
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.33635047,748,725,691,671,641,901,787,828.33635047,656.33635047,633,658,0.459609827679,-0.00555842420567,0.059774709372,0.999999942843,-7.58739802366e-05,-0.000323993075996,-5.98758301069e-05,1793251549947369728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.910859279,748,725,691,671,641,901,787,828.910859279,656.910859279,633,658,0.459608650533,-0.0055577045993,0.0597737621448,0.999999942402,-7.67224351483e-05,-0.000325141336852,-5.9940439776e-05,1793251549964036352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.504507326,748,725,691,670.504507326,641.495492674,901.495492674,786.504507326,828.504507326,657,633,658,0.459608163755,-0.00555752383985,0.0597738244696,0.999999942302,-7.8290982704e-05,-0.00032507055754,-5.99563576108e-05,1793251549980702976
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725.081457285,691,670,641.918542715,901.918542715,786.081457285,828.16291457,657,633,658,0.459607995283,-0.00555753458932,0.0597740799519,0.999999942341,-7.93677393958e-05,-0.0003247078802,-5.98664854362e-05,1793251549997369856
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725.664171415,691,670,641.335828585,901.335828585,786.664171415,829.328342829,657,633,658,0.459609005335,-0.00555811483438,0.0597743831083,0.99999994285,-7.6604392781e-05,-0.000323926670285,-5.91806511562e-05,1793251550014036736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725.756413895,691,670.243586105,641,901,786.756413895,829.756413895,656.756413895,633,657.756413895,0.459606856766,-0.00555842058812,0.0597730317144,0.999999942375,-7.56166985547e-05,-0.000325653668193,-5.90110205236e-05,1793251550030703360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725.181487347,691,670.818512653,641,901,786.181487347,829.181487347,656.181487347,633,657.181487347,0.459600411649,-0.00555835296222,0.0597694297019,0.999999940548,-7.70443535224e-05,-0.000330792481004,-5.95435611344e-05,1793251550047369728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.607342067,748,725,691,671,641.392657933,901,786.392657933,829,656.392657933,633,657,0.45958128202,-0.00555707763938,0.0597592421707,0.99999993529,-7.64645076195e-05,-0.000346303485791,-6.03888299911e-05,1793251550064036608
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.033557123,748,725,691,671,641.966442877,901,786.966442877,829,656.966442877,633,657,0.459556301221,-0.00555524522468,0.0597460168417,0.99999992811,-7.49586328176e-05,-0.000366599022106,-6.13783555603e-05,1793251550080703744
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748.558366388,725,691,671,641.441633612,901,787,829,657,633,657.558366388,0.459508482378,-0.00555607043225,0.0597264249431,0.999999914756,-7.66349716168e-05,-0.000401020208744,-6.16319654852e-05,1793251550097370368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.147559677,748.852440323,725.147559677,691,671,641,901,786.852440323,829,656.852440323,633,658,0.459455713382,-0.00555578786638,0.0597068920025,0.999999901317,-7.73842736818e-05,-0.000433037020802,-6.21056587677e-05,1793251550114036992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.725503676,748.274496324,725.725503676,691,671,641,901,786.274496324,829,656.274496324,633,658,0.459392644029,-0.00555179278757,0.0596886844775,0.99999989146,-7.48531718743e-05,-0.000455481847126,-6.33545939242e-05,1793251550130703872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.697216711,748,725.697216711,690.697216711,671,641.302783289,901,786.302783289,829,656.302783289,633,658,0.459322443187,-0.00554885312159,0.0596750432965,0.999999883555,-7.31772329208e-05,-0.000472689715031,-6.40243223487e-05,1793251550147370240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.120538134,748,725.120538134,690.120538134,671,641.879461866,901,786.879461866,829,656.879461866,633,658,0.459245791261,-0.00554686817366,0.0596655327939,0.999999877639,-7.2274867467e-05,-0.000485160271889,-6.41701050345e-05,1793251550164036864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,725,690.464103213,671,641.535896787,901,787,829,657,633,658,0.459157263173,-0.00554457231572,0.0596616235515,0.999999875873,-6.97876703702e-05,-0.00048922642598,-6.35712173195e-05,1793251550180703488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.050215431,748,725,691,671,641,901,787,829,656.949784569,633,658,0.459063337844,-0.00554195470274,0.0596591893815,0.999999875014,-6.69033268105e-05,-0.000491472539995,-6.28533804658e-05,1793251550197370368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.629652884,748,725,691,671,641,901,787,829,656.370347116,633,658,0.458945606019,-0.00553681198995,0.0596567014852,0.999999871981,-6.42472140629e-05,-0.000497943530936,-6.29558485059e-05,1793251550214036992
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641.19992151,901,787,829,656.19992151,633,658,0.458820500402,-0.00553176123483,0.0596552282554,0.99999987067,-5.98680941962e-05,-0.000501163790277,-6.25382047636e-05,1793251550230703616
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641.753949971,901,787,829,656.753949971,633,658,0.458682334114,-0.00552687335842,0.0596555522338,0.999999872438,-5.24371329224e-05,-0.000498626256009,-6.11993234827e-05,1793251550247370240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.667717129,748,725.332282871,691,671,641.667717129,901,786.667717129,828.667717129,657,633,658,0.458522928471,-0.0055226413966,0.0596544311794,0.999999872288,-4.76783495301e-05,-0.000499537594019,-6.01024223143e-05,1793251550264036864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.06996687,748,725.93003313,691,671,641.06996687,901,786.06996687,828.06996687,657,633,658,0.458346554271,-0.00551893345743,0.0596521556596,0.999999870626,-4.50544213449e-05,-0.000503204304357,-5.91988437228e-05,1793251550280703488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.521801753,748,725.478198247,691,671,641,901,786,828.521801753,656.478198247,633,657.478198247,0.458146881902,-0.00551259389733,0.0596543956039,0.999999871495,-4.05208948055e-05,-0.000502033916601,-5.77012839149e-05,1793251550297370112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641.110593693,901,786.110593693,829,656,633,657.110593693,0.457936827773,-0.00550574969909,0.0596561373515,0.999999872249,-3.55056003013e-05,-0.000501082107519,-5.62030188612e-05,1793251550314036736
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,671,641.690126442,901,786.690126442,829,656,633,657.690126442,0.457695849051,-0.00549824499891,0.0596532284516,0.999999871155,-2.95209211024e-05,-0.000503776104921,-5.50356468392e-05,1793251550330703360
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,748.267212542,725,691.267212542,671.267212542,642,900.732787458,787,829,656.267212542,633,657.732787458,0.457442012057,-0.0054911155382,0.0596532686716,0.999999871735,-2.44110094961e-05,-0.000503059116088,-5.35227317212e-05,1793251550347369984
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,748.84148709,725,691.84148709,671.84148709,642,900.15851291,787,829,656.84148709,633,657.15851291,0.457173399248,-0.00548441727696,0.0596566978145,0.999999874249,-2.03063201206e-05,-0.000498422459752,-5.16127426616e-05,1793251550364036864
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,748.574673624,725,692,671.574673624,642,900.425326376,787,829,657,633,657.425326376,0.456876931952,-0.00547694435094,0.0596658718461,0.999999881316,-1.03662992145e-05,-0.000484618488885,-4.90548243959e-05,1793251550380703744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.987369314,748,725,691.987369314,671.012630686,642,900.987369314,787,829,657,633,658,0.45656933031,-0.00546919341692,0.0596774522909,0.999999889879,1.72311842581e-06,-0.000467013023771,-4.6232013733e-05,1793251550397370368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.408210652,748,725,691.408210652,671.591789348,642,900.408210652,787,829,657,633,658,0.456238648281,-0.00546222023215,0.0596987265322,0.999999904136,1.04316613625e-05,-0.00043566574868,-4.26079647152e-05,1793251550414036992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.170335338,748,725,691,671.829664662,642,900,787,829,656.829664662,633,658,0.455895142585,-0.00545682643719,0.0597222444762,0.999999918532,1.76632707827e-05,-0.000401419873282,-3.85611933438e-05,1793251550430703616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.747418232,748,725,691,671.252581768,642,900,787,829,656.252581768,633,658,0.455521015016,-0.00545520410339,0.0597511202047,0.99999993432,2.13680764587e-05,-0.000360252370502,-3.35049943973e-05,1793251550447370240
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.676299192,748,725,691,671.323700808,642,900,787,829,656,633,658,0.455117575436,-0.00545071067016,0.0597728302492,0.999999943407,2.61370012644e-05,-0.000334148931801,-2.91037553726e-05,1793251550464036864
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.100639497,748,725,691,671.899360503,642,900,787,829,656,633,658,0.454691320237,-0.00544398246009,0.0597889627458,0.999999948052,3.17342045218e-05,-0.000319770899334,-2.52123167616e-05,1793251550480703232
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.485561516,748,725,690.514438484,672,642.485561516,900,787,829,656.485561516,633,658,0.454201314527,-0.0054402420654,0.05978492193,0.999999944777,3.4518790211e-05,-0.000329763384265,-2.25804880587e-05,1793251550497369856
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.92716403,748,725,690.07283597,672,643,899.92716403,787,828.92716403,656.92716403,633,658,0.453690968101,-0.00543828752405,0.0597741935894,0.999999938649,3.56325340405e-05,-0.000347883366954,-2.02221727114e-05,1793251550514036480
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.347953103,748,725,690.652046897,672,643,899.347953103,787,828.347953103,656.347953103,633,658,0.453133107552,-0.00544434785801,0.0597466857177,0.999999924677,2.92729380331e-05,-0.000386611759993,-1.79100738267e-05,1793251550530703104
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,748,725,691,672,643,899,787,828,656,633,657.770247353,0.452583091789,-0.00545090852678,0.0597369245924,0.999999920666,2.19462057181e-05,-0.000397464519631,-1.44132635016e-05,1793251550547369728
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,748,725,691,672,643,899,787,828,656,633,657.194806343,0.45204487941,-0.00545822200443,0.0597538654187,0.999999932756,1.3164309878e-05,-0.000366375292324,-9.13392345412e-06,1793251550564036352
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,748,725,691,672.379696528,643,899,787.379696528,828,656,633.379696528,657,0.451481370273,-0.0054556240333,0.0597789782522,0.999999946226,1.56481616161e-05,-0.000327545120082,-4.18744946442e-06,1793251550580703232
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,748,725,691,672.953719247,643,899,787.953719247,828,656,633.953719247,657,0.450904914437,-0.00544795344749,0.0598082734648,0.999999959172,2.38977493097e-05,-0.000284753183555,5.88665703143e-07,1793251550597370112
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.455812272,672.455812272,643,898.455812272,787.455812272,828,656,633.455812272,657,0.450230669007,-0.00543788823989,0.0597993816678,0.999999955857,3.33401908315e-05,-0.000295229996513,3.74778659561e-06,1793251550614036736
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,748,725,690,672,643,898,787.133178205,828,656.133178205,633,657.133178205,0.449535409642,-0.00542867205304,0.0597834427781,0.99999994873,4.2339581028e-05,-0.000317333764225,6.8023249652e-06,1793251550630703360
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,748,725,690,672,643,898,787.712388306,828,656.712388306,633,657.712388306,0.448798493211,-0.00542300266697,0.0597551179418,0.999999932937,4.95047827399e-05,-0.000362732473667,9.98152112652e-06,1793251550647369728
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.289758209,748,725,690.289758209,672,643,898,787.710241791,828,657,633,657.710241791,0.448072574716,-0.00542309021372,0.0597455184906,0.999999923541,0.000106864427967,-0.000375917009769,1.35535626609e-05,1793251550664036352
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.865313139,748,725,690.865313139,672,643,898,787.134686861,828,657,633,657.134686861,0.44735750371,-0.00542885598558,0.0597543884134,0.999999913164,0.000213732273606,-0.000357327797633,1.75130789885e-05,1793251550680702720
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.560229567,748,725,691,672,643,898,787.439770433,828,656.560229567,633,657,0.446626016797,-0.00543300685066,0.0597831184279,0.999999922189,0.00022775027269,-0.000321242686162,2.35465224648e-05,1793251550697369344
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.014318401,748,725,690.985681599,671.985681599,642.985681599,897.985681599,787.985681599,827.985681599,656.014318401,633,657,0.445886686123,-0.00543635237768,0.0598164065576,0.999999937009,0.00021371706399,-0.000281780125497,3.0106017148e-05,1793251550714035712
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.606047029,748,725,690.393952971,671.393952971,642.393952971,897.393952971,787.393952971,827.393952971,656.606047029,633,657,0.445033284674,-0.00542711695199,0.0597888333778,0.999999925191,0.000212377417413,-0.00032166434256,3.23287665969e-05,1793251550730703104
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.806676216,747.806676216,725,690,671,642,896.806676216,787.193323784,827,656.806676216,633,657,0.444192172292,-0.00542000037122,0.0597705400184,0.999999917554,0.000210402038786,-0.000345526172081,3.51238284763e-05,1793251550747369984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.228267263,747.228267263,725,690,671,642,896.228267263,787.771732737,827,656.228267263,633,657,0.443375538778,-0.00541710435682,0.0597707313044,0.999999920836,0.000207160334527,-0.00033747271421,3.90588898696e-05,1793251550764036352
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.348214145,747.348214145,725,690.348214145,671.348214145,642,896,788,827,656.348214145,633,656.651785855,0.442536300608,-0.00541754944243,0.0597805021039,0.999999919749,0.000229686811565,-0.000325252918977,4.42411063392e-05,1793251550780702976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.923438908,747.923438908,725,690.923438908,671.923438908,642,896,788,827,656.923438908,633,656.076561092,0.441682325858,-0.00542017268546,0.0597965180584,0.999999914406,0.000269012292376,-0.000310316970796,5.02363781535e-05,1793251550797369600
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,671.490615031,642.509384969,895.490615031,788,826.490615031,657,633,656.509384969,0.440791404512,-0.00541642594473,0.059787221341,0.999999923513,0.000198818539991,-0.000335466445008,3.01366403063e-05,1793251550814036224
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.903960314,748,724.903960314,691,671,642.903960314,895,788,826,657,632.903960314,656.903960314,0.439892289389,-0.00541383354183,0.0597796824962,0.999999929442,0.000121105391571,-0.000355454859277,1.01050408095e-05,1793251550830703104
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.322048243,748,724.322048243,691,671,642.322048243,895,788,826,657,632.322048243,656.322048243,0.438980419264,-0.00542202880504,0.0598006980659,0.99999994523,9.04182853301e-05,-0.000318197384897,1.06870287081e-05,1793251550847369984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747.744238979,724.255761021,691,671,642,894.488477958,788.255761021,826,657,632.255761021,656.255761021,0.438045160126,-0.0054236731798,0.059804174753,0.999999945279,9.71480676425e-05,-0.000315947225061,1.3462776898e-05,1793251550864036608
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747.171514232,724.828485768,691,671,642,893.343028463,788.828485768,826,657,632.828485768,656.828485768,0.437080914944,-0.00541719906284,0.0597859155677,0.999999924779,0.000150248463071,-0.000357081500708,1.8957244502e-05,1793251550880703232
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,725,691,671.404803742,642.404803742,893,788.595196258,825.595196258,656.595196258,633,656.595196258,0.436118648903,-0.00541142536001,0.0597542364942,0.999999906755,0.000167286987815,-0.000397582704404,2.0808845431e-05,1793251550897369856
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,747,724.262738877,691.262738877,671,643,893,789,824.525477754,656,632.262738877,657,0.43233234232,-0.00541586166433,0.0597744118962,0.999999930488,0.000163601223548,-0.000334112473144,2.50377638609e-05,1793251550964036096
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.688042205,747,724,691.311957795,671,643,893,789,824.311957795,656.311957795,632,657,0.431387379496,-0.00541671943669,0.0598002661849,0.999999941519,0.000167434096739,-0.000297038885253,2.63914236923e-05,1793251550980702976
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.11417296,747,724,691.88582704,671,643,893,789,824.88582704,656.88582704,632,657,0.430475314356,-0.00541684329546,0.0598319645857,0.999999956468,0.000167418036713,-0.000241340571521,2.81118274409e-05,1793251550997369856
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.461025803,747,724,691.538974197,671,642.538974197,893,789,824.538974197,657,632,656.538974197,0.429479906193,-0.00541318098075,0.0598212511856,0.999999947887,0.000167869362493,-0.000274225527586,2.90998070505e-05,1793251551014036480
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.962370943,747,724,691,671,642.037629057,893,788.962370943,823.962370943,657,632.037629057,656,0.428466514274,-0.00540886246935,0.0597985556891,0.999999931309,0.000168118896017,-0.000328994866127,2.96661913834e-05,1793251551030703360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.369928804,747,724,691,671,642.630071196,893,788.369928804,823.369928804,657,632.630071196,656,0.427493166319,-0.00540873370066,0.0597545039613,0.999999913269,0.000163681597713,-0.000382043553571,2.66985802963e-05,1793251551047369984
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.299496241,747,724,691,671.299496241,643,891.299496241,789,821,657,632.299496241,656,0.420978159054,-0.00540527761987,0.0598131245473,0.999999934322,0.000191759530867,-0.000305773257405,3.29808912011e-05,1793251551164036352
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.853461575,747,724,691,671,643,891.853461575,789,821,657,632.853461575,656,0.419067467353,-0.00540087679055,0.0597152953048,0.999999880836,0.00018152617648,-0.000452393263261,2.67606702733e-05,1793251551197369600
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,690.593023235,671,643,891,789,820.406976765,657,633,656.593023235,0.416637410939,-0.00540112614002,0.0598028534421,0.999999930714,0.000201365432882,-0.000311382750465,3.26285074554e-05,1793251551247369472
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.181012277,671,643,890.818987723,789,820,656.818987723,632.818987723,657,0.415853790899,-0.00539949789694,0.0598335930931,0.999999941601,0.000202339430215,-0.000273169240692,3.51544529814e-05,1793251551264036096
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.336898319,747,724,691.663101681,671.336898319,643,890,789,820.336898319,656.336898319,632.336898319,657,0.414262923976,-0.00540074601557,0.0598385375553,0.999999941034,0.000200365638086,-0.000276601547902,3.57434136951e-05,1793251551297369344
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.911890386,747,724,691.088109614,671.911890386,643,890,789,820.911890386,656.911890386,632.911890386,657,0.413484181676,-0.00540118701238,0.0598373713694,0.99999994059,0.000208197369616,-0.000272403930085,3.56496626987e-05,1793251551314036224
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643,889,789,820,657,633,656.335100179,0.411237906257,-0.00539084624445,0.059738457678,0.999999882844,0.000218651387223,-0.0004308798381,2.90984564472e-05,1793251551364036352
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643,889,789,820,657,632.182212659,656.817787341,0.409976814967,-0.00538914285424,0.0597891016622,0.999999914143,0.000220976696776,-0.000349028064132,3.25847600716e-05,1793251551397369344
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,747,724,690.607717462,671.607717462,643,889,789,820,657,632,656.607717462,0.40937939322,-0.00539149581566,0.0598245926924,0.999999931978,0.000219249874193,-0.000294516607809,3.51226031795e-05,1793251551414035968
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643.700200379,888,788.14989981,820,657,633,657,0.407655309191,-0.00539860268592,0.0598433272727,0.999999941104,0.000221032936776,-0.000260318079446,3.42123424506e-05,1793251551464036096
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,747,724,690.698324179,671.698324179,642.301675821,888,788.698324179,820,657,632.698324179,656.698324179,0.406615059063,-0.00539217972315,0.0598207094675,0.999999934737,0.000210404654938,-0.000291930678121,3.2124429522e-05,1793251551497369344
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.452490182,747,724,690,671,643,888,788,820,657,632.452490182,656.452490182,0.405688676543,-0.005384993492,0.0598259799154,0.99999993443,0.000229844323286,-0.00027787827776,3.30819318812e-05,1793251551530702592
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,642.636889834,887.363110166,788,820,656.636889834,633,656.363110166,0.403710520384,-0.00536630109273,0.0597589867332,0.999999894508,0.000253937187281,-0.000381369693472,3.25269046895e-05,1793251551614036480
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,747,724,690,671,643,888,788,820,657,633,656.731111274,0.402494376016,-0.00538969530886,0.059838804466,0.999999939175,0.000241700530685,-0.00024785100231,4.24394200701e-05,1793251551697369088
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.249422962,747,724,690,671,643,887.249422962,788,820,656.249422962,633,657,0.401524672194,-0.00538643969675,0.0598274576852,0.99999994989,0.000140532182618,-0.000283001498554,1.95216154703e-05,1793251551797369344
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4633f3dc782bc7f08e8288744ac1c18f2eebde62
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b00d7338e38f5318b7f12ea730784e516e994ccd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c759fdc2cd1c739fc35bddcf6a11186e702baa2660522c0750ffe9dbd1a079
+size 26156239
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e25c574a0f42c9d910599db1a9986cbe78cef17
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+56,0.933333333,BASELINE,769,747,724,689,671,643,887,789,819.477643407,657,633,657,0.400940059972,-0.00544941930276,0.049928662287,0.999999976969,3.70262276973e-05,-0.000209435998345,-2.87814675329e-05,1793251554548249600
+57,0.950000000,BASELINE,768.890659535,747,724,688.890659535,671,643,887,788.890659535,819,657,632.890659535,657,0.400941365089,-0.00544935337561,0.0499297406722,0.999999977303,3.73900864485e-05,-0.00020779921978,-2.85417879813e-05,1793251554564916224
+58,0.966666667,BASELINE,768.313374118,747,724,688.313374118,671,643,887,788.313374118,819,657,632.313374118,657,0.400941795722,-0.00544808000979,0.04992952416,0.999999977312,3.76550316454e-05,-0.000207656651106,-2.89448347466e-05,1793251554581582592
+59,0.983333333,BASELINE,768,747,724,688.263968071,671,643,887,788.263968071,819.263968071,657,632.263968071,657,0.400942427961,-0.00544777882706,0.0499296368327,0.999999977412,3.75566348266e-05,-0.000207173140163,-2.90635726328e-05,1793251554598249216
+60,1.000000000,BASELINE,768,747,724,688.841377747,671,643,887,788.841377747,819.841377747,657,632.841377747,657,0.400943299591,-0.00544863203615,0.0499301403868,0.999999977622,3.70267975877e-05,-0.000206284786704,-2.88447158352e-05,1793251554614915840
+61,1.016666667,BASELINE,768.85079056,747,724,689.42539528,671,643,887,789,819.57460472,657,632.57460472,657,0.400942323163,-0.00544846444192,0.0499299819306,0.999999977482,3.73757853737e-05,-0.000206895860535,-2.886443947e-05,1793251554631582208
+62,1.033333333,BASELINE,769.988233225,747,724,689.988233225,671,643,887.011766775,789,819,657,632.011766775,657,0.400940682354,-0.00544793046889,0.0499295742208,0.999999977214,3.80039911837e-05,-0.000208057520396,-2.8973070395e-05,1793251554648248576
+63,1.050000000,BASELINE,769.409038783,747,724,689.409038783,671,643,887.590961217,789,819,657,632.590961217,657,0.400940758211,-0.0054483737961,0.0499292385099,0.999999977218,3.60450116842e-05,-0.000208382739321,-2.90113560038e-05,1793251554664915712
+64,1.066666667,BASELINE,769,747,724,689,671,643,887.830113816,789,819,657,633,657,0.400940888115,-0.0054489328671,0.0499289227034,0.999999977268,3.44432443017e-05,-0.000208417104843,-2.89663355447e-05,1793251554681582848
+65,1.083333333,BASELINE,769,747,724,689,671,643,887.251836675,789,819,657,633,657,0.400941147943,-0.00544977017562,0.0499286547456,0.999999977439,3.37001825216e-05,-0.000207752285187,-2.87210548627e-05,1793251554698249216
+66,1.100000000,BASELINE,769,747.324929329,724,689.324929329,671,643,887,788.675070671,819.324929329,657,633,657,0.400941326964,-0.00545010574276,0.0499287583368,0.999999977441,3.34632607775e-05,-0.00020779382901,-2.86292688022e-05,1793251554714915840
+67,1.116666667,BASELINE,769,747.90052952,724,689.90052952,671,643,887,788.09947048,819.90052952,657,633,657,0.400941443645,-0.00545005423507,0.0499291485642,0.999999977313,3.36168072336e-05,-0.000208380305951,-2.86558981303e-05,1793251554731581952
+68,1.133333333,BASELINE,769,747.514058257,724,690,671,643,887,788.485941743,820,657,633,657,0.400940727663,-0.00545002881773,0.0499288325634,0.999999977183,3.45676978007e-05,-0.000208842819482,-2.87183767872e-05,1793251554748248576
+69,1.150000000,BASELINE,769.072386407,747,724,689.927613593,671,643,887,789,820,657,633,657,0.40094013743,-0.00544980489357,0.0499285423846,0.9999999771,3.56627142605e-05,-0.000209048818175,-2.87565135983e-05,1793251554764915200
+70,1.166666667,BASELINE,769.651705508,747,724,689.348294492,671,643,887,789,820,657,633,657,0.400941646068,-0.00544815262507,0.0499294662944,0.999999977365,3.66005025786e-05,-0.000207639771323,-2.85717311068e-05,1793251554781581824
+71,1.183333333,BASELINE,769.770287989,747,724,689,671,643,887,789,819.770287989,657.229712011,633,657,0.400942292446,-0.00544726563693,0.0499298684583,0.999999977484,3.67760798262e-05,-0.000207026739167,-2.86267581928e-05,1793251554798248704
+72,1.200000000,BASELINE,769.194260283,747,724,689,671,643,887,789,819.194260283,657.805739717,633,657,0.400941638873,-0.00544753239142,0.0499294840337,0.999999977386,3.58025416059e-05,-0.000207613785031,-2.90433241206e-05,1793251554814915584
+73,1.216666667,BASELINE,769,747,724,689.380797892,671.380797892,643,887,789,819,657.619202108,633,657,0.400940796587,-0.00544838723832,0.0499290179494,0.999999977216,3.52407077301e-05,-0.00020854792591,-2.88613171076e-05,1793251554831582208
+74,1.233333333,BASELINE,769,747,724,689.955362691,671.955362691,643,887,789,819,657.044637309,633,657,0.400939858277,-0.00544954133279,0.0499285103131,0.99999997701,3.48883673976e-05,-0.00020965868414,-2.83747295299e-05,1793251554848248832
+75,1.250000000,BASELINE,769,747,724,689.455131632,671.455131632,643,887,789,819.544868368,657,633,657,0.400939287477,-0.00544890502773,0.0499276387519,0.999999976776,3.53355770307e-05,-0.000210672577723,-2.85645094004e-05,1793251554864915712
+76,1.266666667,BASELINE,769,747,724,689.133023331,671,643,887.133023331,789,819.866976669,657,632.866976669,657,0.400938939706,-0.00544849444203,0.0499269932656,0.999999976626,3.575221986e-05,-0.000211291679485,-2.87294408673e-05,1793251554881582080
+77,1.283333333,BASELINE,769,747,724,689.712422694,671,643,887.712422694,789,819.287577306,657,632.287577306,657,0.400939236459,-0.00544934734819,0.049927209266,0.999999976769,3.58402963074e-05,-0.000210613388198,-2.86198127415e-05,1793251554898249216
+78,1.300000000,BASELINE,769,747,724,689.710501612,671,643,887.710501612,789,819,657,632.289498388,657,0.400939958579,-0.00544882158072,0.0499273800709,0.999999976871,3.70789689891e-05,-0.000209901836028,-2.8719726053e-05,1793251554914915840
+79,1.316666667,BASELINE,769,747,724,689.13571582,671,643,887.13571582,789,819,657,632.86428418,657,0.400941099879,-0.00544693719345,0.0499275063379,0.999999976927,3.94515015636e-05,-0.000209157506818,-2.90261328615e-05,1793251554931582208
+80,1.333333333,BASELINE,769,747,724,689.448611414,671,643,887,788.551388586,819,657,632.551388586,656.551388586,0.400941035715,-0.00544601689359,0.0499278560589,0.999999976903,4.01683772098e-05,-0.000209117563553,-2.91490540822e-05,1793251554948248832
+81,1.350000000,BASELINE,769,747,724,689.964617246,671,643,887,788.035382754,819.035382754,657,632.035382754,656.035382754,0.400940648416,-0.00544556524395,0.0499282758233,0.999999976877,4.01734446917e-05,-0.000209236145935,-2.92021841604e-05,1793251554964915968
+82,1.366666667,BASELINE,769,747,724,689.385607661,671,643,887,788.614392339,819.614392339,657,632.614392339,656.614392339,0.400941021229,-0.00544773552799,0.0499287105561,0.999999977165,3.71049505159e-05,-0.000208445185673,-2.90544115424e-05,1793251554981582592
+83,1.383333333,BASELINE,769,747,724,689,671,643,887,788.807678832,820,657,633,657,0.400941334161,-0.00544878631393,0.0499291218953,0.999999977346,3.58719889177e-05,-0.000207804682706,-2.8970435881e-05,1793251554998249216
+84,1.400000000,BASELINE,769,747,724,689,671,643,887,788.231904727,820,657,633,657,0.400941527704,-0.00544760502752,0.0499294865921,0.999999977325,3.82987401751e-05,-0.0002074641637,-2.90136595579e-05,1793251555014915840
+85,1.416666667,BASELINE,769,747,724,689,671,643,887,788.344569646,820,657,633,657,0.40094187132,-0.00544674039437,0.0499295178685,0.999999977288,4.01217500616e-05,-0.000207295306121,-2.90377276248e-05,1793251555031582464
+86,1.433333333,BASELINE,769,747,724,689,671,643,887,788.921516243,820,657,633,657,0.400942316145,-0.0054460893115,0.049929324287,0.999999977241,4.15375980537e-05,-0.000207242216622,-2.90488771915e-05,1793251555048248832
+87,1.450000000,BASELINE,769.50859121,747,724,689,671,643,887.50859121,789,820,657,633,657,0.400943308472,-0.00544687201545,0.0499297765115,0.999999977625,3.98308029895e-05,-0.000205737543232,-2.89095680267e-05,1793251555064915456
+88,1.466666667,BASELINE,770,747,724,689,671,643,887.903987385,789,819.903987385,657,633,657,0.400944106243,-0.00544773146745,0.0499301969631,0.999999977981,3.80358367589e-05,-0.000204362758745,-2.87477550131e-05,1793251555081581824
+89,1.483333333,BASELINE,770,747,724,689,671,643,887.322872948,789,819.322872948,657,633,657,0.40094348548,-0.00544783808006,0.0499299431304,0.999999977887,3.82795153684e-05,-0.000204799000738,-2.85919348229e-05,1793251555098248704
+90,1.500000000,BASELINE,770,747,724,689.255590896,671,643,887.255590896,789,819.255590896,657,633,657,0.400942746771,-0.00544754608241,0.0499295101257,0.999999977642,3.87837290895e-05,-0.000205910941451,-2.85205235026e-05,1793251555114915840
+91,1.516666667,BASELINE,770,747,724,689.830740725,671,643,887.830740725,789,819.830740725,657,633,657,0.400941860597,-0.00544675571227,0.0499288531065,0.999999977203,3.96136833537e-05,-0.000207867691413,-2.85546465016e-05,1793251555131582464
+92,1.533333333,BASELINE,769.597616106,747,724,689.597616106,671,643,887.597616106,788.597616106,819.597616106,657,633,657,0.400941789104,-0.005447141408,0.0499289671436,0.999999977217,3.81288741513e-05,-0.000208052077813,-2.87663167514e-05,1793251555148249088
+93,1.550000000,BASELINE,769.027435189,747,724,689.027435189,671,643,887.027435189,788.027435189,819.027435189,657,633,657,0.40094205734,-0.00544801753171,0.0499294027167,0.999999977414,3.56787917536e-05,-0.000207497375833,-2.9052025504e-05,1793251555164915712
+94,1.566666667,BASELINE,769,747,724,689,671,643,887.566257597,788.566257597,819,657,633,657,0.400941738886,-0.0054487652255,0.0499292400626,0.999999977403,3.66935729355e-05,-0.00020742254977,-2.86946287068e-05,1793251555181582080
+95,1.583333333,BASELINE,769,747,724,689,671,643,887.843300639,789,819.156699361,657,633,656.843300639,0.400941387556,-0.00544887035059,0.049929057297,0.999999977337,3.73808090342e-05,-0.000207624708919,-2.86402637978e-05,1793251555198248960
+96,1.600000000,BASELINE,769,747,724,689,671,643,887.264808736,789,819.735191264,657,633,656.264808736,0.40094102756,-0.00544726332839,0.0499289017941,0.999999977154,3.67149389334e-05,-0.000208507143931,-2.94890826656e-05,1793251555214916352
+97,1.616666667,BASELINE,769,747,724,689,671,643,887,789,820,657,633,656,0.400940590176,-0.00544771495673,0.049928392072,0.999999977028,3.53581529703e-05,-0.000209340802748,-2.95116311281e-05,1793251555231583488
+98,1.633333333,BASELINE,769,747,724,689,671,643,887,789,820,657,633,656,0.400940087459,-0.00544990448071,0.0499275833208,0.999999976948,3.34181016657e-05,-0.000210133285055,-2.8836648987e-05,1793251555248250368
+99,1.650000000,BASELINE,769.47252813,747,724,689,671,643,887,789,819.52747187,657,633,656.47252813,0.400941170297,-0.00544998315521,0.0499279271807,0.999999977264,3.47561396614e-05,-0.00020840697413,-2.8828047002e-05,1793251555264916992
+100,1.666666667,BASELINE,769.941958208,747.058041792,724,689,671,643,887.058041792,789,819.058041792,657,632.941958208,657,0.400942414274,-0.00544950938991,0.0499284552742,0.999999977598,3.65664990327e-05,-0.000206463607583,-2.89794994299e-05,1793251555281583616
+101,1.683333333,BASELINE,769.362606902,747.637393098,724,689,671,643,887.637393098,789,819.637393098,657,632.362606902,657,0.400941679757,-0.00544863457164,0.0499281477246,0.99999997731,3.55363509032e-05,-0.000208012895643,-2.91287029774e-05,1793251555298249728
+102,1.700000000,BASELINE,769,747.784561135,724,689.215438865,671,643,887.784561135,789,819.784561135,657,632.215438865,657,0.40094160983,-0.0054480056463,0.049928339777,0.999999977258,3.58836089414e-05,-0.000208189823812,-2.92043296688e-05,1793251555314915840
+103,1.716666667,BASELINE,769,747.208699557,724,689.791300443,671,643,887.208699557,789,819.208699557,657,632.791300443,657,0.400942651741,-0.00544778809246,0.0499293676485,0.9999999776,3.85352259995e-05,-0.00020607083518,-2.91568644875e-05,1793251555331582464
+104,1.733333333,BASELINE,769,747,724,689.634827061,671,643,887,788.634827061,819.365172939,657,633,657,0.400942008127,-0.0054472840392,0.0499293092151,0.999999977427,3.94156418197e-05,-0.000206761655983,-2.9018098057e-05,1793251555348249088
+105,1.750000000,BASELINE,769,747,724,689.062085132,671,643,887,788.062085132,819.937914868,657,633,657,0.40094040644,-0.00544661713597,0.0499286333122,0.999999976962,3.92892843467e-05,-0.000209049608373,-2.88274348186e-05,1793251555364915456
+106,1.766666667,BASELINE,769,747,724,689,671.528858176,643,887,788,820,657,633,657,0.400940642513,-0.00544781148262,0.0499285349879,0.999999977111,3.5945233505e-05,-0.00020892814257,-2.89081802771e-05,1793251555381582336
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819,657,633,657,0.400942549043,-0.00544999652601,0.0499300505844,0.999999977654,3.41580691481e-05,-0.000206675331564,-2.845900185e-05,1793251555423880448
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819.580874026,657,633,656.419125974,0.400942892909,-0.00544824926834,0.0499299118052,0.999999977652,3.49836325148e-05,-0.000206498547712,-2.88249980263e-05,1793251555440547584
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.840816253,747,724,689,671,643,887,789,819.840816253,657,633,656.159183747,0.400943045666,-0.00544680212611,0.0499296334926,0.999999977581,3.60811391005e-05,-0.000206612734462,-2.91073956035e-05,1793251555457214720
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+111,1.850000000,POSE1_TO_POSE2_PRESS,768.314940353,747,724,689.314940353,671,643,887,789,819.314940353,657.314940353,633,657,0.400942315884,-0.00544647124014,0.0499288691014,0.999999977275,3.79189549307e-05,-0.00020775037612,-2.91865833396e-05,1793251555490547712
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.910087643,747,724,689.910087643,671,643,887,789,819.910087643,657.910087643,633,657,0.400941888613,-0.00544770671822,0.0499292031093,0.999999977388,3.63828886114e-05,-0.000207487210841,-2.91534096847e-05,1793251555507213568
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724,689.508426974,671,643,887,788.508426974,820,657.508426974,633,657,0.400944587565,-0.00544892752017,0.0499297993339,0.999999977857,3.46578087507e-05,-0.000205547564063,-2.88892503616e-05,1793251555523880192
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,788.069914795,819.930085205,657,633,657,0.400948618966,-0.00544986097833,0.0499306437579,0.999999978473,3.34149644082e-05,-0.00020277491136,-2.86453095042e-05,1793251555540546816
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,788.643128758,819.356871242,657,633,657,0.400958237326,-0.00544874472188,0.0499329389817,0.999999979702,3.58857585245e-05,-0.000196153397728,-2.88428321419e-05,1793251555557213696
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.782400306,747,724,689.217599694,671,643,887,789,819.217599694,657,633,657,0.400973909357,-0.00544858604662,0.049936810416,0.999999981733,3.68303852302e-05,-0.000185312448428,-2.89131638306e-05,1793251555573880576
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.20585597,747,724,689.79414403,671,643,887,789,819.79414403,657,633,657,0.400999567307,-0.00545000696302,0.0499432819103,0.999999984934,3.5257500712e-05,-0.00016751127015,-2.87736858718e-05,1793251555590547712
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.380838905,747,724,690,671,643,887.380838905,788.619161095,820,657,633,657,0.40103260735,-0.00545032400232,0.0499492029533,0.999999988016,3.58595765958e-05,-0.000147840956719,-2.87388955581e-05,1793251555607214080
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.973170779,747,724,690,671,643,887.973170779,788.026829221,820,657,633,657,0.401069746928,-0.00545002802077,0.0499548183123,0.999999990796,3.76694827836e-05,-0.000127132646434,-2.87622418815e-05,1793251555623879936
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.5509622,747,724,689.4490378,671,643,887.4490378,788.5509622,820,657,633,656.4490378,0.401119234144,-0.00545086964538,0.0499594917484,0.999999993477,3.57706586406e-05,-0.000104476756165,-2.9157669588e-05,1793251555640546304
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887.128011071,788.871988929,819.871988929,657,633,656.128011071,0.401171185599,-0.00545204551907,0.0499635455545,0.999999995297,3.3969320884e-05,-8.59471570485e-05,-2.94127979831e-05,1793251555657212672
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887.704875291,788.295124709,819.295124709,657,633,656.704875291,0.401229723514,-0.00545420414726,0.0499655834067,0.999999995648,3.31267629294e-05,-8.22098076358e-05,-2.91140895808e-05,1793251555673879296
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.713050053,747,724,689,671,643,887.713050053,788.286949947,819.286949947,657,632.713050053,657,0.401297737199,-0.00545656838527,0.0499677032943,0.999999995992,3.26108046563e-05,-7.83475614279e-05,-2.85184692993e-05,1793251555690545664
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.12551745,747,724,689,671,643,887.12551745,788.87448255,819.87448255,657,632.12551745,657,0.401375676835,-0.00545914800129,0.0499699091148,0.999999996328,3.24369625424e-05,-7.43544849259e-05,-2.76118311674e-05,1793251555707212288
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.456675759,747,724,689,671,643,887.456675759,789,819.543324241,657,632.456675759,657,0.401469568475,-0.00546254370378,0.0499704993455,0.999999996481,3.04996121095e-05,-7.34031756598e-05,-2.68272001217e-05,1793251555723878912
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724,689.036949432,671,643,888,789,819,657,633,657,0.401569122105,-0.00546613991793,0.0499705777062,0.999999996568,2.81178882254e-05,-7.343386467e-05,-2.61117489653e-05,1793251555740545536
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724,689.610413759,671,643,888,789,819,657,633,657,0.401687962227,-0.0054694283367,0.0499695967211,0.999999996453,2.62403896867e-05,-7.57243333856e-05,-2.59195166479e-05,1793251555757213184
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,689.810677535,671,643,887.810677535,789,819.189322465,657,633,657,0.401819952411,-0.00547252484067,0.0499700660994,0.999999996491,2.49476409206e-05,-7.58035388682e-05,-2.5472009209e-05,1793251555773880320
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,689.220233789,671,643,887.220233789,789,819.779766211,657,633,657,0.401979803881,-0.00547521473049,0.0499736083915,0.999999996856,2.48938133939e-05,-7.11976965658e-05,-2.4483645306e-05,1793251555790546432
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.637074544,747,724,689,671,643,887,789,819.637074544,657,632.637074544,657,0.402151054615,-0.0054787598029,0.0499732846019,0.999999996721,2.56740324853e-05,-7.30472601608e-05,-2.37412925637e-05,1793251555807212800
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.058248712,747,724,689,671,643,887,789,819.058248712,657,632.058248712,657,0.402329086662,-0.00548281361432,0.0499706609232,0.999999996269,2.69504167611e-05,-7.87370735169e-05,-2.3145289069e-05,1793251555823879424
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819,657.518166041,632.518166041,657,0.402544842528,-0.00548459328501,0.0499712327076,0.99999999644,2.94282614318e-05,-7.56160211734e-05,-2.31457169335e-05,1793251555840546304
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.093989434,747,724,689,671,643,887.093989434,789,819.093989434,657.906010566,633,657,0.402770936534,-0.00548658664473,0.049972372977,0.999999996669,3.14541376158e-05,-7.17044146964e-05,-2.30373716936e-05,1793251555857213184
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.668170101,747,724,689,671,643,887.668170101,789,819.668170101,657.331829899,633,657,0.403028282963,-0.00549097177176,0.0499745909189,0.999999996927,3.04840868527e-05,-6.8790675989e-05,-2.20323507184e-05,1793251555873880320
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.750529081,747,724,689,671,643,888,789,820,657,633,657,0.403308918814,-0.00549883321309,0.0499786652297,0.999999997608,2.73019150813e-05,-6.02327143082e-05,-2.0267086449e-05,1793251555890546944
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.159479294,747,724,689,671,643,888,789,820,657,633,657,0.403621442832,-0.00551145446947,0.0499852813051,0.999999998659,2.10908781377e-05,-4.39466083429e-05,-1.74608871027e-05,1793251555907212544
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.421618983,747,724,689.421618983,671.421618983,642.578381017,888,789,819.578381017,657,632.578381017,657,0.403962591721,-0.00552331202916,0.049994129478,0.999999999504,1.5348139116e-05,-2.32417690465e-05,-1.46899439912e-05,1793251555923879424
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.999039842,747,724,689.999039842,671.999039842,642.000960158,888,789,819.000960158,657,632.000960158,657,0.40431431842,-0.0055348873779,0.0500038024832,0.999999999881,9.77845148214e-06,-9.04064960605e-07,-1.19320292575e-05,1793251555940546048
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.42646948,747,724,690,671.42646948,642.57353052,888.57353052,789,819,657.57353052,632.57353052,657,0.404699160973,-0.00554136330359,0.0500087044574,0.999999999851,1.07037106743e-05,9.86571926299e-06,-9.28963468693e-06,1793251555957212160
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,724,689.852583047,671.147416953,643,889,789,819.147416953,658,633,657,0.405089917281,-0.00554623627692,0.0500108349281,0.999999999752,1.48601452599e-05,1.52967426924e-05,-6.48153896799e-06,1793251555973879296
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,724,689.280423624,671.719576376,643,889,789,819.719576376,658,633,657,0.405497553505,-0.00554651524336,0.0500050029491,0.99999999958,2.82951769746e-05,5.40106928529e-06,-3.19546584118e-06,1793251555990546176
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671.696885073,643,889,789,820,657.696885073,633,657,0.405919568583,-0.00554031289495,0.0499906365965,0.999999998641,4.70802160866e-05,-2.23412189938e-05,-1.26796545582e-06,1793251556007213056
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671.102408554,643,889,789,820,657.102408554,633,657,0.40635540502,-0.00552788054586,0.0499680667917,0.999999995218,7.10078166048e-05,-6.72381175934e-05,-6.46358521743e-07,1793251556023879680
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643.478208503,889,789.478208503,820,657,633,657,0.406834986296,-0.00552658164092,0.0499513767572,0.999999992189,8.31998428215e-05,-9.32630808999e-05,1.40974578092e-06,1793251556040546560
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643.944181789,889.055818211,790,820,657,633,657,0.407331410753,-0.0055283228442,0.0499386700635,0.999999989608,9.23809092706e-05,-0.000110609096412,3.97414482778e-06,1793251556057213696
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643.367718394,889.632281606,790,820,657,633,657,0.407900021717,-0.00553680812203,0.0499517040409,0.999999991833,9.62586639484e-05,-8.36368874238e-05,8.4949821289e-06,1793251556073880320
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,724,689.213072388,671,643,890,790,819.786927612,657,633,657.213072388,0.408485181677,-0.00554297838141,0.0499700670796,0.999999993359,0.000103561042013,-4.87476957611e-05,1.34650687104e-05,1793251556090546944
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,724,689.801486121,671,643,890,790,819.198513879,657,633,657.801486121,0.409099493773,-0.00554507057956,0.0499978176173,0.999999992983,0.000116896124237,8.77918408941e-08,1.9226537837e-05,1793251556107213824
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,890,790,819.383607611,657.383607611,633,657.616392389,0.409738426388,-0.00554309951552,0.0500107419541,0.999999990874,0.000131687197937,1.89174147802e-05,2.35242102732e-05,1793251556123880448
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,890,790,819.962525445,657.962525445,633,657.037474555,0.410389894289,-0.0055390596795,0.0500161176687,0.999999988544,0.000147219575738,2.24698311525e-05,2.70766041656e-05,1793251556140547072
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,724,690,670.461765669,643,890,789.461765669,820,657.461765669,633,657,0.411003145524,-0.00553704435985,0.0499879940683,0.999999988781,0.000142313505877,-3.92021212997e-05,2.5472872792e-05,1793251556157213952
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,724,690,670.113669213,643,890.113669213,789,820.113669213,657,633,657,0.411633510633,-0.00553639324011,0.0499616323492,0.99999998622,0.000135630845994,-9.27561046743e-05,2.36891585774e-05,1793251556173880832
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,724,690,670.688893182,643,890.688893182,789,820.688893182,657,633,657,0.412344106909,-0.00554071250116,0.0499518393274,0.999999987105,0.000127478297041,-9.50165147414e-05,2.26236867788e-05,1793251556190547456
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.27132588,747,724,690.27132588,671,643,891.27132588,789,821,657,633.27132588,657,0.413089264482,-0.00554626056528,0.0499600090392,0.999999989727,0.000121891051643,-7.16103037943e-05,2.36614713967e-05,1793251556207213824
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.862249904,747,724,690.862249904,671,643,891.862249904,789,821,657,633.862249904,657,0.413875132331,-0.00555325605246,0.0499893372781,0.99999999235,0.00011932550803,-1.79710594553e-05,2.71767078352e-05,1793251556223879936
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.556084787,747,724.443915213,691.443915213,671,643,892,789,821.443915213,657,633.556084787,657,0.414656592255,-0.00555340518763,0.0499852529909,0.999999991975,0.000120654915904,-2.65316727656e-05,2.80705635885e-05,1793251556240546048
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,724.977399213,691.977399213,671,643,892.022600787,789,822,657,633,657,0.415436884397,-0.00555139342797,0.0499706043439,0.999999990548,0.000123127694934,-5.43584165611e-05,2.80920819202e-05,1793251556257212928
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,724.402752464,691.402752464,671,643,892.597247536,789,822,657,633,657,0.416221381007,-0.00554743181191,0.0499459888707,0.999999987754,0.000124609588268,-9.09639468654e-05,2.62688741416e-05,1793251556273880064
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724,690.828357349,671,643,893.171642651,789,822,657,633,657,0.417030011253,-0.00554552251161,0.0499363616823,0.999999986704,0.000123958131254,-0.000102854210683,2.5461663921e-05,1793251556290547200
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724,690.254551856,671,643,893.745448144,789,822,657,633,657,0.417895187141,-0.00554842183653,0.0499618524056,0.999999991021,0.000118308183334,-5.68360108776e-05,2.70349604647e-05,1793251556307213312
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724,690.329992317,671,643,894.329992317,789,822.329992317,657,633,657,0.418746604894,-0.00555048032851,0.049975707805,0.999999992035,0.000116456317494,-3.93112566035e-05,2.86890976182e-05,1793251556323879424
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,690.923098779,671,643,894.923098779,789,822.923098779,657,633,657,0.419587052774,-0.00555186839553,0.049980285962,0.999999991629,0.00011763279262,-4.45053017824e-05,3.04076917088e-05,1793251556340546048
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,895,789,823.501635745,657,633.501635745,657,0.420489381833,-0.00555073096146,0.0499710062905,0.999999991576,0.000117798048083,-4.57193678959e-05,2.96770428358e-05,1793251556357212672
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,895,789,824.078054195,657,633.921945805,657,0.421407120432,-0.00554980522257,0.0499654855804,0.999999991992,0.000117001271638,-3.86262071191e-05,2.88948024083e-05,1793251556373879296
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,895,789,824.654804369,657,633.345195631,657,0.422364412564,-0.00555263582396,0.0499971712774,0.999999993226,0.000111020467236,1.77544636881e-05,3.0114153794e-05,1793251556390545920
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643.236836945,895.236836945,789,824.763163055,657,633,657,0.423290667016,-0.00555495613963,0.0500099720404,0.999999993033,0.000107172357798,3.84969956899e-05,3.10697129105e-05,1793251556407212544
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643.826744479,895.826744479,789,824.173255521,657,633,657,0.424170651414,-0.00555651573452,0.0499946196212,0.99999999381,0.000106503616073,6.11109098677e-06,3.16320173912e-05,1793251556423879168
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.591375792,747,724,691,671,643.591375792,896.408624208,789,824.817248415,657,633.408624208,657,0.425108576664,-0.00555845119736,0.0499943902177,0.999999993935,0.000104993886144,5.19009468456e-06,3.28393890055e-05,1793251556440546048
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.012834284,747,724,691,671,643.012834284,896.987165716,789,825.974331431,657,633.987165716,657,0.426070595277,-0.00556054295645,0.0500004493853,0.999999993942,0.000103134450008,1.73530836039e-05,3.43149974306e-05,1793251556457212928
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.5608115,747.5608115,724,691,671,643,897,789,826,657,634,657,0.42702172517,-0.00555995374812,0.0500080219252,0.999999993857,0.000104474877339,7.65524406255e-06,3.6233674108e-05,1793251556473879552
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747.861804273,724,691,671,643,897,789,826,657,634,657,0.427956614176,-0.00555875786099,0.0500046629819,0.999999993594,0.000106006249207,-1.37460598031e-05,3.72220615612e-05,1793251556490545920
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.271835716,724,691,671,643,897,789,826,657,634,657,0.428839217946,-0.0055557775295,0.0499654559085,0.999999990982,0.000107924512308,-7.17855870931e-05,3.51363986852e-05,1793251556507212544
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724.312315523,691.312315523,671,643.312315523,897,789.312315523,826,657,633.687684477,657,0.429778917058,-0.00555765799066,0.0499540632089,0.999999990872,0.000102867368597,-8.06937211e-05,3.41056501247e-05,1793251556523879424
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724.891495996,691.891495996,671,643.891495996,897,789.891495996,826,657,633.108504004,657,0.430767402512,-0.00556369186443,0.0499664371221,0.999999994071,9.18499333062e-05,-4.7620439663e-05,3.39762967298e-05,1793251556540546048
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.467130348,725,692,671,643.532869652,897.467130348,789.065739303,826.467130348,657,633.467130348,657,0.431698981766,-0.00556351808899,0.0499552988068,0.999999992427,9.40460968492e-05,-7.13957023572e-05,3.4693186526e-05,1793251556557212416
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.958169079,725,692,671,643,898,788,827,657,633.958169079,657.041830921,0.432621754867,-0.00556206806549,0.0499406481301,0.999999989115,9.88257953649e-05,-0.000103630588148,3.55587421459e-05,1793251556573879040
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.384946447,725,692,671,643,898,788,827,657,633.384946447,657.615053553,0.433599307751,-0.00556258435999,0.0499502336377,0.999999991629,9.77293559902e-05,-7.68515697905e-05,3.58346504499e-05,1793251556590545664
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.194858939,724.805141061,692,671,643,898.194858939,788,827,657,633.194858939,657.805141061,0.434557017362,-0.00556213813259,0.049962133006,0.999999993088,9.80207597239e-05,-5.37041198305e-05,3.64812589028e-05,1793251556607212288
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.788123424,724.211876576,692,671,643,898.788123424,788,827,657,633.788123424,657.211876576,0.435474155907,-0.00555972394802,0.0499787632595,0.999999993445,0.000101149725737,-3.79817131757e-05,3.78857951875e-05,1793251556623878912
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.627874513,724.372125487,692,671,643.372125487,899,788,827,657,633.627874513,657.372125487,0.436355577255,-0.00555781253969,0.0499668087406,0.999999991188,0.00010334250867,-7.40178945666e-05,3.82838893847e-05,1793251556640545536
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.049018139,724.950981861,692,671,643.950981861,899,788,827,657,633.049018139,657.950981861,0.437217156187,-0.00555618044422,0.0499389742137,0.999999984125,0.000105015203183,-0.000138808083471,3.81228637384e-05,1793251556657212416
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,644,899,788,827.529180902,657,633,657.470819098,0.438171960464,-0.00555945950385,0.04996162,0.999999991153,0.000100463109509,-7.82597439355e-05,3.84141569257e-05,1793251556673879040
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671.10650475,643.89349525,899,788,828,657,633.10650475,657,0.439118242677,-0.00556266628673,0.049982368197,0.999999994318,9.65828547138e-05,-2.29119747979e-05,3.88712445412e-05,1793251556690545408
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671.680255824,643.319744176,899,788,828,657,633.680255824,657,0.439989300086,-0.00556356267805,0.0499743028817,0.999999993535,9.81764971418e-05,-4.12511557024e-05,3.98721044447e-05,1793251556707212288
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671.739021628,643,899.260978372,787.739021628,828,657,633.739021628,657,0.440841831168,-0.00556531486166,0.049968795367,0.999999993082,9.74528056381e-05,-5.20189872944e-05,4.0415422878e-05,1793251556723878912
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671.149523423,643,899.850476577,787.149523423,828,657,633.149523423,657,0.441671041225,-0.00556814431737,0.0499665076146,0.999999993366,9.38120518013e-05,-5.32559955148e-05,4.03827875935e-05,1793251556740545536
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.433095995,725,692.433095995,671.433095995,643,900,787.433095995,828,657,633,657.433095995,0.442515645338,-0.00557082041627,0.0499851622729,0.999999995128,8.81563252425e-05,-1.84100231985e-05,4.04175424323e-05,1793251556757212160
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747.98670241,725,692.98670241,671.98670241,643,900,788,828,657,633,657.98670241,0.443362903535,-0.00557342015102,0.0500097927548,0.999999995476,8.19151003475e-05,2.6443120556e-05,4.04789210622e-05,1793251556773878784
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.409897025,725,692.409897025,671.409897025,643,900,788,828,657,633,657.409897025,0.444100932297,-0.00557499238891,0.0499860561351,0.999999995687,7.98811017483e-05,-2.42830218263e-05,4.06980103624e-05,1793251556790545408
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.165509171,725,692.165509171,671.165509171,643.165509171,899.834490829,788,828,657,633.165509171,657.165509171,0.444845298425,-0.00557486100346,0.0499635006441,0.999999994023,7.94705397215e-05,-6.34287950733e-05,4.01821868317e-05,1793251556807212288
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.737479328,725,692.737479328,671.737479328,643.737479328,899.262520672,788,828,657,633.737479328,657.737479328,0.445605228145,-0.00557054582341,0.0499438457891,0.999999993087,8.30468481995e-05,-7.41352590237e-05,3.78615488048e-05,1793251556823879936
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.67830472,725,693,672,643.67830472,899.32169528,788,828,657,634,658,0.446356358171,-0.00556710715771,0.0499464628656,0.999999994017,8.69604822554e-05,-5.47627686089e-05,3.74785233215e-05,1793251556840547072
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747.083700115,725,693,672,643.083700115,899.916299885,788,828,657,634,658,0.447100022956,-0.00556441208087,0.0499679742764,0.999999995046,9.11602852154e-05,-9.87287740076e-06,3.87392663138e-05,1793251556857213440
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.494617124,725,692.505382876,672,643,900,788,828,657,634,657.505382876,0.447759376988,-0.00556232730889,0.0499590020721,0.999999994406,9.48170567123e-05,-2.6398714258e-05,3.87483919825e-05,1793251556873880576
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,748,725,692,671.929599945,643,900.070400055,788,828,657,633.929599945,657.070400055,0.448403219065,-0.00556090567728,0.0499456085882,0.999999993181,9.73447458365e-05,-5.17133778736e-05,3.856257285e-05,1793251556890547200
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,692,671.352853178,643,900.647146822,788,828,657,633.352853178,657.647146822,0.449034837269,-0.00556353449803,0.0499363347018,0.999999992689,9.23914634532e-05,-6.78739075375e-05,3.84494283e-05,1793251556907213824
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.77263279,747.77263279,725,691.77263279,671.22736721,643,900.77263279,788,828,657,633,658,0.449660009586,-0.00556540178906,0.0499385481132,0.999999993021,8.97486041548e-05,-6.62151481652e-05,3.89594864192e-05,1793251556923880192
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.186938076,747.186938076,725,691.186938076,671.813061924,643,900.186938076,788,828,657,633,658,0.450275023215,-0.00556606891978,0.0499588653439,0.999999994399,9.07469393603e-05,-3.64734401111e-05,4.0451703119e-05,1793251556940546816
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.39669333,747,725,691.39669333,672,643,900.39669333,788,828.39669333,657,633.39669333,658,0.450863779636,-0.00556611060942,0.0499788789142,0.999999994849,9.143934314e-05,-1.34398816779e-05,4.19629555438e-05,1793251556957213696
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.979357502,747,725,691.979357502,672,643,900.979357502,788,828.979357502,657,633.979357502,658,0.451440226665,-0.00556585909074,0.0499987501295,0.999999994803,9.19883255708e-05,6.44888175035e-06,4.34831320938e-05,1793251556973880320
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,747.554101446,725,692,672,643,901,788,828.445898554,657,633.445898554,658,0.45190952443,-0.00556437324873,0.0499834613248,0.999999994026,9.39549634286e-05,-3.46426863739e-05,4.38205633565e-05,1793251556990546432
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.871107503,725,691.871107503,672,643,901,788,828,657,633.128892497,657.871107503,0.452372055169,-0.00556333951906,0.0499666819572,0.999999991835,9.52505816136e-05,-7.30419386079e-05,4.38327505267e-05,1793251557007212288
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,747.295143894,725,691.295143894,672,643,901,788,828,657,633.704856106,657.295143894,0.452824764675,-0.0055640312156,0.0499492117515,0.99999999021,9.40381255359e-05,-9.43340561652e-05,4.28674878282e-05,1793251557023878912
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,747.288166078,725,691,672,643,901,788,828,657,634,657.288166078,0.453275629958,-0.0055642824515,0.0499467954932,0.999999990567,9.29061919313e-05,-9.17831636728e-05,4.25574135776e-05,1793251557040545536
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,747.879197107,725,691,672,643,901,788,828,657,634,657.879197107,0.453724556921,-0.00556407075954,0.0499602010601,0.9999999928,9.18588881708e-05,-6.41730676332e-05,4.29359478947e-05,1793251557057212160
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.540822437,748,724.540822437,691,672,643,901,788,828,657,634,658,0.45413425367,-0.00556395233101,0.0499716918139,0.999999993885,9.19267389047e-05,-4.34697478767e-05,4.34802591076e-05,1793251557073879808
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.036270253,748,724.036270253,691,672,643,901,787.963729747,828.036270253,657,633.963729747,658,0.454529002229,-0.00556408634759,0.0499813686929,0.999999994443,9.19509812242e-05,-2.69116829211e-05,4.39966741882e-05,1793251557090547456
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.612635711,748,724.612635711,691,672,643,901,787.387364289,828.612635711,657,633.387364289,658,0.454851234752,-0.00556762270905,0.049971360543,0.999999994223,8.70598311124e-05,-4.56581290274e-05,4.34635122441e-05,1793251557107213824
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,690.807183873,672,642.807183873,901,787,829,657,633,658,0.455151651573,-0.00556964817983,0.0499539865102,0.99999999276,8.35981156449e-05,-7.54202327981e-05,4.24621878907e-05,1793251557123879936
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,725,690.219184646,672,642.219184646,901,787,829,657,633,658,0.455407356342,-0.00556857702916,0.0499215158555,0.999999987569,8.30660747981e-05,-0.000127759293035,4.05013490348e-05,1793251557140546304
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725,690.36314729,672,642,901,787.36314729,829,657,633,657.63685271,0.45564853139,-0.00556782559733,0.0498945240427,0.999999981495,8.34221398784e-05,-0.000168888804264,3.90843392436e-05,1793251557157212928
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,725,690.942111237,672,642,901,787.942111237,829,657,633,657.057888763,0.455881071519,-0.00556726417272,0.0498707882756,0.999999975048,8.4306001928e-05,-0.000203356540358,3.79905242245e-05,1793251557173879808
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671.481723149,642.518276851,901.518276851,787.481723149,828.481723149,657,633,657.518276851,0.456107702073,-0.00556795147631,0.0498715955617,0.999999975722,8.16580394431e-05,-0.000201090474555,3.80805547482e-05,1793251557190546944
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747.905698865,725,691,671.094301135,642.905698865,901.905698865,787.094301135,828,657,633.094301135,657.905698865,0.456328534623,-0.00556859958328,0.049875871759,0.999999977187,7.93137042661e-05,-0.000194592306959,3.83312440993e-05,1793251557207213568
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,747.328806691,725,691,671.671193309,642.328806691,901.328806691,787.671193309,828,657,633.671193309,657.328806691,0.456523055458,-0.00556833715568,0.0498839467416,0.999999978463,8.05311580005e-05,-0.000187320536745,3.87310574756e-05,1793251557223879680
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,747.252944536,725,691,672,642,901.252944536,787.747055464,828.252944536,657,634,657.252944536,0.456704001284,-0.00556967120157,0.0498883730286,0.999999979539,7.88356029166e-05,-0.000182169643753,3.90129989607e-05,1793251557240546048
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,747.841135803,725,691,672,642,901.841135803,787.158864197,828.841135803,657,634,657.841135803,0.456866955102,-0.00557312117583,0.0498879634199,0.99999998038,7.32792144673e-05,-0.000179829711935,3.9138715794e-05,1793251557257212928
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,691,671.577190694,642,902,787.422809306,829,656.577190694,633.577190694,658,0.456998086188,-0.005572300275,0.049882740093,0.999999979014,7.31525899974e-05,-0.000187450716196,3.85165686365e-05,1793251557273879552
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,748,725,691,671.002058667,642,901.997941333,787.997941333,829,656.002058667,633,658,0.457117369449,-0.00556990567549,0.0498757461262,0.99999997673,7.50282295471e-05,-0.000198735056214,3.76200163156e-05,1793251557290545920
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,691,671.577864345,642,901.422135655,787.422135655,829,656.577864345,633,658,0.457216465211,-0.00556936614403,0.0498717017709,0.999999975735,7.49765821702e-05,-0.000203744180106,3.7372123077e-05,1793251557307212544
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,747.843418957,725,691,672,642.156581043,901.156581043,787.156581043,829,657,633.156581043,657.843418957,0.457308841973,-0.00556921266602,0.0498687812533,0.999999974842,7.44600271654e-05,-0.000208302732494,3.7173324033e-05,1793251557323879680
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747.25670571,725,691,672,642.74329429,901.74329429,787.74329429,829,657,633.74329429,657.25670571,0.457382761447,-0.00557011968699,0.0498689479476,0.999999974279,7.26663588035e-05,-0.000211623552409,3.71093880642e-05,1793251557340546048
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747.325793574,725,690.674206426,672,642.674206426,902,788,829,657,633.674206426,657.651587148,0.457450536978,-0.00556898498802,0.0498690248341,0.999999973997,7.40881016487e-05,-0.000212517542238,3.67847738035e-05,1793251557357212416
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747.905014968,725,690.094985032,672,642.094985032,902,788,829,657,633.094985032,658.810029936,0.457513533276,-0.00556626207907,0.0498690318609,0.999999973929,7.80110435886e-05,-0.000211523753445,3.62573834937e-05,1793251557373879040
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,690,671.516917692,642,902,788,828.516917692,657,633,658.516917692,0.457559549623,-0.00556570882271,0.0498678016017,0.999999974014,7.6107289569e-05,-0.00021189495512,3.57735428648e-05,1793251557390545664
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,690,671.060464004,642,902,787.939535996,828.060464004,657,633,658,0.457600831717,-0.00556552959617,0.049866526021,0.999999974102,7.34634949003e-05,-0.000212484885891,3.53497034502e-05,1793251557407212288
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,690,671.633949243,642,902,787.366050757,828.633949243,657,633,658,0.457630204981,-0.00556491292351,0.0498669251361,0.999999974007,7.42381202163e-05,-0.000212658898421,3.53624778498e-05,1793251557423879168
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,748,725,690,672,642,901.786971048,787.213028952,829,657,633,658,0.457654576269,-0.00556478602225,0.0498660884223,0.999999973683,7.40195533163e-05,-0.000214272915271,3.52508116341e-05,1793251557440545792
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,748,725,690,672,642,901.19801905,787.80198095,829,657,633,658,0.457670120783,-0.00556552339959,0.0498630708944,0.999999972939,7.20483427083e-05,-0.000218428045904,3.49195504061e-05,1793251557457212416
+230,3.833333333,POSE1_TO_POSE2_PRESS,768.615310763,748,725,690.384689237,672,642,901,788,829,657,633,658,0.457681311002,-0.00556561192877,0.0498608369071,0.999999972149,7.22641969678e-05,-0.000221946270574,3.49272884107e-05,1793251557473879296
+231,3.850000000,POSE1_TO_POSE2_PRESS,768.035765117,748,725,690.964234883,672,642,901,788,829,657,633,658,0.457690295641,-0.00556537179724,0.0498589998062,0.999999971332,7.35878639503e-05,-0.000225141883519,3.51067395044e-05,1793251557490545920
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,725,690.453562368,672,642,901.546437632,787.453562368,829,657,633,658,0.457697896962,-0.00556365675837,0.0498587381936,0.999999971364,7.58806894457e-05,-0.000224296715367,3.47113326285e-05,1793251557507212544
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.126198164,747.873801836,725,690,672,642,902,787.126198164,829,657,633,658,0.457704255026,-0.0055620068211,0.0498585788251,0.999999971342,7.77823706728e-05,-0.000223806610895,3.43120013925e-05,1793251557523878912
+234,3.900000000,POSE1_TO_POSE2_PRESS,768.696744102,747.303255898,725,690,672,642,902,787.696744102,829,657,633,658,0.457706555896,-0.005560927672,0.0498584146049,0.999999970947,7.8082379604e-05,-0.000225502471958,3.40319795759e-05,1793251557540545536
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747.275525362,725,690.275525362,672,642,901.724474638,788,828.724474638,657,633.275525362,657.724474638,0.457708317416,-0.00556034877084,0.0498579178122,0.999999970712,7.79493080454e-05,-0.000226606071652,3.3892610816e-05,1793251557557212416
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747.863650142,725,690.863650142,672,642,901.136349858,788,828.136349858,657,633.863650142,657.136349858,0.457709467014,-0.00556033742967,0.0498570436966,0.999999970662,7.73248817256e-05,-0.00022703771687,3.39128210277e-05,1793251557573879296
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,748,725,690.556285593,672,642,901,788,828,657,633.556285593,657.443714407,0.457711359247,-0.00556003705558,0.0498575469194,0.999999970851,7.69864224409e-05,-0.00022632314968,3.38904668697e-05,1793251557590545920
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,690,671.978596505,642,901.021403495,787.978596505,828.021403495,657,633,658,0.457713375299,-0.00555971928714,0.0498584019565,0.99999997109,7.67604524583e-05,-0.00022534389573,3.38698455778e-05,1793251557607212544
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,690,671.39940639,642,901.60059361,787.39940639,828.60059361,657,633,658,0.457712777116,-0.00556122154581,0.049857592272,0.999999970786,7.72167939013e-05,-0.000226482078817,3.42291657065e-05,1793251557623879168
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,690.177292555,671.177292555,642,902,787,829,657,633,658,0.457712297283,-0.00556151772394,0.0498565798888,0.999999970446,7.79974089519e-05,-0.000227701089213,3.43002894468e-05,1793251557640545792
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,690.748457102,671.748457102,642,902,787,829,657,633,658,0.45771208038,-0.0055591344813,0.0498551171916,0.999999970028,7.94984281198e-05,-0.000229099664966,3.37311579378e-05,1793251557657213184
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,725,690.666460593,671.666460593,642.333539407,901.666460593,787,828.666460593,657,633,658,0.457712258012,-0.00555786158798,0.0498548670195,0.999999969984,7.96048077203e-05,-0.000229290203452,3.34794419446e-05,1793251557673879808
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,725,690.070425012,671.070425012,642.929574988,901.070425012,787,828.070425012,657,633,658,0.457712746143,-0.0055574625419,0.0498555711073,0.999999970237,7.86136031434e-05,-0.000228530014145,3.34775326189e-05,1793251557690545920
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,690,671.507920729,642.492079271,901.507920729,787,828,657,633,658,0.457712815167,-0.00555757388047,0.0498552138165,0.99999997004,7.88597568037e-05,-0.000229333585609,3.32627882561e-05,1793251557707212544
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,690,671.916432043,642,902,787.083567957,828.083567957,657,633,657.916432043,0.457712831137,-0.00555800285984,0.0498548653812,0.999999969835,7.90731306105e-05,-0.00023016736678,3.31717257277e-05,1793251557723879424
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,690,671.34271066,642,902,787.65728934,828.65728934,657,633,657.34271066,0.457712865293,-0.0055598938064,0.0498554030009,0.999999969933,7.81218271373e-05,-0.000229949412271,3.39733601093e-05,1793251557740546816
+247,4.116666667,HOLD_POSE2,768,748,725,690,671,642,902,788,829,657,633,658,0.45771526911,-0.00555691802374,0.0498556545282,0.999999970149,7.93043871014e-05,-0.000228671398825,3.3491928219e-05,1793251557778675712
+248,4.133333333,HOLD_POSE2,768.578877921,748,725.578877921,690,671.578877921,642,901.421122079,788,829,657,633.578877921,658,0.457715667108,-0.00556028597684,0.0498559452109,0.999999970519,7.65635015572e-05,-0.000227943241052,3.38061647059e-05,1793251557795342336
+249,4.150000000,HOLD_POSE2,769,748,725.843740958,690,672,642,901.156259042,788,828.843740958,657,633.843740958,657.843740958,0.457715522726,-0.00556182085695,0.0498556472788,0.999999970564,7.54120889223e-05,-0.000228111769692,3.39187692914e-05,1793251557812008960
+250,4.166666667,HOLD_POSE2,769,748,725.270355355,690,672,642,901.729644645,788,828.270355355,657,633.270355355,657.270355355,0.457713930488,-0.00555846243101,0.0498537780659,0.999999969752,7.85037029257e-05,-0.000230673962678,3.3493126553e-05,1793251557828675584
+251,4.183333333,HOLD_POSE2,769,748,725,690.306442407,672,642,902,787.693557593,828.306442407,657,633,657.306442407,0.457713179941,-0.00555818946572,0.0498529668678,0.9999999694,7.95497312292e-05,-0.000231857831444,3.33640477809e-05,1793251557845342208
+252,4.200000000,HOLD_POSE2,769,748,725,690.88628437,672,642,902,787.11371563,828.88628437,657,633,657.88628437,0.457713180328,-0.00556066926443,0.0498530996019,0.999999969468,7.87707435967e-05,-0.000231811996794,3.34995553145e-05,1793251557862008832
+253,4.216666667,HOLD_POSE2,769,748,725,690.527026946,672,642,902,787,828.527026946,657,633,657.527026946,0.457715151438,-0.00555882418591,0.0498543608436,0.999999969998,7.87863454522e-05,-0.000229565877676,3.30974870157e-05,1793251557878675200
+254,4.233333333,HOLD_POSE2,768.939797335,748,725,690.060202665,672,642,902,787,828.060202665,657,633,657,0.457717303283,-0.00555628642886,0.0498557151113,0.999999970533,7.91113058867e-05,-0.000227173364881,3.26819088312e-05,1793251557895342080
+255,4.250000000,HOLD_POSE2,768.362272547,748,725,690.637727453,672,642,902,787,828.637727453,657,633,657,0.457716876892,-0.00555686289381,0.0498555030162,0.999999970189,8.04288575608e-05,-0.000228135435346,3.32771821057e-05,1793251557912008704
+256,4.266666667,HOLD_POSE2,768.214425395,748,725,690.785574605,672,642,901.785574605,787.214425395,829,657,633,657.214425395,0.457716230302,-0.00555719705408,0.0498548921971,0.99999996985,8.12274896823e-05,-0.000229305989365,3.34774633635e-05,1793251557928675328
+257,4.283333333,HOLD_POSE2,768.789731687,748,725,690.210268313,672,642,901.210268313,787.789731687,829,657,633,657.789731687,0.457715213112,-0.0055571234122,0.04985361032,0.999999969522,8.115277291e-05,-0.000230827423979,3.30129675514e-05,1793251557945341952
+258,4.300000000,HOLD_POSE2,769,748,725,690,671.626876871,642,901,788,829,657,633,658,0.457714885753,-0.00555754015802,0.0498535780284,0.999999969584,7.96020168144e-05,-0.000231094853464,3.30402434172e-05,1793251557962008576
+259,4.316666667,HOLD_POSE2,769,748,725,690,671.038828184,642,901,788,829,657,633,658,0.457714955747,-0.00555823937586,0.0498542655203,0.999999969866,7.72010358143e-05,-0.000230639953839,3.33507884701e-05,1793251557978675200
+260,4.333333333,HOLD_POSE2,769,747.457511752,725,690,671,642,901,788,829,657,633,658,0.457715325176,-0.00555844782196,0.0498545913712,0.99999997011,7.659069317e-05,-0.00022981988191,3.31305499072e-05,1793251557995342080
+261,4.350000000,HOLD_POSE2,768.878021479,747.121978521,725,689.878021479,671.121978521,642,901,788,829,657,633,658,0.457715870995,-0.00555847187665,0.0498548089968,0.999999970295,7.61227987005e-05,-0.000229202910721,3.28852752383e-05,1793251558012008448
+262,4.366666667,HOLD_POSE2,768.303539904,747.696460096,725,689.303539904,671.696460096,642,901,788,829,657,633,658,0.457716992635,-0.00555794060728,0.049854719985,0.999999970279,7.57137235449e-05,-0.000229435152493,3.26863295618e-05,1793251558028675072
+263,4.383333333,HOLD_POSE2,768.27111937,748,725,689.54223874,672,642,901,788,829,657,633,658,0.457717168763,-0.00555707886821,0.0498547886899,0.999999970189,7.64699870189e-05,-0.000229599373151,3.25425684881e-05,1793251558045341952
+264,4.400000000,HOLD_POSE2,768.845977687,748,725,690.691955375,672,642,901,788,829,657,633,658,0.457716285619,-0.00555584689918,0.0498550340872,0.999999970011,7.85317962223e-05,-0.000229687388757,3.24606315339e-05,1793251558062008832
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,642,902,788,829,657,633,658,0.457719643713,-0.00555638906002,0.0498569004115,0.999999970485,7.99685355135e-05,-0.000227013713568,3.31543905914e-05,1793251558094696448
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725.579496761,690,672,642,902,788,829,657,633,657.420503239,0.457718441461,-0.00555682394278,0.0498563044406,0.99999997032,7.9465362243e-05,-0.000227956973146,3.2874699103e-05,1793251558111363072
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725.842304634,690,672,642,901.842304634,787.842304634,829,657,633,657.157695366,0.457717544312,-0.005557135919,0.049855759644,0.999999970149,7.94682882152e-05,-0.000228739564214,3.26446712935e-05,1793251558128029440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725.267539239,690,672,642,901.267539239,787.267539239,829,657,633,657.732460761,0.457717454093,-0.0055571228342,0.0498553501924,0.999999969963,8.08097367638e-05,-0.000229097222139,3.25459930779e-05,1793251558144696064
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,642,901.313690449,787.313690449,829,657,633,658,0.457717556569,-0.00555733496832,0.0498550538049,0.999999969974,8.00037182126e-05,-0.000229354377441,3.23706674074e-05,1793251558161362688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,642,901.900549349,787.900549349,829,657,633,658,0.457717826847,-0.00555774322797,0.0498548558762,0.999999970153,7.73276386257e-05,-0.000229524012852,3.21285954756e-05,1793251558178029568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,690,671.516503437,642,901.516503437,787.516503437,829,657,633,657.516503437,0.457718258932,-0.00555811301716,0.0498554739286,0.99999997054,7.59252373357e-05,-0.000228221174199,3.27044668202e-05,1793251558194696192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,748,725,690,671.064794861,642,901.064794861,787,829,657,633,657.064794861,0.457718317658,-0.00555835078434,0.0498560117208,0.999999970836,7.51656458104e-05,-0.000227086788138,3.33128521489e-05,1793251558211362816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,748,725,690,671.639399218,642,901.639399218,787,829,657,633,657.639399218,0.457715179006,-0.0055576115555,0.0498546080488,0.999999970095,7.74189587669e-05,-0.00022964169983,3.28639366278e-05,1793251558228029440
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.214309549,672,642,901.785690451,787,829,657,633,658,0.457706854903,-0.00555620475987,0.0498502573886,0.999999968278,8.00520794725e-05,-0.000236624483096,3.2321804603e-05,1793251558244696064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.789735395,672,642,901.210264605,787,829,657,633,658,0.457689793202,-0.00555367309964,0.0498409409888,0.999999964511,8.33251843368e-05,-0.000251068326903,3.16226007633e-05,1793251558261362944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.626889642,672,642,901,787,828.626889642,656.626889642,633,658,0.457660078456,-0.00555266736079,0.0498265602997,0.9999999588,8.28907874737e-05,-0.000273101618239,3.0730317518e-05,1793251558278029568
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.038937417,672,642,901,787,828.038937417,656.038937417,633,658,0.457623077917,-0.00555254026735,0.049809263525,0.999999951481,8.03215624811e-05,-0.0002995050148,2.97268565229e-05,1793251558294696192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.456464918,747.456464918,725,690,672,642,901,787,828,656.543535082,633,658,0.457557486067,-0.0055497327258,0.04978461191,0.99999994034,8.16657595482e-05,-0.000334489105067,2.77056953031e-05,1793251558311363072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.124222572,725,690,671.875777428,642,901,787.124222572,828.124222572,657,633,657.875777428,0.457488537833,-0.00554658411986,0.0497614122044,0.999999928973,8.34975575517e-05,-0.000366635472184,2.57208903846e-05,1793251558328029440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.699836182,725,690,671.300163818,642,901,787.699836182,828.699836182,657,633,657.300163818,0.457414761735,-0.00554288696285,0.0497453837697,0.999999921405,8.60926276546e-05,-0.000386258984234,2.41304679752e-05,1793251558344696064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725.274260721,690.274260721,671.274260721,642,901,788,828.725739279,657,633,657.274260721,0.457333130967,-0.00554061791482,0.0497338756524,0.999999915616,8.7362582211e-05,-0.000400746752218,2.3175246441e-05,1793251558361362944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725.847389471,690.847389471,671.847389471,642,901,788,828.152610529,657,633,657.847389471,0.457242940797,-0.00553990510925,0.0497272934269,0.999999912035,8.71885286541e-05,-0.000409637984218,2.2912217577e-05,1793251558378029568
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725.564700309,690.564700309,672,642,901,788,828,657,633,657.564700309,0.457141422729,-0.00553570877614,0.0497260590186,0.999999911206,9.0463829116e-05,-0.000410989854463,2.21718178344e-05,1793251558394696448
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.027873609,748,725,690.027873609,672,642,901.027873609,788,828,657,633,657.027873609,0.457034511731,-0.00553025518068,0.0497268489814,0.99999991136,9.49471981196e-05,-0.000409647003256,2.12925634518e-05,1793251558411363072
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.606601042,748,725,690.606601042,672,642,901.606601042,788,828,657,633,657.606601042,0.456902266732,-0.00552493886936,0.0497292909261,0.999999911229,9.85661808404e-05,-0.000409122183242,2.10929099471e-05,1793251558428029696
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.816419605,747.816419605,725,691,672,642,902,788,828.183580395,657,633,657.816419605,0.456758821217,-0.00551957396476,0.0497296312432,0.999999909804,0.000102171930321,-0.000411732411734,2.07104333957e-05,1793251558444696064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.243150994,747.243150994,725,691,672,642,902,788,828.756849006,657,633,657.243150994,0.456591600256,-0.00551410591129,0.0497255104109,0.99999990559,0.000105749588988,-0.000420997443805,1.99398762841e-05,1793251558461362688
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.339456407,725,690.660543593,672,642,901.660543593,787.660543593,828.660543593,657,633,657,0.456407095998,-0.00550769451604,0.0497242626793,0.999999903929,0.000110082318382,-0.000423858135243,1.91698736582e-05,1793251558478029312
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747.928942436,725,690.071057564,672,642,901.071057564,787.071057564,828.071057564,657,633,657,0.456209861556,-0.00550058829346,0.049725131155,0.999999904179,0.000114971202179,-0.000422001653875,1.84002793641e-05,1793251558494695936
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.509374857,748,725,689.490625143,672,642,901,787.509374857,828.509374857,657,633,657.509374857,0.455983406782,-0.00549236510281,0.0497250544212,0.999999902399,0.000121080566098,-0.000424558159773,1.7072339864e-05,1793251558511362560
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,748,725,689.088001069,672,642.088001069,901,787.911998931,828.911998931,656.911998931,633,658,0.455748779844,-0.00548374323747,0.0497256601754,0.999999901101,0.000127533550404,-0.000425776720182,1.57491763088e-05,1793251558528029440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725,689.663496,672,642.663496,901,787.336504,828.336504,656.336504,633,658,0.455491068453,-0.00547376094918,0.0497307643444,0.999999904157,0.000134963381269,-0.000416232852792,1.4876410251e-05,1793251558544696576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.76117002,748,725,690.23882998,672,642.76117002,901,787.23882998,828.23882998,656.23882998,633,657.76117002,0.455217379095,-0.00546452751076,0.0497344117681,0.999999906916,0.000142137827867,-0.000407153215117,1.38347627814e-05,1793251558561363456
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.186062697,748,725,690.813937303,672,642.186062697,901,787.813937303,828.813937303,656.813937303,633,657.186062697,0.454921192461,-0.0054563484684,0.0497360080654,0.999999909336,0.000148952687923,-0.000398727222683,1.25553269933e-05,1793251558578029824
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,690.600639696,672,642.399360304,900.600639696,788,828.600639696,657,633.399360304,657.399360304,0.454594961056,-0.00544691991433,0.0497428989505,0.999999912914,0.000154275397843,-0.000387614922102,1.12173710748e-05,1793251558594696192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,690.010283184,672,642.989716816,900.010283184,788,828.010283184,657,633.989716816,657.989716816,0.454254360587,-0.0054368937748,0.0497523220004,0.999999916935,0.000158884478739,-0.000375217880433,9.85142762547e-06,1793251558611362816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,725,690.569005081,672,643,900,788,828,657,633.430994919,657.430994919,0.453888415297,-0.00542893199876,0.0497742764033,0.999999928457,0.000163022356701,-0.000341220422978,8.87725658905e-06,1793251558628029696
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.85318216,725,691,672,643,900,788,828,657,633,657,0.453508083353,-0.00542175961937,0.0497949640264,0.999999937853,0.000166151524763,-0.000310848171633,7.76282766669e-06,1793251558644696576
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+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,725,691,672,643,900,788,828,657,633,657.302165656,0.452634505518,-0.00541896557394,0.0498157523268,0.999999944497,0.000158678035197,-0.000292922524969,4.79203884972e-06,1793251558678030080
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,725,691,672,643,900,788,828,657,633,657.890205982,0.452151741707,-0.00542793565989,0.0498089080779,0.99999994098,0.00014350374183,-0.000312143644567,3.47273292006e-06,1793251558694696448
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.469637751,725,691,672,643,900,787.530362249,828,656.530362249,633,657.530362249,0.451596824334,-0.0054323967142,0.0497845864938,0.999999931424,0.000129475339496,-0.000346971005283,2.21665916642e-07,1793251558711362816
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,690.952669629,672,643,899.952669629,787.047330371,827.952669629,656.047330371,633,657,0.451028166833,-0.00543457023979,0.0497590923002,0.999999920955,0.000117207764677,-0.000379920554486,-3.5673784316e-06,1793251558728029440
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,690.372305568,672,643,899.372305568,787.627694432,827.372305568,656.627694432,633,657,0.450491319741,-0.00542263969331,0.0497655795464,0.999999930815,0.000121807903165,-0.000351372579745,-8.42057878419e-06,1793251558744696320
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747.794008467,725,690,672,643,899,787.794008467,827.205991533,657,633,657,0.449941773805,-0.00541363167737,0.0497790915087,0.99999994188,0.000122957694722,-0.000317767612745,-1.20356583415e-05,1793251558761363200
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747.219410072,725,690,672,643,899,787.219410072,827.780589928,657,633,657,0.449369504243,-0.00540985331792,0.049805173689,0.999999955112,0.000117933341197,-0.000275113527756,-1.34352105212e-05,1793251558778029824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.365572691,747.365572691,725,690,672,643,899,787,828,657,633.365572691,657,0.448757278225,-0.00540930601387,0.049815057803,0.999999960377,0.000109608865646,-0.000258808880877,-1.57771336188e-05,1793251558794696192
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.956970158,747.956970158,725,690,672,643,899,787,828,657,633.956970158,657,0.448120369974,-0.00541075462589,0.0498149359042,0.999999961416,9.92458099883e-05,-0.000258781042189,-1.87011863176e-05,1793251558811362816
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.888657998,747,725,691,672,643,898.888657998,788,827,657,633,657,0.446643117593,-0.00541251043065,0.0497525722731,0.999999933671,7.36023352456e-05,-0.00035552806512,-2.8977737505e-05,1793251558844696064
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.314197254,747,725,691,672,643,898.314197254,788,827,657,633,657,0.445906241734,-0.00540815432073,0.0497345234594,0.999999923512,6.56905450659e-05,-0.000384065027712,-3.39781481223e-05,1793251558861362688
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.260153576,747.260153576,725,691,671.739846424,643,897.739846424,788,827,657,633,657,0.445173220264,-0.00540498164152,0.0497396058099,0.999999925099,5.84842191365e-05,-0.00038079965407,-3.70535855861e-05,1793251558878029568
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724.982279042,691,672.982279042,642.982279042,897,788.017720958,827,657,633,657,0.442849889314,-0.00540163497112,0.0497723789402,0.999999933915,3.61587176702e-05,-0.000359228012824,-4.26255904836e-05,1793251558928029440
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724.405713225,691,672.405713225,642.405713225,897,788.594286775,827,657,633,657,0.442023533312,-0.00540028465223,0.0497704615637,0.999999935927,2.81834575129e-05,-0.000353931047437,-4.56462050802e-05,1793251558944696064
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.672025908,747,724,691,672,643,895.672025908,789,826,657,633,657,0.439544704362,-0.0054012306465,0.0498162328547,0.999999963449,6.40551833614e-06,-0.000265234620138,-5.20666932355e-05,1793251558994695936
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.081416031,747,724,691,672,643,895.081416031,789,826,657,633,657,0.438666501272,-0.00539940099935,0.0498007775541,0.999999954867,6.23633844199e-06,-0.000295672081822,-5.29544362989e-05,1793251559011362560
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747.498988248,724,691,671.501011752,643,895,789,826,657,633,657,0.437742080748,-0.00539763518486,0.0497834235018,0.999999943275,4.56526407203e-05,-0.000330966017551,-4.27565760084e-05,1793251559028029440
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747.922753775,724,691,671,643,894.84550755,789,825.922753775,657,633,657,0.436809910279,-0.00539528222654,0.0497708917126,0.999999931751,8.44863722065e-05,-0.000358166220235,-3.28108726797e-05,1793251559044696064
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747.347811024,724,691,671,643,893.695622048,789,825.347811024,657,633,657,0.435875419807,-0.0053890805489,0.0497913857766,0.999999942389,7.87863203549e-05,-0.00032821553114,-3.59100133002e-05,1793251559061362688
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.231887775,747,724,691,671.231887775,643,893,789,825,657,633,656.768112225,0.434943878145,-0.00538454250045,0.0497940248706,0.999999943344,7.22119059396e-05,-0.000326411749673,-3.94042384608e-05,1793251559078029568
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.818869688,747,724,691,671.818869688,643,893,789,825,657,633,656.181130312,0.434016851909,-0.00538255199792,0.0497693223142,0.999999929381,6.42985627189e-05,-0.000367709855829,-4.35034645174e-05,1793251559094696448
+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.599429724,643,893,789,825,657,633,656.400570276,0.433106771619,-0.00538459291632,0.0497767417649,0.999999933937,5.40850420563e-05,-0.000356563892199,-4.54201473243e-05,1793251559111362816
+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.020086211,643,893,789,825,657,633,656.979913789,0.432204254307,-0.00538843304515,0.0497984971666,0.999999946161,4.28449599772e-05,-0.00032201230467,-4.63627677608e-05,1793251559128029440
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,893,789,825,657,632.441359381,656.441359381,0.431251938201,-0.00538486243955,0.0498019321932,0.999999948365,4.77382124903e-05,-0.000314344610368,-4.66649806579e-05,1793251559144696064
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.863935487,747,724,691,671,643,893.136064513,789,824.863935487,657,632.136064513,656,0.430287541243,-0.00538139473672,0.049797978577,0.999999946553,5.4836365836e-05,-0.000318920586299,-4.66586418758e-05,1793251559161362688
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,724,691,671,643,893.709725138,789.290274862,823.709725138,657,632.709725138,656.290274862,0.428326268276,-0.00537616954052,0.0497674190867,0.999999926051,7.3584372915e-05,-0.000374758677439,-4.51656639314e-05,1793251559194695936
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,724,691,671,643,893.121015152,789.878984848,823.121015152,657,632.121015152,656.878984848,0.427397082476,-0.00537254567201,0.0497836270976,0.999999930278,7.39499653149e-05,-0.000363254987917,-4.49615574871e-05,1793251559211362560
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.460104554,747,724,691,671,643,893,790,823,657,632.460104554,656.539895446,0.426440350616,-0.00537201643342,0.0497711344872,0.999999924867,7.20407080971e-05,-0.00037800254869,-4.67895904545e-05,1793251559228029440
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.960845869,747,724,691,671,643,893,789.960845869,822.960845869,657,633,656,0.425482511992,-0.0053725409563,0.0497551322491,0.999999919246,6.91726295309e-05,-0.000392837468853,-4.90054008725e-05,1793251559244695808
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.38325674,747,724,691,671,643,893,789.38325674,822.38325674,657,633,656,0.424607469464,-0.00537654509147,0.0497929899037,0.999999947151,6.12135680791e-05,-0.000315465966083,-4.93229992486e-05,1793251559261362688
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.193084353,747,724,691,671,643,893,789,821.806915647,657,633,656.193084353,0.423711211012,-0.00537830125808,0.0498203078219,0.999999963,5.77926481087e-05,-0.000261201393508,-4.93431786429e-05,1793251559278029568
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.76696421,747,724,691,671,643,893,789,821.23303579,657,633,656.76696421,0.422773110956,-0.00537562404535,0.0498268395767,0.999999964926,6.3321721676e-05,-0.000252507644808,-4.87767972706e-05,1793251559294696192
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,747,723,688.522880645,671,643,887,789,819,657,633,657,0.401102430573,-0.00540726524191,0.0498353354289,0.999999953395,7.83654624214e-05,-0.000291087062859,-4.83525012989e-05,1793251560061362944
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,747,723.054712732,688.054712732,671,643,887,789,819.054712732,657,632.945287268,657,0.401067689007,-0.00540725405644,0.0498370202111,0.999999954318,8.01990119649e-05,-0.000287495291015,-4.77387981423e-05,1793251560078029568
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ce244d3dd31d405632e62d1959c74302b9e3f32
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd1735f3264d24738eb5565deadf953e3472aa45
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4baa531ad57c9934f2330e3eb73dfcb8e6c8e7de683e22daf8e167628a7f0ca9
+size 26156427
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d14f3e078be18d0d68a60e25a1015096ba5da813
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
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+12,0.200000000,BASELINE,769,747.961934733,723.961934733,689,671,643,887,789,819,657,633,657,0.400984105451,-0.0054152502169,0.0498485943128,0.99999996202,7.76689704185e-05,-0.000260479622918,-4.55889489179e-05,1793251560879524864
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+14,0.233333333,BASELINE,769,746.118364332,724,689,670.236728664,643,887,788.118364332,819.881635668,657,633,657,0.400982614023,-0.0054143639187,0.0498487307947,0.999999962066,7.3850751475e-05,-0.000261388184434,-4.57258894326e-05,1793251560912858624
+15,0.250000000,BASELINE,769,746.693944009,724,689,671.387888017,643,887,788.693944009,819.306055991,657,633,657,0.400984592205,-0.00541468263922,0.049850788341,0.99999996277,7.5340385098e-05,-0.000258294946769,-4.54731851127e-05,1793251560929524480
+16,0.266666667,BASELINE,769.274689636,747,724,689,671.725310364,642.725310364,887,789,819,657.274689636,633,657,0.40098480128,-0.00541478527113,0.0498511044824,0.99999996284,7.60513532569e-05,-0.000257827418405,-4.53989421354e-05,1793251560946190848
+17,0.283333333,BASELINE,769.861301393,747,724,689,671.138698607,642.138698607,887,789,819,657.861301393,633,657,0.400983001455,-0.00541464252494,0.0498494431823,0.999999962196,7.58781125663e-05,-0.000260341498213,-4.55273498493e-05,1793251560962857472
+18,0.300000000,BASELINE,769.557391019,747,724,688.557391019,671,642.442608981,887,789,819,657.557391019,633,657,0.400981154695,-0.00541479215765,0.0498481898949,0.99999996164,7.58763381789e-05,-0.000262488632064,-4.54095742873e-05,1793251560979524096
+19,0.316666667,BASELINE,769,747,723.977841715,688,671,643,887,789,819,657,633,657,0.400979454585,-0.00541503513898,0.0498471448015,0.999999961155,7.59280885753e-05,-0.000264347652451,-4.52254865651e-05,1793251560996190976
+20,0.333333333,BASELINE,769,747,723.401190492,688,671,643,887,789,819,657,633,657,0.400981787986,-0.00541534848816,0.0498481479572,0.999999961807,7.59905834452e-05,-0.000261840285401,-4.52896325106e-05,1793251561012857600
+21,0.350000000,BASELINE,769,746.824517025,723.175482975,688.175482975,671,643,887,789,819,657,633,657,0.400983552009,-0.00541533796845,0.0498491967833,0.999999962316,7.58814715022e-05,-0.000259900329309,-4.54116762553e-05,1793251561029523968
+22,0.366666667,BASELINE,769,746.247792775,723.752207225,688.752207225,671,643,887,789,819,657,633,657,0.400984014151,-0.00541458692346,0.0498503500345,0.999999962509,7.537998111e-05,-0.00025925775695,-4.56661031288e-05,1793251561046190592
+23,0.383333333,BASELINE,769,746.335229741,723.664770259,689,671,643,887,788.664770259,819,657,633,657,0.4009845206,-0.00541494903758,0.0498511836247,0.999999962821,7.54340397965e-05,-0.000258066019251,-4.54958692019e-05,1793251561062857472
+24,0.400000000,BASELINE,769,746.92299697,723.07700303,689,671,643,887,788.07700303,819,657,633,657,0.400985060427,-0.00541614972401,0.0498517764058,0.99999996322,7.59066083409e-05,-0.000256460580615,-4.50057270157e-05,1793251561079523840
+25,0.416666667,BASELINE,769,747,723.503362877,689,671,643,887,788,819,657,632.496637123,657,0.40098535607,-0.00541505549751,0.0498513310182,0.999999962995,7.70754150087e-05,-0.00025698346299,-4.50469743513e-05,1793251561096190464
+26,0.433333333,BASELINE,769,747,724,689,671,643,887,788.082371253,819,657,632,657,0.400985542671,-0.0054139374199,0.049850847666,0.999999962713,7.81106280351e-05,-0.000257746430396,-4.51603206857e-05,1793251561112857344
+27,0.450000000,BASELINE,769,747,724,689,671,643,887,788.659926836,819,657,632,657,0.400985295057,-0.00541475586931,0.0498510769912,0.99999996267,7.77117177287e-05,-0.00025802377045,-4.52254929017e-05,1793251561129524224
+28,0.466666667,BASELINE,769.236533441,747,724,689.236533441,671,643,887.236533441,789,819.236533441,657,632.236533441,657,0.400984644791,-0.00541547540964,0.0498507448933,0.999999962669,7.61926153704e-05,-0.000258455885217,-4.53564046923e-05,1793251561146190848
+29,0.483333333,BASELINE,769.811781081,747,724,689.811781081,671,643,887.811781081,789,819.811781081,657,632.811781081,657,0.400983417929,-0.00541605331282,0.0498496088412,0.999999962723,7.30694060072e-05,-0.000259109636251,-4.55814550805e-05,1793251561162857728
+30,0.500000000,BASELINE,769.604433567,747,724,689.604433567,671.395566433,642.604433567,887.604433567,789,819.604433567,657,633,657,0.400983399496,-0.00541629351477,0.0498494021291,0.999999962721,7.31987394699e-05,-0.000259110292271,-4.53998706434e-05,1793251561179524352
+31,0.516666667,BASELINE,769.016496194,747,724,689.016496194,671.983503806,642.016496194,887.016496194,789,819.016496194,657,633,657,0.400983968743,-0.00541636948664,0.0498496473715,0.999999962694,7.49098420351e-05,-0.000258793336633,-4.50205325036e-05,1793251561196190720
+32,0.533333333,BASELINE,769,747,724,689,671.437834723,642,887,788.437834723,819,657,633,657,0.400983749679,-0.00541458290929,0.0498502861011,0.999999962451,7.79640416649e-05,-0.000258826676923,-4.50322296538e-05,1793251561212857344
+33,0.550000000,BASELINE,769,747,724,688.859592661,671,642.140407339,887,788,819,657,632.859592661,657,0.400983413832,-0.00541354548004,0.0498505971487,0.999999962302,7.9607745381e-05,-0.000258890531731,-4.51119307952e-05,1793251561229523968
+34,0.566666667,BASELINE,769,747,724,688.281823047,671,642.718176953,887,788,819,657,632.281823047,657,0.400982785098,-0.00541500909564,0.0498498520991,0.999999962481,7.67370465244e-05,-0.000259017938681,-4.53682986814e-05,1793251561246190848
+35,0.583333333,BASELINE,769,747,724,688,670.701370513,643,887,788.298629487,819,657,632,657,0.400983488889,-0.00541491361633,0.049849918152,0.999999962749,7.57858975536e-05,-0.000258233538924,-4.55508992446e-05,1793251561262857472
+36,0.600000000,BASELINE,769,747,724,688,670.118363028,643,887,788.881636972,819,657,632,657,0.400985461612,-0.00541333344695,0.0498507565988,0.999999963102,7.66626914894e-05,-0.00025658084661,-4.56632529116e-05,1793251561279524352
+37,0.616666667,BASELINE,769,747,724,688.465664581,670.465664581,643,887.465664581,788.534335419,819,657,632.465664581,657,0.400985949775,-0.00541464663279,0.0498516742325,0.999999963579,7.436280393e-05,-0.000255416111454,-4.5555973146e-05,1793251561296190976
+38,0.633333333,BASELINE,769,747,724,689,671,643,887.950878514,788.049121486,819,657,632.950878514,657,0.400985940833,-0.00541646338254,0.0498524493919,0.999999963989,7.17981451099e-05,-0.000254571367823,-4.53894821142e-05,1793251561312857600
+39,0.650000000,BASELINE,769,747,724,689,671,643,887.376305777,788.623694223,819,657,632.376305777,657,0.4009846597,-0.00541578253703,0.0498514847285,0.99999996344,7.50574853029e-05,-0.000255819912616,-4.51880965655e-05,1793251561329524224
+40,0.666666667,BASELINE,769,747,724,689,671,643,887,789,819.198780442,657,632.198780442,657,0.400983370367,-0.00541554123298,0.0498505185979,0.999999962989,7.62180864537e-05,-0.000257265630871,-4.50231219387e-05,1793251561346190848
+41,0.683333333,BASELINE,769,747,724,689,671,643,887,789,819.774841204,657,632.774841204,657,0.40098206547,-0.0054161341677,0.0498495496825,0.999999962735,7.33953330804e-05,-0.000259085579366,-4.49272543467e-05,1793251561362857472
+42,0.700000000,BASELINE,769,747,724,689,671,643,887.359559373,789,819.640440627,657,633,657,0.400983083432,-0.00541637032495,0.0498496292118,0.999999962944,7.16402093031e-05,-0.000258726525628,-4.51656407657e-05,1793251561379524096
+43,0.716666667,BASELINE,769,747,724,689,671,643,887.949832608,789,819.050167392,657,633,657,0.400985591874,-0.00541637755335,0.0498503814832,0.999999963453,7.05701378536e-05,-0.000256969299345,-4.5618503682e-05,1793251561396190720
+44,0.733333333,BASELINE,769.527548129,747,724,689,671,643,887.472451871,789,819,657.527548129,633,657,0.400984344758,-0.00541533798142,0.0498502492822,0.999999963133,7.2768163604e-05,-0.000257593092112,-4.56485853686e-05,1793251561412857856
+45,0.750000000,BASELINE,769.896031619,747,723.896031619,689.103968381,671,643,887.103968381,789,819,657.896031619,633,657,0.400983101768,-0.00541435794039,0.0498501963677,0.999999962818,7.49750635419e-05,-0.000258190646326,-4.5603080071e-05,1793251561429524992
+46,0.766666667,BASELINE,769.320196343,747,723.320196343,689.679803657,671,643,887.679803657,789,819,657.320196343,633,657,0.400983460705,-0.00541408937494,0.0498508761595,0.999999962898,7.58445350337e-05,-0.000257665369195,-4.53927468624e-05,1793251561446191360
+47,0.783333333,BASELINE,769.261499722,747,723.261499722,689.738500278,671,643,888,789,819,657,633,657,0.400983533764,-0.00541487932141,0.0498507538734,0.999999962875,7.59785143229e-05,-0.000257754091351,-4.51650145266e-05,1793251561462857984
+48,0.800000000,BASELINE,769.8505367,747,723.8505367,689.1494633,671,643,888,789,819,657,633,657,0.400983248754,-0.00541699508984,0.0498496269577,0.999999962724,7.5191264839e-05,-0.000258611868336,-4.49154891665e-05,1793251561479524096
+49,0.816666667,BASELINE,769.568245378,747,724,689,671,643,887.568245378,788.568245378,819.431754622,657,633,657,0.400983203718,-0.00541703365995,0.0498498821167,0.999999962763,7.53514894002e-05,-0.000258440336667,-4.47685554412e-05,1793251561496190720
+50,0.833333333,BASELINE,769,747,724,689,671,642.989680424,887,788.010319576,819.989680424,657,633,657,0.400983233281,-0.00541638704025,0.0498505834028,0.999999962864,7.5803146384e-05,-0.000257938411974,-4.46580413542e-05,1793251561512857344
+51,0.850000000,BASELINE,769,747,724,689,671,642.410801819,887,788.589198181,819.410801819,657,633,657,0.400982877392,-0.0054169027399,0.0498499731995,0.999999962809,7.4561920687e-05,-0.000258515868496,-4.46321837868e-05,1793251561529523968
+52,0.866666667,BASELINE,769,747,724,689,671,642.166409993,887.166409993,788.833590007,819,657,633,657,0.400982705312,-0.00541680593068,0.0498497123296,0.999999962774,7.40917763695e-05,-0.000258774291578,-4.47054266522e-05,1793251561546190848
+53,0.883333333,BASELINE,769,747,724,689,671,642.739547907,887.739547907,788.260452093,819,657,633,657,0.400982982485,-0.00541521206912,0.0498503052766,0.999999962789,7.5506256495e-05,-0.00025825295491,-4.50208840188e-05,1793251561562857472
+54,0.900000000,BASELINE,769,747,724,688.678052265,671,643,888,788,819,657,633,657,0.400983814375,-0.00541477764735,0.0498507478515,0.999999962944,7.62332103084e-05,-0.000257428498902,-4.50705062335e-05,1793251561579524352
+55,0.916666667,BASELINE,769,747,724,688.087937743,671,643,888,788,819,657,633,657,0.400985108318,-0.00541530898257,0.0498510651737,0.999999963216,7.63874881092e-05,-0.00025635155927,-4.48987006943e-05,1793251561596190976
+56,0.933333333,BASELINE,769,747,724,688.492694054,671,643,887.507305946,788.492694054,819,657,633,657,0.400984561219,-0.00541442660162,0.0498510272361,0.999999963112,7.7018441271e-05,-0.000256512137821,-4.52374607372e-05,1793251561612857600
+57,0.950000000,BASELINE,769,746.928560095,724,689,671,643,887,789,819.071439905,657,632.928560095,657,0.400983898238,-0.00541362897241,0.0498510216246,0.999999963008,7.73927802302e-05,-0.000256748177347,-4.55525209792e-05,1793251561629524480
+58,0.966666667,BASELINE,769,746.351410076,724,689,671,643,887,789,819.648589924,657,632.351410076,657,0.400984697101,-0.00541518372006,0.0498516852221,0.999999963381,7.53597095813e-05,-0.000255984371139,-4.50669203973e-05,1793251561646190848
+59,0.983333333,BASELINE,769,746.224472912,724,689,671,643,887,789,819.775527088,657,632.224472912,657,0.400985073193,-0.00541622641772,0.049851915442,0.999999963526,7.49085060823e-05,-0.000255622273088,-4.46579187933e-05,1793251561662857216
+60,1.000000000,BASELINE,769,746.798383597,724,689,671,643,887,789,819.201616403,657,632.798383597,657,0.400984791156,-0.00541647200562,0.0498514710216,0.999999963319,7.69198004246e-05,-0.000255885515424,-4.43681590132e-05,1793251561679523840
+61,1.016666667,BASELINE,769.382487629,747,724,689,671.382487629,642.617512371,887,789,819,657,632.617512371,657,0.400984622236,-0.00541665510663,0.0498513898218,0.999999963242,7.66631338845e-05,-0.00025626197522,-4.43657965462e-05,1793251561696190976
+62,1.033333333,BASELINE,769.972111847,747,724,689,671.972111847,642.027888153,887,789,819,657,632.027888153,657,0.400984514574,-0.0054168043678,0.0498515053245,0.999999963236,7.51782505645e-05,-0.000256699748037,-4.45190744213e-05,1793251561712857856
+63,1.050000000,BASELINE,769.447958044,747,724,689,672,642.552041956,887,789,819.552041956,657,632.552041956,657,0.400983744532,-0.00541614856807,0.0498513386232,0.999999963224,7.47728030411e-05,-0.000256834323137,-4.46869030996e-05,1793251561729524736
+64,1.066666667,BASELINE,769,747,724,689,671.869538799,643,887,789,820,657,632.869538799,657,0.400983218765,-0.0054155322893,0.0498510801128,0.999999963175,7.46445841453e-05,-0.000257034856744,-4.48577609879e-05,1793251561746191616
+65,1.083333333,BASELINE,769,747,724,689,671.29462714,643,887,789,820,657,632.29462714,657,0.400983637216,-0.00541518681181,0.0498505565607,0.999999962996,7.52782489658e-05,-0.000257511376246,-4.5036477643e-05,1793251561762857984
+66,1.100000000,BASELINE,769,747,723.713793471,689,671,643,887.286206529,789,819.713793471,657,632.286206529,657,0.400984094701,-0.00541446112122,0.0498504602076,0.999999962964,7.62953560838e-05,-0.000257308199718,-4.52078062956e-05,1793251561779524608
+67,1.116666667,BASELINE,769,747,723.126734789,689,671,643,887.873265211,789,819.126734789,657,632.873265211,657,0.400984593217,-0.00541333576147,0.0498508129139,0.999999963083,7.77155267835e-05,-0.000256390546054,-4.53713688788e-05,1793251561796191488
+68,1.133333333,BASELINE,769.454158147,747,723.454158147,689.454158147,671,643,887.545841853,789,819,657,633,657,0.400985587299,-0.00541349052523,0.0498517150038,0.999999963397,7.8345018154e-05,-0.000255008610292,-4.51501749593e-05,1793251561812857856
+69,1.150000000,BASELINE,769.966714954,747,724,689.966714954,671,643,887,789,819,657,633,657,0.400986557576,-0.00541403763414,0.0498526328754,0.999999963719,7.85802416565e-05,-0.000253725113585,-4.48434399875e-05,1793251561829524480
+70,1.166666667,BASELINE,769.388709883,747,724,689.388709883,671,643,887,789,819,657,633,657,0.400984905443,-0.00541523781578,0.0498513336942,0.999999963306,7.59256661552e-05,-0.000256144492349,-4.48703741476e-05,1793251561846191616
+71,1.183333333,BASELINE,769,747,723.812012863,689,671,643,887,789,819,657,632.812012863,656.812012863,0.400983851642,-0.00541573696287,0.0498505725998,0.99999996309,7.43901986125e-05,-0.000257412206869,-4.49991622471e-05,1793251561862858240
+72,1.200000000,BASELINE,769,747,723.238001768,689,671,643,887,789,819,657,632.238001768,656.238001768,0.400984026491,-0.00541479656422,0.0498509164442,0.9999999633,7.51527733616e-05,-0.000256315026053,-4.53371032829e-05,1793251561879524352
+73,1.216666667,BASELINE,769,747,723.344575533,689,671,643,887.344575533,788.655424467,819.344575533,657,632.344575533,656.344575533,0.400984154728,-0.00541420397963,0.049851088513,0.999999963222,7.64559205184e-05,-0.000256228031039,-4.53598341763e-05,1793251561896190976
+74,1.233333333,BASELINE,769,747,723.933220403,689,671,643,887.933220403,788.066779597,819.933220403,657,632.933220403,656.933220403,0.40098424995,-0.00541385775835,0.0498511389099,0.99999996294,7.81419652443e-05,-0.000256856569715,-4.51592957702e-05,1793251561912857344
+75,1.250000000,BASELINE,769,747,724,689,671,643,887.48674482,788.51325518,819.48674482,657,633,657,0.40098409251,-0.00541517856231,0.0498513561914,0.999999963051,7.70137628087e-05,-0.000256817433252,-4.48574207356e-05,1793251561929523968
+76,1.266666667,BASELINE,769,747,724,689,671,643,887,789,819,656.908025318,633,657,0.400983919989,-0.00541638463185,0.0498514982957,0.999999963194,7.59159261541e-05,-0.000256625148144,-4.46240908534e-05,1793251561946190592
+77,1.283333333,BASELINE,769,747,724,689,671,643,887,789,819,656.330433081,633,657,0.40098383855,-0.00541585861569,0.0498511307193,0.999999963253,7.68798189339e-05,-0.000256075356794,-4.48211393163e-05,1793251561962857472
+78,1.300000000,BASELINE,769,747,724,688.753784835,671,643,887,789,819,656.246215165,633,657,0.400983915317,-0.0054153112519,0.0498508595513,0.999999963211,7.76832684223e-05,-0.000255988112613,-4.48714419124e-05,1793251561979524096
+79,1.316666667,BASELINE,769,747,724,688.178398681,671,643,887,789,819,656.821601319,633,657,0.400984203594,-0.00541473534799,0.049850717274,0.999999963035,7.8272217329e-05,-0.000256519258941,-4.47255564053e-05,1793251561996190720
+80,1.333333333,BASELINE,769,747,724,688,670.591970587,643,887.408029413,788.591970587,819,657.408029413,633,657,0.400984040172,-0.00541425114255,0.0498507585043,0.999999962921,7.94913793433e-05,-0.000256583252919,-4.47620825552e-05,1793251562012857344
+81,1.350000000,BASELINE,769,747,724,688,670.000580402,643,887.999419598,788.000580402,819,657.999419598,633,657,0.400983673765,-0.00541380814464,0.0498508821994,0.999999962833,8.09937473685e-05,-0.000256437317431,-4.48805810725e-05,1793251562029523968
+82,1.366666667,BASELINE,769,747,724,688.57648256,670.57648256,643,887.42351744,788.57648256,819,657.42351744,632.42351744,657,0.400983470415,-0.00541602569529,0.0498507974445,0.999999962936,7.7288118955e-05,-0.000257194785684,-4.47875285638e-05,1793251562046190848
+83,1.383333333,BASELINE,769,747,723.846850023,689,671,643,887,788.846850023,819,657,632,657,0.400983232198,-0.00541750147375,0.0498507019686,0.999999962994,7.44407569322e-05,-0.000257823830926,-4.46971844137e-05,1793251562062857472
+84,1.400000000,BASELINE,769,747,723.271234763,689,671,643,887,788.271234763,819,657,632,657,0.400982897357,-0.00541692385906,0.0498505774834,0.999999962962,7.39750411289e-05,-0.000258096172428,-4.46148845554e-05,1793251562079523840
+85,1.416666667,BASELINE,769,747,723.311258998,688.688741002,671,642.688741002,887,788.311258998,819,657,632.311258998,657,0.400983241709,-0.00541639418684,0.0498511612029,0.999999963053,7.54046132313e-05,-0.000257357205672,-4.44368937995e-05,1793251562096190464
+86,1.433333333,BASELINE,769,747,723.899882185,688.100117815,671,642.100117815,887,788.899882185,819,657,632.899882185,657,0.400984191293,-0.00541590723638,0.0498523760064,0.999999963246,7.85230843097e-05,-0.000255717057893,-4.41736324906e-05,1793251562112857344
+87,1.450000000,BASELINE,769,747,724,688.480674453,671,642.480674453,887,788.519325547,819,657,633,657,0.400984065055,-0.00541691512102,0.0498517838295,0.999999963453,7.51933636966e-05,-0.000255881659544,-4.43187739441e-05,1793251562129523968
+88,1.466666667,BASELINE,769,747,724,689,671,643,887,788,819,657,632.940481431,657,0.400983954097,-0.00541806436827,0.049851075407,0.999999963674,7.11122929051e-05,-0.000256150710136,-4.45268775304e-05,1793251562146190592
+89,1.483333333,BASELINE,769,747,724,689,671,643,887,788,819,657,632.364614933,657,0.400985888509,-0.00541778217591,0.0498525713196,0.999999964129,7.19778424957e-05,-0.000254117051964,-4.45550629055e-05,1793251562162857216
+90,1.500000000,BASELINE,769.210255422,747,724,689,671,643,887,788.210255422,819,657,632.210255422,657,0.400986358439,-0.00541677066564,0.0498529717647,0.999999964056,7.40221076884e-05,-0.000253808581408,-4.46146282542e-05,1793251562179524096
+91,1.516666667,BASELINE,769.783406399,747,724,689,671,643,887,788.783406399,819,657,632.783406399,657,0.400984300712,-0.0054145003711,0.0498514814604,0.999999963059,7.81008061829e-05,-0.000256477741361,-4.47283546422e-05,1793251562196190720
+92,1.533333333,BASELINE,769.63150498,747,724,689,671,643,887,788.63150498,819,657,633,657,0.400983976259,-0.00541336173973,0.0498510840205,0.999999962921,7.88223007907e-05,-0.000256751507272,-4.49897407676e-05,1793251562212857344
+93,1.550000000,BASELINE,769.039164686,747,724,689,671,643,887,788.039164686,819,657,633,657,0.400984704699,-0.00541291054606,0.0498513504497,0.999999963311,7.75044351935e-05,-0.000255570171996,-4.53408240037e-05,1793251562229523968
+94,1.566666667,BASELINE,769.540911704,747,724,689,671,643,887,788.540911704,819.540911704,657,633,657,0.400984248841,-0.00541404624933,0.0498515034987,0.999999963483,7.65793934957e-05,-0.00025520117367,-4.51874776133e-05,1793251562246190592
+95,1.583333333,BASELINE,770,747,724,689,671,643,887,789,819.880683417,657,633,657,0.400984108509,-0.00541520397906,0.0498517857402,0.99999996364,7.58259054195e-05,-0.000254844048429,-4.49995776878e-05,1793251562262857216
+96,1.600000000,BASELINE,770,747,724,689,671,643,887,789,819.305348249,657,633,657,0.400985494552,-0.00541601649253,0.0498525924247,0.999999963799,7.56217868985e-05,-0.000254312490022,-4.48161109415e-05,1793251562279523840
+97,1.616666667,BASELINE,769.730320765,747,724,689,671,643,887,788.730320765,819,657,633,657,0.400985697801,-0.00541675265501,0.0498523871821,0.999999963807,7.39668580684e-05,-0.000254784784427,-4.47245707791e-05,1793251562296190720
+98,1.633333333,BASELINE,769.155641297,747,724,689,671,643,887,788.155641297,819,657,633,657,0.400984563341,-0.00541740246645,0.0498510374761,0.999999963634,7.06711003571e-05,-0.000256392410401,-4.47369972135e-05,1793251562312857344
+99,1.650000000,BASELINE,769.431218213,747,724,689,671,643,887,788,819.431218213,657,633,657,0.4009840947,-0.00541719426153,0.0498508083193,0.999999963372,7.21445342486e-05,-0.000256985832147,-4.48170999328e-05,1793251562329523968
+100,1.666666667,BASELINE,769.977921095,747,724,689,671,643,887,788.022078905,819.977921095,657,633,657,0.400983859333,-0.0054166513034,0.0498509924652,0.999999963083,7.53094634419e-05,-0.000257186767314,-4.49210326368e-05,1793251562346190336
+101,1.683333333,BASELINE,769.400216362,747,724,689,671,643,887,788.599783638,819.400216362,657,633,657,0.400983270966,-0.00541570407685,0.0498511036975,0.999999963042,7.64636187043e-05,-0.000256990449065,-4.49920820312e-05,1793251562362857728
+102,1.700000000,BASELINE,769,747,724,689,671,643,887,789,819,657,633,657,0.400983481856,-0.00541471947988,0.0498514331061,0.999999963105,7.75985267068e-05,-0.000256399739987,-4.50283718487e-05,1793251562379524864
+103,1.716666667,BASELINE,769,747,724,689,671,643,887,789,819,657,633,657,0.400985494979,-0.00541365061698,0.0498522544776,0.9999999634,7.86900341506e-05,-0.000254919724048,-4.49862827256e-05,1793251562396191232
+104,1.733333333,BASELINE,769,747,724,689,671,643,887,789,819.332856446,657,633,657,0.400985270946,-0.00541432110263,0.0498519578302,0.999999963421,7.80002955722e-05,-0.000255039710998,-4.50385926814e-05,1793251562412857856
+105,1.750000000,BASELINE,769,747,724,689,671,643,887,789,819.921591325,657,633,657,0.400983327132,-0.00541632868643,0.0498508017224,0.999999963229,7.59412507774e-05,-0.000256389676166,-4.51634705173e-05,1793251562429524480
+106,1.766666667,BASELINE,769,747.503548636,724,689,671,643,887.503548636,789,819.496451364,657,633,657,0.400982736344,-0.00541605296874,0.0498502910206,0.999999963,7.66374462208e-05,-0.000257109305122,-4.49650543989e-05,1793251562446191616
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,820,658,633,657,0.400983831094,-0.00541583006993,0.0498509621308,0.999999963116,7.77314147732e-05,-0.000256284240703,-4.52034663108e-05,1793251562489747712
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819.424307834,657.424307834,633,657,0.400985299847,-0.00541633680007,0.0498515905894,0.999999963667,7.54064526745e-05,-0.000254853326377,-4.50485509466e-05,1793251562506413312
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724,688.842678605,671,643,887.157321395,789,819,657,633,657,0.400985998273,-0.00541660932845,0.0498519795057,0.999999963917,7.41226063365e-05,-0.000254264991527,-4.49659286146e-05,1793251562523079168
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,724,688.244408529,671,643,887.755591471,789,819,657,633,657,0.400984537585,-0.00541622542394,0.0498516970203,0.999999963336,7.57568534812e-05,-0.000256038282432,-4.50859329616e-05,1793251562539745536
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724,688.341536142,671,643,887.658463858,789,819.341536142,657,633,657,0.400983746987,-0.00541596507636,0.0498514911361,0.999999963151,7.58175468625e-05,-0.000256757825878,-4.50079887125e-05,1793251562556411904
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724,688.918967749,671,643,887.081032251,789,819.918967749,657,633,657,0.400983419215,-0.00541579006829,0.0498513381596,0.99999996324,7.47914029131e-05,-0.000256749556797,-4.47933234182e-05,1793251562573078272
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887.496309649,789,819.503690351,657,633,657.496309649,0.400984246292,-0.00541663444433,0.0498515941516,0.999999963517,7.39564320533e-05,-0.000255913812476,-4.47614340489e-05,1793251562589744896
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.074792107,747,724,689,671,643.074792107,887.925207893,789,819,657,633,657.925207893,0.400985365971,-0.00541747571145,0.0498519726436,0.99999996383,7.33362038904e-05,-0.000254865382453,-4.4783408888e-05,1793251562606411520
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.661176362,747,724,689,671,643.661176362,887.338823638,789,819,657,633,657.338823638,0.400987197602,-0.0054171574761,0.0498527324085,0.999999964176,7.39713938801e-05,-0.000253286094852,-4.4969738826e-05,1793251562623078144
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.755609238,747,724,689,671,643.755609238,887,789,819.244390762,657,633,657,0.400993976271,-0.00541733555222,0.0498554405702,0.999999965358,7.45568085109e-05,-0.000248451934206,-4.46925470697e-05,1793251562639745024
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.176733307,747,724,689,671,643.176733307,887,789,819.823266693,657,633,657,0.401007525697,-0.00541819290455,0.0498608154032,0.999999967624,7.50740980903e-05,-0.00023916299497,-4.3780956797e-05,1793251562656411904
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,820,657,633,657,0.401041678417,-0.00541876337063,0.049872628965,0.999999973145,7.44109225451e-05,-0.000215168347095,-4.33030682425e-05,1793251562673078272
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,820,657,633,657,0.401084885859,-0.00541920775622,0.0498872722153,0.999999979335,7.32289570056e-05,-0.000184710843764,-4.30157825022e-05,1793251562689744896
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887.55233798,789,819.44766202,657,633,657,0.401150413162,-0.00542189560708,0.0499045260791,0.99999998517,7.31317290698e-05,-0.000150341351888,-4.13544765117e-05,1793251562706411776
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.130847546,747.130847546,724,688.869152454,671.130847546,643,887.869152454,789,819,657,633,657,0.401218603842,-0.00542493851006,0.0499206138112,0.999999989292,7.21789423265e-05,-0.000120991395468,-3.95944229505e-05,1793251562723078144
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.719004184,747.719004184,724,688.280995816,671.719004184,643,887.280995816,789,819,657,633,657,0.401292796566,-0.0054288899705,0.0499322392149,0.999999990948,6.80753072441e-05,-0.000109764102042,-3.76927930271e-05,1793251562739744768
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.69657934,747.69657934,724,688.30342066,671.69657934,643,887,789,819.30342066,657,633,657,0.40137659723,-0.00543147477887,0.0499387148003,0.999999991844,6.84017886602e-05,-0.000101479801223,-3.65319556839e-05,1793251562756411392
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.115584462,747.115584462,724,688.884415538,671.115584462,643,887,789,819.884415538,657,633,657,0.401469187393,-0.00543280935115,0.0499404792462,0.999999992104,7.27810138866e-05,-9.58877992068e-05,-3.60488077142e-05,1793251562773078272
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819.540044842,657,633,657,0.401574206115,-0.00543755593183,0.049940495862,0.999999992191,6.92093811311e-05,-9.79904807986e-05,-3.50216055376e-05,1793251562789744896
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819,657,633,657,0.401683966677,-0.00544307681718,0.0499402148689,0.999999992231,6.38310833094e-05,-0.000101562586593,-3.38864904605e-05,1793251562806411776
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887,789,819,657,633,657,0.401819910323,-0.00544744190464,0.0499420925363,0.999999992766,6.11091444395e-05,-9.81500592022e-05,-3.31816827563e-05,1793251562823078400
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,723.791041609,689.208958391,671,643,887.208958391,788.791041609,819.208958391,657,633,657,0.401968654339,-0.00545281021245,0.0499445326302,0.999999993234,5.81979442303e-05,-9.54752946805e-05,-3.20783085445e-05,1793251562839745024
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,723.212322923,689.787677077,671,643,887.787677077,788.212322923,819.787677077,657,633,657,0.402140049109,-0.00545995375865,0.0499479679601,0.999999993604,5.49518387452e-05,-9.41060316493e-05,-3.02696549116e-05,1793251562856411648
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+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,723.94121305,689.05878695,671,643,888,788.94121305,819.05878695,657,633,657,0.402534308636,-0.00547272952451,0.0499438518895,0.999999993297,5.00724710314e-05,-0.000100709391092,-2.74865887202e-05,1793251562889745664
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,888,789,819.517215295,657.517215295,632.482784705,657,0.402764071986,-0.00547930891218,0.0499433099395,0.99999999324,4.55085355332e-05,-0.000103757049281,-2.61307899272e-05,1793251562906412544
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.09528102,747,724,689,671,643,888,789,819.90471898,657.90471898,632.09528102,657,0.403005384778,-0.00548671859406,0.049944754297,0.99999999358,4.06204103085e-05,-0.000102900959979,-2.45336795123e-05,1793251562923079168
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.684230992,747,724,689,671,643,888,789,819.315769008,657.315769008,632.684230992,657,0.403290734374,-0.00549821757552,0.0499548715385,0.999999995727,3.54093877817e-05,-8.25858794652e-05,-2.17204060556e-05,1793251562939745792
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.730841619,747,724,689,671,643,888,789,819,657,633,657,0.403598202621,-0.00550869160828,0.0499645203403,0.999999997338,3.12285325187e-05,-6.31166375889e-05,-1.9114933579e-05,1793251562956412160
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.150563955,747,724,689,671,643,888,789,819,657,633,657,0.403931237727,-0.00551798090552,0.0499736276738,0.999999998465,2.82384445042e-05,-4.46250990278e-05,-1.67496577396e-05,1793251562973078528
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.427061245,747,724,689.427061245,671,643,888.427061245,789,819.427061245,657,633,657,0.404298187741,-0.00552782890404,0.0499813239093,0.99999999913,2.60876167235e-05,-2.95455836267e-05,-1.3664835523e-05,1793251562989745152
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.996271381,747,724,689.996271381,671,643,889,789,820,657,633,657,0.40467718533,-0.00553784002132,0.04998849707,0.999999999529,2.42664303334e-05,-1.57080412475e-05,-1.03288401915e-05,1793251563006411776
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.4239408,747,724,689.4239408,671,643,889,789,820,657,633,657,0.405081254766,-0.00554287366367,0.0499913009986,0.999999999546,2.78710232729e-05,-8.95567427598e-06,-7.13663807583e-06,1793251563023078400
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.15389099,747,724,689,671,643,889,789,819.84610901,657,633,657,0.405484613773,-0.00554319395015,0.0499884902967,0.999999999201,3.73900796221e-05,-1.34893909773e-05,-4.35334320336e-06,1793251563039745024
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.747439308,747,724,689,671,643,889,789,819.252560692,657,633,657,0.405885943061,-0.00553004846085,0.0499696389317,0.999999996697,6.38064024433e-05,-5.02667727756e-05,-2.738272334e-06,1793251563056412160
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.668906706,747,724,689.331093294,671,643,889,789.331093294,819.331093294,657.331093294,633,657,0.406325247016,-0.00551999460659,0.0499520975143,0.999999993007,8.64771171853e-05,-8.06534002848e-05,-1.49688581978e-06,1793251563073079552
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.092581134,747,724,689.907418866,671,643,889,789.907418866,819.907418866,657.907418866,633,657,0.406792677873,-0.00551223064542,0.0499355263392,0.999999988692,0.000106373559235,-0.000106306564491,-5.32277517813e-07,1793251563089746688
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.484372875,747,724,690,671,643,889,789.515627125,820,657.515627125,633,657,0.407313257741,-0.00551919126462,0.0499262173351,0.999999986171,0.000112134486954,-0.000122777923337,3.09747112278e-06,1793251563106413312
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.062544536,789.062544536,820,657.062544536,633,657,0.407850936704,-0.00552852669452,0.0499217732399,0.999999984765,0.000115673844325,-0.000130524628525,7.3232625786e-06,1793251563123079680
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.649925065,789.649925065,820,657.649925065,633,657,0.408446744879,-0.00553414269271,0.0499464896015,0.999999989142,0.000123272511429,-7.98051313319e-05,1.22705197478e-05,1793251563139746304
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.766141228,747,724,690,671,643,890,789.766141228,819.766141228,657.766141228,633.233858772,657,0.409059680178,-0.00553739819633,0.0499706401043,0.999999990343,0.000133191393007,-3.55725347986e-05,1.7587723063e-05,1793251563156412928
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.187292333,747,724,690,671,643,890,789.187292333,819.187292333,657.187292333,633.812707667,657,0.409697881495,-0.00553717148122,0.0499939558467,0.999999988989,0.00014653307128,-9.09463481617e-07,2.3450673291e-05,1793251563173079552
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889.610169081,789.389830919,819.389830919,657.389830919,633.610169081,657,0.410329845733,-0.0055333321678,0.049995153637,0.999999986116,0.000164259419398,-5.72581176221e-06,2.74426467416e-05,1793251563189746432
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,889.033871269,789.966128731,819.966128731,657.966128731,633.033871269,657,0.410958826586,-0.00552776484884,0.0499857717995,0.999999982157,0.000184083075736,-2.94262576115e-05,3.05396801554e-05,1793251563206412800
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.542141605,747,724,690,671,643,890.08428321,790,820,657.457858395,633,657,0.411616037359,-0.00552672472018,0.0499535462134,0.999999975726,0.000196392612524,-9.43953640721e-05,3.26733636217e-05,1793251563223079424
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,891,789.879112771,820.120887229,657,633,657,0.412297561347,-0.00552726277834,0.0499319165983,0.999999972093,0.000190784322299,-0.000135818037687,3.11208640764e-05,1793251563239746048
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,891,789.289707107,820.710292893,657,633,657,0.413066483078,-0.00553282172646,0.0499568818886,0.999999990083,0.000117551037759,-7.59950943358e-05,1.55150950258e-05,1793251563256412160
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.706522312,747,724,690.293477688,671,643,891,789,821,657.293477688,633.293477688,657.293477688,0.413836670741,-0.00554054361707,0.0499743900995,0.999999995538,8.45400871076e-05,-4.06307946377e-05,1.12669908527e-05,1793251563273078784
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.129350927,747,724,690.870649073,671,643,891,789,821,657.870649073,633.870649073,657.870649073,0.414608082222,-0.00555035634243,0.0499846898388,0.999999995333,9.04105260023e-05,-2.89097271316e-05,1.79979067775e-05,1793251563289745152
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.447703805,747,724,690.552296195,671.447703805,643,891.447703805,789,821.447703805,657.552296195,634,657.552296195,0.415373279876,-0.00554699661147,0.0499615162724,0.999999991767,0.000105895054961,-6.95446150055e-05,2.0382596316e-05,1793251563306411776
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.975368523,747,724,690.024631477,671.975368523,643,892.024631477,789,822,657,633.975368523,657.024631477,0.416140950248,-0.00554005540744,0.049930515218,0.999999984681,0.000123671778296,-0.000121977001583,2.15387946891e-05,1793251563323078400
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.400525636,747,724,690.599474364,671.400525636,643,892.599474364,789,822,657,633.400525636,657.599474364,0.417003949179,-0.00553810291884,0.0499406407007,0.999999986185,0.000130619371291,-0.000100130162877,2.32958094834e-05,1793251563339745536
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.179073267,747,724,690.820926733,671,643,893,789,822.179073267,657,633,657.820926733,0.417867340738,-0.00553736939102,0.0499546326547,0.999999988166,0.000133538896495,-7.22293640403e-05,2.4861323054e-05,1793251563356412672
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.769599947,747,724,690.230400053,671,643,893,789,822.769599947,657,633,657.230400053,0.418731634379,-0.00553943664754,0.0499775085298,0.999999991109,0.000127203202563,-3.04184915353e-05,2.59868276077e-05,1793251563373079040
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.647451995,747,724,690,671,643,893.352548005,789,823,657.352548005,633,657,0.419579688147,-0.00554176298387,0.0499754624378,0.999999991154,0.000124262914222,-3.90908964844e-05,2.68730676703e-05,1793251563389745664
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.069352574,747,724,690,671,643,893.930647426,789,823,657.930647426,633,657,0.420417352015,-0.00554425507291,0.0499574718924,0.999999988789,0.000123494921821,-8.00612441199e-05,2.76062322239e-05,1793251563406412032
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.506795454,747,724,690.506795454,671,643,894.506795454,789,823.506795454,657.493204546,633,657,0.421367339776,-0.0055484930619,0.0499735870605,0.999999992249,0.000117169656523,-3.16097264441e-05,2.78098087949e-05,1793251563423078912
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,895,789,824,657,633.082669466,657.082669466,0.422329159221,-0.0055522110049,0.0499920319633,0.999999993218,0.000111119297202,2.07160019885e-05,2.80555415647e-05,1793251563439745792
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,895,789,824,657,633.658495511,657.658495511,0.423270216553,-0.00555140688653,0.0499966396913,0.99999999312,0.000111228074958,2.34345350322e-05,2.89834175615e-05,1793251563456412160
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.758682333,747,724,691,671,643,895.241317667,789,824.241317667,657,634,657.758682333,0.424198417324,-0.00555088158634,0.0499934633604,0.999999993214,0.000111597416869,1.59147666661e-05,2.94191257055e-05,1793251563473078784
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.165663831,747,724,691,671,643,895.834336169,789,824.834336169,657,634,657.165663831,0.425107880845,-0.00555076264083,0.0499789423985,0.999999993243,0.00011234650978,-6.52649135719e-06,2.91375394341e-05,1793251563489745664
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,896.415104992,789,825,657,634,657,0.426052850317,-0.00555274576917,0.0499908876296,0.999999993343,0.000110964269044,1.43391129053e-06,3.16170153612e-05,1793251563506412544
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,896.991125199,789,825,657,634,657,0.427011583597,-0.00555554376526,0.0500130924662,0.999999993243,0.000108755817963,2.11795017464e-05,3.51668154881e-05,1793251563523079424
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,691.564524573,671,643,897,788.435475427,825.564524573,657,633.435475427,657,0.42789729719,-0.00555136099881,0.0499812447227,0.999999991652,0.000113817202768,-5.05077416123e-05,3.44996126153e-05,1793251563539746048
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.142340617,747,724,692,671,643,897,788,826,657,633.142340617,657,0.428807841722,-0.00554877756585,0.0499553440394,0.999999987482,0.000116531889962,-0.000101619563614,3.36150857029e-05,1793251563556412416
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.734235307,747,724,692,671,643,897,788,826,657,633.734235307,657,0.429800418463,-0.0055515903056,0.0499508973138,0.999999989803,0.000111475720979,-8.32293093053e-05,3.22525965522e-05,1793251563573079040
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.681353709,747.318646291,724,691.681353709,671,643,897,788,826,657,633.681353709,657.318646291,0.430772114569,-0.00555283116132,0.0499492666045,0.999999990744,0.000108835367413,-7.52678408866e-05,3.16327189019e-05,1793251563589745664
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.103041258,747.896958742,724,691.103041258,671,643,897,788,826,657,633.103041258,657.896958742,0.431726794914,-0.0055527910822,0.0499499306786,0.999999990777,0.000108163671938,-7.58048334698e-05,3.16179984607e-05,1793251563606412288
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.526851335,724.473148665,691,671,643,897.473148665,788.473148665,826.473148665,657,633,658,0.432663627694,-0.00555480515988,0.0499423383192,0.999999990329,0.000105808934559,-8.44882465288e-05,3.17636541961e-05,1793251563623078656
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,691.049771299,671,643.049771299,898.049771299,788.950228701,827,657,633.049771299,658,0.433599887486,-0.00555713712198,0.0499360125935,0.99999999003,0.000103123928972,-9.09610494345e-05,3.21154832848e-05,1793251563639745280
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,691.636017705,671,643.636017705,898.636017705,788.363982295,827,657,633.636017705,658,0.434571678415,-0.00555809513576,0.049962634138,0.999999992841,0.000100812130913,-5.45687331825e-05,3.43148313424e-05,1793251563656412160
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.219548542,725,692,671,643.780451458,899,788.219548542,827,657,634,657.780451458,0.435507540562,-0.00555726346428,0.0499716799069,0.999999992847,0.000101778738114,-5.16726089431e-05,3.57489275715e-05,1793251563673078784
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.798632422,725,692,671,643.201367578,899,788.798632422,827,657,634,657.201367578,0.436384565458,-0.00555350098283,0.0499519433785,0.999999988141,0.000108114100904,-0.000103630246697,3.59298385254e-05,1793251563689745664
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,748,725,692,671,643,899,788.622084926,827.377915074,657,634,657.377915074,0.437305468521,-0.00555469576802,0.049948978653,0.999999988416,0.000106557817782,-0.000102462779391,3.62484794921e-05,1793251563706412288
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,748,725,692,671,643,899,788.04269634,827.95730366,657,634,657.95730366,0.438249763793,-0.00555853336394,0.0499549552869,0.999999991586,0.000100794351971,-7.29733333133e-05,3.66405468726e-05,1793251563723078656
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.468817084,725,692,671.531182916,643,899,787.468817084,828,657,634,658,0.439153135037,-0.00555999314866,0.0499706395479,0.999999993099,0.000100786046565,-4.72324687717e-05,3.758296392e-05,1793251563739745280
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.103905566,725,692,672,643,899,787.103905566,828,657,633.896094434,658,0.440042721872,-0.00556108204932,0.0499812528138,0.999999993698,0.000100897555399,-3.07993627451e-05,3.84141948678e-05,1793251563756411648
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747.673409445,725,692,672,643,899,787.673409445,828,657,633.326590555,658,0.440885129759,-0.005561356675,0.0499656824764,0.999999992809,9.94943365518e-05,-5.47377947025e-05,3.8551013752e-05,1793251563773078528
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,748,725,692.256140305,671.743859695,643,899,788,828,657,633.256140305,658,0.441747479128,-0.00556314318416,0.0499666648489,0.999999993287,9.71384488162e-05,-4.98629601302e-05,3.87701282803e-05,1793251563789745152
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,748,725,692.856654444,671.143345556,643,899,788,828,657,633.856654444,658,0.442636639222,-0.00556696238048,0.0499899019012,0.999999994845,9.35017231149e-05,-6.24945239115e-06,3.90998870745e-05,1793251563806411776
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.561146058,725,693,671,643,899.438853942,788.438853942,828,657,634,657.561146058,0.443452420834,-0.00556928169825,0.0499964389953,0.999999995521,8.62861513557e-05,6.10030030804e-07,3.88759146088e-05,1793251563823078400
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747.015260816,725,692.984739184,671,643,900,788.984739184,828,657,634,657.015260816,0.444243319545,-0.00557091284174,0.0499966492405,0.999999996182,7.82867853054e-05,-5.54554885648e-06,3.84155437083e-05,1793251563839745024
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.589831512,725,692.410168488,671,643,900,788.410168488,828,657,634,657.589831512,0.444965496347,-0.00556455843567,0.0499568902247,0.999999993745,8.26881971513e-05,-6.63393507275e-05,3.56544445046e-05,1793251563856411904
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,748,725,692.168281004,671,643,900,788,828,657,634,657.831718996,0.445709163654,-0.00556032073402,0.049934046148,0.999999991289,8.59776302605e-05,-9.42080178632e-05,3.39805360448e-05,1793251563873078528
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,748,725,692.75640786,671,643,900,788,828,657,634,657.24359214,0.446506447976,-0.00556136401669,0.0499534033024,0.999999994849,8.64927786413e-05,-3.99314715623e-05,3.50190695777e-05,1793251563889745152
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.65982888,725,693,671.34017112,643,900,788,828,657,633.65982888,657.34017112,0.447241446656,-0.00556114632895,0.0499582832404,0.999999995048,8.95659163296e-05,-2.41818550491e-05,3.60026633943e-05,1793251563906411776
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747.079150793,725,693,671.920849207,643,900,788,828,657,633.079150793,657.920849207,0.447932408243,-0.00556003711289,0.0499529275303,0.999999994221,9.4447597549e-05,-3.5671459028e-05,3.694741385e-05,1793251563923078400
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.495695624,725,693,672,643,900,787.504304376,828,657,633,658,0.448581753976,-0.0055594658239,0.0499362448121,0.999999992586,9.85976501602e-05,-6.10656702104e-05,3.71142094097e-05,1793251563939744768
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747.930566146,724.930566146,692.930566146,672,643,900.069433854,787.069433854,828,657,633.069433854,657.930566146,0.449222914931,-0.00555927250702,0.0499219261364,0.999999990633,0.000102331126313,-8.2801208251e-05,3.75048125127e-05,1793251563956411648
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747.358188491,724.358188491,692.358188491,672,643,900.641811509,787.641811509,828,657,633.641811509,657.358188491,0.449852363282,-0.0055612020899,0.0499376800289,0.999999991857,0.000103883505453,-6.21399057006e-05,4.04058954339e-05,1793251563973079296
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,724.222210948,692,672,643,901,788,828,657,634,657.222210948,0.450480189695,-0.00556225470913,0.0499579962552,0.99999999275,0.000106416105437,-3.60101581703e-05,4.33353583292e-05,1793251563989746432
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,724.816025152,692,672,643,901,788,828,657,634,657.816025152,0.451105303678,-0.00556184078226,0.0499859420683,0.999999992812,0.000110587928065,-7.35534903154e-07,4.63122807372e-05,1793251564006412800
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.399343942,747.399343942,725,692.399343942,672,643.399343942,901,787.600656058,828.399343942,657,634,658,0.451651619128,-0.0055613757468,0.0499896581166,0.999999992214,0.00011452826331,-1.1368636847e-05,4.82232266361e-05,1793251564023079168
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.977951444,747.977951444,725,692.977951444,672,643.977951444,901,787.022048556,828.977951444,657,634,658,0.452162562355,-0.0055608877689,0.0499824975433,0.999999990854,0.000118364685298,-4.26094909436e-05,4.96556610851e-05,1793251564039745536
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.870049444,748,725,692,672,643,901,788,829,657,633.129950556,657.870049444,0.453094750779,-0.00556006672712,0.0499381740458,0.999999985958,0.000120318568368,-0.00010599064688,4.87265002276e-05,1793251564073079296
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.278676781,748,725,692,672,643,901,788,829,657,633.721323219,657.278676781,0.453557096526,-0.00555804566786,0.0499462631221,0.999999987567,0.000123672446552,-8.46891378579e-05,4.89879298589e-05,1793251564089746432
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,901,788,829,657,634,657.294824625,0.454002898987,-0.00555787168237,0.0499558731689,0.99999999181,0.000101809722069,-6.50733461099e-05,4.2193986048e-05,1793251564106413056
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,901,788,829,657,634,657.852399005,0.454433957927,-0.005559343822,0.0499668387148,0.999999996822,5.74737855561e-05,-4.69598784897e-05,2.9112244276e-05,1793251564123079680
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747.561952457,725,692,672,643,901,788,829,657,633.561952457,658,0.454812955518,-0.00556335202082,0.0499633168503,0.999999997204,4.56045865541e-05,-5.26313377643e-05,2.7247608053e-05,1793251564139746304
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,747.033424187,725,691.966575813,672,643,901.033424187,788,829,657,633.033424187,658,0.455168268285,-0.00556796531192,0.0499532468696,0.999999996147,4.56071401587e-05,-6.90542255068e-05,2.92681963036e-05,1793251564156412672
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747.622495232,725,691.377504768,672,643,901.622495232,788,829,657,633.622495232,658,0.455441434931,-0.00556745914015,0.0499210290244,0.999999990979,4.86500656835e-05,-0.000121854646016,2.87415927322e-05,1793251564173079040
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.208016302,747.791983698,725,691,672,643,901.791983698,788,828.791983698,657,633.791983698,658,0.455711123008,-0.00556781650844,0.0498922336637,0.999999984184,5.11177296015e-05,-0.000167945569822,2.85084216979e-05,1793251564189745408
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.787202975,747.212797025,725,691,672,643,901.212797025,788,828.212797025,657,633.212797025,658,0.455974604131,-0.00556971471986,0.0498695451586,0.999999977789,5.25589350379e-05,-0.000202064511435,2.87988321984e-05,1793251564206411776
+211,3.516666667,POSE1_TO_POSE2_PRESS,769.633607331,747.366392669,725,691,672,643,901.366392669,787.633607331,828.366392669,657,633,658,0.456233667101,-0.00557013545825,0.0498631174474,0.99999997529,5.49069618868e-05,-0.000213392067754,2.9470483831e-05,1793251564223078400
+212,3.533333333,POSE1_TO_POSE2_PRESS,769.054415828,747.945584172,725,691,672,643,901.945584172,787.054415828,828.945584172,657,633,658,0.456490164057,-0.00556969808866,0.0498661339132,0.999999975507,5.7781665755e-05,-0.000211482516935,3.03635582443e-05,1793251564239745280
+213,3.550000000,POSE1_TO_POSE2_PRESS,769.519582405,748,725,691,672,643,901.480417595,787,829,657,633,658,0.456718521519,-0.00556771522957,0.0498741283934,0.999999978176,6.16020222897e-05,-0.000197128597906,3.15323641583e-05,1793251564256412416
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,748,725,691,672,642.904533322,901.095466678,787,829,657,633,658,0.456935360806,-0.00556507725077,0.0498813848188,0.99999998037,6.59906741929e-05,-0.000183979012042,3.24986273661e-05,1793251564273079296
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,748,725,691,672,642.316129816,901.683870184,787,829,657,633,658,0.457107793052,-0.00555988407658,0.0498821650363,0.999999979954,7.2807371645e-05,-0.000183710835846,3.22714422301e-05,1793251564289745408
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.730986461,748,725,690.730986461,672,642,902,787.269013539,829,657.269013539,633,658,0.457269442314,-0.00555790234503,0.0498804515217,0.999999979151,7.57515820245e-05,-0.000186832772224,3.24445734315e-05,1793251564306412032
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.149628416,748,725,690.149628416,672,642,902,787.850371584,829,657.850371584,633,658,0.457418571727,-0.00555964933489,0.0498758426004,0.999999977903,7.41995496873e-05,-0.000193890878656,3.30825013569e-05,1793251564323078656
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,690.427675307,672,642,902,787.572324693,829,657.572324693,633,658,0.457543837571,-0.00555959712133,0.0498716842353,0.999999976485,7.52496830068e-05,-0.000200665651656,3.3192711993e-05,1793251564339745280
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,748,725,690.996449781,672,642,902,787.003550219,829,657,633,658,0.457660647908,-0.00555894175385,0.0498676645005,0.999999974975,7.71663201826e-05,-0.000207358674062,3.31196758197e-05,1793251564356411904
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,690.42436347,672,642,902,787.57563653,829,657,633,658,0.457747848954,-0.00556155521186,0.0498608386106,0.999999973284,7.34216427368e-05,-0.000216685531557,3.29904161218e-05,1793251564373078528
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,690.153508457,672,642,902,788,829,657,633,658,0.457831958784,-0.00556343403266,0.0498558882605,0.999999972119,7.01876024423e-05,-0.000223077184845,3.27424520254e-05,1793251564389745152
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,725,690.748000625,672,642,902,788,829,657,633,658,0.457907188458,-0.00556320246084,0.0498563257741,0.999999972714,6.84204700489e-05,-0.000221036876066,3.21534858594e-05,1793251564406411776
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,788,829,657,633.332714694,658,0.457972787988,-0.00556419192941,0.0498568147426,0.999999973274,6.833176619e-05,-0.000218493374693,3.23169826925e-05,1793251564423078656
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,788,829,657,633.910234294,658,0.458031301857,-0.00556607981537,0.0498573415707,0.999999973803,6.94780167347e-05,-0.000215579633929,3.30341268873e-05,1793251564439745024
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,788,828.514984267,657,633.514984267,658,0.458075757394,-0.00556625009553,0.0498589213955,0.999999973977,6.94649496698e-05,-0.000214735799273,3.33125733184e-05,1793251564456411904
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,690.939209192,672,642,902,788,828.060790808,657,633,658,0.45811573601,-0.00556588490391,0.0498604494456,0.999999974028,6.93964522207e-05,-0.000214497379699,3.34435632536e-05,1793251564473078528
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,690.350426873,672,642,902,788,828.649573127,657,633,658,0.458139302402,-0.00556361443917,0.0498598446521,0.999999973583,7.06996303217e-05,-0.000216208583405,3.29950729238e-05,1793251564489745152
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,748,725,690,672.234635872,642,902.234635872,787.765364128,829,657,633,658,0.458159724363,-0.00556216264051,0.0498584710359,0.99999997318,7.11738653772e-05,-0.000217970666398,3.26162389556e-05,1793251564506412032
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,748,725,690,672.814230115,642,902.814230115,787.185769885,829,657,633,658,0.458175523426,-0.00556191443336,0.0498559671071,0.999999972839,7.04293999024e-05,-0.000219807551302,3.23398128211e-05,1793251564523078656
+230,3.833333333,POSE1_TO_POSE2_PRESS,768.60979958,748,725,690.39020042,672.60979958,642,902.60979958,787.39020042,829,657,633.39020042,658,0.458187076132,-0.00556168464053,0.0498549956485,0.999999972631,7.06537397931e-05,-0.000220695018107,3.22391018861e-05,1793251564539745024
+231,3.850000000,POSE1_TO_POSE2_PRESS,768.035538729,748,725,690.964461271,672.035538729,642,902.035538729,787.964461271,829,657,633.964461271,658,0.458196625798,-0.00556146353388,0.0498547470676,0.999999972486,7.13350723763e-05,-0.000221134637308,3.22212771209e-05,1793251564556411904
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.074807337,748,725,691,672,642,902,788,829,657,633.462596332,658,0.458202460667,-0.00555947828558,0.0498546089267,0.999999972481,7.0827639466e-05,-0.000221385758792,3.17724719623e-05,1793251564573078528
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.885658976,748,725,690.885658976,672,642,902,788,829,657,633,658,0.458207194182,-0.00555784313841,0.0498544472334,0.999999972397,7.05890282549e-05,-0.00022188003099,3.1488401903e-05,1793251564589745152
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.291595862,748,725,690.291595862,672,642,902,788,829,657,633,658,0.458208335082,-0.00555816512228,0.0498541561584,0.999999971945,7.18072877546e-05,-0.000223446622327,3.20147683194e-05,1793251564606411776
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,748,725,690,671.705223094,642,902,788,829,657,633,658,0.458209764823,-0.00555833740391,0.0498538331577,0.999999971758,7.27305037587e-05,-0.000223974219066,3.20900008942e-05,1793251564623078656
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,748,725,690,671.126264194,642,902,788,829,657,633,658,0.458211473025,-0.00555836536394,0.0498534793787,0.999999971829,7.33692809055e-05,-0.000223500165079,3.17303144055e-05,1793251564639745280
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.54970273,748,725,690,671.45029727,642,902,788,829,657,633,658,0.458212464782,-0.005555371815,0.0498533976767,0.999999971507,7.79360214042e-05,-0.000223453809605,3.13101861927e-05,1793251564656411904
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.026182763,748,725,690,671.973817237,642,902,787.973817237,829,657,633,658,0.45821322694,-0.00555177588739,0.0498533527715,0.999999971068,8.32238014047e-05,-0.000223564875626,3.093096265e-05,1793251564673078784
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.601916114,748,725,690,671.398083886,642,902,787.398083886,829,657,633,658,0.458213364273,-0.00555322511059,0.0498524874038,0.999999971048,8.06504493298e-05,-0.000224476235654,3.17641250422e-05,1793251564689745664
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,690,671.182158837,642,902,787,828.817841163,657,633,658,0.458213421494,-0.00555398861687,0.0498519326168,0.999999970976,7.9000154206e-05,-0.000225317661492,3.22360883118e-05,1793251564706412288
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,690,671.772506301,642,902,787,828.227493699,657,633,658,0.458213299195,-0.00555321554181,0.0498520737912,0.999999970799,7.94182812594e-05,-0.000226002376014,3.18986624491e-05,1793251564723078656
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+248,4.133333333,HOLD_POSE2,768.577879695,748,725,690.422120305,672,642,902,787,829,657,633,657.577879695,0.458214593409,-0.00555221813717,0.0498512081491,0.999999970598,7.82133752038e-05,-0.000227462684862,3.07775370239e-05,1793251564861136896
+249,4.150000000,HOLD_POSE2,769,748,725,690,672,642,901.846056323,787.153943677,828.846056323,657,633,658,0.458214315106,-0.00555161297395,0.0498512698346,0.999999970463,7.85892017776e-05,-0.000227914969502,3.08757187758e-05,1793251564877803008
+250,4.166666667,HOLD_POSE2,769,748,725,690,672,642,901.27491294,787.72508706,828.27491294,657,633,658,0.458213558683,-0.00555201356188,0.0498496313119,0.999999970158,7.88319892538e-05,-0.000229189207976,3.06844326159e-05,1793251564894469120
+251,4.183333333,HOLD_POSE2,769,747.690989007,725,690,672,642,901,787.690989007,828.309010993,657,633.309010993,658,0.458214120189,-0.00555211114451,0.0498498008913,0.999999970232,7.87767811242e-05,-0.000228885322474,3.06896131185e-05,1793251564911135744
+252,4.200000000,HOLD_POSE2,769,747.095204282,725,690,672,642,901,787.095204282,828.904795718,657,633.904795718,658,0.458215904783,-0.00555192752689,0.0498516484572,0.999999970655,7.84450219376e-05,-0.000227116878956,3.08771220268e-05,1793251564927802624
+253,4.216666667,HOLD_POSE2,769,747.483930991,725,690,672,642,901.483930991,787,829,657,633.516069009,658,0.458215713544,-0.00555024546709,0.0498511773086,0.999999970342,8.06063472427e-05,-0.000227755137701,3.07467489495e-05,1793251564944469248
+254,4.233333333,HOLD_POSE2,769,748,725,690.05991766,672,642,902,787,829,657,633.05991766,658,0.458215161673,-0.00554851834932,0.0498503293443,0.999999969936,8.27614767302e-05,-0.000228784859425,3.05936002833e-05,1793251564961135872
+255,4.250000000,HOLD_POSE2,769,748,725,690.636058733,672,642,902,787,829,657,633.636058733,658,0.458214740304,-0.00554885833747,0.0498500342861,0.999999969988,8.07781282063e-05,-0.000229243694603,3.07650998897e-05,1793251564977802752
+256,4.266666667,HOLD_POSE2,769,748,725,691,672,642,901.782815642,787.217184358,829,657,633.782815642,658,0.45821516753,-0.00554956928005,0.0498501667048,0.9999999702,7.90869574446e-05,-0.000228900787822,3.08253017725e-05,1793251564994469632
+257,4.283333333,HOLD_POSE2,769,748,725,691,672,642,901.193141135,787.806858865,829,657,633.193141135,658,0.458217050173,-0.00555091644184,0.049851032284,0.999999970689,7.78968972769e-05,-0.000227182823486,3.06946183179e-05,1793251565011136256
+258,4.300000000,HOLD_POSE2,769,748,725,690.610638912,672,642,901.389361088,788,828.610638912,657,633,658,0.45821690688,-0.00555177653306,0.0498509120091,0.999999970688,7.73670022559e-05,-0.000227355570424,3.0795218377e-05,1793251565027802624
+259,4.316666667,HOLD_POSE2,769,748,725,690.031630071,672,642,901.968369929,788,828.031630071,657,633,658,0.458215776807,-0.00555239938488,0.0498503115501,0.999999970448,7.71586565609e-05,-0.00022844923395,3.10084706644e-05,1793251565044468992
+260,4.333333333,HOLD_POSE2,769,748,725,690.542810871,672.542810871,642,902,787.457189129,828.542810871,657,633,658,0.458217834198,-0.00555201864886,0.0498519007155,0.999999970743,7.90532617828e-05,-0.000226442750072,3.14499782004e-05,1793251565061135872
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+262,4.366666667,HOLD_POSE2,769,748.692929347,725,691,672.307070653,642,902,787,829,657,633.692929347,658,0.458217680478,-0.00555004885024,0.0498519300892,0.999999970693,7.9521301606e-05,-0.00022660671925,3.06674122973e-05,1793251565094469376
+263,4.383333333,HOLD_POSE2,769,749,725,690.724203612,672,642,902,787,829,657,633.724203612,658,0.458216652562,-0.00554855522394,0.0498510744725,0.999999970382,7.97682395429e-05,-0.000227967736279,3.00631428939e-05,1793251565111136512
+264,4.400000000,HOLD_POSE2,769,749,725,690.133076869,672,642,902,787,829,657,633.133076869,658,0.458216290685,-0.00554689301433,0.0498505102612,0.999999970005,8.13777440434e-05,-0.000229076145681,2.98551675395e-05,1793251565127803904
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,902,788,829,657,634,658,0.458217455306,-0.00554872200521,0.0498504818482,0.99999997019,8.23701394165e-05,-0.00022785680683,3.0266198719e-05,1793251565160337408
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.424532947,672,642,902,788,829,657,633.424532947,658,0.45821694419,-0.00554630919761,0.0498501475418,0.999999970034,8.36610933811e-05,-0.000228146205168,2.97162811922e-05,1793251565177003520
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.150393108,672,642,902,787.849606892,829,657.150393108,633.150393108,658,0.458216535982,-0.00554522800517,0.0498501439572,0.999999969943,8.41161162527e-05,-0.000228395013569,2.95689204412e-05,1793251565193669632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.72379763,672,642,902,787.27620237,829,657.72379763,633.72379763,658,0.458216417228,-0.00554789225249,0.0498510705956,0.99999997004,8.22199120464e-05,-0.000228529654519,3.05538329285e-05,1793251565210336256
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748.306938815,725.306938815,691,672,642,901.693061185,787.306938815,828.693061185,657.693061185,633.693061185,658,0.458217043371,-0.00554872765805,0.0498513668257,0.999999970174,8.15181553191e-05,-0.000228142128822,3.09519824929e-05,1793251565227002880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748.899128653,725.899128653,691,672,642,901.100871347,787.899128653,828.100871347,657.100871347,633.100871347,658,0.458218361777,-0.00554786344464,0.0498510771912,0.999999970344,8.19264484862e-05,-0.000227269331908,3.08048287807e-05,1793251565243669248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748.520253998,725.520253998,690.520253998,672,642,901.479746002,787.520253998,828,657,633,658,0.458218783177,-0.00554825912188,0.0498515944245,0.999999970629,8.19783483005e-05,-0.000226024709687,3.05821245133e-05,1793251565260336384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,642,902,787,828.057708005,657,633,658,0.458218578026,-0.00554873038564,0.0498519859423,0.999999970814,8.21158761986e-05,-0.000225181406247,3.03532015012e-05,1793251565277003264
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.213276458,672,642,901.786723542,787,828.786723542,657,633,658,0.458205770761,-0.00554672944269,0.0498453449296,0.999999968294,8.42929696624e-05,-0.000235393798147,2.99375710912e-05,1793251565310336512
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.80158108,672,642,901.19841892,787,828.19841892,657,633,658,0.458189297067,-0.00554650051412,0.0498370654692,0.999999965346,8.32419214965e-05,-0.000248016147555,2.9448530852e-05,1793251565327002880
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.962961859,748,725,690.037038141,672,642,901.962961859,787.962961859,828.962961859,657,633,658,0.458111322763,-0.00554412117068,0.0498008764216,0.999999949261,8.43791307117e-05,-0.000305997830267,2.68861317086e-05,1793251565360336384
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.460966631,748,725.539033369,690.539033369,672,642,902,788,829,657,633,658,0.458049784902,-0.0055416404519,0.0497790872044,0.999999940522,8.62443870113e-05,-0.000332971697761,2.54480041643e-05,1793251565377003008
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.114736478,748,725.885263522,691,672,641.885263522,902,788,829,657,633,658,0.457983807675,-0.00553900415909,0.0497582355072,0.99999993149,8.78114431977e-05,-0.000358797315582,2.39709595232e-05,1793251565393669376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.689804445,748,725.310195555,691,672,641.310195555,902,788,829,657,633,658,0.457904949044,-0.00553604416648,0.0497416122364,0.999999923123,8.79167233076e-05,-0.000381479085014,2.23367465815e-05,1793251565410336256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.736213077,748,725,690.736213077,672,641.263786923,902,787.736213077,828.736213077,657,633,658,0.45781901937,-0.00553240263179,0.0497284274543,0.999999915997,8.93103204216e-05,-0.00039948978497,2.09156789044e-05,1793251565427003136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.163501864,748,725,690.163501864,672,641.836498136,902,787.163501864,828.163501864,657,633,658,0.45772480871,-0.00552796293451,0.0497192695319,0.999999910669,9.22126823202e-05,-0.000412030133625,1.97442285182e-05,1793251565443670016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.425893814,672,642,901.574106186,787,828,657,633.425893814,658,0.457614135388,-0.00552329002251,0.0497155763655,0.999999906712,9.70182063654e-05,-0.000420460730026,1.93753266219e-05,1793251565460336640
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.978789624,672,642,901,787,828.021210376,657,633.978789624,658,0.457496167442,-0.00551860259978,0.0497141729478,0.999999903396,0.000102381776238,-0.000427026584925,1.93264152434e-05,1793251565477003008
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.402965882,672,642,901,787,828.597034118,657,633.402965882,658,0.457359454426,-0.00551597229308,0.0497155484356,0.999999903073,0.000102453653444,-0.000427770095406,1.92599274862e-05,1793251565493669632
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,747.235666278,725,690.764333722,672,642,901,787.764333722,828.235666278,657,633,658,0.457064823857,-0.00550588032469,0.0497245127113,0.999999907545,0.000108495797838,-0.000415697847824,1.82645657879e-05,1793251565527002880
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,747.34617656,725,691,672,642,901,787.65382344,828.34617656,657,633,658,0.456883185291,-0.0054999732297,0.049728653856,0.999999908034,0.000111715109515,-0.000413695111253,1.75587894383e-05,1793251565543669760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,747.923991804,725,691,672,642,901,787.076008196,828.923991804,657,633,658,0.456682398233,-0.0054943599435,0.0497314479681,0.999999906484,0.000114004915299,-0.000416832943757,1.68690637147e-05,1793251565560336896
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,642.080379935,901,787.080379935,829,657,633,658,0.456197600571,-0.00547311623133,0.0497266624099,0.999999901471,0.000132950899713,-0.000423294647022,1.42614100683e-05,1793251565593669888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,642.655695322,901,787.655695322,829,657,633,658,0.455924977202,-0.00546311847978,0.049724060172,0.999999897986,0.000141052183934,-0.0004289176225,1.26904045575e-05,1793251565610335488
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,690,672,643,900.174262728,788,828.174262728,657,633,658,0.455347404541,-0.0054458696469,0.0497266229642,0.999999900465,0.000151460205793,-0.000419556290788,1.00998821155e-05,1793251565643668224
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.407976253,672.407976253,643,900.407976253,788,828,657,633,658,0.455015146505,-0.00543888683345,0.0497285741222,0.999999902395,0.000154751780216,-0.000413748526641,8.63884035093e-06,1793251565660334592
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.987306107,672.987306107,643,900.987306107,788,828,657,633,658,0.454667528732,-0.00543234720628,0.0497301100736,0.999999903762,0.000157759727492,-0.000409315283525,7.05871582018e-06,1793251565677001216
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,747.050296205,725,691,672,643,898.050296205,788,827.949703795,657,633,657,0.448521279748,-0.00540901487799,0.0498219673041,0.999999963793,9.43352995726e-05,-0.00025116943335,-2.06950412425e-05,1793251565877001472
+309,5.150000000,POSE2_TO_POSE3_RETREAT,769,747,725,691,672,643,898,788,828,657,633,657.527528429,0.447810878369,-0.00541199402294,0.0498037870695,0.999999958491,8.09553517671e-05,-0.000275471651859,-2.4066704275e-05,1793251565893667840
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.895190577,747.104809423,725,691,672,642.895190577,898,788.104809423,828,657,633,657.895190577,0.447080217393,-0.00541380259557,0.0497797547987,0.999999949202,6.85138555661e-05,-0.000310036686432,-2.79278655345e-05,1793251565910334464
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,747,724.087299754,691,671,643,895.087299754,789,826,657,632.912700246,656.087299754,0.439007812954,-0.00540207105715,0.0498081259377,0.999999957635,-2.35889693963e-05,-0.000283880472783,-5.9878186799e-05,1793251566077000960
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724.928141448,691,671,643,894.856282896,789,825.928141448,657,633,656.928141448,0.437140100239,-0.00539927734901,0.0497629965153,0.999999928127,-3.25336364997e-05,-0.000372135454871,-6.48295013681e-05,1793251566110334464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724.352703105,691,671,643,893.705406211,789,825.352703105,657,633,656.352703105,0.436235806478,-0.00540181586297,0.0497933697311,0.999999944441,4.92597447263e-05,-0.000327425851589,-3.85101119344e-05,1793251566127001088
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.393260173,747,724.606739827,691,671.393260173,643,893,789,825.606739827,657,633,656.606739827,0.433402154083,-0.00537456214221,0.0497734518524,0.999999925224,0.000108187225373,-0.000369677597917,-3.4438203789e-05,1793251566177001216
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.872188194,747,724,691,671,643,892.255623612,789.872188194,823.127811806,657,633,656.872188194,0.427701988909,-0.00537455554837,0.0497815495524,0.999999933023,7.56548725646e-05,-0.000355352347363,-4.42100809155e-05,1793251566277000960
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,892,789.345434366,820.654565634,657,632.654565634,656.654565634,0.422134936567,-0.00537378606386,0.0498179619589,0.999999960334,6.90755581166e-05,-0.000268687478721,-4.86499281937e-05,1793251566377001216
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,892,789.939225327,820.060774673,657,632.060774673,656.060774673,0.42116752128,-0.00536931362601,0.0497848119264,0.999999940378,7.78022144134e-05,-0.00033273231843,-4.98036789257e-05,1793251566393667840
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,892,790,820,657.516666635,632.516666635,656,0.420279565305,-0.00536926927069,0.0497954005756,0.999999942712,7.81577253699e-05,-0.000325639101099,-4.92580132626e-05,1793251566410334720
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.321926332,747,724,691,671.160963166,643,891,790,820,657,632.839036834,657,0.416798187375,-0.00536947058106,0.0497710282679,0.99999992461,8.18502249249e-05,-0.000376135030765,-5.1013785457e-05,1793251566477001216
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.999499783,747,724,690.000500217,671,643,890.000500217,790,820,657,633,657,0.415247846558,-0.00537576408454,0.049819650769,0.99999995758,7.07586724196e-05,-0.00027797503061,-5.06274748774e-05,1793251566510334464
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,690.575089479,671.575089479,643,890,790,820,657,632.424910521,657,0.41444699635,-0.00537241595203,0.0498058933165,0.999999949113,7.52332213461e-05,-0.000305649750315,-5.18910733319e-05,1793251566527001344
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,747,724,690,671.900536575,643,889.099463425,789.900536575,820,657,633,657,0.411492636334,-0.00537485835087,0.0498112827792,0.999999946899,7.76094747122e-05,-0.000312258491672,-5.17105351503e-05,1793251566593667840
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,724,690,671.059302087,643,889,789.940697913,819.059302087,657,633,657,0.410121232449,-0.00536969981376,0.0498030368369,0.999999939597,9.23836239322e-05,-0.000331083933077,-5.1520484432e-05,1793251566627001344
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,747,724,689,671,643,887,789,819,657,633,657,0.404543877852,-0.00538279972333,0.0497992158555,0.999999934109,7.99496349171e-05,-0.000349784156197,-5.51400578646e-05,1793251566810334464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747,724,689,671,643,887,789,819,657,633,657,0.404207031238,-0.00538595965764,0.0498251381324,0.999999947862,7.58600467665e-05,-0.000309126048995,-5.44186445705e-05,1793251566827001088
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,689.824211625,671,643,887.824211625,789,819.824211625,657,633,657,0.403572585667,-0.00539640042117,0.0498612691156,0.999999962214,5.83105355395e-05,-0.000263581019041,-5.19240888829e-05,1793251566860334336
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,689.236011438,671,643,887.236011438,789,819.236011438,657,633,657,0.403275933417,-0.00539651822813,0.0498540186623,0.999999958005,5.49990554251e-05,-0.000279528215829,-5.31813816391e-05,1793251566877000960
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.824870722,747,724,689,671,643,887,789,820,657,632,657,0.401761035713,-0.00538160545419,0.0498131011252,0.999999931724,0.000141604126271,-0.000338714113466,-4.21065721018e-05,1793251566993667840
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.591482032,747,724,688.591482032,671,643,887,789,819.591482032,657,632,657,0.401642133254,-0.00538302010114,0.0498205379881,0.999999937723,0.000135295218927,-0.000323114796732,-4.29584617506e-05,1793251567010334464
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.010038689,747,724,688.010038689,671,643,887,789,819.010038689,657,632,657,0.401532734747,-0.00538413344162,0.0498301564951,0.999999944754,0.000128116749579,-0.000303570084387,-4.38539049738e-05,1793251567027001088
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.952970454,747,723.952970454,689,671.952970454,643,887.047029546,789,819.047029546,657.952970454,633,657,0.401086737984,-0.00540270834905,0.0498406751632,0.999999956181,9.58504632335e-05,-0.000276274631237,-4.60678525442e-05,1793251567143669504
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,747,724,689,671,643,887,789,819.531036951,657,632.531036951,657,0.400999151853,-0.00541041815584,0.0498458887227,0.999999959704,8.76280514752e-05,-0.000266306758767,-4.46480943339e-05,1793251567243668480
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.694431467,747,724,689,671,643,887,789,819.305568533,657,632.305568533,657,0.400993469144,-0.00541092634287,0.0498478376306,0.999999960557,8.81933286379e-05,-0.000262885158775,-4.47118257776e-05,1793251567277001472
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.14496823,747,724,689,671,643,887,789,819.85503177,657,632.85503177,657,0.400990310096,-0.00541235653842,0.0498490981244,0.999999961021,8.63414202458e-05,-0.000261861767939,-4.39540514482e-05,1793251567310334976
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.432904409,747,724,689,671,643,887,789,819.567095591,657,633,657,0.40099018395,-0.00541191811672,0.0498495036874,0.999999961228,8.6742772203e-05,-0.000260941719597,-4.39265865904e-05,1793251567327001856
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.98958985,747,724,688.98958985,671,643,887,789,819.01041015,657,633,657,0.400990266487,-0.00541104814384,0.0498497089089,0.999999961368,8.77931740647e-05,-0.000260028200851,-4.40717125922e-05,1793251567343668992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.412187436,747,724,688.412187436,671,643,887,789,819.587812564,657,633,657,0.400988413262,-0.00541120512328,0.0498490681222,0.999999961148,8.84418180061e-05,-0.000260636696554,-4.41702752617e-05,1793251567360335104
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,688.167586947,671.167586947,643,887,789,820,657,632.832413053,657,0.400986961259,-0.00541120442659,0.0498487716478,0.99999996099,8.93923341073e-05,-0.000260909165341,-4.42240979944e-05,1793251567377001472
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,747,724,688.753279012,671.753279012,643,887,789,820,657,632.246720988,657,0.400986510247,-0.00541081035081,0.0498493341823,0.999999960986,9.10959774096e-05,-0.000260343295691,-4.41663010704e-05,1793251567393668096
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.335315878,747,724,689,671.664684122,643,887.335315878,789,819.664684122,657,632.335315878,657,0.400987053189,-0.0054106294066,0.0498499648526,0.999999961188,9.15439830376e-05,-0.000259418803325,-4.41044679404e-05,1793251567410334720
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.914692274,747,724,689,671.085307726,643,887.914692274,789,819.085307726,657,632.914692274,657,0.400988319582,-0.00541060359076,0.0498506451158,0.99999996154,9.10780695076e-05,-0.000258233286525,-4.40396970501e-05,1793251567427001344
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.509117263,747,724,689,671,643,888,789,819.490882737,657,633,657,0.400986701812,-0.00541139062326,0.0498496945542,0.999999961309,8.84143310869e-05,-0.000260049863163,-4.40285706927e-05,1793251567443668992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.066515872,747,724,689,671,643,887.933484128,789,819.933484128,657,633,657,0.4009849109,-0.00541217666544,0.0498487339953,0.999999961061,8.57737405804e-05,-0.000261878363118,-4.40599596249e-05,1793251567460336640
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,887,789,819.223038702,657,633,657,0.400985880949,-0.00541207672036,0.0498505890565,0.999999961742,8.6945837392e-05,-0.00025884771462,-4.42053959108e-05,1793251567493669632
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,887,789,819.812810342,657,633,657,0.400985464448,-0.00541308040078,0.0498506999273,0.999999961474,8.81545615557e-05,-0.000259613875597,-4.33639638237e-05,1793251567510336512
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.604940134,747,723.604940134,689,671,643,887,789,820,657,633,657,0.400986383074,-0.0054143254499,0.049851001001,0.999999961788,8.76112664174e-05,-0.000258644268526,-4.30181275424e-05,1793251567527003392
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,769.552863943,747,723.552863943,689,671,643,887,789,820,657,633,657,0.400987437511,-0.00541353120558,0.0498506788467,0.999999962297,8.75427854904e-05,-0.000256616522242,-4.34812592577e-05,1793251567560336384
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,887,789,819.869266441,657,633,657,0.400986874093,-0.00541207209239,0.0498501945734,0.999999962226,8.82275620316e-05,-0.000256591494798,-4.3877962671e-05,1793251567577002752
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,887,789,819.295452966,657,633,657,0.400986370034,-0.005413523292,0.0498506578589,0.999999962269,8.64377286842e-05,-0.000257087455547,-4.35469609653e-05,1793251567593669888
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b11e13a4fa51ead486dddccabf32abfa0a5f2a25
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
+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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+373,6.216666667,pose2_to_pose3_retreat,0.586580580209,5.08202773654e-06,1.04002103076,0.557151924974,0.00867749495708,1.03963240588
+374,6.233333333,pose2_to_pose3_retreat,0.586454636935,5.04070406973e-06,1.04002104114,0.55702598102,0.0086774511164,1.03963241163
+375,6.250000000,pose2_to_pose3_retreat,0.586347012656,5.2258177731e-06,1.04002104839,0.556918355457,0.00867763189744,1.03963241936
+376,6.266666667,pose2_to_pose3_retreat,0.586251792212,5.19289398958e-06,1.04002101887,0.556823135331,0.00867760033747,1.03963239632
+377,6.283333333,pose2_to_pose3_retreat,0.586167650307,5.19236809831e-06,1.04002101571,0.556738993017,0.00867759838173,1.03963239245
+378,6.300000000,pose2_to_pose3_retreat,0.586093712827,5.23448442049e-06,1.04002100007,0.55666505472,0.00867763753235,1.03963237269
+379,6.316666667,pose2_to_pose3_retreat,0.586028291339,5.23688075708e-06,1.04002092003,0.556599633313,0.00867764027111,1.03963229411
+380,6.333333333,pose2_to_pose3_retreat,0.585971593026,5.14675083475e-06,1.04002101427,0.556542936609,0.00867755559792,1.03963238818
+381,6.350000000,pose2_to_pose3_retreat,0.585923454148,5.11801294395e-06,1.04002103743,0.556494800363,0.00867753568086,1.03963240887
+382,6.366666667,pose2_to_pose3_retreat,0.58588388876,5.03813282685e-06,1.04002094756,0.556455236243,0.00867746038167,1.03963232521
+383,6.383333333,pose2_to_pose3_retreat,0.585852117346,5.02077050566e-06,1.04002092141,0.556423463966,0.00867744020853,1.03963230162
+384,6.400000000,pose2_to_pose3_retreat,0.585826807823,5.10219606178e-06,1.04002101697,0.556398152238,0.0086775138176,1.03963238976
+385,6.416666667,pose2_to_pose3_retreat,0.585807125318,5.06585883106e-06,1.04002096665,0.55637847064,0.00867748022015,1.0396323319
+386,6.433333333,pose2_to_pose3_retreat,0.585791240198,5.06424303798e-06,1.04002086375,0.556362584665,0.00867747578571,1.03963223095
+387,6.450000000,pose2_to_pose3_retreat,0.585778996011,5.08304673649e-06,1.0400208437,0.556350340388,0.00867749444332,1.03963221438
+388,6.466666667,pose2_to_pose3_retreat,0.58577013045,5.11179500619e-06,1.04002092174,0.556341475964,0.00867752714591,1.03963229461
+389,6.483333333,pose2_to_pose3_retreat,0.585764193874,5.16664562288e-06,1.04002100387,0.556335537677,0.00867757615801,1.03963237604
+390,6.500000000,pose2_to_pose3_retreat,0.58576018974,5.19837326095e-06,1.04002104039,0.556331532699,0.00867760504577,1.03963241312
+391,6.516666667,pose2_to_pose3_retreat,0.585757639828,5.20841070156e-06,1.04002102722,0.556328982847,0.00867761539397,1.03963240229
+392,6.533333333,pose2_to_pose3_retreat,0.585756186321,5.21413226964e-06,1.04002101971,0.556327529374,0.00867762129268,1.03963239613
+393,6.550000000,pose2_to_pose3_retreat,0.585755070223,5.22362019157e-06,1.04002100957,0.556326412886,0.00867762954369,1.03963238799
+394,6.566666667,pose2_to_pose3_retreat,0.585754244061,5.23298901849e-06,1.04002100005,0.556325586242,0.00867763736481,1.03963238041
+395,6.583333333,pose2_to_pose3_retreat,0.585753631685,5.23993348269e-06,1.04002099299,0.556324973509,0.00867764316206,1.03963237479
+396,6.600000000,pose2_to_pose3_retreat,0.585753122232,5.24571077306e-06,1.04002098712,0.556324463759,0.00867764798495,1.03963237012
+397,6.616666667,pose2_to_pose3_retreat,0.585752677377,5.24708700691e-06,1.04002096544,0.556324018778,0.00867764895533,1.03963234891
+398,6.633333333,pose2_to_pose3_retreat,0.58575236455,5.23481134857e-06,1.04002089046,0.556323706346,0.00867763793765,1.03963227219
+399,6.650000000,pose2_to_pose3_retreat,0.585752170015,5.2271775686e-06,1.04002084383,0.556323512056,0.00867763108617,1.03963222447
+400,6.666666667,pose2_to_pose3_retreat,0.585751999007,5.22046700351e-06,1.04002080285,0.556323341263,0.00867762506329,1.03963218253
+401,6.683333333,pose2_to_pose3_retreat,0.585751794135,5.21242758224e-06,1.04002075374,0.556323136648,0.00867761784773,1.03963213228
+402,6.700000000,pose2_to_pose3_retreat,0.585751703796,5.2088826065e-06,1.04002073209,0.556323046424,0.00867761466603,1.03963211012
+403,6.716666667,pose2_to_pose3_retreat,0.585751586666,5.20428627425e-06,1.04002070401,0.556322929441,0.00867761054072,1.03963208139
+404,6.733333333,pose2_to_pose3_retreat,0.585751338948,5.22762119405e-06,1.04002074827,0.556322681516,0.00867763305255,1.03963212296
+405,6.750000000,pose2_to_pose3_retreat,0.585751318397,5.23675539259e-06,1.04002077451,0.556322660835,0.0086776417223,1.0396321487
+406,6.766666667,pose2_to_pose3_retreat,0.585751124224,5.32305992509e-06,1.04002102245,0.556322465432,0.00867772363847,1.03963239183
+407,6.783333333,pose2_to_pose3_retreat,0.585751006145,5.37554214851e-06,1.04002117321,0.556322346606,0.00867777345211,1.03963253968
+408,6.800000000,pose2_to_pose3_retreat,0.585750936922,5.34847932223e-06,1.04002106242,0.556322277354,0.00867774634402,1.03963243001
+409,6.816666667,pose2_to_pose3_retreat,0.585750872779,5.31287230913e-06,1.04002092349,0.55632221326,0.00867771097171,1.03963229263
+410,6.833333333,pose2_to_pose3_retreat,0.585750871855,5.31235958537e-06,1.04002092149,0.556322212337,0.00867771046236,1.03963229065
+411,6.850000000,pose2_to_pose3_retreat,0.585750814956,5.28077343946e-06,1.04002079825,0.556322155481,0.00867767908437,1.03963216879
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8dceabf1a33d5b9e20df1b14c24cac5e86975c2a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4959b715104b96e5dcc894d1f98b61b5e1218b721b03c1f82ef2bfb0a2de352b
+size 26282004
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0784ef55207a1f34cdead644ec35d2856e81be97
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+35,0.583333333,BASELINE,769.703358946,747,723.703358946,689,671,643,887,789,820,657,633,657,0.400986949111,-0.00541399083173,0.0498540195082,0.999999963597,8.64533087772e-05,-0.000251949937211,-4.3036385067e-05,1793251568328689664
+36,0.600000000,BASELINE,769.115455066,747,723.115455066,689,671,643,887,789,820,657,633,657,0.400987139119,-0.00541374612821,0.0498539354197,0.999999963685,8.67753715227e-05,-0.000251452322157,-4.32690303015e-05,1793251568345356288
+37,0.616666667,BASELINE,769.465434034,747,723,689,671,643,887,789,819.534565966,657,633,657,0.400987235649,-0.00541298294522,0.0498535884376,0.999999963495,8.81362046196e-05,-0.000251722894872,-4.33329910179e-05,1793251568362022912
+38,0.633333333,BASELINE,770,747,723.044598483,689.044598483,671,643,887,789,819.044598483,657,633,657,0.400987184787,-0.00541231755969,0.0498532320885,0.999999963264,8.94665665877e-05,-0.0002521755753,-4.33106915047e-05,1793251568378689280
+39,0.650000000,BASELINE,770,747,723.623638645,689.623638645,671,643,887,789,819.623638645,657,633,657,0.400985641425,-0.00541434246352,0.0498535333622,0.999999963374,8.73897903477e-05,-0.00025256092368,-4.27486856732e-05,1793251568395356160
+40,0.666666667,BASELINE,770,747,724,689.799087882,671,643,887,789,820,657,633,657,0.400985060886,-0.0054148828286,0.0498538959529,0.999999963458,8.67628234518e-05,-0.000252481742296,-4.25452909428e-05,1793251568412022784
+41,0.683333333,BASELINE,770,747,724,689.225095068,671,643,887,789,820,657,633,657,0.400986268248,-0.00541266650195,0.0498543724052,0.999999963494,8.88280580449e-05,-0.000251539959424,-4.30078136644e-05,1793251568428689408
+42,0.700000000,BASELINE,770,747,724,689,671,643,887,789,820,657,633,657,0.400986767015,-0.00541269601225,0.0498547328939,0.999999963511,9.00811806456e-05,-0.000251037212193,-4.29484069933e-05,1793251568445356032
+43,0.716666667,BASELINE,770,747,724,689,671,643,887,789,820,657,633,657,0.400986808623,-0.00541417444794,0.0498550185674,0.999999963517,9.08103605844e-05,-0.000250817713455,-4.25522720743e-05,1793251568462022656
+44,0.733333333,BASELINE,769.478815587,747,724,689,671.521184413,643,887,789,819.478815587,657,633,657,0.400986367732,-0.00541338642806,0.0498539193488,0.999999963283,9.01151954324e-05,-0.000251910694762,-4.30703912498e-05,1793251568478689536
+45,0.750000000,BASELINE,769.097076746,747,724,689,671.902923254,643,887,789,819,657,632.902923254,657,0.400985870976,-0.00541267697615,0.0498528804659,0.999999963074,8.9257552989e-05,-0.000252956486816,-4.35710145912e-05,1793251568495356160
+46,0.766666667,BASELINE,769.679609746,747,724,689,671.320390254,643,887,789,819,657,632.320390254,657,0.400985341985,-0.00541352125364,0.0498528526196,0.999999963125,8.83169223595e-05,-0.000253094072481,-4.35158839129e-05,1793251568512022784
+47,0.783333333,BASELINE,769.73575983,747,724,689,671,643,887,788.73575983,819,657,632.26424017,657,0.400985351584,-0.00541413891425,0.0498532316342,0.999999963228,8.80738671318e-05,-0.000252795011912,-4.33819051978e-05,1793251568528689408
+48,0.800000000,BASELINE,769.148565861,747,724,689,671,643,887,788.148565861,819,657,632.851434139,657,0.400986019446,-0.0054144796043,0.0498541079135,0.999999963394,8.86833870189e-05,-0.000251962283218,-4.31515585647e-05,1793251568545356288
+49,0.816666667,BASELINE,769,747,724,689,671,643,887,788.432558694,819.432558694,657,633,657,0.400986752648,-0.0054147395566,0.0498542379575,0.999999963705,8.76647114465e-05,-0.000251118478513,-4.29540909295e-05,1793251568562022656
+50,0.833333333,BASELINE,769,747,724,688.988413081,671,643,887,788.988413081,819.988413081,657,633,657,0.400987500339,-0.00541497370202,0.0498541327272,0.99999996406,8.60885511434e-05,-0.000250279848648,-4.27722606947e-05,1793251568578689280
+51,0.850000000,BASELINE,769,747,724,688.411363794,671,643,887,788.411363794,819.411363794,657,633,657,0.400987875108,-0.00541528297634,0.0498548805441,0.999999964318,8.42193035116e-05,-0.000249876838154,-4.28100913885e-05,1793251568595357184
+52,0.866666667,BASELINE,769,747,723.835359273,688,671,643,887.164640727,788.164640727,819,657,633,657,0.400988131914,-0.00541550408443,0.0498554130905,0.999999964426,8.37941278238e-05,-0.000249591268129,-4.27841316776e-05,1793251568612024576
+53,0.883333333,BASELINE,769,747,723.261948729,688,671,643,887.738051271,788.738051271,819,657,633,657,0.400988095842,-0.00541550629349,0.0498554111637,0.999999964163,8.69542924951e-05,-0.000249597279192,-4.25997932171e-05,1793251568628690944
+54,0.900000000,BASELINE,769.321173912,747,723.321173912,688.321173912,671,643,887.678826088,789,819,657,633,657,0.400987274108,-0.00541594991754,0.0498546627908,0.999999963848,8.73037733455e-05,-0.000250743101999,-4.25330561241e-05,1793251568645357312
+55,0.916666667,BASELINE,769.912464688,747,723.912464688,688.912464688,671,643,887.087535312,789,819,657,633,657,0.400985791607,-0.0054167647848,0.0498532866345,0.999999963491,8.52893848865e-05,-0.000252847540569,-4.25652253076e-05,1793251568662023168
+56,0.933333333,BASELINE,769.506564623,747,724,689,671,643,887,789,819,657,633,657,0.400985248116,-0.0054155895054,0.0498529279618,0.999999963241,8.73707770597e-05,-0.000253087612301,-4.27893572543e-05,1793251568678689792
+57,0.950000000,BASELINE,769,747,724,689,671,643,887,789,819,657,633,657,0.400984932505,-0.00541447437151,0.0498528094579,0.999999963074,8.94444613584e-05,-0.000252989206368,-4.29969211231e-05,1793251568695356416
+58,0.966666667,BASELINE,769,747,724,689,671,643,887,789,819,657,633,657,0.400985068345,-0.00541619134339,0.0498531330066,0.999999963389,8.64993444884e-05,-0.000252789539899,-4.2856198955e-05,1793251568712023040
+59,0.983333333,BASELINE,769,747,724,689,671,643,887.222418456,789,819.222418456,657,632.777581544,657,0.400985465979,-0.00541670136606,0.0498533597803,0.999999963584,8.48411644724e-05,-0.000252601469354,-4.274567036e-05,1793251568728689664
+60,1.000000000,BASELINE,769,747,724,689,671,643,887.797535041,789,819.797535041,657,632.202464959,657,0.400986278747,-0.00541529747978,0.0498534330941,0.999999963597,8.52237329098e-05,-0.00025243178691,-4.26830209394e-05,1793251568745356544
+61,1.016666667,BASELINE,769,747,724,689,671,643,888,789,820,657,632.383583253,657,0.400986602879,-0.00541484482237,0.0498537768853,0.999999963593,8.70101541007e-05,-0.00025186832159,-4.24921203567e-05,1793251568762022912
+62,1.033333333,BASELINE,769,747,724,689,671,643,888,789,820,657,632.975570679,657,0.40098666153,-0.00541490897609,0.0498542676294,0.999999963574,8.95593008844e-05,-0.000251090910561,-4.2231539787e-05,1793251568778689536
+63,1.050000000,BASELINE,769,747,724,689,671,643,887.446467891,789,820,657,633,657.553532109,0.400987324575,-0.00541341180239,0.0498547220149,0.999999963626,9.00673567095e-05,-0.000250621732331,-4.27068377212e-05,1793251568795356160
+64,1.066666667,BASELINE,769.130586347,747,724,689,671,643,887,789,820,657,633,657.869413653,0.400987835427,-0.00541246237869,0.049854931619,0.999999963699,9.02942316647e-05,-0.000250196489291,-4.30083493909e-05,1793251568812022784
+65,1.083333333,BASELINE,769.706605399,747,724,689,671,643,887,789,820,657,633,657.293394601,0.400987738409,-0.00541361057568,0.0498543116066,0.999999963836,8.98616659854e-05,-0.000249875855348,-4.26090307986e-05,1793251568828689408
+66,1.100000000,BASELINE,770,747,724,689,671,643,887,789.282380344,819.717619656,657,633.282380344,657,0.400987672481,-0.005414987621,0.0498539945397,0.999999963965,8.79866617564e-05,-0.000250038068137,-4.25260327662e-05,1793251568845356032
+67,1.116666667,BASELINE,770,747,724,689,671,643,887,789.857901845,819.142098155,657,633.857901845,657,0.400987638827,-0.00541660223542,0.049853991963,0.99999996408,8.4614251256e-05,-0.000250701527763,-4.27714095084e-05,1793251568862022656
+68,1.133333333,BASELINE,770,747,724,689,671,643,887,789.554774649,819.445225351,657,633.554774649,657,0.400987874316,-0.00541636353078,0.0498546683104,0.999999964174,8.51675262453e-05,-0.000250173986323,-4.25663283142e-05,1793251568878689536
+69,1.150000000,BASELINE,769.964473726,747,724,689,671,643,887,789,819.964473726,657,633,657,0.400988015662,-0.00541556016805,0.0498554118753,0.999999964207,8.69033496355e-05,-0.000249496049216,-4.22550892497e-05,1793251568895355904
+70,1.166666667,BASELINE,769.387759914,747,724,689,671,643,887,789,819.387759914,657,633,657,0.400985378713,-0.00541541114212,0.0498537886432,0.999999963433,8.70474219697e-05,-0.000252475280841,-4.25764207527e-05,1793251568912022784
+71,1.183333333,BASELINE,769.188360944,747,724,689,671.188360944,643,887,789,819.188360944,657,632.811639056,657,0.400984942555,-0.00541526693892,0.0498533392086,0.999999963329,8.67523377375e-05,-0.000252949274784,-4.2807771763e-05,1793251568928689408
+72,1.200000000,BASELINE,769.763265082,747,724,689,671.763265082,643,887,789,819.763265082,657,632.236734918,657,0.400989022728,-0.00541513263262,0.0498552985717,0.9999999646,8.55560423881e-05,-0.000248282168603,-4.28544701846e-05,1793251568945356032
+73,1.216666667,BASELINE,769.654538628,747,724,689,671.654538628,643,887,789,820,657,632.345461372,657,0.400989476986,-0.00541488946679,0.0498557469371,0.999999964847,8.5483121364e-05,-0.000247297288743,-4.2936207169e-05,1793251568962022912
+74,1.233333333,BASELINE,769.067237512,747,724,689,671.067237512,643,887,789,820,657,632.932762488,657,0.400987392927,-0.00541457009402,0.0498551375308,0.999999964386,8.61966170182e-05,-0.000248890146488,-4.30424728471e-05,1793251568978689536
+75,1.250000000,BASELINE,769.515749979,747,724,689,671,643,887,789,820,657.515749979,633,657,0.40098886728,-0.0054150967309,0.0498560850128,0.999999964681,8.75057253638e-05,-0.000247339791477,-4.24737488233e-05,1793251568995355904
+76,1.266666667,BASELINE,769.903255731,747,724,689.096744269,671,643,887.096744269,789,819.903255731,657.903255731,633,657,0.400990307915,-0.00541568272972,0.0498569125847,0.999999964988,8.82624672747e-05,-0.000245910387219,-4.19806004252e-05,1793251569012022784
+77,1.283333333,BASELINE,769.329341762,747,724,689.670658238,671,643,887.670658238,789,819.329341762,657.329341762,633,657,0.400989313114,-0.00541602203482,0.0498561559306,0.99999996489,8.59149736304e-05,-0.000247081909706,-4.22906395167e-05,1793251569028689408
+78,1.300000000,BASELINE,769.245235705,747,724,689.754764295,671,643,887.754764295,789.245235705,819.245235705,657,633,657,0.400989141397,-0.00541593707358,0.0498555899515,0.999999964733,8.54771718697e-05,-0.000247852637699,-4.23785845192e-05,1793251569045356032
+79,1.316666667,BASELINE,769.820706593,747,724,689.179293407,671,643,887.179293407,789.820706593,819.820706593,657,633,657,0.400990078047,-0.00541528079391,0.049855280736,0.9999999645,8.76109674746e-05,-0.000248083654459,-4.21674568887e-05,1793251569062022656
+80,1.333333333,BASELINE,769.594696412,747,724,689,671,643,887,789.594696412,820,657,633,657,0.400989746123,-0.00541609503702,0.049855849264,0.999999964543,8.70684156213e-05,-0.000248150782048,-4.18956419525e-05,1793251569078689280
+81,1.350000000,BASELINE,769.005969269,747,724,689,671,643,887,789.005969269,820,657,633,657,0.400988840095,-0.00541757477755,0.0498568150222,0.999999964708,8.5314660361e-05,-0.000248143740233,-4.15963624464e-05,1793251569095355904
+82,1.366666667,BASELINE,769.576097549,747,724,689.576097549,671,643,887.576097549,789,819.423902451,657,633,657,0.400987956704,-0.0054153134513,0.0498554640744,0.999999964141,8.72605800571e-05,-0.000249645760928,-4.22076303931e-05,1793251569112022784
+83,1.383333333,BASELINE,770,747,724,689.844281922,671,643,887.844281922,789,819,657,633,657,0.400987158589,-0.00541412731353,0.0498544280074,0.999999963722,8.83253160572e-05,-0.000250869550071,-4.2644474129e-05,1793251569128689408
+84,1.400000000,BASELINE,770,747,724,689.271037563,671,643,887.271037563,789,819,657,633,657,0.400986588501,-0.00541592682194,0.0498542998567,0.999999963738,8.69257269048e-05,-0.000251305872135,-4.25886269579e-05,1793251569145356032
+85,1.416666667,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400986863125,-0.00541620473546,0.0498547910796,0.999999963947,8.66565254731e-05,-0.000250560375243,-4.26134821389e-05,1793251569162022912
+86,1.433333333,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400987895337,-0.00541511798959,0.0498558377946,0.999999964329,8.74011249346e-05,-0.000248754950838,-4.27107161257e-05,1793251569178689792
+87,1.450000000,BASELINE,769.522921066,747,724,689,671,643,887,789,819.477078934,657,633,657,0.40098670667,-0.00541518587454,0.0498551696698,0.999999964143,8.65987831785e-05,-0.000249763288588,-4.28050121355e-05,1793251569195356160
+88,1.466666667,BASELINE,769.058389404,747,724,689,671,643,887,789,819.941610596,657.058389404,633,657,0.40098533015,-0.00541558016162,0.0498543195071,0.999999963884,8.5619062562e-05,-0.000251130494533,-4.28441266845e-05,1793251569212023040
+89,1.483333333,BASELINE,769.635230728,747,724,689,671,643,887,789,819.364769272,657.635230728,633,657,0.400986614759,-0.00541662193714,0.0498551957052,0.999999964096,8.60797876374e-05,-0.000250199341286,-4.23990002858e-05,1793251569228689664
+90,1.500000000,BASELINE,770,747,724,689,670.788844601,643,887.211155399,789,819.211155399,657.788844601,633,657,0.400986993887,-0.00541700543551,0.0498554447806,0.999999964131,8.6256283093e-05,-0.000250046421962,-4.2126043705e-05,1793251569245356544
+91,1.516666667,BASELINE,770,747,724,689,670.214496657,643,887.785503343,789,819.785503343,657.214496657,633,657,0.400985815561,-0.00541625668066,0.0498546151894,0.99999996386,8.59438964767e-05,-0.000251232084463,-4.21492235447e-05,1793251569262024192
+92,1.533333333,BASELINE,769.630021571,747.369978429,724,689,670.369978429,643,887.630021571,789,820,657,633,657,0.400986008452,-0.00541673797456,0.0498545776715,0.999999963927,8.53689167622e-05,-0.000251167005613,-4.21108736052e-05,1793251569278691072
+93,1.550000000,BASELINE,769.03950994,747.96049006,724,689,670.96049006,643,887.03950994,789,820,657,633,657,0.400987018685,-0.00541795246406,0.0498550122851,0.999999964196,8.46374130366e-05,-0.000250356396941,-4.20358475857e-05,1793251569295357440
+94,1.566666667,BASELINE,769.538925915,747.461074085,724,689.538925915,671,643,887,789,819.461074085,657,633,657,0.40098683591,-0.00541650043287,0.04985495416,0.99999996438,8.3082061196e-05,-0.000250025346571,-4.27220903747e-05,1793251569312024320
+95,1.583333333,BASELINE,770,747,724,689.884521047,670.884521047,643,887,789,819.115478953,657,633,657,0.400986430836,-0.00541524951067,0.0498547392277,0.999999964381,8.25279187413e-05,-0.000250122859286,-4.31991861314e-05,1793251569328690944
+96,1.600000000,BASELINE,770,747,724,689.311992647,670.311992647,643,887,789,819.688007353,657,633,657,0.40098548451,-0.00541555131003,0.0498540435143,0.999999963682,8.61702305186e-05,-0.000251780465212,-4.26324588033e-05,1793251569345357568
+97,1.616666667,BASELINE,769.731160712,747,724,689,670.268839288,643,887,789,819.731160712,657,633,657,0.400985886147,-0.00541570940213,0.0498543344209,0.999999963561,8.84543704985e-05,-0.000251537629999,-4.22301449683e-05,1793251569362024192
+98,1.633333333,BASELINE,769.140385295,747,724,689,670.859614705,643,887,789,819.140385295,657,633,657,0.400987901974,-0.00541569540419,0.049855806809,0.999999964141,8.91120940704e-05,-0.000249019008779,-4.20247169869e-05,1793251569378690560
+99,1.650000000,BASELINE,769,747,724,689,671,643,887,789,819.441393258,657,633,657,0.400988020337,-0.00541594428417,0.0498559770206,0.99999996434,8.78011112675e-05,-0.000248659442937,-4.21844396915e-05,1793251569395357184
+100,1.666666667,BASELINE,769.020351531,747,724,689,671,643,887,789,819.979648469,657,633,657,0.400987593652,-0.00541622112731,0.049855773304,0.999999964415,8.60174741506e-05,-0.000248937981648,-4.24457277746e-05,1793251569412023808
+101,1.683333333,BASELINE,769.598871712,747,724,689,671,643,887,789,819.401128288,657,633,657,0.400988439219,-0.00541501762857,0.0498564460393,0.999999964405,8.81005637927e-05,-0.000248260252207,-4.23710146503e-05,1793251569428690688
+102,1.700000000,BASELINE,769.824449211,747,724,689,671,643,887,789,819,657,633,657,0.400988726125,-0.00541425395196,0.0498567159794,0.999999964357,8.90330503815e-05,-0.000248115053476,-4.23943965496e-05,1793251569445357312
+103,1.716666667,BASELINE,769.251933417,747,724,689,671,643,887,789,819,657,633,657,0.400987749759,-0.00541448482525,0.0498560750972,0.999999964231,8.73637304044e-05,-0.000249174042283,-4.26395962684e-05,1793251569462023424
+104,1.733333333,BASELINE,769,747,724,689,671.330758977,643,887,789.330758977,819,657,633,657,0.400987492037,-0.00541485774117,0.0498554968806,0.999999964157,8.66912423512e-05,-0.000249699964447,-4.2669172958e-05,1793251569478690304
+105,1.750000000,BASELINE,769,747,724,689,671.921448836,643,887,789.921448836,819,657,633,657,0.40098779907,-0.00541534228299,0.0498549679105,0.999999964127,8.68021263591e-05,-0.000249806969955,-4.25292997484e-05,1793251569495357440
+106,1.766666667,BASELINE,769,747,724,688.500640635,671.500640635,643,887,789.500640635,819,657,633,657,0.400987034292,-0.0054158900177,0.0498547830658,0.99999996403,8.67979093228e-05,-0.000250230133988,-4.23147500434e-05,1793251569512023808
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,887,789,820,657,633,657,0.400987938243,-0.00541532296049,0.0498554455071,0.999999964166,8.66930058996e-05,-0.000249645432931,-4.27646683652e-05,1793251569555306752
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724,689.425007879,671,643,887,789,819.425007879,657,633,657,0.400987869555,-0.00541589537063,0.049855235586,0.999999964357,8.65752721374e-05,-0.000248944035237,-4.2625331663e-05,1793251569571973376
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.845925157,747,724,689.154074843,671,643,887,789,819.154074843,657,633,657.154074843,0.40098768367,-0.00541625314214,0.0498548735343,0.999999964358,8.67818474889e-05,-0.000248882179674,-4.25527435023e-05,1793251569588640000
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.255250832,747,724,689.744749168,671,643,887,789,819.744749168,657,633,657.744749168,0.400987165685,-0.00541600269562,0.0498540803919,0.999999963817,8.79074124964e-05,-0.000250632584523,-4.26692996119e-05,1793251569605306112
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.328321554,747,724,689.671678446,671,642.671678446,887,789,819.671678446,657,632.671678446,657.671678446,0.400987547237,-0.00541654375365,0.049854587857,0.999999964118,8.68634355943e-05,-0.000249826471668,-4.25012613018e-05,1793251569621972480
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.906489466,747,724,689.093510534,671,642.093510534,887,789,819.093510534,657,632.093510534,657.093510534,0.40098861332,-0.00541768713135,0.0498560850594,0.999999965048,8.41684791577e-05,-0.000247074898141,-4.21166521307e-05,1793251569638638848
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.516115331,747,724,689,671,642.483884669,887,789,819,657,632.483884669,657,0.400989086239,-0.00541681701548,0.0498560300688,0.999999964786,8.606510557e-05,-0.000247499506529,-4.20075392293e-05,1793251569655305472
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.062023655,747,724,689,671,643,887,789,819,657,633,657.062023655,0.400989302493,-0.00541571916546,0.0498556363581,0.999999964305,8.83276606242e-05,-0.000248642288282,-4.20119539445e-05,1793251569671972352
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.647701004,747,724,689,671,643,887,789,819,657,633,657.647701004,0.400988318018,-0.00541597851656,0.049854911372,0.999999963962,8.62001393052e-05,-0.000250674570154,-4.25260857309e-05,1793251569688638976
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887,789,819.230848914,657,633,657.769151086,0.400994069713,-0.00541634617311,0.0498569408574,0.999999964989,8.50600457675e-05,-0.00024692219614,-4.26147532103e-05,1793251569705305856
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887,789,819.810178425,657,633,657.189821575,0.401009990071,-0.00541687732336,0.0498631283869,0.999999967987,8.54105352318e-05,-0.000234437528948,-4.2061156164e-05,1793251569721973248
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.614010267,747,724,689,671,643.385989733,887,789,819.614010267,657,633,657,0.401045351456,-0.00541768335285,0.0498756600605,0.999999973614,8.59549958408e-05,-0.000208979551253,-4.13699770449e-05,1793251569738640128
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.03991346,747,724,689,671,643.96008654,887,789,819.03991346,657,633,657,0.401090187174,-0.00541862334119,0.0498912834707,0.999999979726,8.65939857267e-05,-0.000177199198166,-4.061174901e-05,1793251569755306752
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.538391151,747,724,689,671,643.461608849,887,789,819,657,633,657,0.401154321809,-0.00542150017792,0.0499088838791,0.999999985254,8.52821581961e-05,-0.000143846218964,-3.90854550302e-05,1793251569771973376
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.880937178,747,724,688.880937178,671,643,887,789.119062822,819,657,632.880937178,657,0.401221859,-0.0054243893889,0.0499253633556,0.999999989259,8.35466794956e-05,-0.000114429630392,-3.75258152148e-05,1793251569788639744
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.292167526,747,724,688.292167526,671,643,887,789.707832474,819,657,632.292167526,657,0.401297130711,-0.00542675649751,0.0499368379684,0.999999990991,8.07149203263e-05,-0.00010100578483,-3.60610255758e-05,1793251569805306112
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,724,688.29171424,671,643,887,789.70828576,819.29171424,657,632.29171424,657,0.40137963143,-0.00543007104705,0.0499433817941,0.999999992067,7.84234189811e-05,-9.22089705111e-05,-3.48236783316e-05,1793251569821972480
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,724,688.870781164,671,643,887,789.129218836,819.870781164,657,632.870781164,657,0.401469253069,-0.00543431887172,0.0499450685547,0.99999999262,7.66640979933e-05,-8.79700073565e-05,-3.38103729774e-05,1793251569838639360
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,723.551297845,689,671,643,887,789,819.551297845,657,633,657,0.401575378616,-0.00543789468044,0.0499455298373,0.999999992606,7.58711631424e-05,-8.91644373124e-05,-3.28773823504e-05,1793251569855306240
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.02613459,747,723.02613459,689,671,643,887,789.02613459,819,657.02613459,633,657,0.401687380567,-0.00544134430605,0.0499456730531,0.999999992445,7.52485315445e-05,-9.17905213013e-05,-3.19607252444e-05,1793251569871973120
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.600225411,747,723.600225411,689,671,643,887,789.600225411,819,657.600225411,633,657,0.401823193525,-0.00544619562905,0.0499465281247,0.999999992698,7.23763588913e-05,-9.17100603117e-05,-3.09028177021e-05,1793251569888639232
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.819800053,747.180199947,724,689,671,643,887,789.819800053,819.180199947,657.819800053,633,657,0.401967792616,-0.0054510436033,0.0499470908975,0.9999999929,6.9956377735e-05,-9.1730818392e-05,-2.98749251843e-05,1793251569905305344
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.226331965,747.773668035,724,689,671,643,887,789.226331965,819.773668035,657.226331965,633,657,0.402132541684,-0.00545588389687,0.0499469833161,0.999999993,6.85734468927e-05,-9.19837109428e-05,-2.89158688668e-05,1793251569921971968
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.356780309,747.643219691,724,688.643219691,671,643,887,789,820,657,633,657,0.402316485674,-0.00546214444509,0.049945083771,0.999999992782,6.5960425602e-05,-9.65630167204e-05,-2.75694033082e-05,1793251569938638336
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.93350849,747.06649151,724,688.06649151,671,643,887,789,820,657,633,657,0.402512262961,-0.00546928055214,0.0499420795164,0.999999992316,6.25890781985e-05,-0.000103809469095,-2.5984107664e-05,1793251569955304960
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.490745847,747,724,688.509254153,671,643,887,788.490745847,819.490745847,657,632.490745847,657,0.402750360901,-0.0054768768967,0.049945420047,0.999999992876,5.91359466038e-05,-0.000100820834431,-2.41999348737e-05,1793251569971972096
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887.08680848,788.08680848,819,657,632,657,0.402999341803,-0.00548474088653,0.0499500202278,0.999999993686,5.54565403861e-05,-9.51458142127e-05,-2.23792356931e-05,1793251569988638976
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,724,689,671,643,887.675561452,788.675561452,819,657,632,657,0.40327936136,-0.00549380566662,0.0499571231184,0.99999999518,5.05303914071e-05,-8.16497817483e-05,-2.04971882603e-05,1793251570005306112
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,724,689.259343438,671,643,888,789,819,657,632.259343438,657,0.403580324243,-0.00550282725993,0.0499648273015,0.999999996519,4.78262572828e-05,-6.5923573503e-05,-1.81459716744e-05,1793251570021972736
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,724,689.837023641,671,643,888,789,819,657,632.837023641,657,0.40390699445,-0.00551179584215,0.0499732695536,0.999999997613,4.78495841121e-05,-4.74598880987e-05,-1.52188632774e-05,1793251570038638848
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,724,689.585423234,671,643,888,789,819,657,633,657,0.404264096073,-0.00552162219931,0.0499810901175,0.99999999844,4.4265655458e-05,-3.17691416429e-05,-1.23287611381e-05,1793251570055305472
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,724,689.007920063,671,643,888,789,819,657,633,657,0.404633157068,-0.00553178565713,0.049988666361,0.999999999037,3.92640951036e-05,-1.71681454743e-05,-9.45320232333e-06,1793251570071971840
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.567123874,747,724,689,671,643,888,789,819,657,633,657.567123874,0.405049453936,-0.00553735571801,0.0499923922836,0.999999998927,4.54284221111e-05,-7.62797855424e-06,-5.00482339358e-06,1793251570088638464
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,724,689.145906059,671,643,888,789,819,657,633,657.854093941,0.405461778439,-0.00553723304797,0.0499897066774,0.999999998275,5.77416693675e-05,-1.06836421185e-05,-1.58871910927e-06,1793251570105305088
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,724,689.736177329,671,643,888,789,819,657,633,657.263822671,0.405860004429,-0.00551996736434,0.0499676574501,0.999999994754,8.83089432689e-05,-5.18863076917e-05,-1.3830734658e-06,1793251570121971968
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,689.68001574,671,643,888.31998426,789,819,657,633,657.31998426,0.406292650958,-0.00551036117161,0.0499487473052,0.999999990311,0.000109807536583,-8.55552978941e-05,-3.29905384206e-07,1793251570138638848
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724,689.101432964,671,643,888.898567036,789,819,657,633,657.898567036,0.406753114837,-0.005506945072,0.0499323740392,0.999999985914,0.000123977187373,-0.00011313587668,1.40819654555e-06,1793251570155305984
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,689.472088896,671,643,888.527911104,789,819,657,633,657.527911104,0.407259964896,-0.00551626849373,0.0499245656227,0.999999984362,0.000123838704639,-0.000126157142929,4.8813981979e-06,1793251570171972352
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.954116175,747,724,690,671,643,888.045883825,789,819.045883825,657,633,657,0.407782238042,-0.0055276829083,0.0499209503717,0.999999983933,0.0001217043078,-0.000131319704246,8.78487739498e-06,1793251570188638720
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.364330823,747,724,690,671,643,888.635669177,789,819.635669177,657,633,657,0.408370446061,-0.00553178127133,0.0499454577625,0.999999988001,0.000131965782902,-8.00142552043e-05,1.3416524447e-05,1793251570205305344
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.221523883,747,724,690,671,643,889.221523883,789,819.778476117,657,633,657,0.408987007825,-0.00553429019172,0.0499688998599,0.999999988856,0.000143698094855,-3.59769289118e-05,1.85818547766e-05,1793251570221972224
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.801026694,747,724,690,671,643,889.801026694,789,819.198973306,657,633,657,0.409649388736,-0.00553423059883,0.0499906204594,0.999999987239,0.000157807254558,-3.68477200663e-06,2.46096082074e-05,1793251570238639360
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.620955008,747,724,690,671,643,889.620955008,789.379044992,819.379044992,657,633,657,0.410285789917,-0.00553057793703,0.0499932101587,0.999999984107,0.000175800646375,-6.50810747542e-06,2.89357184411e-05,1793251570255306240
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.043712958,747,724,690,671,643,889.043712958,789.956287042,819.956287042,657,633,657,0.410908606657,-0.00552504651227,0.0499857965907,0.999999979919,0.000195825045614,-2.76928190952e-05,3.23720642455e-05,1793251570271972864
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,724,689.46846179,671,643,889.53153821,789.46846179,820,657,633,657,0.411550962024,-0.00552121384002,0.0499549527057,0.999999972991,0.000211276053122,-9.05890815486e-05,3.42715232266e-05,1793251570288638976
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,724,689.1091765,671,643,890.1091765,789.1091765,820,657,633,657,0.412220202196,-0.00551933934863,0.0499322676215,0.999999965063,0.000225012984888,-0.000133799511833,3.66147424733e-05,1793251570305305344
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+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,891,790,820.281856379,657,633.281856379,657.281856379,0.41378061949,-0.00552978954564,0.0499695670118,0.999999979836,0.000193678410457,-4.08193925318e-05,3.39095256593e-05,1793251570338638592
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,724,690,671,643,891,790,820.860424653,657,633.860424653,657.860424653,0.414560467173,-0.00553224409145,0.0499790713274,0.999999993922,0.000104972744115,-3.09850799633e-05,1.33073620415e-05,1793251570355305216
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.437771239,747,724,690,671,643,891.437771239,789.562228761,821,657,633.562228761,657.562228761,0.415321229932,-0.00554002667362,0.0499585218825,0.999999994665,7.59438362748e-05,-6.94465985013e-05,8.91113901719e-06,1793251570371971840
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.985339793,747,724,690,671,643,892.014660207,789,821.014660207,657,633,657.014660207,0.416078160133,-0.00554917812688,0.0499293607579,0.999999990352,6.67372260525e-05,-0.000121435942098,9.77700205605e-06,1793251570388638208
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.411090418,747,724,690,671,643,892.588909582,789,821.588909582,657,633,657.588909582,0.416920418194,-0.00554591849095,0.0499362229055,0.999999990474,8.99147745568e-05,-0.000103666155328,1.48224687909e-05,1793251570405305856
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.167651283,747,724,690.167651283,671,643,893.167651283,789.167651283,822,657,633,657.832348717,0.417776006908,-0.00554272648178,0.0499488428144,0.999999990758,0.000109982474732,-7.75049932543e-05,1.95355978236e-05,1793251570421973504
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.75771168,747,724,690.75771168,671,643,893.75771168,789.75771168,822,657,633,657.24228832,0.41866518308,-0.00553970486314,0.0499759698047,0.999999991802,0.000122214693502,-3.02011762479e-05,2.34113785068e-05,1793251570438640128
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.658373007,747,724,691,671,643.341626993,894,789.658373007,822.341626993,657,633.341626993,657,0.41952591684,-0.00553831050717,0.0499736888414,0.999999990901,0.000126524724921,-3.95692047044e-05,2.49669962848e-05,1793251570455306496
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.078738919,747,724,691,671,643.921261081,894,789.078738919,822.921261081,657,633.921261081,657,0.420366835102,-0.00553804984411,0.049950919737,0.999999987929,0.000125315470543,-8.84197749091e-05,2.49061864742e-05,1793251570471972608
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.496524,747,724,690.503476,671,643.503476,894.496524,789,823.496524,657,633.503476,657,0.42130703549,-0.00554133911835,0.0499694121617,0.999999991687,0.000120456308553,-3.84814059243e-05,2.5218379866e-05,1793251570488638976
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.92906281,747,724,690.07093719,671,643,895,789,824,657,633,657.07093719,0.422258511581,-0.00554493388456,0.0499919834048,0.99999999281,0.000115515623461,1.9310250344e-05,2.57569251212e-05,1793251570505305088
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.355801297,747,724,690.644198703,671,643,895,789,824,657,633,657.644198703,0.423179317647,-0.00554674031056,0.049997507609,0.999999992859,0.000114060544811,2.27463123399e-05,2.74831183784e-05,1793251570521971712
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.225042768,747,724,691,671,643,895,789,824.225042768,657,633.225042768,657.774957232,0.424107671365,-0.00554837730301,0.0499956271829,0.999999993092,0.00011272297986,1.72890102934e-05,2.84716113945e-05,1793251570538638592
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.818293253,747,724,691,671,643,895,789,824.818293253,657,633.818293253,657.181706747,0.425048374452,-0.00554973707404,0.0499816315404,0.999999993372,0.000111577686773,-2.71932652173e-06,2.82531033438e-05,1793251570555305472
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.598668401,747,724,691,671,643,895.401331599,789,825.401331599,657,634,657,0.426009553054,-0.00555069546872,0.0499919264179,0.999999993256,0.000112054073035,3.67966372335e-06,3.03159687195e-05,1793251570571972352
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.020139003,747,724,691,671,643,895.979860997,789,825.979860997,657,634,657,0.426979772045,-0.00555147664577,0.05001294616,0.999999992794,0.000113246470779,2.17381413993e-05,3.33861167407e-05,1793251570588639488
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,896.554321741,788.445678259,826,657,633.445678259,657,0.42786045343,-0.00554829151203,0.0499824465455,0.999999991506,0.000117047343772,-4.68045136601e-05,3.31296656556e-05,1793251570605306112
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,691.131820442,671,643,897,788.131820442,826,657,633.131820442,657.131820442,0.428764868633,-0.00554612682147,0.049956111163,0.999999987507,0.000118814443244,-9.90734625388e-05,3.24607769893e-05,1793251570621972480
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,691.720352984,671,643,897,788.720352984,826,657,633.720352984,657.720352984,0.429762701558,-0.0055479932301,0.0499506410935,0.999999989579,0.000113209278007,-8.41382649136e-05,3.07786167792e-05,1793251570638638848
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.305062539,724.305062539,692,671,643,897,788.694937461,826,657.305062539,634,657.694937461,0.430742972358,-0.00555050151474,0.0499492391262,0.999999990741,0.000109192799668,-7.53491522865e-05,3.02832845888e-05,1793251570655305216
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.886310951,724.886310951,692,671,643,897,788.113689049,826,657.886310951,634,657.113689049,0.431707343378,-0.00555359091648,0.0499515201823,0.999999991239,0.000106614626339,-7.2124348262e-05,3.08624375341e-05,1793251570671971840
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.46235794,748,725,692,671,643.46235794,897.92471588,788.46235794,826,657.53764206,634,657,0.432653733216,-0.00555364985805,0.0499445406847,0.999999990742,0.000105829495187,-7.96727715217e-05,3.11041137105e-05,1793251570688638464
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.96289229,747.96289229,725,692,671.03710771,643.96289229,898.96289229,788.96289229,826.03710771,657,634,657,0.43359683737,-0.00555305385104,0.0499376106678,0.999999990168,0.000105492982835,-8.68901408467e-05,3.13751260677e-05,1793251570705305344
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.388613176,747.388613176,725,692,671.611386824,643.388613176,898.388613176,788.388613176,826.611386824,657,634,657,0.43455566891,-0.00555364372939,0.0499639931866,0.999999992578,0.000105339345837,-5.13944541665e-05,3.32586942006e-05,1793251570721971968
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.808076727,692,671.808076727,643,898.191923273,788,827,657,634,657,0.43549593986,-0.00555270382118,0.0499753658283,0.999999992757,0.000106376203538,-4.44307011327e-05,3.45933154503e-05,1793251570738638336
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.214443085,692,671.214443085,643,898.785556915,788,827,657,634,657,0.436397362226,-0.00554856195055,0.0499553216321,0.999999988633,0.000109904859455,-9.71865028022e-05,3.47789484419e-05,1793251570755304960
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.368706288,692,671,643,899,788,827,657,634,657.368706288,0.437328847853,-0.00555041650481,0.0499525651832,0.999999988993,0.000108052546278,-9.55355901788e-05,3.48205687569e-05,1793251570771971840
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.945926473,692,671,643,899,788,827,657,634,657.945926473,0.438277335056,-0.0055556622082,0.0499595854485,0.999999992083,0.00010315714179,-6.31161294981e-05,3.47807458019e-05,1793251570788638464
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671.519759974,643,899.519759974,788,827.519759974,657,634,657.480240026,0.439190936077,-0.00555617405047,0.0499745236701,0.999999992974,0.000105261712596,-4.05286161671e-05,3.64610802714e-05,1793251570805304832
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671.903940555,643.096059445,899.903940555,788,828,657,634,657.096059445,0.440089958679,-0.00555636075339,0.0499850158251,0.999999993191,0.000107172328578,-2.62521017231e-05,3.79753013344e-05,1793251570821971456
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671.313137474,643.686862526,899.313137474,788,828,657,634,657.686862526,0.440932468546,-0.00555739295665,0.049968393837,0.999999992616,0.000104357529285,-4.95463893311e-05,3.77182390012e-05,1793251570838638080
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747.271227556,725,692,671.271227556,643.728772444,899,788,828,657,633.728772444,658,0.441801247429,-0.00556066846327,0.0499692014831,0.999999993555,9.81261844845e-05,-4.31835884862e-05,3.73689748108e-05,1793251570855304960
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.84833203,725,692,671.84833203,643.15166797,899,788,828,657,633.15166797,658,0.442699651143,-0.00556647385555,0.0499896654031,0.999999995437,8.8041830056e-05,-3.37499978822e-06,3.69157299503e-05,1793251570871971584
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672.424728942,643,899.424728942,788,828,657,633.424728942,658,0.443518775181,-0.00556569776961,0.0499912093711,0.999999995602,8.61470847117e-05,-5.16728238418e-06,3.67074518471e-05,1793251570888638720
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.000876465,748,725,692.000876465,672.999123535,643,900,788,828,657,633.999123535,658,0.444309576762,-0.00556257607388,0.0499859640786,0.999999995293,8.71745308175e-05,-2.18394244695e-05,3.65842799113e-05,1793251570905306368
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.57887444,748,725,692.57887444,672.42112556,643,900,788,828,657,633.42112556,658,0.44506130157,-0.00555990556894,0.0499515463828,0.999999992833,8.99129934659e-05,-7.08827890211e-05,3.49964217164e-05,1793251570921972224
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.840070653,748,725,693,672,643,900,787.840070653,828,657,633.159929347,658,0.445822427413,-0.00555804050568,0.0499321433393,0.999999991007,9.23346614242e-05,-9.11270805522e-05,3.40082373567e-05,1793251570938638592
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.250809256,748,725,693,672,643,900,787.250809256,828,657,633.749190744,658,0.446608790599,-0.00555833765868,0.0499530472837,0.999999994411,9.39058915506e-05,-3.40599619166e-05,3.46298836314e-05,1793251570955304960
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,748,725,692.667660514,672,643,900,787.332339486,828,657,634,658,0.44735519399,-0.00555702401101,0.0499569699073,0.999999994477,9.706059892e-05,-1.9762457303e-05,3.51391940032e-05,1793251570971971840
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,748,725,692.089041577,672,643,900,787.910958423,828,657,634,658,0.448071985215,-0.00555451668301,0.0499483085591,0.999999993537,0.000101388738691,-3.71592853326e-05,3.55652581129e-05,1793251570988638464
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,748,725,692.484846207,672,643,900,788,828.484846207,657,633.515153793,658,0.448738409497,-0.00555659962966,0.0499358109361,0.999999992299,0.000103539133189,-5.76756787279e-05,3.68038184437e-05,1793251571005305600
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,900.059576226,787.940423774,828.940423774,657,633,658,0.449393675517,-0.00555924899301,0.0499258755905,0.999999990945,0.00010550296049,-7.4222217605e-05,3.8332053145e-05,1793251571021972736
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,900.649462721,787.350537279,828.350537279,657,633,658,0.450031158337,-0.00555950890166,0.0499449587005,0.999999991909,0.000109331704941,-5.03812339368e-05,4.11234119063e-05,1793251571038639616
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,748,725,692.765090424,672,643,901,787.234909576,828,657,633,658,0.450661921141,-0.00555908857056,0.0499652067902,0.999999992105,0.000114543038417,-2.69154509788e-05,4.41025659512e-05,1793251571055305984
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,725,692.186145662,672,643,901,787.813854338,828,657,633,658,0.451282842135,-0.00555767199906,0.0499871610413,0.999999991456,0.000121779232717,-3.99916772307e-06,4.73567540368e-05,1793251571071972096
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,901,787.607652201,828.392347799,657,633,658,0.45183962766,-0.00555437639359,0.0499830456053,0.999999989949,0.000129623352908,-2.9215728131e-05,4.94533859728e-05,1793251571088638720
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,901,787.029372557,828.970627443,657,633,658,0.452366019732,-0.00555019032231,0.0499665758647,0.999999986228,0.000137755566831,-7.72422229991e-05,5.10014574923e-05,1793251571105305344
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,643,901,787,828.458222574,657,633.541777426,657.458222574,0.452857694844,-0.00555049930823,0.0499482031017,0.999999984099,0.00014136941982,-9.60721525265e-05,5.08567358954e-05,1793251571121971968
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672.116588308,643,901,787.116588308,828,657,634,657.116588308,0.453344939662,-0.00555145960484,0.0499362510754,0.999999982842,0.000143988683452,-0.000104782507752,5.10197166149e-05,1793251571138638848
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672.707857772,643,901,787.707857772,828,657,634,657.707857772,0.453821710642,-0.00555409234642,0.0499508552295,0.99999998521,0.000143542945294,-7.86526736018e-05,5.2804288233e-05,1793251571155305472
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,747.709580004,725,691.709580004,672.709580004,643,901,787.709580004,828,657,634,658,0.454280464881,-0.00555484453518,0.0499618393466,0.999999986508,0.00014409944618,-5.72835130878e-05,5.42078629693e-05,1793251571171972608
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,747.135521731,725,691.135521731,672.135521731,643,901,787.135521731,828,657,634,658,0.454721623067,-0.00555376008453,0.0499692879589,0.999999987047,0.000145634782477,-4.05638593321e-05,5.52393375483e-05,1793251571188639488
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747,725,691,672,642.554870714,901,787,828.445129286,657,633.554870714,658,0.455097110768,-0.00555472656988,0.0499535290854,0.999999985599,0.000146194539978,-6.63013044219e-05,5.50737785137e-05,1793251571205306112
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,747.02723028,725,691.02723028,672,642.02723028,901,787,829,657,633,658,0.455449353475,-0.00555622176643,0.0499301097091,0.999999982695,0.0001434242398,-0.000105717065046,5.35144315112e-05,1793251571221972736
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747.597614959,725,691.597614959,672,642.597614959,901,787,829,657,633,658,0.455742739,-0.00555562069979,0.0498969433272,0.999999984075,8.02438893387e-05,-0.00015625756551,3.1532320177e-05,1793251571238638848
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,747.824904725,725,691.824904725,672,643,901,787,828.824904725,657,633.175095275,658,0.456031008038,-0.00555733568625,0.0498700672821,0.999999979765,3.29924043184e-05,-0.000197787445938,1.6201787419e-05,1793251571255305472
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,747.230429351,725,691.230429351,672,643,901,787,828.230429351,657,633.769570649,658,0.456307022259,-0.00556459797598,0.0498582575656,0.999999975869,2.38930107417e-05,-0.000217735501247,1.68028114028e-05,1793251571271972096
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,747,725,691,672,642.645743428,901.354256572,787,828,657,633.645743428,658,0.456583320544,-0.00556774498999,0.0498590892668,0.999999976142,2.37874327968e-05,-0.000216349455319,1.85158021153e-05,1793251571288638720
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,747,725,691,672,642.067253854,901.932746146,787,828,657,633.067253854,658,0.45685979866,-0.00556828716771,0.0498679225773,0.999999979056,2.93746496248e-05,-0.000201459612291,2.09326320168e-05,1793251571305305856
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,747,725,691,672,642,902,787,828.507436077,657,633,658,0.457098202177,-0.00556753248258,0.0498753857787,0.999999981027,3.43951781527e-05,-0.000190393032864,2.26437319202e-05,1793251571321972736
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747.083660708,725,691,672,642,902,787.083660708,829,657,633.083660708,658,0.457324137348,-0.00556624852427,0.0498814998981,0.999999982361,3.93681634055e-05,-0.000182067498005,2.40613190092e-05,1793251571338639360
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,747.672162841,725,691,672,642,902,787.672162841,829,657,633.672162841,658,0.457505058641,-0.00556280021749,0.0498805607711,0.999999981184,4.45041122257e-05,-0.00018724745864,2.42679678427e-05,1793251571355305728
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,787.742091233,829,657.257908767,634,658,0.457672969689,-0.00555909167192,0.049875923935,0.999999979523,5.11784967266e-05,-0.00019424193623,2.45828402622e-05,1793251571371971840
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,787.159811811,829,657.840188189,634,658,0.457824517801,-0.00555505582544,0.0498666365077,0.999999977189,5.97877643082e-05,-0.000203518523019,2.50338249677e-05,1793251571388638464
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,901.583673127,787,829,657.583673127,633.583673127,658,0.457958985582,-0.00555552501302,0.0498599154737,0.999999975879,6.08250580708e-05,-0.000209538260218,2.52189410973e-05,1793251571405305088
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,901.009857385,787,829,657.009857385,633.009857385,658,0.458086992183,-0.00555769837297,0.0498541652597,0.999999974972,5.89980119428e-05,-0.000214325990364,2.53034839803e-05,1793251571421971712
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,901.566892604,787,829,657,633,658,0.458193513657,-0.00556138989063,0.0498562456618,0.999999975257,5.44953878527e-05,-0.000214057012409,2.63815414884e-05,1793251571438638592
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,787,828.852912173,657,633,658,0.458293400866,-0.00556409029594,0.0498587148045,0.999999975613,5.18353756874e-05,-0.000212918824004,2.74230813899e-05,1793251571455305472
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,787,828.262487378,657,633,658,0.458374423643,-0.00556372341048,0.0498619431072,0.999999976164,5.48701332714e-05,-0.000209427154539,2.83022119828e-05,1793251571471972352
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672.320815043,642,902,787.320815043,828,657,633,657.679184957,0.458444193391,-0.00556318249702,0.0498631595831,0.999999976344,5.72614040701e-05,-0.000207892557825,2.85176754558e-05,1793251571488638976
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672.898416643,642,902,787.898416643,828,657,633,657.101583357,0.458504956006,-0.00556250228817,0.0498627657545,0.999999976237,5.91376159482e-05,-0.000207924439558,2.82019270458e-05,1793251571505305600
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672.526233887,642,902,788,828.473766113,657,633,657.473766113,0.458548853719,-0.00556205301377,0.049860469702,0.999999975352,5.84283828467e-05,-0.000212352925748,2.80841182388e-05,1793251571521971968
+226,3.766666667,POSE1_TO_POSE2_PRESS,769.049791827,748,725,691,672,642,902,788,829,657,633,657.950208173,0.458588057341,-0.00556173362067,0.0498578750056,0.999999974326,5.7384610311e-05,-0.00021741037757,2.80709999846e-05,1793251571538638848
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.63833519,748,725,691,672,642,902,788,829,657,633,657.36166481,0.458615412098,-0.00556228631878,0.049856441246,0.999999973858,5.86909615184e-05,-0.000219121403418,2.87335934881e-05,1793251571555305216
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.776728458,748,725,690.776728458,672,642,902,787.776728458,829,657,633,657.223271542,0.45863850358,-0.00556218075011,0.0498547908171,0.999999973224,6.00212705577e-05,-0.000221615524948,2.89082678262e-05,1793251571571971840
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.197542042,748,725,690.197542042,672,642,902,787.197542042,829,657,633,657.802457958,0.458654799017,-0.00556102584509,0.0498527949981,0.999999972322,6.13897704523e-05,-0.000225357971167,2.8305155189e-05,1793251571588638976
+230,3.833333333,POSE1_TO_POSE2_PRESS,769,748,724.619080497,690.380919503,672,642,902,787.380919503,828.619080497,657,633,658,0.458670195112,-0.0055589887391,0.0498530340883,0.999999972419,6.18035070557e-05,-0.000224863596979,2.78979416903e-05,1793251571605305856
+231,3.850000000,POSE1_TO_POSE2_PRESS,769,748,724.04099417,690.95900583,672,642,902,787.95900583,828.04099417,657,633,658,0.458685125701,-0.00555649499925,0.0498544299844,0.999999973033,6.17230508936e-05,-0.00022217621229,2.75921270907e-05,1793251571621972736
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,748,725.064377791,690.467811104,672,642,902,787.467811104,828.532188896,657,633,658,0.458691692426,-0.00555730895187,0.0498557337564,0.999999973082,6.32604933849e-05,-0.000221455236291,2.81256251653e-05,1793251571638639104
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.891782367,748,725.891782367,690.108217633,672,642,902,787.108217633,829,657,633,658,0.458696623985,-0.00555785748695,0.0498563302972,0.999999972937,6.45416996415e-05,-0.00022167916149,2.86092763511e-05,1793251571655305728
+234,3.900000000,POSE1_TO_POSE2_PRESS,768.30140764,748,725.30140764,690.69859236,672,642,902,787.69859236,829,657,633,658,0.458697114432,-0.00555609863468,0.0498538071395,0.999999972122,6.41310673526e-05,-0.000225444327084,2.85854154787e-05,1793251571671972096
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,748,725,691,672,642,902,787.717149118,828.717149118,657,633,658,0.458699027705,-0.00555429401449,0.0498529703904,0.999999971798,6.53705128952e-05,-0.000226533323358,2.85072817671e-05,1793251571688638464
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,748,725,691,672,642,902,787.139270044,828.139270044,657,633,658,0.458702425059,-0.00555244165576,0.0498538926528,0.999999971988,6.83310754524e-05,-0.000224830936197,2.83725386562e-05,1793251571705305088
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.437580572,748,725,690.562419428,672,642,901.562419428,787,828.437580572,657,633,658,0.458702121553,-0.00555228471787,0.0498524085985,0.99999997144,6.86193514678e-05,-0.000227197531057,2.81564519187e-05,1793251571721971968
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,690.014045682,672,642,901,787,828.985954318,657,633,658,0.458700696824,-0.00555264757807,0.0498502246912,0.999999970668,6.81046798092e-05,-0.0002307506869,2.79279718938e-05,1793251571738638848
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,690.588161831,672,642,901,787,828.411838169,657,633,658,0.458701421314,-0.00555227103174,0.049850601413,0.99999997072,6.94072843885e-05,-0.000230099075683,2.82352299794e-05,1793251571755305728
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,747.832702205,725,691,672,642,901.167297795,787,828,657,633,658,0.45870207599,-0.00555132080007,0.0498509390284,0.999999970739,7.05783820769e-05,-0.000229644625006,2.83404647019e-05,1793251571771972352
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747.240826705,725,691,672,642,901.759173295,787,828,657,633,658,0.458702553488,-0.00554891463765,0.0498511773973,0.999999970681,7.14157341428e-05,-0.000229690539415,2.7932993213e-05,1793251571788638464
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747.343367713,725,690.656632287,672,642,902,787,828,657,633,658,0.458703848993,-0.00554891005623,0.0498513065392,0.999999970895,7.07795492796e-05,-0.000228965838733,2.78455642989e-05,1793251571805304832
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747.922292726,725,690.077707274,672,642,902,787,828,657,633,658,0.458705705667,-0.00555055300878,0.0498513607492,0.999999971292,6.91324877973e-05,-0.000227712480274,2.79776911782e-05,1793251571821971712
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,690.498305588,672,642,902,787.498305588,828.498305588,657,633,658,0.458705942723,-0.00555163446316,0.0498515308687,0.999999971342,6.82067714955e-05,-0.000227768671751,2.8017672401e-05,1793251571838638336
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725.07529176,690.92470824,672,642,902,787.92470824,829,657,633,658,0.458705839903,-0.00555223046696,0.0498516030412,0.999999971264,6.78740755771e-05,-0.000228208429745,2.80224750783e-05,1793251571855304704
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725.661954719,690.338045281,672,642,902,787.338045281,829,657,633,658,0.458705134136,-0.00555012060894,0.0498508879195,0.999999970683,7.08095234017e-05,-0.000229874375888,2.78853783488e-05,1793251571871971584
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,748,725.754655761,690.245344239,672,642,902,787,829,657.245344239,633,658,0.458704829168,-0.00554907335865,0.0498502257629,0.999999970424,7.21247190419e-05,-0.000230605009831,2.77750072638e-05,1793251571888638720
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,748,725.175717053,690.824282947,672,642,902,787,829,657.824282947,633,658,0.458705069166,-0.0055494709354,0.0498496356227,0.999999970614,7.12368588105e-05,-0.000230063900361,2.77009750087e-05,1793251571905305856
+249,4.150000000,HOLD_POSE2,769,748,725,691,672,642,901,787,828,658,633,658,0.458709222055,-0.0055475700505,0.0498537527768,0.999999971823,7.06501665784e-05,-0.00022499502071,2.72103771254e-05,1793251571939180544
+250,4.166666667,HOLD_POSE2,769,748,725,691,672,642,901,787.574585315,828,657.425414685,633,658,0.458707734587,-0.0055478243165,0.0498523268424,0.999999971374,6.99796536635e-05,-0.000227172517191,2.73396270046e-05,1793251571955846400
+251,4.183333333,HOLD_POSE2,769,748,725.152656212,690.847343788,672,642,901,787.847343788,828,657,633,658,0.458706665155,-0.00554786605739,0.0498511741742,0.999999971016,6.98536748612e-05,-0.000228773814037,2.74083156516e-05,1793251571972512512
+252,4.200000000,HOLD_POSE2,769,748,725.740667659,690.259332341,672,642,901,787.259332341,828,657,633,658,0.458706787911,-0.00554730170492,0.0498508008248,0.999999970928,7.12806348412e-05,-0.000228731866583,2.73042917414e-05,1793251571989179136
+253,4.216666667,HOLD_POSE2,769,748,725.675159008,690.324840992,672,642,901.324840992,787,828,657,633,657.675159008,0.458707033874,-0.00554740827135,0.0498504918319,0.99999997085,7.19219273452e-05,-0.000228865497729,2.73311138766e-05,1793251572005845760
+254,4.233333333,HOLD_POSE2,769,748,725.094014035,690.905985965,672,642,901.905985965,787,828,657,633,657.094014035,0.458707377049,-0.005548044202,0.0498502336174,0.999999970783,7.19433173874e-05,-0.000229137662794,2.74611753363e-05,1793251572022512640
+255,4.250000000,HOLD_POSE2,769,748,725,691,672,642,902,787.481052397,828.481052397,657,633,657.481052397,0.45870798776,-0.00554792005175,0.0498504530333,0.99999997093,7.13800277637e-05,-0.000228707315254,2.7155573131e-05,1793251572039179264
+256,4.266666667,HOLD_POSE2,769,748,725,691,672,642,902,788,829,657,633,658,0.458708550539,-0.00554763030522,0.0498507807596,0.999999971108,7.06614832298e-05,-0.000228189352482,2.68248727002e-05,1793251572055845888
+257,4.283333333,HOLD_POSE2,769,748,725,691,672,642,902,788,829,657,633,658,0.458708172946,-0.00554716201384,0.0498512608284,0.999999971196,6.95423456519e-05,-0.000228124420405,2.70512498318e-05,1793251572072513024
+258,4.300000000,HOLD_POSE2,769,748,725,690.78694673,672,642.21305327,902,787.78694673,828.78694673,657,633,658,0.458707894353,-0.00554682381635,0.0498514243081,0.999999971127,6.95758855911e-05,-0.000228389814863,2.7246549533e-05,1793251572089179648
+259,4.316666667,HOLD_POSE2,769,748,725,690.194517731,672,642.805482269,902,787.194517731,828.194517731,657,633,658,0.458707792047,-0.00554671727206,0.0498510240498,0.999999970781,7.16619539871e-05,-0.000229243409031,2.73865108295e-05,1793251572105845760
+260,4.333333333,HOLD_POSE2,769,748,725,690.387555402,672,642.612444598,902,787,828.387555402,657,633,658,0.458706884321,-0.00554593803798,0.0498499926265,0.999999970216,7.44010842059e-05,-0.000230822131536,2.74460523639e-05,1793251572122512384
+261,4.350000000,HOLD_POSE2,769,748,725,690.964566151,672,642.035433849,902,787,828.964566151,657,633,658,0.458705582869,-0.00554482996141,0.0498486526598,0.999999969535,7.7459462012e-05,-0.000232755331025,2.74662809401e-05,1793251572139179008
+262,4.366666667,HOLD_POSE2,769,748,725,690.461550466,672.538449534,642,902,787,829,657,633,658,0.458706522627,-0.00554595740151,0.0498495275163,0.999999970273,7.42592854871e-05,-0.000230703861071,2.67592677289e-05,1793251572155845888
+263,4.383333333,HOLD_POSE2,769,748,725.115295494,690.115295494,672.884704506,642,901.884704506,787.115295494,829,657,633,658,0.458707548655,-0.00554684134232,0.0498503889127,0.999999970946,7.12743972636e-05,-0.000228778964356,2.62515544651e-05,1793251572172512512
+264,4.400000000,HOLD_POSE2,769,748,725.705178663,690.705178663,672.294821337,642,901.294821337,787.705178663,829,657,633,658,0.458708326199,-0.00554612091346,0.0498505984163,0.999999971037,7.08612226747e-05,-0.000228448212513,2.67600717861e-05,1793251572189179392
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641,902,787,829,657,633,658,0.458708940511,-0.00554603177959,0.0498513166186,0.9999999709,7.43805017921e-05,-0.00022778676197,2.79509684155e-05,1793251572226286848
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.576211082,902,787,829,657.576211082,633,658,0.458709459884,-0.00554594805861,0.0498511990919,0.999999971035,7.32350781342e-05,-0.000227613023571,2.75602968546e-05,1793251572242953216
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.849008771,672,641.849008771,902,787,828.849008771,657.849008771,633,658,0.45870971089,-0.0055460354678,0.0498509680849,0.999999971048,7.22489258167e-05,-0.000227897807019,2.73409989758e-05,1793251572259619584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.278207013,672,641.278207013,902,787,828.278207013,657.278207013,633,658,0.45870921574,-0.00554659868108,0.0498504215612,0.999999970723,7.17056054873e-05,-0.000229457447915,2.75981821688e-05,1793251572276285952
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.305131376,672,641.305131376,901.694868624,787.305131376,828.305131376,657,633,658,0.458708896822,-0.00554575809081,0.049850252383,0.999999970447,7.32100527738e-05,-0.000230208959111,2.73774120837e-05,1793251572292952320
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.900389899,672,641.900389899,901.099610101,787.900389899,828.900389899,657,633,658,0.458708745468,-0.00554358272619,0.0498504419953,0.999999970211,7.66615728001e-05,-0.000230192078684,2.6702191109e-05,1793251572309618944
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.483141362,787.516858638,829,657,633,658,0.458708398608,-0.00554341848628,0.0498504996596,0.999999970267,7.61836697192e-05,-0.000230129318501,2.6516167177e-05,1793251572326285824
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.20770634,748,725,691,672,642,901.20770634,787.20770634,829,657,633,658,0.458698927783,-0.00554549848564,0.0498456218002,0.999999968982,7.24903052524e-05,-0.000236696569117,2.74949509355e-05,1793251572376285696
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.962381229,748,725,691,672.962381229,642,902,787.037618771,828.037618771,657,633,658,0.458626748808,-0.00554256523654,0.0498098781624,0.999999954247,7.28404686051e-05,-0.000292515803587,2.52094158741e-05,1793251572426285312
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.727617789,748,725,691,672,642,902,787.727617789,828.272382211,657,634,658,0.458358730114,-0.00553144254332,0.0497324237624,0.999999919735,7.86800537478e-05,-0.000392439694412,1.81626635244e-05,1793251572492952832
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725.251513994,691,672,642,902,787.251513994,829,657,633,658,0.457647221074,-0.0055056755626,0.0497219000066,0.999999909195,9.83920264003e-05,-0.00041438682325,1.45820700699e-05,1793251572592952320
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724,691.014891317,672,642.014891317,897,788.014891317,827,657,633,656.985108683,0.444161014663,-0.00540068453133,0.0497793224046,0.999999942005,2.88486714412e-05,-0.000336330722119,-4.51644348301e-05,1793251573059618560
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38230cfcc0328e113c64b2b3a4c8d2975d7a3588
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/fem_node.csv
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@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df77b3505fa202ec8d8f99451163e4d6f22bc10a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
+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,769,747,724,689,671,643,887,789,820,657,633,657,0.400990430911,-0.00541002173181,0.049855028071,0.999999961756,0.000107510003902,-0.000251633357777,-4.01242418296e-05,1793251574840186880
+1,0.016666667,BASELINE,769.577000282,747,724,688.422999718,671,643,887,789,819.422999718,657,633,657,0.400988677792,-0.00541006484625,0.0498534455268,0.9999999613,0.000105811366252,-0.000254108944228,-4.04061868235e-05,1793251574856853248
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+3,0.050000000,BASELINE,770,747,724,688.742870816,671,642.257129184,887,789.742870816,819.742870816,657,633,657,0.400988544658,-0.00541183776436,0.0498536321353,0.999999961707,0.000103313497453,-0.000253566207226,-4.02060399286e-05,1793251574890185472
+4,0.066666667,BASELINE,770,747,724,689,671,642.3239429,887,789.6760571,820,657,633,657,0.400989346597,-0.00541127925698,0.0498541205081,0.999999961763,0.000104656233931,-0.000252792902203,-4.0221209082e-05,1793251574906852096
+5,0.083333333,BASELINE,770,747,724,689,671,642.900877694,887,789.099122306,820,657,633,657,0.400990064634,-0.00540921114096,0.0498541600729,0.999999961396,0.000107819776052,-0.000252868996959,-4.04990213538e-05,1793251574923518976
+6,0.100000000,BASELINE,770,747,724,689,671,643,887,789,819.520500582,657,633,657,0.400990805599,-0.00541023592608,0.0498544257383,0.999999961984,0.00010582326756,-0.000251388454061,-4.04515000958e-05,1793251574940185856
+7,0.116666667,BASELINE,769.940580802,747,724,689,671,643,887.059419198,789,819.059419198,657,633,657,0.40099138453,-0.00541161485238,0.0498546950879,0.999999962638,0.000103390940259,-0.000249809499992,-4.03553922995e-05,1793251574956852736
+8,0.133333333,BASELINE,769.352221138,747,724,689,671,643,887.647778862,789,819.647778862,657,633,657,0.400990478714,-0.0054104346602,0.0498545796948,0.999999962193,0.000106608033379,-0.000250229131499,-4.04275647379e-05,1793251574973519872
+9,0.150000000,BASELINE,769.232245223,747.232245223,724,689,671,643,887.767754777,789,820,657,633,657,0.400990149239,-0.00540973235691,0.049854606933,0.999999961924,0.000107968268053,-0.000250734990199,-4.03274810167e-05,1793251574990186496
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+12,0.200000000,BASELINE,770,747.035241468,724,689,671,643,887,789,820,657,633,657.964758532,0.400992045737,-0.00541134620337,0.0498556525274,0.99999996272,0.000104842934355,-0.000248864328679,-4.04213037086e-05,1793251575040185600
+13,0.216666667,BASELINE,770,747,724,689,671,643,887,788.458616952,820,657,633,657.458616952,0.400991927579,-0.00540984748502,0.0498555918932,0.999999962502,0.000106060892381,-0.000249178326861,-4.07148712441e-05,1793251575056852224
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+15,0.250000000,BASELINE,770,747,724,689,671,643,887,788,820,657,633,657,0.400989762694,-0.00541023122991,0.0498545181859,0.999999961926,0.000105810048932,-0.000251678075522,-4.01238307118e-05,1793251575090185472
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+18,0.300000000,BASELINE,769.551064729,747,724,689,671,643,887,789,820,657,632.551064729,657,0.400991153043,-0.0054117075164,0.0498561528105,0.999999962572,0.000104177999802,-0.000249803296375,-4.00173420401e-05,1793251575140186112
+19,0.316666667,BASELINE,769,747,724,689,671,643,887,789,819.97350036,657,632.02649964,657,0.400991423856,-0.00541188791327,0.0498558375357,0.999999962532,0.000106278783338,-0.000249111493847,-3.97965990143e-05,1793251575156852736
+20,0.333333333,BASELINE,769,747,724,689,671,643,887,789,819.401931917,657,632.598068083,657,0.400990161924,-0.00541188334985,0.0498553997177,0.999999962525,0.00010399455706,-0.000250068399038,-4.00065093068e-05,1793251575173519104
+21,0.350000000,BASELINE,769,747,724,689,671,643,887,789,819,657,633,657,0.400989378681,-0.00541189991873,0.0498550659162,0.999999962511,0.000102718594958,-0.000250620988347,-4.02013292447e-05,1793251575190185728
+22,0.366666667,BASELINE,769,747,724,689,671,643,887,789,819,657,633,657,0.400989729631,-0.00541196655787,0.0498549785682,0.999999962491,0.000103831584917,-0.000250215603263,-4.03603945074e-05,1793251575206852352
+23,0.383333333,BASELINE,769,747,724,689,671,643,887.351822678,789,819.351822678,657,633,657,0.400988901794,-0.00541181423966,0.0498540385279,0.999999962081,0.000104743463932,-0.000251471465467,-4.03515606063e-05,1793251575223518976
+24,0.400000000,BASELINE,769,747,724,689,671,643,887.929143109,789,819.929143109,657,633,657,0.400987318424,-0.0054115215826,0.0498525519618,0.999999961417,0.000105526442707,-0.000253792089954,-4.02351131796e-05,1793251575240185600
+25,0.416666667,BASELINE,769.506384976,747,724,689,671,643,887.493615024,789,819.493615024,657,633,657,0.40098789981,-0.00541083816767,0.0498528100968,0.999999961378,0.000106799180967,-0.000253382111784,-4.04488503003e-05,1793251575256852480
+26,0.433333333,BASELINE,770,747,723.915062741,689,671,642.915062741,887,789,819,657,633,657,0.400988902375,-0.00541011824017,0.0498534837392,0.999999961493,0.000108044827382,-0.000252364565681,-4.06482837841e-05,1793251575273519360
+27,0.450000000,BASELINE,770,747,723.328709457,689,671,642.328709457,887,789,819,657,633,657,0.400990603417,-0.00540950549678,0.0498551693052,0.999999962016,0.000108726042856,-0.000250015559219,-4.049057428e-05,1793251575290185984
+28,0.466666667,BASELINE,770,747,723.254582313,689,671,642.254582313,887,789,819,657,633,657,0.400991143367,-0.00540967398989,0.0498558153447,0.999999962265,0.000108436982922,-0.000249174920914,-4.0278809022e-05,1793251575306852608
+29,0.483333333,BASELINE,770,747,723.833968079,689,671,642.833968079,887,789,819,657,633,657,0.400990201964,-0.00541083920709,0.0498551351259,0.99999996217,0.000106910017614,-0.000250258702325,-3.99980778842e-05,1793251575323518976
+30,0.500000000,BASELINE,769.58939397,747,724,688.58939397,671,643,887,789,819,657,632.58939397,657,0.40098943648,-0.00541171621073,0.0498549172632,0.999999962069,0.000106632508508,-0.000250819728029,-3.97627731796e-05,1793251575340185600
+31,0.516666667,BASELINE,769.01385975,747,724,688.01385975,671,643,887,789,819,657,632.01385975,657,0.400988741658,-0.00541247744756,0.0498548851152,0.999999961965,0.000106856868716,-0.000251170778339,-3.95457149246e-05,1793251575356852224
+32,0.533333333,BASELINE,769.56405343,747,724,688,671,643,886.43594657,789,819.56405343,657,632.56405343,657,0.400988505785,-0.00541133569146,0.0498539867338,0.99999996167,0.000107206400735,-0.00025209536491,-4.01718578172e-05,1793251575373519104
+33,0.550000000,BASELINE,769.855669032,747,724,688.144330968,671,643,886.144330968,789,819.855669032,657,633,657,0.400988718717,-0.00541058175343,0.0498536802175,0.999999961609,0.000107202282784,-0.000252278510486,-4.05534817599e-05,1793251575390185728
+34,0.566666667,BASELINE,769.268314398,747,724,688.731685602,671,643,886.731685602,789,819.268314398,657,633,657,0.400990274494,-0.0054111623595,0.0498552560409,0.999999962281,0.000106103155987,-0.000250142363074,-4.01206891352e-05,1793251575406852608
+35,0.583333333,BASELINE,769.314216389,747,723.685783611,689,671,643,887,789,819,657,633,657,0.400990503155,-0.00541052270216,0.0498554097501,0.999999962253,0.000107114211841,-0.000249815346693,-4.01659289764e-05,1793251575423519232
+36,0.600000000,BASELINE,769.892690361,747,723.107309639,689,671,643,887,789,819,657,633,657,0.400989615704,-0.00540885679713,0.0498543674542,0.999999961633,0.000109899941933,-0.000251009818492,-4.06131965095e-05,1793251575440185856
+37,0.616666667,BASELINE,770,747,723.470499903,689,671,643,887,789,819,657,633,657,0.400991516032,-0.00541050124788,0.0498555449071,0.999999962503,0.000107910674405,-0.000248457402244,-4.02364925898e-05,1793251575456852224
+38,0.633333333,BASELINE,770,747,724,689.047790934,671,643,887,789,819,657,633,657,0.400993680151,-0.0054126603123,0.0498570470823,0.99999996355,0.000105120731372,-0.000245503777598,-3.97175395883e-05,1793251575473519104
+39,0.650000000,BASELINE,770,747,724,689.621045191,671,643,887,789,819,657,633,657,0.400991763618,-0.00541218789505,0.0498565609743,0.999999963015,0.000105484714861,-0.000247521679194,-3.96979133396e-05,1793251575490185728
+40,0.666666667,BASELINE,769.799532805,747,724,690,671,643,887,788.799532805,819.200467195,657,633,657,0.400990288191,-0.00541153702593,0.0498559380858,0.999999962562,0.000105712045225,-0.000249228926002,-3.98246365048e-05,1793251575506852096
+41,0.683333333,BASELINE,769.20808148,747,724,690,671,643,887,788.20808148,819.79191852,657,633,657,0.400989673086,-0.00541053811062,0.0498550484255,0.999999962274,0.00010567285214,-0.000250330282571,-4.02367943955e-05,1793251575523518720
+42,0.700000000,BASELINE,769.375136057,747,724,689.624863943,671,643,887,788.375136057,820,657,633,657,0.40098986458,-0.0054119797953,0.0498551845024,0.999999962663,0.0001032353301,-0.00024983514331,-3.99847499859e-05,1793251575540186112
+43,0.716666667,BASELINE,769.953884524,747,724,689.046115476,671,643,887,788.953884524,820,657,633,657,0.400990493872,-0.00541474616326,0.0498558773183,0.999999963406,9.94960682438e-05,-0.00024847347476,-3.93721968095e-05,1793251575556853504
+44,0.733333333,BASELINE,770,747,724,689,671,643,887.536644349,789,819.463355651,657,633,657,0.400990506083,-0.00541304792378,0.0498560993347,0.999999963221,0.000101439991953,-0.000248353120416,-3.98485654724e-05,1793251575573519872
+45,0.750000000,BASELINE,769.883557464,747,724,689,671,642.883557464,887.883557464,789,819,657,633,657,0.400990432977,-0.0054113035977,0.0498561938818,0.999999962936,0.000103719736886,-0.000248488643617,-4.02838791959e-05,1793251575590186496
+46,0.766666667,BASELINE,769.316562741,747,724,689,671,642.316562741,887.316562741,789,819,657,633,657,0.400990236485,-0.00541087661736,0.0498559529317,0.999999962588,0.000105394978357,-0.000249198388967,-4.01955435957e-05,1793251575606852608
+47,0.783333333,BASELINE,769,747,724,689,671,642.262857154,887,789,819.262857154,657,633,657,0.400990884874,-0.00541136608218,0.0498562393635,0.999999962694,0.000105571989955,-0.000248708216778,-4.01399665801e-05,1793251575623518976
+48,0.800000000,BASELINE,769,747,724,689,671,642.857983378,887,789,819.857983378,657,633,657,0.40099260125,-0.00541301399508,0.0498571924416,0.999999963371,0.000103855138756,-0.000246701268454,-4.01257985998e-05,1793251575640185600
+49,0.816666667,BASELINE,769,747,724,689,671,643,887,789,819.561935327,657,633,657,0.400991798126,-0.00541235385317,0.0498568709211,0.999999963181,0.00010338302994,-0.000247669042861,-4.01176563003e-05,1793251575656852224
+50,0.833333333,BASELINE,769.013405574,747,724,689,671,643,887,788.986594426,819,657,633,657,0.400990275181,-0.00541101440978,0.0498561919475,0.999999962736,0.000103341743545,-0.000249479680227,-4.0105548879e-05,1793251575673518848
+51,0.850000000,BASELINE,769.587705545,747,724,689,671,643,887,788.412294455,819,657,633,657,0.400991675095,-0.00541152030725,0.0498572719376,0.999999963054,0.000105002816373,-0.00024754584175,-3.98485190894e-05,1793251575690185728
+52,0.866666667,BASELINE,769.833107973,747,724,689,671.166892027,643,887,788.166892027,819,657,633,657,0.400992373134,-0.00541206618495,0.0498577279469,0.999999963235,0.000105929340554,-0.000246436265357,-3.97149122099e-05,1793251575706852608
+53,0.883333333,BASELINE,769.241485643,747,724,689,671.758514357,643,887,788.758514357,819,657,633,657,0.400991284944,-0.00541271380992,0.0498565959622,0.999999963084,0.000104986481935,-0.000247424387146,-3.9895409325e-05,1793251575723519488
+54,0.900000000,BASELINE,769.341234443,747,724,689,671.658765557,643,887,789,819,657,633,657,0.400991011085,-0.00541239138645,0.049856234533,0.999999963043,0.000103954577384,-0.000247980015797,-4.01551216057e-05,1793251575740186368
+55,0.916666667,BASELINE,769.917814722,747,724,689,671.082185278,643,887,789,819,657,633,657,0.400991298862,-0.00541139993067,0.049856404548,0.99999996308,0.000102861258822,-0.000248237358404,-4.04694677521e-05,1793251575756852736
+56,0.933333333,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400991909721,-0.0054123254068,0.049857188586,0.999999963303,0.000103078362742,-0.00024730441803,-4.0128844381e-05,1793251575773519104
+57,0.950000000,BASELINE,770,747,724,689,671,643,887,789,819.073002191,657,633,657,0.400992427607,-0.00541314326079,0.0498579390373,0.999999963494,0.00010358860443,-0.000246369337788,-3.97871865381e-05,1793251575790185472
+58,0.966666667,BASELINE,770,747,724,689,671,643,887,789,819.660477567,657,633,657,0.400991911789,-0.0054109569525,0.0498577334562,0.99999996326,0.000104629519256,-0.000246813608673,-4.02055433801e-05,1793251575806852096
+59,0.983333333,BASELINE,770,747,724,689,671,643,887,789,819.755759397,657,632.755759397,657,0.400991473258,-0.00541041953966,0.0498573941403,0.999999963194,0.000104195126148,-0.000247228755285,-4.04256432259e-05,1793251575823518976
+60,1.000000000,BASELINE,770,747,724,689,671,643,887,789,819.177079593,657,632.177079593,657,0.400991140557,-0.00541213996276,0.0498568717011,0.999999963356,0.000101740590744,-0.000247604022028,-4.03742693839e-05,1793251575840185856
+61,1.016666667,BASELINE,770,747,724,689,671,643,887,788.599518032,819.400481968,657,632.400481968,657,0.400991012668,-0.00541297002221,0.0498563126158,0.999999963147,0.0001024007724,-0.000248224492565,-4.00699393329e-05,1793251575856852992
+62,1.033333333,BASELINE,770,747,724,689,671,643,887,788.02244958,819.97755042,657,632.97755042,657,0.400990975087,-0.00541340748913,0.0498557373721,0.999999962772,0.000104434341728,-0.000248953081994,-3.96540720585e-05,1793251575873519872
+63,1.050000000,BASELINE,770,747,724,689,671,643,887,788.551305665,820,657,633,657,0.400991608164,-0.00541194136607,0.0498568552474,0.999999963167,0.000105025765332,-0.000247120822561,-3.95919659728e-05,1793251575890185984
+64,1.066666667,BASELINE,769.871443006,747,724,689,671.128556994,643,887,789,819.871443006,657,633,657,0.400991954624,-0.00541058517043,0.0498576883816,0.999999963413,0.000105827088545,-0.000245763961886,-3.96760549342e-05,1793251575906852608
+65,1.083333333,BASELINE,769.281153291,747,724,689,671.718846709,643,887,789,819.281153291,657,633,657,0.400991174157,-0.00540990054287,0.0498572526752,0.999999963025,0.00010759196028,-0.000246486870433,-4.02337962087e-05,1793251575923518976
+66,1.100000000,BASELINE,769.303316697,747,724,689,671.696683303,643,887,788.696683303,819,657,632.696683303,657,0.400991515378,-0.00540995216721,0.0498574047224,0.999999963101,0.000107486125796,-0.000246190241977,-4.0433001605e-05,1793251575940185344
+67,1.116666667,BASELINE,769.882493728,747,724,689,671.117506272,643,887,788.117506272,819,657,632.117506272,657,0.400992876753,-0.00541067339764,0.0498580913197,0.999999963599,0.000105678922149,-0.000244966365417,-4.03061259187e-05,1793251575956852224
+68,1.133333333,BASELINE,770,747,724,689,671,643,887,788.458578668,819,657,632.458578668,657,0.400991961875,-0.00541125539258,0.049857431205,0.999999963282,0.000104996528761,-0.000246597916808,-4.00222908303e-05,1793251575973518848
+69,1.150000000,BASELINE,770,747,724,689,671,643,887,788.965984922,819.034015078,657,632.965984922,657,0.400990570163,-0.00541176478602,0.0498564967618,0.999999962791,0.000104620201235,-0.000248785797868,-3.97357580718e-05,1793251575990185472
+70,1.166666667,BASELINE,770,747,724,689,671,643,887,788.388335958,819.611664042,657,632.388335958,657,0.400990817043,-0.00541168023888,0.04985665617,0.999999962918,0.000104559916232,-0.000248249596808,-4.00445966853e-05,1793251576006852096
+71,1.183333333,BASELINE,770,747,724,689,671,642.807344504,887,788.192655496,819.807344504,657,632.192655496,657.192655496,0.40099057569,-0.00541136366925,0.0498565322546,0.999999962903,0.000104748962232,-0.000248195275568,-4.02591226066e-05,1793251576023518976
+72,1.200000000,BASELINE,770,747,724,689,671,642.219496528,887,788.780503472,819.219496528,657,632.780503472,657.780503472,0.400989332829,-0.00541057115399,0.04985582716,0.999999962596,0.000105449458656,-0.000249129429961,-4.02801858091e-05,1793251576040185600
+73,1.216666667,BASELINE,769.635081873,747,724,689,671,642.364918127,887.364918127,789,819.364918127,657,633,657.635081873,0.400989025144,-0.00541094782883,0.0498553383029,0.999999962493,0.0001055110637,-0.000249551403291,-4.00647320925e-05,1793251576056852224
+74,1.233333333,BASELINE,769.052713132,747,724,689,671,642.947286868,887.947286868,789,819.947286868,657,633,657.052713132,0.400989274719,-0.00541202121097,0.0498549782994,0.999999962512,0.0001051919605,-0.000249668173618,-3.9708340598e-05,1793251576073518848
+75,1.250000000,BASELINE,769.520758295,747,724,689.520758295,671,643,888,789,820,657,633,657.520758295,0.400991767132,-0.00541101298293,0.0498565658663,0.999999963088,0.000106543713241,-0.000246713867263,-4.00512661404e-05,1793251576090185472
+76,1.266666667,BASELINE,769.906280488,747,724,689.906280488,671,643,887.812560975,789,819.906280488,657,633,657.906280488,0.400993859422,-0.00541004326749,0.0498579795199,0.999999963565,0.000107807344493,-0.00024416924455,-4.03673782482e-05,1793251576106852096
+77,1.283333333,BASELINE,769.331392546,747,724,689.331392546,671,643,886.662785092,789,819.331392546,657,633,657.331392546,0.400992751415,-0.00541033491382,0.0498575051365,0.9999999633,0.000107764797019,-0.000245297209227,-4.01884990951e-05,1793251576123518976
+78,1.300000000,BASELINE,769,747,724,689,671,643,886.251556053,788.748443947,819,657,633,657,0.400991526133,-0.00541011783604,0.0498568591846,0.999999962991,0.000107546863016,-0.000246657029687,-4.01503136943e-05,1793251576140185344
+79,1.316666667,BASELINE,769,747,724,689,671,643,886.845475002,788.154524998,819,657,633,657,0.400990141241,-0.00540920839462,0.0498559797314,0.999999962619,0.000107090231361,-0.000248332401269,-4.03036097696e-05,1793251576156851968
+80,1.333333333,BASELINE,769.425854794,747,724,688.574145206,671,643,887,788.425854794,819,657,633,657,0.400990745383,-0.00540964394157,0.0498566100564,0.999999962833,0.000106902141821,-0.000247562385648,-4.02219257634e-05,1793251576173518592
+81,1.350000000,BASELINE,769.998510245,747,724,688.001489755,671,643,887,789,819,657,633,657,0.400992044753,-0.00541055151232,0.0498577679904,0.999999963251,0.000106804216504,-0.000245938462791,-4.00583783856e-05,1793251576190185216
+82,1.366666667,BASELINE,769.416428983,747,724,688.583571017,671,643,887,789,819,657,633,657,0.400991680092,-0.00541107773468,0.0498576218011,0.999999963249,0.0001050398341,-0.000246684337255,-4.01964241833e-05,1793251576206852864
+83,1.383333333,BASELINE,769,747,724,689,671,643,887.165917553,789,819.165917553,657,633,657,0.400991738343,-0.00541169614979,0.0498577305504,0.999999963375,0.000103912256531,-0.000246646524703,-4.02161133636e-05,1793251576223520256
+84,1.400000000,BASELINE,769,747,724,689,671,643,887.748931074,789,819.748931074,657,633,657,0.400992859746,-0.00541254632609,0.0498584801834,0.99999996383,0.000104385526277,-0.000244638621205,-3.99382688448e-05,1793251576240185856
+85,1.416666667,BASELINE,769,747,724,689,671,643,888,789,819.672034254,657.327965746,632.672034254,657,0.400992195778,-0.00541284547868,0.0498579645432,0.999999963694,0.000104086458517,-0.000245344878506,-3.97920406158e-05,1793251576256852224
+86,1.433333333,BASELINE,769,747,724,689,671,643,888,789,819.096009051,657.903990949,632.096009051,657,0.40099018143,-0.00541272786011,0.0498564919038,0.999999963107,0.000103203227213,-0.00024810401268,-3.97453614135e-05,1793251576273519104
+87,1.450000000,BASELINE,769.482956901,747,724,689,671,643,887.517043099,789,819,657.517043099,632.482956901,657,0.400991181757,-0.00541221198483,0.0498568319554,0.999999963319,0.000103179081393,-0.000247226842218,-3.99286789282e-05,1793251576290186496
+88,1.466666667,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400992398964,-0.00541174285972,0.0498573497588,0.999999963594,0.00010342362044,-0.000245975978942,-4.01518997521e-05,1793251576306853632
+89,1.483333333,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.40099042273,-0.00541231927039,0.0498563389692,0.999999963065,0.000104469288847,-0.000247649923138,-4.03246758244e-05,1793251576323519744
+90,1.500000000,BASELINE,770,747,724,689,671,643,887,789,819.214179359,657,633,657,0.400989629237,-0.00541200150496,0.0498559536972,0.99999996274,0.000106237672709,-0.000248204902536,-4.03591794202e-05,1793251576340186112
+91,1.516666667,BASELINE,770,747,724,689,671,643,887,789,819.805124587,657,633,657,0.400990916322,-0.00541011078194,0.0498566687822,0.99999996277,0.000109277395194,-0.000246791495331,-4.01504459747e-05,1793251576356852480
+92,1.533333333,BASELINE,769.614523238,747,724,689,671,643,887,789.385476762,819.614523238,657.385476762,633,657,0.400991966424,-0.00541103270074,0.049857168586,0.999999963269,0.000107341286374,-0.000245670628362,-3.98252187608e-05,1793251576373518848
+93,1.550000000,BASELINE,769.039383035,747,724,689,671,643,887,789.960616965,819.039383035,657.960616965,633,657,0.400992899926,-0.00541333850389,0.0498575624667,0.999999963985,0.000102956954288,-0.000244693697792,-3.9442673912e-05,1793251576390185472
+94,1.566666667,BASELINE,769,747,724,689,671,643,887.538891647,789.461108353,819.538891647,657.461108353,633,657,0.400993412344,-0.0054120879937,0.0498582301005,0.999999964057,0.000103765974329,-0.000243988001433,-3.98674900413e-05,1793251576406852352
+95,1.583333333,BASELINE,769.116774868,747,724,689,671,643,888,788.883225132,819.883225132,657,633,657,0.400993389656,-0.00541071009095,0.0498584525178,0.999999963884,0.000105201760457,-0.000244018807612,-4.02478358888e-05,1793251576423519488
+96,1.600000000,BASELINE,769.692215674,747,724,689,671,643,888,788.307784326,819.307784326,657,633,657,0.400991386767,-0.00540985862364,0.0498568471829,0.999999962931,0.000107599881865,-0.000246864120386,-4.022040502e-05,1793251576440186368
+97,1.616666667,BASELINE,769.72370572,747,724,689,671,643,888,788.27629428,819,657,633,657,0.400990970416,-0.00540969222604,0.0498564025124,0.999999962705,0.000107944010176,-0.000247633556684,-4.01956315041e-05,1793251576456852992
+98,1.633333333,BASELINE,769.129694346,747,724,689,671,643,888,788.870305654,819,657,633,657,0.40099237846,-0.00541031360577,0.0498572925163,0.999999963321,0.000105926204834,-0.000246015895102,-4.01739137412e-05,1793251576473519104
+99,1.650000000,BASELINE,769.450678329,747,724,689,671,643,887.549321671,788.549321671,819.450678329,657,633,657,0.400991853641,-0.00541164637673,0.0498573111556,0.999999963392,0.000105147048198,-0.000246093036284,-3.99726130452e-05,1793251576490185728
+100,1.666666667,BASELINE,770,747,724,689,671,643,887,788.027664126,820,657.027664126,633,657,0.40099086005,-0.00541312609935,0.0498570947664,0.999999963326,0.000104673876158,-0.00024660261355,-3.97276180674e-05,1793251576506852096
+101,1.683333333,BASELINE,770,747,724,689,671,643,887,788.613174281,820,657.613174281,633,657,0.400991300594,-0.00541356216165,0.0498570470244,0.999999963542,0.000103394140563,-0.000246286213633,-3.96130365013e-05,1793251576523518720
+102,1.700000000,BASELINE,769.809027734,747,724,689,671,643,887,789,820,657.809027734,633,657,0.40099165819,-0.0054138236453,0.0498571048277,0.999999963699,0.000102525919737,-0.000246012772544,-3.95941827642e-05,1793251576540185344
+103,1.716666667,BASELINE,769.24624491,747,724,689,671,643,887,789,820,657.24624491,633,657,0.400991854291,-0.00541374523563,0.0498573681209,0.999999963746,0.000102458891494,-0.000245822969537,-3.97617048859e-05,1793251576556852224
+104,1.733333333,BASELINE,769.33491612,747,724,689,671,643.33491612,887,789,819.66508388,657,633,657,0.400992102947,-0.0054122882328,0.0498576316521,0.999999963689,0.000103847430521,-0.000245449670402,-3.99060731524e-05,1793251576573519360
+105,1.750000000,BASELINE,769.930374207,747,724,689,671,643.930374207,887,789,819.069625793,657,633,657,0.400992392487,-0.00540975877823,0.0498578953687,0.999999963545,0.000106368301887,-0.000244933623736,-4.00324293118e-05,1793251576590186240
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887,789,820,657,633,657,0.400991844685,-0.00541196644174,0.0498572024182,0.999999963549,0.000104078990817,-0.000245848214619,-4.03591708483e-05,1793251576621109760
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,886.412554732,789,820,657,633,657,0.40099146816,-0.00541291517057,0.049856770943,0.999999963496,0.000103182467359,-0.000246519867401,-3.98757035941e-05,1793251576637777152
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.827750681,747,724,689,671,643,886.172249319,789,820,657,633,657,0.400990963536,-0.0054133434249,0.0498564357941,0.999999963408,0.000102410392965,-0.000247227698842,-3.96713611106e-05,1793251576654444288
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+110,1.833333333,POSE1_TO_POSE2_PRESS,769.330098329,747,724,689,671,643,887,789,819.669901671,657,633,657,0.400990315736,-0.00541183424438,0.0498566759375,0.999999963114,0.000103105884883,-0.000248041157529,-4.02116895937e-05,1793251576687777024
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.909904305,747,724,689,671,643,887,789,819.090095695,657,633,657,0.400991205332,-0.00541119253267,0.0498573689407,0.999999963009,0.000105529947595,-0.000247476777463,-4.00196521038e-05,1793251576704443392
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,724,689,671.484114709,643,887,789,819,657,633,657,0.400991470803,-0.00541143437033,0.0498577212124,0.999999963275,0.000105245119927,-0.000246504068247,-4.01116726533e-05,1793251576721110272
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,724,689,671.941162897,643,887,788.941162897,819,657,633,657,0.400991622215,-0.00541178969869,0.0498579689581,0.999999963582,0.000104502918698,-0.000245553288941,-4.02316077621e-05,1793251576737777152
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724,689,671.352561391,643,887,788.352561391,819,657,633,657,0.400991780525,-0.00541170327203,0.0498578399883,0.999999963644,0.000104129890965,-0.000245476369499,-4.01323358396e-05,1793251576754443264
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887.232348021,788.232348021,819.232348021,657,633,657,0.400993324688,-0.00541204832758,0.0498583425372,0.999999963872,0.000104144986849,-0.000244575217098,-3.99163271139e-05,1793251576771109632
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887.811742684,788.811742684,819.811742684,657,633,657,0.400996938829,-0.00541303786656,0.0498597883541,0.999999964344,0.000104739803642,-0.000242442949064,-3.95259544595e-05,1793251576787776000
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+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887.034664207,789,819.034664207,657.965335793,633,657,0.401036782715,-0.00541460846441,0.0498737035205,0.999999970797,0.000105133132524,-0.000214083692425,-3.90044197808e-05,1793251576821109760
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+124,2.066666667,POSE1_TO_POSE2_PRESS,769.553305595,747,724,689,671,643,887,789,819.446694405,657,633,657,0.40145709011,-0.00543029235857,0.0499444271096,0.999999990746,9.63122650937e-05,-9.08997309158e-05,-3.11243405724e-05,1793251576921110016
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746.978187371,724,689,671,643,887,789,819.978187371,657,633,657,0.401552833041,-0.00543252476345,0.0499452583699,0.999999990659,9.72043038212e-05,-9.10959822693e-05,-3.05887551546e-05,1793251576937776640
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746.390017297,724,689,671,643,887,789,819.390017297,657,633,657,0.401669411655,-0.00543586643988,0.0499445158683,0.999999990633,9.48161549638e-05,-9.40290692765e-05,-3.00346622687e-05,1793251576954443776
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746.194967761,724,689,671,643,887,789,819,657,633,657,0.401796882508,-0.00544022800367,0.0499445939415,0.999999990793,9.20188890005e-05,-9.53851523764e-05,-2.91293355185e-05,1793251576971110656
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746.773683794,724,689,671,643,887,789,819,657,633,657,0.401945792162,-0.00544659697593,0.0499462871236,0.999999991328,8.841637233e-05,-9.36372731137e-05,-2.75326874175e-05,1793251576987777280
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.351085352,747,724,689,671,643,887.702170704,789,819,657,633,657,0.402109760767,-0.00545316791454,0.0499457038736,0.999999991456,8.50683293545e-05,-9.57467456482e-05,-2.61636305815e-05,1793251577004443648
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.927642792,747,724,689,671,643,888.855285584,789,819,657,633,657,0.402283400464,-0.00545986855947,0.0499436586661,0.999999991303,8.18837127078e-05,-0.000100333465092,-2.49407359882e-05,1793251577021110016
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.495479451,747,724,689.504520549,671,643,888.495479451,789,819,657,633,657,0.402493730242,-0.00546760889105,0.0499454961466,0.999999991892,7.76442244372e-05,-9.82244333195e-05,-2.32139058104e-05,1793251577037776384
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,689.917428447,671,643,887.917428447,789,819,657,633,657,0.402713660174,-0.0054752584471,0.0499477444679,0.999999992452,7.37625362382e-05,-9.59041235422e-05,-2.14081805999e-05,1793251577054442752
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,724,689.33251921,671,643,887.33251921,789,819,657,633,657,0.402959961675,-0.00548144804978,0.0499491023886,0.99999999233,7.2978548173e-05,-9.81442599894e-05,-1.95624496359e-05,1793251577071109120
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,724.252025121,689,671,643,887.252025121,789,819,657,633,657,0.403231401385,-0.0054897876213,0.0499533309152,0.999999993261,6.96998315362e-05,-9.11655517247e-05,-1.75704065052e-05,1793251577087775744
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,724.836088659,689,671,643,887.836088659,789,819,657,633,657,0.403535960205,-0.00550095973648,0.0499613414116,0.999999995294,6.31343563468e-05,-7.20411865355e-05,-1.53855999171e-05,1793251577104442368
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.412865948,747,724.587134052,689,671,643,887.587134052,789,819.412865948,657,633,657.412865948,0.403866654559,-0.005510782324,0.049971645608,0.999999996775,6.03063004189e-05,-5.15904272131e-05,-1.23201268148e-05,1793251577121109760
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.986800684,747,724.013199316,689,671,643,887.013199316,789,819.986800684,657,633,657.986800684,0.404207544996,-0.00552007842855,0.0499828446308,0.999999997755,5.89363004359e-05,-3.06222105458e-05,-8.91108488666e-06,1793251577137777152
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.438751671,747,724,689,671,643,887.561248329,789.561248329,819.438751671,657,633,658,0.404587608584,-0.00552736392841,0.0499891017735,0.999999998093,5.90681829086e-05,-1.69151985728e-05,-6.20981511713e-06,1793251577154443776
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.140092517,747,724,689.140092517,671,643,888,789.859907483,819,657,633,657.859907483,0.404976555817,-0.00553229234667,0.0499924834742,0.999999997986,6.28544062944e-05,-8.10197220605e-06,-3.33661275787e-06,1793251577171110656
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.733111822,747,724,689.733111822,671,643,888,789.266888178,819,657,633,657.266888178,0.405391243062,-0.0055297532042,0.0499869448079,0.999999996825,7.83410151143e-05,-1.45580201231e-05,1.46320724e-07,1793251577187777280
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.681984159,747,724,690,671,643,888,789.318015841,819.318015841,657,633,657,0.405806975778,-0.00551877558598,0.049971595158,0.999999993893,0.000101700699376,-4.32328758982e-05,1.48724217022e-06,1793251577204443648
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.103721188,747,724,690,671,643,888,789.896278812,819.896278812,657,633,657,0.406223564095,-0.00550089237096,0.049948216724,0.999999987295,0.000131503288303,-9.00904144186e-05,1.07525608742e-06,1793251577221109760
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,724,689.528534672,671,643,888,789.528534672,819.528534672,657,633,657,0.406688567232,-0.0055044568109,0.049932633994,0.999999983791,0.000137648968857,-0.000115996799603,3.84591378696e-06,1793251577237776384
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,724,689.047171015,671,643,888.047171015,789,819,657,633,657.047171015,0.407171307156,-0.00551256829642,0.0499205907517,0.99999998133,0.000138982975738,-0.000134052168629,7.33131839188e-06,1793251577254443008
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,724,689.636574574,671,643,888.636574574,789,819,657,633,657.636574574,0.407736290989,-0.00551906134377,0.0499296474552,0.999999982952,0.000144444232924,-0.000114499282683,1.1036424407e-05,1793251577271109632
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.222042099,747,724,690,671,643,889,789,819.222042099,657.222042099,633.222042099,658,0.408321772094,-0.00552417354776,0.0499451827553,0.999999984821,0.000152041592135,-8.36738403261e-05,1.54674308775e-05,1793251577287776256
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.801179529,747,724,690,671,643,889,789,819.801179529,657.801179529,633.801179529,658,0.408940217545,-0.00552706503412,0.0499711371449,0.999999985879,0.000163074299649,-3.47195068555e-05,2.10658538508e-05,1793251577304443392
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.37776891,789,819.62223109,658,633.62223109,658,0.409568132872,-0.00552588495487,0.049987273247,0.999999983949,0.000177076102077,-9.61431268924e-06,2.55717002808e-05,1793251577321110272
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.953026215,789,819.046973785,658,633.046973785,658,0.410200998799,-0.0055225763601,0.0499982765864,0.999999981007,0.000192630074824,3.02313020173e-06,2.95063741151e-05,1793251577337776896
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643.52795251,890,789,819.52795251,657.47204749,633,658,0.410813212705,-0.00552059019821,0.0499795254197,0.999999976794,0.000208416401362,-4.32232018354e-05,3.32746670806e-05,1793251577354443520
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.894154111,747,724,690,671,643.894154111,890.105845889,789.105845889,820,657,633,658,0.411439489301,-0.00551907714564,0.0499584104297,0.999999970336,0.00022327999396,-9.01704922804e-05,3.66559327208e-05,1793251577371109888
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.302507804,747,724,690,671,643.302507804,890.697492196,789.697492196,820,657,633,658,0.412138737388,-0.00551919582944,0.0499385891929,0.999999965168,0.000233813691315,-0.000116304164861,3.83287609027e-05,1793251577387776256
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,724,690.280882821,671,643,890.719117179,790,820,657,633.280882821,658,0.412885942427,-0.00552187453136,0.0499435465634,0.999999965231,0.000241219077043,-9.80944592536e-05,4.15888440986e-05,1793251577404442624
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,724,690.855636105,671,643,890.144363895,790,820,657,633.855636105,658,0.413683321968,-0.00552723162317,0.0499744282681,0.999999968259,0.000245351502928,-3.34910004766e-05,4.65095749394e-05,1793251577421109248
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.429224377,747,724,691,671,643,890.858448755,790.429224377,820.429224377,657,634,658,0.414448734725,-0.00553449826105,0.0499768304327,0.999999985676,0.0001631624493,-3.41168862694e-05,2.93698060546e-05,1793251577437775872
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,724,690.997492454,671,643,892,790.994984908,821.002507546,657,634,657.997492454,0.415203493095,-0.00554237914008,0.0499695898838,0.999999996999,5.25546383526e-05,-5.67107346725e-05,4.94811551581e-06,1793251577454442752
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,724,690.404010037,671,643,892,789.808020074,821.595989963,657,634,657.404010037,0.41597431456,-0.00554406868933,0.0499411550146,0.999999992627,6.82061881084e-05,-0.00010012220595,8.27701940806e-06,1793251577471109632
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,892,789,822,657,633.815377458,657,0.416781334441,-0.00554347171858,0.0499276433938,0.999999989274,8.59172118915e-05,-0.00011799284726,1.21293872964e-05,1793251577487776512
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,892,789,822,657,633.237086171,657,0.417665539785,-0.00553799922469,0.0499459524636,0.999999990706,0.000108019630142,-8.14030377278e-05,1.70979318871e-05,1793251577504442880
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.662274065,747,724,690.337725935,671,643,892.337725935,789,822.337725935,657.337725935,633.337725935,657.337725935,0.418534258256,-0.00553592913399,0.0499614657416,0.999999990741,0.00012161012052,-5.71756789183e-05,2.14287485034e-05,1793251577521109504
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.089879489,747,724,690.910120511,671,643,892.910120511,789,822.910120511,657.910120511,633.910120511,657.910120511,0.419392215647,-0.0055362232011,0.0499750363648,0.999999990459,0.000129286102645,-4.15383623172e-05,2.53164400667e-05,1793251577537776128
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,690.512207041,671,643,893.487792959,789,823,658,633.512207041,657.512207041,0.420268633485,-0.00553659866733,0.0499634225531,0.999999989969,0.000129058150484,-5.28229111944e-05,2.48130527513e-05,1793251577554442752
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,690.067824568,671,643,894.067824568,789,823.067824568,657.932175432,633,657,0.421157477174,-0.00553731347431,0.0499527284411,0.999999989855,0.000126939666486,-6.00984994065e-05,2.37718594403e-05,1793251577571109376
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,690.658462785,671,643,894.658462785,789,823.658462785,657.341537215,633,657,0.422115596379,-0.00554052715207,0.0499852847933,0.999999992295,0.000121597231419,2.18408926849e-06,2.48900227346e-05,1793251577587776256
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724,690.757555854,670.757555854,643,895,789,824,657,633,657.242444146,0.423060625457,-0.00554329728615,0.0499989668363,0.999999992425,0.000117263120049,2.70196446077e-05,2.58758262542e-05,1793251577604442880
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,690.182701487,670.182701487,643,895,789,824,657,633,657.817298513,0.423987707066,-0.005545459287,0.0499867707037,0.99999999311,0.000114311500416,5.12345645942e-07,2.66801542401e-05,1793251577621109504
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,690.393020992,670.393020992,643,895,789,824.393020992,657,633,657.606979008,0.424931749987,-0.00554695705277,0.0499846461955,0.999999993102,0.000114103460176,-3.28678511146e-06,2.76866836348e-05,1793251577637776384
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724,690.969147885,670.969147885,643,895,789,824.969147885,657,633,657.030852115,0.425883695017,-0.00554814535564,0.0499872139917,0.999999992947,0.000115173635765,3.49367225585e-06,2.87874172952e-05,1793251577654443008
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.545168338,747,724,691,671,643,895.545168338,789,825.545168338,657,633,657,0.426833502219,-0.00554863236018,0.0499984400879,0.999999992762,0.000116085845445,8.2305912342e-07,3.16288008731e-05,1793251577671109376
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.874976859,747,724,691.125023141,671,643,896,788.874976859,826,657,633,657,0.427770619721,-0.00554807267363,0.0499987032643,0.999999992389,0.000117615150954,-1.63323494519e-05,3.35004275195e-05,1793251577687776256
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.280708125,747,724,691.719291875,671,643,896,788.280708125,826,657,633,657,0.428660563306,-0.00554373340281,0.0499559809388,0.999999988443,0.000121494129446,-8.58460450319e-05,3.13626443657e-05,1793251577704442880
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,692,671,643,896.607992961,788,826,657,633,657,0.429626159115,-0.00554490863524,0.0499431583301,0.999999987725,0.00011868547393,-9.76859065046e-05,3.03361761852e-05,1793251577721109504
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724,692,671,643,897.760277964,788,826,657,633,657,0.430659480832,-0.00555102060307,0.0499571027737,0.999999991827,0.000109889864298,-5.78945597748e-05,3.03045879503e-05,1793251577737776128
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.456480323,747,724,691.543519677,671,643.456480323,897.543519677,788,826,657,633,657.456480323,0.43161083522,-0.00555277858023,0.0499486228831,0.999999990952,0.000106633083311,-7.602712904e-05,3.0755035473e-05,1793251577754442752
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.967193885,747.032806115,724.032806115,691.032806115,671,643.967193885,897.032806115,788,826,657,633.032806115,657.967193885,0.432543212993,-0.00555329755291,0.0499357273791,0.999999988382,0.000105096290827,-0.00010586849044,3.13518566068e-05,1793251577771109376
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.39198949,747.60801051,724.60801051,691.60801051,671,643.39198949,897.60801051,788,826,657,633.60801051,657.39198949,0.433517840178,-0.00555224170504,0.0499472196646,0.999999990633,0.000107940673288,-7.77220964728e-05,3.2275166368e-05,1793251577787776000
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.810201497,725,692,671,643,898,788,826.189798503,657,633.810201497,657,0.434482902272,-0.00555141122177,0.0499603785385,0.999999992096,0.000109139229239,-5.28866257143e-05,3.31709645454e-05,1793251577804442624
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.214327741,725,692,671,643,898,788,826.785672259,657,633.214327741,657,0.435427499973,-0.00555106290746,0.0499771030923,0.9999999931,0.000106816528294,-3.51348935853e-05,3.40079017067e-05,1793251577821109248
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.633390003,692,671,643,898.366609997,788,827,657,633,657.366609997,0.436340818165,-0.00554945206731,0.0499636037381,0.999999990693,0.000109154199227,-7.4275728654e-05,3.4394038648e-05,1793251577837775872
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.060842382,692,671,643,898.939157618,788,827,657,633,657.939157618,0.43723656551,-0.00554713202238,0.0499331265594,0.999999982326,0.000114109763312,-0.00014537510407,3.45269451914e-05,1793251577854442496
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724,692,671,643,898.487468999,788,827,657,633,658,0.438200202404,-0.00555215125399,0.0499539539104,0.999999989701,0.000107828390541,-8.7987029867e-05,3.50758133399e-05,1793251577871109120
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.089321905,724.089321905,692.089321905,671.089321905,643,898.17864381,788.089321905,827.089321905,657,633.089321905,658,0.439156312143,-0.00555698178245,0.0499758712475,0.999999993754,0.000101902913519,-2.8895677186e-05,3.56786855267e-05,1793251577887776000
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.684927039,724.684927039,692.684927039,671.684927039,643,899.369854079,788.684927039,827.684927039,657,633.684927039,658,0.440024003836,-0.0055557964875,0.0499693904782,0.999999992676,0.000105567715987,-4.67429853669e-05,3.6307323876e-05,1793251577904442624
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,748,725,692.730646215,671.730646215,643,899.730646215,788.730646215,828,657,634,658,0.440895831504,-0.00555678503805,0.0499659641762,0.999999992356,0.000104308042908,-5.53752290853e-05,3.66253490739e-05,1793251577921109504
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,748,725,692.158774245,671.158774245,643,899.158774245,788.158774245,828,657,634,658,0.441772304335,-0.00556021509062,0.0499659684256,0.999999993136,9.75175640961e-05,-5.36577950145e-05,3.65945165959e-05,1793251577937776128
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.582117358,725,692,671,643,899,788,828,657,633.582117358,657.582117358,0.442665824491,-0.00556421721644,0.0499834770099,0.999999995228,8.86024780259e-05,-1.96662923825e-05,3.61456271412e-05,1793251577954442752
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.003621339,725,692,671,643,899,788,828,657,633.003621339,657.003621339,0.443565896867,-0.00556843921916,0.0500077133931,0.999999995901,7.8870797489e-05,2.67297628537e-05,3.55360572318e-05,1793251577971109376
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,725,692.587827044,671.587827044,643,899.587827044,788,828,657,633.587827044,657.587827044,0.444308552514,-0.00556166139904,0.0499769186264,0.999999994868,8.67318622331e-05,-3.86847932223e-05,3.52897019498e-05,1793251577987775744
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.175411862,725,693,672,643,900,788.175411862,828,657,633.824588138,658,0.445065304257,-0.00555678454859,0.0499508601081,0.99999999165,9.28904441686e-05,-8.2815109086e-05,3.48336359686e-05,1793251578004442368
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.753930592,725,693,672,643,900,788.753930592,828,657,633.246069408,658,0.445856728621,-0.00555643547448,0.04993648241,0.999999992005,9.48819442687e-05,-7.64143888531e-05,3.38903846117e-05,1793251578021109248
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.669924252,725,693,672,643,900,788.669924252,828,657,633.330075748,658,0.446639377269,-0.00555775666736,0.049940895302,0.999999993171,9.67519277234e-05,-5.54314121128e-05,3.49812082544e-05,1793251578037776128
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.095535983,725,693,672,643,900,788.095535983,828,657,633.904464017,658,0.44741553034,-0.00556031414358,0.0499592164462,0.99999999416,9.85319678768e-05,-2.36550711864e-05,3.75775954126e-05,1793251578054443264
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.49017682,747.49017682,725,692.50982318,672,643,900,788,828,657,633.50982318,658,0.448115497773,-0.00555728039469,0.0499447690451,0.99999999282,0.000103019301289,-4.81926062386e-05,3.7743159046e-05,1793251578071109632
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,748,725.076995046,692.076995046,672.076995046,643,900.076995046,788,828,657.076995046,633.076995046,658,0.448800112729,-0.00555379027438,0.0499270265661,0.999999990428,0.000107665916707,-7.83340048251e-05,3.76248597428e-05,1793251578087776256
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,748,725.656285298,692.656285298,672.656285298,643,900.656285298,788,828,657.656285298,633.656285298,658,0.44948373182,-0.00555460018071,0.0499304378545,0.999999990642,0.00010982796226,-7.17380590416e-05,3.88185585738e-05,1793251578104442624
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.774887244,748,725.774887244,693,672.774887244,643,901,788.225112756,828,657.774887244,633.774887244,658,0.450156395207,-0.00555497800727,0.0499431223811,0.999999991197,0.000113785129138,-5.46976321176e-05,4.08417149951e-05,1793251578121109248
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.221325496,748,725.221325496,693,672.221325496,643,901,788.778674504,828,657.221325496,633.221325496,658,0.450813073702,-0.0055547254112,0.0499693369527,0.999999991534,0.000120361453374,-2.24182678019e-05,4.40750848458e-05,1793251578137775872
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,901,788.640066268,828.359933732,657,633.359933732,658,0.451424246401,-0.00555592328754,0.049983410212,0.999999991114,0.000123923806878,-1.34233835395e-05,4.72683427952e-05,1793251578154442496
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,901,788.040355778,828.959644222,657,633.959644222,658,0.452005104607,-0.00555808742387,0.0499893953057,0.999999990657,0.000125478346679,-1.99398990818e-05,5.04348797765e-05,1793251578171109120
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725,692.464636889,672.535363111,643,901,787.464636889,828.464636889,657,634,658,0.45253159591,-0.00555322706815,0.0499644361566,0.999999987575,0.000134506647177,-6.49585821712e-05,5.03782741619e-05,1793251578187775744
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.708804459,748,725,692,673,643,901.708804459,787,828,657,633.291195541,658,0.45355915992,-0.0055514043854,0.0499451362549,0.999999984608,0.000142219817657,-8.86091657696e-05,5.20137412057e-05,1793251578221109504
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,748,725,692,673,643,901.705262877,787.589474247,828.294737123,657.294737123,633.294737123,658,0.454055103686,-0.00555266157983,0.0499530025326,0.999999985883,0.000143696185,-6.90215343454e-05,5.31142418057e-05,1793251578237776384
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,748,725,692,673,643,901.128372615,788.743254771,828.871627385,657.871627385,633.871627385,658,0.454539690333,-0.00555309434743,0.0499662189102,0.999999986892,0.000146611313281,-4.27765476185e-05,5.3764946644e-05,1793251578254442752
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,748,725,692,672.554894637,643,901.445105363,788.109789274,829,658,633.554894637,658,0.454955950104,-0.00555555899258,0.0499597322484,0.999999986656,0.000144094325012,-5.45667434354e-05,5.42955040635e-05,1793251578271109376
+206,3.433333333,POSE1_TO_POSE2_PRESS,769.98178947,748,725,692,672.01821053,642.98178947,901.98178947,787.01821053,828.98178947,657.98178947,633.01821053,658,0.45535063388,-0.00555845135512,0.0499468359019,0.999999985611,0.000140147099021,-7.83792018716e-05,5.47059976533e-05,1793251578287775744
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.389653388,748,725,692,672.610346612,642.389653388,901.389653388,787.610346612,828.389653388,657.389653388,633.610346612,658,0.455681661641,-0.0055564953698,0.0499096603561,0.999999979288,0.000140124172244,-0.000137994359286,5.24163217642e-05,1793251578304442624
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,691.80193904,673,642.19806096,901.19806096,788,828.19806096,657,634,658,0.456005852033,-0.00555599740848,0.0498785140764,0.999999974685,0.000116385118712,-0.000187619901005,4.33929454058e-05,1793251578321109248
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,691.22273385,673,642.77726615,901.77726615,788,828.77726615,657,634,658,0.4563168847,-0.00555830523727,0.0498589703901,0.999999974899,4.70072637095e-05,-0.000218021635394,2.14113817655e-05,1793251578337775872
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.353538985,748,725.353538985,691.353538985,672.646461015,643,902,787.646461015,828.646461015,657,633.646461015,658,0.456623606101,-0.00556332666808,0.0498550065037,0.999999975002,1.79780945781e-05,-0.00022242821643,1.40692764704e-05,1793251578354442496
+211,3.516666667,POSE1_TO_POSE2_PRESS,769.927979652,748,725.927979652,691.927979652,672.072020348,643,902,787.072020348,828.072020348,657,633.072020348,658,0.456927633726,-0.00557004363847,0.0498607773382,0.999999977599,1.41599788828e-05,-0.000210592255307,1.58743384682e-05,1793251578371109376
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,748,725.500392945,692,672,642.500392945,902,787.499607055,828.499607055,657,633.499607055,658,0.45719741696,-0.00556953346031,0.0498710402176,0.999999980516,1.94531112834e-05,-0.000195639791456,1.77534257386e-05,1793251578387775744
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+215,3.583333333,POSE1_TO_POSE2_PRESS,769.257596061,748,726,692,672.742403939,642.742403939,902,787.257596061,829,657,634,658,0.457887274899,-0.00556135850948,0.0498783714186,0.999999981865,3.62933366475e-05,-0.000185747942159,2.1234485649e-05,1793251578437775872
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769.014951413,748,725.014951413,691.014951413,672,642,902,787.014951413,829,657,634,658,0.458380793122,-0.00555778741998,0.0498583493291,0.999999976892,4.76019288321e-05,-0.000208439456599,2.24302840822e-05,1793251578487776000
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,901.425734355,787.574265645,829,657,633.425734355,658,0.45850426682,-0.00555880685564,0.0498555673504,0.99999997542,4.87962067014e-05,-0.00021497078645,2.37908102596e-05,1793251578504442624
+220,3.666666667,POSE1_TO_POSE2_PRESS,769.160906077,748,725,691,672,642,901,788,829,657,633,658,0.458620827584,-0.00555942615997,0.0498540490126,0.999999974393,5.01406065823e-05,-0.000219273074805,2.48833289315e-05,1793251578521109248
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.739884284,748,725,691,672,642,901,788,829,657,633,658,0.45872134045,-0.0055587599583,0.0498556816778,0.999999974611,5.20671068026e-05,-0.000217790490157,2.51904231541e-05,1793251578537775872
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+237,3.950000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,901.008800968,787,828.008800968,657.008800968,633,658,0.459174361644,-0.00555270084034,0.0498389917478,0.999999967085,6.31435109655e-05,-0.000247234375577,2.68092454731e-05,1793251578804442624
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,901.601269665,787,828.601269665,657.601269665,633,658,0.459170552982,-0.00555224712604,0.049836010721,0.99999996549,6.36224625603e-05,-0.000253521825435,2.64411183861e-05,1793251578821109248
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,747.810965172,725,691,672,642,901.810965172,787,829,657.810965172,633,658,0.459168875211,-0.00555131087344,0.0498344109485,0.999999964607,6.47949413597e-05,-0.000256716345164,2.61735506615e-05,1793251578837775872
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,747.232880323,725,691,672,642,901.232880323,787,829,657.232880323,633,658,0.459171582999,-0.00554938151532,0.0498356539166,0.999999965245,6.73947590827e-05,-0.000253545346914,2.61129428229e-05,1793251578854442496
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747.342932729,725,691,672,642,901.342932729,787,829,657,633,658,0.459172913805,-0.00554744496535,0.0498354996512,0.999999965272,6.88078179071e-05,-0.000253079325092,2.59269352541e-05,1793251578871109120
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747.917213169,725,691,672,642,901.917213169,787,829,657,633,658,0.459173315679,-0.00554550356374,0.0498344027905,0.999999964892,6.94202707628e-05,-0.000254438122236,2.56563310954e-05,1793251578887776000
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,642,902,787.490874878,828.509125122,657,633,658,0.459173651758,-0.00554611948051,0.049835025947,0.999999965102,6.84410526695e-05,-0.00025388994164,2.5514955244e-05,1793251578904442624
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672.066803337,641.933196663,902,787.933196663,828.066803337,657,633.066803337,658,0.459173946504,-0.00554708865104,0.0498358089418,0.999999965341,6.73361468514e-05,-0.000253251543626,2.54513242116e-05,1793251578921109504
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672.66146615,641.33853385,902,787.33853385,828.66146615,657,633.66146615,658,0.45917400222,-0.00554744544679,0.0498355656624,0.999999965029,6.735653915e-05,-0.000254438378319,2.58300118271e-05,1793251578937775872
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672.751571154,641,901.751571154,787,828.751571154,657.248428846,633.751571154,658,0.45917389808,-0.00554695271985,0.0498350784964,0.99999996476,6.8029797225e-05,-0.000255310050705,2.58542193165e-05,1793251578954442496
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672.174785871,641,901.174785871,787,828.174785871,657.825214129,633.174785871,658,0.459173582652,-0.00554533715136,0.0498342689773,0.99999996455,6.95659691096e-05,-0.000255765163048,2.54098990146e-05,1793251578971109120
+248,4.133333333,HOLD_POSE2,769,748,725,691,673,642,902,788,828,657,633,658,0.459175149863,-0.00554668213032,0.0498346808292,0.99999996496,7.03953847145e-05,-0.00025384802481,2.61756512046e-05,1793251579005055232
+249,4.150000000,HOLD_POSE2,769,748,725,691,672.426513479,642,902,787.426513479,828.573486521,657,633,658,0.459174582926,-0.00554485872971,0.0498337899352,0.999999964513,7.17205725013e-05,-0.000255305917211,2.54779046286e-05,1793251579021722112
+250,4.166666667,HOLD_POSE2,769,748,725,691,672,641.847876577,902,787.152123423,829,657,633,658,0.459174034126,-0.00554380224708,0.0498331959414,0.999999964213,7.18179518509e-05,-0.000256499918033,2.49922285937e-05,1793251579038388992
+251,4.183333333,HOLD_POSE2,769,748,725,691,672,641.25429321,902,787.74570679,829,657,633,658,0.459173537959,-0.00554497134871,0.0498334635475,0.999999964342,6.83522494382e-05,-0.000256928109708,2.51219779942e-05,1793251579055055616
+252,4.200000000,HOLD_POSE2,769,748,725.329858601,691,672,641,902,787.670141399,829,657,633,658,0.45917461954,-0.00554542086484,0.0498342209116,0.999999964594,6.87278510898e-05,-0.000255814998217,2.54329819867e-05,1793251579071722240
+253,4.216666667,HOLD_POSE2,769,748,725.90694156,691,672,641,902,787.09305844,829,657,633,658,0.45917688362,-0.00554533106175,0.0498353453425,0.999999964931,7.19824560332e-05,-0.000253546701768,2.58798337252e-05,1793251579088388864
+254,4.233333333,HOLD_POSE2,769,748,725.517629885,691.482370115,672,641.482370115,902,787,829,657,633,658,0.459175673364,-0.00554542621127,0.049834454517,0.999999964538,7.11338760607e-05,-0.000255330973112,2.58980402314e-05,1793251579105055232
+255,4.250000000,HOLD_POSE2,769,748,725,691.941047087,672,642,902,787,829,657,633,658,0.45917410242,-0.00554556902286,0.0498333976735,0.999999964105,6.95016719386e-05,-0.000257473712064,2.58211094782e-05,1793251579121721856
+256,4.266666667,HOLD_POSE2,769,748,725,691.351205602,672,642,902,787,829,657,633,658,0.459175298703,-0.00554582082665,0.0498343349148,0.999999964641,6.79167744875e-05,-0.000255828119157,2.5629577039e-05,1793251579138388224
+257,4.283333333,HOLD_POSE2,769.23391766,748,725,691,672,641.76608234,902,787,829,657,633,658,0.459176251282,-0.00554463418291,0.0498346563282,0.99999996485,6.86429266288e-05,-0.00025485647168,2.52090103952e-05,1793251579155054592
+258,4.300000000,HOLD_POSE2,769.812096958,748,725,691,672,641.187903042,902,787,829,657,633,658,0.459176845197,-0.00554133054507,0.0498340714144,0.999999964572,7.27703001798e-05,-0.000254876684294,2.44513692152e-05,1793251579171721472
+259,4.316666667,HOLD_POSE2,770,748.388254147,725,691,672,641.388254147,901.611745853,787,829,657,633,658,0.459177246745,-0.005541111691,0.0498341935031,0.999999964637,7.27762334872e-05,-0.000254618435917,2.4490780457e-05,1793251579188388608
+260,4.333333333,HOLD_POSE2,770,748.963437818,725,691,672,641.963437818,901.036562182,787,829,657,633,658,0.459177555675,-0.00554237804206,0.0498346559865,0.999999964868,7.0797851295e-05,-0.000254226119222,2.49139418919e-05,1793251579205055744
+261,4.350000000,HOLD_POSE2,769.461010842,748.461010842,725.538989158,691,672,641.461010842,901,787,829,657,633.538989158,658,0.45917663077,-0.00554374843102,0.0498348307047,0.999999964654,7.09457761549e-05,-0.000254988310434,2.53089804251e-05,1793251579221722624
+262,4.366666667,HOLD_POSE2,769,748,725.882387573,691,672,641.117612427,901.117612427,787,829,657,633.882387573,658,0.459175669421,-0.0055443862207,0.0498346067107,0.999999964403,7.11500382493e-05,-0.000255897723805,2.54413079594e-05,1793251579238389504
+263,4.383333333,HOLD_POSE2,769,748,725.291503123,691,672,641.708496877,901.708496877,787,829,657,633.291503123,658,0.459174898447,-0.00554204761539,0.0498328569045,0.999999964133,7.10001940293e-05,-0.000257084201565,2.45241692709e-05,1793251579255055872
+264,4.400000000,HOLD_POSE2,769,748,725,691,672,642,902,787,829,657,633.293569196,658,0.459175425276,-0.00554122604679,0.049832543712,0.999999964075,7.17101870559e-05,-0.000257123271788,2.44133940892e-05,1793251579271722240
+265,4.416666667,HOLD_POSE2,769,748,725,691,672,642,902,787,829,657,633.872982295,658,0.459177215756,-0.00554188159411,0.0498336293288,0.999999964222,7.32573906666e-05,-0.000256045128505,2.50877629625e-05,1793251579288389120
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,902,787,829,657,633,658,0.459175722731,-0.00554339649912,0.0498337217522,0.999999964385,6.90713585168e-05,-0.000256585947068,2.49409851665e-05,1793251579321368064
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,902,787,829,657,633,658,0.4591751572,-0.00554454243014,0.0498329493325,0.999999963863,7.12607141551e-05,-0.000257960476125,2.5556614399e-05,1793251579338034688
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.815124834,787,829,657,633,658,0.45917504878,-0.00554466514877,0.0498326161328,0.999999963643,7.22679681821e-05,-0.000258517070132,2.56825944167e-05,1793251579354701568
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.236354942,787,829,657,633,658,0.459175914281,-0.00554260781296,0.0498332187342,0.99999996408,7.07566388721e-05,-0.000257330973326,2.47653287386e-05,1793251579371367936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901,787.340885502,829,657,633,658,0.459176318643,-0.00554284532794,0.049833499299,0.999999964251,6.89436041995e-05,-0.000257150288484,2.4884343518e-05,1793251579388034560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901,787.917070195,829,657,633,658,0.459176404701,-0.00554466688383,0.0498335575754,0.999999964235,6.69223148586e-05,-0.00025766359809,2.57186599788e-05,1793251579404701184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.491281756,748,725.491281756,691,672,642,901.491281756,787.508718244,829,657,633,658,0.459175822983,-0.00554402481845,0.0498331584289,0.999999963902,7.03335994393e-05,-0.000258035275629,2.58344369963e-05,1793251579421367808
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.932798325,748,725.932798325,691,672,641.932798325,901.932798325,787.067201675,829,657,633,658,0.459174880948,-0.00554295090853,0.0498325521146,0.999999963482,7.41776331745e-05,-0.000258587918304,2.57876317181e-05,1793251579438034176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.340951304,748,725.340951304,691,672,641.340951304,901.340951304,787.659048696,829,657,633,658,0.459172002404,-0.0055417392702,0.0498309288376,0.999999962927,7.42694770816e-05,-0.000260739263935,2.54146806867e-05,1793251579454700800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.243086718,901.243086718,788,829,657,633,658,0.459164371203,-0.00554137182953,0.0498270523532,0.999999961474,7.35480940641e-05,-0.000266490593722,2.50048271938e-05,1793251579471367680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.816512764,901.816512764,788,829,657,633,658,0.459150281444,-0.00554215159965,0.049820113904,0.999999958725,7.17215875749e-05,-0.000277134071891,2.45448256408e-05,1793251579488034048
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.605071055,787.605071055,829,657,633,658,0.459121385166,-0.0055410149726,0.0498067802888,0.999999952569,7.24941958996e-05,-0.000298397880608,2.3784634386e-05,1793251579504700928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.024306695,787.024306695,829,657,633,658,0.45908552162,-0.00553897657716,0.0497904374018,0.999999944262,7.44898280327e-05,-0.00032465912968,2.2883187597e-05,1793251579521368320
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901,787.562750756,829,657,633,658,0.459021562132,-0.00553728742076,0.0497648747928,0.999999931775,7.42180578587e-05,-0.000361231725621,2.12972692314e-05,1793251579538035200
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.148173648,642,901,787.851826352,829,657,633,658,0.458954704176,-0.00553466216682,0.0497410786554,0.999999919536,7.53223197831e-05,-0.000393533374267,1.96259537707e-05,1793251579554701568
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.728033721,642,901,787.271966279,829,657,633,658,0.458882977345,-0.00552926525876,0.0497236022184,0.999999911679,8.07240380234e-05,-0.000412079912279,1.77929493556e-05,1793251579571368192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.693946537,642,901,787.306053463,828.693946537,657,633.306053463,658,0.458806116708,-0.00552552324454,0.0497131750386,0.999999907219,8.38008922702e-05,-0.000422218187264,1.64419515467e-05,1793251579588034560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.117552416,642,901,787.882447584,828.117552416,657,633.882447584,658,0.458724721323,-0.00552324301803,0.0497089745525,0.999999906,8.48241662392e-05,-0.000424929342656,1.55167160108e-05,1793251579604700928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901,787.542597109,828.457402891,657,633.542597109,658,0.458629475549,-0.00552120890748,0.0497112304332,0.999999907033,8.54179117617e-05,-0.000422384206454,1.51589068675e-05,1793251579621367040
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.03279472,787,829,657.03279472,633,658,0.458529088404,-0.00551910886905,0.0497150645025,0.99999990861,8.60638493185e-05,-0.000418508413908,1.49504998497e-05,1793251579638033408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901.621843176,787,829,657.621843176,633,658,0.458401681501,-0.0055148210905,0.0497176113031,0.999999909816,8.94615588152e-05,-0.000414903552218,1.48104650568e-05,1793251579654699776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725,690.793471908,672,642,901.793471908,787,829,657.793471908,633,658,0.458262646564,-0.00550928984524,0.0497188101888,0.999999910137,9.34483561521e-05,-0.000413267275829,1.42654126876e-05,1793251579671366656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.216611462,672,642,901.216611462,787,829,657.216611462,633,658,0.458102761027,-0.00550152889914,0.0497175920832,0.999999908886,9.84914660195e-05,-0.000415160935266,1.29941099189e-05,1793251579688033536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.639491763,748,725,690.360508237,672,642,901,787.360508237,829,657,633,658,0.457921893498,-0.00549506350562,0.0497156180212,0.999999906763,0.000101863705297,-0.000419469007103,1.19412375191e-05,1793251579704700160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.062216123,748,725,690.937783877,672,642,901,787.937783877,829,657,633,658,0.457728409843,-0.00548937710482,0.0497131894154,0.999999904097,0.000104231279311,-0.000425228823762,1.10197034206e-05,1793251579721366784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769.023426706,748,725,691,672,642,901,788,828.488286647,657.511713353,633,658,0.457501148519,-0.00548133829091,0.0497135440388,0.99999990072,0.000110958800391,-0.000431437839049,1.04278131153e-05,1793251579738033408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.911935489,748,725,690.911935489,672,642,901,787.911935489,828.088064511,657.911935489,633.088064511,658,0.457264943195,-0.00547282254544,0.0497149364071,0.999999898009,0.000118188298851,-0.000435795865108,9.78572474272e-06,1793251579754700032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769.319396145,748,725,690.319396145,672,642,901,787.319396145,828.680603855,657.319396145,633.680603855,658,0.457000875312,-0.00546320249639,0.0497203475685,0.999999899992,0.000125276431581,-0.000429239729475,8.62797611599e-06,1793251579771367168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,690.265293445,672.265293445,642,901,787,829,657,633.734706555,658,0.456720960634,-0.00545308975039,0.0497248468045,0.999999901425,0.000132359955742,-0.000423766502011,7.23162596654e-06,1793251579788033536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,748,725,690.840804002,672.840804002,642,901,787,829,657,633.159195998,658,0.456422515748,-0.00544240087681,0.0497282796934,0.999999902248,0.000139438090521,-0.000419559558191,5.55627059577e-06,1793251579804699904
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.581955273,642,901,787,828.581955273,657,633,658,0.456089621983,-0.00543465028841,0.0497266532379,0.999999900337,0.000143600060326,-0.000422715434653,4.01544246461e-06,1793251579821366528
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.004052956,642,901,787,828.004052956,657,633,658,0.455743555197,-0.00542802328145,0.0497230921219,0.999999897358,0.000146646907404,-0.000428686805896,2.52605671521e-06,1793251579838033408
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642.584464514,900.415535486,787.584464514,828,657,633,658,0.455357898939,-0.00542322216476,0.049722593672,0.999999899276,0.000146718906719,-0.000424171903438,1.10438383126e-07,1793251579854700032
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672.170265643,643,900,788,828,657,633,657.829734357,0.454963456288,-0.00541972705618,0.0497249405787,0.999999902089,0.000145293342487,-0.000417981180159,-2.08168123516e-06,1793251579871366912
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.09654757,747.09654757,725,691,673,642.09654757,900,787.09654757,828,657,633,657.90345243,0.453686405777,-0.00542891914661,0.0497803943668,0.999999938228,0.000120563471229,-0.000330133585587,-4.44422647194e-06,1793251579921366528
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.940260489,725,690.940260489,673,643,899,788,828,657,633,657,0.452694769112,-0.0054268163408,0.0498240426256,0.999999954067,0.000112641479063,-0.00028131840662,-6.07785892249e-06,1793251579954700032
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747.350260194,725,690.350260194,673,643,899,788,828,657,633,657,0.452106246059,-0.00542150529059,0.0498161506481,0.999999949039,0.000106724681906,-0.000300726378453,-9.77522421572e-06,1793251579971366912
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.550086943,725,691,672.449913057,642.550086943,899,788,827.550086943,657,633,657,0.448999339414,-0.00540798694505,0.0497990829181,0.999999955288,7.40260988476e-05,-0.000288382795027,-2.79204741877e-05,1793251580054700032
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.137860705,748,725,691,672,643,898.862139295,788,827.862139295,657,633,657,0.448328125306,-0.00540917854287,0.049814223615,0.999999962462,6.22432385988e-05,-0.000265103038797,-3.03750294313e-05,1793251580071366912
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.716917847,748,725,691,672,643,898.283082153,788,827.283082153,657,633,657,0.44757299148,-0.00540935985655,0.0497990658464,0.999999958137,5.38948455394e-05,-0.00028226756005,-3.38524956783e-05,1793251580088033536
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.763864848,748,724.236135152,691,672.236135152,642.236135152,896.236135152,788.763864848,827,657,632.763864848,657,0.441945373112,-0.00539535965704,0.04976784933,0.999999934813,-8.33866198831e-07,-0.000356498520002,-5.72962006527e-05,1793251580204699648
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,691.012016449,671,642.987983551,893.012016449,789,825,657,633,656.012016449,0.433646544794,-0.00536529408601,0.0497543244664,0.999999915757,0.000120748382672,-0.000390687423006,-3.56370481194e-05,1793251580354700032
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,746.116187923,724,691.116187923,671,643,893.116187923,789.883812077,824.883812077,657,633,657,0.431847839992,-0.00537956715298,0.0497997237202,0.999999944123,7.39351455601e-05,-0.00032348633493,-4.05566841463e-05,1793251580388034048
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,746.72367805,724,691.72367805,671,643,893.72367805,789.27632195,824.27632195,657,633,657,0.430877250984,-0.00538343262701,0.0498022914575,0.999999947487,6.09227316713e-05,-0.000315333355001,-4.33412482334e-05,1793251580404700416
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.469403807,747,724,691.469403807,671.530596193,642.530596193,893,789.469403807,823.530596193,657,632.530596193,656.530596193,0.427891245144,-0.0053714724393,0.0497704953676,0.999999925648,7.83210445151e-05,-0.000374782362704,-4.59081469618e-05,1793251580454700544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.955652119,671.044347881,642.044347881,893,790,822.955652119,657,632.044347881,656,0.426929475688,-0.00536669637302,0.0497763141927,0.999999924395,8.47877752627e-05,-0.000376758166756,-4.55435018201e-05,1793251580471366912
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.779867222,643,892.779867222,790,821.779867222,657,633,656.220132778,0.425077690696,-0.0053683817356,0.0497713530402,0.999999933027,7.43762326537e-05,-0.00035494807509,-4.92630086866e-05,1793251580504700928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.200843938,643,892.200843938,790,821.200843938,657,633,656.799156062,0.424190713073,-0.00537514818399,0.0498103394746,0.999999957658,6.2067981275e-05,-0.000280112066823,-4.86700406925e-05,1793251580521367808
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..495b178cac7fd786b3ab3c1d9f3f78814df8e43c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7b2f171c331fcdf3956e9e1e0f104339445351d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104617783d343d1a9101b1fd14804c2f57bad627ef7a9dc1b4b101debb178ba9
+size 26339341
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff0727ec8fcab58585ebb37e23101dcabf506b4a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/franka_data.csv
@@ -0,0 +1,416 @@
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+16,0.266666667,BASELINE,770,747.306039699,724,689,671,643,888,789,819.306039699,657.306039699,633,657,0.400992018976,-0.00540672109494,0.0498527962608,0.999999960901,0.000115263242591,-0.000251598940407,-4.01233678921e-05,1793251582201884928
+17,0.283333333,BASELINE,770,747.879305535,724,689,671,643,888,789,819.879305535,657.879305535,633,657,0.400990811032,-0.00540666217379,0.0498526352651,0.999999960593,0.000116616881634,-0.000252200256718,-4.01243441066e-05,1793251582218552064
+18,0.300000000,BASELINE,770,747.532804074,724,689,670.532804074,643,888,789,819.532804074,657.532804074,633,657,0.400991884204,-0.00540675441815,0.0498532309889,0.99999996103,0.000115810216167,-0.000250842055654,-4.0087541305e-05,1793251582235218432
+19,0.316666667,BASELINE,770,747,724,689,670.057563586,643,887.942436414,789,819,657,632.942436414,657,0.400993365285,-0.00540691592559,0.0498539854316,0.99999996159,0.000114580499623,-0.000249178442155,-4.00073762458e-05,1793251582251884544
+20,0.333333333,BASELINE,770,747,724,689,670.635078768,643,887.364921232,789,819,657,632.364921232,657,0.400993035921,-0.0054073389223,0.0498543506792,0.999999961514,0.000114733428192,-0.000249476389821,-3.9626540337e-05,1793251582268551424
+21,0.350000000,BASELINE,770,747,724,689,671,643,887,789,819,657,632.211728342,657,0.400993036895,-0.00540800825766,0.0498546680347,0.999999961551,0.000114629335319,-0.000249424763761,-3.93006600745e-05,1793251582285218304
+22,0.366666667,BASELINE,770,747,724,689,671,643,887,789,819,657,632.786892025,657,0.4009936049,-0.0054091004375,0.0498549031827,0.999999961785,0.000114084060704,-0.000248773088357,-3.9069112164e-05,1793251582301884416
+23,0.383333333,BASELINE,770,747,724,689,671,643,887,789,819,657.362462074,633,656.637537926,0.40099325318,-0.0054085836762,0.0498545754087,0.999999961615,0.000114177179947,-0.000249373486756,-3.93130188754e-05,1793251582318551296
+24,0.400000000,BASELINE,770,747,724,689,671,643,887,789,819,657.938271368,633,656.061728632,0.400992360105,-0.00540711988318,0.0498539162956,0.999999961207,0.000114646061361,-0.000250710862794,-3.98367808357e-05,1793251582335218688
+25,0.416666667,BASELINE,770,747,724,689,671,643,887,789,819.525771111,657.474228889,633,656.525771111,0.400992631323,-0.00540827015898,0.0498538754532,0.999999961382,0.000113750641179,-0.000250451824888,-3.96360698429e-05,1793251582351885056
+26,0.433333333,BASELINE,769.886988278,747,724,689,671,643,887,789,819.886988278,657.113011722,633,657,0.400993278564,-0.00540939883382,0.0498541558244,0.999999961719,0.000112869565912,-0.000249538407371,-3.94211311582e-05,1793251582368551424
+27,0.450000000,BASELINE,769.306624177,747,724,689,671,643,887,789,819.306624177,657.693375823,633,657,0.400994902668,-0.00540914012392,0.049855457541,0.999999962433,0.000112725277555,-0.000246711570579,-3.95071028366e-05,1793251582385218048
+28,0.466666667,BASELINE,769.271500979,747,724,689,671,643,887,789,819,658,633,657,0.400995791164,-0.00540963620503,0.0498561578653,0.999999962922,0.000111780079405,-0.000245139765827,-3.95968783954e-05,1793251582401884672
+29,0.483333333,BASELINE,769.847118192,747,724,689,671,643,887,789,819,658,633,657,0.400995855683,-0.00541097774977,0.0498561845522,0.999999963163,0.000109937758643,-0.000244973759559,-3.96909147874e-05,1793251582418551552
+30,0.500000000,BASELINE,769.580458845,747,724,689.419541155,671,643,887.419541155,789,819.419541155,657.580458845,633,657,0.400995216858,-0.00540946172239,0.0498557096042,0.999999962751,0.000111866412013,-0.00024576342565,-3.98141668872e-05,1793251582435218176
+31,0.516666667,BASELINE,769.009191092,747,724,689.990808908,671,643,887.990808908,789,819.990808908,657.009191092,633,657,0.400994323669,-0.00540691225715,0.0498550532404,0.999999962092,0.000115158834083,-0.000246898709602,-3.99479848132e-05,1793251582451884800
+32,0.533333333,BASELINE,769.583929158,747,724,689.416070842,671,643,887.416070842,789,819.416070842,657.583929158,633,657,0.400992809498,-0.00540775903152,0.0498546787148,0.999999961571,0.000116026324795,-0.000248628170344,-3.97464008625e-05,1793251582468551680
+33,0.550000000,BASELINE,769.826363343,747,724,688.826363343,671,643,887,788.826363343,819,658,633,657,0.400992083013,-0.0054083452733,0.0498545169113,0.999999961294,0.000116327135572,-0.000249620243614,-3.96262204005e-05,1793251582485218816
+34,0.566666667,BASELINE,769.24549788,747,724,688.24549788,671,643,887,788.24549788,819,658,633,657,0.400993227699,-0.00540819024297,0.049854843195,0.999999961588,0.000115391912668,-0.000248860140244,-3.97098177453e-05,1793251582501885696
+35,0.583333333,BASELINE,769.330470477,747,724,688.330470477,671,643,887,788.330470477,819.330470477,657.669529523,633,657,0.400993658861,-0.00540800436691,0.0498548921493,0.99999996168,0.000115186565041,-0.000248591152829,-3.96698120899e-05,1793251582518552320
+36,0.600000000,BASELINE,769.902854083,747,724,688.902854083,671,643,887,788.902854083,819.902854083,657.097145917,633,657,0.400993567706,-0.00540779591094,0.0498547380912,0.999999961625,0.000115515505324,-0.000248681675204,-3.95393257778e-05,1793251582535218688
+37,0.616666667,BASELINE,770,747,724,689,671,643,887,789,819.510776238,657,632.510776238,657,0.400992715659,-0.0054091498278,0.049854256501,0.999999961727,0.000112294321598,-0.000249741768982,-3.95619336975e-05,1793251582551885056
+38,0.633333333,BASELINE,770,747,724,689,671,643,887,789,819,657,632.077121983,657,0.400991953917,-0.00541035003971,0.0498538442359,0.999999961852,0.000109192277998,-0.000250600166843,-3.96531423991e-05,1793251582568551424
+39,0.650000000,BASELINE,770,747,724,689,671,643,887,789,819,657,632.656358516,657,0.400992792767,-0.00540847020479,0.0498543192276,0.99999996201,0.000111590695218,-0.000248855011593,-3.99872373167e-05,1793251582585218048
+40,0.666666667,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400992388535,-0.00540746325622,0.0498540843992,0.999999961825,0.000112632138875,-0.000249101742373,-4.01432435019e-05,1793251582601884672
+41,0.683333333,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400990171128,-0.00540772950911,0.0498528142197,0.999999961145,0.000111694286281,-0.000252253859467,-4.0039487543e-05,1793251582618551552
+42,0.700000000,BASELINE,769.613039109,747,724,689,671,643,887,789,819.386960891,657,633,657,0.400991841091,-0.00540811164159,0.0498536457521,0.999999961645,0.000111593339857,-0.000250331979234,-3.98800711081e-05,1793251582635218432
+43,0.716666667,BASELINE,769.039352127,747,724,689,671,643,887,789,819.960647873,657,633,657,0.400995386885,-0.0054085496912,0.0498554914554,0.999999962703,0.000111896238447,-0.000245961666249,-3.96937959847e-05,1793251582651885312
+44,0.733333333,BASELINE,769.550527544,747,724,689,671,643,887,789,819.449472456,657,633,657,0.400994397743,-0.00540963741942,0.0498556533247,0.999999962603,0.00011058435121,-0.000247008884969,-3.94001772452e-05,1793251582668551680
+45,0.750000000,BASELINE,770,747,724,689,671,643,887,789,819.13872849,657,633,657,0.400993365076,-0.00541043352129,0.0498556972048,0.99999996247,0.00010931463405,-0.000248141511749,-3.9198047706e-05,1793251582685218048
+46,0.766666667,BASELINE,770,747,724,689,671,643,887,789,819.717815206,657,633,657,0.400993254394,-0.00541015205178,0.0498557601936,0.999999962514,0.000108556269373,-0.000248278769346,-3.93114214598e-05,1793251582701884416
+47,0.783333333,BASELINE,770,747,724,689,671,643,887,789,819.705009837,657.294990163,633,657,0.400993628751,-0.00540929496917,0.049855752069,0.999999962425,0.00011046108205,-0.000247768582559,-3.94898191445e-05,1793251582718551296
+48,0.800000000,BASELINE,770,747,724,689,671,643,887,789,819.129651808,657.870348192,633,657,0.400994464103,-0.00540789080587,0.0498556763561,0.999999962194,0.00011489706158,-0.000246643044415,-3.97300176169e-05,1793251582735217920
+49,0.816666667,BASELINE,770,747,723.545298474,689,671,643,887,789,819,657.545298474,633,657,0.400994237926,-0.00540743842724,0.0498554764896,0.999999961986,0.000116675390663,-0.000246675942272,-3.95718021684e-05,1793251582751884544
+50,0.833333333,BASELINE,770,747,723.041108502,689,671,643,887.041108502,789,819,657,633,657,0.400993750589,-0.00540736839659,0.0498552727468,0.999999961831,0.0001173990032,-0.00024700008185,-3.93169543166e-05,1793251582768551168
+51,0.850000000,BASELINE,770,747,723.620148644,689,671,643,887.620148644,789,819,657,633,657,0.400993886497,-0.00540867867484,0.0498554908693,0.999999962242,0.000114437295166,-0.000246725728754,-3.93141688204e-05,1793251582785218560
+52,0.866666667,BASELINE,770,747,724,689,671,643,887.801020513,789,819,657,633,657,0.400993835658,-0.00540951344753,0.0498554719089,0.999999962439,0.000112500605277,-0.000246817639623,-3.93243277444e-05,1793251582801885440
+53,0.883333333,BASELINE,770,747,724,689,671,643,887.222588836,789,819,657,633,657,0.400993428694,-0.00540944143507,0.0498550008335,0.99999996224,0.000112518616458,-0.000247608012776,-3.93591715678e-05,1793251582818551808
+54,0.900000000,BASELINE,770,747,724,689,671,643,887,789,819.352873239,657,633,657,0.400993827282,-0.00540964526922,0.0498553552095,0.999999962512,0.000111825401313,-0.00024681688262,-3.94136887578e-05,1793251582835218176
+55,0.916666667,BASELINE,770,747,724,689,671,643,887,789,819.92647773,657,633,657,0.400994729764,-0.00541002165248,0.0498562259265,0.999999963073,0.000110687295874,-0.000245036481591,-3.94805121414e-05,1793251582851885056
+56,0.933333333,BASELINE,770,747,724,689,671,642.485927576,887,789,819.485927576,657,633,657,0.400994502747,-0.00541021510688,0.0498556346436,0.999999962695,0.000111969484737,-0.000246005080135,-3.94334102266e-05,1793251582868551680
+57,0.950000000,BASELINE,770,747,724,689,671,642.102230184,887.102230184,789.102230184,819.102230184,657.102230184,633,657,0.400993792378,-0.0054100054281,0.049854765233,0.999999962156,0.000113366274286,-0.000247546935855,-3.94441888326e-05,1793251582885217792
+58,0.966666667,BASELINE,770,747,724,689,671,642.683389682,887.683389682,789.683389682,819.683389682,657.683389682,633,657,0.400991595556,-0.00540803314034,0.0498535998172,0.999999961531,0.000113632937088,-0.000249880984869,-3.98045944082e-05,1793251582901884672
+59,0.983333333,BASELINE,770,747,724,689,671,643,887.738822872,789.738822872,819.738822872,657.738822872,633,657,0.400991335688,-0.00540786421602,0.0498539079143,0.999999961698,0.000112940835615,-0.000249545852903,-3.96818009069e-05,1793251582918551552
+60,1.000000000,BASELINE,770,747,724,689,671,643,887.165070994,789.165070994,819.165070994,657.165070994,633,657,0.400993393951,-0.00540985354273,0.0498559794999,0.999999962807,0.000111101292569,-0.000246016266265,-3.89807185666e-05,1793251582935217920
+61,1.016666667,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.40099407656,-0.00541032375791,0.0498561206441,0.999999962809,0.000112063881868,-0.000245581961469,-3.89081470624e-05,1793251582951884544
+62,1.033333333,BASELINE,770,747,724,689,671,643,887,789,819,657,633,657,0.400994203526,-0.00541018038616,0.0498554820605,0.999999962364,0.0001141582851,-0.0002463978772,-3.90894384323e-05,1793251582968550912
+63,1.050000000,BASELINE,769.424948569,747.575051431,724,689,671,643,887.575051431,789,819,657,633,657,0.40099287461,-0.00540966773761,0.0498547529554,0.999999962324,0.000111718718596,-0.000247606836313,-3.95231504226e-05,1793251582985217536
+64,1.066666667,BASELINE,769.162243724,747.837756276,724,689,671,643,888,789,819.162243724,657.162243724,633,657,0.400991976272,-0.00540934213502,0.0498544033105,0.999999962218,0.000110602750764,-0.00024848200764,-3.98436692889e-05,1793251583001884160
+65,1.083333333,BASELINE,769.741922412,747.258077588,724,689,671,643,888,789,819.741922412,657.741922412,633,657,0.400992283872,-0.00540952266507,0.049855036074,0.99999996193,0.000113197782447,-0.000248471894454,-3.9855945157e-05,1793251583018551552
+66,1.100000000,BASELINE,769.681941983,747,724,689,671,643,887.681941983,789,819.681941983,657.681941983,633,657,0.40099266941,-0.00540964394053,0.0498553404607,0.999999961921,0.000113471926892,-0.000248395965358,-3.97587651541e-05,1793251583035218688
+67,1.116666667,BASELINE,769.10864965,747,724,689,671,643,887.10864965,789,819.10864965,657.10864965,633,657,0.40099311749,-0.00540971766553,0.0498553813326,0.99999996214,0.000111883612048,-0.000248267220495,-3.95737493063e-05,1793251583051885568
+68,1.133333333,BASELINE,769.477716594,747,724,689,671,643,887,789,819,657,633,657,0.400993123484,-0.0054099686547,0.0498550965328,0.999999962252,0.000111673768293,-0.000247942291944,-3.93574949975e-05,1793251583068551936
+69,1.150000000,BASELINE,770,747,724,689,670.934039509,643,887,789,819.065960491,657,633,657,0.400993124058,-0.00541010664355,0.0498548523616,0.999999962346,0.000111893646746,-0.000247488005051,-3.92055982807e-05,1793251583085218560
+70,1.166666667,BASELINE,770,747,724,689,670.354971182,643,887,789,819.645028818,657,633,657,0.400993886625,-0.00540904315614,0.04985551664,0.999999962484,0.000112948895468,-0.000246384296718,-3.96111634832e-05,1793251583101884928
+71,1.183333333,BASELINE,769.776715637,747,724,689,670.223284363,643,887.223284363,789,819.776715637,657,633,657,0.400994191829,-0.00540822574463,0.0498556655664,0.999999962398,0.000114158396474,-0.000246149127311,-3.97694507986e-05,1793251583118551296
+72,1.200000000,BASELINE,769.199747454,747,724,689,670.800252546,643,887.800252546,789,819.199747454,657,633,657,0.400993772568,-0.00540779811874,0.0498549981722,0.999999961959,0.000115612234219,-0.000247289728792,-3.95360484652e-05,1793251583135218176
+73,1.216666667,BASELINE,769,747,724,688.616993811,671,643,887.616993811,789,819.383006189,657,633,657,0.400993334627,-0.00540851626679,0.0498548895548,0.999999961954,0.000115163141877,-0.000247531901081,-3.9467829528e-05,1793251583151884544
+74,1.233333333,BASELINE,769,747,724,688.031176663,671,643,887.031176663,789,819.968823337,657,633,657,0.400992886793,-0.00540984112963,0.0498550768231,0.999999962178,0.000113706402345,-0.000247298333504,-3.94870791731e-05,1793251583168550912
+75,1.250000000,BASELINE,769.548033366,747,724,688.548033366,671,643,887,789.548033366,819.451966634,657,633,657,0.400993519536,-0.00540918903375,0.0498555994611,0.999999962507,0.000112654127851,-0.000246451673989,-3.94654873488e-05,1793251583185218304
+76,1.266666667,BASELINE,770,747,724,689,671,643,887,789.873069745,819,657,633,657.126930255,0.400993946705,-0.00540894109113,0.0498559466624,0.999999962776,0.000111516591014,-0.000245885233676,-3.94073316986e-05,1793251583201885696
+77,1.283333333,BASELINE,770,747,724,689,671,643,887,789.293965377,819,657,633,657.706034623,0.400993425164,-0.00541052877028,0.0498556017356,0.999999962815,0.000109994325623,-0.000246439809105,-3.92270999602e-05,1793251583218552576
+78,1.300000000,BASELINE,770,747.283828301,724,689,671,643,887.283828301,789,819.283828301,657.283828301,633,657.716171699,0.400994202287,-0.00541077858891,0.0498562833992,0.999999963087,0.00010979913109,-0.000245443831644,-3.90863849621e-05,1793251583235218944
+79,1.316666667,BASELINE,770,747.860270681,724,689,671,643,887.860270681,789,819.860270681,657.860270681,633,657.139729319,0.400996318274,-0.00540964913405,0.0498580234306,0.999999963595,0.000110972086391,-0.000242849304593,-3.89864099385e-05,1793251583251885056
+80,1.333333333,BASELINE,770,747.563968551,724,689,671,643,888,789,819.563968551,657.563968551,633,657,0.400995199169,-0.0054097575458,0.0498567746421,0.999999963068,0.000111896638284,-0.000244565096932,-3.913411902e-05,1793251583268551424
+81,1.350000000,BASELINE,770,747,724,689,671,643,887.988173799,789,819,657,633,657,0.400993117363,-0.0054102779952,0.0498546382534,0.999999962236,0.000112662110516,-0.000247560444977,-3.93579835065e-05,1793251583285217792
+82,1.366666667,BASELINE,770,747,724,689,671,643,887.400098719,789,819,657,633,657,0.400994562854,-0.00541157678878,0.0498558490471,0.999999963037,0.000109548890366,-0.000245704558456,-3.94311453856e-05,1793251583301884672
+83,1.383333333,BASELINE,769.814844641,747,724,689,670.814844641,643,887,789,819.185155359,657,633,657,0.400995271515,-0.00541207130945,0.0498567023849,0.999999963489,0.000107891839728,-0.000244597707811,-3.9405225312e-05,1793251583318551296
+84,1.400000000,BASELINE,769.235594822,747,724,689,670.235594822,643,887,789,819.764405178,657,633,657,0.400994411865,-0.00541085397337,0.0498567948946,0.999999963223,0.000109334176721,-0.000245085144402,-3.91684139842e-05,1793251583335218176
+85,1.416666667,BASELINE,769,747,724,688.659022578,670.340977422,643,887,789,819.659022578,657,633,657,0.400994144829,-0.00541025279846,0.0498565327999,0.999999963052,0.000109986729997,-0.000245462708807,-3.93218476335e-05,1793251583351885056
+86,1.433333333,BASELINE,769,747,724,688.084285997,670.915714003,643,887,789,819.084285997,657,633,657,0.400994284064,-0.0054100740367,0.0498560276039,0.999999962949,0.000110097842125,-0.000245764949633,-3.97428161302e-05,1793251583368551936
+87,1.450000000,BASELINE,769,747.502570633,724,688.502570633,671,643,887,789,819,657,633,657,0.400993948614,-0.00541014044003,0.0498559812193,0.999999962838,0.000110861229554,-0.000245898848873,-3.95904172409e-05,1793251583385218304
+88,1.466666667,BASELINE,769.089909554,747.910090446,724,688.910090446,671,643,887,789,819,657,633,657,0.400993657347,-0.00540998461677,0.0498560919949,0.999999962745,0.000111785799649,-0.000245885301864,-3.94211232991e-05,1793251583401885184
+89,1.483333333,BASELINE,769.668548017,747.331451983,724,688.331451983,671,643,887,789,819,657,633,657,0.400994049682,-0.00540839179382,0.0498566284549,0.999999962762,0.000112977192859,-0.000245227527278,-3.96956097237e-05,1793251583418551552
+90,1.500000000,BASELINE,770,747,724,688.246525217,671,643,887,789,819.246525217,657,633,657,0.40099441618,-0.00540832554281,0.0498567357213,0.999999962916,0.000111922116592,-0.000245076703851,-3.97237208253e-05,1793251583435218176
+91,1.516666667,BASELINE,770,747,724,688.823615684,671,643,887,789,819.823615684,657,633,657,0.400994748034,-0.00541030626969,0.0498562674825,0.999999963246,0.00010785475308,-0.000245605650432,-3.94214676474e-05,1793251583451884800
+92,1.533333333,BASELINE,769.602671501,747,724,689,671,643,887,789,819.602671501,657,633,657,0.400995030247,-0.00541108949538,0.0498559773183,0.999999963119,0.000109166354636,-0.000245602254049,-3.9048071325e-05,1793251583468551424
+93,1.550000000,BASELINE,769.030445425,747,724,689,671,643,887,789,819.030445425,657,633,657,0.400995290608,-0.00541134560059,0.0498557655396,0.999999962784,0.000112845689252,-0.000245364528949,-3.86433589147e-05,1793251583485218048
+94,1.566666667,BASELINE,769.56064699,747,724,689,671,643,887,789,819.56064699,657,632.43935301,657,0.400994729338,-0.00540878006784,0.0498558418534,0.999999962563,0.000113789378032,-0.000245718101031,-3.93511844913e-05,1793251583501884928
+95,1.583333333,BASELINE,770,747,724,689,670.850476886,643,887,789,819.850476886,657,632.149523114,657,0.400994338146,-0.00540708823958,0.0498558554672,0.999999962376,0.000114390036838,-0.000246131721172,-3.97723000275e-05,1793251583518552064
+96,1.600000000,BASELINE,770,747,724,689,670.27102169,643,887,789,819.27102169,657,632.72897831,657,0.400994568745,-0.0054083645444,0.0498556422462,0.999999962272,0.000114446390937,-0.000246622458563,-3.91892575931e-05,1793251583535218688
+97,1.616666667,BASELINE,770,747,724,689,670.305757208,643,887,789,819.305757208,657,633,657,0.400994255205,-0.00540881087194,0.0498555288005,0.999999962317,0.000113956530402,-0.000246676149306,-3.91302909646e-05,1793251583551885056
+98,1.633333333,BASELINE,770,747,724,689,670.880184398,643,887,789,819.880184398,657,633,657,0.400993463531,-0.00540852789533,0.0498555030277,0.999999962492,0.000112986709059,-0.000246345805524,-3.95318317061e-05,1793251583568551168
+99,1.650000000,BASELINE,770,747,724,689,671,643,887.465784234,789,819.534215766,657,633,657,0.400993277983,-0.00540853339942,0.0498554343859,0.999999962505,0.000111702743682,-0.000246842400957,-3.97559857395e-05,1793251583585217536
+100,1.666666667,BASELINE,770,747,724,689,671,643,887.946285156,788.946285156,819.053714844,657,633,657,0.400993282117,-0.00540868211757,0.0498554459684,0.999999962509,0.00011046511486,-0.000247361992562,-3.99019568767e-05,1793251583601884416
+101,1.683333333,BASELINE,770,747,724,689,671,643,887.364390429,788.364390429,819.635609571,657,633,657,0.400993580575,-0.00540949145081,0.0498563574952,0.999999962856,0.000110497236339,-0.000245964648019,-3.97388603503e-05,1793251583618551552
+102,1.700000000,BASELINE,770,747,724,689,671,643,887,788.215428232,819.784571768,657,633,656.784571768,0.40099319353,-0.00540949249705,0.0498562952176,0.999999962792,0.000110896734431,-0.000246046233225,-3.97312028784e-05,1793251583635218432
+103,1.716666667,BASELINE,770,747,724,689,671,643,887,788.791768751,819.208231249,657,633,656.208231249,0.400991658043,-0.00540813939984,0.049854601501,0.999999962036,0.000111911707716,-0.000248605506449,-3.99839563452e-05,1793251583651885312
+104,1.733333333,BASELINE,769.635176875,747,724,689,671,643,887,789,819,657,633,656.364823125,0.400992056691,-0.0054086470497,0.0498549799008,0.999999962126,0.000112566985312,-0.000247986368173,-3.97427853364e-05,1793251583668551936
+105,1.750000000,BASELINE,769.063981346,747,724,689,671,643,887,789,819,657,633,656.936018654,0.400993549436,-0.00541020728304,0.049856530451,0.999999962692,0.000113018791077,-0.000245569272783,-3.92222121584e-05,1793251583685218560
+106,1.766666667,BASELINE,769.524912183,747,724,689,671,643,887.524912183,789,819.524912183,657,633,657,0.400992110235,-0.00540995474922,0.0498557218871,0.999999962293,0.000113237400556,-0.000247095474236,-3.91796414362e-05,1793251583701884928
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,689,671,643,887,789,819,657,633,657,0.400992794028,-0.00541072788116,0.0498557481428,0.999999962569,0.000111431587699,-0.00024684621657,-3.88927641418e-05,1793251583744038400
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746.427142002,724,689,671,643,887,789,819.572857998,657,633,657,0.400993316337,-0.00540986102949,0.0498556943689,0.999999962549,0.000111937848689,-0.000246635656572,-3.92772154974e-05,1793251583760704768
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.853899961,746.146100039,724,688.853899961,670.853899961,643,887.146100039,788.853899961,820,657,633,657,0.400994077794,-0.00540965822212,0.049855966592,0.999999962705,0.000111933248576,-0.000245980984678,-3.94251283051e-05,1793251583777371136
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.279532026,746.720467974,724,688.279532026,670.279532026,643,887.720467974,788.279532026,820,657,633,657,0.400995540277,-0.00541140194966,0.049857194421,0.999999963373,0.000110431144465,-0.000244024472782,-3.88796679026e-05,1793251583794038016
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724,688.305879506,670.305879506,643,888,788.305879506,820,657,633,657,0.400995422883,-0.00541195594256,0.0498575815921,0.999999963521,0.00010972395438,-0.00024374709719,-3.88108779059e-05,1793251583810704640
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724,688.901761364,670.901761364,643,888,788.901761364,820,657,633,657,0.400993807617,-0.00541138195575,0.049857171741,0.99999996318,0.000109770417159,-0.000245061699828,-3.91940160258e-05,1793251583827371264
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724,689,670.519684076,643,887.519684076,789,819.519684076,657,633,657,0.400993722791,-0.00541039730191,0.049856527863,0.999999962946,0.000110410597183,-0.000245711922569,-3.92718725723e-05,1793251583844037888
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724,689,670.055479109,643,887.055479109,789,819,657,633,657,0.400993995784,-0.00540946724729,0.049855922775,0.999999962764,0.000111005960255,-0.000246182132523,-3.92849328534e-05,1793251583860704512
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724,689,670.630915688,643,887.630915688,789,819,657,633,657,0.400994790779,-0.00540980869149,0.0498561142119,0.999999962865,0.000110082838097,-0.000246194429201,-3.92555250825e-05,1793251583877371136
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.211183173,747,724,689,671,643,888,789,819.211183173,657,633,656.788816827,0.400999110171,-0.00540981596651,0.0498575550371,0.999999963472,0.000110170824456,-0.000243683371899,-3.92102232037e-05,1793251583894037760
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.800091212,747,724,689,671,643,888,789,819.800091212,657,633,656.199908788,0.401009733342,-0.00540922554229,0.0498612305339,0.999999964951,0.000112067292265,-0.00023665901206,-3.91364929263e-05,1793251583910704640
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,723.616568733,689,670.616568733,643,887.616568733,789,819.616568733,657.383431267,633,656.383431267,0.401039776026,-0.00540923577122,0.0498721825643,0.999999969849,0.000112208997403,-0.000214949931415,-3.88390475325e-05,1793251583927371264
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,723.036090043,689,670.036090043,643,887.036090043,789,819.036090043,657.963909957,633,656.963909957,0.401079798504,-0.00540955467903,0.0498868740455,0.99999997581,0.000111448920512,-0.000185694291727,-3.84266336846e-05,1793251583944038144
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,723,689,670.536178995,643,887,789,819,657.463821005,633,657,0.401144403084,-0.00541340421423,0.0499053816778,0.999999982252,0.000109689754903,-0.000148738606701,-3.66291659715e-05,1793251583960704768
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,723,689,671,643,887,789,819,657,633,657,0.401211948406,-0.00541739795502,0.049922703044,0.999999986795,0.000107919722489,-0.000116437742118,-3.47306209795e-05,1793251583977371392
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,723,689,671,643,887,789,819,657,633,657,0.401285129388,-0.00542100545353,0.0499338378152,0.999999988149,0.000106387685222,-0.000106339721269,-3.27922904445e-05,1793251583994038016
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.731204752,747,723.268795248,689,671,643,887,789,819,657,633,657,0.401365809189,-0.00542359712267,0.0499417181736,0.999999989154,0.000106072492788,-9.72458384422e-05,-3.13790200704e-05,1793251584010704640
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.134647266,747,723.865352734,689,671,643,887,789,819,657,633,657,0.401455632859,-0.00542495011451,0.0499456301813,0.999999989787,0.000107241090765,-8.93763771498e-05,-3.06059951107e-05,1793251584027371264
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.447282656,747,724,689.447282656,671,643,887,789,819,657,633,657,0.401558012501,-0.00542832665518,0.0499451959749,0.999999989825,0.000105873717797,-9.07678088288e-05,-3.00323305746e-05,1793251584044038144
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.975159935,747,724,689.975159935,671,643,887.024840065,789,819,657,632.975159935,657,0.401665315083,-0.00543233426518,0.0499436369451,0.999999989713,0.000103680511705,-9.46275811041e-05,-2.95019042594e-05,1793251584060704768
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.400007482,747,724,689.400007482,671,643,887.599992518,789,819,657,632.400007482,657,0.401800595454,-0.00543725469538,0.0499452260797,0.999999990274,9.95688554508e-05,-9.33648890787e-05,-2.86419219189e-05,1793251584077371904
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.179260843,747,724,689,671,643,887.820739157,789,819.179260843,657,632.179260843,657,0.401944401874,-0.0054427275419,0.0499470055456,0.999999990807,9.58820961088e-05,-9.18628204958e-05,-2.74707426929e-05,1793251584094038784
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.76792918,747,724,689,671,643,887.23207082,789,819.76792918,657,632.76792918,657,0.402107680614,-0.0054494620318,0.0499492197024,0.999999991299,9.31657443524e-05,-8.98140484413e-05,-2.55888320331e-05,1793251584110705152
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.649776884,747,724,689,671,642.649776884,887,789,819.649776884,657,633,656.649776884,0.402291919135,-0.0054566167896,0.0499486591024,0.999999991326,9.05374017379e-05,-9.26379988048e-05,-2.38454131686e-05,1793251584127371520
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.0716313,747,724,689,671,642.0716313,887,789,819.0716313,657,633,656.0716313,0.402489798133,-0.00546404505512,0.0499462927125,0.99999999102,8.79663345135e-05,-9.86330786419e-05,-2.21921234955e-05,1793251584144038144
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.506768954,747,724,689.506768954,671,642.506768954,887,789,819,657,633,656,0.402714889594,-0.00546999118899,0.0499459430711,0.999999990924,8.63161281334e-05,-0.000101284549957,-2.106038626e-05,1793251584160704768
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+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747.171943636,724,689,670.828056364,642.828056364,888,789,819,657.828056364,633,657,0.403845141955,-0.0055044317495,0.0499691009069,0.999999995925,7.05016609093e-05,-5.50642978847e-05,-1.21669303839e-05,1793251584227371520
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+138,2.300000000,POSE1_TO_POSE2_PRESS,769.008798178,747,724,689,670.008798178,643,888.991201822,789,819,657.008798178,633,657.991201822,0.404570525703,-0.00552395431446,0.049981712629,0.99999999703,6.98027638471e-05,-3.21655602345e-05,-5.71813041481e-06,1793251584260705024
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,724,689,670.566029084,643,888.433970916,789,819,657,633,657.433970916,0.40497845124,-0.00552943848541,0.049989473109,0.999999997386,7.09785655158e-05,-1.35894321044e-05,-2.097796974e-06,1793251584277371392
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,724,689.140336518,671,643,888,789,819,657,633.140336518,657,0.405385795184,-0.0055298123365,0.0499905256205,0.999999996829,7.92156706441e-05,-8.12887726197e-06,8.72225613878e-07,1793251584294037760
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,724,689.713289812,671,643,888,789,819,657,633.713289812,657,0.405789576837,-0.00551463801254,0.0499708135643,0.999999993093,0.000109175224097,-4.3484939688e-05,1.82465030789e-06,1793251584310704640
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.296621702,747,724,689.703378298,671,643,888.296621702,789.296621702,819,657,633.703378298,657,0.40621392901,-0.00550495059192,0.0499505260481,0.999999988203,0.000130989542337,-8.0178669831e-05,2.68376814108e-06,1793251584327371520
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.890349197,747,724,689.109650803,671,643,888.890349197,789.890349197,819,657,633.109650803,657,0.406658885323,-0.0055007590275,0.0499296621304,0.999999982546,0.000144645335881,-0.00011821225502,3.44942695026e-06,1793251584344037888
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724.471958847,689.471958847,671,643,889,789.528041153,819,657,633,657.471958847,0.407168142004,-0.00551036859592,0.0499199064221,0.999999980171,0.000144879051506,-0.000136444619997,7.09351664052e-06,1793251584360704768
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724.949576352,690,671,643,889.050423648,789,819.050423648,657,633,657.949576352,0.407699099413,-0.00552227590483,0.0499156717143,0.999999979323,0.000143189817446,-0.000143945281618,1.14186569949e-05,1793251584377371904
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724.375266744,690,671,643,889.624733256,789,819.624733256,657,633,657.375266744,0.408304194941,-0.00552557611423,0.0499426561508,0.999999984405,0.00015310957199,-8.65475670238e-05,1.6045536315e-05,1793251584394038528
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.795979352,789.204020648,819.795979352,657,633,657,0.408914863449,-0.00552722068294,0.0499684049889,0.999999985472,0.000165149188234,-3.67084041714e-05,2.08466293173e-05,1793251584410705152
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.207307099,789.792692901,819.207307099,657,633,657,0.409536038972,-0.00552574377894,0.0499918242822,0.999999983248,0.000181185499041,-1.11980792068e-06,2.59761769641e-05,1793251584427372032
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.625573621,747,724,689.625573621,671,643,889.374426379,790,819,657,633,657,0.410160244923,-0.00552233657218,0.0499943148797,0.999999979883,0.000198285938989,-2.50250552381e-06,3.01700163551e-05,1793251584444038400
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.047612025,747,724,689.047612025,671,643,889.952387975,790,819,657,633,657,0.410786098172,-0.00551788006815,0.049985428803,0.999999975819,0.000215964830578,-2.39825071537e-05,3.38552119693e-05,1793251584460704512
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,724,690.059065028,671,643,890,790,819.529532514,657,633,657,0.411434825358,-0.00551550868973,0.0499536950693,0.999999968261,0.000231237997222,-9.31704836853e-05,3.64200860195e-05,1793251584477371136
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,724.105744865,691,671,643,890.105744865,790,820,657,633,657.105744865,0.412105701267,-0.00551456151779,0.0499289010735,0.999999958962,0.000244551698324,-0.000144041051349,3.90264354496e-05,1793251584494038016
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,724.678166806,691,671,643,890.678166806,790,820,657,633,657.678166806,0.412865261939,-0.00551907358486,0.0499437859727,0.999999963286,0.000250170957199,-9.51707714218e-05,4.22596940188e-05,1793251584510704640
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.259288671,747,724.740711329,690.740711329,671,643.259288671,891,790,820,657.259288671,633,658,0.413630827654,-0.00552554872684,0.0499609454104,0.999999977991,0.000199193489355,-5.71637020974e-05,3.27364472212e-05,1793251584527371264
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.851584001,747,724.148415999,690.148415999,671,643.851584001,891,790,820,657.851584001,633,658,0.4144041058,-0.00553454506335,0.0499810260595,0.999999996576,7.55283598552e-05,-3.31083398434e-05,6.82991153161e-06,1793251584544038144
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,724,690.433798789,671,643.566201211,891.433798789,789.566201211,820.433798789,657.566201211,633.433798789,658,0.415169494823,-0.00554029489425,0.0499614410441,0.999999996299,5.47331476155e-05,-6.6286959711e-05,3.39541407079e-06,1793251584560704768
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,724,690.98745663,670.98745663,643,892,789,821,657,633.98745663,658,0.415934219594,-0.00554474927593,0.0499293707801,0.99999999075,6.85360321649e-05,-0.000117248804882,7.47927549417e-06,1793251584577371136
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,724,690.413173815,670.413173815,643,892,789,821,657,633.413173815,658,0.416787330169,-0.0055398015903,0.0499321157008,0.999999989966,9.14029309054e-05,-0.000107591746026,1.17683753968e-05,1793251584594038016
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,724,690,670.330488107,643,892.165244054,789,821.165244054,657,633,658,0.417644627795,-0.00553688803751,0.0499421626591,0.999999989973,0.000110807982562,-8.6637643331e-05,1.64161244351e-05,1793251584610704640
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671.508532974,643,892.754266487,789,821.754266487,657,633,658,0.418512663317,-0.0055391911418,0.0499709361347,0.999999991723,0.000121334916373,-3.67115883513e-05,2.19836506299e-05,1793251584627371264
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,747,724,690.337399239,671.662600761,643,893,789,822.337399239,657,633,657.662600761,0.419360954171,-0.00553723174347,0.0499718907487,0.999999990255,0.00013048244385,-4.31076117165e-05,2.46357437918e-05,1793251584644037888
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,747,724,690.916316008,671.083683992,643,893,789,822.916316008,657,633,657.083683992,0.420195111334,-0.00553222115528,0.0499529320305,0.999999986038,0.000138642562511,-8.98201750482e-05,2.52009079223e-05,1793251584660704512
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.507638781,747,724.492361219,691,671,643,893.492361219,789.492361219,823.492361219,657,633,657,0.421141431687,-0.00553467859026,0.0499678541744,0.999999990055,0.000131701172378,-4.40559420316e-05,2.45736823369e-05,1793251584677371136
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.063104927,747,724.936895073,690.936895073,671,643,894,789.936895073,824,657,633,657,0.422102039615,-0.00553843400718,0.0499869582544,0.999999992124,0.000122679824048,1.11865582763e-05,2.40053893452e-05,1793251584694038016
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.597851851,747,724.402148149,690.402148149,671,643,894,789.402148149,824,657,633,657,0.423027776204,-0.005542458798,0.0499945283875,0.999999992602,0.000117185292663,2.04764521857e-05,2.53834705155e-05,1793251584710704896
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,724,690.158873574,671,643,894.317747149,789,824.158873574,657,633,657,0.423957215963,-0.0055453712435,0.0499965176557,0.999999992969,0.000113577356396,2.14472825615e-05,2.65112194038e-05,1793251584727371264
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690.799582176,671,643,895.599164352,789,824.799582176,657,633,657,0.424897886994,-0.00554491014627,0.049981581164,0.999999992943,0.00011569112307,-2.81211094008e-06,2.68797557562e-05,1793251584744037888
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.603002487,747,724,691,671,643,895.603002487,789,825,657,633,657,0.425853420257,-0.00554636774403,0.0499866752033,0.999999992953,0.000115164385451,-3.26801362536e-06,2.86288915779e-05,1793251584760704512
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.02529403,747,724,691,671,643,895.02529403,789,825,657,633,657,0.426815718663,-0.00554869872054,0.0500008870239,0.99999999306,0.000113435705609,7.11129487416e-06,3.10064681789e-05,1793251584777370880
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,895.548199747,788.451800253,825.548199747,657,633,657,0.427721028393,-0.00554335943774,0.0499771066803,0.999999990836,0.000121120220549,-5.19537009902e-05,3.09661696622e-05,1793251584794037760
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.122717734,747,724,691.122717734,671,643,896.122717734,788,826,657,633,657.122717734,0.428647451396,-0.0055396505388,0.0499552890098,0.999999986674,0.000126243136955,-9.88721938241e-05,3.06496778833e-05,1793251584810704640
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.701761824,747,724,691.701761824,671,643,896.701761824,788,826,657,633,657.701761824,0.429662087224,-0.00554331019294,0.0499472382222,0.999999988387,0.000120238018346,-8.88000451059e-05,2.97178363997e-05,1793251584827371264
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,897.28609489,788,826,657,633.28609489,657.71390511,0.430645833274,-0.00554663456326,0.0499447096201,0.999999989681,0.000114254040678,-8.19835892304e-05,2.93742575975e-05,1793251584844038144
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,897.87604523,788,826,657,633.87604523,657.12395477,0.431596771866,-0.00554960283536,0.0499480460173,0.999999990606,0.00010829251676,-7.86249378694e-05,2.96554604539e-05,1793251584860704768
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.541604405,747,724,692,670.541604405,643,897.541604405,788,826.458395595,657,634,657,0.432550263346,-0.00555094646712,0.0499401544345,0.999999989984,0.000106779833031,-8.79337981591e-05,2.99723567403e-05,1793251584877371392
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.038306282,724,692,670.038306282,643,897.038306282,788,827,657.038306282,633.961693718,657.038306282,0.43350649428,-0.00555167796668,0.0499318376421,0.999999989143,0.000106708674627,-9.69631988741e-05,3.04119385593e-05,1793251584894037760
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.61236894,724,692,670.61236894,643,897.61236894,788,827,657.61236894,633.38763106,657.61236894,0.434491541024,-0.00554989227015,0.0499593453635,0.999999991887,0.000110247815131,-5.49569951111e-05,3.24346244984e-05,1793251584910704384
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.190964181,747.809035819,724.190964181,692.190964181,671,643,898,788,827,657.809035819,633.190964181,657.809035819,0.435447577491,-0.00554829479179,0.049971774033,0.999999992086,0.000112741069099,-4.43172814129e-05,3.39493791825e-05,1793251584927371008
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.778983739,747.221016261,724.778983739,692.778983739,671,643,898,788,827,657.221016261,633.778983739,657.221016261,0.436343295566,-0.00554708865894,0.0499528501336,0.999999988127,0.000113059702032,-9.88952017071e-05,3.44080365571e-05,1793251584944037888
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.637954754,747,725,692.637954754,671,643,898.362045246,788,827,657,634,657.362045246,0.437283479473,-0.0055484000562,0.049949239294,0.999999987839,0.000112665133084,-0.000102103614021,3.46811030816e-05,1793251584960705024
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.057879114,747,725,692.057879114,671,643,898.942120886,788,827,657,634,657.942120886,0.438250441479,-0.00555122755709,0.0499548502657,0.999999990373,0.00011184106072,-7.43763480538e-05,3.48424033311e-05,1793251584977371904
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,899,788,827,657,634,658,0.43918268717,-0.00555364867474,0.0499677575432,0.9999999922,0.000107835893844,-5.1802829818e-05,3.58761236693e-05,1793251584994038272
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.096740462,725,692,671,643,899,788,827.096740462,657,633.903259538,658,0.440102142233,-0.00555563681788,0.0499763517601,0.999999993201,0.000104119952234,-3.75236416314e-05,3.67235211825e-05,1793251585010704640
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747.670911224,725,692,671,643,899,788,827.670911224,657,633.329088776,658,0.440977463317,-0.00555571045238,0.0499596692019,0.9999999921,0.000103571454086,-6.13592393197e-05,3.6174168121e-05,1793251585027371264
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,748,725,692,671.252574756,643,899.252574756,788,828,657.252574756,633.252574756,658,0.441865589314,-0.0055575410168,0.0499606300892,0.999999993043,9.81187899422e-05,-5.51851235198e-05,3.52384766176e-05,1793251585044037888
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,748,725,692,671.844299309,643,899.844299309,788,828,657.844299309,633.844299309,658,0.442770909293,-0.00556173073393,0.0499852820664,0.999999995686,8.60809589428e-05,-8.71486383631e-06,3.3784021466e-05,1793251585060704256
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,748,724.574175548,692.425824452,671.574175548,643,899.574175548,788,828,657.574175548,633.574175548,658,0.443605966972,-0.0055616650744,0.0499853088084,0.999999995663,8.51056974197e-05,-1.53791959471e-05,3.45486175711e-05,1793251585077371392
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747.996311874,724.003688126,693,671.003688126,643,899,787.996311874,828,657,633.003688126,658,0.444415725197,-0.00556006525805,0.0499764165722,0.999999994625,8.81001643101e-05,-4.10579022814e-05,3.6084023282e-05,1793251585094038528
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.421450587,724.578549413,693,671.578549413,643,899,787.421450587,828,657,633.578549413,658,0.445193053104,-0.00555620511931,0.0499480884075,0.999999992321,9.40946787601e-05,-7.29975137797e-05,3.42748552715e-05,1793251585110705152
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.15725939,725,693,672,643,899,787.15725939,827.84274061,657,634,657.84274061,0.445983694447,-0.00555450928312,0.0499326245001,0.999999991183,9.80796147463e-05,-8.30211702557e-05,3.3488588618e-05,1793251585127371776
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.746542643,725,693,672,643,899,787.746542643,827.253457357,657,634,657.253457357,0.446810910712,-0.00555875922993,0.0499525013452,0.99999999417,9.65438271461e-05,-3.2837201694e-05,3.55124418282e-05,1793251585144038400
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,748,724.669922434,693,672,643,899.330077566,788,827.330077566,657,634,657.330077566,0.447575203686,-0.00555802582623,0.0499534793367,0.99999999416,9.90740639403e-05,-2.37674562933e-05,3.60390073584e-05,1793251585160705024
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,748,724.090725974,693,672,643,899.909274026,788,827.909274026,657,634,657.909274026,0.448292006619,-0.00555353134638,0.0499401938265,0.999999992848,0.000104673044775,-4.57277834758e-05,3.54355273506e-05,1793251585177371648
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,748,724.485903105,693,672,643,900,787.514096895,828,657,634,658,0.448986579239,-0.00555434082082,0.04993127234,0.999999991419,0.000108033907604,-6.42776555775e-05,3.68743758575e-05,1793251585194038272
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.061782784,748,725,693,672,643,900.061782784,787,828.061782784,657,634,658,0.449676029342,-0.00555597572405,0.0499270572944,0.99999999015,0.000111225003749,-7.62952780931e-05,3.88447033614e-05,1793251585210704896
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.635404554,748,725,693,672,643,900.635404554,787,828.635404554,657,634,658,0.450357248216,-0.00555628759247,0.0499551177167,0.999999991556,0.000116453503138,-3.94442619264e-05,4.20754956651e-05,1793251585227371776
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.785078376,748,725,693,672,643,900.785078376,787,828.785078376,657,634,658,0.45102119341,-0.00555672840973,0.0499779780347,0.999999991616,0.000120682501609,-1.26466108461e-05,4.52014706781e-05,1793251585244038656
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.195278456,748,725,693,672,643,900.195278456,787,828.195278456,657,634,658,0.451655008815,-0.00555739414669,0.0499917680375,0.99999999125,0.000123168114454,-3.38460439137e-06,4.81446172636e-05,1793251585260705536
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.611813603,725,692.611813603,672.388186397,643,900.388186397,787,828,657.388186397,633.611813603,658,0.452221879761,-0.00555402515411,0.0499778252483,0.999999989645,0.000129260925928,-3.97106840021e-05,4.92401117024e-05,1793251585277371904
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747.031484402,725,692.031484402,672.968515598,643,900.968515598,787,828,657.968515598,633.031484402,658,0.452755614886,-0.0055486590688,0.0499501554042,0.999999984514,0.000137139212651,-9.86017541227e-05,4.94210634834e-05,1793251585294038528
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.885079419,747.885079419,725,692,673,643,901,788,828.885079419,657,634,658,0.453818343473,-0.00554998604246,0.0499432477423,0.999999985101,0.000141980907033,-8.45051622559e-05,4.9985178126e-05,1793251585327371776
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.293330034,747.293330034,725,692,673,643,901,788,828.293330034,657,634,658,0.454329775951,-0.00555259690742,0.0499579936985,0.999999987088,0.000141814835461,-5.51645047565e-05,5.16734356991e-05,1793251585344038400
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,747.291704511,725,692,673,643,901,787.708295489,828.291704511,657,634,658,0.454808469847,-0.0055545435797,0.0499611391233,0.999999987663,0.000140084089291,-4.82166225157e-05,5.22022277141e-05,1793251585360705024
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,747.870138697,725,692,673,643,901,787.129861303,828.870138697,657,634,658,0.455254983466,-0.00555583738654,0.0499528818555,0.999999987308,0.000136815353127,-6.32796227707e-05,5.15913280414e-05,1793251585377371904
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672.551604504,642.551604504,901,787.448395496,828.551604504,657,633.551604504,658,0.455627767247,-0.00555570368225,0.0499208701953,0.99999998404,0.000126360776011,-0.000117096473517,4.73451779973e-05,1793251585394038784
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,748,724.973539296,692,672,642.026460704,901,788,828.026460704,657,633,658,0.455978590366,-0.00555543617776,0.0498829246598,0.99999997661,0.000111797513788,-0.000180428783362,4.15485003265e-05,1793251585410705664
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,724.3983819,692,672,642.6016181,901,788,828.6016181,657,633,658,0.456316640779,-0.00556096368779,0.0498645332705,0.999999976433,5.51729239252e-05,-0.00020843202112,2.54225196404e-05,1793251585427372288
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,724.18103722,692,672,642.81896278,901,787.81896278,829,657.18103722,633,658,0.456650666745,-0.00556497613172,0.0498530935095,0.999999974624,1.62219441108e-05,-0.000224223203376,1.45730422864e-05,1793251585444038656
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,724.770060501,692,672,642.229939499,901,787.229939499,829,657.770060501,633,658,0.456975623163,-0.00556557421709,0.0498573199628,0.999999977155,1.71002765871e-05,-0.000212493256137,1.56147121203e-05,1793251585460705280
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672,642,901,787,829,657.646685242,633,658,0.457287043173,-0.00556511944872,0.049866550852,0.999999979741,2.31827403509e-05,-0.000199179697142,1.75588204648e-05,1793251585477371904
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672,642,901,787,829,657.067125127,633,658,0.457589795168,-0.00556399048477,0.0498789863357,0.999999982182,3.25976734005e-05,-0.000184852070032,2.00808060565e-05,1793251585494038784
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,725,691.491017672,672,642,901,787,829,657.508982328,633.508982328,658,0.457839837613,-0.00556269349023,0.0498779180059,0.999999982297,3.72408199678e-05,-0.000183230899758,2.10852942782e-05,1793251585510705152
+214,3.566666667,POSE1_TO_POSE2_PRESS,769.084208051,748,725,691.168416101,672,642,901.084208051,787.084208051,828.915791949,657.915791949,633.915791949,658,0.458076570918,-0.00556179672188,0.0498741193107,0.999999981756,4.0548836199e-05,-0.000185380285439,2.18705643081e-05,1793251585527371776
+215,3.583333333,POSE1_TO_POSE2_PRESS,769.65694254,748,725,692.31388508,672,642,901.65694254,787.65694254,828.34305746,657.34305746,633.34305746,658,0.458276148623,-0.00556334952753,0.0498647427367,0.999999979007,3.97374834451e-05,-0.000199748079379,2.2537268341e-05,1793251585544038656
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.762090955,748,725,692.762090955,672,642,902,788,828.237909045,657,633,658,0.458464810427,-0.00556383048984,0.0498577065995,0.99999997681,4.08659207166e-05,-0.000210160738891,2.3278099639e-05,1793251585560705536
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.168828722,748,725,692.168828722,672,642,902,788,828.831171278,657,633,658,0.458637167669,-0.00556271049171,0.0498541662598,0.999999975661,4.48917282057e-05,-0.000214665805364,2.41296511982e-05,1793251585577371904
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,691.585779126,672,642,902,787.585779126,828.585779126,657,633,658,0.458791826396,-0.00556228207433,0.0498535060778,0.999999975166,4.72571325246e-05,-0.000216385314177,2.47495510813e-05,1793251585594038272
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,748,725,691.006791868,672,642,902,787.006791868,828.006791868,657,633,658,0.458939445107,-0.00556212874996,0.0498539915485,0.999999974938,4.89620711752e-05,-0.000216996799865,2.527730588e-05,1793251585610704640
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,691.567665414,672,641.432334586,901.432334586,787.567665414,828.567665414,657,633,658,0.45904862122,-0.00556223802933,0.0498509073432,0.999999973069,5.13401138995e-05,-0.000224839351733,2.59329941807e-05,1793251585627371520
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672,641.145503966,901.145503966,788,829,657,633,658,0.459151052411,-0.00556198430432,0.0498467379176,0.999999970908,5.36514701833e-05,-0.000233683526541,2.63933192023e-05,1793251585644038656
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,641.733795693,901.733795693,788,829,657,633,658,0.459234346501,-0.0055606164234,0.049839394966,0.999999968013,5.57355768764e-05,-0.000245314573735,2.62545067318e-05,1793251585660705280
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,691.683604495,672,641.683604495,901.683604495,787.683604495,828.683604495,657,633,658,0.459307910206,-0.00556003213733,0.0498326624369,0.999999965439,5.62553733179e-05,-0.000255514165336,2.58891441235e-05,1793251585677371904
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,691.105708971,672,641.105708971,901.105708971,787.105708971,828.105708971,657,633,658,0.459373431782,-0.00556009549011,0.0498264344196,0.999999963152,5.54822718432e-05,-0.000264530664083,2.53365384315e-05,1793251585694038528
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,691.471322688,672,641,901.471322688,787,828,657,633,658,0.459427842614,-0.00555740809414,0.049825197668,0.999999961991,5.79097474581e-05,-0.000268342386451,2.56206905637e-05,1793251585710705152
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,691.952088134,672,641.047911866,901.952088134,787.047911866,828,657,633,658,0.459478794252,-0.00555456911966,0.0498252834532,0.999999961227,6.07326952059e-05,-0.000270511421119,2.61036066938e-05,1793251585727371776
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,691.378232838,672,641.621767162,901.378232838,787.621767162,828,657,633,658,0.459519077981,-0.00555682619353,0.0498276210794,0.99999996208,6.00314356471e-05,-0.000267438921941,2.67120818485e-05,1793251585744038144
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,641.798340147,901,787.798340147,828.201659853,657,633,658,0.459555162072,-0.00555772858859,0.0498298283617,0.999999962931,6.03491225245e-05,-0.000264113149854,2.72177111896e-05,1793251585760704512
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,748,725,691,672,641.206774284,901,787.206774284,828.793225716,657,633,658,0.459583126233,-0.00555601173433,0.0498317836258,0.999999963782,6.2636925618e-05,-0.000260297678949,2.75244898055e-05,1793251585777371136
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+231,3.850000000,POSE1_TO_POSE2_PRESS,769.956924121,748,725,691,672,641.956924121,901.956924121,787,829,657,633,658,0.459618588966,-0.00555314613121,0.0498322547074,0.999999963325,6.5120591305e-05,-0.000261589727657,2.60829121841e-05,1793251585810704384
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.46818483,748,725,691,672,642,902,787,828.46818483,657,633,658,0.459624807601,-0.00555257656737,0.0498297780581,0.999999962029,6.59599759555e-05,-0.000266216866747,2.6818175819e-05,1793251585827371520
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672,641.893753819,902,787,828,657,633,658,0.459630315575,-0.00555214272021,0.0498273916092,0.99999996087,6.67616486257e-05,-0.000270278486234,2.74445792653e-05,1793251585844038400
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,641.319616904,902,787,828,657,633,658,0.459635997065,-0.00555202270282,0.0498262322709,0.9999999607,6.74611928222e-05,-0.000270776502152,2.70000300521e-05,1793251585860705024
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.249649743,747.750350257,725,691.249649743,672,641.249649743,902,787,828.249649743,657,633,658,0.459640001861,-0.00555160964507,0.0498253803824,0.999999960593,6.76526271339e-05,-0.000271137302633,2.68519820527e-05,1793251585877371904
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.812800562,747.187199438,725,691.812800562,672,641.812800562,902,787,828.812800562,657,633,658,0.459641901125,-0.00555082859788,0.0498249145782,0.999999960566,6.7205995608e-05,-0.000271325793023,2.70762694445e-05,1793251585894038272
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747.405863714,725,691.594136286,672,641.594136286,902,787,828.594136286,657.405863714,633,658,0.459642919747,-0.00555042416403,0.049823784712,0.999999960229,6.73776041942e-05,-0.000272569627271,2.65944321503e-05,1793251585910704896
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.98687007,748,725,691.01312993,672,641,902,787.01312993,828.01312993,658,633,658,0.459643488587,-0.00555014194106,0.0498223610242,0.999999959737,6.79449958703e-05,-0.000274308681054,2.57846605822e-05,1793251585927371264
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.409321052,748,725,691.590678948,672,641,902,787.590678948,828.590678948,658,633,658,0.459643572538,-0.00554705187181,0.0498225209067,0.999999959306,7.22926652722e-05,-0.00027474637243,2.59923977985e-05,1793251585944037888
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,641,902,787.829101073,829,657.829101073,633,658,0.459643816731,-0.00554554884762,0.0498224961222,0.999999959013,7.41173974044e-05,-0.000275301035325,2.6252611452e-05,1793251585960704768
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,692,672,641,902,787.242382325,829,657.242382325,633,658,0.459644450811,-0.0055479073153,0.0498220220187,0.999999959082,6.98034873417e-05,-0.000276140305465,2.66405072452e-05,1793251585977371648
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,725,692,672,641.339210524,901.660789476,787,829,657,633,657.660789476,0.459645497956,-0.00554792496581,0.0498221182676,0.999999959173,7.03302041996e-05,-0.000275648773168,2.69325521187e-05,1793251585994038528
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,725,692,672,641.91719517,901.08280483,787,829,657,633,657.08280483,0.459646835862,-0.00554629488855,0.0498226159941,0.999999959275,7.42642932496e-05,-0.000274220473957,2.71571264295e-05,1793251586010705152
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,691.502907307,672,641.502907307,901,787,828.502907307,657,633,657.497092693,0.4596470193,-0.00554735047508,0.0498227338264,0.999999959204,7.25985897769e-05,-0.000274924482386,2.71586818319e-05,1793251586027371776
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,691,672,641.076409356,901.076409356,787.076409356,828,657,633,658,0.459647026163,-0.00554849905684,0.049822718181,0.999999959131,7.03453075171e-05,-0.000275783851732,2.70815397367e-05,1793251586044038400
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,691,672,641.649866417,901.649866417,787.649866417,828,657,633,658,0.459647140214,-0.0055473311449,0.0498222474986,0.999999959263,7.0361176382e-05,-0.000275334354518,2.67350627408e-05,1793251586060704768
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+249,4.150000000,HOLD_POSE2,769,747,725,691,672,641,902,787,828,657,633,658,0.459647844588,-0.00554218523171,0.0498221523586,0.999999958857,7.37062710464e-05,-0.000276106132766,2.488930928e-05,1793251586128083200
+250,4.166666667,HOLD_POSE2,769,747,725,691.578887693,672,641.578887693,901.421112307,787.578887693,828,657,633,658,0.459648367352,-0.00554256753245,0.0498222589499,0.999999958914,7.45456370342e-05,-0.000275606263393,2.56249268009e-05,1793251586144749824
+251,4.183333333,HOLD_POSE2,769,747.155874079,725,691.844125921,672.155874079,641.844125921,901,788,828,657,633,658,0.459648571178,-0.0055431098841,0.0498222331079,0.999999958903,7.47485288969e-05,-0.000275542055015,2.61476899581e-05,1793251586161416448
+252,4.200000000,HOLD_POSE2,769,747.727785885,725,691.272214115,672.727785885,641.272214115,901,788,828,657,633,658,0.459647923741,-0.00554407942182,0.0498218537934,0.999999958711,7.32526314507e-05,-0.00027664065314,2.61023315852e-05,1793251586178083584
+253,4.216666667,HOLD_POSE2,769,748,725,691,672.689289164,641,901,787.689289164,828.310710836,657,633,658,0.459648475685,-0.00554386913154,0.0498220765928,0.99999995884,7.34394131746e-05,-0.000276116017527,2.62077232239e-05,1793251586194750208
+254,4.233333333,HOLD_POSE2,769,748,725,691,672.096361055,641,901,787.096361055,828.903638945,657,633,658,0.459650117021,-0.00554258720869,0.0498228462896,0.999999959256,7.51545650001e-05,-0.000274117005859,2.64500404308e-05,1793251586211416832
+255,4.250000000,HOLD_POSE2,769,747.51631672,725,691,672,641,901,787.48368328,829,657,633,658,0.459649880853,-0.00554125431453,0.0498226603794,0.999999958964,7.6038679284e-05,-0.000274985272956,2.59280648078e-05,1793251586228083200
+256,4.266666667,HOLD_POSE2,769,747.061029686,725,691.061029686,672,641,901.061029686,787.938970314,829,657,633,658,0.459649247206,-0.00554024003695,0.0498222543474,0.999999958559,7.65095232285e-05,-0.000276379758027,2.53571525259e-05,1793251586244749568
+257,4.283333333,HOLD_POSE2,769,747.636708315,725,691.636708315,672,641,901.636708315,787.363291685,829,657,633,658,0.459648334082,-0.00554199598793,0.0498215558506,0.999999958361,7.48552786766e-05,-0.00027751965562,2.56242695939e-05,1793251586261415936
+258,4.300000000,HOLD_POSE2,769.217082646,748,725,692,672,641.217082646,901.782917354,787.217082646,829,657,633,658,0.459648357256,-0.0055424862588,0.0498213706631,0.999999958399,7.43711795161e-05,-0.000277505768717,2.57322290565e-05,1793251586278082560
+259,4.316666667,HOLD_POSE2,769.805488998,748,725,692,672,641.805488998,901.194511002,787.805488998,829,657,633,658,0.459649981981,-0.00554081156126,0.0498220635,0.999999958838,7.588863492e-05,-0.000275518312902,2.55679465921e-05,1793251586294749184
+260,4.333333333,HOLD_POSE2,769.612794856,748,725,691.612794856,672,641.612794856,901,787.612794856,829,657,633,657.612794856,0.459650301303,-0.00554127460831,0.0498224047808,0.999999958976,7.54715133188e-05,-0.00027512411646,2.56851555179e-05,1793251586311415552
+261,4.350000000,HOLD_POSE2,769.034382376,748,725,691.034382376,672,641.034382376,901,787.034382376,829,657,633,657.034382376,0.459649975998,-0.0055427933035,0.0498225724583,0.999999958963,7.40990705641e-05,-0.00027551669369,2.59413688302e-05,1793251586328082432
+262,4.366666667,HOLD_POSE2,769.543163234,748,725,691,672,641,901,787,829,657,633,657.543163234,0.459650215384,-0.0055424274282,0.0498230046036,0.999999958961,7.38286348808e-05,-0.000275603379906,2.58945748715e-05,1793251586344749568
+263,4.383333333,HOLD_POSE2,770,748,725,691,672,641.119940217,901,787,829,657,633,658,0.459650088592,-0.00554223706527,0.0498229370511,0.999999958828,7.36193726227e-05,-0.000276143266804,2.58600923857e-05,1793251586361416960
+264,4.400000000,HOLD_POSE2,770,748,725,691,672,641.694014521,901,787,829,657,633,658,0.4596484402,-0.00554316221802,0.0498209141894,0.999999958198,7.33780295841e-05,-0.000278472322199,2.59447331571e-05,1793251586378082816
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641,901,788,829,657,633,658,0.459652715548,-0.00554074095393,0.0498229079738,0.999999958911,7.72859868307e-05,-0.000274820097595,2.60413666141e-05,1793251586416071680
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,691.598533633,672,641.598533633,901,787.401466367,829,657,633,658,0.459649716767,-0.00554090910437,0.0498209400172,0.999999958178,7.6429641562e-05,-0.000277738776197,2.57804761416e-05,1793251586432738816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,691.8109742,672,642,901,787,829,657,633,658,0.459648623872,-0.00554098166524,0.049820407947,0.999999957972,7.58179201364e-05,-0.000278656722301,2.56334393043e-05,1793251586449405440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,691.236864044,672,642,901,787,829,657,633,658,0.459651413658,-0.00554085949055,0.0498228010717,0.999999958854,7.57045475397e-05,-0.000275498766132,2.57183456464e-05,1793251586466072064
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,691.338398421,672,641.661601579,901.338398421,787.338398421,828.661601579,657,633,658,0.459652219197,-0.00554005020965,0.0498232109528,0.999999959008,7.63929962348e-05,-0.000274747308265,2.57250480948e-05,1793251586482738688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,691.914470174,672,641.085529826,901.914470174,787.914470174,828.085529826,657,633,658,0.459651631107,-0.00553875834132,0.0498222279073,0.999999958655,7.76446022257e-05,-0.000275686048981,2.56768242183e-05,1793251586499405056
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.493918187,725,692,672,641.506081813,902,787.493918187,828.506081813,657,633,658,0.459650085886,-0.00554106906263,0.0498208272048,0.999999958157,7.68439381127e-05,-0.000277652754331,2.62533605718e-05,1793251586516071424
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.097225344,725,691.902774656,672,641.902774656,901.902774656,787,829,657,633,658,0.459648917549,-0.00554325355586,0.0498198261954,0.999999957798,7.58927923706e-05,-0.000279158425648,2.67475706411e-05,1793251586532738048
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747.672737073,725,691.327262927,672,641.327262927,901.327262927,787,829,657,633,658,0.459650424202,-0.00554172704294,0.049821149657,0.999999958262,7.5961664605e-05,-0.000277514390104,2.63009133132e-05,1793251586549404672
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641,901.248068197,787,829,657,633,658,0.459647514234,-0.00554019914518,0.0498197914421,0.999999957555,7.73063387003e-05,-0.000279722829975,2.58553166457e-05,1793251586566071552
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641,901.823161186,787,829,657,633,658,0.459638781898,-0.00553866942191,0.0498148980108,0.999999955263,8.03328843281e-05,-0.000287009933793,2.54111182663e-05,1793251586582738432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,691.407084636,672,641,902,787,829,657,633,658,0.459622259615,-0.00553780983448,0.0498067413129,0.999999951622,7.99067310245e-05,-0.000299600443036,2.4696622412e-05,1793251586599405312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,691.994929171,672,641,902,787,829,657,633,658,0.459602278321,-0.00553724781081,0.0497971356094,0.999999947208,7.79474581913e-05,-0.000314545851419,2.38621049283e-05,1793251586616071936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,691.424224509,672,641,901.424224509,787,829,657,633,658,0.459555425811,-0.00553654355232,0.0497772317216,0.999999936869,7.76756007376e-05,-0.000345983664882,2.28826150923e-05,1793251586632738560
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,691.154719531,671.845280469,641,901,787.154719531,829,657.154719531,633,658,0.459503766517,-0.0055354805041,0.0497571364233,0.999999926295,7.76103224557e-05,-0.000375382245472,2.17677151576e-05,1793251586649404928
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,691.72867419,671.27132581,641,901,787.72867419,829,657.72867419,633,658,0.45943971608,-0.00553344861609,0.0497367652681,0.9999999172,7.80650161882e-05,-0.000398866390836,2.02893196813e-05,1793251586666071552
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,692,671.304274616,641,901,787.695725384,829,657.695725384,633,658,0.459368481155,-0.00552982815863,0.0497194669307,0.999999908617,8.00227769408e-05,-0.000419542468961,1.8589411135e-05,1793251586682737920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725,692,671.881350542,641,901,787.118649458,829,657.118649458,633,658,0.459290804888,-0.00552478344897,0.0497049235687,0.999999900598,8.33281316873e-05,-0.000437700937021,1.6690902296e-05,1793251586699404544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,748,725,691.533566199,672,641.466433801,901,787,828.533566199,657,633,658,0.459201035369,-0.00552178192495,0.0496980240103,0.999999897043,8.69495454903e-05,-0.000445071838685,1.62868615692e-05,1793251586716071680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.946891862,901,787,828.053108138,657,633,657.946891862,0.459106310313,-0.00551907788987,0.0496935516101,0.999999894859,9.05973565687e-05,-0.000449235143976,1.61701909891e-05,1793251586732738816
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.365010259,901,787,828.634989741,657,633,657.365010259,0.458993408841,-0.005514070645,0.0496935476741,0.99999989458,9.36935277142e-05,-0.000449260811579,1.5063575932e-05,1793251586749405440
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.213752845,901,787.213752845,828.786247155,657,633,657.213752845,0.458873308182,-0.00550895349483,0.0496956493341,0.999999895561,9.72177901091e-05,-0.000446349485481,1.41253339911e-05,1793251586766072064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,641.787267231,901,787.787267231,828.212732769,657,633,657.787267231,0.458741090785,-0.00550365136659,0.0497012948649,0.999999898623,0.000101462560809,-0.000438494985947,1.34704763279e-05,1793251586782738432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901,787.630578373,828.369421627,657,633,658,0.458592463773,-0.00549893311732,0.0497073278234,0.999999901358,0.000104869464079,-0.000431400725275,1.3408812626e-05,1793251586799405056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,725,691,672,642,901,787.04332939,828.95667061,657,633,658,0.458434160914,-0.00549455914844,0.0497135892271,0.999999903889,0.000107782323995,-0.000424754734363,1.36969222998e-05,1793251586816071424
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,748,725,691.539139473,672,642,901,787.539139473,828.460860527,657,633,658,0.458233964985,-0.0054884929671,0.0497191485622,0.999999906339,0.000112119185995,-0.000417821091488,1.33009380808e-05,1793251586832738048
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.880037049,725,691.880037049,672.119962951,642,900.880037049,787.880037049,828.119962951,657,633,658,0.458022381415,-0.00548135143037,0.049723058233,0.999999907443,0.000117209305538,-0.000413784788404,1.25764413882e-05,1793251586849404416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.304020909,725,691.304020909,672.695979091,642,900.304020909,787.304020909,828.695979091,657,633,658,0.457780193322,-0.00547063427572,0.0497209091291,0.999999903605,0.000124731775287,-0.000420850172624,1.08102383945e-05,1793251586866071040
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747.270911225,725,691,673,642,900.270911225,787,829,657,633,658,0.457519067506,-0.00546062227743,0.0497195848669,0.999999900077,0.000131816384556,-0.000427064045636,9.3342103683e-06,1793251586882737920
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747.844631685,725,691,673,642,900.844631685,787,829,657,633,658,0.45723677419,-0.00545139846364,0.0497191825662,0.999999896935,0.000138411577713,-0.000432326147201,8.18252360415e-06,1793251586899404544
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.570880734,748,725,691,672.570880734,642,901,787,828.570880734,657,633,658,0.456935100922,-0.00544260673462,0.0497207431686,0.999999896312,0.000143923933276,-0.000431986491301,7.00060460099e-06,1793251586916070912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.017424374,748,725,691,672.017424374,642,900.982575626,787,828,657,633,658,0.456624423682,-0.00543405786778,0.0497229742347,0.99999989665,0.000148943779405,-0.000429514042297,5.77719652986e-06,1793251586932737792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.5998548,748,725,691,672.5998548,642,900.4001452,787,828,657,633,658,0.456255164637,-0.00542818071275,0.0497233076408,0.99999989813,0.000151033487865,-0.000425342358531,3.57252677609e-06,1793251586949404416
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.923964002,747.923964002,725,691,672,642,900,787,828,656.923964002,633,658,0.454653414926,-0.00542265166556,0.0497347989065,0.999999907671,0.000136387699056,-0.000407485112565,-3.52299559188e-06,1793251587016071168
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,748,724.495777145,691,672,642.504222855,900,787,828,657,633,657.495777145,0.454197890655,-0.00542706565422,0.0497536215565,0.999999921486,0.00012510897364,-0.000375971742761,-4.50506681759e-06,1793251587032738048
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.53302571,748,725,692.53302571,672.46697429,643,898,788,827,657,633,657,0.446624982151,-0.00540287396308,0.0497684274377,0.999999943566,4.24891228871e-05,-0.000330767055174,-4.06984619179e-05,1793251587232737536
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,748,725,692,671.747771952,643,897.373885976,788,827,657,633,657,0.445017336093,-0.00540017856623,0.0497543290768,0.999999931534,2.56905918433e-05,-0.000366099213615,-4.73641560045e-05,1793251587266071040
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,747.946352664,725,692,672,643,896,788,826.053647336,657,632.946352664,656.946352664,0.441667009127,-0.0053925621968,0.0497714614329,0.999999938211,-6.5027853782e-06,-0.000346422546063,-5.93909504543e-05,1793251587332739328
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,747.681241301,724,691,672,642.681241301,895.318758699,788.681241301,825.318758699,657,633,656.681241301,0.439025627211,-0.00539985617706,0.0498134984494,0.999999958318,-4.86396703339e-05,-0.000276507321252,-6.73878309428e-05,1793251587382738944
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,769,747.168489326,724,691,672,643,893.336978652,789,825,657,633,656.168489326,0.437099179153,-0.0053996394857,0.0497785107395,0.999999936692,5.64276088981e-05,-0.000349344312624,-3.72808289947e-05,1793251587416071680
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.413898233,643,893,789.413898233,825,657,633,656,0.43424526377,-0.005369100191,0.0497714431182,0.999999924729,0.000123284895771,-0.000366462812336,-3.23653411599e-05,1793251587466071808
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.164221198,671,643,893,789,824.835778802,657,633,656.164221198,0.433291297867,-0.00536757714693,0.0497627582807,0.999999921099,0.000107030856006,-0.000380691551606,-3.76886056412e-05,1793251587482738688
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747,724,691.683535494,671,643,893.316464506,789,823.683535494,657,632.683535494,656.683535494,0.43140388844,-0.00537848315236,0.0498023786615,0.999999946382,7.00616230987e-05,-0.000317010258623,-4.27887000103e-05,1793251587516072448
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.381196046,747,724,691,671,643,892.618803954,789.381196046,821.618803954,656.381196046,633,656.381196046,0.424666244312,-0.00536666088621,0.0497866237795,0.999999943715,7.65547941079e-05,-0.000322862620624,-4.9685672072e-05,1793251587632737536
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643,892,790,820,657.707652336,633,656.292347664,0.420969925191,-0.005366565117,0.0497979873635,0.999999949095,7.81623014838e-05,-0.000305171954829,-5.06967689743e-05,1793251587699404544
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.143221255,643,891.143221255,790,820,657.143221255,632.143221255,656.856778745,0.419169620513,-0.00536349883309,0.0498065553625,0.999999943744,8.51328475617e-05,-0.000320720662575,-4.90147585573e-05,1793251587732737792
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.444184704,643,891,789.555815296,820,657,632.444184704,656.555815296,0.418271126455,-0.00536135402463,0.0497887684266,0.999999931354,8.93022015996e-05,-0.000356164002152,-4.96349562416e-05,1793251587749404672
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671.235468388,643,891,790,820,657,633,656.235468388,0.41503230297,-0.00537154052433,0.0498139627883,0.999999953749,7.68155490999e-05,-0.000289846712915,-5.08971557515e-05,1793251587816071168
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747.787687272,724,689.787687272,671,643,888,789,819.787687272,657.787687272,633,657,0.404129472268,-0.00538217739305,0.049845326307,0.999999957329,7.62993374923e-05,-0.000276681334474,-5.4471469515e-05,1793251588132738304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747.628490228,724,689.628490228,671,643,888.371509772,789,820,657.628490228,633,657,0.403816842924,-0.00538639449,0.0498587925968,0.999999962672,6.82649289105e-05,-0.000258969407219,-5.41302715543e-05,1793251588149404928
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747.03971889,724,689.03971889,671,643,888.96028111,789,820,657.03971889,633,657,0.403509372399,-0.00539268105481,0.0498626049135,0.999999964081,5.81834089022e-05,-0.000255983172351,-5.40906664072e-05,1793251588166071552
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,724,689.539871769,671,643,888.460128231,789,820,657,633,657,0.403198519965,-0.00539190711438,0.0498483867945,0.999999955988,5.99744183466e-05,-0.000285306504188,-5.50249588587e-05,1793251588182738432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,887.881842964,789,819.881842964,657,633,657,0.402900077204,-0.00539052456003,0.0498341959902,0.999999947337,6.22521241499e-05,-0.000313546655535,-5.60245885677e-05,1793251588199405312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,887.30604123,789,819.30604123,657,633,657,0.402650646956,-0.00538876300841,0.0498251629185,0.999999942416,6.30883384402e-05,-0.000328538645783,-5.7004406337e-05,1793251588216072192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747,724,689.730076731,671,643,887,789,819.269923269,657,633,657,0.402419782501,-0.0053866625213,0.0498177458579,0.999999938413,6.59679934831e-05,-0.000339863827185,-5.75821062207e-05,1793251588232738816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,689.153927612,671,643,887,789,819.846072388,657,633,657,0.40220998081,-0.00538417751464,0.0498121621501,0.999999935588,7.11659161326e-05,-0.000347029041604,-5.77036064382e-05,1793251588249405184
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,888,789,819.177655709,658,633.822344291,657,0.401627905588,-0.00537481857577,0.0498333477414,0.999999939726,0.000176117073707,-0.000297090287029,-3.56224032667e-05,1793251588316071680
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770.607363447,747.607363447,724,689,671,643,887,789,819.607363447,657,633,657,0.401062293219,-0.00539860085555,0.0498422972749,0.999999954413,0.000127423803562,-0.000270749089629,-4.04026626374e-05,1793251588466072576
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747,724,689,671.529589215,643,887.470410785,789,820,657.529589215,633,657,0.400995212838,-0.00540323292574,0.0498510836112,0.999999959847,0.000120855470079,-0.000253180270933,-3.99859547947e-05,1793251588699404800
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,747,724,689,671.894285842,643,887,788.894285842,819.894285842,658,633,657,0.400995425855,-0.005405446106,0.0498513811428,0.999999960381,0.000117488617317,-0.000252684462223,-3.98042774285e-05,1793251588716071424
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,724,689,671.321768869,643,887,788.321768869,819.321768869,658,633,657,0.400995404298,-0.0054046082667,0.0498504979574,0.99999995996,0.000120538984666,-0.00025292718951,-3.9726418539e-05,1793251588732738048
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,887.253360965,788.253360965,819.253360965,657.746639035,633,657,0.400994518119,-0.00540353251928,0.0498498984111,0.999999959519,0.000122212486422,-0.000253841882258,-3.98911503833e-05,1793251588749404672
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,887.831843792,788.831843792,819.831843792,657.168156208,633,657,0.400992522426,-0.00540215147951,0.0498496628404,0.999999959058,0.000122119145366,-0.000255618865183,-4.03671833331e-05,1793251588766071040
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,747,724,689,671,643,888,789,819.580025153,657,633,657,0.400991752472,-0.00540272839959,0.0498495566537,0.999999959098,0.000120853020292,-0.000256054728431,-4.04168522326e-05,1793251588782737664
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,747.011706091,724,689,670.988293909,642.988293909,887.988293909,788.988293909,819,657,632.988293909,657,0.40099151442,-0.00540410177034,0.0498495172197,0.999999959343,0.000119155831352,-0.000255916499971,-4.02856933791e-05,1793251588799404544
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,747.586424889,724,689,670.413575111,642.413575111,887.413575111,788.413575111,819,657,632.413575111,657,0.400992699098,-0.00540518935632,0.0498501381343,0.999999959614,0.000119842043303,-0.000254600570004,-3.98611871204e-05,1793251588816071168
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,747.837700531,724,689.162299469,670.162299469,642.162299469,887.162299469,788.162299469,819.162299469,657,632.162299469,657,0.400993693995,-0.00540532022486,0.0498507347717,0.999999959818,0.000120932527558,-0.00025331978056,-3.96082137207e-05,1793251588832737792
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,770,747,724,689.682719912,671,643,888,789,820,657,633,656.682719912,0.400994492697,-0.00540249666118,0.0498519105249,0.999999959987,0.000123320438001,-0.00025145328956,-3.98607271732e-05,1793251588866071040
+413,6.883333333,POSE2_TO_POSE3_RETREAT,770,747,724,689.108765313,671,643,888,789,820,657,633,656.108765313,0.400994608069,-0.00540347446602,0.0498526385853,0.999999960207,0.000122068966616,-0.000251193793247,-3.9827264883e-05,1793251588882737664
+414,6.900000000,POSE2_TO_POSE3_RETREAT,769.518759356,747,724,689,671,643,887.518759356,789,819.518759356,657,633,656.481240644,0.400993708787,-0.00540479476202,0.0498522431214,0.999999960178,0.000120551412045,-0.000252059806835,-3.97109645787e-05,1793251588899404288
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1ace5833803f5d3719ece5a215eb7d7429e7755
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,416 @@
+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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+371,6.183333333,pose2_to_pose3_retreat,0.587515321854,5.12922202603e-06,1.04002093412,0.558086666973,0.00867754327882,1.03963230753
+372,6.200000000,pose2_to_pose3_retreat,0.587291367938,5.15373070035e-06,1.04002110308,0.557862710276,0.00867755874929,1.03963248535
+373,6.216666667,pose2_to_pose3_retreat,0.587083325028,5.19206416701e-06,1.04002103855,0.557654667785,0.00867759815579,1.0396324131
+374,6.233333333,pose2_to_pose3_retreat,0.586898008289,5.16587646684e-06,1.04002104524,0.557469352931,0.00867757822159,1.03963241659
+375,6.250000000,pose2_to_pose3_retreat,0.586735609421,5.13856370916e-06,1.04002119141,0.557306953221,0.00867754818864,1.03963256587
+376,6.266666667,pose2_to_pose3_retreat,0.586592009109,5.20047283058e-06,1.04002108714,0.557163352019,0.00867760702595,1.03963246041
+377,6.283333333,pose2_to_pose3_retreat,0.586465714761,5.2265844676e-06,1.0400209632,0.557037057489,0.00867763250944,1.03963233627
+378,6.300000000,pose2_to_pose3_retreat,0.586356605754,5.14435905902e-06,1.04002093787,0.556927948727,0.00867755125629,1.03963231416
+379,6.316666667,pose2_to_pose3_retreat,0.586259667241,5.06470524476e-06,1.04002056975,0.556831011291,0.00867747504372,1.03963194129
+380,6.333333333,pose2_to_pose3_retreat,0.586173501336,5.09646558462e-06,1.04002098059,0.55674484436,0.00867750295636,1.03963234438
+381,6.350000000,pose2_to_pose3_retreat,0.586097623709,5.21536017449e-06,1.04002098631,0.556668965911,0.00867761912137,1.03963235152
+382,6.366666667,pose2_to_pose3_retreat,0.586031646576,5.19235005495e-06,1.04002105948,0.556602989365,0.00867759813264,1.03963242521
+383,6.383333333,pose2_to_pose3_retreat,0.585974671913,5.07478935959e-06,1.04002110276,0.556546016107,0.00867748540103,1.03963246985
+384,6.400000000,pose2_to_pose3_retreat,0.585926181414,5.03041482491e-06,1.04002088395,0.556497526721,0.00867744518327,1.03963225942
+385,6.416666667,pose2_to_pose3_retreat,0.585886237263,5.13533760092e-06,1.04002072054,0.556457583572,0.00867755419967,1.03963211152
+386,6.433333333,pose2_to_pose3_retreat,0.585853663218,5.26793285226e-06,1.04002085855,0.556425007057,0.00867767799942,1.0396322402
+387,6.450000000,pose2_to_pose3_retreat,0.585827809949,5.11831058492e-06,1.04002092613,0.556399154959,0.00867753187734,1.03963229728
+388,6.466666667,pose2_to_pose3_retreat,0.585807123054,5.02281415882e-06,1.0400209351,0.55637846909,0.00867743971237,1.03963230296
+389,6.483333333,pose2_to_pose3_retreat,0.5857910349,5.07983286862e-06,1.04002093038,0.556362380324,0.00867749482666,1.03963230206
+390,6.500000000,pose2_to_pose3_retreat,0.585779149132,4.99988477825e-06,1.04002101172,0.556350494537,0.00867741480469,1.03963238315
+391,6.516666667,pose2_to_pose3_retreat,0.585770224423,5.19879011254e-06,1.04002103617,0.556341567683,0.00867760642747,1.03963240755
+392,6.533333333,pose2_to_pose3_retreat,0.585763742497,5.31755811959e-06,1.04002107922,0.556335084322,0.00867772027168,1.03963244941
+393,6.550000000,pose2_to_pose3_retreat,0.585759013036,5.24108567272e-06,1.04002116986,0.55633035501,0.00867764417288,1.03963253718
+394,6.566666667,pose2_to_pose3_retreat,0.585756080793,5.28334487852e-06,1.04002109405,0.556327422284,0.00867768497421,1.03963246543
+395,6.583333333,pose2_to_pose3_retreat,0.585754386128,5.31869275547e-06,1.04002103416,0.556325727269,0.00867771927369,1.03963240859
+396,6.600000000,pose2_to_pose3_retreat,0.585753633516,5.30764673386e-06,1.04002100947,0.556324974977,0.0086777091659,1.03963238064
+397,6.616666667,pose2_to_pose3_retreat,0.585753347118,5.30263622506e-06,1.04002100013,0.556324688715,0.00867770455479,1.03963236992
+398,6.633333333,pose2_to_pose3_retreat,0.585753301628,5.30184037944e-06,1.04002099865,0.556324643246,0.00867770382238,1.03963236821
+399,6.650000000,pose2_to_pose3_retreat,0.585753226431,5.30052482513e-06,1.0400209962,0.556324568086,0.0086777026117,1.0396323654
+400,6.666666667,pose2_to_pose3_retreat,0.585753144591,5.29909304663e-06,1.04002099353,0.556324486285,0.00867770129405,1.03963236233
+401,6.683333333,pose2_to_pose3_retreat,0.585753069432,5.29777813965e-06,1.04002099108,0.556324411161,0.00867770008395,1.03963235952
+402,6.700000000,pose2_to_pose3_retreat,0.585753051545,5.29746520742e-06,1.0400209905,0.556324393282,0.00867769979597,1.03963235885
+403,6.716666667,pose2_to_pose3_retreat,0.585752963215,5.29591988008e-06,1.04002098762,0.556324304994,0.00867769837382,1.03963235554
+404,6.733333333,pose2_to_pose3_retreat,0.585752674095,5.29086176394e-06,1.04002097819,0.556324016012,0.0086776937189,1.03963234472
+405,6.750000000,pose2_to_pose3_retreat,0.585752268914,5.28377317421e-06,1.04002096498,0.556323611024,0.00867768719535,1.03963232955
+406,6.766666667,pose2_to_pose3_retreat,0.585751844408,5.26557672503e-06,1.0400209154,0.556323186694,0.00867766962774,1.03963228069
+407,6.783333333,pose2_to_pose3_retreat,0.585751556028,5.25140659222e-06,1.04002087571,0.556322898428,0.00867765589098,1.03963224196
+408,6.800000000,pose2_to_pose3_retreat,0.585751468174,5.24708974077e-06,1.04002086362,0.55632281061,0.00867765170615,1.03963223016
+409,6.816666667,pose2_to_pose3_retreat,0.585751289147,5.23829289697e-06,1.04002083899,0.556322631654,0.00867764317834,1.03963220611
+410,6.833333333,pose2_to_pose3_retreat,0.585751057383,5.24397671577e-06,1.04002086299,0.556322399782,0.00867764856239,1.0396322316
+411,6.850000000,pose2_to_pose3_retreat,0.585750856536,5.26782298332e-06,1.04002089232,0.556322198228,0.00867767009028,1.03963226277
+412,6.866666667,pose2_to_pose3_retreat,0.585750819147,5.27946821455e-06,1.04002080773,0.556322159789,0.00867767817785,1.03963217826
+413,6.883333333,pose2_to_pose3_retreat,0.585750818599,5.27963881784e-06,1.04002080649,0.556322159226,0.00867767829633,1.03963217702
+414,6.900000000,pose2_to_pose3_retreat,0.585750814956,5.28077343946e-06,1.04002079825,0.556322155481,0.00867767908436,1.03963216879
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d9870f9f073a70b3d7a535c27e63af5a8ebfcb1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cad526946760adcd52345540f3c8e64d5d1ffb35ec09d039d38e97dd8c5c944
+size 26091565
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b5c8be8b4ac1eae5aba0f92bf5851bf82faf4d1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+34,0.566666667,BASELINE,770.27900724,747,725,691,670.27900724,643,890,790,820,657,633,657,0.401017663267,-0.00549697038543,0.0698464861551,0.999999984762,5.03843966224e-05,-0.000166368439434,1.61219473956e-05,1793251591031715840
+35,0.583333333,BASELINE,770,747,725,690.70553928,670,643,890,790,820,657,633,657,0.401018546266,-0.00549768287909,0.069847166685,0.999999985036,4.97553412916e-05,-0.000164880043014,1.63649708615e-05,1793251591048382464
+36,0.600000000,BASELINE,770,747,725,690.133573147,670,643,890,790,820,657,633,657,0.401020219699,-0.00549722470913,0.0698488061145,0.999999985448,4.9935512158e-05,-0.000162299260704,1.63845426627e-05,1793251591065049088
+37,0.616666667,BASELINE,770,747,725,690,669.543546029,643,889.543546029,790,820,657,633,657,0.401020013318,-0.00549676334163,0.0698486147267,0.999999985309,5.079670395e-05,-0.000162902036054,1.62406123116e-05,1793251591081715456
+38,0.633333333,BASELINE,770,747,725,690.05037178,669.100743559,643,889.05037178,790,820,657,633,657,0.401019199247,-0.00549637291927,0.0698478901001,0.99999998503,5.1466926016e-05,-0.000164417844325,1.60404014472e-05,1793251591098381824
+39,0.650000000,BASELINE,770,747,725,690.627431975,670.254863951,643,889.627431975,790,820,657,633,657,0.401018019919,-0.0054967344873,0.0698474225802,0.999999985057,4.79707511619e-05,-0.000165338085277,1.57726095733e-05,1793251591115048448
+40,0.666666667,BASELINE,770,747,725,691,670.796441735,643,889.796441735,789.796441735,820,657,633,657,0.401017708241,-0.00549670092152,0.0698473450562,0.999999985054,4.69977168876e-05,-0.000165630878923,1.57679881579e-05,1793251591131715328
+41,0.683333333,BASELINE,770,747,725,691,670.22201698,643,889.22201698,789.22201698,820,657,633,657,0.401018977348,-0.00549594745427,0.0698479780729,0.999999985011,5.06216383397e-05,-0.000164780514906,1.62428417831e-05,1793251591148381952
+42,0.700000000,BASELINE,770,747,725,690.648938226,670,643,889,789.351061774,820,657,633,657,0.401019734463,-0.00549570634917,0.0698486145584,0.999999985156,5.09520954188e-05,-0.000163787889329,1.62762766602e-05,1793251591165048832
+43,0.716666667,BASELINE,770,747,725,690.076707474,670,643,889,789.923292526,820,657,633,657,0.401020169022,-0.00549578803234,0.0698492532293,0.999999985424,4.92076692391e-05,-0.000162705638979,1.6031617632e-05,1793251591181715968
+44,0.733333333,BASELINE,770,747,725,690.517211096,670,643,889,790,820,657,633,657,0.401020105491,-0.00549521812062,0.0698495744958,0.999999985444,5.04155803804e-05,-0.000162229724418,1.58905784961e-05,1793251591198382592
+45,0.750000000,BASELINE,770,747,725,691,670,643,889.110161294,789.889838706,820,657,633,657,0.401019574797,-0.00549479416903,0.0698494027921,0.999999985327,5.1581302351e-05,-0.000162587941292,1.58332265904e-05,1793251591215048704
+46,0.766666667,BASELINE,770,747,725,691,670,643,889.684870084,789.315129916,820,657,633,657,0.401017399238,-0.00549541108372,0.0698473594441,0.999999984799,5.06418514288e-05,-0.000166067859198,1.60611395159e-05,1793251591231715584
+47,0.783333333,BASELINE,770,747,725,691,670,643,889.739738732,789.260261268,820,657,633.260261268,656.739738732,0.401017013959,-0.0054959677275,0.069846879064,0.999999984747,4.95212956483e-05,-0.00016671694112,1.61168203273e-05,1793251591248382208
+48,0.800000000,BASELINE,770,747,725,691,670,643,889.163519044,789.836480956,820,657,633.836480956,656.163519044,0.401018802089,-0.00549645120218,0.0698482961339,0.999999985275,4.81808775823e-05,-0.000163929375125,1.59634105616e-05,1793251591265048832
+49,0.816666667,BASELINE,770,747,725,691,670,643,889.420383281,790,820,657,633.579616719,656.420383281,0.401019678275,-0.00549722351389,0.0698486520737,0.999999985317,4.87276840849e-05,-0.000163489291604,1.62300456487e-05,1793251591281715456
+50,0.833333333,BASELINE,770,747.00726352,725,691,670,643,890,790,820,657,633,657,0.401020184754,-0.00549806968261,0.0698485878043,0.999999985168,5.00115388541e-05,-0.000163968162666,1.66504909195e-05,1793251591298382080
+51,0.850000000,BASELINE,770,747.588921188,725,691,670,643,890,790,820,657,633,657,0.401020028565,-0.00549570641002,0.0698485416167,0.999999985222,5.04490662948e-05,-0.000163564664055,1.60730553785e-05,1793251591315048960
+52,0.866666667,BASELINE,769.831682114,747.831682114,725,691,670,643,890.168317886,790,820,657,633,657,0.401019284802,-0.00549424127717,0.0698482932401,0.999999985189,5.06845976712e-05,-0.000163719798816,1.57638750818e-05,1793251591331715840
+53,0.883333333,BASELINE,769.25773417,747.25773417,725,691,670,643,890.74226583,790,820,657,633,657,0.401017125042,-0.00549494057563,0.0698475576071,0.99999998495,5.04333377656e-05,-0.000165221186761,1.61011643815e-05,1793251591348382208
+54,0.900000000,BASELINE,769.324546484,746.675453516,725,691,670,643,890.350907033,790,820,657,633,657,0.401017293001,-0.00549597621871,0.0698476042984,0.999999985046,4.85288940377e-05,-0.000165205935007,1.61017994426e-05,1793251591365048832
+55,0.916666667,BASELINE,769.913618792,746.086381208,725,691,670,643,889.172762416,790,820,657,633,657,0.401019358197,-0.00549728600381,0.0698482886331,0.999999985409,4.52770013851e-05,-0.000163954526305,1.5828040079e-05,1793251591381715200
+56,0.933333333,BASELINE,770,746.494587872,725,690.505412128,670,643,889,790,820,657,633,657,0.401018521987,-0.00549665010992,0.0698480999106,0.999999985197,4.65867093213e-05,-0.000164870443755,1.59215368769e-05,1793251591398381824
+57,0.950000000,BASELINE,770,747,725,690.073719945,670,643,889.073719945,790,820,657,633,657,0.401017617397,-0.0054960114839,0.0698479600737,0.999999984988,4.82215616664e-05,-0.000165646208974,1.61091243832e-05,1793251591415048448
+58,0.966666667,BASELINE,770,747,725,690.649822119,670,643,889.649822119,790,820,657,633,657,0.401019644448,-0.00549763268439,0.0698491757542,0.999999985499,4.67304247071e-05,-0.000162928872659,1.65078481802e-05,1793251591431715328
+59,0.983333333,BASELINE,770.224480941,747,725,691,670,643,889.775519059,790,820,657,633,657,0.40102047836,-0.00549792056926,0.069849622099,0.999999985634,4.76860853501e-05,-0.000161805696236,1.6650812742e-05,1793251591448382208
+60,1.000000000,BASELINE,770.796902686,747,725,691,670,643,889.203097314,790,820,657,633,657,0.40101946293,-0.00549614184285,0.0698488759896,0.999999985181,5.24342313042e-05,-0.000163153434167,1.63973558546e-05,1793251591465049088
+61,1.016666667,BASELINE,770.617377781,747,725,691,670,643,889,790,820,657,633,657,0.40101891867,-0.0054958572623,0.0698487409186,0.999999985149,5.23991649896e-05,-0.000163378305509,1.6224718168e-05,1793251591481715712
+62,1.033333333,BASELINE,770.02434562,747,725,691,670,643,889,790,820,657,633,657,0.401018633515,-0.00549639433603,0.0698489418671,0.999999985352,4.97337351559e-05,-0.000162985694872,1.60965242391e-05,1793251591498382336
+63,1.050000000,BASELINE,770,747,725,691,670.555400514,643,889,790,820,657,633,657,0.40101833082,-0.00549753820727,0.0698482778431,0.9999999851,4.9681828004e-05,-0.000164514737756,1.63170877495e-05,1793251591515048960
+64,1.066666667,BASELINE,770,747,725,691,670.866113409,643,889.133886591,790,820,657,633,657,0.401018015577,-0.0054981665325,0.0698476245144,0.999999984868,4.97151196965e-05,-0.000165893101685,1.64618781097e-05,1793251591531715584
+65,1.083333333,BASELINE,770,747,725,691,670.289911106,643,889.710088894,790,820,657,633,657,0.401017661365,-0.00549700584953,0.0698471288529,0.999999984773,4.96602474631e-05,-0.000166501893095,1.63070148202e-05,1793251591548381952
+66,1.100000000,BASELINE,770,747,725,691,670,643,889.709001458,790,820,657,633,657,0.401018070213,-0.00549568893134,0.0698477654978,0.999999984866,5.02801730263e-05,-0.000165783012116,1.60115502238e-05,1793251591565048832
+67,1.116666667,BASELINE,770,747,725,691,670,643,889.12332498,790,820,657,633,657,0.40101925177,-0.00549421380255,0.0698495487658,0.999999985146,5.1583428555e-05,-0.000163719671574,1.55737065624e-05,1793251591581715456
+68,1.133333333,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.40101865937,-0.00549459227404,0.0698485924619,0.999999985042,5.08846232229e-05,-0.00016456655937,1.56091648209e-05,1793251591598382336
+69,1.150000000,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.401017737815,-0.00549549219162,0.0698470954415,0.999999984863,4.96788584016e-05,-0.000166000684607,1.5786074386e-05,1793251591615049472
+70,1.166666667,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.401019058582,-0.00549681291159,0.0698485569583,0.999999985145,4.88943857533e-05,-0.000164491858347,1.61997254435e-05,1793251591631716096
+71,1.183333333,BASELINE,770,747,725,691,670,643,889,789.808655175,820,657,633,657,0.4010197783,-0.00549741001233,0.0698495255513,0.99999998533,4.82106426557e-05,-0.00016355689436,1.62916268444e-05,1793251591648382208
+72,1.200000000,BASELINE,770,747,725,691,670,643,889,789.234678694,820,657,633,657,0.401019296102,-0.0054965600942,0.0698495084466,0.999999985327,4.77283279887e-05,-0.000163769480717,1.57401265255e-05,1793251591665048832
+73,1.216666667,BASELINE,770,747,725,691,670,643,889,789.348145653,820,657,633,657,0.401018663233,-0.00549614979795,0.0698491989704,0.999999985174,4.9292923801e-05,-0.000164250724506,1.56305022538e-05,1793251591681715456
+74,1.233333333,BASELINE,770,747,725,691,670,643,889,789.93708968,820,657,633,657,0.401017926152,-0.00549604357056,0.0698486872724,0.99999998491,5.22732854563e-05,-0.000164917787844,1.58265059399e-05,1793251591698382080
+75,1.250000000,BASELINE,770,747,725,691,670,643,889,790.517668415,820,657,633,657,0.401018828034,-0.00549579436919,0.069849489746,0.999999985115,5.17274771528e-05,-0.00016381626465,1.6058803518e-05,1793251591715048704
+76,1.266666667,BASELINE,770,747,725,691.096653413,670,643,889.096653413,790.903346587,820,657,633,657,0.401019417436,-0.005495704135,0.0698500376849,0.999999985292,5.03990882033e-05,-0.000163138365943,1.61948950586e-05,1793251591731715328
+77,1.283333333,BASELINE,770,747,725,691.672695698,670,643,889.672695698,790.327304302,820,657,633,657,0.401017484795,-0.00549648716616,0.0698485436361,0.999999985043,4.72808146422e-05,-0.000165610664105,1.58322882058e-05,1793251591748381952
+78,1.300000000,BASELINE,770,747,725,691.7509694,670,643,889.7509694,790,820,657,633,657,0.401016716564,-0.00549690745782,0.0698478624501,0.999999984918,4.63358353273e-05,-0.000166648831929,1.56890211907e-05,1793251591765048576
+79,1.316666667,BASELINE,770,747,725,691.174249501,670,643,889.174249501,790,820,657,633,657,0.401017480535,-0.00549685043517,0.0698482508777,0.999999984966,4.82506062939e-05,-0.000165799885427,1.58343746292e-05,1793251591781715456
+80,1.333333333,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.401018154129,-0.00549583102178,0.0698487466855,0.999999985076,4.99673296504e-05,-0.000164633022215,1.57379965614e-05,1793251591798382080
+81,1.350000000,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.401018788594,-0.00549439494134,0.0698492889837,0.99999998521,5.1598308463e-05,-0.000163328516897,1.55369608556e-05,1793251591815048448
+82,1.366666667,BASELINE,770,747,725,690.421469174,670,643,889.578530826,790,820,657,633,657,0.401018348011,-0.00549591237612,0.0698483600806,0.999999985077,4.9252134856e-05,-0.000164858837384,1.55379415021e-05,1793251591831715328
+83,1.383333333,BASELINE,770,747,725,690.156270172,670,643,889.843729828,790,820,657,633,657,0.40101810798,-0.00549714760123,0.0698478464226,0.999999985006,4.73617353752e-05,-0.00016583413776,1.56000278901e-05,1793251591848382208
+84,1.400000000,BASELINE,770,747,725,690.730784045,670,643,889.269215955,790,820,657,633,657,0.401018406768,-0.00549762186391,0.0698484469481,0.999999985119,4.66987877083e-05,-0.000165318549127,1.58252719051e-05,1793251591865048832
+85,1.416666667,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.401018429302,-0.00549730010905,0.0698486703622,0.999999985111,4.75797304321e-05,-0.000165109888388,1.58957301464e-05,1793251591881715456
+86,1.433333333,BASELINE,770,747,725,691,670,643,889,790,820,657,633,657,0.401018208231,-0.00549627641489,0.0698485612344,0.999999984993,4.98220970603e-05,-0.000165171880934,1.58296961416e-05,1793251591898382080
+87,1.450000000,BASELINE,769.531831597,747,725,690.531831597,670,643,889,790,820,657,633,657,0.401017953568,-0.00549492653751,0.0698486945283,0.999999984919,5.13226926068e-05,-0.000165178440417,1.56460470325e-05,1793251591915048960
+88,1.466666667,BASELINE,769.058014178,747,725,690.058014178,670,643,889,790,820,657,633,657,0.401017600759,-0.00549382375493,0.0698488054078,0.999999984847,5.24282324876e-05,-0.000165278941421,1.54690309281e-05,1793251591931715328
+89,1.483333333,BASELINE,769.635431681,747,725,690.635431681,670,643,889,790,820,657,633,657,0.401016448302,-0.00549570087808,0.0698481450828,0.999999984703,5.17425438502e-05,-0.000166350963658,1.56282016155e-05,1793251591948382208
+90,1.500000000,BASELINE,769.787583435,746.787583435,725,691,670,643,889.212416565,790,820,657,633,657,0.401016180545,-0.00549656432648,0.0698479847487,0.999999984676,5.13030965261e-05,-0.000166633840084,1.57642198083e-05,1793251591965049088
+91,1.516666667,BASELINE,769.2113396,746.2113396,725,691,670,643,889.7886604,790,820,657,633,657,0.401017428104,-0.00549569155176,0.0698486807996,0.999999984853,5.12854115977e-05,-0.000165565066801,1.58605823728e-05,1793251591981715712
+92,1.533333333,BASELINE,769.372576709,746.372576709,724.627423291,691,670,643,890,790,820,657,633,657,0.401018888869,-0.00549562856204,0.0698495964189,0.999999985064,5.18278441591e-05,-0.000164101885621,1.60274866711e-05,1793251591998382592
+93,1.550000000,BASELINE,769.960936698,746.960936698,724.039063302,691,670,643,890,790,820,657,633,657,0.401020473114,-0.00549603457113,0.0698506392046,0.999999985291,5.26946770021e-05,-0.000162410277204,1.62352462613e-05,1793251592015049216
+94,1.566666667,BASELINE,770,747,724.54068135,691,670,643,889.45931865,790,820,657,633,657,0.401019877246,-0.00549553880079,0.0698495333816,0.999999985081,5.30738108159e-05,-0.000163602095135,1.59949094204e-05,1793251592031715840
+95,1.583333333,BASELINE,770,747,725,691,670,643,889.119169292,790,820,657,633,657,0.401019121281,-0.00549495390723,0.0698485860938,0.99999998489,5.32294330786e-05,-0.000164731987453,1.57803507991e-05,1793251592048382464
+96,1.600000000,BASELINE,770,747,725,691,670,643,889.695188438,790,820,657,633,657,0.401018345922,-0.00549427319955,0.0698488323406,0.999999984903,5.26611575635e-05,-0.000164838376951,1.57867798262e-05,1793251592065048832
+97,1.616666667,BASELINE,770,747,725,691,670,643,889.728905906,789.728905906,820,657.271094094,633,657,0.401018293038,-0.00549422869226,0.0698492926065,0.999999984989,5.23266172415e-05,-0.000164420279391,1.58157083981e-05,1793251592081715456
+98,1.633333333,BASELINE,770,747,725,691,670,643,889.153127838,789.153127838,820,657.846872162,633,657,0.401019052146,-0.00549489921372,0.0698499934094,0.999999985157,5.22547730772e-05,-0.000163412708258,1.58699243178e-05,1793251592098382080
+99,1.650000000,BASELINE,770,747,725,691,670,643,889,789.869821945,820,657.565089027,633,657,0.401018136774,-0.00549558746119,0.0698496212568,0.99999998502,5.10830328966e-05,-0.000164612438249,1.5901889263e-05,1793251592115048704
+100,1.666666667,BASELINE,770,747,725,691,670,643,889,790.973441529,820,657,633,657,0.401016725563,-0.00549624585858,0.0698488792761,0.999999984782,4.96176785902e-05,-0.00016649320751,1.59160918253e-05,1793251592131715584
+101,1.683333333,BASELINE,770,747,725,691,670,643,889,790.398987235,820,657,633,657,0.401017600792,-0.00549615596654,0.0698485273615,0.999999984845,5.031602862e-05,-0.000165925744965,1.57301695481e-05,1793251592148382976
+102,1.700000000,BASELINE,770,747,725,691,670,643,889,789.823948745,820,657,633,657,0.401018096618,-0.0054958157225,0.0698483583917,0.999999984858,5.14368976887e-05,-0.000165504822421,1.56864081377e-05,1793251592165049856
+103,1.716666667,BASELINE,770,747,725,691,670,643,889,789.247581957,820,657,633,657,0.401017729732,-0.00549490621357,0.0698486054126,0.999999984759,5.35185149077e-05,-0.000165417111094,1.59659003595e-05,1793251592181716224
+104,1.733333333,BASELINE,770,747,725,691,670,643,889.329675739,789.329675739,820,657,633,657,0.401017547927,-0.00549432611632,0.0698484709904,0.99999998469,5.35802599793e-05,-0.000165822418685,1.58853725027e-05,1793251592198382592
+105,1.750000000,BASELINE,770,747,725,691,670,643,889.907604367,789.907604367,820,657,633,657,0.40101750549,-0.00549399407301,0.0698480493336,0.999999984643,5.21209982949e-05,-0.000166598980066,1.55337418474e-05,1793251592215049472
+106,1.766666667,BASELINE,770,747,725,691,670,643,889.502607773,790,820,657,633,657,0.401016589026,-0.00549376480567,0.0698475614995,0.999999984506,5.25443360643e-05,-0.000167297214361,1.54382729805e-05,1793251592231715840
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,889,790,820,657,633,657,0.401019195109,-0.00549618805696,0.0698490520286,0.999999985108,4.80483372002e-05,-0.000165033641048,1.54692956209e-05,1793251592274928640
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,889.571641011,789.428358989,820,657,633,657,0.401020022888,-0.00549482639577,0.0698502574743,0.99999998523,5.21512344237e-05,-0.000163021766255,1.56070655068e-05,1793251592291595264
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,789.149487644,820,657,633,657,0.401020446655,-0.00549415834989,0.0698507899316,0.999999985285,5.43034343828e-05,-0.000161966985713,1.57269679446e-05,1793251592308261888
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,789.745886876,820,657,633,657,0.401019662577,-0.00549556395147,0.0698493104083,0.999999985183,5.06237873337e-05,-0.000163773554996,1.57934534954e-05,1793251592324928768
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,789.669867129,820,657,633,657,0.401018508323,-0.00549586672947,0.069848500547,0.999999984982,5.03761591233e-05,-0.000165074668851,1.57632171658e-05,1793251592341595392
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,789.09464373,820,657,633,657,0.40101707925,-0.00549535077152,0.0698481878426,0.999999984712,5.26764607267e-05,-0.000166000532662,1.56611745417e-05,1793251592358262272
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,789,820,657,633,657,0.401017209718,-0.00549522226358,0.0698480123213,0.999999984717,5.22637579548e-05,-0.000166108700912,1.55980192199e-05,1793251592374928896
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670.058346318,643,889.941653682,789.058346318,820,657,633,657,0.401017584051,-0.00549518891738,0.069848006339,0.999999984731,5.13918035913e-05,-0.000166294742048,1.55794707176e-05,1793251592391595520
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670.649358588,643,889.350641412,789.649358588,820,657,633,657,0.401017380801,-0.00549532773915,0.0698493015011,0.999999984339,5.12049025479e-05,-0.000168661857697,1.58982391382e-05,1793251592408262144
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670.764366386,643,889.235633614,790,820,657,633,657,0.40102028992,-0.00549541532518,0.0698514558817,0.999999984042,5.0323117049e-05,-0.00017066775519,1.60205069159e-05,1793251592424928512
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670.185001873,643,889.814998127,790,820,657,633,657,0.40102773921,-0.00549542817101,0.0698548636488,0.999999983884,4.84276677952e-05,-0.000172146724935,1.58561290495e-05,1793251592441595136
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.60956965,747,725,691,670,643,890,790,820,657,633,657,0.401047767199,-0.00549603576011,0.0698623496603,0.999999984256,4.97057943381e-05,-0.000169542060604,1.65346849092e-05,1793251592458262016
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.035982077,747,725,691,670,643,890,790,820,657,633,657,0.401073696061,-0.00549692235293,0.069871748843,0.999999984852,5.24726967005e-05,-0.000165021697283,1.76086746656e-05,1793251592474928640
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.539339978,747,725,691,670,643,890,790,820,657,633,657,0.401126699409,-0.00549958332365,0.0698875411996,0.999999987923,5.03106989147e-05,-0.000145888564026,1.84243424443e-05,1793251592491595520
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,889.882178831,790,820,657,633,657,0.401184173543,-0.00550187969275,0.0699022548932,0.999999990569,4.83507380881e-05,-0.000127155282015,1.88863614279e-05,1793251592508262400
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,889.291484241,790,820,657,633,657,0.401252318275,-0.00550223610011,0.0699109220373,0.999999992168,4.85256674713e-05,-0.000113952125194,1.7998408135e-05,1793251592524929024
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,889.292852934,789.707147066,820,657,633,657,0.401329382417,-0.00550307320747,0.0699166469198,0.999999993129,4.77789849615e-05,-0.000105758477536,1.65898690694e-05,1793251592541595392
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,889.870996819,789.129003181,820,657,633,657,0.401415135649,-0.00550437860227,0.0699195055146,0.999999993581,4.61344882115e-05,-0.000102444985411,1.46741867364e-05,1793251592558261760
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,789.448853267,820,657,633,657,0.401515506432,-0.0055059773793,0.0699181440301,0.999999993208,4.41210155974e-05,-0.000107152658526,1.24740203787e-05,1793251592574928640
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,725,690.973465022,670,643,889.973465022,790,820,657,633,657,0.401621437702,-0.00550763330786,0.0699157409439,0.999999992582,4.20765846633e-05,-0.000113853931175,1.01530515089e-05,1793251592591595264
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,725,690.39769113,670,643,889.39769113,790,820,657,633,657,0.401755560641,-0.00550872800577,0.0699168669581,0.999999992597,4.15849624034e-05,-0.00011413329296,7.02292138482e-06,1793251592608261888
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,725,690.182383431,670,643,889.182383431,790,820,657,633,657,0.401897293258,-0.00550991360218,0.0699179837872,0.999999992586,4.13741967778e-05,-0.000114459928792,3.94104213319e-06,1793251592624928768
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,725,690.772062089,670,643,889.772062089,790,820,657,633,657,0.402056019647,-0.0055113021913,0.0699190801045,0.999999992526,4.17906349435e-05,-0.000114892136097,9.66916237195e-07,1793251592641595648
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.354681574,747,725,691.354681574,670,643,890,790,820,657,633,657,0.40223905948,-0.00551369290459,0.0699208495589,0.999999992834,3.75433771363e-05,-0.00011364096192,-2.99217938083e-06,1793251592658262528
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.93285303,747,725,691.93285303,670,643,890,790,820,657,633,657,0.402437419571,-0.00551671507063,0.0699230431667,0.999999993313,3.03574584921e-05,-0.000111329065271,-7.57191865974e-06,1793251592674929408
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.489654835,747,725,691.489654835,670,643,890,790,820,656.489654835,633,657,0.402670393924,-0.00551979657256,0.069924934749,0.999999993519,2.30784423777e-05,-0.0001108127753,-1.22097762301e-05,1793251592691595776
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,656.089093826,633,657,0.402912753508,-0.00552264004467,0.0699273255396,0.999999993753,1.58660959516e-05,-0.000109346919003,-1.69052772686e-05,1793251592708262400
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,656.675352523,633,657,0.403182104969,-0.00552411174814,0.0699327234858,0.999999994592,9.0940409036e-06,-0.000101265670764,-2.18798306802e-05,1793251592724928768
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,657,633,657,0.403475481976,-0.00552760940486,0.0699412436228,0.999999995816,-1.30777959817e-05,-8.67067012909e-05,-2.60520247317e-05,1793251592741595392
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,657,633,657,0.403798673559,-0.00553362117592,0.0699536382541,0.99999999604,-5.43600505259e-05,-6.41091792675e-05,-2.92285275362e-05,1793251592758262016
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,657,633,657,0.404137819789,-0.00553668599054,0.0699561549185,0.999999996174,-5.44589177329e-05,-6.18902848349e-05,-2.92510895572e-05,1793251592774928896
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,657,633,657,0.404483182973,-0.00553860248047,0.0699548224888,0.99999999658,-3.85100766258e-05,-6.76122203292e-05,-2.80446724995e-05,1793251592791596032
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,691.566399096,670,643,890.566399096,789.433600904,820,657,633,657,0.404887789055,-0.00553701396088,0.0699593507269,0.999999997188,-3.44050972584e-05,-5.92440555041e-05,-3.04991220382e-05,1793251592808262656
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,890.855412294,789.144587706,820,657,633,657,0.405296813031,-0.00553527111136,0.0699633947367,0.999999997556,-3.32595507681e-05,-5.21363129698e-05,-3.26091350159e-05,1793251592824929024
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,890.266749404,789.733250596,820,657,633,657,0.405716713936,-0.0055332135196,0.0699656852392,0.999999997385,-4.06652325141e-05,-4.95399326321e-05,-3.34949368157e-05,1793251592841595392
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,890.317203961,790,820,657,633,657,0.406154780757,-0.005526239049,0.069960677415,0.999999997116,-3.38466368646e-05,-5.85201942336e-05,-3.46115769346e-05,1793251592858262016
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,890.897254905,790,820,657,633,657,0.406607900578,-0.00551519026975,0.0699496219265,0.999999996267,-1.52412775088e-05,-7.70932909576e-05,-3.59194983374e-05,1793251592874928640
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,891,790,820,657,633,657,0.407107924993,-0.00551417861243,0.0699352647812,0.999999994594,-1.60601459138e-05,-9.55340667766e-05,-3.77844964036e-05,1793251592891595264
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,891,790,820,657,633,657,0.407625688484,-0.00551600059773,0.0699225174447,0.99999999292,-2.15725639718e-05,-0.000110092841397,-3.96770154921e-05,1793251592908262144
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,692,670,643,891,790,820,657,633,657,0.408225467207,-0.0055250454551,0.0699346730517,0.999999995177,-3.2582579311e-05,-8.32972040908e-05,-4.05779833387e-05,1793251592924928768
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.798359108,747,725,692,670,643,891,790,820,657,633,657.201640892,0.408832201747,-0.00553272615875,0.0699464246009,0.999999996683,-4.17701868276e-05,-5.6610612911e-05,-4.1037446239e-05,1793251592941595648
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.201419332,747,725,692,670,643,891,790,820,657,633,657.798580668,0.409452572509,-0.00553773256085,0.06995738403,0.999999997598,-4.73851266209e-05,-3.01377985684e-05,-4.06313782707e-05,1793251592958262528
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670,643,891.379402553,790,820.379402553,657,633,658,0.410068406016,-0.00554096263794,0.0699548908814,0.9999999973,-5.16143211473e-05,-3.25403550069e-05,-4.09550618215e-05,1793251592974929152
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670,643,891.952016361,790,820.952016361,657,633,658,0.410681928901,-0.00554328811899,0.0699455469892,0.99999999638,-5.51378228769e-05,-4.96477333178e-05,-4.16503723184e-05,1793251592991595776
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670.529182997,643,891.470817003,789.470817003,821,657,633,657.470817003,0.411368010452,-0.00554710916389,0.0699494085471,0.999999996135,-6.18857779338e-05,-4.61487573514e-05,-4.20808103977e-05,1793251593008262400
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.109295993,747,725,692.109295993,670.890704007,643,891,789.109295993,821.109295993,657,633,657,0.412075087598,-0.0055505237412,0.0699595876019,0.999999996324,-6.75008159133e-05,-3.19604817104e-05,-4.21230623343e-05,1793251593024929280
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.700565394,747,725,692.700565394,670.299434606,643,891,789.700565394,821.700565394,657,633,657,0.412845485944,-0.00555154267351,0.0699922994165,0.999999996723,-6.68194012023e-05,2.10543331655e-05,-4.05603216141e-05,1793251593041595648
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725,693,670,643,891.285522371,790,822,656.714477629,633,657,0.413615114184,-0.00555204107803,0.0700157464087,0.999999995347,-6.70648821501e-05,5.68819379171e-05,-3.96677066784e-05,1793251593058262016
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725,693,670,643,891.864002608,790,822,656.135997392,633,657,0.414383952357,-0.00555200539945,0.0700296873104,0.999999994073,-6.8261396766e-05,7.50747544122e-05,-3.9462668648e-05,1793251593074928896
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,725,693,670,643,892.441187709,790,822.441187709,656.441187709,633,657,0.415109936639,-0.00554954843698,0.069991586425,0.999999996625,-7.02727285799e-05,5.60880994623e-06,-4.21948256506e-05,1793251593091595776
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,725,693,670,643,893,790,823,657,633.017880061,657.017880061,0.415826274206,-0.00554650859862,0.0699386298747,0.99999999241,-7.24670432417e-05,-8.84989789501e-05,-4.57809127735e-05,1793251593108262656
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,725,693,670,643,893,790,823,657,633.591629806,657.591629806,0.416652184256,-0.00554848360474,0.0699210961854,0.999999990051,-7.25643855969e-05,-0.000111098568514,-4.78493026112e-05,1793251593124929280
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.829840686,747,725,693,669.829840686,643,893.170159314,790,823.170159314,657,633.829840686,657.829840686,0.417495329951,-0.00554996594001,0.0699185085752,0.999999989794,-7.44802021984e-05,-0.000111555450044,-4.91955624087e-05,1793251593141595904
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.239508591,747,725,693,669.239508591,643,893.760491409,790,823.760491409,657,633.239508591,657.239508591,0.418381035411,-0.00555023172773,0.0699528271777,0.999999993896,-8.08863599755e-05,-5.73355507633e-05,-4.87586731682e-05,1793251593158262272
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.34313633,747,725,693.34313633,669.34313633,643,894.34313633,790,824,657,633,657,0.419279193315,-0.00555125498753,0.0699813615935,0.999999995226,-8.3927905745e-05,-1.46900804205e-05,-4.78399862452e-05,1793251593174928640
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.920533164,747,725,693.920533164,669.920533164,643,894.920533164,790,824,657,633,657,0.420185852514,-0.00555279537644,0.0700059471211,0.999999995129,-8.46724176255e-05,2.00534801438e-05,-4.65923742172e-05,1793251593191595264
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,725,694,670,643,895,790,824.497147071,657,633,657.497147071,0.421099567584,-0.00555446479563,0.070024828861,0.999999993835,-8.8966608991e-05,4.78097412189e-05,-4.6135001703e-05,1793251593208262400
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,725,694,670,643,895,790,825,657,633,658,0.422007285297,-0.00555513286067,0.0700343223251,0.999999992779,-9.27137410401e-05,6.07620268008e-05,-4.64111701101e-05,1793251593224929280
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,725,694,670,643,895,790,825,657,633,658,0.422866357392,-0.0055488221591,0.069985920529,0.999999994565,-8.88564307506e-05,-1.97653540331e-05,-5.08353670289e-05,1793251593241595904
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.752782709,747,725,694,670,643,895.247217291,790,825,657,633.247217291,657.752782709,0.423724084649,-0.00554550897778,0.0699248397757,0.999999988149,-8.79998391212e-05,-0.000113391702842,-5.56850317209e-05,1793251593258262528
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.173189318,747,725,694,670,643,895.826810682,790,825,657,633.826810682,657.173189318,0.424580003934,-0.00554622587003,0.069846712545,0.999999968747,-9.11776214123e-05,-0.000224629224996,-6.11067253423e-05,1793251593274929152
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,694.403431543,670,643,896,789.596568457,825.403431543,657,633.596568457,657.403431543,0.425538492052,-0.00554784792637,0.0698590575515,0.999999974277,-9.50676923037e-05,-0.000196713891487,-6.09196983896e-05,1793251593291595520
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,694.978785624,670,643,896,789.021214376,825.978785624,657,633.021214376,657.978785624,0.426540689875,-0.00554985571876,0.0699099573482,0.999999987377,-9.92613048215e-05,-0.000109498497399,-5.83425120771e-05,1793251593308262144
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643,896,789,826.554808666,657,633.554808666,657.445191334,0.427532512061,-0.0055518610822,0.069969260335,0.999999992985,-9.8251549929e-05,-3.52269930452e-05,-5.59888951711e-05,1793251593324928768
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643,896.267794805,789,827,656.866102597,634,657,0.428530107819,-0.00555426465662,0.0700229616805,0.999999992864,-0.000100288615271,3.59874238163e-05,-5.40355211742e-05,1793251593341595392
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643,897.446657634,789,827,656.276671183,634,657,0.429548697231,-0.00555802330587,0.07005651114,0.999999987297,-0.000113369017196,9.84871525011e-05,-5.34147006894e-05,1793251593358262528
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643.307348377,898,789,827,656.307348377,633.692651623,657.307348377,0.430490516751,-0.00555842853523,0.0700419346136,0.999999988843,-0.000116510393523,7.59442159144e-05,-5.45077259358e-05,1793251593374929408
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643.886580521,898,789,827,656.886580521,633.113419479,657.886580521,0.431364424723,-0.00555586729213,0.0699847853071,0.999999991986,-0.000110859596875,-2.1828404578e-05,-5.71168378068e-05,1793251593391596032
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,724.536470308,695,670,643.536470308,898,789,827,656.536470308,633,657.536470308,0.432229690264,-0.00555448375091,0.0699197682049,0.999999984267,-0.000105602581277,-0.000129315661005,-5.99214019847e-05,1793251593408262912
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.960157162,747,724,695.039842838,670,643,897.960157162,789,827,656,633,657.039842838,0.433103042534,-0.0055537028186,0.0698618550455,0.999999967946,-0.000101295955348,-0.000223476644032,-6.24903334068e-05,1793251593424929536
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.384921618,747,724,695.615078382,670,643,897.384921618,789,827,656,633,657.615078382,0.434113337358,-0.00555716620424,0.0699251445532,0.99999998654,-0.000108471909178,-0.000106778994282,-6.12534284402e-05,1793251593441595904
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.189069492,747.189069492,724.189069492,696,670.189069492,643,897.189069492,789,827,656.189069492,633.189069492,658,0.435107590413,-0.00555935036707,0.0699816235103,0.999999991654,-0.000114171336912,-7.38598062591e-06,-6.00123507879e-05,1793251593458262272
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.76054376,747.76054376,724.76054376,696,670.76054376,643,897.76054376,789,827,656.76054376,633.76054376,658,0.436069398178,-0.00555894722302,0.0700243277181,0.999999989818,-0.000116884402529,5.70073520221e-05,-5.87628346391e-05,1793251593474928896
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.652920111,725,695.652920111,670.652920111,643,898,789,827,657,634,658,0.437017503271,-0.00556154047481,0.0700400907155,0.999999987648,-0.000116389461429,8.84628994955e-05,-5.7721359549e-05,1793251593491596032
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.055521183,725,695.055521183,670.055521183,643,898,789,827,657,634,658,0.437955725741,-0.00556629477065,0.0700364233195,0.999999987311,-0.000113580859554,9.61632360448e-05,-5.68299268762e-05,1793251593508263168
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,695.52124247,670.52124247,643,899.04248494,789,827,657,633.47875753,658,0.438772098129,-0.00556642352056,0.0699756497085,0.999999990888,-0.000120571920774,7.15796781207e-06,-6.02977010374e-05,1793251593524929792
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.901837968,747.098162032,724.901837968,696,671,643,899.803675936,789,827,657,633,657.901837968,0.439569502064,-0.00556556217792,0.0699108193623,0.999999985863,-0.000125963912984,-9.13177483519e-05,-6.37891310941e-05,1793251593541596160
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.313583963,747.686416037,724.313583963,696,671,643,898.627167926,789,827,657,633,657.313583963,0.440334535385,-0.0055621238327,0.0698549479331,0.999999973274,-0.000118359207292,-0.000187606276951,-6.51687001768e-05,1793251593558262528
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.271093745,748,724,696,671,643,898.271093745,788.728906255,827.271093745,657,633,657,0.441189895618,-0.00556169977606,0.0698583828553,0.999999974662,-0.00011309579545,-0.000183665345656,-6.44405755111e-05,1793251593574929152
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.851688445,748,724,696,671,643,898.851688445,788.148311555,827.851688445,657,633,657,0.442148379774,-0.00556471705761,0.0699295263607,0.999999989883,-0.000110505380598,-6.52949374299e-05,-6.1306149329e-05,1793251593591595776
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,748,724,696,671,643,899.428924016,788,828,657,633,657.428924016,0.443025748717,-0.00556841506974,0.0699893500962,0.999999991602,-0.00011411640972,2.0198323817e-05,-5.80146600976e-05,1793251593608262144
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.995013879,748,724.004986121,696,671,643,899.995013879,788.004986121,828,657,633.004986121,658,0.443874511278,-0.00557233279746,0.0700446707227,0.999999986954,-0.000119834728561,9.34796795836e-05,-5.47123184223e-05,1793251593624929024
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.421350573,748,724.578649427,696,671,643,899.421350573,788.578649427,828,657,633.578649427,658,0.444634687342,-0.00557467252118,0.0700293445609,0.999999988994,-0.000123231267911,6.04500931833e-05,-5.63181504983e-05,1793251593641595904
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.843087242,725,695.843087242,671,643,899,788.843087242,828,657,634,657.843087242,0.445380111344,-0.00557633208214,0.0700094995576,0.999999990074,-0.000125517491062,2.70678584986e-05,-5.80038336504e-05,1793251593658262784
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.252098492,725,695.252098492,671,643,899,788.252098492,828,657,634,657.252098492,0.446084726114,-0.00557611007371,0.0699771538421,0.9999999904,-0.000124732189278,-7.28993296676e-06,-5.99104134916e-05,1793251593674929920
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.332505151,747.332505151,725,695.332505151,671,643,899.332505151,788.332505151,828.332505151,657,634,657.332505151,0.446772609796,-0.00557463531756,0.069948337547,0.999999989664,-0.000120643242374,-4.96684555277e-05,-6.04208710417e-05,1793251593691596544
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.912358915,747.912358915,725,695.912358915,671,643,899.912358915,788.912358915,828.912358915,657,634,657.912358915,0.447448047278,-0.00557222864982,0.0699221467686,0.999999986894,-0.000114096733329,-9.80135503156e-05,-5.98927612987e-05,1793251593708263168
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.350296065,725,695.350296065,671,643,900,788,828.350296065,657,633.350296065,658,0.449382712179,-0.00557831930659,0.0699323291733,0.999999986763,-0.000122246040467,-9.01710238602e-05,-5.83033767955e-05,1793251593758262016
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.235629532,725,695,671.235629532,643,900,788,828.235629532,657,633,658,0.450029786391,-0.00558331140895,0.0699702837887,0.999999989897,-0.000127242285504,-2.89598768893e-05,-5.63644863686e-05,1793251593774928896
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.814381476,725,695,671.814381476,643,900,788,828.814381476,657,633,658,0.450653633911,-0.0055855296975,0.0700066119073,0.999999989682,-0.000129754300978,2.88997726993e-05,-5.44419750368e-05,1793251593791596288
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768.051106105,748,725,695,671,642,901,787,829,656.948893895,633,658,0.45754001621,-0.00559733002299,0.0698090842038,0.999999945256,-0.000144057945326,-0.000292483838722,-5.64586350384e-05,1793251594258262272
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,725,694.467576367,670,642,900.532423633,787,829,657,633,658,0.457623176458,-0.00559531397088,0.0698023928028,0.999999942331,-0.000140920624715,-0.000303967823123,-5.55280054424e-05,1793251594358261760
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,901,787.134322272,829,656,633,658,0.45763080066,-0.00559317860513,0.0697989237399,0.999999941285,-0.000138483527838,-0.000308628431256,-5.47775272236e-05,1793251594424928768
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+262,4.366666667,HOLD_POSE2,769,748,725,695,670,642,900,787.310805298,829,657,632.621610597,658,0.457638364936,-0.00558741528945,0.0697968695392,0.999999941729,-0.000131805622749,-0.000310354770288,-5.33806685032e-05,1793251594879860992
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,641.273357598,901,787,829,656.726642402,633,658,0.457249454398,-0.00557576230466,0.069699592675,0.999999889581,-0.000125428760517,-0.000449649076337,-5.40490010377e-05,1793251595212537344
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,641.86488781,901,787,829,656.13511219,633,658,0.457160752772,-0.0055722668451,0.0696967194514,0.999999888406,-0.000121111835246,-0.000453544217341,-5.30864892401e-05,1793251595229203712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747.554777547,724.554777547,694.554777547,670,642,900.554777547,786.554777547,829,656.445222453,633,658,0.457054090596,-0.00557130569144,0.0696971072863,0.999999887799,-0.000120484794081,-0.000455270860605,-5.11185754742e-05,1793251595245871104
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.022115614,724.022115614,694.022115614,670,642,900,786.022115614,829,656.977884386,633,658,0.456941207053,-0.00557095425082,0.0696986465577,0.999999887557,-0.000120695428214,-0.000455997205617,-4.88358130554e-05,1793251595262538496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.595834218,724.595834218,694.595834218,670,642,900,786.595834218,829,656.404165782,633,658,0.456805762254,-0.0055670982228,0.0697048268577,0.999999892119,-0.000114555107304,-0.000447785317887,-4.61234964551e-05,1793251595279204864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724.829185894,694.829185894,670.170814106,642,900,787,828.829185894,656,633,658,0.456659202185,-0.00556281956251,0.0697089706317,0.999999894623,-0.000108939266992,-0.000443846330062,-4.34366982537e-05,1793251595295871488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724.251199544,694.251199544,670.748800456,642,900,787,828.251199544,656,633,658,0.45648614649,-0.00555753346768,0.0697082599064,0.999999892408,-0.000104573640149,-0.00045009272153,-4.08107290545e-05,1793251595312538112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.335780519,748,724,694.335780519,670.664219481,642,900,787,828.335780519,656.335780519,633,658,0.456298305424,-0.00555296245195,0.069707123314,0.999999890989,-9.9804251725e-05,-0.000454562752745,-3.78706000313e-05,1793251595329204736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.929674073,748,724,694.929674073,670.070325927,642,900,787,828.929674073,656.929674073,633,658,0.456099098887,-0.00554894111388,0.0697056593594,0.999999890182,-9.47244930552e-05,-0.000457667304175,-3.46889774305e-05,1793251595345871104
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.495391927,748,724,695,670.504608073,642,900,787,828.495391927,657,633,658,0.455867217375,-0.00554337793305,0.0697052945362,0.999999889809,-8.6778652671e-05,-0.000460342383827,-3.06066001466e-05,1793251595362537472
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,724.07772437,694.92227563,671,642,900,787,828.07772437,656.92227563,633,658,0.455624383367,-0.00553731243879,0.0697051245304,0.99999988963,-7.79930717014e-05,-0.000462562457944,-2.63326217198e-05,1793251595379203840
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,724.655531061,694.344468939,671,642,900,787,828.655531061,656.344468939,633,658,0.455339318914,-0.00552934753285,0.069705258091,0.999999890743,-6.62814962278e-05,-0.000462226166397,-2.16043254836e-05,1793251595395870464
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,642.230717156,900,787.230717156,829,656,633,658,0.455043217739,-0.00552108806238,0.069703130626,0.99999989066,-5.52352159552e-05,-0.000464034836783,-1.73174580029e-05,1793251595412537344
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,642.802034516,900,787.802034516,829,656,633,658,0.454730823429,-0.00551239373637,0.0696976652826,0.999999888901,-4.51710899778e-05,-0.000469010044508,-1.36822576692e-05,1793251595429204224
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.390301097,748,725,694,671,642.609698903,899.609698903,787.609698903,828.609698903,656.390301097,633,657.609698903,0.454411049506,-0.00550454987991,0.0697059999014,0.999999898289,-3.23735120089e-05,-0.000449782663065,-8.35887661815e-06,1793251595445870848
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.987554786,748,725,694,671,642.012445214,899.012445214,787.012445214,828.012445214,656.987554786,633,657.012445214,0.454087362639,-0.00549715697526,0.069721651789,0.999999912588,-1.81265533799e-05,-0.00041772214118,-2.14035759415e-06,1793251595462537216
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.438559167,748,725,694,671,642,899.561440833,787,828,656.438559167,633,657.561440833,0.453713345685,-0.00549122562425,0.069736181649,0.99999992182,-6.15270761582e-06,-0.000395353056915,4.32999955157e-06,1793251595479204096
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,724.864238141,694,671,642.135761859,899.864238141,787,828,656,633.135761859,658,0.453320428052,-0.00548501587642,0.0697476059744,0.999999928558,1.77006364925e-05,-0.000377438866112,1.04767125055e-05,1793251595495870720
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,724.286884871,694,671,642.713115129,899.286884871,787,828,656,633.713115129,658,0.452869516271,-0.00547779942219,0.0697490066185,0.999999926958,8.03516634399e-05,-0.000373344231302,1.55532772938e-05,1793251595512537600
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.14450391,748,724.85549609,694.85549609,671,643,899.85549609,787,828,656,633.14450391,658,0.451911281548,-0.00545968781485,0.0697342255926,0.999999914586,0.000118945755878,-0.00039517505016,2.27258742606e-05,1793251595545870848
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.445956622,748,724.554043378,695,671.445956622,642.554043378,899.554043378,787,828,656,633,657.554043378,0.451389315297,-0.0054478080934,0.0697316778767,0.999999912838,9.35508179242e-05,-0.000406749483769,1.12385017502e-05,1793251595562537472
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.613152696,747.386847304,724,694.386847304,671.386847304,642.613152696,899,787.613152696,828,656.613152696,633,657.613152696,0.450299192517,-0.00543071057247,0.069745552769,0.999999916316,7.92103766299e-05,-0.00040134804746,3.69516173478e-06,1793251595595870720
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.808033032,747.191966968,724,694,671.191966968,643,899,788,828,656.808033032,633,657.808033032,0.449733958004,-0.00542782132763,0.0697623295591,0.999999923974,9.60320043197e-05,-0.000377800995889,9.8179620763e-06,1793251595612537344
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.213692034,747.786307966,724,694,671.786307966,643,899,788,828,656.213692034,633,657.213692034,0.449147600567,-0.00542939829484,0.0697873304442,0.999999938001,0.000111437411796,-0.000333754722095,1.37257861241e-05,1793251595629204224
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.894103131,724.105896869,694,671.105896869,643,897.894103131,788,828,657,633,657.894103131,0.446391537804,-0.00542154852166,0.0697484882736,0.999999911422,0.000126762637452,-0.000400982974949,1.72977937843e-05,1793251595695870976
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,725,694,671.144611759,643,897,788.855388241,827.144611759,657,633,657,0.444172475818,-0.00542591163666,0.0697547921616,0.99999992533,0.000117389642292,-0.000367766941525,1.74978625788e-05,1793251595745871104
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724.562700917,694,671,643,897,788.562700917,827,656.562700917,633,657,0.443396897887,-0.00542661278212,0.069785749946,0.999999940493,0.000116335627173,-0.000324162695346,1.99718705199e-05,1793251595762537728
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.015539293,747,724,694,671,643,896.984460707,788,827,656,633,657,0.442608985576,-0.00542660828892,0.0698153781326,0.999999952317,0.000115619002529,-0.000285464338763,2.25653809325e-05,1793251595779204352
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.590441409,747,724,694,671,643,896.409558591,788,827,656,633,657,0.441795963857,-0.00542534810521,0.0698221782456,0.999999954432,0.000118001633744,-0.000276824802689,2.40718497266e-05,1793251595795870720
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724,694.658997742,671,643,896.317995484,789,826.658997742,657,633,657,0.439194918442,-0.00542361887904,0.0697963210033,0.999999946319,0.000116670185876,-0.000305201084702,2.45419322508e-05,1793251595845870848
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,694.079503339,671,643,895.159006678,789,826.079503339,657,633,657,0.438228472533,-0.00542058068749,0.0697358198959,0.99999990836,0.000119443576401,-0.000410492561264,2.25786244716e-05,1793251595862537472
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724,694.494942447,670.505057553,643,895.494942447,789,826,657,633,657,0.437316581317,-0.00541883314651,0.0697026822649,0.999999890059,0.000121768673811,-0.000452372698128,2.03183918347e-05,1793251595879204352
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.068942936,747,724,694.931057064,670.068942936,643,895.862114129,789,826,657,633,657,0.436418020061,-0.00541749963688,0.0696842192137,0.999999881546,0.000123686275185,-0.000470381606227,1.87063883707e-05,1793251595895870976
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.645575579,747,724,694.354424421,670.645575579,643,894.708848843,789,826,657,633,657,0.43555374008,-0.00541770375417,0.069741777718,0.999999917344,0.000123128030688,-0.00038685524186,2.22155674076e-05,1793251595912537600
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.773600889,746.773600889,724,694,670.773600889,642.773600889,893.773600889,789,825.773600889,657,633,657,0.434671654494,-0.00541734234804,0.0697919697013,0.999999940775,0.000126660873428,-0.000318988032887,2.55559748715e-05,1793251595929204480
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.397659207,746.397659207,724,694,670,642.397659207,893,789.397659207,825,656.602340793,633,657,0.432843785232,-0.00541615868199,0.069849385986,0.999999961031,0.000136002628356,-0.000241989919965,2.96982958357e-05,1793251595962538240
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.447307944,747,724,694,670,643,893,790,824.447307944,656.552692056,633,657,0.430888931471,-0.00541254870219,0.0697973852602,0.999999937748,0.000139224349847,-0.000323011708365,2.80158401654e-05,1793251595995871488
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,723.88019836,694,670,643,892,789.88019836,824,656.88019836,633,657,0.427087059961,-0.00541600840397,0.0698090385347,0.999999946235,0.000130291082701,-0.000299432636776,2.99163903989e-05,1793251596062537472
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.985761716,643.014238284,888.014238284,789,820,657,633,657,0.400969137,-0.00536634976613,0.0698214124011,0.999999935335,0.000217755993135,-0.000285623973686,1.81990673631e-05,1793251597129203968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.40873872,643.59126128,888.59126128,789,820,657,633,657,0.400971438394,-0.00536463643787,0.0698235825401,0.999999935875,0.000219476954653,-0.000282409914522,1.80099897328e-05,1793251597145870592
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,746.829065375,724,691,670.170934625,643.829065375,888.829065375,789,820,657,633,657,0.400972677849,-0.00536348639498,0.0698249915402,0.999999936186,0.000220610223614,-0.000280426168245,1.79231344098e-05,1793251597162536960
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.659912451,746,724,691,671,643,888,789.340087549,820,657,633,657,0.400970572265,-0.00536479663177,0.069824113049,0.999999936258,0.000218225567411,-0.00028202486982,1.79923953139e-05,1793251597195870464
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.079042575,746,724,691,671,643,888,789.920957425,820,657,633,657,0.400970212994,-0.00536650759321,0.0698236748989,0.999999936905,0.000214863246894,-0.00028232855602,1.7720682135e-05,1793251597212537088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.497144155,746.497144155,724.497144155,691,671,643,888.497144155,789.502855845,820,657,633,657,0.400971102874,-0.00536520529179,0.0698245948572,0.999999936966,0.000216659209136,-0.000280736466859,1.7742381557e-05,1793251597229203968
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.927362265,746.927362265,724.927362265,691,670.927362265,642.927362265,888.927362265,789.072637735,820,657,633,657,0.400971815946,-0.00536359785121,0.0698254138472,0.999999936856,0.000218957147526,-0.00027933773971,1.77597467413e-05,1793251597245870592
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.351560789,746.351560789,724.351560789,691,670.351560789,642.351560789,888.351560789,789.648439211,820,657,633,657,0.400969941349,-0.00536316439344,0.0698240516303,0.999999936267,0.00021910422482,-0.000281346867354,1.74269539097e-05,1793251597262537216
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,746.228567209,724,691,670,642.228567209,888,789.771432791,820,657,633,657,0.400969273966,-0.0053633933871,0.0698237361812,0.999999936211,0.00021864467253,-0.000281913068562,1.72450639588e-05,1793251597279203584
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,746.815478347,724,691,670,642.815478347,888,789.184521653,820,657,633,657,0.400970499234,-0.00536466096118,0.0698250618374,0.999999936994,0.000217234056329,-0.00028021707363,1.72997570232e-05,1793251597295870208
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,670.398368159,643,888,789,820,656.601631841,633,657,0.400970931668,-0.00536456511799,0.06982583889,0.999999936813,0.000218795562714,-0.000279630468641,1.75939062412e-05,1793251597312536832
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,670.979413897,643,888,789,820,656.020586103,633,657,0.400971000536,-0.00536384405968,0.0698263643723,0.999999936183,0.000221719979723,-0.000279552590834,1.79978615981e-05,1793251597329203456
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,747,724.556181035,691,671,643,888,789.556181035,820,656.556181035,633,657,0.400970601841,-0.00536453596681,0.0698261775085,0.999999936413,0.000220943491267,-0.000279347644911,1.79778251074e-05,1793251597345870080
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769.132024054,747,725,691,670.867975946,643,888,789.867975946,820,657,633,657,0.400970427569,-0.00536484507557,0.0698260116561,0.99999993662,0.000220553240457,-0.000278920219568,1.79007054847e-05,1793251597362536960
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769.705303674,747,725,691,670.294696326,643,888,789.294696326,820,657,633,657,0.400971060771,-0.00536370132204,0.0698260034785,0.999999936645,0.000221908220771,-0.000277764814723,1.76848510002e-05,1793251597379203584
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ded5fa4fca53d425825e21721c3cf1ff8c55c011
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+2,0.033333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+3,0.050000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+6,0.100000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+8,0.133333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+12,0.200000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+17,0.283333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff9d41d9d463b47f7fd4e2a4c400f3f9f0ad3950
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:908a6e48e2803595afb8c2f44612d27c20f9d087485d800d6774bfc466588738
+size 26159682
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f44c53733766c346b1a28cf8350aa9e1f98ebdd4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+2,0.033333333,BASELINE,769,746.854189983,724,691,670,643.708379967,888,789.854189983,820,657,633,657,0.400972671717,-0.00536547873925,0.0698281918324,0.999999938223,0.000218270380676,-0.000274977740894,1.72917477175e-05,1793251597564131328
+3,0.050000000,BASELINE,769,746.278274081,724,691,670,642.556548162,888,789.278274081,820,657,633,657,0.400970816622,-0.00536672976734,0.0698267615145,0.999999938569,0.000213874091397,-0.000277183702268,1.69969915319e-05,1793251597580798208
+4,0.066666667,BASELINE,769.306349414,746.306349414,724,691,670.306349414,642.306349414,888.306349414,789,820,657,633,657,0.400970080591,-0.00536647272391,0.0698260530562,0.999999938091,0.000214515838168,-0.000278406199136,1.70514831726e-05,1793251597597465600
+5,0.083333333,BASELINE,769.899113859,746.899113859,724,691,670.899113859,642.899113859,888.899113859,789,820,657,633,657,0.400970390805,-0.00536480574021,0.0698260194858,0.999999936838,0.000219867792496,-0.000278709226132,1.74324968415e-05,1793251597614132736
+6,0.100000000,BASELINE,769.521037818,747,724,691,670.521037818,643,889,789,820,657,633,657,0.400970311047,-0.00536598433989,0.0698260288535,0.999999937129,0.000218192523472,-0.000278973216655,1.75542424131e-05,1793251597630798848
+7,0.116666667,BASELINE,769.055963102,747,724,690.944036898,670,643,888.944036898,789.055963102,820.055963102,657,633,657,0.400970399663,-0.00536746474225,0.0698262205904,0.999999937743,0.000215479392464,-0.000278876755009,1.76141459909e-05,1793251597647465216
+8,0.133333333,BASELINE,769.631124725,747,724,690.368875275,670,643,888.368875275,789.631124725,820.631124725,657,633,657,0.40097279244,-0.00536633039325,0.0698280225547,0.999999938454,0.000216509262606,-0.000275510473681,1.75936589325e-05,1793251597664131840
+9,0.150000000,BASELINE,770,747,724.20493362,690.20493362,670.20493362,643,888,789.79506638,820.79506638,657,633,657,0.400973730799,-0.00536602447211,0.0698291138535,0.999999938911,0.000216557684759,-0.000273813284455,1.75098669233e-05,1793251597680798464
+10,0.166666667,BASELINE,770,747,724.776323545,690.776323545,670.776323545,643,888,789.223676455,820.223676455,657,633,657,0.400972068409,-0.00536719992156,0.069828934361,0.999999938929,0.000214851110226,-0.000275100717254,1.73128748561e-05,1793251597697464832
+11,0.183333333,BASELINE,770,747,724.636614658,691,671,643,888.363385342,789.363385342,820,657,633,657,0.40097143673,-0.0053670486912,0.0698284754022,0.999999938744,0.000215273662069,-0.000275450936614,1.7229262209e-05,1793251597714131712
+12,0.200000000,BASELINE,770,747,724.039471429,691,671,643,888.960528571,789.960528571,820,657,633,657,0.400971468086,-0.0053660440367,0.0698278366689,0.999999938426,0.000217065834432,-0.000275198267079,1.72185840574e-05,1793251597730798336
+13,0.216666667,BASELINE,769.460834035,747,724,690.460834035,670.460834035,643,888.460834035,789.460834035,820,657,633,657,0.40097357261,-0.00536617380357,0.0698294306915,0.999999938936,0.000217364530981,-0.000273096813618,1.72784924318e-05,1793251597747464960
+14,0.233333333,BASELINE,769,746.884386277,724,690.115613723,670,643,888,789,820,657,633,657,0.40097515838,-0.00536603303997,0.0698307159648,0.99999993931,0.000217699760094,-0.000271458720268,1.72614514485e-05,1793251597764131840
+15,0.250000000,BASELINE,769,746.311418782,724,690.688581218,670,643,888,789,820,657,633,657,0.400974111548,-0.00536450446097,0.0698301547082,0.999999938926,0.000218597670283,-0.000272171268705,1.69202444924e-05,1793251597780798208
+16,0.266666667,BASELINE,769.270116446,746.270116446,724,691,670.270116446,643,888.270116446,789,820,657,633,657,0.400973181655,-0.00536473881075,0.0698296727283,0.999999938899,0.000218096247741,-0.000272673301265,1.68810480182e-05,1793251597797464576
+17,0.283333333,BASELINE,769.861853001,746.861853001,724,691,670.861853001,643,888.861853001,789,820,657,633,657,0.400972390998,-0.00536707223066,0.0698292851408,0.999999939296,0.000215928678739,-0.000272924678404,1.72014470111e-05,1793251597814131200
+18,0.300000000,BASELINE,769.555960548,746.555960548,724,690.555960548,670.555960548,643,888.555960548,789.444039452,820,656.555960548,633,657,0.400972539329,-0.00536805138592,0.0698290206105,0.999999939394,0.000214786896683,-0.000273470701395,1.70753580604e-05,1793251597830798080
+19,0.316666667,BASELINE,769,746.023162929,724,690.023162929,670.023162929,643,888,789.976837071,820,656.023162929,633,657,0.400972896821,-0.0053686020373,0.0698287500285,0.999999939395,0.000213952761822,-0.00027413855943,1.68289317464e-05,1793251597847464960
+20,0.333333333,BASELINE,769,746.598606244,724,690.598606244,670.598606244,643,888,789.401393756,820,656.598606244,633,657,0.400971422633,-0.00536877015296,0.0698274415406,0.999999939201,0.000213004883058,-0.000275571705176,1.69555750901e-05,1793251597864131584
+21,0.350000000,BASELINE,769,747,724.177482342,690.822517658,671,643,888,789,820,657,633,657,0.400970960983,-0.0053686138414,0.069826884562,0.999999939054,0.000213165416108,-0.000275969333609,1.71030867722e-05,1793251597880798208
+22,0.366666667,BASELINE,769,747,724.764275056,690.235724944,671,643,888,789,820,657,633,657,0.400972834456,-0.0053677093347,0.0698280607168,0.999999939016,0.000215882172334,-0.000273978848336,1.72987250695e-05,1793251597897464832
+23,0.383333333,BASELINE,769.346683974,747,724.653316026,690.346683974,671,643,888,789,820,657,633.346683974,657,0.400973417135,-0.00536687180504,0.0698286636995,0.999999938992,0.000216797441498,-0.000273340637855,1.73019926378e-05,1793251597914131712
+24,0.400000000,BASELINE,769.926149445,747,724.073850555,690.926149445,671,643,888,789,820,657,633.926149445,657,0.40097313311,-0.00536607924714,0.0698288818248,0.999999938984,0.000216503099628,-0.000273610414203,1.7176092599e-05,1793251597930798336
+25,0.416666667,BASELINE,770,747,724.504452919,691,670.495547081,643,888,789,820,657,633.495547081,656.495547081,0.400973837658,-0.00536617290793,0.0698291133278,0.999999939374,0.000215356979478,-0.000273104461753,1.69276928366e-05,1793251597947464960
+26,0.433333333,BASELINE,769.917714319,747,724.917714319,691,670,643,888,789.082285681,820,657,633,656.082285681,0.400974478428,-0.00536635385662,0.0698293157135,0.999999939695,0.00021460918349,-0.0002725289607,1.67428662062e-05,1793251597964131584
+27,0.450000000,BASELINE,769.341687349,747,724.341687349,691,670,643,888,789.658312651,820,657,633,656.658312651,0.400973870102,-0.00536628186759,0.0698293316624,0.99999993926,0.000216997973617,-0.000272216003975,1.70468596828e-05,1793251597980798464
+28,0.466666667,BASELINE,769,747,724,691,670,643,888,790,820,657,633,657,0.400973125427,-0.00536629476432,0.0698293482926,0.999999938884,0.000218433578352,-0.000272433117907,1.72729481673e-05,1793251597997465088
+29,0.483333333,BASELINE,769,747,724,691,670,643,888,790,820,657,633,657,0.400972181945,-0.00536643143179,0.0698293659164,0.999999938602,0.000218479356695,-0.000273423120445,1.73854444579e-05,1793251598014131456
+30,0.500000000,BASELINE,769.406734334,747,724,691,670.406734334,643,888,790,820,657,633,656.593265666,0.400971728127,-0.00536613735596,0.0698290444433,0.999999938926,0.000216276999153,-0.000274014836871,1.69835687847e-05,1793251598030798080
+31,0.516666667,BASELINE,769.986532801,747,724,691,670.986532801,643,888,790,820,657,633,656.013467199,0.40097148266,-0.00536566000024,0.0698285786855,0.999999939499,0.000213118067112,-0.000274437083824,1.63628295138e-05,1793251598047464448
+32,0.533333333,BASELINE,769.43710047,746.43710047,724,691,670.43710047,643,888,789.43710047,820,657,633,656.56289953,0.400972351199,-0.00536586531887,0.0698286041674,0.999999939215,0.00021493140825,-0.000274024607333,1.68645281498e-05,1793251598064131072
+33,0.550000000,BASELINE,769.138182745,746.138182745,724,690.861817255,670,643,888,789,820,657,633,657,0.400972752958,-0.00536631586884,0.0698285340077,0.999999939029,0.00021587140357,-0.000273944292126,1.72144138412e-05,1793251598080797952
+34,0.566666667,BASELINE,769.710319424,746.710319424,724,690.289680576,670,643,888,789,820,657,633,657,0.400971605635,-0.00536748557065,0.0698281268064,0.999999939218,0.000213697389992,-0.000274969443973,1.70037185773e-05,1793251598097464576
+35,0.583333333,BASELINE,769.707152835,747,724,690.292847165,670.292847165,643,888,789,820,656.707152835,633,657,0.400970926045,-0.00536733860088,0.0698281615625,0.999999939337,0.000213263147289,-0.000274881924768,1.68573166409e-05,1793251598114131200
+36,0.600000000,BASELINE,769.113968185,747,724,690.886031815,670.886031815,643,888,789,820,656.113968185,633,657,0.400970726151,-0.0053658412824,0.0698286495801,0.999999939387,0.000214613174317,-0.000273653275212,1.6776852474e-05,1793251598130798080
+37,0.616666667,BASELINE,769,747,724,691,671,643,888.468567937,789,820,656.468567937,633,657,0.400970579979,-0.00536577253367,0.069828712732,0.999999939188,0.000215058435382,-0.000274035577778,1.66821890495e-05,1793251598147464960
+38,0.633333333,BASELINE,769,746.951969676,724,691,670.951969676,643,888.951969676,789.048030324,820,656.951969676,633,656.951969676,0.400970512377,-0.00536605610354,0.0698286812203,0.999999938965,0.000215243031668,-0.000274709743334,1.66103979139e-05,1793251598164131328
+39,0.650000000,BASELINE,769,746.37842916,724,691,670.37842916,643,888.37842916,789.62157084,820,656.37842916,633,656.37842916,0.400971164652,-0.0053664772418,0.0698287194987,0.999999939117,0.000214929894751,-0.000274385449522,1.68258047234e-05,1793251598180797952
+40,0.666666667,BASELINE,769,746.200030792,724,691,670,642.799969208,888,789.799969208,820,656,633,656.200030792,0.400971575657,-0.00536665418547,0.0698287381061,0.999999939209,0.000214690841257,-0.000274232944354,1.68986415107e-05,1793251598197464576
+41,0.683333333,BASELINE,769,746.788032225,724,691,670,642.211967775,888,789.211967775,820,656,633,656.788032225,0.400971518704,-0.00536635750036,0.0698287185604,0.999999939184,0.000214595476623,-0.000274413632663,1.66949559451e-05,1793251598214131200
+42,0.700000000,BASELINE,769.370301098,746.629698902,724,691,670.370301098,642.370301098,888,789.370301098,820,656.370301098,633,657,0.400970921663,-0.00536611966693,0.0698284320603,0.999999938867,0.000215405293877,-0.000274926705544,1.67726431692e-05,1793251598230797568
+43,0.716666667,BASELINE,769.949338544,746.050661456,724,691,670.949338544,642.949338544,888,789.949338544,820,656.949338544,633,657,0.400970020177,-0.00536591500781,0.0698279950796,0.999999938385,0.00021672535634,-0.000275627141466,1.70089384319e-05,1793251598247464192
+44,0.733333333,BASELINE,769.473277571,746.526722429,724,691,671,643,888.526722429,789.473277571,820,657,633,657,0.400971006092,-0.00536733034207,0.0698284669737,0.99999993891,0.000215246759543,-0.00027486130827,1.7317683944e-05,1793251598264131072
+45,0.750000000,BASELINE,769,747,724,691,671,643,888.896592272,789,820,657,633,657,0.400972015554,-0.00536829243068,0.0698289510282,0.999999939379,0.000214068861417,-0.000274065677672,1.74756886899e-05,1793251598280797952
+46,0.766666667,BASELINE,769,747,724,691,671,643,888.322365967,789,820,657,633,657,0.400972308279,-0.00536648366736,0.0698290936786,0.999999939164,0.00021548181222,-0.000273774480397,1.69157377338e-05,1793251598297464832
+47,0.783333333,BASELINE,769,746.746864599,724,690.746864599,671,643,888,789,820.253135401,657,633,657,0.400972521743,-0.00536554612712,0.0698291965679,0.999999939239,0.000215924878407,-0.000273171541421,1.65831622623e-05,1793251598314131456
+48,0.800000000,BASELINE,769,746.169731147,724,690.169731147,671,643,888,789,820.830268853,657,633,657,0.400972633756,-0.00536572369966,0.0698292485656,0.999999939685,0.000215126550963,-0.000272169591826,1.65416136239e-05,1793251598330797824
+49,0.816666667,BASELINE,769.418340353,746.418340353,724.418340353,690.418340353,670.581659647,643,888,789,820.581659647,656.581659647,633,657,0.400972150732,-0.00536610692583,0.0698290088748,0.999999939465,0.000215333027561,-0.000272802055718,1.67564745418e-05,1793251598347464192
+50,0.833333333,BASELINE,770,747,725,691,670,643,888,789,820,656.010675679,633,657,0.400971398699,-0.00536657204219,0.0698286381251,0.999999938967,0.000215937553168,-0.000274126084411,1.7072426378e-05,1793251598364130816
+51,0.850000000,BASELINE,770,747,725,691,670,643,888,789,820,656.587466951,633,657,0.400969527483,-0.00536683624441,0.0698277616851,0.999999938553,0.000215451258536,-0.000276014270164,1.70843175308e-05,1793251598380797440
+52,0.866666667,BASELINE,770,746.83776205,724.83776205,691,670,643,888,789,820,657,633,657,0.40096867809,-0.00536673056478,0.0698272739306,0.999999938315,0.000215362341338,-0.000276946592578,1.70095952442e-05,1793251598397464320
+53,0.883333333,BASELINE,770,746.268064984,724.268064984,691,670,643,888,789,820,657,633,657,0.400970394997,-0.00536569593023,0.069827762356,0.999999938529,0.000216271433935,-0.000275478272909,1.67173441012e-05,1793251598414131200
+54,0.900000000,BASELINE,769.685202752,746.314797248,724,691,670,643,888,789,820,657,633,657,0.400972379257,-0.00536596103606,0.0698289581285,0.999999939168,0.000216003805231,-0.000273356616728,1.68008095021e-05,1793251598430798080
+55,0.916666667,BASELINE,769.090640471,746.909359529,724,691,670,643,888,789,820,657,633,657,0.400974601117,-0.00536738124069,0.0698307825309,0.999999940179,0.000214690406621,-0.000270654330676,1.72181798426e-05,1793251598447464704
+56,0.933333333,BASELINE,769.490040478,747,724,691,670,643,888,789,820,657,633,657,0.40097360099,-0.00536721183597,0.0698298982766,0.9999999399,0.000214054691645,-0.000272205300442,1.6903211386e-05,1793251598464131072
+57,0.950000000,BASELINE,769.93199351,746.93199351,724,691,670,643,888,789,820,657,633,657,0.400972224121,-0.00536681367371,0.0698286792215,0.999999939444,0.000213743436958,-0.000274140764978,1.65329045661e-05,1793251598480797696
+58,0.966666667,BASELINE,769.355658033,746.355658033,724,691,670,643,888,789,820,657,633,657,0.400972363104,-0.00536684280858,0.0698285993557,0.999999939431,0.000214946299696,-0.000273231809882,1.67335725855e-05,1793251598497464320
+59,0.983333333,BASELINE,769.22497276,746.22497276,724,691,670.22497276,642.77502724,888,789,820,656.77502724,633,657,0.400972569242,-0.0053665257931,0.0698287833513,0.999999939343,0.000216261730424,-0.000272511649251,1.68161836719e-05,1793251598514131200
+60,1.000000000,BASELINE,769.812526255,746.812526255,724,691,670.812526255,642.187473745,888,789,820,656.187473745,633,657,0.400972883612,-0.00536565089919,0.0698293926033,0.999999939133,0.000217758583237,-0.00027209576192,1.67085265563e-05,1793251598530798336
+61,1.016666667,BASELINE,770,747,724,691,671,642.39626562,888,789,820,656.39626562,633,657,0.400973012778,-0.00536590555837,0.0698299577655,0.999999939318,0.000216689284853,-0.000272265631544,1.67685258716e-05,1793251598547465216
+62,1.033333333,BASELINE,770,747,724,691,671,642.978217685,888,789,820,656.978217685,633,657,0.400973055161,-0.00536668951583,0.0698305022677,0.999999939684,0.00021441751141,-0.000272709981544,1.69070874626e-05,1793251598564131584
+63,1.050000000,BASELINE,770,747,724,691,670.451965465,643,888.548034535,789,820,656.451965465,633,657,0.400972492997,-0.00536642681725,0.0698297815303,0.999999939389,0.000215506630608,-0.000272924000319,1.70415678227e-05,1793251598580798720
+64,1.066666667,BASELINE,769.880268414,746.880268414,724.119731586,691,670.119731586,643,888.880268414,789,820,656,633,657,0.400972053192,-0.00536584314095,0.0698292265059,0.999999938999,0.000217100934817,-0.000273085434874,1.71094149384e-05,1793251598597466112
+65,1.083333333,BASELINE,769.299514794,746.299514794,724.700485206,691,670.700485206,643,888.299514794,789,820,656,633,657,0.400972175047,-0.00536418026354,0.069829498993,0.999999938341,0.000220137221982,-0.000273078882412,1.69213042752e-05,1793251598614132224
+66,1.100000000,BASELINE,769,746,724.713659139,691,671,643,888,789,820,656.286340861,633,657,0.400972584098,-0.00536403648674,0.0698297692203,0.999999938554,0.000219713572288,-0.000272645957439,1.68169644716e-05,1793251598630798592
+67,1.116666667,BASELINE,769,746,724.122369935,691,671,643,888,789,820,656.877630065,633,657,0.400973299008,-0.00536551052738,0.0698300370411,0.99999993969,0.00021560514614,-0.000271758952702,1.68018392777e-05,1793251598647465728
+68,1.133333333,BASELINE,769,746,724,691,670.542688787,643,888,789,820,656.542688787,633,657,0.400973474632,-0.00536659865368,0.069830023962,0.999999939749,0.000215758755738,-0.000271412252126,1.68804822945e-05,1793251598664132096
+69,1.150000000,BASELINE,769,746,724,691,670,643,888,789.033387943,820,656,633,657,0.400973474243,-0.00536749925675,0.0698299422581,0.999999939534,0.000216940945422,-0.000271257848649,1.69722833872e-05,1793251598680798464
+70,1.166666667,BASELINE,769,746,724,691,670,643,888,789.600273588,820,656,633,657,0.400972910135,-0.00536701267312,0.0698299353243,0.999999939388,0.000216786547603,-0.000271923130612,1.68833354316e-05,1793251598697465344
+71,1.183333333,BASELINE,769.166175808,746,724,691,670,643,888,789.833824192,820,656.166175808,633,657,0.400972367592,-0.00536598007548,0.0698297411565,0.999999938993,0.000217661680626,-0.000272682466894,1.67829957259e-05,1793251598714131968
+72,1.200000000,BASELINE,769.729726487,746,724,691,670,643,888,789.270273513,820,656.729726487,633,657,0.40097187662,-0.00536364179881,0.0698290992575,0.999999937994,0.000220998722419,-0.000273666714647,1.66554150023e-05,1793251598730798592
+73,1.216666667,BASELINE,769.681200285,746,724,691,670.318799715,643,888,789.318799715,820,657,633,657,0.400972668701,-0.00536414837598,0.0698293459872,0.999999938393,0.000220426633697,-0.000272659357973,1.68125355368e-05,1793251598747464960
+74,1.233333333,BASELINE,769.068606445,746,724,691,670.931393555,643,888,789.931393555,820,657,633,657,0.400974643196,-0.00536727666623,0.0698304116445,0.999999940069,0.000216252033477,-0.000269816611651,1.72320263151e-05,1793251598764131328
+75,1.250000000,BASELINE,769.51528514,746,724,691,671,643,888,789.48471486,820,657,633,657,0.400973260864,-0.00536637340672,0.069829802351,0.999999939337,0.000217128339648,-0.000271838883923,1.68775256126e-05,1793251598780797952
+76,1.266666667,BASELINE,770,746,724.094522075,691,671,643,888,789,820,657,633,657,0.400971673451,-0.00536528516703,0.069829104662,0.999999938477,0.000218317920844,-0.000274063341494,1.65323206009e-05,1793251598797464576
+77,1.283333333,BASELINE,770,746,724.668510006,691,671,643,888,789,820,657,633,657,0.400971193246,-0.00536583773618,0.0698290301099,0.999999938534,0.000217865353663,-0.000274201063977,1.67294181571e-05,1793251598814131200
+78,1.300000000,BASELINE,770,746,724.751625516,691,670.751625516,643,888.248374484,789,819.751625516,656.751625516,633,657,0.400971018609,-0.00536614624325,0.0698291229637,0.999999938732,0.000216729899428,-0.000274373884718,1.68372263995e-05,1793251598830797824
+79,1.316666667,BASELINE,770,746,724.163727961,691,670.163727961,643,888.836272039,789,819.163727961,656.163727961,633,657,0.400971261678,-0.00536612112217,0.069829444658,0.999999939118,0.000214660951954,-0.00027459468408,1.68229778767e-05,1793251598847464704
+80,1.333333333,BASELINE,770,746,724,691,670,643,888.579877895,789,819.420122105,656.420122105,633,657,0.400970362875,-0.00536727629118,0.0698288107055,0.999999938991,0.000214107255887,-0.000275476430645,1.69777238516e-05,1793251598864131328
+81,1.350000000,BASELINE,769.997620616,746.002379384,724.002379384,690.997620616,670,643,888,789,820,656.997620616,633,657,0.400969035605,-0.00536886952775,0.0698278150043,0.999999938669,0.000214143328315,-0.000276601610007,1.71952287682e-05,1793251598880797952
+82,1.366666667,BASELINE,769.42270688,746.57729312,724.57729312,690.42270688,670,643,888,789,820,656.42270688,633,657,0.400970666309,-0.00536624695777,0.0698285343777,0.999999938881,0.000215355280866,-0.000274913768728,1.68178285698e-05,1793251598897464576
+83,1.383333333,BASELINE,769,747,724.847751138,690.152248862,670,643,888,789,820,656.152248862,633,657,0.400972373315,-0.00536460166049,0.0698294004575,0.999999939269,0.000216096562903,-0.000272927077746,1.65612825836e-05,1793251598914131200
+84,1.400000000,BASELINE,769,747,724.272678606,690.727321394,670,643,888,789,820,656.727321394,633,657,0.400974292224,-0.00536567043236,0.0698306739683,0.999999940155,0.000215530704851,-0.000270110424669,1.66403713443e-05,1793251598930797824
+85,1.416666667,BASELINE,769.309574637,747,724,691,670.309574637,643,888,789,820,657,633,657,0.400974522082,-0.00536641080613,0.0698309717944,0.999999940348,0.000214977005545,-0.000269837240408,1.66204364375e-05,1793251598947464448
+86,1.433333333,BASELINE,769.898302929,747,724,691,670.898302929,643,888,789,820,657,633,657,0.400973228868,-0.00536685505244,0.0698303898133,0.999999939919,0.000214434270218,-0.000271857585995,1.65112086207e-05,1793251598964131072
+87,1.450000000,BASELINE,769.518016176,746.518016176,724,690.518016176,670.518016176,643,888,789,820,657,633,657,0.400973727882,-0.00536775812239,0.0698312269634,0.999999940425,0.00021327814616,-0.000270891884273,1.67166962096e-05,1793251598980797952
+88,1.466666667,BASELINE,769,746,724,690.063384,670,643,888,789,820,657,633,657,0.400974383381,-0.00536849393665,0.0698320769953,0.999999940953,0.000212289782724,-0.000269706717071,1.69105609436e-05,1793251598997464576
+89,1.483333333,BASELINE,769,746,724,690.634948581,670,643,888,789,820,657,633,657,0.400973293056,-0.00536712064814,0.0698306544914,0.999999940109,0.000213673332913,-0.000271761029102,1.64843639907e-05,1793251599014131200
+90,1.500000000,BASELINE,769.208639789,746.208639789,724,691,670,643,888,789,820,656.791360211,633,656.791360211,0.400972225935,-0.00536628033921,0.0698295234058,0.999999939416,0.000215019536021,-0.000273262757544,1.62189727963e-05,1793251599030797824
+91,1.516666667,BASELINE,769.786090156,746.786090156,724,691,670,643,888,789,820,656.213909844,633,656.213909844,0.400971199827,-0.0053663821734,0.0698289074576,0.999999938996,0.000216299720907,-0.000273787688997,1.6237836463e-05,1793251599047464448
+92,1.533333333,BASELINE,770,747,724,691,670,643,888,789,820,656.372776893,633,656.372776893,0.400971000894,-0.00536628746796,0.0698286088294,0.999999938899,0.000216088325541,-0.000274301162648,1.63158741343e-05,1793251599064131328
+93,1.550000000,BASELINE,770,747,724,691,670,643,888,789,820,656.964898432,633,656.964898432,0.400971288676,-0.00536607711716,0.0698284969145,0.999999938993,0.000214999273586,-0.000274807894497,1.64287302239e-05,1793251599080797952
+94,1.566666667,BASELINE,769.457576795,747,724,690.457576795,670,643,888,789,820,656.457576795,633,657,0.400970725991,-0.00536656852505,0.0698286387465,0.999999938927,0.000215915079556,-0.000274308738322,1.67747681037e-05,1793251599097464576
+95,1.583333333,BASELINE,769,747,724,690,670,643,888,789.118555087,820,656,633,657,0.40097048978,-0.00536697201852,0.0698289019494,0.999999938994,0.000216549301852,-0.000273548076007,1.70301270755e-05,1793251599114131200
+96,1.600000000,BASELINE,769,747,724,690,670,643,888,789.692868594,820,656,633,657,0.40097171465,-0.00536686754134,0.0698295702641,0.999999939614,0.000215615355154,-0.000272025791884,1.68804023137e-05,1793251599130797824
+97,1.616666667,BASELINE,769,747,724.274248712,690,670,643,888,789.725751288,820,656,633,657,0.400971458882,-0.00536706026297,0.0698293638234,0.999999939689,0.000214520388915,-0.000272625187864,1.66932852738e-05,1793251599147464448
+98,1.633333333,BASELINE,769,747,724.863752011,690,670,643,888,789.136247989,820,656,633,657,0.400969501087,-0.0053675946208,0.0698281518332,0.999999939134,0.000213240327428,-0.00027566349925,1.64631850428e-05,1793251599164131072
+99,1.650000000,BASELINE,769.445819431,747,724.554180569,690.445819431,670,643,888,789,820,656,633,657,0.400969374459,-0.00536781281119,0.0698277905505,0.999999938796,0.000214004553341,-0.000276301669862,1.6361525844e-05,1793251599180797952
+100,1.666666667,BASELINE,769.974787174,747,724,691,670.025212826,643,888,789,820,656,632.974787174,656.974787174,0.400969826102,-0.00536793544159,0.0698277508433,0.99999993857,0.000215267163175,-0.000276141142382,1.63070261131e-05,1793251599197464576
+101,1.683333333,BASELINE,769.404873677,747,724,691,670.595126323,643,888,789,820,656,632.404873677,656.404873677,0.400970878852,-0.00536804682823,0.0698291338469,0.999999939339,0.000214020966869,-0.000274312372906,1.64372469386e-05,1793251599214131200
+102,1.700000000,BASELINE,769,747,724.167645135,691,671,643,888,789,820,656.167645135,632.167645135,656,0.400971722925,-0.00536805006087,0.0698300831408,0.999999939791,0.000213547316087,-0.000273022768919,1.65626892937e-05,1793251599230797824
+103,1.716666667,BASELINE,769,747,724.746555187,691,671,643,888,789,820,656.746555187,632.746555187,656,0.400972055075,-0.00536778797148,0.0698299684633,0.999999939475,0.000214968864369,-0.000273055839144,1.66764091466e-05,1793251599247464704
+104,1.733333333,BASELINE,769,747,724.66676493,691,670.66676493,643,888,789,820,656.66676493,633,656,0.400971674737,-0.00536713900596,0.0698296692335,0.999999939135,0.000215942084499,-0.000273539397124,1.65720747039e-05,1793251599264131328
+105,1.750000000,BASELINE,769,747,724.074034495,691,670.074034495,643,888,789,820,656.074034495,633,656,0.400970739574,-0.00536618877393,0.0698292262898,0.999999938776,0.000216566184635,-0.000274373756972,1.62979379817e-05,1793251599280798208
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,724,690,670,643,889,789,820,657,633,657,0.400974403053,-0.00536727056587,0.0698309144163,0.999999940827,0.00021316657273,-0.000269500734367,1.65662527454e-05,1793251599313316608
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,724,691.20373875,670,643,889,789,820,656.398130625,633,657,0.400974055693,-0.00536630247564,0.0698301527572,0.999999939555,0.000217134751604,-0.000271065932613,1.63072782707e-05,1793251599329982976
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,724,691.798711515,670,643,888.798711515,789,820,656.201288485,633,657,0.400973633811,-0.00536577719553,0.0698296541645,0.999999938874,0.000218787242503,-0.000272252590239,1.62108394422e-05,1793251599346649600
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,724,691.20408042,670,643,888.20408042,789,820,656.79591958,633,657,0.400973066302,-0.00536611722102,0.069829669636,0.999999939373,0.000215914593217,-0.000272699532929,1.64320153359e-05,1793251599363316224
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,724,691,670,643,888,789.377921955,819.622078045,657,633,657,0.400971934302,-0.00536691262102,0.0698292131134,0.99999993949,0.000214632213981,-0.000273284280038,1.63622349483e-05,1793251599379982848
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746,724,691,670,643,888,789.953325219,819.046674781,657,633,657,0.400970507329,-0.00536794597476,0.0698285099524,0.999999939411,0.000214180822917,-0.000273941036161,1.61404167359e-05,1793251599396649728
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.532301298,746.532301298,724,691,670,643,888,789.467698702,819.532301298,657,633,656.467698702,0.400970161432,-0.00536915759187,0.0698282014305,0.999999939927,0.000210915757717,-0.000274602225728,1.59710068129e-05,1793251599413316352
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.889260037,747,724,691,670,643,888,789,820,657,633,656.110739963,0.400970422077,-0.0053698376856,0.0698283606783,0.999999940363,0.000208823717099,-0.000274616861184,1.59076171491e-05,1793251599429982720
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.314395632,747,724,691,670,643,888,789,820,657,633,656.685604368,0.40097282484,-0.00536822414704,0.0698303343953,0.999999940279,0.000212688969568,-0.000271920070656,1.62691810068e-05,1793251599446649088
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724.267200395,690.732799605,670.267200395,643,888,789,820,657,633,657,0.400975560341,-0.0053668747039,0.0698321087444,0.999999940403,0.000214781278057,-0.000269801952342,1.64054209126e-05,1793251599463315968
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,724.856921702,690.143078298,670.856921702,643,888,789,820,657,633,657,0.40097869747,-0.00536584403396,0.0698336424487,0.999999940798,0.000214733576306,-0.000268382313321,1.62696863206e-05,1793251599479983104
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.437706854,747,725,690.437706854,671,643,888,789,820,657,633,657,0.400994125486,-0.00536853327091,0.0698400346309,0.999999943774,0.000213287339195,-0.000258200104435,1.71272866494e-05,1793251599496649472
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724.984404296,691,671,643,888,789.015595704,820,657,633,657,0.40101425405,-0.0053722511381,0.0698482508897,0.999999947534,0.000211473737408,-0.000244699682814,1.82652895782e-05,1793251599513316096
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724.407728817,691,671,643,888,789.592271183,820,657,633,657,0.401061842253,-0.00537010444165,0.0698660982057,0.999999954602,0.000212561445156,-0.000212808160239,1.80432380118e-05,1793251599529982464
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.827713324,724,691,670.827713324,643,888,789.827713324,820,657,633,657,0.401113210422,-0.00536914375277,0.0698825401261,0.999999959855,0.000212955050193,-0.000186067701259,1.7882894686e-05,1793251599546649344
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746.239637061,724,691,670.239637061,643,888,789.239637061,820,657,633,657,0.401173701014,-0.00537104532538,0.0698955903261,0.999999962687,0.000211673536903,-0.000171758601423,1.78714754831e-05,1793251599563316224
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.659810688,746.340189312,724,691,670,643,888.340189312,789.340189312,820,657,633,657,0.401242079782,-0.00537331592725,0.0699037495201,0.999999965067,0.000209593449885,-0.000160132566337,1.7162738834e-05,1793251599579982848
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.085658163,746.914341837,724,691,670,643,888.914341837,789.914341837,820,657,633,657,0.401315883592,-0.00537584032674,0.0699085449525,0.999999967152,0.000206964148528,-0.000150351794229,1.59744261833e-05,1793251599596649472
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.489422938,747,724,691,670.489422938,643,889,789.510577062,820,657,633,657,0.401401778581,-0.00537680891751,0.0699076703413,0.999999967283,0.000205908445458,-0.000151135108158,1.3907634145e-05,1793251599613315840
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.93431755,746.93431755,724,691,670.93431755,643,888.93431755,789.06568245,820,657,633,656.93431755,0.401492970633,-0.0053776473959,0.0699060001663,0.999999967121,0.00020494512827,-0.00015368984313,1.16172742056e-05,1793251599629982208
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.350039491,746.350039491,724,691,670.350039491,643,888.350039491,789.649960509,820,657,633,656.350039491,0.401609245552,-0.0053796125684,0.0699058987174,0.999999967345,0.000202532618146,-0.00015560499487,8.77797721226e-06,1793251599646649088
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.235335102,746,724,691,670,643,888,789.764664898,820,656.764664898,633,656.235335102,0.40173777909,-0.00538180931464,0.0699066182317,0.99999996782,0.000200746979083,-0.000154992943886,6.08076126852e-06,1793251599663315712
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.822348274,746,724,691,670,643,888,789.177651726,820,656.177651726,633,656.822348274,0.401884631547,-0.00538435211789,0.0699085645698,0.999999968673,0.000199898118488,-0.000150604313005,3.59586745075e-06,1793251599679982336
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.596185415,746,724,691,670.403814585,642.596185415,888,789,820,656.403814585,633,657,0.402052849446,-0.00538702870502,0.0699110309641,0.999999970143,0.000195702827582,-0.000146335455292,-1.22033486403e-07,1793251599696648960
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.017126242,746,724,691,670.982873758,642.017126242,888,789,820,656.982873758,633,657,0.402230339381,-0.00538976335094,0.0699137230487,0.999999971831,0.000190055276508,-0.000142118575502,-4.37502631922e-06,1793251599713315840
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.55557512,746.55557512,724,691,670.44442488,642.55557512,888,789,820,657,633,657,0.402434574489,-0.00539277997847,0.0699144615168,0.99999997276,0.000184648185077,-0.00014251852511,-8.61877498969e-06,1793251599729982976
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,888.1293517,789,820,657,633,657,0.402650637616,-0.00539624525393,0.0699158934941,0.999999974094,0.000178472817909,-0.000140664731303,-1.31269759688e-05,1793251599746649600
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,888.7075316,789,820,657,633,657,0.402904913653,-0.0054012374416,0.069919938427,0.999999976929,0.000169606235412,-0.000130502599181,-1.85537597964e-05,1793251599763315968
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889.291375092,789.291375092,820,657,632.708624908,657,0.4031804518,-0.00540653462845,0.0699271056487,0.999999980069,0.000161153999541,-0.00011542166488,-2.38495834443e-05,1793251599779982592
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889.881016081,789.881016081,820,657,632.118983919,657,0.403477754875,-0.00541214402718,0.0699374689989,0.999999983314,0.000153125909785,-9.53056029697e-05,-2.90113494707e-05,1793251599796649216
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.537483371,724,691,670.462516629,643,890,789.537483371,820,657,632.462516629,657,0.403803742412,-0.0054167080227,0.0699455917569,0.999999985617,0.00014419874058,-8.2547365367e-05,-3.40505956359e-05,1793251599813315584
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.041536256,724.041536256,691,671,643,889.958463744,789,820,657,633,657,0.404138618035,-0.00542112602374,0.0699524778718,0.999999987794,0.000132810021792,-7.28994405174e-05,-3.81900246069e-05,1793251599829982208
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.615137632,724.615137632,691,671,643,889.384862368,789,820,657,633,657,0.404494457257,-0.00542705924724,0.0699507787929,0.999999992066,9.28012159948e-05,-7.92664841598e-05,-3.11998658227e-05,1793251599846649088
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.810998916,724.810998916,691.189001084,671,643,889,789,820,657,633,657,0.40486859807,-0.00543161365074,0.0699514736447,0.999999993914,7.02568103574e-05,-8.03916532908e-05,-2.78107292964e-05,1793251599863315456
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746.236601129,724.236601129,691.763398871,671,643,889,789,820,657,633,657,0.40528005806,-0.00543335646817,0.0699570500192,0.999999993516,8.33244923909e-05,-7.08279882297e-05,-3.17645256545e-05,1793251599879982080
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746,724,692,670.648735038,643,889,789.351264962,820,657,633,657.351264962,0.405715489979,-0.00543858313213,0.0699600318306,0.999999993948,8.17464826927e-05,-6.4693879863e-05,-3.51526929914e-05,1793251599896649216
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746,724,692,670.051435351,643,889,789.948564649,820,657,633,657.948564649,0.406167712476,-0.00544624996911,0.069961196346,0.999999994971,6.99102672305e-05,-6.09619174104e-05,-3.81446800837e-05,1793251599913316096
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746.52364743,724,692,670.52364743,643,889,789.47635257,820,657,633,657.47635257,0.406625206933,-0.00545250161893,0.0699419825707,0.999999993189,5.49814120227e-05,-9.48704990436e-05,-3.99939431617e-05,1793251599929982720
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.907009366,746.907009366,724,691.907009366,671,643,889.092990634,789.092990634,820,657,633,657,0.407097287245,-0.00545857663676,0.0699241948018,0.999999990485,4.14445759306e-05,-0.000124796611419,-4.17003535307e-05,1793251599946649600
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.355638904,746.355638904,724,691.355638904,671,643,889.644361096,789.644361096,820,657,633,657,0.407638817249,-0.00546443830306,0.0699229014816,0.999999991494,3.62058880013e-05,-0.000117608775839,-4.32333671253e-05,1793251599963316224
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.220578808,746,724,691.220578808,671,643,890,790,820,656.779421192,633,657,0.408209475212,-0.00547293792787,0.069927673274,0.999999993538,2.74143820988e-05,-0.000101250615954,-4.38307531924e-05,1793251599979982848
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.841943258,746,724,691.841943258,671,643,890,790,820,656.158056742,633,657,0.408833057843,-0.00548623065052,0.0699434652095,0.999999996685,1.21675037425e-05,-6.82302288523e-05,-4.27281295955e-05,1793251599996649472
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.4303249,724,692,671,643,890,790,820,656,633,657,0.409451930762,-0.00551106634132,0.0699474566848,0.999999997561,-2.08679049289e-05,-5.27447696843e-05,-4.07400478376e-05,1793251600013315840
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724.007436142,692.007436142,670.992563858,643,890.007436142,790,820.007436142,656,633,657,0.410069513359,-0.00553952396896,0.069947349026,0.999999996541,-5.94869796076e-05,-4.35580953647e-05,-3.84972569603e-05,1793251600029982720
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724.583144838,692.583144838,670.416855162,643,890.583144838,790,820.583144838,656,633,657,0.410711275464,-0.00554383817632,0.0699416302392,0.999999995626,-6.10525678831e-05,-5.85790853216e-05,-3.98740112319e-05,1793251600046649600
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724.837499988,692.837499988,670.162500012,643,891,790,821,656.162500012,633,657,0.411371526194,-0.00554447263713,0.0699419327563,0.999999995469,-5.98995682012e-05,-6.18653253187e-05,-4.05779900493e-05,1793251600063316224
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724.248576008,692.248576008,670.751423992,643,891,790,821,656.751423992,633,657,0.4120802937,-0.00553545090027,0.0699580360627,0.999999997297,-5.1612593018e-05,-3.43578505013e-05,-3.95165067564e-05,1793251600079982848
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724.334842944,692.334842944,670.665157056,643,891.334842944,790,821,656.665157056,633,657.334842944,0.412837345098,-0.00551909447634,0.0699828413253,0.999999998698,-3.22520055137e-05,3.92528611493e-06,-3.93622172005e-05,1793251600096649728
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,724.914241314,692.914241314,670.085758686,643,891.914241314,790,821,656.085758686,633,657.914241314,0.413629661126,-0.00549738109966,0.0700140021381,0.99999999794,-4.8037090437e-06,5.00785228984e-05,-3.98705042137e-05,1793251600113316352
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725,693,670.490570687,643,891.509429313,790,821.490570687,656.490570687,633,658,0.414378584639,-0.00550182435938,0.0700091581203,0.999999998422,-1.03319665765e-05,3.73930166053e-05,-4.06344803825e-05,1793251600129982720
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.933721051,747,725,693,671,643,891.198836848,790,822,657,633,657.933721051,0.415120283021,-0.0055109671549,0.0699929359388,0.999999998841,-2.29479649306e-05,6.40091149397e-06,-4.18281250348e-05,1793251600146649344
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.358687527,747,725,693,671,643,892.923937419,790,822,657,633,657.358687527,0.415864386923,-0.00552130290805,0.0699373887183,0.999999994131,-4.59941663067e-05,-8.66490659639e-05,-4.59789205936e-05,1793251600163316224
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,724.778197751,693.221802249,670.778197751,643,893.778197751,789.778197751,822.221802249,656.778197751,633,657,0.416647098082,-0.00552814920574,0.069906515447,0.999999987443,-6.00038019801e-05,-0.000138296743233,-4.88655680847e-05,1793251600179983104
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724.188661902,693.811338098,670.188661902,643,893.188661902,789.188661902,822.811338098,656.188661902,633,657,0.417493817498,-0.00552921021423,0.0699165499709,0.999999989668,-5.90314028131e-05,-0.000121302114196,-4.96563411969e-05,1793251600196649216
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724.393833895,694,670,643,893.393833895,789.393833895,823,656.393833895,633,657,0.418383503283,-0.00552837683957,0.0699418918724,0.999999993745,-5.68363987026e-05,-8.30322442891e-05,-4.88336227151e-05,1793251600213316096
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724.973016442,694,670,643,893.973016442,789.973016442,823,656.973016442,633,657,0.419293410153,-0.00552665191803,0.0699744378305,0.999999996818,-5.40660042792e-05,-3.47496834572e-05,-4.72515522857e-05,1793251600229983232
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.543967585,747,725,694,670.543967585,643,894,790,823.543967585,657,633,657,0.420207482826,-0.00552093405691,0.070001837579,0.999999997555,-4.9975365229e-05,1.21142073949e-05,-4.73795105294e-05,1793251600246649856
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.884124902,747,725,694,670.884124902,643,894,790,824,656.884124902,633,657,0.421120081538,-0.00551672036868,0.070023215724,0.999999996583,-4.76276691768e-05,4.78650319834e-05,-4.76979699442e-05,1793251600263316480
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.30680725,747,725,694,670.30680725,643,894,790,824,656.30680725,633,657,0.422025999716,-0.00551927366586,0.0700216158123,0.999999996664,-5.24777061181e-05,3.96370036539e-05,-4.84422885938e-05,1793251600279983104
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724.721307642,694,670.278692358,643,894.278692358,789.721307642,824.278692358,656.278692358,633,657,0.422887731927,-0.00552186129126,0.0699835449958,0.999999996661,-5.91788636441e-05,-2.45218071073e-05,-5.0740501349e-05,1793251600296649472
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724.126528152,694,670.873471848,643,894.873471848,789.126528152,824.873471848,656.873471848,633,657,0.423699349439,-0.00552448785133,0.0699041096302,0.999999984618,-6.79795239385e-05,-0.000152116160147,-5.4801108286e-05,1793251600313315584
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724.454930615,694.454930615,670.545069385,643,895,789,825,656.545069385,633.454930615,657,0.424623120403,-0.00552597388674,0.0698640820241,0.999999975067,-7.51524198098e-05,-0.000201621768517,-5.97261586869e-05,1793251600329982464
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.967336102,695.032663898,670.032663898,643,895,789,825,656.032663898,633.967336102,657.032663898,0.425580124178,-0.00552706337099,0.069840352106,0.999999969896,-8.07491594443e-05,-0.000222614390372,-6.42679293173e-05,1793251600346648832
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.391697304,695.608302696,670.608302696,643,895,789,825,656.608302696,633.391697304,657.608302696,0.426585790705,-0.00552668395328,0.0699105285246,0.999999988763,-6.7456900338e-05,-0.000120391701361,-5.85555067733e-05,1793251600363315968
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.187834454,695.812165546,670.812165546,643,895.375668909,789,825.187834454,657,633.187834454,657.812165546,0.427582657206,-0.0055264996646,0.0699719952418,0.99999999602,-6.29668402248e-05,-3.18319999392e-05,-5.45990831595e-05,1793251600379983104
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.775656106,695.224343894,670.224343894,643,896.551312212,789,825.775656106,657,633.775656106,657.224343894,0.428560784287,-0.00552673089667,0.0700149149364,0.999999995158,-7.72207708176e-05,2.76328175522e-05,-5.43820019383e-05,1793251600396649728
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.641729246,695,670.358270754,643,897,789,826,657,633.641729246,657.358270754,0.429542620435,-0.00553015944439,0.0700372129166,0.999999993147,-8.18982385101e-05,6.40939169386e-05,-5.37732862442e-05,1793251600413316608
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724.062328459,695,670.937671541,643,897,789,826,657,633.062328459,657.937671541,0.43052674584,-0.0055355614228,0.0700467828666,0.999999991617,-8.06649705903e-05,8.63567775867e-05,-5.29228480077e-05,1793251600429982976
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.513413882,747,724,695,670.486586118,643,897,789,826.513413882,657,633,658,0.43139316202,-0.00553570316685,0.0699696661156,0.999999993946,-8.05000025409e-05,-4.95896236976e-05,-5.62818543937e-05,1793251600446649088
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.911050456,747,724.088949544,695.088949544,670.088949544,643,897,789,827,656.911050456,633,658,0.432261004446,-0.00553522354291,0.0698946542856,0.999999978738,-8.06347895656e-05,-0.000180122321791,-5.98196821499e-05,1793251600463315456
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.334229839,747,724.665770161,695.665770161,670.665770161,643,897,789,827,656.334229839,633,658,0.433214492059,-0.00553481361109,0.0698885000153,0.999999979216,-8.17073838522e-05,-0.000176362657906,-6.15552641588e-05,1793251600479982592
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,724.752654289,695.752654289,671,643,897.247345711,789,827,656.247345711,633.247345711,658,0.434179022259,-0.00553540752269,0.0699121228589,0.999999986311,-8.294001649e-05,-0.000129300436124,-6.14862213041e-05,1793251600496649216
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.164527538,695.164527538,671,643,897.835472462,789,827,656.835472462,633.835472462,658,0.435158766541,-0.0055373844815,0.069976771179,0.999999994448,-8.43931417686e-05,-2.25780278805e-05,-5.89308527254e-05,1793251600513315584
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724,695.417535086,671,643,898,789,827,657,633.582464914,658,0.436136367343,-0.0055417431925,0.0700178015244,0.999999993148,-9.18441198892e-05,4.4318855982e-05,-5.7488367578e-05,1793251600529982208
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724,695.997242344,671,643,898,789,827,657,633.002757656,658,0.437113135551,-0.00554702698475,0.0700496585571,0.999999988658,-0.000101624686194,9.57473522993e-05,-5.64781306568e-05,1793251600546648576
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.568746786,695.431253214,671,643,898.568746786,789,827.568746786,657,633,658,0.438009205117,-0.00554760275889,0.0700138486526,0.999999991877,-9.64082975422e-05,5.94410427615e-05,-5.84689401009e-05,1793251600563315200
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.14158127,725,695.14158127,671,643,899,789,827.85841873,657,633,658,0.43887345317,-0.00554728777696,0.0699669020513,0.999999993834,-9.29838057282e-05,-2.32991524446e-06,-6.06668683054e-05,1793251600579981824
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.718627145,725,695.718627145,671,643,899,789,827.281372855,657,633,658,0.439641013399,-0.00554430229002,0.0698866968474,0.999999983487,-9.52911612039e-05,-0.000141133251168,-6.345771697e-05,1793251600596648448
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747.695745723,725,696,671,643,899,788.695745723,827.304254277,657,633,658,0.440452865687,-0.00554376456278,0.0698476604406,0.999999972406,-9.40027868555e-05,-0.000205402695573,-6.45092904859e-05,1793251600613315328
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+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.962184795,725,695.962184795,671.037815205,643,900,788,828,656.037815205,634,658,0.446948748931,-0.00556438322888,0.069936149884,0.999999990481,-0.000104237332219,-6.77186691716e-05,-5.98978978947e-05,1793251600746648832
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.535101165,748,725,696,671.535101165,643,899.464898835,788,828.535101165,656,633.464898835,658,0.447594767701,-0.00556287763671,0.0699102446635,0.999999985251,-0.000100893173067,-0.000125774550929,-5.91509020524e-05,1793251600763315712
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768.267914304,747,725,695.732085696,671.732085696,643,899.267914304,788,828.732085696,656.732085696,634,658,0.449639899567,-0.00556518170321,0.0699421355226,0.999999989373,-0.00010639226916,-8.11894152391e-05,-5.78119059249e-05,1793251600813315328
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.86210318,747,725,695.13789682,671.13789682,643,899.86210318,788,828.13789682,656.13789682,634,658,0.450309056154,-0.00557179782875,0.0699923882548,0.999999991903,-0.000114514329538,-4.88162634023e-06,-5.5284626202e-05,1793251600829981952
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.556706566,747.443293434,724.556706566,695,671.443293434,643,900,788,828,656,634,658,0.450888770021,-0.00557329133597,0.0699981221788,0.999999992101,-0.000113005377762,2.56970096042e-06,-5.4964458043e-05,1793251600846648576
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.020499203,748,724.020499203,695.020499203,671.979500797,643,900,788,828,656.020499203,634,658,0.451438975925,-0.00557327676398,0.0699889467141,0.999999992429,-0.000109146990726,-1.27559430137e-05,-5.53692525075e-05,1793251600863315456
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768,748,725,694.493277143,670,642,900.493277143,787,829,656.506722857,633,658,0.458100321217,-0.00558918726646,0.0697770944177,0.999999931084,-0.000134795225164,-0.000341634225197,-5.42935856571e-05,1793251601479982592
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,900.356184547,787,829,656.643815453,633,658,0.458101260444,-0.00558758003919,0.0697765510488,0.999999930767,-0.000134166328856,-0.000342889505331,-5.37817313418e-05,1793251601513315584
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,748,725,694.774917436,670,642,900,787,829,656.774917436,633,658,0.458101613561,-0.00558722059663,0.069776537768,0.999999930739,-0.000133112504455,-0.000343388413643,-5.37351938175e-05,1793251601529982464
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,748,725,694.184396572,670,642,900,787,829,656.184396572,633,658,0.458100793579,-0.00558685055028,0.0697755187328,0.99999993025,-0.000131102058674,-0.000345583128577,-5.37050431814e-05,1793251601546649344
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748,725,694.397908377,670,642,900.397908377,787,829,656.397908377,633,658,0.458101026192,-0.00558743679704,0.069774926199,0.999999929953,-0.000131544444744,-0.000346301916985,-5.35310044022e-05,1793251601563316224
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,725,694.976482957,670,642,900.976482957,787,829,656.976482957,633,658,0.458101736727,-0.00558845723886,0.0697745273137,0.999999929743,-0.000133100513934,-0.000346350576079,-5.3291634693e-05,1793251601579983104
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,901,786.448654502,829,656.448654502,633,658,0.458102354792,-0.0055875090551,0.0697741309266,0.999999929896,-0.000131968965111,-0.000346323986324,-5.3401285191e-05,1793251601596649728
+244,4.066666667,POSE1_TO_POSE2_PRESS,767.874067014,748,725,694.874067014,670,642,900.874067014,786.125932986,828.874067014,656.125932986,633,658,0.458102632668,-0.0055865228191,0.0697736567185,0.999999929925,-0.000131040697539,-0.000346581401332,-5.34666363608e-05,1793251601613315840
+245,4.083333333,POSE1_TO_POSE2_PRESS,767.299898868,748,725,694.299898868,670,642,900.299898868,786.700101132,828.299898868,656.700101132,633,658,0.458101713647,-0.00558569801883,0.0697729051444,0.999999929463,-0.00013124127417,-0.00034786102653,-5.33216788089e-05,1793251601629982720
+246,4.100000000,POSE1_TO_POSE2_PRESS,767.283925244,748,725,694.283925244,670,641.716074756,900.283925244,787,828.283925244,656.716074756,633,658,0.45810228727,-0.00558566543445,0.0697730785976,0.999999929474,-0.000131993807162,-0.000347564877181,-5.31837166167e-05,1793251601646649600
+247,4.116666667,POSE1_TO_POSE2_PRESS,767.878307716,748,725,694.878307716,670,641.121692284,900.878307716,787,828.878307716,656.121692284,633,658,0.458104493019,-0.00558649909612,0.0697742635192,0.999999930001,-0.000133349875253,-0.000345545701914,-5.30534034615e-05,1793251601663315968
+248,4.133333333,HOLD_POSE2,769,748,725,694,670,642,900,787,828,656,633,658,0.458102137172,-0.00558297552396,0.0697722730971,0.999999929578,-0.000127730901312,-0.000348804224352,-5.35233011539e-05,1793251601695610112
+249,4.150000000,HOLD_POSE2,768.42689721,748,725,694,670,642,900,787,828.57310279,656,633,657.42689721,0.458103026125,-0.00558326826437,0.0697734663184,0.999999930298,-0.000127195402913,-0.00034697969664,-5.31923124691e-05,1793251601712275968
+250,4.166666667,HOLD_POSE2,768,748,725,694.146811764,670,642,900,787,828.853188236,656,633,657.146811764,0.458103448309,-0.00558370567322,0.0697740036787,0.999999930591,-0.000127378378929,-0.000346094618561,-5.30131540002e-05,1793251601728942080
+251,4.183333333,HOLD_POSE2,768,748,725,694.722290839,670,642,900,787,828.277709161,656,633,657.722290839,0.458102507603,-0.00558456549126,0.0697726260286,0.99999992964,-0.000129659187344,-0.000347952585546,-5.32773158544e-05,1793251601745608448
+252,4.200000000,HOLD_POSE2,768,748,724.694873755,694.694873755,670,642,900,787,828,656,633,658,0.458102804545,-0.00558490870071,0.0697725407851,0.999999929566,-0.000130562290618,-0.000347860965168,-5.30400225731e-05,1793251601762275072
+253,4.216666667,HOLD_POSE2,768,748,724.105177648,694.105177648,670,642,900,787,828,656,633,658,0.458104255755,-0.00558477010549,0.0697736608789,0.999999930316,-0.000130180504733,-0.000345951101195,-5.23350572182e-05,1793251601778941952
+254,4.233333333,HOLD_POSE2,768,748,724,694.47421434,670,642,900.47421434,787,828,656,633,658,0.458104471202,-0.00558511707045,0.0697729883072,0.999999929971,-0.000130495840081,-0.000346824156803,-5.23664231396e-05,1793251601795608576
+255,4.250000000,HOLD_POSE2,768,748,724.051132655,695,670,642,900.948867345,786.948867345,828.051132655,656,633,658,0.458104429284,-0.00558550362118,0.0697720840725,0.999999929466,-0.000130803460996,-0.000348137402412,-5.25324591944e-05,1793251601812275456
+256,4.266666667,HOLD_POSE2,768,748,724.625626373,695,670,642,900.374373627,786.374373627,828.625626373,656,633,658,0.458104498826,-0.00558521650106,0.069772791731,0.999999929769,-0.000129483217936,-0.000347772900054,-5.24408692498e-05,1793251601828942080
+257,4.283333333,HOLD_POSE2,768,748,725,694.79385211,670,642,900.20614789,786.20614789,829,656,633,658,0.458104215972,-0.00558489032752,0.0697727566412,0.999999929902,-0.000128519211785,-0.000347746649573,-5.24506767633e-05,1793251601845608448
+258,4.300000000,HOLD_POSE2,768,748,725,694.202054187,670,642,900.797945813,786.797945813,829,656,633,658,0.458103273878,-0.00558449109505,0.069771332059,0.999999929719,-0.000128221634022,-0.000348353181969,-5.26501730246e-05,1793251601862275072
+259,4.316666667,HOLD_POSE2,768,748,725,694,670.380371423,642,900.619628577,787,829,656.380371423,633,658,0.458103284035,-0.0055839705399,0.0697706715796,0.99999992956,-0.000128113730245,-0.000348836474614,-5.27345254866e-05,1793251601878941696
+260,4.333333333,HOLD_POSE2,768,748,725,694,670.957938214,642,900.042061786,787,829,656.957938214,633,658,0.458103787866,-0.00558338708759,0.0697704072326,0.999999929413,-0.000128104158832,-0.000349255876319,-5.27591841454e-05,1793251601895608320
+261,4.350000000,HOLD_POSE2,768,748,725,694,671,642,900.531979857,787,829,657,633,658,0.458103661102,-0.00558313516246,0.0697711291195,0.999999929483,-0.000128302324398,-0.00034897877696,-5.27948151037e-05,1793251601912274944
+262,4.366666667,HOLD_POSE2,768,748,725,694,670.894250277,642,900.894250277,787,829,656.894250277,633,658,0.458103906631,-0.00558322799711,0.0697719358321,0.999999929584,-0.000128840446998,-0.000348489550013,-5.27876916609e-05,1793251601928941824
+263,4.383333333,HOLD_POSE2,768,748,725,694,670.32045761,642,900.32045761,787,829,656.32045761,633,658,0.45810601913,-0.00558473146883,0.0697727751248,0.999999929752,-0.000130810984553,-0.000347303589077,-5.25875249858e-05,1793251601945608192
+264,4.400000000,HOLD_POSE2,768,748,724.736050408,694,670,641.736050408,900,786.736050408,829,656,633,658,0.458106255785,-0.00558478727511,0.0697727375151,0.999999929734,-0.0001306067009,-0.000347442238741,-5.25051576127e-05,1793251601962274816
+265,4.416666667,HOLD_POSE2,768,748,724.138216328,694,670,641.138216328,900,786.138216328,829,656,633,658,0.458104119581,-0.00558301184896,0.069771590663,0.999999929481,-0.000127651365079,-0.000349256461943,-5.25718011264e-05,1793251601978941696
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,900,787,829,656,633,658,0.458103273395,-0.00558224825768,0.0697707775866,0.999999928649,-0.000130671839584,-0.000350533474646,-5.24685873876e-05,1793251602011735296
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,900,787,828.427272734,656,633,658,0.458104397521,-0.00558277952508,0.0697714331129,0.999999929167,-0.000129416465284,-0.000349527826879,-5.24170860262e-05,1793251602028402176
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.151117608,642,900.151117608,787,828.151117608,656.151117608,633,658,0.458104995373,-0.00558314010346,0.0697718120545,0.999999929524,-0.000128552168039,-0.000348843729129,-5.22951322462e-05,1793251602045068800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.746143376,642,900.746143376,787,828.746143376,656.746143376,633,658,0.458104047293,-0.00558299928275,0.0697713785281,0.999999929413,-0.000128836659829,-0.000349104184711,-5.1966224388e-05,1793251602061735168
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.332105795,748,724.667894205,694.332105795,670.667894205,642,901,786.667894205,829,657,633,658,0.45810488442,-0.00558237874904,0.069772428848,0.999999929791,-0.0001288017426,-0.000348034002631,-5.1965433575e-05,1793251602078401536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.911324337,748,724.088675663,694.911324337,670.088675663,642,901,786.088675663,829,657,633,658,0.458107049879,-0.00558140127124,0.069774583266,0.999999930528,-0.000128529160004,-0.000345973721804,-5.22087875846e-05,1793251602095068160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.529001611,748,724,694.529001611,670,642,901,786.470998389,828.529001611,656.529001611,633,658,0.458105498367,-0.00558239252077,0.0697728590443,0.999999929748,-0.000128490177728,-0.000348240190775,-5.21822901805e-05,1793251602111735296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,724,694,670,642,900.970334293,787,828.029665707,656,633,658,0.458103292581,-0.00558367578926,0.0697705013088,0.999999928726,-0.000128478870732,-0.000351178776882,-5.20953191245e-05,1793251602128402688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,724,694,670,642,900.362423519,787,828.637576481,656,633,658,0.458101430701,-0.0055837141252,0.0697694618137,0.999999928501,-0.000128183900837,-0.000351972626752,-5.17804376671e-05,1793251602145069568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.766113165,724,694.233886835,670,642,900,787,829,656,633,658,0.458093234754,-0.00558365060603,0.0697652334044,0.999999926465,-0.000128653070469,-0.000357537323561,-5.18175426157e-05,1793251602161735936
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747.186929069,724,694.813070931,670,642,900,787,829,656,633,658,0.458075687549,-0.00558343671374,0.0697562970633,0.999999921642,-0.00013025037238,-0.000370145428151,-5.23743003564e-05,1793251602178402560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.389361718,724.389361718,694.610638282,670,642,900.389361718,787,829,656.389361718,633,658,0.458040459726,-0.00558174162591,0.0697409334901,0.999999912172,-0.000130161842848,-0.00039483234363,-5.3109269989e-05,1793251602195069184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.964273748,724.964273748,694.035726252,670,642,900.964273748,787,829,656.964273748,633,658,0.457996806204,-0.00557934067437,0.0697225070188,0.999999899761,-0.000129269930446,-0.00042527541685,-5.3929166503e-05,1793251602211735552
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,724.463004275,694,670,642,900.463004275,787,829,656.463004275,633,658,0.457941560314,-0.00557871825712,0.0697078361418,0.999999892844,-0.000127244756361,-0.000441793460727,-5.42128160879e-05,1793251602228402176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.88643331,724.11356669,694,670,642,900,787,829,656,633,658,0.457882437602,-0.00557792175622,0.0696948543827,0.999999886357,-0.000125390379289,-0.000456750263084,-5.42401142696e-05,1793251602245068800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747.292984895,724.707015105,694,670,642,900,787,829,656,633,658,0.457810178844,-0.00557589169596,0.0696879585675,0.999999880834,-0.000124575007408,-0.000469008743476,-5.33343271298e-05,1793251602261735168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747.29367725,725,694.29367725,670.29367725,642,900.29367725,787.29367725,829,656.29367725,633,658,0.457729602972,-0.00557378809721,0.0696843905806,0.99999987829,-0.000123342166388,-0.000474830261432,-5.23713839655e-05,1793251602278402048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747.873722002,725,694.873722002,670.873722002,642,900.873722002,787.873722002,829,656.873722002,633,658,0.457640917007,-0.0055716127905,0.0696840675913,0.99999987876,-0.000121702247271,-0.000474375034911,-5.13527074736e-05,1793251602295069184
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.551195605,670.551195605,641.551195605,900.551195605,787.551195605,829,656.551195605,633,658,0.457537466703,-0.00556871851186,0.0696867801911,0.999999879966,-0.000119358220955,-0.000472617975514,-4.95364532595e-05,1793251602311736064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,724.977460724,694.022539276,670,641.022539276,900,787,828.977460724,656,633,658,0.457428771543,-0.00556568405728,0.0696903242575,0.999999881414,-0.000116819775187,-0.000470399068868,-4.74398739463e-05,1793251602328402944
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724.402906324,694.597093676,670,641.597093676,900,787,828.402906324,656,633,658,0.457292251556,-0.00556411676377,0.0696935425318,0.999999884044,-0.000114318686871,-0.000465741755209,-4.39137758026e-05,1793251602345069568
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724,695,670,642,900,787,828,656,633,658,0.45714584196,-0.00556140836404,0.0696960246737,0.999999886275,-0.00011028765937,-0.000462191460295,-4.08223441798e-05,1793251602361736192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,670,642,900,787,828,656,633,658,0.456976218693,-0.00555602146775,0.0696967789057,0.999999887608,-0.000102665435277,-0.000461239649959,-3.87511974565e-05,1793251602378402560
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724.355842252,695,670.355842252,642,900,787,828.355842252,656.355842252,633,658,0.456785946721,-0.00555117939426,0.0696983203846,0.999999888067,-9.77388164272e-05,-0.000461556097491,-3.57708240855e-05,1793251602395068672
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,724.935221205,695,670.935221205,642,900,787,828.935221205,656.935221205,633,658,0.456582703414,-0.00554667957272,0.0697003564048,0.999999887984,-9.45055502872e-05,-0.000462669252405,-3.22192830217e-05,1793251602411735296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,694.49124109,671,642,900,787,829,656.49124109,633,658,0.456354491206,-0.00554035176229,0.0697032965528,0.999999889389,-8.50082188639e-05,-0.000461742339671,-2.8101516947e-05,1793251602428402432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,724.916091496,694.083908504,671,642,900,787,829,656,633,658,0.456115892462,-0.00553394554255,0.0697056028843,0.999999890363,-7.4926924474e-05,-0.000461618015135,-2.38349552992e-05,1793251602445069824
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,724.326804577,694.673195423,671,642,900,787,829,656,633,658,0.455833666798,-0.00552845301199,0.0697034062653,0.999999888181,-6.60777379276e-05,-0.000467874398381,-1.91015024076e-05,1793251602461736448
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,724.257823774,695,671,642,900,786.742176226,829,656,633,658,0.455539082516,-0.00552114568536,0.0697042824472,0.999999889377,-5.46077938107e-05,-0.000466967755487,-1.4330203695e-05,1793251602478403072
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,724.836651923,695,671,642,900,786.163348077,829,656,633,658,0.45522911111,-0.00551157884101,0.0697089844305,0.99999989467,-3.98748670203e-05,-0.000457142761913,-9.51178519602e-06,1793251602495069696
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.416406376,748,725,694.583593624,671,642,900,786.416406376,829,656,633,658,0.45489693425,-0.00550515245211,0.0697054388453,0.999999894594,-2.8840071994e-05,-0.000458212894278,-4.66626671689e-06,1793251602511736320
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.996524997,748,725,694.003475003,671,642,900,786.996524997,829,656,633,658,0.454556027213,-0.00549996074917,0.0696986506872,0.999999892368,-1.92592162689e-05,-0.000463566499979,1.89906140948e-07,1793251602528402688
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.424310591,748,725,694.575689409,671,642,900,787,829,656.575689409,633.575689409,658,0.454184341326,-0.00549667845619,0.0697137737015,0.999999905142,-1.06811047052e-05,-0.00043539324327,5.90470961019e-06,1793251602545069056
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.844230742,671,642.155769258,899.844230742,787,828.844230742,656.844230742,633.844230742,658,0.453796931963,-0.00549318705865,0.0697295874886,0.999999917175,3.08368572628e-06,-0.000406815176245,1.18840987629e-05,1793251602561735680
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,724.681226056,694,671,643,899,787.318773944,828,656,633,658,0.452905871879,-0.00548342755768,0.0697522283338,0.999999929642,6.92917911046e-05,-0.000367874786464,2.41430314261e-05,1793251602595069184
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,724.102621125,694,671,643,899,787.897378875,828,656,633,658,0.452419458266,-0.00547648615693,0.0697477034978,0.999999923005,0.00011583692636,-0.00037382139522,2.87976095013e-05,1793251602611736576
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.04429035,724.95570965,694,671.04429035,643,899,788,828,656.95570965,633,658,0.451355045813,-0.00547213712764,0.0697344615254,0.999999915088,0.000100614379985,-0.000398394352852,3.13485654255e-05,1793251602645069312
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.343424903,747,724,694,671,642.343424903,895.656575097,789,826.656575097,657,633,657,0.439732569804,-0.00541835523705,0.069821233798,0.999999956927,0.000126550796713,-0.000263648849106,2.48851744496e-05,1793251602911735296
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,746.378048093,724,691,671,643,888.378048093,789,820,656.378048093,633,657,0.401034730292,-0.00536366809404,0.0698119304161,0.999999928419,0.000225337213166,-0.000303426306581,1.77938995307e-05,1793251604011736064
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b16cda43a02d61689727a495557a74531a5bbb0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,414 @@
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+386,6.433333333,pose2_to_pose3_retreat,0.585797155935,5.16782192862e-06,1.06002109628,0.556368499394,0.00867757634974,1.05963247244
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+389,6.483333333,pose2_to_pose3_retreat,0.5857648099,5.24537354893e-06,1.06002110575,0.556336152799,0.00867765204087,1.05963248284
+390,6.500000000,pose2_to_pose3_retreat,0.585759505832,5.18064652343e-06,1.06002105916,0.556330851254,0.00867759543904,1.05963242656
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+394,6.566666667,pose2_to_pose3_retreat,0.585752728749,5.23147273245e-06,1.06002086174,0.55632407136,0.00867763740124,1.05963224424
+395,6.583333333,pose2_to_pose3_retreat,0.58575214485,5.21951095602e-06,1.06002085479,0.556323487778,0.00867762657934,1.05963223879
+396,6.600000000,pose2_to_pose3_retreat,0.585751733075,5.177910881e-06,1.06002098106,0.55632307746,0.00867758992488,1.05963236504
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+398,6.633333333,pose2_to_pose3_retreat,0.585751501818,5.15182373192e-06,1.06002106275,0.556322847123,0.00867756695545,1.05963244663
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+400,6.666666667,pose2_to_pose3_retreat,0.585751243218,5.12265207262e-06,1.06002115409,0.556322589552,0.00867754127014,1.05963253787
+401,6.683333333,pose2_to_pose3_retreat,0.585751209938,5.11889786715e-06,1.06002116585,0.556322556404,0.0086775379646,1.05963254962
+402,6.700000000,pose2_to_pose3_retreat,0.585751129593,5.10983442196e-06,1.06002119423,0.556322476379,0.00867752998434,1.05963257796
+403,6.716666667,pose2_to_pose3_retreat,0.585751094065,5.10910565617e-06,1.0600211984,0.556322440903,0.00867752942535,1.05963258203
+404,6.733333333,pose2_to_pose3_retreat,0.585751092238,5.10955903583e-06,1.06002119736,0.556322439064,0.00867752984118,1.05963258097
+405,6.750000000,pose2_to_pose3_retreat,0.585751050852,5.11982675106e-06,1.06002117384,0.556322397434,0.00867753925842,1.05963255699
+406,6.766666667,pose2_to_pose3_retreat,0.585751014617,5.12881638701e-06,1.06002115324,0.556322360985,0.00867754750345,1.059632536
+407,6.783333333,pose2_to_pose3_retreat,0.585751006883,5.13073519605e-06,1.06002114884,0.556322353205,0.00867754926332,1.05963253152
+408,6.800000000,pose2_to_pose3_retreat,0.585750996976,5.13319320591e-06,1.06002114321,0.556322343239,0.00867755151773,1.05963252578
+409,6.816666667,pose2_to_pose3_retreat,0.585750971794,5.13944085786e-06,1.0600211289,0.556322317908,0.00867755724789,1.05963251119
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+411,6.850000000,pose2_to_pose3_retreat,0.585750926755,5.13669653837e-06,1.06002101292,0.556322272177,0.00867755215254,1.05963239519
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94268be1697706fd88ab67e706048c4434ae43d6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:757be07eed2db9cb3be45559f831ba63779f097747ee0fb183f14331e02896cf
+size 26214740
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..981305d9ae431cbe97b1cdcba0f02dcd05a13376
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+17,0.283333333,BASELINE,769.133344813,747,724,690.133344813,671,642.133344813,889,789,820,656.866655187,633,656.133344813,0.40097429935,-0.00536526856489,0.0698301861648,0.999999938741,0.000218623299517,-0.000272842869875,1.67001153833e-05,1793251604879960832
+18,0.300000000,BASELINE,769.447557365,747,724,690.447557365,670.552442635,642.447557365,888.552442635,789,820,656.552442635,633,656.447557365,0.400972619308,-0.00536626210024,0.0698295280711,0.999999938826,0.000216544775727,-0.000274168528993,1.69905205467e-05,1793251604896627456
+19,0.316666667,BASELINE,769.975183861,746.975183861,724,691,670.024816139,643,888,789,820,656,633,657,0.400970331069,-0.00536762374844,0.0698286411965,0.999999938821,0.000214289603138,-0.000275928224485,1.7390602949e-05,1793251604913294080
+20,0.333333333,BASELINE,769.400497557,746.400497557,724,691,670.599502443,643,888,789,820,656,633,657,0.400972877823,-0.0053669002904,0.0698298395461,0.999999939089,0.00021662089892,-0.000273130299868,1.72546634281e-05,1793251604929960960
+21,0.350000000,BASELINE,769,746.178646504,724,691,671,643,888.178646504,789,820,656.178646504,633,657,0.400974302388,-0.00536628355541,0.0698305218195,0.99999993904,0.000218564621356,-0.000271764737641,1.71416379909e-05,1793251604946627584
+22,0.366666667,BASELINE,769,746.768039829,724,691,671,643,888.768039829,789,820,656.768039829,633,657,0.4009731468,-0.00536591219983,0.0698300175221,0.999999938284,0.000219617228812,-0.000273692485689,1.70812969903e-05,1793251604963294464
+23,0.383333333,BASELINE,769.351401317,747,724,691,671,643,888.648598683,789,820,656.648598683,633,656.648598683,0.400973282179,-0.00536640835658,0.069830753497,0.999999938769,0.000218056790244,-0.000273172023239,1.70198670759e-05,1793251604979961088
+24,0.400000000,BASELINE,769.930848435,747,724,691,671,643,888.069151565,789,820,656.069151565,633,656.069151565,0.400974255346,-0.00536746749508,0.0698322943603,0.999999940049,0.000214800586439,-0.000271062767489,1.69577304927e-05,1793251604996627712
+25,0.416666667,BASELINE,769.493454022,746.493454022,724,691,670.493454022,643,888,789.506545978,820,656.506545978,633,656,0.400974296296,-0.0053669692626,0.0698313961192,0.999999939634,0.00021612177727,-0.000271543905345,1.69603775646e-05,1793251605013294336
+26,0.433333333,BASELINE,769,746.08158488,724,691,670,643,888,790,820,657,633,656.08158488,0.400974155863,-0.00536639587521,0.0698303559539,0.999999939068,0.000217772862319,-0.000272303912976,1.7003961927e-05,1793251605029960704
+27,0.450000000,BASELINE,769,746.655715268,724,691,670,643,888,790,820,657,633,656.655715268,0.400973683045,-0.00536664287721,0.0698304544403,0.999999938998,0.000217670733401,-0.000272628265553,1.72416927505e-05,1793251605046627328
+28,0.466666667,BASELINE,769.237045586,747,724,691,670,643,888,789.762954414,820,656.762954414,633,657,0.400973279628,-0.00536653685827,0.0698304610355,0.999999938914,0.000217528924483,-0.000273052154289,1.72196962105e-05,1793251605063294208
+29,0.483333333,BASELINE,769.82916061,747,724,691,670,643,888,789.17083939,820,656.17083939,633,657,0.400972980166,-0.00536590205096,0.0698303299873,0.999999938808,0.000217327679088,-0.000273625137741,1.68086552922e-05,1793251605079960832
+30,0.500000000,BASELINE,769.588102737,746.588102737,724,691,670,643,888.411897263,789,820,656.411897263,633,657,0.400973344537,-0.00536598433383,0.0698302558621,0.999999938852,0.00021788401389,-0.000273024806896,1.67548618822e-05,1793251605096627200
+31,0.516666667,BASELINE,769.009169298,746.009169298,724,691,670,643,888.990830702,789,820,656.990830702,633,657,0.400973978111,-0.0053663574174,0.0698302048207,0.999999938955,0.000218747569239,-0.000271948663374,1.6845942613e-05,1793251605113293824
+32,0.533333333,BASELINE,769,746,724,691,670,643,888.435880833,789,820,656.435880833,633,657,0.400973271651,-0.00536682907666,0.0698304431335,0.999999938901,0.000218825893109,-0.000272061898935,1.71897247668e-05,1793251605129960960
+33,0.550000000,BASELINE,769,746.14062959,724,691,670.14062959,643,888,789,820,656.14062959,633,657,0.40097243379,-0.00536747760927,0.0698304654916,0.999999938845,0.000218679558605,-0.000272364596455,1.7497200682e-05,1793251605146627840
+34,0.566666667,BASELINE,769,746.727655643,724,691,670.727655643,643,888,789,820,656.727655643,633,657,0.40097124728,-0.00536868255012,0.06982978757,0.999999938791,0.000217860210251,-0.000273207939337,1.76765216786e-05,1793251605163294464
+35,0.583333333,BASELINE,769,747,724,691,670.688434597,643,888.311565403,789,820,657,633,657,0.400971674756,-0.00536908015162,0.0698298717243,0.999999939105,0.000216825952691,-0.000272884596466,1.76235441957e-05,1793251605179961088
+36,0.600000000,BASELINE,769,747,724,691,670.107221798,643,888.892778202,789,820,657,633,657,0.400973499074,-0.00536877903332,0.0698306154248,0.999999939736,0.000215605699716,-0.000271551533829,1.73695216895e-05,1793251605196627712
+37,0.616666667,BASELINE,769.470523354,747,724,691,670,643,888.529476646,789,820,657,633,657,0.400972639648,-0.0053679646572,0.0698301551955,0.999999939136,0.000217330144708,-0.000272400062272,1.71136983273e-05,1793251605213294080
+38,0.633333333,BASELINE,769.952818905,747,724,691,670.047181095,643,888,789,820,657,633,657,0.400971452717,-0.00536699886281,0.0698295574332,0.999999938337,0.000219646600725,-0.000273490024212,1.68828532515e-05,1793251605229960704
+39,0.650000000,BASELINE,769.379539291,747,724,691,670.620460709,643,888,789,820,657,633,657,0.400973383323,-0.00536563929581,0.0698304628705,0.999999938477,0.000221136675606,-0.000271769299401,1.69350738637e-05,1793251605246628352
+40,0.666666667,BASELINE,769.199899009,747,724,691,670.800100991,643,888,789,820,657,633,657,0.400974616894,-0.00536561682111,0.069831215644,0.999999938962,0.000220548228616,-0.000270449888958,1.70604977956e-05,1793251605263295488
+41,0.683333333,BASELINE,769.791402203,747,724,691,670.208597797,643,888,789,820,657,633,657,0.400974484966,-0.00536821372382,0.0698316693475,0.999999940119,0.000215887936128,-0.000269916657534,1.73293277693e-05,1793251605279962112
+42,0.700000000,BASELINE,769.625459235,746.625459235,724,691,670,643,888,789.374540765,820.374540765,657,633,657,0.400973884102,-0.00536833365741,0.0698311954279,0.999999940022,0.000215374882732,-0.000270686428149,1.72587636179e-05,1793251605296628992
+43,0.716666667,BASELINE,769.046877544,746.046877544,724,691,670,643,888,789.953122456,820.953122456,657,633,657,0.400973027774,-0.0053671041969,0.0698302161613,0.999999939247,0.000217121146982,-0.000272166043386,1.7003305588e-05,1793251605313295616
+44,0.733333333,BASELINE,769,746,724,691,670.527101183,643,888.527101183,790,820.472898817,657,633,657,0.400972022188,-0.00536666637528,0.0698297584682,0.999999938957,0.000217607677772,-0.000272863417473,1.6695941535e-05,1793251605329962240
+45,0.750000000,BASELINE,769.103433126,746,724,691,670.896566874,643,888.896566874,789.896566874,820,656.896566874,633,657,0.400971519456,-0.00536646367836,0.069829580649,0.999999938852,0.000217755001572,-0.000273142730837,1.64851862504e-05,1793251605346628352
+46,0.766666667,BASELINE,769.692724963,746,724,691,670.307275037,643,888.307275037,789.307275037,820,656.307275037,633,657,0.40097344061,-0.00536703759022,0.0698305014839,0.999999939419,0.000216830664322,-0.000271782233964,1.67497298273e-05,1793251605363294720
+47,0.783333333,BASELINE,770,746.276873795,724,691,670,643,888,789,820,656.276873795,633,657,0.400974168888,-0.0053666661931,0.0698308527568,0.999999939468,0.000217266555491,-0.000271251497285,1.68051286255e-05,1793251605379961600
+48,0.800000000,BASELINE,770,746.855419073,724,691,670,643,888,789,820,656.855419073,633,657,0.400973597451,-0.00536526482221,0.0698305834559,0.999999938951,0.000219184501301,-0.000271624836563,1.6632651014e-05,1793251605396628480
+49,0.816666667,BASELINE,769.565970743,747,724,690.565970743,670,643,888.434029257,789,820,656.565970743,633,657,0.400973465239,-0.00536572111167,0.0698305633058,0.999999938819,0.000219605124617,-0.000271770987974,1.66264307901e-05,1793251605413295104
+50,0.833333333,BASELINE,769.01257519,746.98742481,724,690.01257519,670,642.98742481,888.98742481,789,820,656,633,657,0.400973467613,-0.0053667679452,0.0698306195199,0.99999993882,0.000219500346642,-0.00027184687058,1.66733904255e-05,1793251605429961472
+51,0.850000000,BASELINE,769.587283942,746.412716058,724,690.587283942,670,642.412716058,888.412716058,789,820,656,633,657,0.4009729448,-0.00536654704436,0.0698303787552,0.999999939017,0.000218208797282,-0.000272165118405,1.66215156723e-05,1793251605446627840
+52,0.866666667,BASELINE,769.834349676,746,724,691,670.165650324,642.165650324,888,789,820,656.165650324,633,656.834349676,0.400972180064,-0.00536624514028,0.0698298361557,0.99999993895,0.000217584600398,-0.000272918949882,1.65164595831e-05,1793251605463294720
+53,0.883333333,BASELINE,769.246664617,746,724,691,670.753335383,642.753335383,888,789,820,656.753335383,633,656.246664617,0.40097079897,-0.00536573686061,0.0698285245583,0.999999938209,0.000218660647327,-0.000274782537285,1.627591103e-05,1793251605479961088
+54,0.900000000,BASELINE,769,746.336571563,724,691,670.663428437,643,888.336571563,789,820,657,633,656.336571563,0.400971943039,-0.00536612836466,0.0698292772436,0.999999938552,0.000218817667239,-0.000273398653632,1.63482715274e-05,1793251605496627456
+55,0.916666667,BASELINE,769,746.916589785,724,691,670.083410215,643,888.916589785,789,820,657,633,656.916589785,0.400974913592,-0.0053671706942,0.0698315230519,0.999999939672,0.00021830994272,-0.000269665831176,1.66469632854e-05,1793251605513294080
+56,0.933333333,BASELINE,769.491674244,747,724,691,670.491674244,643,888.508325756,789,820,656.508325756,633,657,0.400975421135,-0.00536619805053,0.0698324321569,0.999999939876,0.000219046562712,-0.000268306968941,1.66706365016e-05,1793251605529961472
+57,0.950000000,BASELINE,770,746.933714117,724,691,670.933714117,643,888.066285883,789.066285883,820,656.066285883,632.933714117,657,0.400975261167,-0.0053652283041,0.0698328262151,0.999999939829,0.000219823796131,-0.000267844308321,1.66728838709e-05,1793251605546628864
+58,0.966666667,BASELINE,770,746.356359127,724,691,670.356359127,643,888.643640873,789.643640873,820,656.643640873,632.356359127,657,0.400973144191,-0.00536689025257,0.0698309802316,0.999999939032,0.000219302756448,-0.00027121719121,1.68660807415e-05,1793251605563295232
+59,0.983333333,BASELINE,769.774338032,746,724,691,670.225661968,643,889,789.774338032,820,657,632.225661968,657,0.400972302348,-0.00536752806071,0.0698302254348,0.999999938758,0.000219002422995,-0.00027245749233,1.6967665437e-05,1793251605579961344
+60,1.000000000,BASELINE,769.18479268,746,724,691,670.81520732,643,889,789.18479268,820,657,632.81520732,657,0.400973516675,-0.00536651442713,0.0698312301929,0.999999939344,0.000219057981642,-0.000270258973169,1.69215241253e-05,1793251605596627968
+61,1.016666667,BASELINE,769,746,724,691,670.601823728,643,889,789,820,657,633,657,0.400973461209,-0.00536599977823,0.0698313542364,0.999999939323,0.000218977745874,-0.000270409217745,1.67844614118e-05,1793251605613294592
+62,1.033333333,BASELINE,769,746,724,691,670.021857311,643,889,789,820,657,633,657,0.40097282601,-0.00536571294432,0.0698310761834,0.999999939026,0.000218835512219,-0.00027163180686,1.66058879034e-05,1793251605629960960
+63,1.050000000,BASELINE,769.552426874,746.552426874,724,691,670,642.447573126,888.447573126,789,820,656.447573126,633,657,0.400972416948,-0.00536607596174,0.06983043229,0.999999938754,0.000218873618997,-0.000272604630657,1.65039098946e-05,1793251605646627584
+64,1.066666667,BASELINE,769.877439315,746.877439315,724,691,670.122560685,642.122560685,888,789,820,656.122560685,633,657,0.400972123245,-0.0053666335001,0.0698300284867,0.999999938671,0.000218536608307,-0.000273183252877,1.6477061951e-05,1793251605663294208
+65,1.083333333,BASELINE,769.321203987,746.321203987,724,691,670.678796013,642.678796013,888,789,820,656.678796013,633,657,0.400972206398,-0.00536778928641,0.0698305249268,0.999999939248,0.000216847272875,-0.000272401624856,1.6705443501e-05,1793251605679961088
+66,1.100000000,BASELINE,769.259068298,746.259068298,724,691,671,643,888.259068298,789,820,657,633,657,0.400972509179,-0.00536821165034,0.0698307809451,0.999999939682,0.000215828438679,-0.000271623885469,1.65987220387e-05,1793251605696627968
+67,1.116666667,BASELINE,769.872190478,746.872190478,724,691,671,643,888.872190478,789,820,657,633,657,0.400973112116,-0.00536763168761,0.0698307083928,0.999999939922,0.000215725940464,-0.000270851460523,1.6034034362e-05,1793251605713294848
+68,1.133333333,BASELINE,770,747,724,691,671,643,888.542570017,789,820,657,633,656.542570017,0.400973662847,-0.005368179176,0.0698306740084,0.999999940212,0.000215047904702,-0.000270311199042,1.62170054857e-05,1793251605729961216
+69,1.150000000,BASELINE,769.964823448,747,724,691,671,643,888,789,820,657,633,656.035176552,0.400974148072,-0.00536894913828,0.069830673567,0.999999940497,0.000214188039337,-0.000269914919001,1.65715054483e-05,1793251605746628096
+70,1.166666667,BASELINE,769.389379721,747,724,691,671,643,888,789,820,657,633,656.610620279,0.400973838359,-0.00536857570321,0.0698310400665,0.999999940544,0.000212863436589,-0.00027079095716,1.65363408521e-05,1793251605763294464
+71,1.183333333,BASELINE,769,747,724.189839744,691,670.810160256,643,888,789,820,657,633,656.810160256,0.400973777461,-0.00536792273623,0.0698314809345,0.999999940331,0.000213428420452,-0.000271134919718,1.64984251265e-05,1793251605779961088
+72,1.200000000,BASELINE,769,747,724.776960881,691,670.223039119,643,888,789,820,657,633,656.223039119,0.400974237264,-0.00536668478719,0.0698320774353,0.999999939565,0.000217947779379,-0.000270365397294,1.64547520512e-05,1793251605796627968
+73,1.216666667,BASELINE,769.361392696,747,725,691,670,643,888.361392696,789.361392696,820,657,633,656,0.40097380011,-0.00536634277538,0.0698316684466,0.999999939109,0.000218815924487,-0.000271357345745,1.63195307379e-05,1793251605813294848
+74,1.233333333,BASELINE,769.944176979,747,725,691,670,643,888.944176979,789.944176979,820,657,633,656,0.400972813474,-0.0053665496208,0.0698306434882,0.999999938847,0.000217447311268,-0.000273428383109,1.6128226363e-05,1793251605829961728
+75,1.250000000,BASELINE,769.479759848,747,724.479759848,691,670.520240152,643,889,789.479759848,820,656.479759848,633,656.520240152,0.400972359888,-0.00536734181358,0.0698307516885,0.999999939274,0.000216385032757,-0.000272685831346,1.6499009947e-05,1793251605846628864
+76,1.266666667,BASELINE,769,747,724,691,671,643,888.904552997,789,820,656.095447003,633,657,0.400972027831,-0.00536781110516,0.0698307895762,0.999999939574,0.000215928038945,-0.000271924932366,1.68327899416e-05,1793251605863295232
+77,1.283333333,BASELINE,769,747,724,691,671,643,888.330070526,789,820,656.669929474,633,657,0.400972022306,-0.00536634858963,0.0698298721106,0.999999938877,0.000218346018194,-0.000272567844782,1.66820101346e-05,1793251605879961600
+78,1.300000000,BASELINE,769,747,724,691.251889306,671,643,888.251889306,789,820,657,633,657,0.400972493594,-0.00536610193894,0.0698300280696,0.999999938791,0.000219284167515,-0.000272132245466,1.6618021122e-05,1793251605896627968
+79,1.316666667,BASELINE,769,747,724,691.843947028,671,643,888.843947028,789,820,657,633,657,0.400973608801,-0.00536749727477,0.069831633654,0.999999939535,0.000218223853873,-0.000270240150657,1.66712403009e-05,1793251605913294336
+80,1.333333333,BASELINE,769,747,724,692,670.576215986,643,888.576215986,789,820,656.576215986,633,657,0.400973641979,-0.00536785381281,0.0698318612456,0.999999939758,0.000217420295662,-0.000270047487372,1.69178704786e-05,1793251605929961216
+81,1.350000000,BASELINE,769,747,724,692,670.000752947,643,888.000752947,789,820,656.000752947,633,657,0.400973287882,-0.00536783854875,0.0698315956318,0.999999939795,0.00021670863421,-0.00027046307745,1.72337255272e-05,1793251605946628096
+82,1.366666667,BASELINE,769.575261892,747,724,691.424738108,670.575261892,643,888.575261892,789,820,656.575261892,633,657,0.400973848455,-0.0053672036757,0.0698319493774,0.999999939975,0.000217060669609,-0.000269529437469,1.70125279047e-05,1793251605963294976
+83,1.383333333,BASELINE,769.849164425,747,724,691,671,643,888.849164425,789,820,656.849164425,633,657,0.400974141327,-0.00536652376643,0.0698322479595,0.999999939972,0.000217804434642,-0.00026895046834,1.68355858305e-05,1793251605979961600
+84,1.400000000,BASELINE,769.274831265,747,724,691,671,643,888.274831265,789,820,656.274831265,633,657,0.400973679218,-0.00536571968904,0.0698323893822,0.999999939457,0.00021964413732,-0.000269372263261,1.67848745052e-05,1793251605996627712
+85,1.416666667,BASELINE,769,746.689718539,724,691,670.689718539,643,888,789,820,656.310281461,633,657,0.400973752615,-0.00536530885596,0.0698324371742,0.999999939322,0.000220368586498,-0.000269291615224,1.66146845227e-05,1793251606013294080
+86,1.433333333,BASELINE,769,746.094714219,724,691,670.094714219,643,888,789,820,656.905285781,633,657,0.400974317406,-0.00536525887479,0.0698323990483,0.999999939538,0.000220069648076,-0.000268749911593,1.63348576195e-05,1793251606029960960
+87,1.450000000,BASELINE,769.484827143,746.484827143,724,691,670,643,888,789.484827143,820,656.515172857,633,657,0.400974873984,-0.0053662711428,0.0698325817387,0.999999939892,0.000218544808386,-0.000268681436621,1.62859753416e-05,1793251606046627328
+88,1.466666667,BASELINE,770,747,724,691,670,643,888,789.93891424,820,656.06108576,633,657,0.400975104806,-0.00536739176342,0.0698325912787,0.999999940176,0.000216906585243,-0.00026894791592,1.63002261354e-05,1793251606063294208
+89,1.483333333,BASELINE,770,747,724,691,670,643,888,789.365634897,820,656.634365103,633,657,0.40097261726,-0.00536773468351,0.0698307984581,0.999999939685,0.000216263661674,-0.00027127172415,1.64772344838e-05,1793251606079961600
+90,1.500000000,BASELINE,770,746.787138609,724,690.787138609,670,643,888.212861391,789,820,656.787138609,633,657,0.400971898885,-0.00536760904806,0.0698304091046,0.999999939454,0.000216552956267,-0.00027187988951,1.6655142191e-05,1793251606096628736
+91,1.516666667,BASELINE,770,746.199456022,724,690.199456022,670,643,888.800543978,789,820,656.199456022,633,657,0.400974295791,-0.00536665834728,0.0698324910742,0.999999939684,0.000218483765744,-0.000269467030892,1.6834633533e-05,1793251606113295104
+92,1.533333333,BASELINE,769.616374624,746.383625376,724,690.383625376,670.383625376,643,889,789.383625376,820,656,633,656.616374624,0.400975263865,-0.00536659711845,0.0698332601732,0.999999939733,0.000219650577353,-0.00026832427747,1.70464132619e-05,1793251606129961728
+93,1.550000000,BASELINE,769.03565709,746.96434291,724,690.96434291,670.96434291,643,889,789.96434291,820,656,633,656.03565709,0.40097549786,-0.00536699286645,0.0698333547694,0.99999993969,0.000220424876026,-0.000267834055677,1.72747815552e-05,1793251606146628864
+94,1.566666667,BASELINE,769.538371592,747,724,691,670.461628408,642.461628408,888.461628408,789.461628408,820,656.538371592,633,656.538371592,0.400974932974,-0.00536530347041,0.0698327619238,0.999999939545,0.000221084295827,-0.000267861370851,1.67906124739e-05,1793251606163295488
+95,1.583333333,BASELINE,769.887474715,746.887474715,724,691,670.112525285,642.112525285,888.112525285,789,820,656.887474715,633,657,0.400974120699,-0.00536431992978,0.0698320487474,0.999999939422,0.000221178870498,-0.000268262887562,1.64317376967e-05,1793251606179962112
+96,1.600000000,BASELINE,769.311001271,746.311001271,724,691,670.688998729,642.688998729,888.688998729,789,820,656.311001271,633,657,0.400972503902,-0.00536680908531,0.0698310248602,0.999999939416,0.000218975542382,-0.000270067666085,1.67816471669e-05,1793251606196628224
+97,1.616666667,BASELINE,769,746,724,691,670.726576806,643,888.726576806,789,820,656.273423194,633,657,0.400971606519,-0.00536752859995,0.0698303211533,0.999999939236,0.000217880856962,-0.000271610473604,1.68467596367e-05,1793251606213294848
+98,1.633333333,BASELINE,769,746,724,691,670.132837735,643,888.132837735,789,820,656.867162265,633,657,0.400971551931,-0.00536617497623,0.0698299925385,0.999999938859,0.000218084949043,-0.000272846381407,1.65782317696e-05,1793251606229961728
+99,1.650000000,BASELINE,769.44675268,746,724,691,670.44675268,643,888,789,819.55324732,657,633,657,0.400972197893,-0.00536551265986,0.0698304725784,0.999999939015,0.000218209547833,-0.00027218168082,1.64614800646e-05,1793251606246628096
+100,1.666666667,BASELINE,770,746,724,691,671,643,888,789.022268084,819.022268084,657,633,657,0.400973035926,-0.00536516117404,0.0698311794557,0.999999939346,0.000218194893664,-0.000270979020037,1.63932655025e-05,1793251606263294720
+101,1.683333333,BASELINE,770,746,724,691,671,643,888,789.59785369,819.59785369,657,633,657,0.400973629565,-0.00536758239765,0.0698317315912,0.999999940235,0.000215289373563,-0.000270020360296,1.64441545483e-05,1793251606279961600
+102,1.700000000,BASELINE,769.822112477,746.177887523,724,690.822112477,670.822112477,643,888,789.822112477,820,656.822112477,633,657,0.400973648494,-0.00536878457304,0.0698317589404,0.999999940425,0.000214182519081,-0.000270194921096,1.64647535389e-05,1793251606296628736
+103,1.716666667,BASELINE,769.23176481,746.76823519,724,690.23176481,670.23176481,643,888,789.23176481,820,656.23176481,633,657,0.400972334868,-0.00536716019343,0.06983056949,0.999999939004,0.000217246153584,-0.000272997031738,1.6415120275e-05,1793251606313295104
+104,1.733333333,BASELINE,769.351968906,746.648031094,724,690.703937813,670,643,888,789,820,656.351968906,633,657,0.400972878762,-0.00536633098593,0.0698307652007,0.999999938852,0.000219036317288,-0.000272118000041,1.6480820208e-05,1793251606329961728
+105,1.750000000,BASELINE,769.93142785,746.06857215,724,691.8628557,670,643,888,789,820,656.93142785,633,657,0.400974623236,-0.00536601572632,0.0698318561902,0.999999939518,0.000220003391769,-0.000268859715251,1.66210640881e-05,1793251606346628096
+106,1.766666667,BASELINE,770,746.505354583,724,691.494645417,670.505354583,643,888,789.505354583,820,656.494645417,633,657,0.400974285038,-0.00536591102047,0.0698319882695,0.999999939269,0.000220561051653,-0.000269328771424,1.66562263233e-05,1793251606363294720
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,789,820,656,633,657,0.400973439098,-0.00536738721918,0.069831580393,0.999999939719,0.000216857186683,-0.00027065324164,1.67854349382e-05,1793251606406140160
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.418238827,747,724,691.581761173,671,643,889,789.581761173,820,656.581761173,633,657,0.400973524593,-0.00536834206938,0.0698317838102,0.999999939866,0.000216403120776,-0.000270483094198,1.66340295823e-05,1793251606422806528
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.162136373,746.837863627,724,691.837863627,670.837863627,643,888.837863627,790.162136373,820,657,632.837863627,657,0.400973449177,-0.00536874102466,0.069831954229,0.999999939872,0.000216504471638,-0.000270386875281,1.65007765244e-05,1793251606439472896
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.738966812,746.261033188,724,691.261033188,670.261033188,643,888.261033188,790.738966812,820,657,632.261033188,657,0.400972962199,-0.00536771817503,0.0698320402478,0.999999939518,0.000218026404556,-0.000270479742343,1.64139513273e-05,1793251606456139008
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.68372987,746,724,691,670.31627013,643,888.31627013,790.68372987,820,656.68372987,632.31627013,657,0.400973446347,-0.00536740694833,0.0698320890578,0.999999939691,0.000217483792678,-0.000270284887172,1.62584714929e-05,1793251606472805120
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.10603571,746,724,691,670.89396429,643,888.89396429,790.10603571,820,656.10603571,632.89396429,657,0.400974733212,-0.00536768393826,0.0698321071113,0.999999940298,0.000215234659706,-0.000269852205216,1.60462427952e-05,1793251606489471232
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.479796219,724,691,671,643,888.520203781,789.520203781,820,656,633,657,0.400973892332,-0.0053675676776,0.0698319073583,0.999999939856,0.000216197184988,-0.000270694067569,1.64545440612e-05,1793251606506137600
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.066503975,747,724,691,670.933496025,643,888,789,820,656.066503975,633,657,0.400973152338,-0.00536741845547,0.0698318773988,0.999999939354,0.00021764245339,-0.000271361523738,1.69513031618e-05,1793251606522803968
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.645857537,747,724,691,670.354142463,643,888,789,820,656.645857537,633,657,0.400976879144,-0.00536769681627,0.0698335344183,0.999999940218,0.000217242463853,-0.000268474393941,1.70544150254e-05,1793251606539470592
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.775415434,747,724,691,670.224584566,643,888,789,820,657,633,656.775415434,0.40098545879,-0.00536838767387,0.0698374940306,0.999999942023,0.000216686677825,-0.000262115185547,1.72460245287e-05,1793251606556137472
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.197673679,747,724,691,670.802326321,643,888,789,820,657,633,656.197673679,0.401001669481,-0.00536972717891,0.069845074449,0.999999945218,0.000215885903252,-0.000250296165353,1.75767957552e-05,1793251606572804352
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.622257798,724,691,670.622257798,643,888,789.377742202,820,656.622257798,633,656.377742202,0.401035340378,-0.00536992366216,0.0698584864789,0.999999950393,0.000216807196367,-0.000227778977098,1.80270477998e-05,1793251606589471488
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.048051553,724,691,670.048051553,643,888,789.951948447,820,656.048051553,633,656.951948447,0.401078092344,-0.00536952565892,0.0698749315355,0.99999995599,0.000218624138155,-0.000199697661262,1.85394419393e-05,1793251606606138368
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.540362394,746.540362394,724,691,670.540362394,643,888,789.459637606,820,656,633,657,0.401133856882,-0.00537218907222,0.0698873121988,0.99999995936,0.000215524139968,-0.000185698470674,1.86070770389e-05,1793251606622804992
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746.872212687,724,690.872212687,670.872212687,642.872212687,888,789.127787313,820,656.127787313,633,657,0.401194413308,-0.00537439368939,0.0698983684979,0.999999962307,0.000212906527654,-0.000172396716402,1.83348140933e-05,1793251606639471616
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746.292867548,724,690.292867548,670.292867548,642.292867548,888,789.707132452,820,656.707132452,633,657,0.401267703331,-0.00537398910846,0.0699060565798,0.99999996472,0.000213580277491,-0.000157014948613,1.70049951855e-05,1793251606656137984
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.716221216,746.283778784,724,690.283778784,670,642.283778784,888.283778784,789.716221216,819.716221216,656.716221216,633,657,0.40134757261,-0.00537514904134,0.0699093264981,0.999999966191,0.000211874577595,-0.000149954344787,1.55199186575e-05,1793251606672804352
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.142333925,746.857666075,724,690.857666075,670,642.857666075,888.857666075,789.142333925,819.142333925,656.142333925,633,657,0.401434167894,-0.00537790838476,0.0699080797046,0.999999966865,0.000207736354011,-0.000151400510572,1.38761215494e-05,1793251606689471232
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.432921885,747,724,690.567078115,670.432921885,643,888.567078115,789,819.432921885,656.432921885,633,657,0.401535200935,-0.00538003350322,0.0699054454805,0.99999996654,0.000205482481908,-0.000156725047407,1.15620620375e-05,1793251606706138368
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.991127109,747,724,690.008872891,671,643,888,789,820,657,633,657,0.401641554801,-0.00538194148505,0.0699024225457,0.999999965867,0.000203855792822,-0.000163178162397,9.01238943207e-06,1793251606722805248
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.399151185,747,724,690.600848815,671,643,888,789,820,657,633,657,0.401784644648,-0.00538332648861,0.069903926763,0.999999966703,0.000202603073892,-0.000159735752628,5.50661072489e-06,1793251606739471616
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.188275216,747,724,691,670.811724784,643,888.188275216,789,820,657,633,657,0.401938103108,-0.00538527036911,0.0699066601014,0.999999967867,0.000200671281889,-0.000154898501478,2.11443124016e-06,1793251606756137984
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.766283936,747,724,691,670.233716064,643,888.766283936,789,820,657,633,657,0.402113024789,-0.00538837113599,0.0699119377449,0.999999969699,0.00019733379505,-0.000147173900888,-1.04259512144e-06,1793251606772804864
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.657760156,724.342239844,691,670,643,888.657760156,789,820,657,633,657,0.402307751992,-0.00539172535624,0.06991669371,0.999999972042,0.000190891739063,-0.000139461941146,-5.12472493619e-06,1793251606789471488
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+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746.493021574,724.506978426,691,670.493021574,643,888,789.493021574,820,656.506978426,633,657,0.402748709562,-0.00539991716992,0.0699225340794,0.999999976453,0.000174991951386,-0.000127471652337,-1.48966377447e-05,1793251606822804224
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670.928588874,643,888,790,820,656.071411126,633,657,0.402991749965,-0.00540470280791,0.0699238778573,0.999999978171,0.000167708633214,-0.00012299653983,-2.00714509684e-05,1793251606839470592
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+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.249169845,643,888.249169845,789.750830155,820,656.750830155,633,657,0.403586196632,-0.00541379807024,0.069936772285,0.999999983414,0.000150939928038,-9.70659727348e-05,-3.1094833121e-05,1793251606872803840
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670.826099068,643,888.826099068,789.173900932,820,656.173900932,633,657,0.403918979519,-0.00541940919516,0.0699509731282,0.999999986525,0.000142162080136,-7.35741334208e-05,-3.64138413226e-05,1793251606889470464
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.600788143,643,889,789,820,656,633,657,0.404263417658,-0.00542485315151,0.069954707552,0.999999994434,6.70859889855e-05,-7.0047924546e-05,-4.15276529372e-05,1793251606906137088
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.029322105,643,889,789,820,656,633,657,0.404612884862,-0.00543022497688,0.0699539258659,0.999999995424,-3.65968421442e-05,-7.51365983729e-05,-4.6552924663e-05,1793251606922803712
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670.56279948,643,889.56279948,789,820.56279948,656.56279948,633,657,0.40501126171,-0.00543565683646,0.0699592467741,0.999999997068,2.3359029365e-05,-6.45376264446e-05,-3.39590406843e-05,1793251606939470336
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,724,691.152282926,670.847717074,643,889.847717074,789,820.847717074,657,633,657.152282926,0.40542335845,-0.00543944694542,0.0699628000585,0.999999995201,7.51139530412e-05,-5.73018858034e-05,-2.59377805962e-05,1793251606956136960
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,724,691.731244359,670.268755641,643,889.268755641,789,820.268755641,657,633,657.731244359,0.405866484792,-0.00543862796729,0.0699604758786,0.999999994401,7.90928225192e-05,-6.18668400944e-05,-3.33984915158e-05,1793251606972803840
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,691.691755496,670,643,889.308244504,789,820.308244504,657,633,657.691755496,0.406316334979,-0.00544351903281,0.0699510401112,0.999999993443,7.3498186196e-05,-7.91801065229e-05,-3.79776830661e-05,1793251606989470464
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724,691.116454507,670,643,889.883545493,789,820.883545493,657,633,657.116454507,0.406772010613,-0.00545335715868,0.0699354430152,0.999999991639,5.96092683311e-05,-0.00010753824007,-4.00603882928e-05,1793251607006137088
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,691.467005605,670.467005605,643,890,789.467005605,820.532994395,656.532994395,633,657,0.407273090812,-0.00545887117431,0.0699266875398,0.999999991638,4.21024674293e-05,-0.00011453976611,-4.2805131083e-05,1793251607022804480
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,890,790,820,656,633,657,0.407794000434,-0.00546363995839,0.0699216128642,0.999999992223,2.53404567123e-05,-0.000113344876073,-4.54467918018e-05,1793251607039471872
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,890,790,820,656,633,657,0.408399174832,-0.00547198210596,0.0699362646451,0.999999995122,2.54499840212e-05,-8.39853751915e-05,-4.53380200989e-05,1793251607056138752
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,890,790,820.211314111,656.211314111,633,657,0.409016773284,-0.00548008420053,0.0699480868466,0.999999997098,1.81546984097e-05,-5.80917650209e-05,-4.58327760355e-05,1793251607072805376
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,890,790,820.788672206,656.788672206,633,657,0.409655892981,-0.00548777046835,0.0699550075738,0.999999998146,-1.96740325232e-06,-3.82018657659e-05,-4.73729788159e-05,1793251607089472000
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724.364752274,692,671,643,890.364752274,790,820.635247726,657,633,657,0.410287446367,-0.00549769863337,0.0699504774487,0.999999997758,-1.53510555996e-05,-4.38704993912e-05,-4.8211680719e-05,1793251607106138624
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724.940094453,692,671,643,890.940094453,790,820.059905547,657,633,657,0.410914631317,-0.00550892115858,0.0699393361683,0.999999996441,-2.48442602309e-05,-6.42953651895e-05,-4.86453706881e-05,1793251607122804992
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.47238644,747,725,692,671,643,891,790,820,656.47238644,633,657,0.411593875001,-0.00553522552061,0.0699468390352,0.999999995942,-5.54317041177e-05,-5.49618875353e-05,-4.49798425349e-05,1793251607139471616
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.114556069,747,725,692.114556069,670.885443931,643,891,790,820.114556069,656,633,657,0.412297794332,-0.00555606293088,0.0699615001532,0.999999995383,-7.99966371398e-05,-3.37657213736e-05,-4.11537086826e-05,1793251607156138240
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.693425204,747,725,692.693425204,670.306574796,643,891,790,820.693425204,656,633,657,0.41307720435,-0.00554763736533,0.069996392062,0.999999996559,-7.02145713742e-05,2.1493476765e-05,-3.86076316209e-05,1793251607172805120
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.729052604,747,725,693,670.270947396,643,891.270947396,789.729052604,821,656.270947396,633,657,0.413855156201,-0.00552996272953,0.0700160625678,0.99999999692,-4.61795218301e-05,5.09605733687e-05,-3.78287076311e-05,1793251607189472000
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.153046855,747,725,693,670.846953145,643,891.846953145,789.153046855,821,656.846953145,633,657,0.41463146641,-0.00550187460956,0.0700185953745,0.999999997899,-6.09710621707e-06,5.1388475691e-05,-3.90394124027e-05,1793251607206138624
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.42077335,746.57922665,725,693,671,643,892,789.42077335,821.42077335,657,633,657.42077335,0.415365662363,-0.0055014220321,0.0699747103736,0.999999998659,-1.38601865215e-05,-2.59017942751e-05,-4.26541512756e-05,1793251607222804992
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.993802687,746.006197313,725,693,671,643,892,789.993802687,821.993802687,657,633,657.993802687,0.41608461931,-0.00551096932157,0.0699140291826,0.999999989509,-3.89360651301e-05,-0.000131314227635,-4.71387845388e-05,1793251607239471360
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.413487316,746.586512684,725,693.586512684,671,643,892.586512684,789.413487316,822,656.413487316,633,657.413487316,0.416919346021,-0.0055173920108,0.0699133857495,0.999999989428,-4.33076475029e-05,-0.000130173999269,-4.82063571608e-05,1793251607256137984
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724.824972227,693.824972227,670.824972227,643,893.175027773,789,822.175027773,656,633.175027773,657,0.417771056752,-0.00552310855385,0.069923341462,0.999999991332,-4.76199573402e-05,-0.000112756086986,-4.85179799209e-05,1793251607272804352
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,724.246619534,693.246619534,670.246619534,643,893.753380466,789,822.753380466,656,633.753380466,657,0.418658987826,-0.0055272766111,0.0699562087049,0.999999995688,-5.23173063096e-05,-6.05132119088e-05,-4.71737203073e-05,1793251607289470976
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.328955377,746.671044623,724,693.328955377,670,643,894.328955377,789.328955377,823.328955377,656.328955377,633.671044623,657,0.419576047924,-0.00553112686353,0.0699861849826,0.999999996984,-6.05707872168e-05,-1.49149059019e-05,-4.62648994057e-05,1793251607306137600
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.902465185,746.097534815,724,693.902465185,670,643,894.902465185,789.902465185,823.902465185,656.902465185,633.097534815,657,0.420514763296,-0.00553474085098,0.0700140120361,0.999999996071,-7.1467993711e-05,2.57436432565e-05,-4.56797956225e-05,1793251607322804736
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.04176711,746.479116445,724,694,670,643,895,789.520883555,824,656.520883555,633,657.479116445,0.421429981381,-0.00552859878551,0.0700233141188,0.999999996179,-6.3570597461e-05,3.84186533077e-05,-4.60913790451e-05,1793251607339471360
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.057829895,747,724,694,670,643,895,789.057829895,824.057829895,656,633.057829895,657.942170105,0.422331093864,-0.00552098179742,0.0700217485014,0.999999996896,-5.32593207802e-05,3.39958585435e-05,-4.70711661132e-05,1793251607356137984
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.649640489,747,724,694,670,643,895,789.649640489,824.649640489,656,633.649640489,657.350359511,0.423146419302,-0.0055182055266,0.0699548858686,0.999999994259,-5.62207818756e-05,-7.53537789193e-05,-5.14116911247e-05,1793251607372804352
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,694,670.235394184,643,895,789.764605816,825,656,633.764605816,657.235394184,0.423997369268,-0.0055188779476,0.0698922450098,0.999999982198,-6.25863288289e-05,-0.000168914501481,-5.6162755901e-05,1793251607389470720
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,694,670.812359051,643,895,789.187640949,825,656,633.187640949,657.812359051,0.424900012619,-0.00552455462105,0.0698357301813,0.999999966683,-7.38914038188e-05,-0.000239564604796,-6.15095389683e-05,1793251607406137344
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724,694.386336162,670.613663838,643,895,789,825.386336162,656,633,657.613663838,0.425893765521,-0.00552998158953,0.0698665200293,0.999999977593,-7.60021943985e-05,-0.000188257518391,-5.9975989093e-05,1793251607422803968
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724,694.95887324,670.04112676,643,895,789,825.95887324,656,633,657.04112676,0.42693143008,-0.00553528820836,0.0699393877714,0.999999992711,-7.36816506402e-05,-7.81712002087e-05,-5.51263514413e-05,1793251607439470848
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,695,670.548934191,643,895.548934191,789,826,656.548934191,633,657,0.427928336071,-0.00553234575978,0.0699930251032,0.999999995609,-7.64913646159e-05,-8.4088114897e-06,-5.34894285249e-05,1793251607456137472
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.137562845,695,670.862437155,643,896.137562845,789,826,656.862437155,633,657.137562845,0.428921019538,-0.00553004361409,0.0700366246821,0.999999994174,-7.94346751115e-05,5.08840587069e-05,-5.24659195297e-05,1793251607472804352
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.717229698,695,670.282770302,643,896.717229698,789,826,656.282770302,633,657.717229698,0.429910270111,-0.00553185103676,0.070052747663,0.999999991546,-8.1531324525e-05,8.65591736751e-05,-5.26147415269e-05,1793251607489471488
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746.706763749,724.706763749,695,670,643,897,789,826,656.293236251,633,658,0.430828251576,-0.00553434314537,0.0700216816662,0.999999994578,-8.21542044264e-05,3.49616210263e-05,-5.35983898209e-05,1793251607506138368
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746.134243373,724.134243373,695,670,643,897,789,826,656.865756627,633,658,0.431678354846,-0.00553748736258,0.0699456719335,0.99999999018,-8.13734353211e-05,-9.97561847143e-05,-5.53771428402e-05,1793251607522804992
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.451592384,724,695,670.451592384,643,897,789,826.451592384,657,633,658,0.432587450477,-0.00553702671932,0.0698999454437,0.999999980901,-8.1484844868e-05,-0.000167635048909,-5.87952264995e-05,1793251607539471616
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.959225005,747,724,695,670.959225005,643,897,788.959225005,827,657,633.040774995,658,0.43352174232,-0.00553569229096,0.0698710657191,0.999999974044,-8.18976141021e-05,-0.000203306083455,-6.22224833573e-05,1793251607556137984
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.379709565,747,724,695,670.379709565,643,897,788.379709565,827,657,633.620290435,658,0.434550198424,-0.0055374017182,0.0699422189235,0.999999991312,-8.26814826628e-05,-8.39255631599e-05,-5.91366160833e-05,1793251607572804352
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.199313634,747.199313634,724,695.199313634,670.199313634,643,897.199313634,788.199313634,827.199313634,657,634,658,0.435558126065,-0.00553955566465,0.0699994870482,0.999999994662,-8.55637696368e-05,1.16987272127e-05,-5.67232611923e-05,1793251607589471232
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.777401485,747.777401485,724,695.777401485,670.777401485,643,897.777401485,788.777401485,827.777401485,657,634,658,0.436527041738,-0.00554255437253,0.0700303680782,0.99999999225,-9.24338779336e-05,6.21768657577e-05,-5.55879447515e-05,1793251607606138368
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.64545738,724,696,671.35454262,643,898,789,827.64545738,656.64545738,634,657.64545738,0.437461648861,-0.00554775000986,0.0700292508601,0.999999991063,-9.74506720057e-05,7.21875367914e-05,-5.62614577511e-05,1793251607622805248
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.068909089,724,696,671.931090911,643,898,789,827.068909089,656.068909089,634,657.068909089,0.438374772774,-0.00555432130897,0.0700080971421,0.999999991566,-0.000101306967003,5.68584946208e-05,-5.80676143665e-05,1793251607639471872
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.504933076,696,671.495066924,643,898.504933076,789,827,656,633.495066924,657.504933076,0.439189528224,-0.00555065048471,0.0699343623915,0.999999990983,-0.000100276595438,-6.52962403717e-05,-6.09470965428e-05,1793251607656138240
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,724.919000816,695.919000816,671,643,898.919000816,788.919000816,827,656,633,658,0.439997117606,-0.0055461221348,0.0698626397821,0.999999975963,-9.78711823486e-05,-0.000185609661974,-6.35877208883e-05,1793251607672804864
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,724.326573369,695.326573369,671,643,898.326573369,788.326573369,827,656,633,658,0.44084377092,-0.00554495777565,0.0698486883932,0.999999973275,-9.09720807672e-05,-0.000202738025202,-6.38002703268e-05,1793251607689471488
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724,695.258602003,671,643,898,788,827,656,633.258602003,658,0.441731367635,-0.00554683942318,0.0698784964166,0.999999982228,-8.91895506693e-05,-0.00015395873782,-6.23451872509e-05,1793251607706137856
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724,695.834868929,671,643,898,788,827,656,633.834868929,658,0.442669258882,-0.00555246276447,0.0699620582027,0.999999993586,-9.369218131e-05,-2.42189414888e-05,-5.88415950775e-05,1793251607722804480
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,724.41135541,696,671.41135541,643,898.41135541,788,827.41135541,656,634,658,0.443546780785,-0.0055565092394,0.0700104970797,0.999999992573,-9.86761046001e-05,4.36948899629e-05,-5.66390038023e-05,1793251607739471360
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,724.987930124,696,671.987930124,643,898.987930124,788,827.987930124,656,634,658,0.444400055655,-0.00555992237255,0.0700448289837,0.999999989332,-0.00010385333785,8.6776573768e-05,-5.49589543477e-05,1793251607756137984
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.423823187,747.576176813,724.423823187,695.423823187,671.423823187,643,899,788.576176813,828,656,634,658,0.445174001446,-0.00556397050359,0.0700197390778,0.999999991476,-0.000109029907094,4.47999688306e-05,-5.61496442513e-05,1793251607772804864
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,748,724.162024561,695,671,643,899,788.837975439,828,656,633.837975439,658,0.445931770507,-0.00556666741932,0.0699915270915,0.999999992129,-0.000111567814177,1.78858155799e-06,-5.73673514769e-05,1793251607789471744
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,748,724.741055911,695,671,643,899,788.258944089,828,656,633.258944089,658,0.446652270722,-0.00556585173448,0.0699585496872,0.999999991762,-0.000107314566409,-3.9205325742e-05,-5.8496618294e-05,1793251607806138624
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.681415086,724.681415086,695,671,643,899,788,828,656,633.318584914,658,0.447332009398,-0.00556474000141,0.0699261171073,0.999999988495,-0.000102902558206,-9.4858630787e-05,-5.85086343926e-05,1793251607822805248
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.105101486,724.105101486,695,671,643,899,788,828,656,633.894898514,658,0.447978772779,-0.00556338877143,0.0698941252811,0.99999998032,-9.83621160489e-05,-0.000162371086341,-5.76168172732e-05,1793251607839471616
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,725,695.352779393,672,643,900,788,828,656,633.352779393,658,0.450090229861,-0.00557033426499,0.0699732034391,0.999999991597,-0.000112070736004,-3.37981709894e-05,-5.57060388435e-05,1793251607889472256
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+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747,724.198859779,695,672,643,900,788,828,656.801140221,633,657.198859779,0.451311180064,-0.00557598675312,0.0699948416261,0.99999999184,-0.000115771122983,-4.01237982417e-06,-5.38679326761e-05,1793251607922805760
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+252,4.200000000,HOLD_POSE2,768,747.905222269,724.094777731,694,670,641.094777731,900.905222269,786.094777731,829,657,633,658,0.458556022148,-0.00559166350448,0.0697357604935,0.999999908405,-0.000138040242153,-0.000401725167534,-5.2454960028e-05,1793251608844831488
+253,4.216666667,HOLD_POSE2,768,747.519354458,724.480645542,694,670,641,901,786.480645542,829,657,633,658,0.458556339505,-0.00558891745978,0.0697357565694,0.999999908851,-0.00013521495404,-0.000401558596907,-5.25832681403e-05,1793251608861497856
+254,4.233333333,HOLD_POSE2,768,747.055176514,725,694,670,641,901,787,828.944823486,656.944823486,633,658,0.458556496535,-0.00558620778457,0.0697356344654,0.999999909222,-0.000132382057933,-0.000401572242427,-5.26342636506e-05,1793251608878164480
+255,4.250000000,HOLD_POSE2,768,747.628278087,725,694,670,641,901,787,828.371721913,656.371721913,633,658,0.458555360571,-0.00558822083452,0.0697342961542,0.999999908421,-0.000134093544247,-0.000403051879795,-5.22213038665e-05,1793251608894831360
+256,4.266666667,HOLD_POSE2,768,748,724.791333832,694,670,641.208666168,900.791333832,787,828.208666168,656,633,658,0.458554821051,-0.00558950760226,0.069733788907,0.999999908097,-0.000134841383559,-0.000403644796856,-5.19087431027e-05,1793251608911498240
+257,4.283333333,HOLD_POSE2,768,748,724.197495826,694,670,641.802504174,900.197495826,787,828.802504174,656,633,658,0.45855538249,-0.00558945374296,0.0697348157009,0.999999908663,-0.000133810449956,-0.000402600938157,-5.17815065116e-05,1793251608928165632
+258,4.300000000,HOLD_POSE2,768,748,724,694,670,641.614266562,900,787,829,656,633,658,0.458556228862,-0.00558938760541,0.0697357992719,0.999999908961,-0.000133505249267,-0.000401971493631,-5.17036137843e-05,1793251608944832512
+259,4.316666667,HOLD_POSE2,768,748,724,694,670,641.036323545,900,787,829,656,633,658,0.458557217215,-0.00558931534966,0.0697367613053,0.999999909126,-0.00013356167858,-0.000401548550099,-5.16503089149e-05,1793251608961499136
+260,4.333333333,HOLD_POSE2,768,748,724,694,670,641,900,786.461992806,829,656,633,658,0.458556093032,-0.00558873164302,0.0697358186076,0.999999908432,-0.000134081160516,-0.000403031682669,-5.21864473185e-05,1793251608978164992
+261,4.350000000,HOLD_POSE2,768,748,724.115151905,694.115151905,670,641,900,786.115151905,829,656,633,658,0.458555410569,-0.00558804019168,0.0697349854303,0.99999990801,-0.000134305860623,-0.00040394773205,-5.26209545927e-05,1793251608994831360
+262,4.366666667,HOLD_POSE2,768,748,724.704892785,694.704892785,670,641,900,786.704892785,829,656,633,658,0.45855713252,-0.00558704604512,0.0697351301028,0.999999908952,-0.000133187653721,-0.000401999753486,-5.247367479e-05,1793251609011498240
+263,4.383333333,HOLD_POSE2,768,748,724.710504534,694.710504534,670,641.289495466,900,787,828.710504534,656,633,658,0.458557408855,-0.00558557717765,0.0697352237079,0.999999909436,-0.000131395919568,-0.000401393113833,-5.2409204068e-05,1793251609028164864
+264,4.400000000,HOLD_POSE2,768,748,724.131048345,694.131048345,670,641.868951655,900,787,828.131048345,656,633,658,0.45855623725,-0.00558363282639,0.0697352661638,0.99999990946,-0.000128929575783,-0.000402129968916,-5.24276755204e-05,1793251609044831232
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,748,724,694,670,642,901,786,829,656,633,658,0.458557356275,-0.00558553257558,0.0697354004412,0.99999990899,-0.00012900200905,-0.000403412750334,-5.13485484584e-05,1793251609077573376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747.428778376,724,694,670,641.428778376,900.428778376,786.571221624,829,656,632.428778376,658,0.458557282457,-0.00558657851534,0.0697357878907,0.999999908935,-0.000130793093247,-0.000402968222884,-5.13823751343e-05,1793251609094239232
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747,724.148533922,694,670,641,900,786.851466078,829,656,632.148533922,658,0.45855730361,-0.00558711066859,0.0697361763009,0.999999908933,-0.000132272100512,-0.000402472485016,-5.15258487118e-05,1793251609110905344
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747,724.744180323,694,670,641,900,786.255819677,829,656,632.744180323,658,0.458557610637,-0.00558609623695,0.0697365676028,0.999999909098,-0.000132811703333,-0.000401822594944,-5.19993782032e-05,1793251609127571968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.330276807,725,694,670,641.330276807,900,786.330276807,829,656,632.669723193,658,0.458557340572,-0.00558641502628,0.0697359148709,0.999999908875,-0.000132735656121,-0.00040240072483,-5.20103675254e-05,1793251609144238592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747.90918413,725,694,670,641.90918413,900,786.90918413,829,656,632.09081587,658,0.458556636075,-0.00558773745689,0.0697344761963,0.999999908358,-0.000132196151004,-0.000403903301247,-5.16731591894e-05,1793251609160905216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,724.515206219,694,670,641.515206219,900,786.515206219,828.515206219,656,632.484793781,657.515206219,0.458555755722,-0.00558606797796,0.069733731223,0.999999908204,-0.00013123425587,-0.000404579508587,-5.18173030191e-05,1793251609177571840
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,724.061000413,694,670,641,900,786.061000413,828.061000413,656,633,657,0.458554857286,-0.00558410338265,0.0697331477458,0.999999908148,-0.000130212352977,-0.000405024650356,-5.20061473255e-05,1793251609194238464
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,724.647638371,694,670,641,900,786.647638371,828.647638371,656,633,657,0.45855408498,-0.00558439270539,0.0697328436625,0.999999908359,-0.00012935058307,-0.000404803627109,-5.18084226546e-05,1793251609210905088
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641,900.231668948,787,829,656,633,657.463337895,0.458549300857,-0.00558492407017,0.0697305210905,0.999999907133,-0.000129492052442,-0.000407761084188,-5.1920366698e-05,1793251609227571968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641,900.811777856,787,829,656,633,658.623555712,0.458538482789,-0.00558581947644,0.0697251626253,0.999999903703,-0.000131142436477,-0.000415499111005,-5.2498065688e-05,1793251609244238592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641,901,787,828.610122433,656.389877567,633,658.610122433,0.458509964618,-0.00558560325453,0.069711990991,0.999999894709,-0.000131539185501,-0.000436452662798,-5.2801431702e-05,1793251609260905216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641,901,787,828.032987683,656.967012317,633,658.032987683,0.458472945133,-0.00558485312055,0.0696950667114,0.999999882439,-0.000131333816948,-0.000463753597366,-5.29730363192e-05,1793251609277571840
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,724.457321277,694,670,641,900.457321277,787,828.542678723,656.457321277,633,658,0.458419582926,-0.00558422344506,0.0696783001124,0.999999871116,-0.000130880715825,-0.000487665432933,-5.31178597506e-05,1793251609294238464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,724,694,670,641,900,787,829,656,633,658,0.458362675797,-0.00558299345254,0.0696628949192,0.999999860704,-0.000130195127999,-0.000508726984802,-5.32703318808e-05,1793251609310905088
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,724,694,670,641,900,787,829,656,633,658,0.458295891094,-0.00557941366635,0.0696527175984,0.999999855322,-0.000128668543596,-0.000519560437127,-5.34586618901e-05,1793251609327571968
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,724,694,669.705051988,641,900,786.705051988,829,656,633,658,0.458222426288,-0.00557644484396,0.0696472379709,0.999999852618,-0.000125770369148,-0.000525509826362,-5.27742824665e-05,1793251609344238592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,724,694,669.123914451,641,900,786.123914451,829,656,633,658,0.458142479749,-0.00557406884301,0.0696463165392,0.999999852584,-0.000121541334149,-0.000526720184238,-5.12431087259e-05,1793251609360905216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,724,694,669.451180693,641.451180693,900,786.451180693,829,656,633,658,0.458051890818,-0.00557306536845,0.0696525491435,0.999999857453,-0.000119359769914,-0.000518090286526,-4.92865538703e-05,1793251609377572352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,724.02449614,694.02449614,670,642,900,787,829,656,633,658,0.457957394624,-0.00557227912544,0.0696608417818,0.999999863561,-0.000117654753596,-0.000506763968735,-4.71839377538e-05,1793251609394239744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,724.594646087,694.594646087,670,642,900,787,829,656,633,658,0.45784011072,-0.0055680459426,0.0696718337355,0.99999987009,-0.000114204528457,-0.000494779190934,-4.43957723588e-05,1793251609410906112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724.827600566,694.827600566,670,641.827600566,900,786.827600566,829,656,633,658,0.45771097127,-0.00556429232354,0.0696815749879,0.999999875953,-0.000110967537218,-0.00048379341412,-4.15143795421e-05,1793251609427572224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724.231144987,694.231144987,670,641.231144987,900,786.231144987,829,656,633,658,0.457552670392,-0.00556171830278,0.0696882398507,0.999999880465,-0.000108255044447,-0.000475264912411,-3.84036728161e-05,1793251609444238592
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724.353319393,694,670,641,900,786.353319393,828.646680607,656,633,658,0.457376102288,-0.00555814695459,0.0696916837864,0.99999988317,-0.00010366332457,-0.000470825699768,-3.51758828421e-05,1793251609460905216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724.930196571,694,670,641,900,786.930196571,828.069803429,656,633,658,0.457187975842,-0.00555394456149,0.0696930897273,0.999999884733,-9.78825503924e-05,-0.000468973925375,-3.18740098152e-05,1793251609477571840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.497256317,724.497256317,694,670,641,900,787,828.502743683,656,633,658,0.456966277387,-0.00554602237814,0.0696934267753,0.999999884199,-8.93862644947e-05,-0.000472000324197,-2.87626888402e-05,1793251609494238720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,670.077393441,641.077393441,900,787.077393441,828.922606559,656,633,658,0.456736065281,-0.00553830477745,0.0696941241403,0.999999883682,-8.0618654079e-05,-0.000474857370555,-2.54316707198e-05,1793251609510905344
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,670.670009328,641.670009328,900,787.670009328,828.329990672,656,633,658,0.456479942297,-0.00553535802099,0.0696981997609,0.999999885713,-7.25333411008e-05,-0.000472116535252,-2.04634602791e-05,1793251609527571968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747.257392704,724,694,670.742607296,642,900,787.742607296,828,656,633,658,0.456200531145,-0.00553029207646,0.0697019203694,0.999999887822,-6.31498862643e-05,-0.000469181762448,-1.53687690043e-05,1793251609544238592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747.838201352,724,694,670.161798648,642,900,787.161798648,828,656,633,658,0.455891858242,-0.00552256335574,0.0697051949023,0.99999989001,-5.2135306524e-05,-0.000466003305816,-1.01151538713e-05,1793251609560905472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.584922778,724.415077222,694,670.415077222,642,900,787,828,656,633,658,0.455558404162,-0.00551623860252,0.0697050622592,0.999999891262,-4.0915757825e-05,-0.000464524054986,-4.42956085924e-06,1793251609577572096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.009565544,724.990434456,694,670.990434456,642,900,787,828,656,633,658,0.45521538096,-0.00551045598457,0.0697036139519,0.999999892051,-2.961706163e-05,-0.000463700944081,1.42283814785e-06,1793251609594238976
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.562226943,725,694,671,642,900,787,828,656,633,658,0.454834839725,-0.00550412571575,0.069698418689,0.999999890458,-1.71318752438e-05,-0.000467706385724,6.36110210865e-06,1793251609610905600
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.860911433,748,725,694,671,642,899.860911433,787,828,656,633,658,0.454451550212,-0.00549751117076,0.0696977705857,0.999999892447,-2.21236582596e-06,-0.00046364960028,1.13785309939e-05,1793251609627571968
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.267287241,748,725,694,671,642,899.267287241,787,828,656,633,658,0.454061352381,-0.00548999788194,0.0697121894285,0.999999905913,2.05968538397e-05,-0.000432979016828,1.67051722062e-05,1793251609644238848
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.317435487,747.682564513,724.682564513,694,671,642,899.317435487,787,828,656,633,658,0.45363609138,-0.00548489338435,0.0697289143319,0.99999991709,5.86019992177e-05,-0.000402352047422,2.23162468945e-05,1793251609660905472
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.894867508,747.105132492,724.105132492,694,671,642,899.894867508,787,828,656,633,658,0.453182111737,-0.00548176181398,0.0697475280231,0.999999924554,0.000109053417764,-0.000371760796157,2.81602882557e-05,1793251609677572608
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,724,693.046951296,671.046951296,642.046951296,898,788,828,656,633,658,0.449178417827,-0.00547968402698,0.0697752777817,0.999999933719,8.04941761745e-05,-0.000353922724307,2.86460831322e-05,1793251609794239744
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.17649905,747,724,691,671,643,889,789.17649905,820.17649905,656.82350095,633,657,0.40384745466,-0.00538766243097,0.0698471373331,0.999999949128,0.000198664725594,-0.000248107406063,2.68084266989e-05,1793251610777571840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.774165133,747,724,691,671,643,889,789.774165133,820.774165133,656.225834867,633,657,0.403517473571,-0.00537993240162,0.0698382485844,0.99999994418,0.000203726100061,-0.000263564643681,2.58682995078e-05,1793251610794238720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.642404606,746.642404606,724,691,671,643,889,790,820.642404606,656.357595394,633,657,0.403218677907,-0.0053778009374,0.069829946279,0.999999940359,0.000202842362823,-0.000278392762121,2.52071418965e-05,1793251610810905344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.067620539,746.067620539,724,691,671,643,889,790,820.067620539,656.932379461,633,657,0.402938822951,-0.0053790698097,0.069822000154,0.999999937146,0.000198347810741,-0.000292838781026,2.47154187939e-05,1793251610827571968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,724,691,671,643,888.490362066,789.490362066,820,656.490362066,632.490362066,657,0.402691501936,-0.00537599616701,0.0698159250765,0.999999934077,0.000198928292929,-0.000302818676439,2.39628772267e-05,1793251610844238592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,746.088594467,724,691.088594467,671.088594467,643,888,789.088594467,820,656,632,656.911405533,0.402454619189,-0.00537244790019,0.0698099635097,0.999999930762,0.000200605111656,-0.000312544901698,2.3418496363e-05,1793251610860905216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,746.675242558,724,691.675242558,671.675242558,643,888,789.675242558,820,656,632,656.324757442,0.402252031618,-0.00536948635459,0.0698032376248,0.999999926217,0.000204641244502,-0.000324192646332,2.42398334425e-05,1793251610877571840
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.258420545,746.741579455,724,691.741579455,671.483158909,643,888.258420545,789.741579455,820,656.258420545,632.258420545,656.258420545,0.402061846091,-0.00536816709071,0.0697985795556,0.99999992326,0.000207067269868,-0.000331598172982,2.53995097585e-05,1793251610894238464
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.837295396,746.162704604,724,691.162704604,670.325409208,643,888.837295396,789.162704604,820,656.837295396,632.837295396,656.837295396,0.401887039726,-0.00536888433786,0.0697964856808,0.999999922416,0.000207496681816,-0.000333743138084,2.69787434783e-05,1793251610910905088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.585315721,746.414684279,724,691.414684279,670,643,888.585315721,789,820,657,633,657,0.401740458138,-0.00536746213312,0.0697972633759,0.999999922345,0.000209865892157,-0.00033243920425,2.73922995995e-05,1793251610927571968
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.008507801,746.991492199,724,691.991492199,670,643,888.008507801,789,820,657,633,657,0.401604911222,-0.0053652034951,0.0697991637308,0.999999922563,0.00021299347987,-0.000329786899848,2.73501260927e-05,1793251610944238592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769.566752583,747,724,691.433247417,670.566752583,643,888,789,820.566752583,657,633,657,0.401501707469,-0.00536701931464,0.0698010547144,0.999999923513,0.000218757481102,-0.000323770210646,1.70768179596e-05,1793251610960905216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.854263997,746.854263997,724,690.854263997,670.854263997,643,888.145736003,789,820.854263997,657,633,657,0.401403439967,-0.0053687272053,0.0698022112603,0.99999992414,0.000222648187254,-0.000319455153948,9.75751777176e-06,1793251610977571840
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.263850057,746.263850057,724,690.263850057,670.263850057,643,888.736149943,789,820.263850057,657,633,657,0.40131875684,-0.00536991965904,0.0698011272756,0.999999924219,0.000220702559283,-0.000320485898252,1.1919005567e-05,1793251610994238464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,746.320289244,724,690.320289244,670,642.679710756,888.679710756,789,820,657,632.679710756,657,0.40124378512,-0.0053682027488,0.0698009382456,0.999999923917,0.000221881599582,-0.000320560855163,1.32571525911e-05,1793251611010905344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,746.899358959,724,690.899358959,670,642.100641041,888.100641041,789,820,657,632.100641041,657,0.401176659804,-0.00536413519285,0.0698014723019,0.999999923302,0.00022558524249,-0.000319863575474,1.3930074535e-05,1793251611027571968
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.474275301,746.525724699,724,691,670.474275301,642.474275301,888.474275301,789,820,656.525724699,632.474275301,657,0.401129140002,-0.00536422067332,0.0698031379962,0.99999992464,0.000224304767453,-0.00031652503653,1.48119159062e-05,1793251611044238336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.95044276,746.04955724,724,691,671,643,888.95044276,789,820,656.04955724,633,657,0.40108709275,-0.00536499874021,0.0698051225287,0.999999926313,0.000222337479326,-0.000312560451926,1.57047045363e-05,1793251611060905216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769.361676269,746.638323731,724,691,671,643,888.361676269,789,820,656.638323731,633,657,0.401059716606,-0.00536380704189,0.0698079860972,0.999999927332,0.000224304953105,-0.000307829471611,1.62384307433e-05,1793251611077571840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769.223359687,747,724,691.223359687,671,643,888,789,820,657,633.223359687,657,0.401035607957,-0.00536382993676,0.069810899091,0.99999992892,0.000223695107491,-0.00030305114143,1.67250497287e-05,1793251611094238208
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769.802454156,747,724,691.802454156,671,643,888,789,820,657,633.802454156,657,0.401016703299,-0.00536578725885,0.0698138908019,0.999999931416,0.000218980482773,-0.000298197399565,1.713664316e-05,1793251611110905088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,746.621393547,724,691.621393547,671,643,888,789,820,657,633.621393547,657,0.401001880741,-0.0053655521936,0.0698160871182,0.999999932034,0.000219795087908,-0.000295497997108,1.74272029918e-05,1793251611127571712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,746.046764569,724,691.046764569,671,643,888,789,820,657,633.046764569,657,0.400989171679,-0.00536418202535,0.0698178716211,0.999999931681,0.00022347243782,-0.000293913998529,1.76550979738e-05,1793251611144238336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.469637508,746,724,690.469637508,670.469637508,643,888,789,820.530362492,657,633,657,0.400986696117,-0.00536464325155,0.0698203766014,0.999999933423,0.000222947618744,-0.000288336697143,1.76129250067e-05,1793251611160905216
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,746.109952446,724,690.109952446,670.109952446,643,888,789,820.890047554,657,633,656.890047554,0.400984821712,-0.0053653259523,0.0698226808877,0.999999935083,0.000222053588776,-0.000283224819178,1.76193746943e-05,1793251611177571840
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,746.699315905,724,690.699315905,670.699315905,643,888,789,820.300684095,657,633,656.300684095,0.400981615495,-0.00536626689524,0.0698238318105,0.999999935707,0.000221172934825,-0.000281684783556,1.79421480446e-05,1793251611194238464
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,670.716225502,643,888,789,820,657,633,656.283774498,0.400978753714,-0.00536644200421,0.0698243146867,0.999999935966,0.000220657393711,-0.000281169919835,1.7924299906e-05,1793251611210905088
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,670.13687567,643,888,789,820,657,633,656.86312433,0.400976250694,-0.00536581943191,0.0698241017353,0.999999935847,0.000220522148638,-0.000281722859859,1.75516654872e-05,1793251611227571712
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.438839397,746.561160603,724,691,670,643,888,789,820,656.561160603,633,657,0.400974422707,-0.00536659882566,0.0698236922667,0.999999935561,0.000220340432572,-0.000282887061439,1.73859798553e-05,1793251611244238592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.986279803,746,724,691,670,643,888.013720197,789,819.986279803,656.013720197,632.986279803,657,0.400972858755,-0.00536775009322,0.0698232525371,0.999999935242,0.000220145668908,-0.000284170279319,1.72851287889e-05,1793251611260905216
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.399275272,746,724,691,670,643,888.600724728,789,819.399275272,656.600724728,632.399275272,657,0.400973602047,-0.00536631858706,0.0698240884674,0.99999993574,0.000220006386052,-0.000282525600297,1.72184021819e-05,1793251611277571584
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.185517616,746.185517616,724,691,670,643,888.814482384,789.185517616,819.185517616,656.814482384,632.185517616,657,0.400974204045,-0.00536520440659,0.0698250474662,0.999999935987,0.000221087549432,-0.000280801393995,1.7225831006e-05,1793251611294238464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.765606602,746.765606602,724,691,670,643,888.234393398,789.765606602,819.765606602,656.234393398,632.765606602,657,0.400974505528,-0.00536476513591,0.0698262682154,0.999999935694,0.00022476444013,-0.000278908043814,1.73909786024e-05,1793251611310905088
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.344671022,643,888,789.655328978,820,656,633,657,0.400975106836,-0.00536587952591,0.0698269172192,0.999999936376,0.000223629078913,-0.000277374594899,1.7388088508e-05,1793251611327571712
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.923040729,643,888,789.076959271,820,656,633,657,0.400975911435,-0.00536804735076,0.0698271785603,0.999999937708,0.000219230846947,-0.000276085171368,1.72712631327e-05,1793251611344238592
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,746.501145721,724,691,670.501145721,643,888.498854279,789,820,656,633,657,0.400974897452,-0.00536693687427,0.0698267148597,0.999999937162,0.000220021162164,-0.000277449866473,1.69867620489e-05,1793251611360905216
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.924126565,746.075873435,724,690.924126565,670,643,888.924126565,789,820,656,633,657,0.400973788796,-0.0053655801779,0.0698262297283,0.999999936403,0.000221521207083,-0.000278998544505,1.67897325924e-05,1793251611377571840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.336326189,746.663673811,724,690.336326189,670,643,888.336326189,789,820,656,633,657,0.400973924673,-0.00536595716822,0.0698263508433,0.999999936179,0.000222436698125,-0.000279040010188,1.735652705e-05,1793251611394238208
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,747,724,690.249166341,670,643,888,789,820,656.249166341,633,657,0.400974591561,-0.00536600154116,0.069827249163,0.999999936638,0.000222228456719,-0.000277544601569,1.75257036954e-05,1793251611410905088
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,747,724,690.8315724,670,643,888,789,820,656.8315724,633,657,0.400975968633,-0.00536560106546,0.0698291869311,0.999999938002,0.000220517314678,-0.000273993748559,1.71630989331e-05,1793251611427571968
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.407565489,670,643,888,789,820,657,633,656.592434511,0.400975985989,-0.00536646924246,0.069828965721,0.999999938252,0.000219543627669,-0.000273862223246,1.71977527669e-05,1793251611444238336
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,691.980949421,670,643,888,789,820,657,633,656.019050579,0.400975450144,-0.00536785357217,0.0698278661283,0.999999938051,0.000218869975108,-0.000275121855171,1.73940316948e-05,1793251611460904960
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,746.435146104,724,691.435146104,670,643,888.564853896,789,820,657,633,656.564853896,0.400976397905,-0.00536781602105,0.0698285511394,0.999999938359,0.000218919168204,-0.000273966057634,1.73084537787e-05,1793251611477571840
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,746.148160223,724,691,670,643,889,789,820,656.851839777,633,657,0.4009768824,-0.00536753304413,0.0698290652967,0.999999938489,0.000219300370934,-0.000273190999347,1.72280111444e-05,1793251611494238208
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,746.728666011,724,691,670,643,889,789,820,656.271333989,633,657,0.400975866253,-0.00536667648495,0.0698289019171,0.99999993805,0.000220577918556,-0.000273769205991,1.71908198048e-05,1793251611510904832
+412,6.866666667,POSE2_TO_POSE3_RETREAT,769.308524258,746.691475742,724,691,670.308524258,643,888.691475742,789,820,656.308524258,633,657,0.400976246328,-0.0053668017868,0.0698292217227,0.999999938356,0.000220192130501,-0.000272966799408,1.70941589983e-05,1793251611527571712
+413,6.883333333,POSE2_TO_POSE3_RETREAT,769.887814183,746.112185817,724,691,670.887814183,643,888.112185817,789,820,656.887814183,633,657,0.400977851748,-0.00536778878512,0.0698299655791,0.999999939311,0.00021834657323,-0.000270952745246,1.69453068686e-05,1793251611544238592
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c575bb6bb3bf92c4d58aadd72224c1e3041e198b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
+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,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+1,0.016666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+2,0.033333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+3,0.050000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+4,0.066666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+5,0.083333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+6,0.100000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+7,0.116666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+8,0.133333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+9,0.150000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+10,0.166666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+11,0.183333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+12,0.200000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+13,0.216666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+14,0.233333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+15,0.250000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+16,0.266666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+382,6.366666667,pose2_to_pose3_retreat,0.585914779667,5.05375575704e-06,1.06002094984,0.556486125484,0.00867747001292,1.05963231994
+383,6.383333333,pose2_to_pose3_retreat,0.585874964092,5.076245817e-06,1.06002096071,0.556446309567,0.00867749139011,1.05963233186
+384,6.400000000,pose2_to_pose3_retreat,0.58584314743,5.13858638869e-06,1.06002088956,0.556414491676,0.0086775497309,1.05963226457
+385,6.416666667,pose2_to_pose3_retreat,0.585818803589,5.1691683593e-06,1.06002070671,0.556390147266,0.00867757840762,1.05963208224
+386,6.433333333,pose2_to_pose3_retreat,0.585799732315,5.23204804598e-06,1.06002117775,0.556371075559,0.00867763994363,1.05963255612
+387,6.450000000,pose2_to_pose3_retreat,0.585785210832,5.30020346956e-06,1.06002108205,0.55635655331,0.00867770544194,1.05963245908
+388,6.466666667,pose2_to_pose3_retreat,0.585774485917,5.20858317636e-06,1.06002100655,0.556345829666,0.00867761811868,1.05963238331
+389,6.483333333,pose2_to_pose3_retreat,0.585767102042,5.05880827084e-06,1.06002099895,0.556338447801,0.00867747519246,1.05963237633
+390,6.500000000,pose2_to_pose3_retreat,0.585762186209,5.11817111385e-06,1.06002099573,0.556333531219,0.00867753199842,1.05963237275
+391,6.516666667,pose2_to_pose3_retreat,0.585759006163,5.15863422388e-06,1.06002099742,0.556330350415,0.00867756985285,1.05963237367
+392,6.533333333,pose2_to_pose3_retreat,0.585757354846,5.18402877226e-06,1.06002100632,0.556328698121,0.00867759186293,1.05963238102
+393,6.550000000,pose2_to_pose3_retreat,0.585755786289,5.20815059455e-06,1.06002101477,0.556327128637,0.00867761276992,1.05963238799
+394,6.566666667,pose2_to_pose3_retreat,0.585754292529,5.18094306122e-06,1.06002101486,0.55632563532,0.00867758708286,1.05963238842
+395,6.583333333,pose2_to_pose3_retreat,0.585753314062,5.13074972254e-06,1.06002100978,0.556324658,0.00867754084142,1.05963238469
+396,6.600000000,pose2_to_pose3_retreat,0.585752758533,5.10225224217e-06,1.06002100689,0.556324103122,0.00867751458765,1.05963238258
+397,6.616666667,pose2_to_pose3_retreat,0.585752545443,5.09132115382e-06,1.06002100579,0.556323890282,0.00867750451721,1.05963238177
+398,6.633333333,pose2_to_pose3_retreat,0.585752463844,5.08844403579e-06,1.06002100542,0.556323808762,0.00867750191189,1.0596323815
+399,6.650000000,pose2_to_pose3_retreat,0.585752136775,5.10254108639e-06,1.06002100495,0.556323481678,0.00867751596715,1.05963238127
+400,6.666666667,pose2_to_pose3_retreat,0.585751997984,5.10852317093e-06,1.06002100476,0.556323342879,0.0086775219315,1.05963238117
+401,6.683333333,pose2_to_pose3_retreat,0.585751953493,5.11044076012e-06,1.06002100469,0.556323298387,0.00867752384341,1.05963238114
+402,6.700000000,pose2_to_pose3_retreat,0.58575189126,5.11312310557e-06,1.0600210046,0.55632323615,0.0086775265178,1.0596323811
+403,6.716666667,pose2_to_pose3_retreat,0.585751836052,5.11550260744e-06,1.06002100453,0.55632318094,0.00867752889025,1.05963238106
+404,6.733333333,pose2_to_pose3_retreat,0.585751829924,5.11576674357e-06,1.06002100452,0.556323174812,0.0086775291536,1.05963238105
+405,6.750000000,pose2_to_pose3_retreat,0.585751713296,5.12079352698e-06,1.06002100435,0.556323058179,0.00867753416548,1.05963238097
+406,6.766666667,pose2_to_pose3_retreat,0.585751535297,5.12846550925e-06,1.0600210041,0.556322880171,0.00867754181472,1.05963238085
+407,6.783333333,pose2_to_pose3_retreat,0.585751275703,5.13955123158e-06,1.06002100366,0.556322620562,0.00867755285928,1.0596323806
+408,6.800000000,pose2_to_pose3_retreat,0.585751116393,5.14477115968e-06,1.06002100224,0.556322461206,0.00867755793108,1.05963237941
+409,6.816666667,pose2_to_pose3_retreat,0.585751109273,5.14500444375e-06,1.06002100218,0.556322454084,0.00867755815774,1.05963237936
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4a17215c8ee2b37eb2ab8b52662d2e58c6abdd9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35178667215f85f8ec3993e3d7c43e22d6c9e5e12657cc77cdced88abbbd006
+size 26347083
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ea21afc82e0e5db3f174546251bf818d83646d9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+28,0.466666667,BASELINE,770,746.32101638,724.67898362,691,671,643,887.67898362,789.32101638,820,657,633,657,0.40097671551,-0.00536845165385,0.0698317439587,0.999999939925,0.000217515209187,-0.000269353019741,1.69324063451e-05,1793251612131518976
+29,0.483333333,BASELINE,770,746.917621145,724.082378855,691,671,643,887.082378855,789.917621145,820,657,633,657,0.40097753586,-0.00536864834516,0.0698325943807,0.999999940257,0.000217443632759,-0.000268178705832,1.68366693972e-05,1793251612148186112
+30,0.500000000,BASELINE,769.505436573,747,724,691,671,643,887.989126853,789.505436573,820,657,632.505436573,657,0.400976561576,-0.00536883352345,0.0698315153471,0.999999939889,0.000217430576147,-0.00026957157742,1.66351588093e-05,1793251612164852992
+31,0.516666667,BASELINE,769.069693238,747,724,691,670.930306762,643,889,789,820,657,632.069693238,657,0.400975469942,-0.005368816438,0.0698303117262,0.999999939447,0.000217506434352,-0.000271158405814,1.64339635905e-05,1793251612181519872
+32,0.533333333,BASELINE,769.654712465,747,724,691,670.345287535,643,889,789,820,657,632.654712465,657,0.400975636429,-0.00536731741104,0.0698304724174,0.999999939309,0.000218170427203,-0.000271138432153,1.63603943821e-05,1793251612198186240
+33,0.550000000,BASELINE,770,746.762500299,724,691,670,643,888.762500299,789,820,657,633,657,0.400975958875,-0.00536648504446,0.0698309289042,0.99999993926,0.000219088541976,-0.000270573343229,1.64227808329e-05,1793251612214852352
+34,0.566666667,BASELINE,770,746.182927869,724,691,670,643,888.182927869,789,820,657,633,657,0.400976505953,-0.00536661287429,0.0698318114278,0.999999939338,0.00022037267054,-0.000269223120406,1.6680985319e-05,1793251612231518720
+35,0.583333333,BASELINE,770,746,724,691,670.397993535,643,888,789,820,656.602006465,633,657,0.40097563041,-0.00536738260921,0.0698314245264,0.999999939709,0.000217931462358,-0.000269848734433,1.64212636268e-05,1793251612248185344
+36,0.600000000,BASELINE,770,746,724,691,670.979537122,643,888,789,820,656.020462878,633,657,0.400974098771,-0.0053684483834,0.0698304521808,0.999999940199,0.000213772171728,-0.000271385581619,1.59226803467e-05,1793251612264851968
+37,0.616666667,BASELINE,770,746.554234216,724,691,671,643,888,789,820,656.554234216,633,657,0.400975137145,-0.00536715372279,0.0698317274272,0.999999939732,0.000217605206926,-0.000270047425484,1.60969169971e-05,1793251612281519104
+38,0.633333333,BASELINE,770,746.869435601,724,691,670.869435601,642.869435601,888,789,820,656.869435601,633,657,0.400976124507,-0.00536633105295,0.0698326940796,0.999999939533,0.000220000663177,-0.000268834997058,1.61664202693e-05,1793251612298185984
+39,0.650000000,BASELINE,770,746.286583109,724,691,670.286583109,642.286583109,888,789,820,656.286583109,633,657,0.400976610466,-0.00536744161691,0.0698323077772,0.999999940434,0.000216406474516,-0.000268421321872,1.57881144476e-05,1793251612314852352
+40,0.666666667,BASELINE,770,746.295793806,724,691,670,642.295793806,888,789,820,656.295793806,633,657,0.400976792745,-0.00536847363455,0.0698320585886,0.999999940882,0.000214443363071,-0.000268320672964,1.59295244928e-05,1793251612331519232
+41,0.683333333,BASELINE,770,746.877710658,724,691,670,642.877710658,888,789,820,656.877710658,633,657,0.400976681273,-0.00536942967382,0.0698319420309,0.9999999409,0.000214058002193,-0.0002685228162,1.65736587008e-05,1793251612348185600
+42,0.700000000,BASELINE,769.543159297,747,724.456840703,691.456840703,670,643,888.456840703,789.456840703,820,657,633,657,0.400976730089,-0.00536863407617,0.0698317496883,0.999999940574,0.000215021995443,-0.000268975928476,1.64059936347e-05,1793251612364851968
+43,0.716666667,BASELINE,769.035000172,747,724.964999828,691.964999828,670.035000172,642.964999828,889,789.964999828,820,656.964999828,633,657,0.400976616415,-0.00536744068231,0.0698314544261,0.999999940115,0.000216340106112,-0.000269647929648,1.60587020016e-05,1793251612381518592
+44,0.733333333,BASELINE,769.609627292,747,724.390372708,691.390372708,670.609627292,642.390372708,889,789.390372708,820,656.390372708,633,657,0.400973339988,-0.00536729951765,0.0698298832451,0.999999939023,0.000217582758626,-0.00027266522465,1.62720374654e-05,1793251612398185472
+45,0.750000000,BASELINE,770,746.81604464,724,691,671,642.18395536,888.81604464,789,820,656.18395536,632.81604464,657,0.400971936346,-0.00536717602478,0.0698293487877,0.999999938508,0.000218444155587,-0.000273855846958,1.63754351233e-05,1793251612414852096
+46,0.766666667,BASELINE,770,746.242350233,724,691,671,642.757649767,888.242350233,789,820,656.757649767,632.242350233,657,0.400974500501,-0.00536708997248,0.0698310107963,0.999999939229,0.000218497801122,-0.000271176368703,1.62459118133e-05,1793251612431519232
+47,0.783333333,BASELINE,770,746.343389025,724,691,671,643,888,789,820,657,632.343389025,657,0.400974688726,-0.00536732788765,0.0698310391392,0.999999939334,0.000218206854086,-0.000271027343318,1.6198623553e-05,1793251612448186112
+48,0.800000000,BASELINE,770,746.937938135,724,691,671,643,888,789,820,657,632.937938135,657,0.400973139158,-0.00536780275768,0.0698298725938,0.999999938989,0.000217663866677,-0.000272729130316,1.6211483276e-05,1793251612464852992
+49,0.816666667,BASELINE,769.48331107,747,724,691,670.48331107,643,888.51668893,789,820,657,633,656.48331107,0.400973961406,-0.00536680290492,0.0698307813815,0.99999993914,0.000218685697327,-0.000271363115649,1.60532046335e-05,1793251612481519616
+50,0.833333333,BASELINE,769.093031397,747,724,691.093031397,670.093031397,643,889,789,820,657,633,656.093031397,0.400974939261,-0.0053658222264,0.0698317644628,0.999999939322,0.000219652309806,-0.000269916947118,1.5925726906e-05,1793251612498185984
+51,0.850000000,BASELINE,769.666446177,747,724,691.666446177,670.666446177,643,889,789,820,657,633,656.666446177,0.400975293187,-0.00536582808971,0.069831882174,0.999999939381,0.000219392039436,-0.000269903185885,1.60602911098e-05,1793251612514852608
+52,0.866666667,BASELINE,770,746.753048168,724,691.506096335,670.753048168,643,889,789,820,657,633,657,0.400975426093,-0.00536606593215,0.0698316084996,0.99999993942,0.000218903584548,-0.000270146041007,1.61947671894e-05,1793251612531519488
+53,0.883333333,BASELINE,770,746.162681883,724,690.325363766,670.162681883,643,889,789,820,657,633,657,0.400975251645,-0.00536662636782,0.0698307905592,0.999999939432,0.000218097813297,-0.000270745750194,1.63291207143e-05,1793251612548185600
+54,0.900000000,BASELINE,770,746,724,690.419605295,670.419605295,643,889,789,820,657,633,657,0.400975458604,-0.00536733548758,0.069831231067,0.999999939433,0.000218803820267,-0.000270159952601,1.64774463931e-05,1793251612564852480
+55,0.916666667,BASELINE,770,746,724,690.998819342,670.998819342,643,889,789,820,657,633,657,0.400975810642,-0.00536810116354,0.0698321502612,0.999999939429,0.0002200848749,-0.000269123213929,1.66310867734e-05,1793251612581519360
+56,0.933333333,BASELINE,769.425261881,746.574738119,724,691,671,643,888.425261881,789.574738119,820,657,632.425261881,657,0.400976291229,-0.0053671210944,0.0698320674074,0.999999939605,0.000220643924591,-0.00026802239293,1.64522468901e-05,1793251612598186240
+57,0.950000000,BASELINE,769.150181647,747,724,691.150181647,670.849818353,643,888.150181647,790,820,657,632.150181647,657,0.400976442943,-0.00536676247561,0.0698319113746,0.999999939799,0.000220236815386,-0.000267639997886,1.63135436892e-05,1793251612614853120
+58,0.966666667,BASELINE,769.724302522,747,724,691.724302522,670.275697478,643,888.724302522,790,820,657,632.724302522,657,0.400975665558,-0.0053681681794,0.0698315545465,0.999999940042,0.000217106554025,-0.000269285976267,1.62900570839e-05,1793251612631519232
+59,0.983333333,BASELINE,769.691019391,747,724,691.691019391,670.308980609,643,888.691019391,789.691019391,820,657,633,657,0.400975261487,-0.005368763443,0.0698311883219,0.999999940037,0.000216134647676,-0.00027008388741,1.62992569041e-05,1793251612648185600
+60,1.000000000,BASELINE,769.096587991,747,724,691.096587991,670.903412009,643,888.096587991,789.096587991,820,657,633,657,0.400975202302,-0.00536860998409,0.0698308134164,0.999999939811,0.000217156730649,-0.000270098314417,1.63386539763e-05,1793251612664851968
+61,1.016666667,BASELINE,769.483012823,746.516987177,724,691,671.483012823,643,888,789,820,656.516987177,633,657,0.400975725141,-0.00536776780914,0.0698311929415,0.999999939778,0.000217735164226,-0.000269752080515,1.63981234626e-05,1793251612681518592
+62,1.033333333,BASELINE,769.940549259,746.059450741,724,691,671.881098519,643,888,789.059450741,820.059450741,656.059450741,633.059450741,657,0.400976211255,-0.00536693743244,0.0698316143548,0.999999939745,0.000218233734173,-0.000269470187838,1.64465613864e-05,1793251612698185472
+63,1.050000000,BASELINE,769.366582504,746.633417496,724,691,670.733165007,643,888,789.633417496,820.633417496,656.633417496,633.633417496,657,0.400975402262,-0.00536736557388,0.0698311315399,0.999999939388,0.000218786049062,-0.000270350714958,1.63658235302e-05,1793251612714852352
+64,1.066666667,BASELINE,769.213640647,746.786359353,724,691,670.213640647,643,888.213640647,789.786359353,820.786359353,657,633.786359353,657,0.40097482612,-0.00536777278392,0.0698307550599,0.999999939181,0.000218892000622,-0.000271031000181,1.63523673575e-05,1793251612731519232
+65,1.083333333,BASELINE,769.804922872,746.195077128,724,691,670.804922872,643,888.804922872,789.195077128,820.195077128,657,633.195077128,657,0.400974661577,-0.00536814299456,0.0698305665426,0.99999993924,0.000218208938664,-0.000271357328053,1.64578415587e-05,1793251612748185600
+66,1.100000000,BASELINE,770,746.387762337,724,691,671,643,888.612237663,789,820,657,633,656.612237663,0.400974846028,-0.00536736876547,0.0698308493931,0.999999939029,0.00021957659011,-0.000271035745797,1.6336548817e-05,1793251612764851968
+67,1.116666667,BASELINE,770,746.966444874,724,691,671,643,888.033555126,789,820,657,633,656.033555126,0.400975202311,-0.00536603105548,0.0698313643283,0.999999938682,0.000221953938951,-0.000270395155933,1.61036042017e-05,1793251612781518592
+68,1.133333333,BASELINE,770,747.543167049,724,691,671,643,888.543167049,789,820,657,633,656.543167049,0.400976565643,-0.00536598608546,0.0698326812335,0.999999939281,0.00022166372111,-0.000268400772912,1.62363089285e-05,1793251612798185216
+69,1.150000000,BASELINE,769.880886818,747.880886818,724,691,670.880886818,643,889,789,820,656.880886818,633,657,0.4009774418,-0.00536626859294,0.0698334497763,0.999999939835,0.000220699819417,-0.000267122248022,1.63619482184e-05,1793251612814851840
+70,1.166666667,BASELINE,769.307440609,747.307440609,724,691,670.307440609,643,889,789,820,656.307440609,633,657,0.400976223283,-0.00536749667737,0.0698319384085,0.999999939998,0.000217792599523,-0.000268892072989,1.63747878307e-05,1793251612831518464
+71,1.183333333,BASELINE,769,747,724,691,670,643,888.725199606,789,820,656,633,657,0.400975334236,-0.0053679914426,0.0698313008954,0.999999939934,0.000216953236205,-0.000269802960161,1.63947726918e-05,1793251612848185088
+72,1.200000000,BASELINE,769,747,724,691,670,643,888.132793791,789,820,656,633,657,0.400974825978,-0.00536763866133,0.0698316733551,0.999999939618,0.000218503834372,-0.000269721114995,1.64230158024e-05,1793251612864851712
+73,1.216666667,BASELINE,769,747,724,691.447686084,670.447686084,643,888.447686084,789,820,656,633,657,0.400975925523,-0.00536719933023,0.0698326339566,0.999999939729,0.000219289772067,-0.000268674794822,1.63750554591e-05,1793251612881518336
+74,1.233333333,BASELINE,769,747,724,691.975493745,671,643,889,789.024506255,820.024506255,656.024506255,633,657,0.40097737223,-0.00536679135983,0.069833665715,0.99999993995,0.000219758899326,-0.000267470701806,1.63056672207e-05,1793251612898185216
+75,1.250000000,BASELINE,769,747,724,691.403453896,671,643,889,789.596546104,820.596546104,656.596546104,633,657,0.40097619654,-0.00536764277821,0.0698324906365,0.999999939915,0.000218085812449,-0.000268967580245,1.624944431e-05,1793251612914851840
+76,1.266666667,BASELINE,769.174729885,747,724,691,671,643,888.825270115,789.825270115,820.825270115,656.825270115,633,657,0.400975474977,-0.00536781311671,0.0698318164452,0.999999939864,0.00021725736543,-0.000269829866413,1.62217313404e-05,1793251612931518464
+77,1.283333333,BASELINE,769.767617074,747,724,691,671,643,888.232382926,789.232382926,820.232382926,656.232382926,633,657,0.400975840211,-0.0053663535192,0.0698323409589,0.99999993978,0.000218450280372,-0.000269173468994,1.62622473447e-05,1793251612948184832
+78,1.300000000,BASELINE,769.647820087,747,724,691,670.647820087,643,888,789,820,656.352179913,633,657,0.400974848282,-0.00536653307343,0.0698317222706,0.999999939463,0.000218797268435,-0.000270067548069,1.62946317775e-05,1793251612964851712
+79,1.316666667,BASELINE,769.068623189,747,724,691,670.068623189,643,888,789,820,656.931376811,633,657,0.400972981517,-0.00536776923336,0.0698303666684,0.999999938993,0.000218598967636,-0.000271961072294,1.63217745559e-05,1793251612981518592
+80,1.333333333,BASELINE,769.508566253,747,724,691.508566253,670.508566253,643,888,789,820,657,633,656.491433747,0.400974652829,-0.005367778583,0.0698310962604,0.999999939714,0.000217695002627,-0.000270022580247,1.63884994607e-05,1793251612998184960
+81,1.350000000,BASELINE,769.915091694,746.915091694,724,691.915091694,670.915091694,643,888,789,820,657,633,656.084908306,0.400976516448,-0.00536762951785,0.0698321273852,0.999999940436,0.000217035625023,-0.000267866147977,1.64577867757e-05,1793251613014851840
+82,1.366666667,BASELINE,769.342070203,746.342070203,724,691.342070203,670.342070203,643,888,789,820,657,633,656.657929797,0.400976751879,-0.00536751766713,0.069833280808,0.999999940274,0.000218327541211,-0.000267417649044,1.65112214853e-05,1793251613031518464
+83,1.383333333,BASELINE,769,746,724,691.23852423,670.23852423,643,888,789,820,656.76147577,633,657,0.400976625901,-0.00536770051698,0.0698335706644,0.999999940076,0.000218776978967,-0.00026778711636,1.6573263889e-05,1793251613048185088
+84,1.400000000,BASELINE,769,746,724,691.830335307,670.830335307,643,888,789,820,656.169664693,633,657,0.400975964625,-0.00536831985846,0.0698325814617,0.999999939824,0.000217978591699,-0.000269368102945,1.66480554673e-05,1793251613064851712
+85,1.416666667,BASELINE,769,746,724,691.586749334,670.586749334,643,888.413250666,789,820,656,633,657,0.400976225118,-0.0053674218441,0.0698325844854,0.999999939595,0.000219311068806,-0.000269148953082,1.64701191014e-05,1793251613081518336
+86,1.433333333,BASELINE,769,746,724,691.007409284,670.007409284,643,888.992590716,789,820,656,633,657,0.400976856079,-0.00536591398991,0.0698329862945,0.999999939371,0.000221499960673,-0.000268206311122,1.61906089603e-05,1793251613098184960
+87,1.450000000,BASELINE,769,746.539564381,724,691,670.539564381,643,888.460435619,789,820,656.539564381,633,657,0.400976394252,-0.00536594758761,0.0698326680994,0.999999939337,0.000221098157795,-0.000268660948578,1.62069614647e-05,1793251613114851584
+88,1.466666667,BASELINE,769,747,724,691,670.904769024,643,888.095230976,789,820,657,633,657,0.400975957533,-0.00536607395784,0.069832340193,0.999999939363,0.000220443515426,-0.000269099791128,1.6231064156e-05,1793251613131518208
+89,1.483333333,BASELINE,769,747,724,691,670.300383733,643,888.699616267,789,820,657,633,657,0.40097573074,-0.00536658957191,0.069832010235,0.999999939694,0.000218616502098,-0.000269357405508,1.6276110913e-05,1793251613148185088
+90,1.500000000,BASELINE,769,746.701462922,724,691,670.298537078,643,888.701462922,789,820,657,633,657,0.400975961175,-0.00536707249113,0.0698322703866,0.999999939928,0.00021856244587,-0.000268526047761,1.63677745147e-05,1793251613164851968
+91,1.516666667,BASELINE,769,746.107941597,724,691,670.892058403,643,888.107941597,789,820,657,633,657,0.400976643394,-0.00536752310457,0.0698331136249,0.999999940064,0.000220260247246,-0.000266618677515,1.650550018e-05,1793251613181518592
+92,1.533333333,BASELINE,769.472640358,746.472640358,724,691,671,643,888.472640358,789,820,656.527359642,633,657,0.40097633221,-0.00536722167973,0.0698326267854,0.999999940206,0.000218514168648,-0.000267544996745,1.60948220311e-05,1793251613198185984
+93,1.550000000,BASELINE,770,747,724,691,670.950028834,643,888.950028834,789,820,656.049971166,633,657,0.400975877344,-0.00536690387079,0.0698319558418,0.999999940338,0.000216266027542,-0.000268901992805,1.56533250342e-05,1793251613214853376
+94,1.566666667,BASELINE,770,747,724,691,670.376624372,643,888.376624372,789,820,656.623375628,633,657,0.400976230551,-0.00536816554022,0.0698324535052,0.999999940415,0.00021677789303,-0.000268172047665,1.61659504372e-05,1793251613231519744
+95,1.583333333,BASELINE,770,747,724,691,670.195825834,643,888,789.195825834,820,657,633,657,0.400976468068,-0.00536856581133,0.069832882472,0.99999994044,0.000217573890852,-0.000267413623138,1.6465894447e-05,1793251613248186112
+96,1.600000000,BASELINE,770,747,724,691,670.766449752,643,888,789.766449752,820,657,633,657,0.400976484164,-0.00536731742153,0.0698331799577,0.999999940367,0.000218913699829,-0.000266600690761,1.63587800014e-05,1793251613264852736
+97,1.616666667,BASELINE,770,747,724,691,670.646069178,643,888.353930822,789.646069178,820,657,633,657,0.400975926928,-0.00536688575687,0.0698328619114,0.999999939955,0.000219755761103,-0.000267448081307,1.64035180045e-05,1793251613281519360
+98,1.633333333,BASELINE,770,747,724,691,670.046908229,643,888.953091771,789.046908229,820,657,633,657,0.400974972444,-0.00536701998141,0.0698321173779,0.999999939307,0.000220252944921,-0.000269445869597,1.6553470912e-05,1793251613298185728
+99,1.650000000,BASELINE,770,747,724,691,670.528955219,643,888.471044781,789,820,657,633,657,0.400975981926,-0.00536695688043,0.069832764269,0.999999939856,0.000219403759456,-0.000268111523737,1.63126159818e-05,1793251613314852864
+100,1.666666667,BASELINE,770,746.896871947,724,691,671,643,888,789,820,657,632.896871947,657,0.400976793275,-0.00536698705915,0.0698332792053,0.999999940391,0.000218363753304,-0.000266976675544,1.60840983952e-05,1793251613331520000
+101,1.683333333,BASELINE,770,746.321378739,724,691,671,643,888,789,820,657,632.321378739,657,0.400975933011,-0.00536752126461,0.0698326483971,0.999999940406,0.000216973530042,-0.000268051988589,1.60641366434e-05,1793251613348186368
+102,1.700000000,BASELINE,770,746.261529786,724,691,670.738470214,643,888,789,820,656.738470214,632.261529786,657,0.40097606836,-0.00536788335903,0.0698325855025,0.999999940606,0.00021614955716,-0.000267975356859,1.59934296665e-05,1793251613364852736
+103,1.716666667,BASELINE,770,746.853816423,724,691,670.146183577,643,888,789,820,656.146183577,632.853816423,657,0.400977462862,-0.00536802778448,0.0698332408486,0.999999941042,0.000216041721519,-0.000266441859916,1.58585451796e-05,1793251613381518848
+104,1.733333333,BASELINE,770,747,724.435956941,691,670,643,888.435956941,789.435956941,820,656.435956941,633,657,0.400977213944,-0.00536799229733,0.0698334935139,0.999999941044,0.000215700659353,-0.000266696126618,1.60820690026e-05,1793251613398185216
+105,1.750000000,BASELINE,769.98536676,746.98536676,724.98536676,691.01463324,670,642.98536676,889,789.98536676,820,657,633,657,0.400976427877,-0.00536790909112,0.0698335906028,0.999999940906,0.000215280036401,-0.0002675322344,1.64081993664e-05,1793251613414851840
+106,1.766666667,BASELINE,769.41201605,746.41201605,724.41201605,691.58798395,670,642.41201605,889,789.41201605,820,657,633,657,0.400975694639,-0.00536825491144,0.0698327857784,0.999999940843,0.000214739725587,-0.000268215940499,1.61677042104e-05,1793251613431518464
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,888,789,820,657,633,657,0.400974927943,-0.00536676839837,0.0698325336076,0.999999939459,0.000219925664109,-0.000269141974058,1.66551020459e-05,1793251613471985152
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.41701558,747,724,691,670.58298442,643,888.58298442,789.58298442,820,656.41701558,633,656.41701558,0.400975911779,-0.00536792573832,0.0698324379434,0.999999940003,0.000217701535888,-0.000268943342021,1.64051892149e-05,1793251613488652544
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,889,789.837081445,820,656,633,656.162918555,0.400976868677,-0.00536863820384,0.0698325770469,0.999999940508,0.000216209955395,-0.000268284376117,1.61527815439e-05,1793251613505319680
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,889,789.264811376,820,656,633,656.735188624,0.400977757887,-0.0053682328717,0.0698333060313,0.999999940922,0.000216558984428,-0.000266468768654,1.58941052493e-05,1793251613521986304
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.310640617,746.689359383,724,691,671.310640617,643,888.689359383,789,820,656.310640617,633,657,0.400977645359,-0.00536835961992,0.069833507896,0.999999940858,0.000216953851436,-0.000266383547012,1.59385415288e-05,1793251613538652416
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.88883314,746.11116686,724,691,671.88883314,643,888.11116686,789,820,656.88883314,633,657,0.400976670043,-0.00536894464409,0.0698332557571,0.999999940384,0.00021738819825,-0.000267788690862,1.62440458944e-05,1793251613555318272
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746.477573549,724,691,671.522426451,643,888.477573549,789,820,657,633,657,0.400975920563,-0.00536842418041,0.0698328617035,0.999999940064,0.000218111574197,-0.000268384929305,1.63761426006e-05,1793251613571984896
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724.067384926,691,671,643,888.932615074,789,820,657,633,657,0.400975208514,-0.00536778530265,0.0698324397525,0.999999939777,0.00021877930677,-0.000268905909607,1.64598506984e-05,1793251613588651520
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724.646267537,691,671,643,888.353732463,789,820,657,633,657,0.400974372551,-0.00536824500156,0.0698320624551,0.999999939457,0.000218502443739,-0.000270317177741,1.64895730393e-05,1793251613605318400
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724.775443445,691,670.775443445,643,888,789.224556555,820,657,633,657,0.400976232674,-0.00536791286569,0.0698330851306,0.999999939568,0.00021887259355,-0.0002696031957,1.64959704207e-05,1793251613621985024
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724.198087075,691,670.198087075,643,888,789.801912925,820,657,633,657,0.400982328605,-0.00536633668167,0.0698363072976,0.999999940349,0.00022025926241,-0.000265550242323,1.64657220579e-05,1793251613638652160
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.617862325,747,724,691,670,643,888.382137675,789.617862325,820,657,633,657,0.401001016778,-0.00536760464674,0.069844768666,0.999999944353,0.000218617097646,-0.000251447322217,1.6582920433e-05,1793251613655319040
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.036139408,747,724,691,670,643,888.963860592,789.036139408,820,657,633,657,0.401026281705,-0.00537035807156,0.0698559663975,0.999999949728,0.000215393014861,-0.000232095442483,1.67771281998e-05,1793251613671985408
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.545418346,747,724,691,670,643,888.454581654,789.545418346,820,657,633,657,0.401072599934,-0.0053704522735,0.0698707394795,0.999999954483,0.00021832127524,-0.000207515002649,1.75389848693e-05,1793251613688651776
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.873537576,747,724,691,670,642.873537576,888,789.873537576,820,656.873537576,633,657,0.401124104601,-0.00537077072419,0.0698849068585,0.99999995839,0.000220257210995,-0.000185418190612,1.80531972563e-05,1793251613705318144
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.294293313,747,724,691,670,642.294293313,888,789.294293313,820,656.294293313,633,657,0.401189185558,-0.00537252273738,0.0698960576617,0.999999961219,0.000217181152757,-0.000173453692142,1.75461271487e-05,1793251613721984768
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746.717784197,724,691,670.282215803,642.282215803,888,789,820,656.282215803,633,657,0.401261395567,-0.00537427623537,0.0699041713816,0.999999963731,0.000214579406898,-0.000161931327466,1.65034813507e-05,1793251613738651904
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746.144099935,724,691,670.855900065,642.855900065,888,789,820,656.855900065,633,657,0.401340968356,-0.00537603126673,0.0699091484445,0.999999965937,0.000212467524294,-0.000150865592993,1.49077006448e-05,1793251613755319040
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,724,691,671,643,888.439631007,789,820,656.560368993,633,657,0.401428978954,-0.00537747161426,0.0699081394046,0.999999966307,0.000210482552029,-0.000151399840198,1.27016426412e-05,1793251613771985408
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.026441725,746.026441725,724,691,670.973558275,643,889,789,820,656,633,657,0.401521065223,-0.00537876051803,0.0699051539008,0.999999966014,0.000208754484747,-0.000155843358074,1.02894075673e-05,1793251613788651520
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.607167541,746.607167541,724,691,670.392832459,643,889,789,820,656,633,657,0.401639255837,-0.00537908753624,0.0699028290671,0.999999964692,0.000211519391333,-0.000160667729692,7.84645289717e-06,1793251613805318144
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.813264917,747,724,691.186735083,670.186735083,643,888.813264917,789.186735083,820,656,633,657,0.401771016848,-0.00538102528794,0.0699027750201,0.999999964813,0.000210388339159,-0.000161505258748,5.11333236882e-06,1793251613821984768
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.236119074,747,724,691.763880926,670.763880926,643,888.236119074,789.763880926,820,656,633,657,0.401931149744,-0.00538633063222,0.0699074685522,0.999999967916,0.000201111928037,-0.000154007416025,1.77355660632e-06,1793251613838651392
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.340498672,746.659501328,724,691.659501328,670.659501328,643,888,789.659501328,819.659501328,656,633,657,0.40210655773,-0.00538988340855,0.0699119759007,0.999999970317,0.000194733310352,-0.000146429312693,-1.81117668867e-06,1793251613855318016
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.916750834,746.083249166,724,691.083249166,670.083249166,643,888,789.083249166,819.083249166,656,633,657,0.402292541855,-0.00539222274747,0.0699163543405,0.999999972234,0.000190361057613,-0.00013879563799,-5.56551331452e-06,1793251613871984640
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.497330657,746,724,691,670.502669343,643,888.502669343,789,819.502669343,656,632.497330657,657,0.402496291453,-0.00539462102107,0.0699169089629,0.999999973616,0.000184025005948,-0.000137098085016,-1.0333463254e-05,1793251613888651008
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.089062163,746.089062163,724,691,671,643,889,789.089062163,820,656.089062163,632.089062163,657,0.402711287657,-0.00539745189852,0.0699173739419,0.99999997502,0.000177334117818,-0.000135198021022,-1.53167514341e-05,1793251613905318144
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.669072049,746.669072049,724,691,671,643,889,789.669072049,820,656.669072049,632.669072049,657,0.402971743196,-0.00540261261103,0.0699209041099,0.99999997723,0.000170515192055,-0.000126656086494,-2.0543569618e-05,1793251613921984768
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889.246410391,790,820,656.753589609,633,657,0.403254643385,-0.00540750411833,0.0699277860503,0.999999979936,0.000163592119572,-0.000112701062426,-2.57638932372e-05,1793251613938651392
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889.82019931,790,820,656.17980069,633,657,0.403567363311,-0.00541203796181,0.0699391211238,0.999999983078,0.000156530679108,-9.15542589662e-05,-3.09755879198e-05,1793251613955317760
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890,789.603891036,820,656.396108964,633,657,0.403892655119,-0.00541721528532,0.0699456035006,0.999999985263,0.000146306643647,-8.19553241764e-05,-3.67772640378e-05,1793251613971984640
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890,789.027013579,820,656.972986421,633,657,0.404223684228,-0.00542268626758,0.0699498712979,0.999999987005,0.000134639324875,-7.76263813387e-05,-4.28481842484e-05,1793251613988651264
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.43763103,724,691,671,643,890,789,820,657,633,657,0.404587841979,-0.00542842675562,0.0699535016612,0.999999995533,3.06479933307e-05,-7.53938930861e-05,-4.80728029942e-05,1793251614005317888
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746.149893629,724,691,671,643,889.850106371,789,820.149893629,657,633,657,0.404966869494,-0.005434481049,0.0699567240031,0.999999995831,-2.87690644396e-05,-7.25754304802e-05,-4.73526668159e-05,1793251614021984512
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746.730317333,724,691,671,643,889.269682667,789,820.730317333,657,633,657,0.405383931765,-0.00544139863571,0.0699588643565,0.999999995865,5.28693161444e-05,-6.77780891687e-05,-2.96772026246e-05,1793251614038651136
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,691.306696839,671,643,889,789.306696839,820.693303161,657,633,657,0.405821591807,-0.00544339728781,0.0699576948011,0.999999993317,8.99434378595e-05,-6.77228909408e-05,-2.62556847585e-05,1793251614055318016
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724,691.879566572,671,643,889,789.879566572,820.120433428,657,633,657,0.406277128076,-0.00544112694638,0.0699536526763,0.999999992902,8.83415989931e-05,-7.17832547698e-05,-3.52047331671e-05,1793251614071984896
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.549399224,747,724,691.549399224,670.549399224,643.450600776,889.450600776,789.549399224,820,656.549399224,633,657,0.406744096814,-0.00544886370614,0.0699390877849,0.999999992617,6.45023686171e-05,-9.51083211454e-05,-3.94874585682e-05,1793251614088651776
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+146,2.433333333,POSE1_TO_POSE2_PRESS,769.622861507,747,724.622861507,691.622861507,670,643.377138493,890,789.622861507,820.622861507,656.622861507,633.622861507,657,0.407766259558,-0.00546479241112,0.0699198755834,0.999999991331,3.27039541186e-05,-0.000119687777537,-4.40936006813e-05,1793251614121984768
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724.786997363,692,670.213002637,643,890.213002637,790,820.786997363,656.786997363,633.786997363,657.213002637,0.408343042293,-0.00547208469749,0.0699259474101,0.999999993328,2.77573938155e-05,-0.000102700728271,-4.50168077917e-05,1793251614138651392
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724.214509745,692,670.785490255,643,890.785490255,790,820.214509745,656.214509745,633.214509745,657.785490255,0.408966350618,-0.00548206040476,0.0699463187146,0.999999996907,1.95770563678e-05,-6.16323409819e-05,-4.47669787702e-05,1793251614155318016
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724.367944782,692.367944782,671,643,891,790,820.367944782,656.367944782,633,658,0.409588549602,-0.00549264860364,0.0699538289083,0.999999998084,2.15580324636e-06,-4.20495866912e-05,-4.53733903996e-05,1793251614171984640
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724.956371721,692.956371721,671,643,891,790,820.956371721,656.956371721,633,658,0.410210083817,-0.0055036038232,0.0699536323867,0.999999998078,-2.08028484582e-05,-3.5341588348e-05,-4.64928838902e-05,1793251614188651264
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,725,692.463161524,671,643,891,789.463161524,821,657,633.536838476,657.463161524,0.410860181527,-0.00553097092553,0.0699467807764,0.999999996614,-4.85275679511e-05,-5.08589476445e-05,-4.27864526804e-05,1793251614205318144
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725,692.11634307,671,643,891,789.11634307,821,656.88365693,633.88365693,657,0.411529048264,-0.00555609713175,0.0699452409581,0.999999994798,-7.4713816046e-05,-5.69973530783e-05,-3.96545285891e-05,1793251614221984768
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,692.694558495,671,643,891,789.694558495,821,656.305441505,633.305441505,657,0.412263345499,-0.00556710954506,0.0699669042807,0.999999994659,-9.32772398778e-05,-1.88362690753e-05,-4.03375939631e-05,1793251614238651392
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725,692.729366877,670.729366877,643,891,790,820.729366877,656.270633123,633.270633123,657,0.413014883848,-0.00556414776894,0.0699903987863,0.999999994599,-9.42325009279e-05,1.7711147567e-05,-4.00958059547e-05,1793251614255318016
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725,692.155689353,670.155689353,643,891,790,820.155689353,656.844310647,633.844310647,657,0.413785728217,-0.00554553824278,0.0700159437817,0.999999995023,-7.54708315233e-05,5.24516473607e-05,-3.88184033592e-05,1793251614271984640
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.570757824,747,724.570757824,692.429242176,670,643,891,790,820.858484352,657,633.570757824,657,0.414531013267,-0.00551722042676,0.070004176568,0.999999998182,-3.68821860237e-05,2.53719698123e-05,-4.03942341213e-05,1793251614288651520
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.981933846,724,693,670.018066154,643,891.036132307,790,822,657,633,657,0.415267893418,-0.00548668874386,0.0699777621978,0.99999999872,6.87995567171e-06,-2.56137565399e-05,-4.30787342222e-05,1793251614305318144
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.402412342,724,693,670.597587658,643,892.195175317,790,822,657,633,657,0.416039434748,-0.00549973452814,0.0699280592979,0.999999993321,-1.80868527575e-05,-0.000103938520429,-4.71902294636e-05,1793251614321984768
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.175998378,746.175998378,724.175998378,693,671,643,893,790,822.175998378,657,633,657,0.416840165555,-0.00551217657291,0.0699001799245,0.999999987067,-3.98785705663e-05,-0.000147641114747,-4.97674906641e-05,1793251614338651392
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.751885232,746.751885232,724.751885232,693,671,643,893,790,822.751885232,657,633,657,0.417707218152,-0.00552324685157,0.0699218861064,0.999999990975,-5.4456117482e-05,-0.000112678170214,-4.88587966939e-05,1793251614355318016
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.672537353,747,724.672537353,693.327462647,670.672537353,643,893.327462647,789.672537353,823,657,633,657.327462647,0.418592425479,-0.0055299938068,0.0699506864035,0.999999994497,-6.20469892498e-05,-6.97840059214e-05,-4.78068108671e-05,1793251614371984640
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.097194201,747,724.097194201,693.902805799,670.097194201,643,893.902805799,789.097194201,823,657,633,657.902805799,0.419491375414,-0.0055334681208,0.069984856756,0.999999996624,-6.43491332222e-05,-2.08861209646e-05,-4.66463569088e-05,1793251614388651264
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.490437475,747,724,694,670,643,894.490437475,789.490437475,823.490437475,656.509562525,633.490437475,658,0.420419754675,-0.00553505756961,0.070008288729,0.999999996541,-6.68420941847e-05,1.87592845256e-05,-4.57976198272e-05,1793251614405317888
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.92094616,747,724.07905384,694,670,643,895,790,824.07905384,656,633.92094616,658,0.421349455524,-0.00553438814972,0.0700250926378,0.99999999553,-6.75191615689e-05,4.80733149701e-05,-4.54944117463e-05,1793251614421984512
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.341900727,747,724.658099273,694,670,643,895,790,824.658099273,656,633.341900727,658,0.422249679285,-0.00552185531309,0.0700137816492,0.999999996956,-5.64659308126e-05,2.39397999778e-05,-4.8240756571e-05,1793251614438651392
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724.764698152,694,670.235301848,643,895,790,825,656,633,657.764698152,0.423115086012,-0.00551382600641,0.0699710856212,0.999999996274,-5.07844701002e-05,-4.65823842389e-05,-5.19852388767e-05,1793251614455318016
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724.190152413,694,670.809847587,643,895,790,825,656,633,657.190152413,0.423930295788,-0.00551228961348,0.0698831405505,0.999999980044,-5.28476984654e-05,-0.000183984933729,-5.71687748645e-05,1793251614471984640
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724,694.383832446,670.616167554,643,895,790,825.383832446,656.383832446,633,657.383832446,0.424851382765,-0.00551919125874,0.0698576273328,0.99999997287,-6.72025107242e-05,-0.000214829236711,-5.99434116466e-05,1793251614488651264
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724,694.957539813,670.042460187,643,895,790,825.957539813,656.957539813,633,657.957539813,0.425824845215,-0.00553026704791,0.0698629980209,0.99999997565,-8.76377458354e-05,-0.000192961108931,-6.15264098773e-05,1793251614505317888
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,695,670.549208084,643.549208084,895.549208084,789.450791916,826,657,633.549208084,658,0.426844730591,-0.00553120496124,0.0699287558231,0.999999990566,-7.45035680329e-05,-0.000100265846586,-5.71391907168e-05,1793251614521984768
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643.860997081,896.139002919,789,826,656.860997081,634,658,0.427867579085,-0.00553065797791,0.0699926760194,0.99999999637,-6.56560049228e-05,-1.00524254282e-05,-5.33604355687e-05,1793251614538651392
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643.281683874,896.718316126,789,826,656.281683874,634,658,0.428888060498,-0.00552797403926,0.0700354868652,0.999999994005,-7.88857917671e-05,5.43677923765e-05,-5.30205804912e-05,1793251614555318016
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643,897,789,826.295156042,656.295156042,633.704843958,658,0.429869116094,-0.00552858137646,0.0700494189117,0.999999992156,-8.40342761972e-05,7.62559728984e-05,-5.30302616647e-05,1793251614571984640
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643,897,789,826.869655142,656.869655142,633.130344858,658,0.430812858055,-0.00553230365958,0.0700360193381,0.999999993576,-8.15344134401e-05,5.78907664314e-05,-5.33707528524e-05,1793251614588651264
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.4538407,724.4538407,695,671,643,897,788.5461593,826.5461593,657,633,657.5461593,0.431677283687,-0.00553198646511,0.0699591634095,0.999999992882,-7.62154204469e-05,-7.23635301554e-05,-5.64816543232e-05,1793251614605318656
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.959703421,747.959703421,724.959703421,695.040296579,671,643,897,788,826.040296579,656.959703421,633,657,0.432529984283,-0.00553071557454,0.0698722875063,0.99999997151,-7.10000376037e-05,-0.000219812621406,-6.01728500767e-05,1793251614621985536
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.380896726,747.380896726,724.380896726,695.619103274,671,643,897,788,826.619103274,656.380896726,633,657,0.433537057537,-0.00553254184234,0.0699003714085,0.999999982575,-7.82253691564e-05,-0.000158240126683,-6.07539156345e-05,1793251614638651904
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,724,695.803046153,671,643,897.196953847,788.196953847,827,656,633,657.196953847,0.434541717543,-0.00553437926094,0.0699382866392,0.999999990942,-8.3510715657e-05,-8.66239891435e-05,-6.03191119066e-05,1793251614655318528
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,724,695.227035627,671,643,897.772964373,788.772964373,827,656,633,657.772964373,0.435541733196,-0.00553623814063,0.0699951232148,0.999999994695,-8.50623750534e-05,4.32211850366e-06,-5.79291698656e-05,1793251614671985152
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.347288032,747,724,695.347288032,671,643,898.347288032,789,827,656,633,657.652711968,0.436511445074,-0.00554042339456,0.0700252306883,0.999999993051,-8.76910666124e-05,5.54418665824e-05,-5.59927140415e-05,1793251614688651776
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.920514218,747,724,695.920514218,671,643,898.920514218,789,827,656,633,657.079485782,0.437461441903,-0.00554612213761,0.0700379487771,0.999999991128,-9.10204524049e-05,8.06514330277e-05,-5.43512869628e-05,1793251614705318144
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.510207961,695.489792039,671,643,899,789.510207961,827.510207961,656,633.510207961,657.510207961,0.438358829106,-0.00554590354343,0.0699997341441,0.999999993604,-9.14489780332e-05,3.34389370389e-05,-5.75462402502e-05,1793251614721985024
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.899785899,747,725,695.100214101,671,643,899,789.799571797,828,656,633.899785899,658,0.439229290763,-0.00554444040019,0.0699477102266,0.999999993187,-9.15310260762e-05,-3.87041365612e-05,-6.12347569252e-05,1793251614738651392
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.320949226,747,725,695.679050774,671,643,899,788.641898453,828,656,633.320949226,658,0.440011606163,-0.00554158297652,0.0698688940046,0.999999978552,-9.2188693044e-05,-0.000174232219929,-6.35619658957e-05,1793251614755318016
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,899,788.256925564,828,656.256925564,633,658,0.440864722021,-0.00554154796077,0.0698455785499,0.999999970994,-9.07342100614e-05,-0.000213702982277,-6.41113734634e-05,1793251614771984896
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,899,788.833603218,828,656.833603218,633,658,0.44180595126,-0.00554502552226,0.0698913355829,0.999999985368,-8.66510900044e-05,-0.000133627325431,-6.24482509278e-05,1793251614788652032
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.407804775,724.592195225,696,671.407804775,643,899,788.592195225,828,657,633.407804775,658,0.442718539083,-0.00554890278396,0.0699560958029,0.99999999325,-9.26479485672e-05,-3.68904938464e-05,-5.96193079674e-05,1793251614805318656
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.981002153,724.018997847,696,671.981002153,643,899,788.018997847,828,657,633.981002153,658,0.44361951094,-0.0055529421516,0.0700285631129,0.999999990919,-0.000102732923753,6.66035855237e-05,-5.63175448537e-05,1793251614821985280
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.576299115,747.423700885,724,696,672,643.576299115,899.576299115,788,828,656.423700885,634,658,0.444461589655,-0.00555500810273,0.070030966145,0.999999991642,-0.000100630387809,5.888759596e-05,-5.58733430572e-05,1793251614838651392
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,724.166382314,695.833617686,672,643.833617686,900,788,828,656,633.833617686,658,0.445277222111,-0.00555739817692,0.0700215743019,0.999999992582,-0.000100367193949,3.99331140702e-05,-5.62911933118e-05,1793251614855317760
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,724.741786168,695.258213832,672,643.258213832,900,788,828,656,633.258213832,658,0.446032804257,-0.00556075135231,0.0699890912154,0.999999992699,-0.000105652748848,2.72254513877e-06,-5.8587437137e-05,1793251614871984640
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.683395319,747.316604681,725,695.316604681,672,643,899.683395319,788,828.316604681,656,633.316604681,658,0.446751120226,-0.00556356613286,0.0699567642516,0.999999991309,-0.000107821515088,-4.68198815739e-05,-5.97021591071e-05,1793251614888651264
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.109053347,747.890946653,725,695.890946653,672,643,899.109053347,788,828.890946653,656,633.890946653,658,0.447439099,-0.00556594262397,0.0699245643841,0.999999986775,-0.000107453007304,-0.000106401259312,-5.9855043363e-05,1793251614905318144
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.478670195,748,725,696,671.521329805,643.478670195,899.478670195,788,828.521329805,656,634,658,0.448115183687,-0.00556420431658,0.069903559655,0.999999982614,-0.000101552500609,-0.000145026318435,-5.85369142274e-05,1793251614921985024
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,748,725,695.931760633,671,643.931760633,899.931760633,788,828.068239367,656,634,658,0.448798014201,-0.00556181606797,0.0698925390061,0.999999979936,-9.59087437622e-05,-0.000166339396606,-5.71062063791e-05,1793251614938651904
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,695.35186908,671,643.35186908,899.35186908,788,828.64813092,656,634,658,0.449552326287,-0.0055617857329,0.0699367043321,0.999999988677,-0.000101911688883,-9.46763442288e-05,-5.74164685069e-05,1793251614955318528
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.773762722,747.773762722,725,695,671.226237278,643,899.226237278,788,828.773762722,656,633.773762722,658,0.450263382271,-0.00556362465915,0.0699729531564,0.999999992099,-0.000105757148754,-3.68691241187e-05,-5.70831287052e-05,1793251614971985152
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.198411208,747.198411208,725,695,671.801588792,643,899.801588792,788,828.198411208,656,633.198411208,658,0.450907688262,-0.00556834810444,0.0699969857608,0.999999992798,-0.000106273321698,-4.43304737794e-07,-5.57566257402e-05,1793251614988651520
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747.375086591,725,695,672,643,900,788,828.375086591,656,633.375086591,658,0.451481640973,-0.00557279602074,0.0699791899916,0.999999991546,-0.000114326998737,-2.70821022148e-05,-5.57211090683e-05,1793251615005318400
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747.947608698,725,695,672,643,900,788,828.947608698,656,633.947608698,658,0.452018561665,-0.0055770989064,0.0699393768912,0.999999986652,-0.000126348215401,-8.69164181588e-05,-5.63651326684e-05,1793251615021984768
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,695,671.387821113,642,900.612178887,787.612178887,828.387821113,656,633.387821113,658,0.455594923775,-0.00558711187401,0.0698298468309,0.999999953412,-0.000136476457981,-0.000265910645843,-6.19755087761e-05,1793251615155318016
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,695,671,642,901,787.809805665,828,656.190194335,633,658,0.455933902276,-0.00558181371586,0.0698124580272,0.999999944774,-0.000133811727989,-0.000297327212036,-6.43712755493e-05,1793251615171984640
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+223,3.716666667,POSE1_TO_POSE2_PRESS,768,748,725,694.308978246,670.691021754,642,901.308978246,787,829,656,633,658.308978246,0.45866555835,-0.00559370892234,0.0697467118618,0.999999913327,-0.000136162279815,-0.000389338170456,-5.67512587963e-05,1793251615405318144
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768.050068774,748.050068774,725,694,670.949931226,642,901,787,829,656,633,658,0.458854872167,-0.0055913857315,0.0697403777284,0.999999909941,-0.000136491707661,-0.000397627989658,-5.81324371837e-05,1793251615455318016
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+262,4.366666667,HOLD_POSE2,768.451076531,748,724.451076531,694,670,641,900,787,829,656,633.548923469,658,0.459031081813,-0.00558476369428,0.0697181291158,0.999999898376,-0.000129907229545,-0.00042836468727,-5.36273574654e-05,1793251616073059584
+263,4.383333333,HOLD_POSE2,768,748,724.14198568,694,670,641.14198568,900.14198568,787,829,656,633.85801432,658,0.459031636362,-0.00558396943614,0.0697183462055,0.999999898815,-0.000127943375992,-0.000427927845362,-5.364987448e-05,1793251616089726208
+264,4.400000000,HOLD_POSE2,768,748,724.71711076,694,670,641.71711076,900.71711076,787,829,656,633.28288924,658,0.459030629682,-0.00558487290376,0.0697184397711,0.999999898119,-0.000130353667857,-0.000428884382504,-5.31734133282e-05,1793251616106392832
+265,4.416666667,HOLD_POSE2,768.292662423,748,725,694,670,641.707337577,901,787,829,656.292662423,633,658,0.459030625322,-0.00558447939951,0.0697189134592,0.999999898148,-0.000130331520834,-0.000428832209682,-5.31024798306e-05,1793251616123059456
+266,4.433333333,HOLD_POSE2,768.868626992,748,725,694,670,641.131373008,901,787,829,656.868626992,633,658,0.459031591226,-0.00558283040465,0.0697197551124,0.999999898879,-0.000127954731925,-0.000427803588596,-5.34241039488e-05,1793251616139726336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,724,694,670,641,901,787,829,656,633,658,0.459031173828,-0.0055850690884,0.0697188015438,0.999999898221,-0.000130568855057,-0.000428521454686,-5.36526898669e-05,1793251616172627456
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.597528284,748,724.597528284,694.597528284,670,641,901,787,829,656.597528284,633,658,0.45903285688,-0.00558288160724,0.0697189652269,0.999999898952,-0.000128559764236,-0.000427403111206,-5.38038028472e-05,1793251616189294080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,694.812619712,670,641.187380288,901,787,829,656.812619712,633,658,0.459033376616,-0.00558192121153,0.0697190092252,0.999999899305,-0.000127492180377,-0.000426905036198,-5.37376073429e-05,1793251616205960704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748,725,694.238606521,670,641.761393479,901,787,829,656.238606521,633,658,0.459031496013,-0.00558349273388,0.0697188062706,0.999999898887,-0.000128367263502,-0.000427686797845,-5.32230263354e-05,1793251616222627328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748.335752489,725,694,670,641.664247511,901,787,829,656,633,658,0.459031604631,-0.00558316921972,0.0697192675216,0.999999899108,-0.000127627710169,-0.000427408914815,-5.3065405359e-05,1793251616239293952
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,748.910357481,725,694,670,641.089642519,901,787,829,656,633,658,0.45903312837,-0.00558149758676,0.0697202012847,0.999999899783,-0.000125739513155,-0.000426377206254,-5.31617238457e-05,1793251616255960576
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.499640734,748.499640734,725,694,670.500359266,641,901,786.499640734,829,656.500359266,633,658,0.459031668936,-0.00558164223929,0.0697181943905,0.999999898907,-0.000126547896865,-0.000428184834715,-5.31922800076e-05,1793251616272627200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,724.909466524,694.090533476,670.909466524,641,901,786.090533476,829,657,633,658,0.459030004557,-0.0055820612304,0.069716203793,0.999999898018,-0.000127638922364,-0.000429927084337,-5.32365395137e-05,1793251616289293824
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,724.33362418,694.66637582,670.33362418,641,901,786.66637582,829,657,633,658,0.459030197478,-0.00558215113046,0.0697172143522,0.999999898627,-0.000127573111887,-0.000428505465025,-5.34194180843e-05,1793251616305960192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,724.242348478,694.757651522,670,641,901,787,829,656.757651522,633,658,0.459024760673,-0.00558151643987,0.0697147610624,0.999999896906,-0.000127538726833,-0.000432461175943,-5.38407455545e-05,1793251616322626560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,724.81850058,694.18149942,670,641,901,787,829,656.18149942,633,658,0.459011569649,-0.00557988371954,0.0697075367694,0.999999891886,-0.000127547626224,-0.000443823462491,-5.45905054634e-05,1793251616339293184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641,901,787,829,656,633,658.39242884,0.458983175513,-0.00557892772726,0.0696937829208,0.999999882517,-0.000126421763262,-0.000464723365887,-5.49094022535e-05,1793251616355960320
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641,901,787,829,656,633,658.965334413,0.458947789514,-0.00557828295984,0.0696770261505,0.999999870647,-0.000124774026764,-0.000490009588664,-5.50301465504e-05,1793251616372626944
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,724.440783839,694,670.559216161,641,900.440783839,786.440783839,829,656.559216161,633,658.440783839,0.458893111898,-0.00557758308555,0.0696583989631,0.999999857186,-0.000124345355395,-0.000516852116635,-5.50398228966e-05,1793251616389293824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,724.149814233,694,670.700371535,641,900,786,829,656.850185767,633,658,0.458833940287,-0.00557646665641,0.069641401914,0.99999984488,-0.000123756124527,-0.00054025838467,-5.51884685982e-05,1793251616405960448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,724.727185523,694,669.545628954,641,900,786,829,656.272814477,633,658,0.45876548913,-0.00557417154412,0.0696294009337,0.999999837724,-0.000122484597125,-0.000553571805773,-5.575413623e-05,1793251616422627072
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747.69677573,724.69677573,694.30322427,669,641,900,786,828.69677573,656,633,658,0.458690839665,-0.00557251975707,0.0696228397759,0.999999833806,-0.000120721292788,-0.000561037688746,-5.52390126262e-05,1793251616439293696
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.121930677,724.121930677,694.878069323,669,641,900,786,828.121930677,656,633,658,0.458610637911,-0.00557144424494,0.069621151477,0.999999832898,-0.000118517466957,-0.000563265491317,-5.37557430047e-05,1793251616455960320
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.464737624,724.464737624,694.535262376,669.464737624,641,900,786,828.464737624,656.464737624,633,658,0.458517455219,-0.00556948883232,0.0696246001139,0.999999835034,-0.000116784465625,-0.000560015403702,-5.17272399693e-05,1793251616472626944
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724.946340482,694,670,641,900.053659518,786.053659518,829,656.946340482,633,658,0.458418483163,-0.00556722012458,0.0696295675351,0.999999838189,-0.000114957344186,-0.000554939263926,-4.94951127862e-05,1793251616489293312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724.36653146,694,670,641,900.63346854,786.63346854,829,656.36653146,633,658,0.458297010606,-0.00556420215186,0.0696358670283,0.999999843466,-0.000110964494624,-0.000546418215502,-4.67056508196e-05,1793251616505960192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724.210844513,694,670,641.210844513,900.789155487,786.789155487,829,656.210844513,633,658,0.458163829603,-0.0055609695358,0.0696418930706,0.999999848321,-0.000107500223706,-0.00053837582487,-4.42053613474e-05,1793251616522627072
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724.784039072,694,670,641.784039072,900.215960928,786.215960928,829,656.784039072,633,658,0.458010526882,-0.00555736804148,0.0696474491691,0.999999852539,-0.000104944350079,-0.000531156039798,-4.22020339583e-05,1793251616539293952
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.641989368,725,694,670,641.641989368,900,786.358010632,829,656.641989368,633,658,0.457841988652,-0.00555335679668,0.0696555720703,0.999999858172,-0.000101014187906,-0.000521487111112,-3.87762404895e-05,1793251616555960576
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.067548027,725,694,670,641.067548027,900,786.932451973,829,656.067548027,633,658,0.457664239975,-0.00554909784217,0.0696652466996,0.999999864551,-9.6253217066e-05,-0.000510337583501,-3.44905133078e-05,1793251616572626944
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.523661615,725,694,670,641.523661615,900,787,829,656.523661615,633,658,0.457460256121,-0.00554570127279,0.0696771948038,0.999999873225,-9.13028807701e-05,-0.000494270761811,-3.01748579035e-05,1793251616589293824
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641.886338579,900.113661421,787,829,656.886338579,633,658,0.457243868142,-0.00554177124667,0.0696887667886,0.999999881683,-8.50063441633e-05,-0.000478267477568,-2.58342750906e-05,1793251616605960448
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,641.310348856,900.689651144,787,829,656.310348856,633,658,0.456991245767,-0.00553520388547,0.0696975765567,0.999999888882,-7.33366564692e-05,-0.000465188016503,-2.1408518834e-05,1793251616622626816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,724.734975218,694,670,641.265024782,900.734975218,787,829,656,633,658,0.456714136323,-0.0055282489523,0.0697037522344,0.999999892965,-6.15024680093e-05,-0.000458280650386,-1.6334054829e-05,1793251616639293440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,724.160321391,694,670,641.839678609,900.160321391,787,829,656,633,658,0.456408418595,-0.00552084121831,0.0697068504978,0.999999893571,-4.9476093649e-05,-0.000458584157473,-1.05017043782e-05,1793251616655960064
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,724.423141627,694,670.423141627,642,900,787,828.576858373,656.423141627,633,658,0.456078905229,-0.00551264695329,0.0697039545116,0.999999891048,-3.69289852616e-05,-0.000465304794071,-5.58555226208e-06,1793251616672626944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.990003208,725,694,671,642,900,787,828,656.990003208,633,657.990003208,0.455739379812,-0.00550421134898,0.0696988331091,0.999999887219,-2.42120398097e-05,-0.000474314384043,-9.92504843585e-07,1793251616689293824
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747.404096249,725,694,671,642,900,787,828,656.404096249,633,657.404096249,0.455353501943,-0.005499405148,0.0696991265683,0.999999888437,-1.33187217565e-05,-0.000472142880793,5.40995876418e-06,1793251616705960448
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747.178176642,725,694,671,642,899.821823358,787,828,656,633,657.178176642,0.454958000723,-0.00549389085594,0.0696980522398,0.999999889517,-1.25671251153e-07,-0.000469935674078,1.12388212987e-05,1793251616722627072
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747.752372304,725,694,671,642,899.247627696,787,828,656,633,657.752372304,0.454541110499,-0.00548680274689,0.0696939378388,0.999999890362,1.81788097863e-05,-0.000467649112439,1.57927856006e-05,1793251616739293696
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.326521494,747.673478506,725,694,671,642,899,787,828,656,633,658,0.454109732219,-0.00548110199902,0.0697045979967,0.999999898838,5.53417739077e-05,-0.000445876824796,2.13527460881e-05,1793251616755960320
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.900635506,747.099364494,725,694,671,642,899,787,828,656,633,658,0.453667367991,-0.00547645324928,0.0697264613071,0.999999910138,0.000106804623351,-0.000409329030506,2.76755270073e-05,1793251616772626944
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.512275849,747.487724151,725,694,671.487724151,642,899.487724151,787,828.487724151,656.487724151,633,658,0.453200432076,-0.0054705090479,0.0697451909784,0.999999923061,0.000116564923141,-0.000373266831939,3.10320144493e-05,1793251616789293568
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.075987683,747.924012317,725,694,671.924012317,642,899.924012317,787.075987683,828.924012317,657,633,658,0.45271678036,-0.00546580022647,0.0697599527275,0.999999934089,0.000110708020573,-0.000344350644211,3.14513576923e-05,1793251616805960192
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.654071244,747.345928756,725,694,671.345928756,642,899.345928756,787.654071244,828.345928756,657,633,658,0.452156658874,-0.00547104585312,0.0697528297631,0.999999932588,5.9331989671e-05,-0.000361980829815,1.65655115534e-05,1793251616822626816
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.770203057,747.229796943,724.770203057,693.770203057,671.229796943,642.229796943,899,788,828,656.770203057,633,658,0.451576720073,-0.00547083646538,0.0697457679696,0.999999927627,3.32778491692e-05,-0.000378925049109,7.39655208157e-06,1793251616839293440
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.197990786,747.802009214,724.197990786,693.197990786,671.802009214,642.802009214,899,788,828,656.197990786,633,658,0.450967251963,-0.00546249868142,0.0697387973257,0.999999921015,4.49552989687e-05,-0.000394847125444,6.74619952942e-06,1793251616855960320
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,748,724.958086826,693.958086826,672,642.041913174,899,787.041913174,828,656,633,657.041913174,0.449673594974,-0.00542097964191,0.0697477952926,0.999999911276,0.000124787875992,-0.000402110213384,1.35270463881e-05,1793251616889293312
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,671.805655422,642.805655422,898,788,827.805655422,656,633,657,0.446113294361,-0.00542082715117,0.069748905631,0.999999915791,0.000127844908718,-0.000389530296337,1.84442359203e-05,1793251616972627200
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747.407233757,724,694,671.592766243,643,898,788,827.592766243,656,633,657,0.445326147363,-0.00542568193597,0.0697316141071,0.99999990952,0.000120476975578,-0.000407587284081,1.78209936573e-05,1793251616989293824
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,671,643,897.800128153,788,827,656,633,657,0.442939124227,-0.0054259041653,0.0697998571844,0.999999949469,0.000124532083111,-0.000291441229144,2.47979973141e-05,1793251617039293696
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,694,671,643,897.225471393,788,827,656,633,657,0.442105607362,-0.00541961902316,0.0698185279049,0.999999952962,0.000130514718823,-0.000276221344114,2.72761863584e-05,1793251617055960064
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,671,642.07352002,896.07352002,788,826.07352002,656,633,656.07352002,0.440406472361,-0.00541663019017,0.0698416861585,0.999999967297,0.0001266174283,-0.000220629121731,2.64050480121e-05,1793251617089293312
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.515097615,747,724,694.515097615,671,642.515097615,895.484902385,788.515097615,826.515097615,656,633,656.515097615,0.439450264122,-0.00541931355655,0.0698091145107,0.999999952179,0.000128184899114,-0.000280098493292,2.74806004552e-05,1793251617105959936
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.741502537,747,724,694,671,642.258497463,893,789,824.258497463,656,633,657,0.430970350218,-0.00541496942932,0.0698119649349,0.99999994529,0.000141682626169,-0.000297159521152,3.22914567266e-05,1793251617255960576
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746.109613989,724,694,670.109613989,642.890386011,893,789,824,656,632.109613989,657,0.42893319138,-0.00540948554305,0.0696931997521,0.999999875028,0.000142420073793,-0.00047851224251,2.62091943986e-05,1793251617289294336
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.388759322,671,643,891,790,821,656,632,657,0.415486899966,-0.00541015062218,0.0698014665678,0.999999939065,0.00015596792479,-0.000310744293082,3.13248715977e-05,1793251617539293696
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.696011114,746.696011114,724,691,670.696011114,643,889,789,821,656.303988886,633,657,0.402355539317,-0.00537070201144,0.0698020221767,0.999999927114,0.00020356894121,-0.000322063352042,2.46464248294e-05,1793251617972626944
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,789,820.728201852,656.271798148,632.728201852,657,0.402156183851,-0.00536954573832,0.0697997350186,0.999999925716,0.00020601747112,-0.000324721608427,2.60871530344e-05,1793251617989293824
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,789,820.153252729,656.846747271,632.153252729,657,0.40197211305,-0.00537150484408,0.0697993433912,0.999999924937,0.000206522987753,-0.000326611608886,2.82652345847e-05,1793251618005960960
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769.567233109,746.567233109,724.432766891,691.432766891,670.567233109,643,889,789,820,657,632.432766891,657,0.401818694866,-0.0053702233618,0.0698001737821,0.999999924062,0.000210951216221,-0.000326322767316,2.98204627483e-05,1793251618022627328
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746.022381284,724.977618716,691.977618716,670,643,888.977618716,789,820,657,633,656.977618716,0.401677441369,-0.00536783652903,0.069801348052,0.99999992285,0.000218092205931,-0.00032522088816,3.10868006899e-05,1793251618039294208
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,746.601340933,724.398659067,691.398659067,670,643,888.398659067,789,820,657,633,656.398659067,0.401561675681,-0.00536724871468,0.0698000298907,0.999999914083,0.000257242599088,-0.000323591713936,3.07980644474e-05,1793251618055960320
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769.179722541,747,724,691,670.179722541,643,888,789,820,657,633,656.179722541,0.401453533025,-0.00536706195798,0.0697991965107,0.999999910983,0.000271726097018,-0.000321702285978,2.65927834818e-05,1793251618072626688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.756825976,747,724,691,670.756825976,643,888,789,820,657,633,656.756825976,0.40136224552,-0.00536776197187,0.0697994350209,0.999999922114,0.000231669114367,-0.00031923741699,1.37277093603e-05,1793251618089293312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,888,789,820,657,633,657,0.401281025736,-0.0053683281332,0.0697997473238,0.999999926005,0.000213416180716,-0.000319930124877,9.34615561906e-06,1793251618105959936
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,746.66216755,724,690,670,643,889,789,820,657,633,657,0.401073794729,-0.00536764405753,0.0698026019803,0.999999927638,0.000216225315936,-0.000312688821369,1.40338814631e-05,1793251618172627456
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,746.760206914,724,690.239793086,670.239793086,643,889.239793086,789,820,657,633,657,0.401048111535,-0.00536785754329,0.0698067888686,0.999999930149,0.000215421400216,-0.000305083885692,1.478653369e-05,1793251618189294080
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,746.184815352,724,690.815184648,670.815184648,643,889.815184648,789,820,657,633,657,0.401026065852,-0.00536669071075,0.0698095194694,0.999999931078,0.000216826980549,-0.000300994104888,1.52766552542e-05,1793251618205960448
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.389791181,746,724,691,670.610208819,643,889.220417639,789,820,657,633,657,0.401009037233,-0.00536665366676,0.0698118131007,0.999999931817,0.000216871175631,-0.00029846997844,1.57475052467e-05,1793251618222627072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.964026231,746,724,691,670.035973769,643,888.071947539,789,820,657,633,657,0.400994382621,-0.00536715122334,0.0698138999641,0.999999932471,0.000216271181745,-0.00029668669839,1.62092361804e-05,1793251618239293696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.444770364,746.555229636,724,691,670.555229636,643,888,789.555229636,820,657,633,657,0.400986766703,-0.00536681927809,0.0698142573232,0.999999932678,0.000216700794483,-0.000295679684884,1.60788955019e-05,1793251618255960064
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.143626734,746.856373266,724,691,671,643,888,789.856373266,820,657,633,657,0.400980930978,-0.0053668008674,0.0698150462305,0.999999933213,0.000216667069593,-0.000293891858955,1.60084044564e-05,1793251618272626944
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.720147397,746.279852603,724,691,671,643,888,789.279852603,820,657,633,657,0.400979042944,-0.0053678945487,0.0698174842186,0.999999934817,0.000215029434698,-0.000289594279776,1.62375665348e-05,1793251618289294080
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,670.705996509,643,888,789,820,657,633,657,0.400976927252,-0.00536877646346,0.0698191578537,0.999999935911,0.000213933223372,-0.000286604788832,1.63865358667e-05,1793251618305960960
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,670.134653889,643,888,789,820,657,633,657,0.400974596807,-0.00536945861491,0.0698201104604,0.999999936536,0.000213347747089,-0.000284849242099,1.64598578701e-05,1793251618322627584
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.546313283,746,724,691,670,643,888,789,820,656.546313283,632.546313283,657,0.400973971797,-0.00536777053451,0.0698208253508,0.999999935997,0.000216773819506,-0.000284167347789,1.62637720519e-05,1793251618339293952
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.04612652,746.04612652,724,691,670.04612652,643,888.04612652,789,820,656.04612652,632.04612652,657,0.400973942251,-0.00536552211645,0.0698214895629,0.999999935203,0.00022105628995,-0.000283676345197,1.60227531166e-05,1793251618355960320
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,746.796734431,724,691,671,643,888.796734431,789,820.203265569,657,633,657,0.400973986189,-0.00536590942052,0.0698222193151,0.999999936114,0.000219698134935,-0.000281491135282,1.63416594367e-05,1793251618389293824
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,746.221288335,724,691,671,643,888.221288335,789,820.778711665,657,633,657,0.400970498725,-0.00536829967166,0.0698199697654,0.999999935799,0.000216394112632,-0.000285146532071,1.63131030247e-05,1793251618405960192
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,888,789,820.644896497,656.644896497,633,657,0.400970005899,-0.00536905660645,0.0698201596167,0.999999935996,0.00021544300309,-0.000285176923432,1.63207848273e-05,1793251618422627072
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,888,789,820.067913753,656.067913753,633,657,0.400971384212,-0.00536879299647,0.0698218736786,0.999999936518,0.000215962063615,-0.000282942303346,1.63511093463e-05,1793251618439294208
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.48057713,746.51942287,724,691,671,643,888.51942287,789,820,656.51942287,633,657,0.400971414503,-0.00536891139294,0.0698218454308,0.999999936685,0.000215693027002,-0.000282557147419,1.63451614529e-05,1793251618455961088
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,888.893577144,789,820,656.893577144,633,657,0.400971308132,-0.00536914371095,0.0698217644118,0.999999936875,0.000215099504824,-0.000282340536565,1.62965837028e-05,1793251618472627968
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,671,643,888.314211786,789,820,656.314211786,633,657,0.400971393632,-0.00536965581791,0.0698224818296,0.999999937374,0.000213531204773,-0.000281776459684,1.60800637201e-05,1793251618489294080
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,746.737221263,724,690.737221263,671,643,888,789,820,656,633,657,0.400971432228,-0.00537028687656,0.0698230043207,0.999999937865,0.000212053736778,-0.000281151517292,1.60474903439e-05,1793251618505960448
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,746.163044888,724,690.163044888,671,643,888,789,820,656,633,657,0.400971415241,-0.00537105889522,0.0698232958201,0.999999938347,0.000210683906233,-0.000280454448076,1.62328970519e-05,1793251618522627072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,746,724,690.42123848,671,643,888,789.42123848,820,656,632.57876152,657,0.400972893567,-0.00536996888908,0.0698246306205,0.999999938426,0.0002126127777,-0.000278705994263,1.63070455431e-05,1793251618539293696
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,746.009377953,724,691,670.990622047,643,888,789.990622047,820,656,632.009377953,656.990622047,0.400974879411,-0.00536820468653,0.0698263174539,0.999999938329,0.000215756904633,-0.000276630521453,1.63376731721e-05,1793251618555960320
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,746.58828324,724,691,670.41171676,643,888,789.41171676,820,656,632.58828324,656.41171676,0.40097167366,-0.0053703416781,0.0698242563033,0.999999937921,0.000213257323155,-0.000280016829509,1.64048289956e-05,1793251618572627200
+412,6.866666667,POSE2_TO_POSE3_RETREAT,769,746.833962686,724,691,670,643,888,789,820,656,633,656,0.400969793741,-0.00537129376143,0.0698229770153,0.999999937621,0.000211960987195,-0.000282073794992,1.62855329256e-05,1793251618589294080
+413,6.883333333,POSE2_TO_POSE3_RETREAT,769,746.25904361,724,691,670,643,888,789,820,656,633,656,0.400971178801,-0.00536932790192,0.069823623134,0.999999937618,0.000213627751288,-0.000280857135098,1.570708236e-05,1793251618605960960
+414,6.900000000,POSE2_TO_POSE3_RETREAT,769.315500204,746.315500204,724,691,670,643,888,789,820,656,633,656.315500204,0.400972250317,-0.00536946710641,0.0698244483377,0.99999993782,0.00021474501393,-0.000279274094502,1.58572972667e-05,1793251618622627584
+415,6.916666667,POSE2_TO_POSE3_RETREAT,769.889736243,746.889736243,724,691,670,643,888,789,820,656,633,656.889736243,0.400973064701,-0.00537133263473,0.0698254204057,0.999999938188,0.000215411640596,-0.000277390591983,1.66050771717e-05,1793251618639293696
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..129be449eb13bb66d49bf9a8c16f04ea492cf99d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
+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,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+1,0.016666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+2,0.033333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+3,0.050000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+4,0.066666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+5,0.083333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+6,0.100000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+7,0.116666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+8,0.133333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+10,0.166666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+11,0.183333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+12,0.200000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+14,0.233333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+15,0.250000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+16,0.266666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+17,0.283333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+18,0.300000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+19,0.316666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+20,0.333333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+21,0.350000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+23,0.383333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+24,0.400000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+27,0.450000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+30,0.500000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+379,6.316666667,pose2_to_pose3_retreat,0.586318734216,5.22585261349e-06,1.06002104654,0.556890077867,0.00867763493668,1.05963242029
+380,6.333333333,pose2_to_pose3_retreat,0.58622191027,5.07512547128e-06,1.06002100792,0.556793254607,0.00867748650411,1.05963238142
+381,6.350000000,pose2_to_pose3_retreat,0.586136679007,5.03853156712e-06,1.06002116363,0.556708024576,0.00867745403166,1.05963253584
+382,6.366666667,pose2_to_pose3_retreat,0.586062298877,5.12779096204e-06,1.06002101847,0.556633643724,0.00867754093573,1.05963239274
+383,6.383333333,pose2_to_pose3_retreat,0.585997542137,5.19668107365e-06,1.06002083398,0.556568885665,0.00867760556347,1.05963221292
+384,6.400000000,pose2_to_pose3_retreat,0.585942281007,5.15338797607e-06,1.06002098081,0.55651362467,0.00867756275033,1.05963236018
+385,6.416666667,pose2_to_pose3_retreat,0.585897143874,5.12822343876e-06,1.06002098974,0.556468487233,0.00867753621305,1.05963236152
+386,6.433333333,pose2_to_pose3_retreat,0.585860910193,5.20031485129e-06,1.06002077872,0.55643225284,0.00867760599025,1.05963215275
+387,6.450000000,pose2_to_pose3_retreat,0.585832992774,5.16316519255e-06,1.06002084471,0.556404336415,0.00867757238528,1.05963222255
+388,6.466666667,pose2_to_pose3_retreat,0.585811282328,5.07399899836e-06,1.06002088197,0.556382627488,0.00867748824475,1.0596322569
+389,6.483333333,pose2_to_pose3_retreat,0.585794891829,5.01618214502e-06,1.06002089065,0.556366237909,0.00867743344698,1.05963226329
+390,6.500000000,pose2_to_pose3_retreat,0.585781669766,5.01418572903e-06,1.06002088728,0.556353015872,0.00867743158899,1.05963226109
+391,6.516666667,pose2_to_pose3_retreat,0.585771777262,5.07128378528e-06,1.06002096122,0.556343122315,0.00867748529521,1.05963233905
+392,6.533333333,pose2_to_pose3_retreat,0.585764978933,5.08650105574e-06,1.06002105004,0.556336323048,0.0086774973255,1.05963242777
+393,6.550000000,pose2_to_pose3_retreat,0.585760405907,5.09848089527e-06,1.06002109321,0.556331749256,0.00867750666356,1.05963247005
+394,6.566666667,pose2_to_pose3_retreat,0.585757737093,5.18032756216e-06,1.0600209052,0.556329079626,0.00867758579518,1.05963228335
+395,6.583333333,pose2_to_pose3_retreat,0.58575601125,5.23325540274e-06,1.06002078362,0.556327353254,0.00867763696728,1.05963216261
+396,6.600000000,pose2_to_pose3_retreat,0.585755106827,5.2451069859e-06,1.06002075408,0.556326448879,0.00867764899949,1.05963213341
+397,6.616666667,pose2_to_pose3_retreat,0.585754566875,5.24357872161e-06,1.06002075496,0.556325909133,0.00867764817525,1.05963213444
+398,6.633333333,pose2_to_pose3_retreat,0.585754199781,5.24253970834e-06,1.06002075556,0.556325542179,0.00867764761488,1.05963213514
+399,6.650000000,pose2_to_pose3_retreat,0.585753688272,5.24109194555e-06,1.06002075639,0.556325030865,0.00867764683406,1.05963213611
+400,6.666666667,pose2_to_pose3_retreat,0.585753193262,5.23969088047e-06,1.0600207572,0.556324536043,0.00867764607842,1.05963213705
+401,6.683333333,pose2_to_pose3_retreat,0.585752873976,5.23878718121e-06,1.06002075772,0.556324216878,0.00867764559103,1.05963213766
+402,6.700000000,pose2_to_pose3_retreat,0.585752501245,5.23149666693e-06,1.06002080117,0.556323844389,0.00867763906813,1.05963217996
+403,6.716666667,pose2_to_pose3_retreat,0.585752218337,5.22258338747e-06,1.06002085736,0.556323561719,0.00867763089012,1.0596322346
+404,6.733333333,pose2_to_pose3_retreat,0.5857521238,5.21960490114e-06,1.06002087614,0.556323467261,0.00867762815733,1.05963225286
+405,6.750000000,pose2_to_pose3_retreat,0.585751973124,5.21485770234e-06,1.06002090608,0.556323316711,0.00867762380173,1.05963228197
+406,6.766666667,pose2_to_pose3_retreat,0.585751969846,5.21475442965e-06,1.06002090673,0.556323313436,0.00867762370698,1.0596322826
+407,6.783333333,pose2_to_pose3_retreat,0.585751813598,5.20983171487e-06,1.06002093777,0.556323157319,0.00867761919035,1.05963231278
+408,6.800000000,pose2_to_pose3_retreat,0.585751436331,5.1979455572e-06,1.06002101271,0.556322780368,0.00867760828469,1.05963238565
+409,6.816666667,pose2_to_pose3_retreat,0.585751406749,5.19701355022e-06,1.06002101858,0.556322750811,0.00867760742957,1.05963239137
+410,6.833333333,pose2_to_pose3_retreat,0.585751291068,5.19000509942e-06,1.06002101266,0.556322635189,0.00867760068949,1.05963238695
+411,6.850000000,pose2_to_pose3_retreat,0.585751274398,5.18899313738e-06,1.06002101179,0.556322618527,0.00867759971619,1.0596323863
+412,6.866666667,pose2_to_pose3_retreat,0.585751229045,5.18624003051e-06,1.06002100942,0.556322573197,0.00867759706825,1.05963238453
+413,6.883333333,pose2_to_pose3_retreat,0.585751101096,5.17847308056e-06,1.06002100273,0.556322445314,0.00867758959799,1.05963237953
+414,6.900000000,pose2_to_pose3_retreat,0.585751003019,5.17251943186e-06,1.06002099761,0.556322347287,0.00867758387176,1.05963237569
+415,6.916666667,pose2_to_pose3_retreat,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1ba185aca1ae37c794bc5a7e8e1d188fe9e905c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e31b78a252ea9857c95593225c85c937217cb5e3f6e220f820d0a05f87dbdb2e
+size 26346185
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7052dd0063e424d6f9b8304ad2227aa2a58e9be
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/franka_data.csv
@@ -0,0 +1,417 @@
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+35,0.583333333,BASELINE,769,746.292323452,724,691,670,643,888.707676548,789,820,657,633,656.292323452,0.400971170888,-0.00536968554568,0.0698259361563,0.999999938688,0.000213914618047,-0.000276802198434,1.56789000261e-05,1793251619368884224
+36,0.600000000,BASELINE,769,746.86917671,724,691,670,643,888.13082329,789,820,657,633,656.86917671,0.400971003715,-0.0053671842535,0.0698265589458,0.999999937914,0.000216524190551,-0.00027757646846,1.55018928346e-05,1793251619385550336
+37,0.616666667,BASELINE,769.459528362,746.540471638,724,691,670,643,888.459528362,789,820,657,633,657,0.400973085536,-0.00536781853141,0.0698276671193,0.999999938789,0.000215828097896,-0.000274943225896,1.57117141028e-05,1793251619402216704
+38,0.633333333,BASELINE,770,746.052152104,724,691,670.052152104,643,888.947847896,789.052152104,820,657,633,657,0.400975443124,-0.00536934698319,0.0698287646424,0.999999940008,0.000214249684319,-0.000271708699589,1.59874566288e-05,1793251619418883328
+39,0.650000000,BASELINE,770,746.627840352,724,691,670.627840352,643,888.372159648,789.627840352,820,657,633,657,0.400973947125,-0.00537061937206,0.06982832609,0.999999939954,0.000213547147789,-0.000272471158732,1.57859838383e-05,1793251619435549952
+40,0.666666667,BASELINE,770,747,724,691,670.796945362,643,888,789.796945362,820,657,633,657,0.400972575483,-0.00537113186547,0.069827802327,0.999999939777,0.000212987140494,-0.000273566433265,1.56249668932e-05,1793251619452216832
+41,0.683333333,BASELINE,770,747,724,691,670.222597769,643,888,789.222597769,820,657,633,657,0.400971431233,-0.00537025486171,0.0698271227533,0.999999939374,0.000212687753249,-0.000275270273065,1.55379249774e-05,1793251619468883968
+42,0.700000000,BASELINE,770,747,724.359741777,691,670.359741777,643,888.359741777,789,820,657,633,657,0.400971035646,-0.00536914209519,0.0698268129493,0.999999938893,0.000213898748054,-0.000276086536197,1.54208991383e-05,1793251619485550848
+43,0.716666667,BASELINE,770,747,724.947138846,691,670.947138846,643,888.947138846,789,820,657,633,657,0.400971113837,-0.00536788013102,0.0698267371466,0.999999938359,0.000216065557539,-0.000276341114355,1.52848985843e-05,1793251619502217728
+44,0.733333333,BASELINE,770,747,724.469830774,691,670.469830774,643,889,789,820,657,633,657,0.400971967344,-0.00537018350307,0.0698268461247,0.999999939047,0.000213414288907,-0.000275881720806,1.57692525024e-05,1793251619518884352
+45,0.750000000,BASELINE,770,746.889031569,724,691,670.110968431,643,888.889031569,789,820,657,633,657,0.400972854778,-0.00537182349259,0.069827118256,0.999999939725,0.000211342387287,-0.000275000639363,1.6122793931e-05,1793251619535550464
+46,0.766666667,BASELINE,770,746.315729237,724,691,670.684270763,643,888.315729237,789,820,657,633,657,0.400973564123,-0.00536923061199,0.0698279940083,0.999999939879,0.000213669469493,-0.000272656825618,1.56757267975e-05,1793251619552217088
+47,0.783333333,BASELINE,770,746,724,691,670.735546331,643,888,789,820,657,633,657,0.400973923106,-0.00536833525249,0.069828500202,0.999999939991,0.000214489117656,-0.000271613131181,1.54281898057e-05,1793251619568883456
+48,0.800000000,BASELINE,770,746,724,691,670.146929241,643,888,789,820,657,633,657,0.400973852622,-0.00536952068907,0.0698285533963,0.999999940062,0.000213460975636,-0.000272163103575,1.54252338699e-05,1793251619585549824
+49,0.816666667,BASELINE,770,746,724,691,670,643,888.434321505,789.434321505,820,657,633,657,0.400972951813,-0.00536995346563,0.0698281084135,0.999999939773,0.000213190719759,-0.000273417591877,1.56897719573e-05,1793251619602216960
+50,0.833333333,BASELINE,770,746,724,691,670,643,888.986861043,789.986861043,820,656.986861043,632.986861043,657,0.400971796593,-0.00537017195405,0.069827509569,0.999999939376,0.000213147681092,-0.000274880305873,1.60430512812e-05,1793251619618884352
+51,0.850000000,BASELINE,770,746,724,691,670,643,888.40730274,789.40730274,820,656.40730274,632.40730274,657,0.400971581138,-0.00537194616095,0.0698274219616,0.999999939515,0.000212031349134,-0.000275216373748,1.63859106925e-05,1793251619635550976
+52,0.866666667,BASELINE,770,746.16963158,724,691,670,643,888.16963158,789,820.16963158,656.16963158,632.16963158,657,0.400971225571,-0.00537283816272,0.0698271802466,0.999999939582,0.000211153547012,-0.000275648988627,1.63883426757e-05,1793251619652217344
+53,0.883333333,BASELINE,770,746.740361392,724,691,670,643,888.740361392,789,820.740361392,656.740361392,632.740361392,657,0.400970538706,-0.0053716441677,0.0698265741401,0.999999939478,0.000210839754885,-0.000276309891369,1.55858252293e-05,1793251619668883968
+54,0.900000000,BASELINE,770,746.677566644,724,691,670.322433356,643,889,789,820.677566644,656.677566644,633,656.677566644,0.400970734182,-0.00537022481869,0.0698266861314,0.999999939324,0.000212035546399,-0.000275976305987,1.51872415682e-05,1793251619685550336
+55,0.916666667,BASELINE,770,746.086028482,724,691,670.913971518,643,889,789,820.086028482,656.086028482,633,656.086028482,0.400971666064,-0.00536861738798,0.0698273974516,0.999999939121,0.000214491245462,-0.000274812714835,1.51257835004e-05,1793251619702216960
+56,0.933333333,BASELINE,769.505322365,746,724,691,671,643,889,789,820,656.494677635,633,656.494677635,0.400972434147,-0.00536836549033,0.0698277955865,0.999999939032,0.000215924511316,-0.000273990077191,1.55589058216e-05,1793251619718883584
+57,0.950000000,BASELINE,769.073174407,746,724,691,671,642.926825593,889,789,820,657,633,657,0.400972805069,-0.00536843404761,0.0698278917585,0.999999938939,0.00021676031234,-0.000273645154508,1.59861481028e-05,1793251619735549952
+58,0.966666667,BASELINE,769.649156467,746,724,691,671,642.350843533,889,789,820,657,633,657,0.400970638493,-0.00536911943353,0.0698262792672,0.999999938691,0.000214686329499,-0.000276184079401,1.57946341339e-05,1793251619752217600
+59,0.983333333,BASELINE,770,746,724,691,671,642,888.776196405,789,820,657,633,657,0.400970111828,-0.0053692290516,0.0698259067925,0.999999938665,0.000214412463864,-0.000276501617383,1.56270949438e-05,1793251619768884736
+60,1.000000000,BASELINE,770,746,724,691,671,642,888.203629474,789,820,657,633,657,0.400972140712,-0.00536844142452,0.0698274666918,0.999999938985,0.000216943802549,-0.000273357467347,1.54969167144e-05,1793251619785551104
+61,1.016666667,BASELINE,769.235261883,746.382369059,724,691,670.617630941,642.382369059,888.382369059,789.382369059,820,656.617630941,633,657,0.400971965507,-0.0053688105954,0.0698276002308,0.99999993887,0.000216989989808,-0.000273736294774,1.5619712805e-05,1793251619802217472
+62,1.033333333,BASELINE,768.048438148,746.975780926,724,691,670.024219074,642.975780926,888.975780926,789.975780926,820,656.024219074,633,657,0.400970573789,-0.00536981824344,0.0698269465118,0.999999938514,0.000215664535235,-0.000276059576428,1.58821342469e-05,1793251619818883840
+63,1.050000000,BASELINE,768.555185114,746.444814886,724,691,670,643,888.444814886,789.444814886,820,656.555185114,632.444814886,657,0.400972640651,-0.00536926611849,0.0698283067353,0.999999939176,0.000216273119329,-0.000273163080543,1.59895929242e-05,1793251619835550464
+64,1.066666667,BASELINE,769,746.132917855,724,691,670,643,888.132917855,789,820,657,632.132917855,656.867082145,0.400974375443,-0.0053688578485,0.0698293357257,0.999999939757,0.000216517068591,-0.000270832145726,1.60152074927e-05,1793251619852216576
+65,1.083333333,BASELINE,769,746.707080508,724,691,670,643,888.707080508,789,820,657,632.707080508,656.292919492,0.40097451934,-0.00536914745198,0.0698289806549,0.999999939951,0.000215277360019,-0.000271115996739,1.57910145648e-05,1793251619868883200
+66,1.100000000,BASELINE,769.281820577,746.718179423,724,691,670.281820577,643,888.718179423,789,820,656.718179423,632.718179423,656.281820577,0.400974479348,-0.00536952356711,0.0698286121184,0.999999939994,0.000214677678241,-0.000271441123251,1.56512030196e-05,1793251619885550080
+67,1.116666667,BASELINE,769.857162001,746.142837999,724,691,670.857162001,643,888.142837999,789,820,656.142837999,632.142837999,656.857162001,0.400974247833,-0.00536998978558,0.069828229557,0.999999939881,0.000214744595159,-0.000271809238868,1.55992761104e-05,1793251619902217216
+68,1.133333333,BASELINE,769.555249662,746,724,691,671,643,888,789,820,656.444750338,632.444750338,657,0.400974054191,-0.00537008320626,0.0698279060991,0.999999939873,0.000214331962792,-0.000272150562876,1.58165952424e-05,1793251619918884096
+69,1.150000000,BASELINE,769,746.035551739,724,691,670.964448261,643,888,789.035551739,820,656.964448261,633,657,0.400973861676,-0.00537005843675,0.0698276230871,0.999999939903,0.000213752238694,-0.000272479116935,1.60935539344e-05,1793251619935551232
+70,1.166666667,BASELINE,769,746.613661527,724,691,670.386338473,643,888,789.613661527,820,656.386338473,633,657,0.400973495473,-0.00537010889696,0.0698276594367,0.999999939985,0.000213039493118,-0.000272747819823,1.59236482839e-05,1793251619952217344
+71,1.183333333,BASELINE,769,747,724.190877711,691,670.190877711,642.809122289,888,789.809122289,820,656,633,657,0.400973033909,-0.00536999200378,0.069827580134,0.999999940005,0.000212552029534,-0.000273064808185,1.57110090161e-05,1793251619968883712
+72,1.200000000,BASELINE,769,747,724.766293763,691,670.766293763,642.233706237,888,789.233706237,820,656,633,657,0.400972380234,-0.0053695379639,0.0698272678407,0.999999939904,0.00021251841433,-0.000273479071525,1.5412279444e-05,1793251619985550080
+73,1.216666667,BASELINE,769.351229301,747,724.648770699,691,671,642.351229301,888.351229301,789,820,656.351229301,633,657,0.400971479562,-0.00536868714553,0.0698270298619,0.999999939321,0.000214415109904,-0.000274131122986,1.53710281145e-05,1793251620002216448
+74,1.233333333,BASELINE,769.942675484,747,724.057324516,691,671,642.942675484,888.942675484,789,820,656.942675484,633,657,0.40097040996,-0.00536756495777,0.0698268427093,0.9999999384,0.000217632006372,-0.000274945805272,1.55058743567e-05,1793251620018883072
+75,1.250000000,BASELINE,769.477181411,746.477181411,724,691,670.477181411,643,888.477181411,789.522818589,820,657,633,657,0.400971740937,-0.00536872438942,0.0698277847835,0.999999938722,0.000218019104268,-0.000273452862833,1.5694055254e-05,1793251620035549952
+76,1.266666667,BASELINE,769.100868591,746.100868591,724,691,670.100868591,643,888.100868591,789.899131409,820,656.899131409,633,657,0.400973097762,-0.00536956966238,0.0698285766673,0.999999939123,0.000217835524203,-0.000272125202142,1.57751336262e-05,1793251620052216832
+77,1.283333333,BASELINE,769.674791533,746.674791533,724,691,670.674791533,643,888.674791533,789.325208467,820,656.325208467,633,657,0.400973367514,-0.00536779317725,0.0698280958101,0.999999939276,0.000216399904553,-0.000272734184563,1.53270766018e-05,1793251620068883456
+78,1.300000000,BASELINE,769.751125881,746.751125881,724,691,671,643,889,789,820,656.248874119,633,657,0.400973502612,-0.00536757413032,0.0698280709854,0.999999939546,0.000215373749802,-0.000272564355948,1.5205934114e-05,1793251620085550336
+79,1.316666667,BASELINE,769.176834597,746.176834597,724,691,671,643,889,789,820,656.823165403,633,657,0.40097346164,-0.00536939152317,0.0698286424494,0.99999993997,0.00021488299397,-0.000271376187251,1.55122511412e-05,1793251620102217472
+80,1.333333333,BASELINE,769,746.410459221,724,691.410459221,671,643,888.589540779,789,820,657,632.589540779,657,0.40097414835,-0.00536931784923,0.0698290043956,0.999999940018,0.00021535392181,-0.000270827794119,1.54600902131e-05,1793251620118884352
+81,1.350000000,BASELINE,769.003455427,747,724,691.996544573,671,643,888.003455427,789,820,657,632.003455427,657,0.40097514525,-0.00536841086249,0.0698292657192,0.999999939899,0.00021623682425,-0.000270575313674,1.52488739837e-05,1793251620135550976
+82,1.366666667,BASELINE,769.582673077,747,724,691.417326923,671,643,888.582673077,789,820,657,632.582673077,657,0.400973881533,-0.00536884554622,0.0698282931676,0.99999993984,0.000214471490461,-0.000272200155257,1.51104858331e-05,1793251620152217344
+83,1.383333333,BASELINE,770,747,724,691.160539048,670.839460952,643,888.839460952,789,820,657,633,657,0.400972933018,-0.00536943417293,0.0698276051399,0.999999939768,0.0002131950492,-0.000273462665628,1.51957150084e-05,1793251620168883968
+84,1.400000000,BASELINE,770,747,724,691.73492074,670.26507926,643,888.26507926,789,820,657,633,657,0.400972797043,-0.00537041963882,0.0698276505668,0.999999939671,0.000213178890212,-0.000273791147476,1.58573919825e-05,1793251620185550592
+85,1.416666667,BASELINE,769.683454452,746.683454452,724,692,670,643,888,789,820,656.683454452,633,657,0.400972079756,-0.00537007937285,0.069827555825,0.99999993945,0.000213851183209,-0.000274077233897,1.58094734196e-05,1793251620202217472
+86,1.433333333,BASELINE,769.095622165,746.095622165,724,692,670,643,888,789,820,656.095622165,633,657,0.400970864272,-0.00536860292444,0.0698273409555,0.999999939121,0.000215113495228,-0.000274326986456,1.5153415291e-05,1793251620218884352
+87,1.450000000,BASELINE,769.484919996,746,724,692,670,643,888,789,820,656,633,657,0.400971134606,-0.00536767904367,0.0698271555163,0.999999939061,0.000215872073111,-0.000273949024278,1.51310975205e-05,1793251620235550464
+88,1.466666667,BASELINE,770,746.063715548,724,691.936284452,670,643,888,789,820,656.063715548,633,657,0.400971902742,-0.00536714636036,0.0698271513598,0.999999939165,0.000216234686282,-0.000273278533648,1.52329904308e-05,1793251620252216832
+89,1.483333333,BASELINE,770,746.63985433,724,691.36014567,670,643,888,789,820,656.63985433,633,657,0.400974352942,-0.00536889649697,0.0698285591625,0.999999940157,0.000214199842343,-0.000271236164186,1.5343675992e-05,1793251620268883200
+90,1.500000000,BASELINE,770,746.784070866,724,691,670,643,888,789,820,656.784070866,633,657,0.400975364338,-0.00536981911327,0.0698290833786,0.999999940535,0.000213373490225,-0.000270493003137,1.53149843899e-05,1793251620285549824
+91,1.516666667,BASELINE,770,746.208102799,724,691,670,643,888,789,820,656.208102799,633,657,0.400973976679,-0.00536936192702,0.0698281343074,0.999999939899,0.000214562170276,-0.000271916134551,1.5053896137e-05,1793251620302216448
+92,1.533333333,BASELINE,769.623675141,746.376324859,724,691,670,643,888,789,820,656.376324859,633,657,0.400973228445,-0.0053695010786,0.0698279809983,0.999999940019,0.000213362070596,-0.000272418881749,1.50385672125e-05,1793251620318883328
+93,1.550000000,BASELINE,769.034461803,746.965538197,724,691,670,643,888,789,820,656.965538197,633,657,0.400972841935,-0.00536997758084,0.0698282778549,0.999999940563,0.000210810628779,-0.000272400964049,1.51622652986e-05,1793251620335549952
+94,1.566666667,BASELINE,769.542793811,746.457206189,724,691,670.542793811,643,888.542793811,789,820,657,632.457206189,657,0.400972604646,-0.00537047725084,0.069828049534,0.999999940485,0.000210667453803,-0.000272789783281,1.53548166535e-05,1793251620352216832
+95,1.583333333,BASELINE,769.881039901,746,724,691,671,643,889,789,820,656.881039901,632,657,0.400972506914,-0.00537064790988,0.0698278298769,0.999999940203,0.000211575526877,-0.000273108353359,1.55302829968e-05,1793251620368883712
+96,1.600000000,BASELINE,769.306201297,746,724,691,671,643,889,789,820,656.306201297,632,657,0.40097290847,-0.005369552219,0.0698277684451,0.999999939282,0.000215938876185,-0.000273060886989,1.56238850296e-05,1793251620385550592
+97,1.616666667,BASELINE,769,746,724,691,670.731278008,643,888.731278008,789,820,656,632,657,0.400972763707,-0.00536855963454,0.0698280057234,0.99999993898,0.000217122829083,-0.000273237350289,1.5458456409e-05,1793251620402216960
+98,1.633333333,BASELINE,769,746,724,691,670.156258227,643,888.156258227,789,820,656,632,657,0.400971996234,-0.0053676845741,0.069828583481,0.999999939396,0.00021468280558,-0.000273669055685,1.49977764878e-05,1793251620418883072
+99,1.650000000,BASELINE,769.432769214,746.432769214,724,691,670,643,888.432769214,789,820,656.432769214,632,657,0.400973034791,-0.00536906038285,0.0698289240688,0.999999939966,0.000213345752103,-0.00027262323592,1.51055290971e-05,1793251620435549696
+100,1.666666667,BASELINE,770,747,724,691,670,643,888.973753743,789,820,656.973753743,632.026246257,657,0.400974592016,-0.00537116135662,0.0698290936468,0.999999940532,0.000212531285905,-0.000271160487476,1.54206952502e-05,1793251620452216576
+101,1.683333333,BASELINE,770,747,724,691,670,643,888.396591527,789,820,656.396591527,632.603408473,657,0.400972890703,-0.0053708540635,0.0698275312902,0.999999939836,0.000214047179513,-0.000272518840852,1.56373444872e-05,1793251620468882944
+102,1.700000000,BASELINE,770,747,724,691,670,643,888,789,820,656.179916427,633,657,0.400972262215,-0.00537045170168,0.0698269253881,0.999999939454,0.000215203373876,-0.000273001077254,1.58135053445e-05,1793251620485549824
+103,1.716666667,BASELINE,770,747,724,691,670,643,888,789,820,656.754987331,633,657,0.400973989996,-0.00536984053841,0.0698284201689,0.999999939766,0.00021556955253,-0.000271559078143,1.59007406377e-05,1793251620502216960
+104,1.733333333,BASELINE,770,746.662014946,724,690.662014946,670.337985054,643,888.337985054,789,820,656.662014946,633,657,0.400974510904,-0.00536926798784,0.0698288890201,0.999999940086,0.000214892470817,-0.000270942606146,1.54924970418e-05,1793251620518883840
+105,1.750000000,BASELINE,770,746.073132832,724,690.073132832,670.926867168,643,888.926867168,789,820,656.073132832,633,657,0.400974135913,-0.00536872410064,0.0698285962912,0.999999940409,0.000213440943778,-0.000270938949039,1.4716443712e-05,1793251620535550208
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,888,789,820,656,633,656,0.400970653625,-0.00536956805311,0.0698273245701,0.999999939512,0.000213327936633,-0.000274277499858,1.54321121191e-05,1793251620566393856
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,888,789,820,656,633,656.575536645,0.400971846848,-0.00536915817503,0.0698278920722,0.99999993964,0.000213854177871,-0.000273400923332,1.54394351095e-05,1793251620583061760
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.846109584,746,724,691,670,642.846109584,888,789,820,656.153890416,633,657,0.400972595498,-0.00536891347677,0.0698283748874,0.999999939692,0.000214569896827,-0.000272648544981,1.54320183145e-05,1793251620599729152
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.259840535,746,724,691,670,642.259840535,888,789,820,656.740159465,633,657,0.40097209505,-0.00536913287632,0.069828619762,0.999999939534,0.000215817982494,-0.000272245120172,1.53831878432e-05,1793251620616395008
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.322408182,746.322408182,724,691,670.322408182,642.322408182,888.322408182,789.322408182,820,657,632.677591818,657,0.40097187009,-0.00536859816745,0.0698286038804,0.999999939331,0.000216649574398,-0.000272335490554,1.52870597087e-05,1793251620633061632
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.901456638,746.901456638,724,691,670.901456638,642.901456638,888.901456638,789.901456638,820,657,632.098543362,657,0.400971864421,-0.00536746318039,0.0698283804341,0.999999939093,0.000217149632851,-0.000272818927078,1.51532821442e-05,1793251620649728512
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,888.51972539,790,820,656.51972539,632.48027461,657,0.40097156129,-0.00536835497027,0.0698277919987,0.999999939253,0.000215558520248,-0.000273484028177,1.5336691302e-05,1793251620666394880
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.941690414,746.941690414,724,691,670.941690414,643,888,790,820,656,632.941690414,657,0.400971328746,-0.00536945960864,0.0698272259761,0.999999939452,0.000213883055169,-0.000274061125437,1.55349354066e-05,1793251620683061504
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.37013138,746.37013138,724,691,670.37013138,643,888,790,820,656,632.37013138,657,0.400972254479,-0.00536877909506,0.0698275161002,0.999999939308,0.000215240024813,-0.000273535664857,1.52911831851e-05,1793251620699727616
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.208600259,746.208600259,724,691,670.208600259,643,888,789.791399741,820.208600259,656.208600259,632.208600259,657,0.400973834402,-0.00536910993536,0.0698282290797,0.999999939409,0.000215465727161,-0.000272986696074,1.53244277095e-05,1793251620716394240
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.800511781,746.800511781,724,691,670.800511781,643,888,789.199488219,820.800511781,656.800511781,632.800511781,657,0.400976616426,-0.00537129917867,0.0698297190729,0.99999993996,0.000213612680759,-0.000272394530091,1.58666647866e-05,1793251620733060608
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.616323776,746.616323776,724,691,670.616323776,643,888,789,820.616323776,656.616323776,633,656.616323776,0.400990305357,-0.00537194384789,0.069836280262,0.999999942819,0.000212678127707,-0.00026241983896,1.62956186836e-05,1793251620749727232
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.037605854,746.037605854,724,691,670.037605854,643,888,789,820.037605854,656.037605854,633,656.037605854,0.401009538813,-0.00537180333353,0.0698454193921,0.999999946673,0.000212210490278,-0.000247675543782,1.66669851547e-05,1793251620766393856
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.538130268,746,724,691,670.538130268,643,888,789,820,656,633,656.538130268,0.401056572804,-0.00537171185577,0.0698621896137,0.999999953003,0.000213570261739,-0.000219319570143,1.67632277847e-05,1793251620783060736
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.886236573,746.113763427,724,691,671,643,888,789.113763427,820,656.113763427,633,657,0.40110810007,-0.00537191123863,0.069878709401,0.999999958253,0.000214310365189,-0.000193087641007,1.67858791477e-05,1793251620799727104
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.310179539,746.689820461,724,691,671,643,888,789.689820461,820,656.689820461,633,657,0.401170035192,-0.00537327872575,0.0698920564053,0.999999961307,0.000212016279483,-0.000179331159693,1.65871805007e-05,1793251620816393472
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.272450279,747,724,691,670.727549721,643,888,789.727549721,820,656.727549721,633,657,0.401238113784,-0.0053749898645,0.0699014997318,0.999999963772,0.000210406272079,-0.000167108798939,1.61114263648e-05,1793251620833060352
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.862748043,747,724,691,670.137251957,643,888,789.137251957,820,656.137251957,633,657,0.401313359501,-0.00537710191597,0.0699063889269,0.999999965644,0.000209594328126,-0.000156676183429,1.53124522023e-05,1793251620849726976
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.555603171,724,691,670,643,888.444396829,789,820,656.444396829,633,657,0.401399235814,-0.00537943805281,0.0699065408718,0.999999966195,0.000207474183949,-0.00015612849548,1.3750518037e-05,1793251620866393600
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746.02324005,724,691,670,643,889,789,820,657,633,657,0.401489280689,-0.00538183574056,0.0699052017833,0.999999966328,0.000204981202707,-0.000158699298331,1.19071210677e-05,1793251620883060224
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746.597687969,724,691,670,643,889,789,820,657,633,657,0.401601809823,-0.00538408313727,0.0699025376766,0.999999965865,0.000203045289969,-0.000164206730715,8.87020538818e-06,1793251620899726848
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746.826724468,724,691,670.173275532,643,888.826724468,789,820,657,633,657,0.401726680372,-0.005385893473,0.0699021335753,0.999999966036,0.000201245840438,-0.000165511715311,5.74684006227e-06,1793251620916393728
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746.248473435,724,691,670.751526565,643,888.248473435,789,820,657,633,657,0.401880394966,-0.00538668231981,0.0699070115055,0.99999996772,0.000199765329785,-0.000156994836959,2.42142708126e-06,1793251620933060352
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.664260298,746,724,691,670.664260298,643,888.335739702,789.335739702,820,657,633,657,0.40204750147,-0.00538988166939,0.0699115791774,0.99999996993,0.000194563055827,-0.000149278578177,-8.75087130933e-07,1793251620949726720
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.075554908,746,724,691,670.075554908,643,888.924445092,789.924445092,820,657,633,657,0.402224698229,-0.00539489723112,0.0699159130831,0.999999972484,0.000186556590205,-0.000142165551529,-4.14982769082e-06,1793251620966393344
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.505688751,746.505688751,724,691,670.505688751,643,889,790,820,657,633,657,0.402432791969,-0.00539663542189,0.0699192227584,0.999999974263,0.00018152638628,-0.00013580345608,-8.87430647254e-06,1793251620983060224
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.915559129,747,724,691.084440871,671,643,889,789.915559129,820,657,633,657,0.402650680403,-0.00539845050967,0.0699222369035,0.999999975961,0.000176330997762,-0.000129585256221,-1.38924441623e-05,1793251620999726848
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.344828364,747,724,691.655171636,671,643,889,789.344828364,820,657,633,657,0.402898777466,-0.00540348742736,0.069924417586,0.999999978124,0.00016766065494,-0.000123559002113,-1.93724699616e-05,1793251621016393472
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,724,691.772527086,671,643,889,789.227472914,820,656.772527086,633,657,0.403167163812,-0.00540869318331,0.0699287304697,0.999999980545,0.000159211487414,-0.000113798723394,-2.47220688787e-05,1793251621033060608
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,724,691.197828536,671,643,889,789.802171464,820,656.197828536,633,657,0.403466520684,-0.00541415666184,0.0699362980481,0.999999983303,0.000151099933053,-9.83386495988e-05,-2.98725775754e-05,1793251621049728000
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.38986815,747,724,691.38986815,671,643,889,789.61013185,820,656.38986815,633,657,0.403781022408,-0.00541932352187,0.069942092452,0.999999985261,0.000142282087797,-8.93750440803e-05,-3.52887785412e-05,1793251621066394880
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.984387865,747,724,691.984387865,671,643,889,789.015612135,820,656.984387865,633,657,0.404103474034,-0.00542433467923,0.069946956072,0.999999986796,0.000133093492998,-8.38215980972e-05,-4.08444478766e-05,1793251621083061760
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.437022793,724,691.437022793,670.437022793,643,889,789.562977207,820,656.437022793,633,657,0.404472919805,-0.00542983479106,0.0699542516879,0.999999995848,2.51901044967e-05,-7.40050547959e-05,-4.68260035884e-05,1793251621099728128
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.859579252,746,724,691,670.140420748,643,889,789.859579252,820,656.140420748,633,657,0.404853628675,-0.00543603284604,0.0699608437604,0.999999996049,-3.87562286785e-05,-6.47147171234e-05,-4.7024298586e-05,1793251621116394496
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.284353456,746,724,691,670.715646544,643,889,789.284353456,820,656.715646544,633,657,0.405265288752,-0.00544435121168,0.0699650542623,0.999999997056,4.16512939395e-05,-5.74097431352e-05,-2.92794841083e-05,1793251621133060864
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.29739262,746.29739262,724.29739262,691.29739262,671,643,889.29739262,789,820,657,633,657,0.405689746341,-0.00544502756126,0.0699652081909,0.99999999414,8.97029962009e-05,-5.58220201141e-05,-2.36072260636e-05,1793251621149727232
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.885512918,746.885512918,724.885512918,691.885512918,671,643,889.885512918,789,820,657,633,657,0.406126714683,-0.00543823316299,0.0699613964594,0.999999992137,0.000106124022674,-5.98234166526e-05,-2.97369612495e-05,1793251621166394112
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724.53192966,692,670.53192966,643,890.46807034,789,820,657,633,657,0.406588058425,-0.00544732945886,0.0699462664841,0.999999992381,8.09254698834e-05,-8.63943925958e-05,-3.49946044363e-05,1793251621183060736
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,692,670.048602976,643,890.951397024,789.048602976,820,657,633,657,0.407061267004,-0.00545969343387,0.0699296765705,0.999999991439,4.73947377242e-05,-0.000115270212251,-3.98480857807e-05,1793251621199727104
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,692,670.621795229,643,890.378204771,789.621795229,820,657,633,657,0.4075989424,-0.00546586812999,0.0699268580894,0.999999992498,3.25164779089e-05,-0.000110139458533,-4.26145796192e-05,1793251621216394240
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,890.195986573,790,820,656.804013427,633,657,0.408161100703,-0.00547461093182,0.069929777794,0.999999994153,2.04561796098e-05,-9.67592422242e-05,-4.37467206003e-05,1793251621233061376
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,890.772115757,790,820,656.227884243,633,657,0.408770746898,-0.00548833492354,0.0699438274901,0.999999996764,1.38617017599e-05,-6.73780717151e-05,-4.17088117938e-05,1793251621249728000
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.641330693,746.641330693,724.358669307,692,671,643,891,790,820,656.358669307,633,657,0.409388395585,-0.00551013952293,0.0699502160891,0.999999997777,-1.65714313239e-05,-5.09130753306e-05,-3.97398385416e-05,1793251621266394368
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.047955678,746.047955678,724.952044322,692,671,643,891,790,820,656.952044322,633,657,0.410011280912,-0.00553723190281,0.0699515914257,0.999999996405,-6.26040825911e-05,-4.29001548184e-05,-3.78159753045e-05,1793251621283060736
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,725,692.529402839,671,643,891.529402839,789.470597161,820,657,633,657,0.410649821715,-0.00554904316132,0.0699436054259,0.999999995089,-7.06479185059e-05,-5.74417114838e-05,-3.91388751074e-05,1793251621299727360
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.105408035,746.105408035,725,693,671,643,891.894591965,789.105408035,820.105408035,656.894591965,633,657.105408035,0.411306255745,-0.00555746683181,0.0699407690968,0.999999994316,-7.54227475875e-05,-6.35168423184e-05,-4.05604686213e-05,1793251621316393984
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+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,891,790,821,656,633,657.736225,0.41278749693,-0.0055560249984,0.0699906539418,0.999999995574,-8.30533458112e-05,1.8567962608e-05,-4.01081788421e-05,1793251621349727232
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,891,790,821,656,633,657.14686746,0.413564222432,-0.0055552544279,0.0700194094361,0.999999994046,-8.24381884723e-05,6.11402781965e-05,-3.70605166691e-05,1793251621366394112
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724.565217455,693,670.565217455,643,891,790,821,656,633,657,0.414318983258,-0.00553002201731,0.0700185910804,0.999999996731,-4.82344347867e-05,5.23250721696e-05,-3.83881557619e-05,1793251621383060992
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.98625306,747,724,693,670,643,891.02749388,790,821.01374694,656,633,657.01374694,0.4150663142,-0.00549757967945,0.0700068359475,0.999999998834,-4.34813215165e-06,2.48081553465e-05,-4.12002240424e-05,1793251621399728128
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.412476985,747,724,693,670,643,892.175046029,790,821.587523015,656,633,657.587523015,0.415807961527,-0.00550217804941,0.0699494177825,0.999999996337,-2.01796498027e-05,-6.9748494829e-05,-4.5324782718e-05,1793251621416394240
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,724.165459796,693.165459796,670.165459796,643,893,790,822.165459796,656.165459796,633.165459796,657.834540204,0.416578881452,-0.00550861350522,0.0699109344189,0.999999989334,-3.492955493e-05,-0.000133309080315,-4.83795830958e-05,1793251621433060352
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,724.754036379,693.754036379,670.754036379,643,893,790,822.754036379,656.754036379,633.754036379,657.245963621,0.417424657751,-0.00551974678996,0.0699208714756,0.999999990798,-4.6913540388e-05,-0.000117605963757,-4.86987788471e-05,1793251621449727232
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.337278764,747,724.662721236,693.662721236,670.662721236,643,893.337278764,790,823,657,633.662721236,657.337278764,0.418310138387,-0.00552584874048,0.0699438582653,0.999999993938,-5.42612471727e-05,-8.27466984791e-05,-4.83019527768e-05,1793251621466393856
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.916691677,747,724.083308323,693.083308323,670.083308323,643,893.916691677,790,823,657,633.083308323,657.916691677,0.419224122934,-0.00552833866998,0.0699762135245,0.999999996596,-5.82805452011e-05,-3.41351366842e-05,-4.73910908873e-05,1793251621483060480
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.505233914,747,724.494766086,693.494766086,670,643,894.494766086,789.505233914,823.494766086,657,633,657.505233914,0.420151733813,-0.00553283768494,0.0700050010638,0.999999996638,-6.64465972383e-05,1.2530097369e-05,-4.63783268828e-05,1793251621499727360
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,694,670,643,895,789.072028852,824,656.927971148,633,657,0.421077015601,-0.00553620816815,0.0700287094275,0.999999994992,-7.31871395221e-05,5.07676641329e-05,-4.56307936512e-05,1793251621516394240
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,694,670,643,895,789.645208075,824,656.354791925,633,657,0.4219701715,-0.00552937940313,0.0700212471161,0.999999996247,-6.51646017013e-05,3.26425980023e-05,-4.68476983899e-05,1793251621533061120
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724.775107466,694,670,643,895.224892534,790,824.224892534,656,633,657,0.422834442226,-0.0055226428184,0.0699872045541,0.999999996733,-5.84931790064e-05,-2.57372674067e-05,-4.94949113468e-05,1793251621549727744
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724.184854508,694,670,643,895.815145492,790,824.815145492,656,633,657,0.42365178624,-0.00551605598869,0.0699099797144,0.99999998588,-5.40167761473e-05,-0.000149515084727,-5.44658028147e-05,1793251621566394368
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,694.382918969,670,643,896,789.617081031,825,656,633.382918969,657,0.424560509464,-0.00551907204007,0.0698707480211,0.999999976196,-6.42879698561e-05,-0.000200173185787,-5.83516308733e-05,1793251621583060736
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724,694.940442169,670,643,896,789.059557831,825,656,633.940442169,657,0.425510899933,-0.00552646683462,0.0698488405306,0.999999971139,-8.1283805443e-05,-0.000217489991772,-6.17426892724e-05,1793251621599727360
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.536610288,695,670,643,896,789,825,656.536610288,633.463389712,657.536610288,0.426546011739,-0.00553287007733,0.0699128397122,0.999999987637,-7.79531122567e-05,-0.000123946902533,-5.73256384534e-05,1793251621616393984
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.869587201,695,670.130412799,643,896.130412799,789,825.130412799,656.869587201,633,658,0.427582998404,-0.00553755871537,0.0699805505373,0.999999995366,-7.58644571642e-05,-2.6357832194e-05,-5.3089203406e-05,1793251621633060608
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.299350837,695,670.700649163,643,896.700649163,789,825.700649163,656.299350837,633,658,0.428592134478,-0.00553686472193,0.0700261273313,0.999999994098,-8.61636454108e-05,4.01595197225e-05,-5.26114222816e-05,1793251621649727232
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643,897,788.717959369,826.282040631,656,633,657.717959369,0.429579752346,-0.00553551646502,0.0700500193932,0.999999991774,-8.77054164841e-05,7.76037295254e-05,-5.23231062571e-05,1793251621666394112
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643,897,788.124240631,826.875759369,656,633,657.124240631,0.43054359076,-0.00553344519317,0.0700499480385,0.999999992032,-7.95695205304e-05,8.29197204885e-05,-5.22441649886e-05,1793251621683060992
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643,897,788.459389895,826.540610105,656,633.459389895,657.459389895,0.431429820362,-0.00552960092081,0.0699742557802,0.999999994633,-7.35374171979e-05,-4.72397691504e-05,-5.56323593083e-05,1793251621699727616
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,724,695,670.960124328,643,897.039875672,788.960124328,826.039875672,656,634,658,0.432303316541,-0.00552594609402,0.0698855951416,0.99999997581,-6.9132688742e-05,-0.000200074766286,-5.97584705929e-05,1793251621716393984
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,724,695,670.38600373,643,897.61399627,788.38600373,826.61399627,656,634,658,0.433281376478,-0.00553111563883,0.0698913031665,0.999999979429,-7.90721255355e-05,-0.000176378893549,-6.14782141339e-05,1793251621733060352
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,724,695.191953644,670.191953644,643,898,788,826.808046356,656,634,658,0.434267052222,-0.00553586701861,0.0699182920125,0.999999986762,-8.65971476492e-05,-0.000123270197542,-6.14942842026e-05,1793251621749726976
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724,695.777783945,670.777783945,643,898,788,826.222216055,656,634,658,0.435268355296,-0.00553976035134,0.0699889477495,0.999999994294,-8.91679457552e-05,-9.80825547035e-06,-5.8014524634e-05,1793251621766393600
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724,695.640568965,671,643,898.359431035,788,826.359431035,656.359431035,634,657.640568965,0.436257484947,-0.00554300328637,0.0700269369938,0.999999992686,-9.27908195278e-05,5.31823722667e-05,-5.64790959678e-05,1793251621783060480
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724,695.0614784,671,643,898.9385216,788,826.9385216,656.9385216,634,657.0614784,0.437239174979,-0.00554584874282,0.0700449627202,0.999999990074,-9.70566498515e-05,8.53283969556e-05,-5.61319091043e-05,1793251621799727360
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.517103483,724,695.517103483,671,643,899,788,827,656.482896517,633.482896517,657.517103483,0.438167674697,-0.00554925918173,0.0700145978976,0.9999999924,-9.56024760323e-05,5.29177500814e-05,-5.70963910624e-05,1793251621816393984
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.905090393,724.094909607,696,671,643,899,788.094909607,827,656,633.094909607,658,0.439066148926,-0.00555114396583,0.0699706330085,0.999999993878,-9.36942273662e-05,-4.46129882772e-06,-5.87027862123e-05,1793251621833060864
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.330896685,724.669103315,696,671,643,899,788.669103315,827,656,633.669103315,658,0.439844900541,-0.00554498547228,0.0698870134153,0.999999982581,-9.29237600475e-05,-0.000149207702769,-6.27640500375e-05,1793251621849727232
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.750509148,747,724.750509148,696,671.249490852,643,899,788.750509148,827.249490852,656,634,658,0.440676216242,-0.00554214885341,0.0698482448827,0.999999971111,-8.92273632617e-05,-0.000213633861754,-6.46302572557e-05,1793251621866393856
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.161697728,747,724.161697728,696,671.838302272,643,899,788.161697728,827.838302272,656,634,658,0.44157902178,-0.00554383015782,0.0698704761379,0.999999980408,-8.15515518451e-05,-0.000168820291133,-6.35110740286e-05,1793251621883060224
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.421203791,747.421203791,724,696,671.578796209,643,899,788.421203791,827.578796209,656.421203791,633.578796209,658,0.442518035821,-0.00554737749302,0.069936829482,0.999999991913,-8.77887693154e-05,-6.9324083178e-05,-6.05006959172e-05,1793251621899727104
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.998151823,748,724.001848177,696,671,643,899,788.998151823,827.001848177,656.998151823,633.001848177,658,0.443470469414,-0.00555163200018,0.0700196636946,0.999999992185,-9.92623718814e-05,5.05214450952e-05,-5.67845989179e-05,1793251621916393472
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.423641415,748,724.576358585,696,671,643,899,788.423641415,827.576358585,656.423641415,633.576358585,658,0.444333532555,-0.00555611121236,0.0700334055381,0.999999991432,-0.00010117927894,6.11208053788e-05,-5.62461187221e-05,1793251621933061120
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.849534066,725,695.849534066,671.150465934,643,899,788,828,656,634,658,0.445171299277,-0.00556033872649,0.0700345281906,0.999999991367,-0.000103801013638,5.76609035235e-05,-5.62759084984e-05,1793251621949728512
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.276558377,725,695.276558377,671.723441623,643,899,788,828,656,634,658,0.44593803362,-0.00556385947118,0.0700002160397,0.99999999234,-0.000108401911309,1.47224639683e-05,-5.79014055181e-05,1793251621966394880
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.308436357,747,725,695,672,643,899,788,828,656,634,658,0.44667328618,-0.00556479957809,0.0699672602908,0.999999992004,-0.000106800368232,-3.32438345478e-05,-5.89913359067e-05,1793251621983061248
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.904644864,747,725,695,672,643,899,788,828,656,634,658,0.447379166087,-0.00556333194114,0.0699355700714,0.999999989594,-9.94119268635e-05,-8.59011396267e-05,-5.95815806917e-05,1793251621999727360
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.51610168,747.48389832,725,695,672,643,899.48389832,788,828,656.48389832,634,658,0.44806594669,-0.00556320003621,0.0699048856036,0.999999983563,-9.63452642561e-05,-0.000141839237068,-5.89374453832e-05,1793251622016393984
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.059854306,748,725,695.059854306,672,643,900,788.059854306,828,657,634,658,0.448758416919,-0.00556356824616,0.0698825704964,0.999999976783,-9.5296755713e-05,-0.000184336187975,-5.80827470647e-05,1793251622033060352
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.635211922,748,725,695.635211922,672,643,900,788.635211922,828,657,634,658,0.449531207335,-0.00556605353734,0.069930688488,0.999999987301,-0.000104543369198,-0.00010568986998,-5.74385843912e-05,1793251622049726976
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,695.784053138,672,643,900,789,828.215946862,656.784053138,633.784053138,658,0.450262996276,-0.005567167018,0.0699719657056,0.999999991684,-0.000108954705024,-3.91638432869e-05,-5.68150006664e-05,1793251622066393856
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,748,725,695.194002649,672,643,900,789,828.805997351,656.194002649,633.194002649,658,0.450923754697,-0.00556590399112,0.0700013920476,0.999999992888,-0.000104989466511,6.36513434247e-06,-5.62270681485e-05,1793251622083060736
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.61164766,748,724.61164766,695,672,643,900,788.61164766,829,656,633.38835234,658,0.451521638418,-0.00556793245087,0.0699891443964,0.999999992102,-0.000111800235321,-1.12583818676e-05,-5.62989188279e-05,1793251622099727360
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.033062234,748,724.033062234,695,672,643,900,788.033062234,829,656,633.966937766,658,0.452088723238,-0.00557157323415,0.0699564828824,0.99999998893,-0.000123889594546,-5.98169306231e-05,-5.66939619544e-05,1793251622116394496
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747.464625671,724.535374329,695,671.464625671,643,900,788,828.464625671,656,633.464625671,658,0.452599006552,-0.00557520216173,0.0699068261813,0.999999982934,-0.000119850634457,-0.000127982768713,-5.82092503746e-05,1793251622133060864
+201,3.350000000,POSE1_TO_POSE2_PRESS,768.105714261,747.105714261,725,695,671,643,900,788,828.105714261,656,633,658,0.453107530237,-0.00557894778823,0.069862299824,0.999999973185,-0.000118446543574,-0.000189759452456,-5.99373690613e-05,1793251622149727232
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.687393407,747.687393407,725,695,671,643,900,788,828.687393407,656,633,658,0.453623631181,-0.00558322207292,0.0698455096887,0.999999965537,-0.000133306593674,-0.000217419517825,-6.23180457643e-05,1793251622166393856
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,725,694.725796338,671,643,900,787.725796338,829,656,633,658,0.454118844904,-0.005586633852,0.0698396995562,0.999999962001,-0.000142333819857,-0.000227601912388,-6.2744446234e-05,1793251622183060480
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,748,725,694.133024831,671,643,900,787.133024831,829,656,633,658,0.454589791972,-0.005589043578,0.0698466459129,0.999999964045,-0.000144584512321,-0.000217478873051,-6.09003825188e-05,1793251622199727104
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.553120039,748,725,694.446879961,671,643,900,787.446879961,829,656,633,658,0.455019811359,-0.00559321468015,0.069849756053,0.999999963166,-0.000144957674991,-0.000221492108347,-5.9968081431e-05,1793251622216393728
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.022950601,748,725,694.977049399,671,643,900,787.977049399,829,656.022950601,633,658,0.455435654192,-0.00559758126966,0.0698507553159,0.999999961078,-0.00014496896282,-0.000230853031799,-5.94546830401e-05,1793251622233060352
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.596353214,748,725,694.403646786,671,643,900,787.403646786,829,656.596353214,633,658,0.455795508776,-0.00559441308185,0.0698277489809,0.999999950336,-0.000149330426998,-0.000270372789413,-6.26609922931e-05,1793251622249727232
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.824696687,748,725,694.175303313,671,642.824696687,900,787,829,656.824696687,633,658,0.456155061017,-0.00559041324468,0.0698123822584,0.999999942631,-0.000151338892096,-0.000295946301516,-6.51998755794e-05,1793251622266393856
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.232555814,748,725,694.767444186,671,642.232555814,900,787,829,656.232555814,633,658,0.456513894292,-0.00558443590571,0.0698151810679,0.999999945321,-0.00014775237785,-0.000288358319688,-6.61517480437e-05,1793251622283060480
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,695,671,642,900.350697709,787,829,656,633,658,0.456852492838,-0.00558010210536,0.0698235201181,0.999999951155,-0.000137189330576,-0.000273398555944,-6.42006797177e-05,1793251622299727104
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.518453856,748,725,694.518453856,669.518453856,641,901.518453856,786.518453856,829,656,633,658,0.459504205435,-0.00558473100402,0.0696919429484,0.999999879962,-0.000136456500303,-0.000467300616528,-5.55504708232e-05,1793251623366330880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.059748616,748,724.940251384,694.059748616,669.059748616,641,901,786,829,656.059748616,632.940251384,658,0.459504246477,-0.00558402667293,0.0696919237003,0.999999880122,-0.00013523168843,-0.000467306731888,-5.5614504034e-05,1793251623382997248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.633558435,748,724.366441565,694.633558435,669.633558435,641,901,786,829,656.633558435,632.366441565,658,0.459503499731,-0.00558193364707,0.0696922146578,0.999999880296,-0.000133289171475,-0.000467438519139,-5.60680229352e-05,1793251623399664384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,724.212821675,694.787178325,669.787178325,641,901,786,829,656.787178325,632.212821675,658,0.459501098565,-0.00558091242411,0.0696910965579,0.999999879748,-0.000132380162158,-0.000468826883801,-5.63970252245e-05,1793251623416331264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,724.801721621,694.198278379,669.198278379,641,901,786,829,656.198278379,632.801721621,658,0.459495773866,-0.00558178518974,0.0696874885053,0.999999877922,-0.000133297469672,-0.000472435752809,-5.65059935243e-05,1793251623432998400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.614007902,748,724.614007902,694,669,641,900.614007902,786.385992098,829,656.385992098,633,658,0.459478259522,-0.00558083245212,0.0696786408669,0.99999987165,-0.000132838162473,-0.000485611785079,-5.68732844323e-05,1793251623449664768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.032087277,748,724.032087277,694,669,641,900.032087277,786.967912723,829,656.967912723,633,658,0.459454557747,-0.00557895309414,0.0696671336289,0.999999862856,-0.000131680089479,-0.000503644083306,-5.73716991801e-05,1793251623466330880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,724,694,669.544083866,641,900,787,829,656.455916134,633,658,0.459406973584,-0.0055787596107,0.0696463949852,0.999999846478,-0.000132386857346,-0.000534921093703,-5.81099908812e-05,1793251623482997504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,724.118943172,694,670,641,900.118943172,786.881056828,829,656,633,658,0.459355374277,-0.00557835461007,0.0696263674178,0.999999830812,-0.000132426735145,-0.000563381490243,-5.86510113105e-05,1793251623499663872
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,724.690090861,694,670,641,900.690090861,786.309909139,829,656,633,658,0.459293808742,-0.00557677140825,0.069611091418,0.999999822753,-0.000129517444352,-0.000578194949653,-5.83888143354e-05,1793251623516330752
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,669.727782831,641,901,786,829,656,633,658,0.459227484588,-0.00557474959994,0.0696005820716,0.999999816205,-0.00012668545447,-0.000590069063639,-5.79654096364e-05,1793251623532997632
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,669.132632544,641,901,786,829,656,633,658,0.459155515255,-0.00557220746981,0.0695957274403,0.999999811599,-0.000123945167392,-0.000598456210946,-5.73507631204e-05,1793251623549664512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.448838307,669,641,901,786.448838307,829,656,633,658,0.459070477665,-0.00556973601394,0.0695969035431,0.999999812501,-0.000123157348399,-0.000597216824912,-5.62277161437e-05,1793251623566331136
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.026240905,748,725,695,669.026240905,641,900.973759095,787,828.973759095,656,633,658,0.458980637579,-0.00556727194227,0.0695999252886,0.999999815104,-0.000122727221094,-0.000593056873328,-5.48951255522e-05,1793251623582998016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.600604253,748,725,695,669.600604253,641,900.399395747,787,828.399395747,656,633,658,0.458868760235,-0.00556453877901,0.0696053754199,0.999999820229,-0.000118073477706,-0.00058555397033,-5.22308424954e-05,1793251623599664384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.821508562,748,725,694.821508562,670,641.178491438,900.178491438,786.821508562,828.178491438,656,633,658,0.45874924327,-0.00556143332886,0.0696106871341,0.999999824659,-0.000113963265114,-0.000578987977605,-4.96814625097e-05,1793251623616330752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.235577654,748,725,694.235577654,670,641.764422346,900.764422346,786.235577654,828.764422346,656,633,658,0.458612287484,-0.00555747806593,0.0696156828849,0.999999827646,-0.00011109376199,-0.000574560655673,-4.73943702479e-05,1793251623632997376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,900.651436265,786.348563735,829,656,633,658,0.458456780321,-0.00555422463048,0.069621091954,0.999999831452,-0.000108711561658,-0.000568580948592,-4.46470331755e-05,1793251623649664000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,900.06849809,786.93150191,829,656,633,658,0.458288799188,-0.00555144310381,0.069626778939,0.999999835774,-0.000106657023687,-0.000561557416456,-4.15902270196e-05,1793251623666330624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,900,787,828.492898634,656,633,658,0.458096414061,-0.00554691932013,0.0696336786402,0.999999840359,-0.000100868997328,-0.000554677581435,-3.79617425382e-05,1793251623682997248
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.9186678,725,694,670,642,900,787,828.0813322,656,633,658,0.457896554243,-0.00554197248214,0.0696414473115,0.999999845739,-9.39036223147e-05,-0.000546389736438,-3.4102453052e-05,1793251623699664128
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747.346797773,725,694,670,642,900,787,828.653202227,656,633,658,0.457671210467,-0.00553587323534,0.0696534830975,0.999999855957,-8.28355714515e-05,-0.000529494377749,-2.93102087985e-05,1793251623716331008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,725,694,670,642,900.465833956,787.232916978,829,656,633,658,0.457431636856,-0.00552986687384,0.0696685454274,0.999999868233,-7.24997750842e-05,-0.000507633464513,-2.4222683675e-05,1793251623732997632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,725,694,670,642,901.649438135,787.824719068,829,656,633,658,0.45717013752,-0.00552400363304,0.0696882711414,0.999999883522,-6.32922579488e-05,-0.000478121484385,-1.86801816647e-05,1793251623749663744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.409483059,747.409483059,725,694,670.409483059,642,901.181033882,787.590516941,829,656.409483059,633,658,0.456871392809,-0.0055177166681,0.0697017311816,0.99999989256,-5.18738234395e-05,-0.000460469091408,-1.25628388913e-05,1793251623766330368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.991285255,747.991285255,725,694,670.991285255,642,900.01742949,787.008714745,829,656.991285255,633,658,0.456556974462,-0.00551125139123,0.0697125544933,0.999999898934,-3.9524988345e-05,-0.000447807464408,-6.20359110068e-06,1793251623782996992
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.43379954,748,725,694,671,642,900,787.56620046,829,656.43379954,633,658,0.456194200529,-0.00550330523002,0.0697080951865,0.999999895219,-2.55610224346e-05,-0.000457063588675,-1.21896681315e-06,1793251623799663616
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,671.140895592,642,900,787.859104408,829,656.140895592,633,658,0.455820488946,-0.00549579928366,0.0697039270772,0.999999892039,-1.21648487622e-05,-0.000464497484457,3.92419584583e-06,1793251623816330240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,671.715235778,642,900,787.284764222,829,656.715235778,633,658,0.455415391484,-0.00548971687246,0.0697013697314,0.999999891701,-5.90964663861e-07,-0.000465300225069,9.61938391742e-06,1793251623832996864
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,671.701216156,642.298783844,900,787.298783844,829,656.701216156,633,658,0.454982850686,-0.00548257676597,0.0696935057385,0.999999887228,3.05222216785e-05,-0.000473706642467,1.46569820225e-05,1793251623849663744
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,671.108613143,642.891386857,900,787.891386857,829,656.108613143,633,658,0.45452332251,-0.00547439653843,0.0696804232748,0.999999876701,8.08500412203e-05,-0.000489590391043,1.90479175051e-05,1793251623866330624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,642.527755695,899.527755695,787.527755695,829,656,633,658,0.454075963293,-0.00546883512825,0.0696983969595,0.999999891034,0.000106735706612,-0.000453772576397,2.51081810403e-05,1793251623882997248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.049921031,748,725,693.950078969,671,642,899,787,829,656,633.049921031,657.950078969,0.453626878994,-0.00546378627676,0.0697229888408,0.999999908828,0.000124710485429,-0.000407232628226,3.08575000389e-05,1793251623899664128
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.621900001,748,725,693.378099999,671,642,899,787,829,656,633.621900001,657.378099999,0.453131195589,-0.00545795168018,0.069743908252,0.999999924272,0.000117317328948,-0.0003698987425,2.94374410146e-05,1793251623916330752
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.800631143,747.800631143,724.800631143,693,671.199368857,642,899,787.199368857,828.800631143,656,633.800631143,657.199368857,0.452604305496,-0.0054522811416,0.0697558195459,0.999999933066,0.000102180955982,-0.000350558641198,2.31424148875e-05,1793251623932997120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.212456025,747.212456025,724.212456025,693,671.787543975,642,899,787.787543975,828.212456025,656,633.212456025,657.787543975,0.452016556601,-0.00544693054692,0.0697501633388,0.999999930294,7.19438749223e-05,-0.000366309760597,7.34029860647e-06,1793251623949663744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,724,693,671.62748365,642.37251635,899,787.62748365,828,656.37251635,633,658,0.451397786986,-0.00544077398422,0.0697444279779,0.999999924316,7.15889862525e-05,-0.000382398856911,3.8370625318e-06,1793251623966330624
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,724,693,671.044322335,642.955677665,899,787.044322335,828,656.955677665,633,658,0.450761476259,-0.00543416167499,0.0697386478586,0.999999916617,8.81314331881e-05,-0.000398679066845,7.28841355921e-06,1793251623982996992
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724,693.531476141,671.531476141,642.468523859,899,787,828,656.468523859,633,658,0.450116677245,-0.00542531594168,0.0697513284373,0.999999918045,0.000107044518177,-0.000390257070443,1.22508933929e-05,1793251623999663616
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,724,694,671.893810271,642.106189729,898.893810271,787.106189729,828,656,633,657.893810271,0.4494684507,-0.00541758032141,0.0697672593708,0.999999922433,0.000123614572784,-0.000373600138521,1.66050584934e-05,1793251624016330496
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,671.321201892,642.678798108,898.321201892,787.678798108,828,656,633,657.321201892,0.448808236283,-0.00541552758475,0.0697907971968,0.999999937167,0.000129036806563,-0.000329697468413,1.77413556579e-05,1793251624032998144
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,671.260298124,643,898.260298124,788,828,656,633,657.260298124,0.448105248119,-0.00541599743147,0.0698047099506,0.999999945362,0.000127247726843,-0.000304495285831,1.91614704711e-05,1793251624049664768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724,694,671.853158354,643,898.853158354,788,828,656,633,657.853158354,0.44734761127,-0.00541969018104,0.0698063255224,0.999999947064,0.000116245329317,-0.000303185215847,2.09441965947e-05,1793251624066330880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,672,643,898.564959554,788,828,656,633,657.564959554,0.446543148394,-0.00542433453121,0.0697718208451,0.999999929979,0.000117090280663,-0.000354892283663,1.95686584748e-05,1793251624082997504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747.01321257,724.01321257,694,671.98678743,643,898,788,827.98678743,656,633,657,0.44572412808,-0.0054291727898,0.0697266007669,0.999999903403,0.000121496914955,-0.000422062514529,1.72182156779e-05,1793251624099664128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747.587325178,724.587325178,694,671.412674822,643,898,788,827.412674822,656,633,657,0.44494157121,-0.00542894293741,0.0697313204061,0.99999991174,0.000111521192797,-0.000404687950585,1.76221922143e-05,1793251624116330752
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.165702729,747.834297271,725,694,671,643,897.834297271,788.165702729,827,656,633,657,0.44415528256,-0.0054273747206,0.0697449161794,0.999999923162,0.000109870831835,-0.000375819630395,1.9082303356e-05,1793251624132997376
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.754982487,747.245017513,725,694,671,643,897.245017513,788.754982487,827,656,633,657,0.443359454607,-0.00542238531435,0.0697812015395,0.999999940919,0.000129502147221,-0.000317570435792,2.32421548964e-05,1793251624149664256
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.661620778,747,724.661620778,694,671,643,897,788.661620778,827,656,633,657,0.442513128142,-0.00541872309739,0.0698058089429,0.999999949644,0.000133964915442,-0.00028652133059,2.58923305892e-05,1793251624166331136
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.082411119,747,724.082411119,694,671,643,897,788.082411119,827,656,633,657,0.441630861035,-0.00541600546458,0.0698221049379,0.999999953712,0.0001276319616,-0.000274831009828,2.74680433283e-05,1793251624182997760
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,671,643,896.50568656,788,827,656,633,657,0.440766728071,-0.0054197860247,0.0698324301909,0.999999960993,0.000126437789321,-0.000247447838494,2.82169976577e-05,1793251624199664128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724,694.070404333,671,643,896,788.070404333,826.929595667,656.070404333,632.929595667,657,0.439890113503,-0.00542370500296,0.0698339085882,0.999999964476,0.000126212345775,-0.000233022004237,2.86106154407e-05,1793251624216330496
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,724,694.644909513,671,643,896,788.644909513,826.355090487,656.644909513,632.355090487,657,0.438902591285,-0.00542089686211,0.0697791344869,0.999999937128,0.000126819513585,-0.000330010909345,2.74419727615e-05,1793251624232997120
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,724,694.774565237,671,643,895.774565237,789,826,656.774565237,632.225434763,657,0.43793106304,-0.00541819184104,0.0697265378916,0.999999905298,0.000129674903635,-0.000414658749426,2.54465828394e-05,1793251624249663744
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,724,694.184297291,671,643,895.184297291,789,826,656.184297291,632.815702709,657,0.436985418548,-0.00541565370383,0.0696774652626,0.999999875604,0.00013616871374,-0.00047933439961,2.2113223537e-05,1793251624266330624
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,671,643,893.041877403,789.979061298,826,656,633,657,0.435132270993,-0.005419361428,0.0697578770103,0.999999928328,0.000124389311486,-0.000356586188674,2.67691900772e-05,1793251624299664896
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,694,671,643,894,789.541851014,824,656.458148986,632.541851014,657,0.429322163048,-0.00541194918585,0.0697289720597,0.999999897562,0.000144364064908,-0.000428030661362,2.87253424784e-05,1793251624399663872
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.21031357,746.21031357,724,691.78968643,670.21031357,643,888,789,820,657,633,657,0.401058888299,-0.00536735150862,0.0698082357215,0.999999931103,0.000210552595881,-0.000305434003974,1.31257838079e-05,1793251625299664128
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.37343479,746,724,691.62656521,670.37343479,643,888.37343479,789,820,656.62656521,633,656.62656521,0.401035092145,-0.00536757317246,0.0698116969907,0.999999932373,0.000211194173779,-0.000300758132601,1.39955468624e-05,1793251625316331008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.95503392,746,724,691.04496608,670.95503392,643,888.95503392,789,820,656.04496608,633,656.04496608,0.401013727705,-0.00536746314022,0.0698150291727,0.999999933276,0.000212834815174,-0.000296532916372,1.47224376851e-05,1793251625332998144
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,746.530217881,724,691,671,643,889,789.530217881,820,656.530217881,633,656.530217881,0.400998343702,-0.00536724296895,0.0698138153598,0.999999932923,0.000213317321213,-0.000297378728396,1.47012580725e-05,1793251625349664512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,888.894975897,789.894975897,820,657,633,657,0.40098514844,-0.00536724592985,0.0698127590318,0.99999993275,0.000213291628335,-0.000297977152991,1.473198576e-05,1793251625366330880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,888.319453919,789.319453919,820,657,633,657,0.400979513569,-0.00536828984597,0.0698141147167,0.999999933854,0.00021142399912,-0.000295563720102,1.52760672025e-05,1793251625382997504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,746.736306362,724,691,671,643,888,789,820.263693638,657,633,657,0.400975701834,-0.00536839448192,0.0698156657836,0.999999934605,0.000211602720295,-0.000292874182127,1.54758346819e-05,1793251625399663872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,746.143645546,724,691,671,643,888,789,820.856354454,657,633,657,0.400974164524,-0.00536732733265,0.0698174605969,0.999999934911,0.000214334335997,-0.000289840192929,1.5246058339e-05,1793251625416330496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,746.436725902,724,691,670.563274098,643,888,789,820.563274098,656.563274098,632.563274098,657,0.400973262268,-0.00536759301672,0.0698194569461,0.999999935459,0.000214780222241,-0.000287597936196,1.54302924636e-05,1793251625432997120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.986832885,746.986832885,724,691,670,643,888,789,820,656,632.013167115,657,0.400972575925,-0.00536827619224,0.0698214704319,0.999999936085,0.000214469638148,-0.000285631230256,1.57301921768e-05,1793251625449664000
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.410335194,746.410335194,724,691,670,643,888,789,820,656,632.589664806,657,0.400972435159,-0.00536857866559,0.0698214586879,0.999999936678,0.00021307932757,-0.000284617118816,1.53121279093e-05,1793251625466330880
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.757665518,746,724,691,670,643,888.757665518,789,820,656.757665518,633,657,0.400972164284,-0.00536727479587,0.0698228113596,0.999999936613,0.000215628779707,-0.00028292149438,1.52987654995e-05,1793251625499664128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,746.340674661,724,691,670.340674661,643,889,789.340674661,820,656.659325339,633,657,0.400972040939,-0.00536775387137,0.0698233602326,0.999999936877,0.000214805433772,-0.000282610884253,1.5332775537e-05,1793251625516330752
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,746.92008421,724,691,670.92008421,643,889,789.92008421,820,656.07991579,633,657,0.400971924005,-0.00536939506384,0.0698235533652,0.999999937587,0.000211479943094,-0.000282612340263,1.52360171955e-05,1793251625532997376
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.503575471,746.503575471,724.496424529,691,671,643,889.496424529,789.503575471,820,656.496424529,633,657,0.400972267651,-0.00536969480793,0.0698242238993,0.999999938082,0.000211369566534,-0.00028092533695,1.54729385522e-05,1793251625549664000
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.072103835,746,724.927896165,691,671,643,890,789,820,657,633,657,0.4009727116,-0.00536964198174,0.0698249375506,0.999999938474,0.000211905384126,-0.000279110002861,1.56804405941e-05,1793251625566330624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.646598678,746,724.353401322,691,671,643,890,789,820,657,633,657,0.400973340982,-0.00536862799429,0.0698254194313,0.999999938401,0.000213359507835,-0.000278282758698,1.53109835819e-05,1793251625582997504
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,746.227514895,724,691,671,643,889.772485105,789.227514895,820,656.772485105,633,657,0.400974370908,-0.00536814474343,0.0698261394078,0.999999938773,0.000213526022039,-0.000276826780676,1.50557496138e-05,1793251625599664384
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,746.818695287,724,691,671,643,889.181304713,789.818695287,820,656.181304713,633,657,0.400976041073,-0.00536850983507,0.0698272399628,0.999999939855,0.00021163438923,-0.000274365818598,1.49830925583e-05,1793251625616331264
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,789.599389361,820,656.400610639,633,657,0.400974988214,-0.00536841120851,0.0698269859031,0.99999993917,0.000213366639383,-0.000275508918474,1.51311011781e-05,1793251625632997888
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,789.021572348,820,656.978427652,633,657,0.400972730849,-0.00536810746052,0.0698261326422,0.999999937691,0.000216701880414,-0.000278246241624,1.53767192017e-05,1793251625649664256
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.447010201,643,888.447010201,789,820,657,633,657,0.400973271025,-0.00536821881374,0.0698267965629,0.999999938423,0.000215030399805,-0.000276918334454,1.52047651978e-05,1793251625666330880
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.130719971,643,888,789,819.869280029,656.869280029,633,657,0.400973944745,-0.00536847532874,0.0698273145027,0.99999993904,0.000213667889876,-0.000275749654382,1.51101956204e-05,1793251625682997504
+412,6.866666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.720006376,643,888,789,819.279993624,656.279993624,633,657,0.400974706334,-0.00536918459845,0.0698271139314,0.999999938966,0.000214070405067,-0.000275692610095,1.53439008848e-05,1793251625699664384
+413,6.883333333,POSE2_TO_POSE3_RETREAT,769.69618438,746.69618438,724,691,670.69618438,643,888.30381562,789.30381562,819.30381562,656.30381562,633,657,0.400974238126,-0.00537029307909,0.0698269165998,0.999999939043,0.00021338107117,-0.000275928688488,1.56521028296e-05,1793251625716331264
+414,6.900000000,POSE2_TO_POSE3_RETREAT,769.11733348,746.11733348,724,691,670.11733348,643,888.88266652,789.88266652,819.88266652,656.88266652,633,657,0.40097265662,-0.00537176295353,0.0698267222009,0.999999939256,0.000211703318616,-0.000276430122161,1.60277443997e-05,1793251625732997888
+415,6.916666667,POSE2_TO_POSE3_RETREAT,769.460040678,746.460040678,724,691,670.460040678,643,889,789.539959322,820,657,633,657,0.400971814687,-0.00537002679263,0.0698261835647,0.999999938606,0.000213375448712,-0.000277528132486,1.54161979431e-05,1793251625749664512
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4f85f9964c08373bad609dbadddefd7df2f7a65
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,417 @@
+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,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+1,0.016666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+2,0.033333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+3,0.050000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+4,0.066666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+5,0.083333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+6,0.100000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+7,0.116666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+8,0.133333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+11,0.183333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+12,0.200000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+14,0.233333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+15,0.250000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+16,0.266666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+17,0.283333333,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+18,0.300000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
+19,0.316666667,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+21,0.350000000,pose1_baseline,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481795,1.05963223666
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+396,6.600000000,pose2_to_pose3_retreat,0.585753505932,5.07197822571e-06,1.06002085658,0.556324850405,0.00867748440351,1.05963224305
+397,6.616666667,pose2_to_pose3_retreat,0.585753057506,5.06588538243e-06,1.06002083833,0.55632440221,0.00867747911745,1.05963222535
+398,6.633333333,pose2_to_pose3_retreat,0.585752835878,5.09151436296e-06,1.06002086565,0.55632418045,0.00867750421229,1.05963225072
+399,6.650000000,pose2_to_pose3_retreat,0.585752700554,5.10716319367e-06,1.06002088233,0.556324045046,0.00867751953498,1.05963226621
+400,6.666666667,pose2_to_pose3_retreat,0.585752628321,5.1155162138e-06,1.06002089124,0.55632397277,0.00867752771391,1.05963227447
+401,6.683333333,pose2_to_pose3_retreat,0.585752609761,5.11766248588e-06,1.06002089353,0.556323954199,0.00867752981545,1.0596322766
+402,6.700000000,pose2_to_pose3_retreat,0.585752563798,5.12297758055e-06,1.06002089919,0.556323908209,0.00867753501977,1.05963228186
+403,6.716666667,pose2_to_pose3_retreat,0.585752433419,5.13805455637e-06,1.06002091526,0.556323777752,0.00867754978252,1.05963229678
+404,6.733333333,pose2_to_pose3_retreat,0.585752175257,5.16790833898e-06,1.06002094709,0.556323519437,0.00867757901411,1.05963232633
+405,6.750000000,pose2_to_pose3_retreat,0.585751719083,5.22066013655e-06,1.06002100332,0.556323062991,0.00867763066649,1.05963237855
+406,6.766666667,pose2_to_pose3_retreat,0.585751461264,5.22479730053e-06,1.06002103911,0.556322805336,0.00867763533407,1.05963241382
+407,6.783333333,pose2_to_pose3_retreat,0.585751459804,5.22456976855e-06,1.06002103935,0.55632280388,0.00867763512079,1.05963241407
+408,6.800000000,pose2_to_pose3_retreat,0.5857514545,5.2237428448e-06,1.06002104023,0.556322798591,0.00867763434569,1.059632415
+409,6.816666667,pose2_to_pose3_retreat,0.585751422187,5.21870540317e-06,1.06002104558,0.556322766366,0.00867762962395,1.05963242067
+410,6.833333333,pose2_to_pose3_retreat,0.585751320982,5.20292817754e-06,1.06002106234,0.556322665441,0.0086776148355,1.05963243842
+411,6.850000000,pose2_to_pose3_retreat,0.585751264108,5.19406179422e-06,1.06002107176,0.556322608723,0.00867760652477,1.05963244839
+412,6.866666667,pose2_to_pose3_retreat,0.58575125848,5.19318437348e-06,1.0600210727,0.55632260311,0.00867760570234,1.05963244938
+413,6.883333333,pose2_to_pose3_retreat,0.585751148056,5.17596979204e-06,1.06002109099,0.55632249299,0.00867758956661,1.05963246874
+414,6.900000000,pose2_to_pose3_retreat,0.585751012217,5.13475212315e-06,1.06002104431,0.556322357841,0.00867755072357,1.05963242283
+415,6.916666667,pose2_to_pose3_retreat,0.585750927597,5.11186635566e-06,1.06002085353,0.55632227227,0.00867752481794,1.05963223666
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd60d7cebeac592fbb6077a734aa44d129f2b6ba
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742414d6b2e2e85a3d53c4f5194abb44e5ac69b916f5c12e98451b6a7d463c85
+size 26192139
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7e145e4461956ee4179b60d23360f7f34481bfe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
+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,770,747,725,692,671,643,890,790,820,656,633,657,0.401032690682,-0.00550452451245,0.0798609919465,0.999999979214,0.000127560452327,-0.000151167188224,4.94888770128e-05,1793251627029223936
+1,0.016666667,BASELINE,770,747,725,692,671,643,890,790,820,656.588046114,633,657,0.401033241024,-0.00550473803244,0.079861620863,0.999999979316,0.000126945490786,-0.000150931161319,4.97348695276e-05,1793251627045890560
+2,0.033333333,BASELINE,770,747,725,692,670.82582067,643,889.82582067,790,820,657,633,657,0.401033229326,-0.00550477909039,0.0798619340051,0.999999979383,0.000126464832407,-0.000150860207782,4.98223431797e-05,1793251627062557184
+3,0.050000000,BASELINE,770,747,725,692,670.244162414,643,889.244162414,790,820,657,633,657,0.40103190278,-0.00550441668692,0.0798615084178,0.99999997937,0.000126298365653,-0.000151175430443,4.95389743925e-05,1793251627079223808
+4,0.066666667,BASELINE,770,747,725,692,670.333965163,643,889.333965163,790,820.333965163,657,633,657,0.40103189858,-0.00550394061333,0.0798614713116,0.999999979305,0.00012655002616,-0.000151412903325,4.94800296286e-05,1793251627095890432
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+6,0.100000000,BASELINE,770,747,725,692,670.516124478,643,890,790,820.516124478,657,633,657.483875522,0.401032638238,-0.00550315348935,0.0798615651761,0.999999979206,0.000127570650251,-0.000151196073964,4.95360353649e-05,1793251627129223936
+7,0.116666667,BASELINE,769.940415961,747,725,692,670,643,890,790,820,657,633,657.940415961,0.401032032028,-0.00550320361643,0.0798612723473,0.999999979186,0.000127948399002,-0.000151013178721,4.95198242826e-05,1793251627145890304
+8,0.133333333,BASELINE,769.350447906,747,725,692,670,643,890,790,820,657,633,657.350447906,0.401029858074,-0.00550518980784,0.0798603628552,0.999999978784,0.000127681970234,-0.000153707052924,5.00316817681e-05,1793251627162556928
+9,0.150000000,BASELINE,769.235251057,747,725,692,670,643,890,790,820,657,633,657.235251057,0.40102875354,-0.00550584702228,0.0798601674324,0.9999999786,0.000127553636416,-0.000154979206753,5.01244767706e-05,1793251627179223552
+10,0.166666667,BASELINE,769.814703756,747,725,692,670,643,890,790,820,657,633,657.814703756,0.401029213701,-0.00550455977749,0.0798610167819,0.999999978741,0.000127627352762,-0.000154171206106,4.96041310449e-05,1793251627195890176
+11,0.183333333,BASELINE,770,747,725,692,670.390850073,643,890,790,820.390850073,657,633,657.609149927,0.401030260342,-0.00550327913373,0.0798617221302,0.999999978835,0.000128080010678,-0.000153254364179,4.93858853891e-05,1793251627212557056
+12,0.200000000,BASELINE,770,747,725,692,670.965442084,643,890,790,820.965442084,657,633,657.034557916,0.401031582692,-0.00550200159307,0.0798623597825,0.999999978905,0.000128710812249,-0.000152286354973,4.93096594954e-05,1793251627229223680
+13,0.216666667,BASELINE,769.448336173,747,725,692,671,643,890,790.551663827,820.448336173,657,633,657,0.401033004195,-0.005502761668,0.0798627806399,0.999999979298,0.000128260404701,-0.000150059222985,4.93490132296e-05,1793251627245890304
+14,0.233333333,BASELINE,769,747,725,692,670.862406905,643,890,791,820,656.862406905,633,657.137593095,0.401033781294,-0.00550354618845,0.079863006077,0.999999979532,0.000128103966989,-0.000148609955441,4.94032268159e-05,1793251627262556928
+15,0.250000000,BASELINE,769,747,725,692,670.279830188,643,890,791,820,656.279830188,633,657.720169812,0.401032453836,-0.00550398807461,0.0798626443811,0.999999979199,0.000129122004255,-0.000149936924089,4.9481578329e-05,1793251627279223552
+16,0.266666667,BASELINE,769.300847999,747,725,691.699152001,670,643,890,790.699152001,820,656.300847999,633,657.699152001,0.40103199976,-0.00550338711799,0.0798624123819,0.999999979102,0.000129257927142,-0.000150485702045,4.94120597991e-05,1793251627295890176
+17,0.283333333,BASELINE,769.879771329,747,725,691.120228671,670,643,890,790.120228671,820,656.879771329,633,657.120228671,0.401032352955,-0.00550182225648,0.079862300262,0.999999979226,0.000128578507178,-0.000150315194318,4.92058642339e-05,1793251627312556800
+18,0.300000000,BASELINE,770,747,725,691.453217636,670.453217636,643,890,790,820.453217636,656.546782364,633,657,0.401032289671,-0.00550116799204,0.0798620159254,0.999999978948,0.000129846023277,-0.000151071925819,4.9202601769e-05,1793251627329223680
+19,0.316666667,BASELINE,770,747,725,691.974136831,671,643,890,790,820.974136831,656,633,657,0.401032124987,-0.00550084728537,0.0798617260738,0.999999978595,0.00013144652272,-0.000152002409237,4.92589757579e-05,1793251627345890304
+20,0.333333333,BASELINE,770,747,725,691.387732666,671,643,890,790,820.387732666,656,633,657,0.40103212856,-0.00550258296033,0.0798622950209,0.999999978965,0.00012920371327,-0.000151431208842,4.94550465976e-05,1793251627362556928
+21,0.350000000,BASELINE,770,747,725,691.197236167,671,643,890,790,820,656.197236167,633,657,0.401032706911,-0.00550295275593,0.079863179991,0.999999979178,0.000128781524258,-0.000150368705353,4.94871606951e-05,1793251627379223296
+22,0.366666667,BASELINE,770,747,725,691.779403698,671,643,890,790,820,656.779403698,633,657,0.401034407015,-0.00550065686471,0.07986468172,0.999999979086,0.000131912506924,-0.000148347361705,4.9199292418e-05,1793251627395889920
+23,0.383333333,BASELINE,770,747,725,692,670.643193809,643,889.643193809,790,820,656.643193809,633,657,0.401033960407,-0.00550040847213,0.0798645253279,0.999999978871,0.000132510257534,-0.000149250409111,4.92341625755e-05,1793251627412556800
+24,0.400000000,BASELINE,770,747,725,692,670.068698432,643,889.068698432,790,820,656.068698432,633,657,0.401032204079,-0.00550140926815,0.0798633573081,0.99999997858,0.000131562471299,-0.000151937641468,4.94659369876e-05,1793251627429223424
+25,0.416666667,BASELINE,770,747,725,692,670.505996843,643,890.011993687,789.494003157,820,656.505996843,633,657,0.401031080906,-0.00550064160653,0.0798622172756,0.99999997825,0.000132985005765,-0.000152903410572,4.93496691713e-05,1793251627445890048
+26,0.433333333,BASELINE,769.916800796,747,725,692.083199204,671,643,890.916800796,789.083199204,820.083199204,657,633,657,0.401030333273,-0.0054999169359,0.0798613975936,0.999999978029,0.000134190848687,-0.000153338356589,4.92091910041e-05,1793251627462556672
+27,0.450000000,BASELINE,769.324420943,747,725,692.675579057,671,643,890.324420943,789.675579057,820.675579057,657,633,657,0.401031357657,-0.00550092537278,0.0798625151978,0.999999978519,0.000132100244793,-0.000151955594829,4.92098495369e-05,1793251627479223296
+28,0.466666667,BASELINE,769.260430384,747,725,692.739569616,670.739569616,643,890,790,820.739569616,657,633,657.260430384,0.401031231468,-0.00550139007673,0.0798626436082,0.999999978619,0.000131335645212,-0.000151957168554,4.92105890917e-05,1793251627495890176
+29,0.483333333,BASELINE,769.836166803,747,725,692.163833197,670.163833197,643,890,790,820.163833197,657,633,657.836166803,0.401029712268,-0.00550119647697,0.0798615743902,0.999999978252,0.000132176454296,-0.000153634773119,4.9211426741e-05,1793251627512557312
+30,0.500000000,BASELINE,770,747.411854941,725,692,670,643,890,789.588145059,820,657,633,657.588145059,0.401029963118,-0.00550125442604,0.0798619306211,0.999999978087,0.000133867278669,-0.000153228758729,4.92658118602e-05,1793251627529224192
+31,0.516666667,BASELINE,770,747.987523862,725,692,670,643,890,789.012476138,820,657,633,657.012476138,0.401030918002,-0.00550141242785,0.0798628538197,0.999999977998,0.000135896193872,-0.000151993991552,4.93414953132e-05,1793251627545890816
+32,0.533333333,BASELINE,770,747.423127102,725,692,670.576872898,643,890,789.576872898,820,657,633,657,0.401032276269,-0.00550320568107,0.0798635557268,0.999999978894,0.000130642015709,-0.000150675115825,4.94187525662e-05,1793251627562557440
+33,0.550000000,BASELINE,769.836607719,746.836607719,725,691.836607719,671,643,890,790,820,657,633,657,0.401032543714,-0.00550385715366,0.079863700869,0.999999979316,0.000127771732062,-0.000150331432073,4.94300028355e-05,1793251627579224064
+34,0.566666667,BASELINE,769.258048382,746.258048382,725,691.258048382,671,643,890,790,820,657,633,657,0.401030016761,-0.00550151540561,0.0798624437706,0.999999978534,0.000131368688948,-0.000152470369643,4.92734459082e-05,1793251627595890944
+35,0.583333333,BASELINE,769,746.318855058,725,691.318855058,670.681144942,643,890,790,820,657,633,657.318855058,0.401029937251,-0.0055007292221,0.0798627416692,0.999999978433,0.000132435266766,-0.000152213140641,4.92550072443e-05,1793251627612557312
+36,0.600000000,BASELINE,769,746.894425373,725,691.894425373,670.105574627,643,890,790,820,657,633,657.894425373,0.401031828217,-0.00550119544796,0.0798642915202,0.999999978887,0.000131464596719,-0.00015002672022,4.93477697649e-05,1793251627629223936
+37,0.616666667,BASELINE,769,747,725,692,670,643,890,790,820,657,632.520617911,657.520617911,0.40103246229,-0.00550160986055,0.07986453608,0.999999978894,0.000131924008105,-0.000149565285366,4.93692475963e-05,1793251627645890560
+38,0.633333333,BASELINE,769,747,725,692,670,643,890,790,820,656.934485206,632.065514794,657,0.401032761103,-0.00550183337883,0.0798644456478,0.999999978769,0.000132873391285,-0.000149560070682,4.93768483148e-05,1793251627662557184
+39,0.650000000,BASELINE,769,747,725,692,670,643,890,790,820,656.355658148,632.644341852,657,0.401032645246,-0.00550065241956,0.0798640278196,0.999999978384,0.000135144816728,-0.000150093426237,4.94011807276e-05,1793251627679223808
+40,0.666666667,BASELINE,769.222449094,747,725,692,670.222449094,643,890,790,820,656,633,657,0.401032797775,-0.00549954151728,0.0798639591391,0.999999978294,0.000135758582311,-0.000150175564712,4.92831165944e-05,1793251627695890432
+41,0.683333333,BASELINE,769.799409154,747,725,692,670.799409154,643,890,790,820,656,633,657,0.401033378022,-0.00549854226298,0.0798644468858,0.99999997868,0.00013373058112,-0.000149538610987,4.89381190264e-05,1793251627712557056
+42,0.700000000,BASELINE,769.623561178,747,725,692,671,643,890,790,820,656,633,657,0.401032741349,-0.00549968918006,0.0798640536932,0.99999997876,0.000132576797452,-0.000150014301517,4.89897645379e-05,1793251627729223680
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+44,0.733333333,BASELINE,769.539864019,746.460135981,725,691.460135981,671,643,890,790,820,656.539864019,633,657,0.401030721154,-0.00550092912595,0.0798627930361,0.99999997855,0.000132009915553,-0.000151901511111,4.89764278853e-05,1793251627762556928
+45,0.750000000,BASELINE,770,746.126022567,725,691.126022567,670.873977433,643,890,790,820,656.873977433,633,657.126022567,0.401030742686,-0.00550007631114,0.0798629255871,0.999999978534,0.000132274398394,-0.000151826356849,4.88217269168e-05,1793251627779223808
+46,0.766666667,BASELINE,770,746.708507703,725,691.708507703,670.291492297,643,890,790,820,656.291492297,633,657.708507703,0.401033329575,-0.0055010012388,0.0798648321619,0.999999978928,0.000132801944611,-0.000148593652601,4.92789638675e-05,1793251627795890432
+47,0.783333333,BASELINE,770,747,725,692,670,643,889.713331889,789.713331889,820,656,633,657.713331889,0.401034071271,-0.00550180487795,0.0798653839489,0.999999979132,0.000132115242257,-0.000147740096558,4.95456555959e-05,1793251627812557056
+48,0.800000000,BASELINE,770,747,725,692,670,643,889.139503562,789.139503562,820,656,633,657.139503562,0.401032964608,-0.00550248702049,0.0798645786227,0.999999979151,0.000130212206977,-0.000149269772454,4.96214750608e-05,1793251627829223936
+49,0.816666667,BASELINE,769.56788644,747,725,692,670,643,889.86422712,789,820,656.43211356,633,657,0.401031582476,-0.00550106400887,0.0798635859539,0.999999978577,0.000132869706834,-0.000150890851379,4.92384324739e-05,1793251627845890560
+50,0.833333333,BASELINE,769.003138837,747,725,692,670,643,890.996861163,789.003138837,820,656.996861163,633,657,0.401030135786,-0.00549898395541,0.079862549995,0.999999977805,0.000136953943382,-0.000152514863791,4.87130013196e-05,1793251627862557184
+51,0.850000000,BASELINE,769.596429046,747,725,692,670,643,890.403570954,789.596429046,820,656.403570954,633,657,0.401033186524,-0.00550049990219,0.0798646884438,0.999999978706,0.000133876532305,-0.000149170605439,4.91269452379e-05,1793251627879223808
+52,0.866666667,BASELINE,769.813970954,747,725,692,670,643,890,790,820,656.186029046,633,657,0.401034938694,-0.00550135886543,0.0798657499061,0.999999979228,0.000131955038505,-0.000147318503322,4.92921130282e-05,1793251627895890432
+53,0.883333333,BASELINE,769.232220801,747,725,692,670,643,890,790,820,656.767779199,633,657,0.40103392855,-0.00550082029282,0.079864520402,0.999999978979,0.000132492412869,-0.000148640517112,4.89280840569e-05,1793251627912556800
+54,0.900000000,BASELINE,769,747,725,691.655093552,670,643,889.310187103,790,820,657,633.344906448,657,0.40103262801,-0.00550014950962,0.0798638651629,0.999999978604,0.000133457473809,-0.000150318915711,4.88361431375e-05,1793251627929223424
+55,0.916666667,BASELINE,769,747,725,691.081037695,670,643,888.162075391,790,820,657,633.918962305,657,0.401031134537,-0.00549939088821,0.0798635914549,0.999999978143,0.000134706681706,-0.000152234089674,4.89249724566e-05,1793251627945890304
+56,0.933333333,BASELINE,769,747,725,691,670,643,888.988390017,790,820,657,633.011609983,657,0.401030856415,-0.00550036786673,0.0798627311121,0.999999978098,0.000134518309095,-0.000152693156687,4.89277590927e-05,1793251627962556928
+57,0.950000000,BASELINE,769.071633069,747,724.928366931,691.071633069,670,643,890,790,820,656.928366931,632.071633069,657,0.401030909841,-0.00550172908447,0.0798619825949,0.999999978163,0.000133925889963,-0.000152769917111,4.89905321366e-05,1793251627979223552
+58,0.966666667,BASELINE,769.663687614,747,724.336312386,691.663687614,670,643,890,790,820,656.336312386,632.663687614,657,0.401031920673,-0.00550380923865,0.0798627470441,0.99999997852,0.000132114746483,-0.000151808019336,4.95918620064e-05,1793251627995890176
+59,0.983333333,BASELINE,769.750095069,747,724.249904931,692,670.249904931,643,890,790,820,656,633,657,0.401032616451,-0.00550358907298,0.0798635282061,0.999999978641,0.000132420353238,-0.000150722887702,4.96615371468e-05,1793251628012556800
+60,1.000000000,BASELINE,769.171553887,747,724.828446113,692,670.828446113,643,890,790,820,656,633,657,0.401032897918,-0.00550034388331,0.0798643313462,0.999999978445,0.00013550958172,-0.000149475697857,4.90320624351e-05,1793251628029223424
+61,1.016666667,BASELINE,769,747,725,692,671,643,889.598197074,790,820.401802926,656.401802926,633,657,0.401031887538,-0.00549988506952,0.0798638638302,0.999999978446,0.000134567305179,-0.00015034748225,4.89480800341e-05,1793251628045890816
+62,1.033333333,BASELINE,769,747,725,692,671,643,889.027025618,790,820.972974382,656.972974382,633,657,0.401030332617,-0.00550060077298,0.0798628607054,0.999999978524,0.000131925662822,-0.000152112459698,4.90940343515e-05,1793251628062558720
+63,1.050000000,BASELINE,769,747,725,692.562858523,670.437141477,643,890.125717045,790,821,657,633,657,0.401031141473,-0.00550018552965,0.0798630315892,0.999999978333,0.000133653898857,-0.000151826435334,4.91818659883e-05,1793251628079224832
+64,1.066666667,BASELINE,769.150563761,747,725,692.849436239,670.150563761,643,890.849436239,790,821,656.849436239,633,657,0.401031779946,-0.00549960636568,0.0798632137362,0.999999978171,0.000135031636959,-0.000151666827177,4.92151557397e-05,1793251628095891200
+65,1.083333333,BASELINE,769.729427011,747,725,692.270572989,670.729427011,643,890.270572989,790,821,656.270572989,633,657,0.401031599781,-0.00549872068938,0.0798632620567,0.999999978134,0.000134794949009,-0.000152156597498,4.91015052342e-05,1793251628112557824
+66,1.100000000,BASELINE,769.693027396,747,725,691.693027396,670.693027396,643,890,790,820.693027396,656,633,657,0.40103159645,-0.00549916545863,0.0798636244129,0.999999978247,0.000134524109659,-0.000151658057751,4.90764673154e-05,1793251628129224448
+67,1.116666667,BASELINE,769.116638283,747,725,691.116638283,670.116638283,643,890,790,820.116638283,656,633,657,0.401031748317,-0.00550077790214,0.0798642623846,0.999999978491,0.000134223297121,-0.000150292121202,4.91292008173e-05,1793251628145891328
+68,1.133333333,BASELINE,769,747,725,691.458351219,670.458351219,643,890,790,820,656.458351219,633.458351219,657,0.401031509111,-0.00550080012469,0.0798644781742,0.999999978555,0.000133790448779,-0.000150227734902,4.92132398507e-05,1793251628162557952
+69,1.150000000,BASELINE,769.033887101,747,725,692,671,643,890,790,820,657,633.966112899,657,0.401031229497,-0.00550047331401,0.079864548217,0.999999978562,0.000133429712232,-0.000150471901197,4.92940474327e-05,1793251628179224320
+70,1.166666667,BASELINE,769.624224898,747,725,692,671,643,890,790,820,657,633.375775102,657,0.40103191554,-0.0055010398584,0.0798639837672,0.9999999784,0.000134803154591,-0.000150360570334,4.91913758116e-05,1793251628195890944
+71,1.183333333,BASELINE,769.789559064,747,725,692,671,643,890,790,820,657,633,657,0.401032032645,-0.00550138431454,0.0798636019249,0.999999978313,0.000135002192289,-0.000150787460175,4.91059473164e-05,1793251628212557568
+72,1.200000000,BASELINE,769.210561588,747,725,692,671,643,890,790,820,657,633,657,0.401031153341,-0.00550133981564,0.0798635398926,0.999999978357,0.000133144432111,-0.000152156964888,4.90507176187e-05,1793251628229224192
+73,1.216666667,BASELINE,769,747,725,692,670.634140776,643,890,790,820,657,633,657,0.401031406356,-0.00550153731877,0.0798636192755,0.999999978534,0.00013229139318,-0.000151762226392,4.89734299519e-05,1793251628245890816
+74,1.233333333,BASELINE,769,747,725,692,670.059192565,643,890,790,820,657,633,657,0.401032306494,-0.00550187312634,0.0798637794772,0.999999978788,0.000132012553762,-0.000150359220702,4.88835361324e-05,1793251628262557440
+75,1.250000000,BASELINE,769.514291053,747,725,691.485708947,670.514291053,643,890,790.514291053,820,656.485708947,633,657,0.401032354054,-0.0055008049194,0.0798637519806,0.99999997866,0.000132923925508,-0.000150351609019,4.90463976337e-05,1793251628279224320
+76,1.266666667,BASELINE,769.909431244,747,725,691.090568756,670.909431244,643,889.909431244,790.909431244,820,656,633,657,0.401032327829,-0.00549985539098,0.0798638543238,0.99999997855,0.000133562959883,-0.000150468721624,4.91988073595e-05,1793251628295890944
+77,1.283333333,BASELINE,769.316730651,747,725,691.683269349,670.316730651,643,889.316730651,790.316730651,820,656,633,657,0.401032435018,-0.00550045721637,0.0798647959586,0.999999978781,0.000131934767345,-0.000150389440921,4.91324418509e-05,1793251628312557312
+78,1.300000000,BASELINE,769.27039905,747,725,692,670,643,889,789.72960095,820.27039905,656,633,657,0.401031746565,-0.00550004989227,0.0798645676204,0.999999978565,0.000132669938508,-0.000151212724427,4.90145580291e-05,1793251628329223936
+79,1.316666667,BASELINE,769.851134998,747,725,692,670,643,889,789.148865002,820.851134998,656,633,657,0.401030144955,-0.00549848436758,0.0798629965043,0.999999977828,0.000136117541514,-0.000153071880578,4.88375466604e-05,1793251628345890560
+80,1.333333333,BASELINE,770,747,725,692,670.425634586,643,889,789.425634586,820.574365414,656,633,657,0.401030791242,-0.00549923190859,0.0798630843413,0.999999978073,0.00013508872047,-0.000152332392047,4.89985613377e-05,1793251628362557440
+81,1.350000000,BASELINE,770,747,725,692,670.997984561,643,889,789.997984561,820.002015439,656,633,657,0.401032212373,-0.00550077675857,0.079863744016,0.999999978651,0.000132516885311,-0.000150697156054,4.92760929006e-05,1793251628379224064
+82,1.366666667,BASELINE,769.429423809,747,725,692,671,643,889,790,820,656,633,657,0.40103182069,-0.00550070802494,0.0798636179394,0.999999978501,0.000132682362977,-0.000151651688094,4.8944435007e-05,1793251628395890688
+83,1.383333333,BASELINE,769,747,725,692,670.850324836,643,889.149675164,790,820,656.149675164,633,657,0.401031570119,-0.00550071930008,0.0798636272458,0.999999978433,0.000132813486218,-0.000152060594644,4.87121802034e-05,1793251628412557824
+84,1.400000000,BASELINE,769,747,725,692,670.251709985,643,889.748290015,790,820,656.748290015,633,657,0.401031762017,-0.00550098765853,0.0798640509515,0.999999978619,0.000132812552253,-0.000150805487954,4.87845346014e-05,1793251628429224448
+85,1.416666667,BASELINE,769,747,725,692,670.333845018,643,890,790,820,657,633,657,0.401032825941,-0.00550063768796,0.0798649060955,0.999999978821,0.000133190651489,-0.000149090186885,4.88852337522e-05,1793251628445891072
+86,1.433333333,BASELINE,769,747,725,692,670.909923919,643,890,790,820,657,633,657,0.401034522598,-0.00549983906535,0.0798660742857,0.999999979032,0.000133843772601,-0.000147040974447,4.90064995065e-05,1793251628462557184
+87,1.450000000,BASELINE,769,747,725,692,671,643,890,789.506154673,820,656.506154673,633,657,0.401031597554,-0.00549926431905,0.0798644609308,0.999999978497,0.000133633878989,-0.000150849052895,4.89178066228e-05,1793251628479223808
+88,1.466666667,BASELINE,769,747,725,691.921692472,671,643,889.921692472,789.078307528,820,656,633,657,0.401028403759,-0.00549898425638,0.0798625984016,0.999999977911,0.00013326767508,-0.000155027015999,4.88284592514e-05,1793251628495890432
+89,1.483333333,BASELINE,769,747,725,691.343061964,671,643,889.343061964,789.656938036,820,656,633,657,0.401028965784,-0.00550032187858,0.0798624376947,0.99999997801,0.000132924736962,-0.00015463216346,4.89835589942e-05,1793251628512557312
+90,1.500000000,BASELINE,769,747,725,691.23584881,671,643,889.23584881,790,820,656.23584881,633,657,0.40103015092,-0.00550117103936,0.0798628533505,0.999999978211,0.000133086141363,-0.00015316919451,4.90476542078e-05,1793251628529224192
+91,1.516666667,BASELINE,769,747,725,691.81516769,671,643,889.81516769,790,820,656.81516769,633,657,0.401032243501,-0.00550130884655,0.0798641083717,0.999999978552,0.000133982027175,-0.000150150712052,4.89792181815e-05,1793251628545890816
+92,1.533333333,BASELINE,769,747,725.391492758,692,671,643,889.608507242,790,820,656.608507242,633,657,0.401032925573,-0.00550102139424,0.0798646162553,0.999999978754,0.000133578182912,-0.000149190514621,4.88929961706e-05,1793251628562557184
+93,1.550000000,BASELINE,769,747,725.966415161,692,671,643,889.033584839,790,820,656.033584839,633,657,0.401032946767,-0.00550053469127,0.079864774076,0.999999978893,0.000132565364434,-0.000149194703832,4.87984407254e-05,1793251628579223808
+94,1.566666667,BASELINE,769,747,725.45034983,692,671,643,889,790,820.54965017,656.54965017,633,657,0.401032181454,-0.00550103425834,0.0798641073044,0.999999978714,0.000132895841021,-0.000150101167797,4.87982282773e-05,1793251628595890432
+95,1.583333333,BASELINE,769.132982566,747,725,692,671,643,889,790,820.867017434,656.867017434,633,657.132982566,0.401031502997,-0.00550110363901,0.0798636428487,0.999999978477,0.000133887123517,-0.000150790793082,4.88139681227e-05,1793251628612557056
+96,1.600000000,BASELINE,769.714902866,747,725,692,671,643,889,790,820.285097134,656.285097134,633,657.714902866,0.401031282487,-0.0054995141798,0.0798640340992,0.999999978111,0.000136827886019,-0.000150559414424,4.88638020336e-05,1793251628629224448
+97,1.616666667,BASELINE,769.705259911,747,725,692,670.705259911,643,889,790,820,656,633,657.705259911,0.401030768679,-0.00549917245219,0.0798640955039,0.999999978113,0.00013665728261,-0.000150696994443,4.88697040937e-05,1793251628645891328
+98,1.633333333,BASELINE,769.127423507,747,725,692,670.127423507,643,889,790,820,656,633,657.127423507,0.401029973161,-0.00550002916435,0.0798638400934,0.999999978468,0.000133498228327,-0.00015118895736,4.88334098379e-05,1793251628662557696
+99,1.650000000,BASELINE,769,747,725,692,670.44799782,643,889.44799782,790,820,656.44799782,632.55200218,657,0.401031218886,-0.00550044143157,0.0798642306897,0.999999978616,0.000133527182582,-0.000150120989107,4.90092940085e-05,1793251628679224320
+100,1.666666667,BASELINE,769,747,725.023253892,691.976746108,670.976746108,643,889.976746108,790,820,657,632.023253892,657,0.401033008568,-0.00550076914989,0.0798648012539,0.999999978712,0.000134386241935,-0.000148629901455,4.92396851173e-05,1793251628695890688
+101,1.683333333,BASELINE,769,747,725.611086138,691.388913862,670.388913862,643,889.388913862,790,820,657,632.611086138,657,0.401033984481,-0.00550209682399,0.079865304085,0.999999978982,0.000133502211085,-0.00014758047055,4.93360778393e-05,1793251628712557824
+102,1.700000000,BASELINE,769.197021354,747,725.802978646,691.197021354,670.197021354,643,889.197021354,790,820,657,633,657,0.401034353358,-0.00550239325523,0.0798656540126,0.999999979077,0.00013329991135,-0.000147129040721,4.92936844083e-05,1793251628729224448
+103,1.716666667,BASELINE,769.779247538,747,725.220752462,691.779247538,670.779247538,643,889.779247538,790,820,657,633,657,0.401033535394,-0.00550067345953,0.0798657049921,0.999999978835,0.000134430493216,-0.000147846788356,4.89799442558e-05,1793251628745890816
+104,1.733333333,BASELINE,770,747,725,692.356564795,670.643435205,643,890,789.643435205,820.356564795,657,633,657,0.401032491779,-0.00550031778507,0.0798649168283,0.99999997883,0.000133164754559,-0.000149146838874,4.86119619874e-05,1793251628762556928
+105,1.750000000,BASELINE,770,747,725,692.930884219,670.069115781,643,890,789.069115781,820.930884219,657,633,657,0.401031310359,-0.00550079518124,0.0798636161984,0.99999997896,0.000130435579642,-0.000150802502663,4.82108539507e-05,1793251628779223552
+106,1.766666667,BASELINE,769.493698643,747,725,691.987397286,670.506301357,643,889.493698643,789.506301357,820.493698643,656.493698643,633,657,0.401030476407,-0.0055008491652,0.0798633766309,0.999999978668,0.000131182013666,-0.000151988712002,4.85210972683e-05,1793251628795890176
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889,790,820,657,633,657,0.401031052951,-0.00549886826944,0.0798638534019,0.99999997831,0.000135702234632,-0.000150362179557,4.85380936754e-05,1793251628840741120
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,725,691.372727914,670.372727914,643,889.627272086,789.372727914,820,656.372727914,633,657,0.401032023432,-0.00550014195026,0.079865039012,0.999999978418,0.000135243084598,-0.000149915418469,4.89859250017e-05,1793251628857407744
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,691.233875149,670,643,889.766124851,789,820,656.233875149,633,657,0.401032107016,-0.00550094271309,0.0798653699988,0.999999978585,0.000134032747434,-0.000149836396895,4.91287380523e-05,1793251628874074368
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,691.810212739,670,643,889.189787261,789,820,656.810212739,633,657,0.401030891922,-0.00550105098421,0.0798644495646,0.999999978838,0.00013172244991,-0.000150295854748,4.88249141359e-05,1793251628890740992
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.394808807,747,725,692,670.394808807,643,889.394808807,789.394808807,820,657,633,657,0.401031013685,-0.00550089825659,0.079864771966,0.99999997877,0.000132406917319,-0.000150112454329,4.89309591668e-05,1793251628907407360
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.983459561,747,725,692,670.983459561,643,889.983459561,789.983459561,820,657,633,657,0.401031791814,-0.00550061738465,0.0798657045709,0.999999978542,0.000134561744843,-0.000149613425412,4.92382403426e-05,1793251628924073728
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.437172976,747,725,692,670.437172976,643,890,790,820.562827024,657,633,657,0.401030968885,-0.00550058415835,0.0798647039411,0.999999978304,0.000134168039964,-0.000151582990574,4.91261765754e-05,1793251628940740096
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670.141140124,642.858859876,890,790,820.858859876,656.858859876,633,657,0.401030169138,-0.00550036699861,0.0798638631607,0.999999977948,0.000134076383504,-0.000154049765524,4.89437932962e-05,1793251628957406720
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670.717032172,642.282967828,890,790,820.282967828,656.282967828,633,657,0.401029583381,-0.00549956121724,0.0798636869264,0.999999977233,0.000135142082075,-0.000157828247997,4.85821505894e-05,1793251628974073600
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.706687262,642.293312738,889.706687262,789.706687262,820,656.293312738,633,657,0.401034422319,-0.00550004930973,0.0798658725202,0.999999976993,0.000134518355161,-0.000159855384989,4.86267998303e-05,1793251628990740480
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670.130031416,642.869968584,889.130031416,789.130031416,820,656.869968584,633,657,0.401044501566,-0.00550178729769,0.0798703396642,0.999999977219,0.000132262625868,-0.000160190704095,4.90639312744e-05,1793251629007407360
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.455350428,746.544649572,725,691.544649572,670.455350428,643,889.455350428,789.455350428,820,656.544649572,633,657,0.401072313017,-0.00550138372903,0.0798785792203,0.999999977761,0.000134013241027,-0.000155255399256,4.91343843475e-05,1793251629024074240
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746.042777169,725,691,670.957222831,643,890,789.957222831,820,656.042777169,633,657,0.401107385986,-0.00550060716629,0.0798881886625,0.99999997854,0.000136502724033,-0.00014792092659,4.90610291892e-05,1793251629040740608
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.623965343,725,691,670.376034657,643,890,789.376034657,820,656.623965343,633,657,0.401168876741,-0.00550298355533,0.0799012162631,0.999999981485,0.000133610886303,-0.000129703438591,4.85213158298e-05,1793251629057406976
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.797050774,747,725,691.202949226,670,643,890,789,820.202949226,657,633,657,0.401236613246,-0.00550493488827,0.0799128414308,0.999999983882,0.000131488696461,-0.000112609773467,4.75933330752e-05,1793251629074073600
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.22210713,747,725,691.77789287,670,643,890,789,820.77789287,657,633,657,0.401315797866,-0.0055061071179,0.0799218960208,0.999999985632,0.000130777227086,-9.75760088617e-05,4.5953674473e-05,1793251629090739968
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,725,692.34983931,670,643,890,789.34983931,820.65016069,657,633,657,0.401405848401,-0.0055065935505,0.0799281407581,0.999999986798,0.00012967006079,-8.76794676497e-05,4.36211231467e-05,1793251629107406848
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,725,692.919899005,670,643,890,789.919899005,820.080100995,657,633,657,0.401502738917,-0.00550664828058,0.0799326167203,0.999999987651,0.000128313807247,-8.10167586591e-05,4.08524028049e-05,1793251629124073984
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,725,692.48657271,670,643,890,790,820,656.48657271,633,657,0.401623772997,-0.00550761938552,0.0799383950488,0.999999988468,0.000126506559269,-7.52904551983e-05,3.72966119267e-05,1793251629140740864
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670.106950284,643,890,790,820,656.106950284,633,657.106950284,0.40175379497,-0.00550904287959,0.0799445778264,0.999999989363,0.000124367868101,-6.84330757663e-05,3.35108563583e-05,1793251629157407232
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670.683599891,643,890,790,820,656.683599891,633,657.683599891,0.401905954793,-0.0055117952104,0.0799516017629,0.999999990675,0.000121097368093,-5.59359624191e-05,2.92802587543e-05,1793251629174073856
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746.740801875,725,692,671,643,890,790,820,657,633,657.740801875,0.402069061764,-0.005514160916,0.0799578696542,0.999999991913,0.000116238665193,-4.54538105098e-05,2.44130146389e-05,1793251629190740480
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746.166481896,725,692,671,643,890,790,820,657,633,657.166481896,0.402245477791,-0.00551605657923,0.0799632183779,0.999999993134,0.000109449094249,-3.74213623616e-05,1.87717635798e-05,1793251629207406592
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746.419059924,725,692,671,643,890,790,820,656.580940076,633,657,0.402438399303,-0.00551550036891,0.0799622814111,0.999999993518,0.000105440308327,-4.12073894296e-05,1.22083510893e-05,1793251629224073216
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.009012541,747,725,692,671,643,890,790,820,656.009012541,633,657,0.402638475674,-0.00551397359956,0.0799587356428,0.999999993493,0.000102431838516,-4.99452745952e-05,5.24625974139e-06,1793251629240740096
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.588205332,747,725,692,671,643,890,790,820,656.588205332,633,657,0.402864946746,-0.00551436441529,0.0799524729204,0.999999993637,9.08941821125e-05,-6.67486191278e-05,-3.12326525864e-06,1793251629257406720
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.83357081,747,725,692.16642919,671,643,890.16642919,790,820,656.83357081,633,657,0.403104933529,-0.00551434796499,0.0799473745206,0.999999994474,6.74067362919e-05,-7.98281781424e-05,-1.16816752292e-05,1793251629274073344
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.257730381,747,725,692.742269619,671,643,890.742269619,790,820,656.257730381,633,657,0.403378168638,-0.0055133296515,0.0799451403211,0.999999996173,1.45231340871e-05,-8.37473304222e-05,-2.07047387686e-05,1793251629290740480
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.316855301,747,725,693,670.683144699,643,890.683144699,790,820,656,633,657,0.403682113788,-0.00551276730296,0.0799485921699,0.99999999659,5.85844747447e-07,-7.87935016913e-05,-2.47147987254e-05,1793251629307407104
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.890424364,747,725,693,670.109575636,643,890.109575636,790,820,656,633,657,0.404010939966,-0.00551257437383,0.079956650812,0.999999997309,1.82025657345e-05,-6.66508509546e-05,-2.46633607082e-05,1793251629324073728
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.521502209,725,693,670.478497791,643,890,790,820,656.478497791,633,657,0.404370118434,-0.00551085771428,0.0799564992389,0.999999997092,2.83203648169e-05,-6.55442059048e-05,-2.68108033441e-05,1793251629340740096
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.931849196,746.068150804,725,693,670.931849196,643,890,790,820.068150804,657,633,657.068150804,0.404742094929,-0.00550914187356,0.0799546656198,0.99999999683,3.29388355844e-05,-6.62167116734e-05,-2.95121106911e-05,1793251629357406464
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.355947596,746.644052404,725,693,670.355947596,643,890,790,820.644052404,657,633,657.644052404,0.405156017944,-0.00551011309092,0.0799547457099,0.999999997581,9.77923368591e-06,-6.07270859391e-05,-3.24710681989e-05,1793251629374073088
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,725,693,670,643,890.220443818,790,820.779556182,657,633,657.779556182,0.405579864125,-0.00551094549189,0.0799525676219,0.999999997452,-2.56861202793e-06,-6.19112465593e-05,-3.54450812964e-05,1793251629390739968
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725,693,670,643,890.797627836,790,820.202372164,657,633,657.202372164,0.406019768746,-0.00551155324877,0.0799467351654,0.999999996527,2.58001181907e-06,-7.38954741564e-05,-3.84434583127e-05,1793251629407406592
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.381638236,747,725,693,670,643,890.618361764,790,820.381638236,656.618361764,633,657.381638236,0.406481922346,-0.00551317077327,0.0799402334883,0.999999995582,9.10380086479e-06,-8.58254304712e-05,-3.72380472441e-05,1793251629424073472
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.969334458,747,725,693,670,643,890.030665542,790,820.969334458,656.030665542,633,657.969334458,0.406956088881,-0.0055153335018,0.0799333704782,0.999999994521,1.63700835252e-05,-9.77260851827e-05,-3.37628845538e-05,1793251629440740608
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.44779409,746.44779409,725,693.55220591,670.55220591,643,890.55220591,790.55220591,820.44779409,656,633,658,0.407482556403,-0.00551528996502,0.079926853926,0.999999992885,7.71112698501e-06,-0.000112811713504,-3.79893010843e-05,1793251629457406976
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746.13307428,725,693.86692572,670.86692572,643,891,791,820,656,633.13307428,657.86692572,0.40801813187,-0.00551537970275,0.0799194079702,0.999999990829,7.49616351311e-07,-0.000128863890045,-4.16492622107e-05,1793251629474073600
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.708171576,725,693.291828424,670.291828424,643,891,791,820,656,633.708171576,657.291828424,0.408574396827,-0.00551631556954,0.0799088115272,0.99999998823,2.33849724922e-06,-0.000147544173482,-4.20193491006e-05,1793251629490739968
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,725,693.283321761,670.283321761,643,891,790.716678239,820.283321761,656,633.716678239,657.283321761,0.409179021057,-0.00551786141207,0.0799160066061,0.999999989776,3.05570934196e-06,-0.000136596343704,-4.21903264791e-05,1793251629507406592
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,725,693.8585264,670.8585264,643,891,790.1414736,820.8585264,656,633.1414736,657.8585264,0.409833465795,-0.00552003566188,0.0799415308127,0.999999994583,2.87491336869e-06,-9.51251285866e-05,-4.21561778015e-05,1793251629524073216
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.557462871,725,694,670.557462871,643,891.442537129,790,821,656.442537129,633,657.557462871,0.410512161937,-0.00552507774076,0.0799738832632,0.999999998224,-6.68157701317e-06,-4.22847048137e-05,-4.14589075921e-05,1793251629540739584
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.029217747,725.029217747,694,670,643,892,790,821.029217747,656.970782253,633,657,0.411199232657,-0.00553170515568,0.0800057674173,0.999999998935,-1.97741721539e-05,9.71172754249e-06,-4.05542137463e-05,1793251629557406464
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.612062173,725.612062173,694,670,643,892,790,821.612062173,656.387937827,633,657,0.411895101293,-0.00555064731548,0.0799865760471,0.999999998027,-4.19232607866e-05,-2.45516760408e-05,-3.98176334588e-05,1793251629574073600
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,725.807846953,694,670,643,892,790,822,656,633,657,0.412592345529,-0.00556346680276,0.0799610222557,0.999999995394,-5.92004442478e-05,-6.35833679037e-05,-4.08062385642e-05,1793251629590740480
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,725.233236756,694,670,643,892,790,822,656,633,657,0.413292327642,-0.00556409985669,0.0799228048452,0.999999990464,-6.67806934768e-05,-0.000112105750536,-4.5228614411e-05,1793251629607406848
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725,694.340742451,670,643,892.340742451,790,822,656.340742451,633.340742451,657.340742451,0.414040198805,-0.00556073125026,0.0799128155553,0.999999989629,-6.52423684273e-05,-0.000119344909576,-4.73549701299e-05,1793251629624073728
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725,694.914290606,670,643,892.914290606,790,822,656.914290606,633.914290606,657.914290606,0.414820789306,-0.00555462858668,0.0799221125802,0.999999992361,-5.74739543104e-05,-9.83781078624e-05,-4.79126148918e-05,1793251629640740096
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643,893.504262078,789.495737922,822.504262078,656.495737922,633.495737922,658,0.415618316247,-0.00555168500296,0.0799417157223,0.999999994752,-5.7619994714e-05,-6.95798077569e-05,-4.83224945912e-05,1793251629657406720
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643,894,789.094628067,823,656,633,657.905371933,0.416422546816,-0.00554960776526,0.0799569023754,0.999999995872,-5.85575961583e-05,-4.95085204894e-05,-4.8749241404e-05,1793251629674073088
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,695,670,643,894,789.672279474,823,656,633,657.327720526,0.417245807192,-0.00554911964509,0.0799403027064,0.999999993906,-5.64379154716e-05,-8.10071034688e-05,-4.93946028155e-05,1793251629690739712
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.751641195,747,725,695,670,643,894.248358805,789.751641195,823.248358805,656,633,657.248358805,0.418110646499,-0.00554954033875,0.0799461177024,0.999999994863,-5.7681579519e-05,-6.69715867571e-05,-4.96160062788e-05,1793251629707406592
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.177623274,747,725,695,670,643,894.822376726,789.177623274,823.822376726,656,633,657.822376726,0.419030005902,-0.00555115270955,0.0799813238053,0.999999996757,-6.33354107872e-05,6.77026950341e-06,-4.92814970347e-05,1793251629724073728
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.406710511,747,725,695,670,643,895,789.406710511,824,656,633,658,0.419899732551,-0.00555238015302,0.0799866564405,0.999999996347,-6.63259352982e-05,1.96980732697e-05,-5.01966089732e-05,1793251629740740864
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.99566679,747,725,695,670,643,895,789.99566679,824,656,633,658,0.420747218887,-0.00555343511164,0.079978602863,0.99999999633,-6.81230399349e-05,5.37527953088e-06,-5.16716725166e-05,1793251629757407488
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,695.574972022,670,643,895.574972022,790,824.574972022,656,633,658,0.421649911212,-0.00555403524525,0.079969401352,0.999999996035,-7.03416802517e-05,-1.20640153794e-05,-5.32654793773e-05,1793251629774073856
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747.153635769,725,696,670,643,896.153635769,790,825.153635769,656,633.153635769,657.846364231,0.422570115101,-0.00555456278805,0.0799696829552,0.999999995882,-7.16325473366e-05,-1.48008865898e-05,-5.3715787815e-05,1793251629790739968
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747.730728494,725,696,670,643,896.730728494,790,825.730728494,656,633.730728494,657.269271506,0.423537457091,-0.00555489954481,0.0799961257443,0.999999995958,-7.03576372985e-05,2.30493117977e-05,-5.10119147684e-05,1793251629807406592
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,748,725,696,670,643,897,790,826,656,633.693817938,657.306182062,0.424447720361,-0.00555319884242,0.0799866318321,0.999999996278,-6.96154545305e-05,-7.28840995183e-06,-5.0437801128e-05,1793251629824073216
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,748,725,696,670,643,897,790,826,656,633.119798184,657.880201816,0.42530805321,-0.00554971583987,0.0799457017145,0.999999991527,-6.93392830148e-05,-9.72746093746e-05,-5.17267282771e-05,1793251629840739840
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.533502355,747.533502355,725,696,670,643,897,790,826,656.466497645,633,658,0.426234338755,-0.00554866525547,0.0799224375905,0.999999989942,-6.88810768008e-05,-0.000111252064741,-5.47206008396e-05,1793251629857406976
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.055219101,747,725,696,670.055219101,643,897.055219101,789.944780899,826,657,633,658,0.42717886094,-0.00554843010426,0.0799059929764,0.999999990287,-6.9001993208e-05,-0.000106411634595,-5.780214115e-05,1793251629874074112
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.636208363,747,725,696,670.636208363,643,897.636208363,789.363791637,826,657,633,658,0.428131401006,-0.00554985072408,0.0799101168605,0.999999989116,-7.50941738957e-05,-0.000113272772521,-5.74368781728e-05,1793251629890740736
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747.21467258,725,696.21467258,670.78532742,643,898,789,826.21467258,657,633,657.78532742,0.429099932456,-0.00555166741352,0.0799233925013,0.999999990028,-7.83760875624e-05,-0.000103015251734,-5.64783859716e-05,1793251629907407104
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.788907476,725,696.788907476,670.211092524,643,898,789,826.788907476,657,633,657.211092524,0.430095248354,-0.00555414749318,0.0799519967269,0.999999993499,-7.69509901236e-05,-6.4085113712e-05,-5.45262741775e-05,1793251629924073472
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,748,725,696.636492069,670.727015861,643,898,789,827,656.636492069,633.363507931,657.363507931,0.431065211569,-0.00555651210935,0.0799906016303,0.999999995131,-8.27732218682e-05,-7.54790681637e-06,-5.31928388864e-05,1793251629940740096
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,748,725,696.061679139,671.876641722,643,898,789,827,656.061679139,633.938320861,657.938320861,0.432020437386,-0.00555880960718,0.0800350198673,0.999999992576,-9.28082827885e-05,5.9224183244e-05,-5.2219036472e-05,1793251629957406464
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.469181673,747.469181673,725,696,671.469181673,643,898.530818327,789.530818327,827,656,634,658,0.432918861584,-0.00555452516043,0.0799938862639,0.999999995087,-8.26712536713e-05,-9.74344838954e-06,-5.38140667193e-05,1793251629974073088
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.121367366,747.121367366,725,696,671,643,898.878632634,789.878632634,827,656,634,658,0.433816171303,-0.00555086973097,0.0799451081963,0.99999999196,-7.39451725297e-05,-8.64706455929e-05,-5.59919863262e-05,1793251629990739968
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.696678047,747.696678047,725,696,671,643,898.303321953,789.303321953,827,656,634,658,0.434734849268,-0.00555252609302,0.0799062004287,0.999999986477,-7.95653597349e-05,-0.000131194553638,-5.91951569651e-05,1793251630007407616
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.728745365,725,696.271254635,671,643,898,789,827,656,634,658,0.435672930182,-0.00555507142968,0.0799034803877,0.999999985918,-8.62917245606e-05,-0.000130800430818,-6.00735425951e-05,1793251630024074752
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.154987364,725,696.845012636,671,643,898,789,827,656,634,658,0.436632649394,-0.00555860815167,0.0799411169208,0.999999990648,-9.42517001606e-05,-8.00906529201e-05,-5.83593266916e-05,1793251630040740864
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,696.568108145,671,643,898.431891855,788.568108145,827,656,634,658,0.437572887232,-0.00555931392746,0.0799799726569,0.999999993544,-9.55862541092e-05,-2.30880001515e-05,-5.69318108295e-05,1793251630057407232
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,899,788,827.023124205,656,634,658,0.438504234338,-0.00555917050644,0.0800179874145,0.99999999336,-9.48964339188e-05,3.42853614848e-05,-5.56719025062e-05,1793251630074073600
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,899,788,827.602261931,656,634,658,0.439395171972,-0.00556380088071,0.0800249315697,0.999999991986,-0.000104490515613,4.45724183145e-05,-5.58907323971e-05,1793251630090740224
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.820262716,747.179737284,725,696,671,643,899,788,828,656,633.820262716,658,0.440243460387,-0.00556584391228,0.0800039103599,0.999999992249,-0.000109866058664,1.26243535645e-05,-5.72073981855e-05,1793251630107407104
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.24643233,747.75356767,725,696,671,643,899,788,828,656,633.24643233,658,0.440998235801,-0.00556221391967,0.0799215721138,0.999999986263,-0.000105992005604,-0.000111928706396,-6.09311853264e-05,1793251630124074240
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,748,725,696.335608098,671.335608098,643,899,788,828,656,633,658,0.441772558395,-0.00556176458391,0.0798582475205,0.999999972306,-0.000103415070258,-0.000201371097048,-6.43590490295e-05,1793251630140741120
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,748,725,696.923828193,671.923828193,643,899,788,828,656,633,658,0.442561594104,-0.00556370932665,0.079809234495,0.999999957585,-0.000101814475299,-0.000264385704775,-6.75641715045e-05,1793251630157407488
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,724.516260401,696.516260401,671.516260401,643,899.483739599,788.483739599,828,656,633.483739599,658,0.443427861049,-0.00556547491333,0.0798694957933,0.999999978739,-9.91485117263e-05,-0.000168822569974,-6.47393838175e-05,1793251630174074368
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.042787338,748,724,696,671.042787338,643,900,788.957212662,828,656,633.957212662,658,0.444300226853,-0.00556733805674,0.0799440820905,0.999999991998,-9.71630285871e-05,-5.32668324803e-05,-6.10385052325e-05,1793251630190741504
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.645652791,748,724,696,671.645652791,643,900,788.354347209,828,656,633.354347209,658,0.445102038009,-0.0055708270554,0.0799933978696,0.99999999259,-0.000106159438379,1.52012103675e-05,-5.76113835067e-05,1793251630207407616
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,748,724,696,672,643,899.762831554,788,828.237168446,656,633.237168446,658,0.445880440513,-0.00557377267935,0.0800248833952,0.999999990125,-0.000114607063924,5.92283784369e-05,-5.57455165375e-05,1793251630224073984
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,748,724,696,672,643,899.187498809,788,828.812501191,656,633.812501191,658,0.446625466135,-0.0055759435383,0.0800309458363,0.999999988611,-0.000122272212716,6.84067753996e-05,-5.61057491301e-05,1793251630240740864
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.603641944,748,724.396358056,696,672,643,899.396358056,788,828.603641944,656,633.603641944,658,0.447323605622,-0.0055756316293,0.0800148991171,0.999999990113,-0.000116109083909,5.4229605042e-05,-5.7890127507e-05,1793251630257407488
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.015664118,748,724.984335882,696,672,643,899.984335882,788,828.015664118,656,633.015664118,658,0.447999077908,-0.00557411942306,0.0799881636979,0.999999992433,-0.000103260657422,2.87611574799e-05,-6.03630107875e-05,1793251630274073856
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,900,788,828.563793513,656,633,658,0.44858287781,-0.00557358012409,0.0799406487129,0.999999989437,-0.000120411415354,-5.12371868357e-05,-6.32523634576e-05,1793251630290740992
+195,3.250000000,POSE1_TO_POSE2_PRESS,767.857876753,748,725,696,672,643,900,788,828.857876753,656,633.142123247,658,0.449163140206,-0.00557316074903,0.0798986203072,0.999999981983,-0.000131938756727,-0.000119700895327,-6.55617615921e-05,1793251630307407872
+196,3.266666667,POSE1_TO_POSE2_PRESS,767.282275901,748,725,696,672,643,900,788,828.282275901,656,633.717724099,658,0.44974026578,-0.00557302592672,0.0798750606785,0.999999979137,-0.000123810331923,-0.000148431762352,-6.60675262711e-05,1793251630324074240
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.292253704,748,725,696,671.707746296,643,900,787.707746296,828,655.707746296,633.707746296,658,0.450333216934,-0.00557514915828,0.0798821898004,0.99999998129,-0.000121947151283,-0.000135040305907,-6.56742762708e-05,1793251630340740608
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.865752381,748,725,696,671.134247619,643,900,787.134247619,828,655.134247619,633.134247619,658,0.45094139751,-0.00557944538643,0.0799188516781,0.999999986683,-0.000126113213324,-8.1113204902e-05,-6.44158759091e-05,1793251630357406976
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,748,725,696,671.453415253,643,900,787.453415253,828,655.453415253,633,658,0.451504221879,-0.00558404693138,0.0799474552473,0.999999988344,-0.000132467051815,-4.33625121715e-05,-6.23166444597e-05,1793251630374073856
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,748,725,696,671.955567642,643,900,788,828.044432358,656,633.044432358,658,0.452043921948,-0.00558845475111,0.0799687976831,0.99999998834,-0.000139151794451,-1.78805688497e-05,-6.03078108588e-05,1793251630390740480
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,748,725,696,671.376284523,643,900,788,828.623715477,656,633.623715477,658,0.452472129099,-0.00558940736196,0.0799323811442,0.999999984753,-0.000141770983152,-8.05700638462e-05,-6.24805340241e-05,1793251630407407104
+202,3.366666667,POSE1_TO_POSE2_PRESS,768,748,725,695.79845108,671,643,900,787.79845108,828.79845108,656,633.79845108,658,0.452886332108,-0.00559029768312,0.0798942900026,0.999999977494,-0.000144577043298,-0.000141281758377,-6.44134124689e-05,1793251630424073984
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,748,725,695.223304705,671,643,900,787.223304705,828.223304705,656,633.223304705,658,0.453274576669,-0.00559107254226,0.0798530947582,0.99999996725,-0.000147729495255,-0.000198327350367,-6.59017077588e-05,1793251630440741120
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,695,671,642.651318219,900,787,828,656,633.348681781,658,0.453659362036,-0.00559070585836,0.0798269890625,0.9999999591,-0.000148232010219,-0.000235074131807,-6.75782777227e-05,1793251630457407488
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,695,671,642.081337266,900,787,828,656,633.918662734,658,0.454041951921,-0.00558961466703,0.0798104603096,0.999999953257,-0.000147052679701,-0.000258937787893,-6.93743406542e-05,1793251630474073856
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725,695.514513171,671,642,900.514513171,787,828.514513171,656.514513171,633.485486829,658.514513171,0.454396116684,-0.00558930075283,0.0798020618365,0.999999949205,-0.000147702726893,-0.000273749191409,-6.95343729245e-05,1793251630490740480
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,724.88998284,696,671,642,900.88998284,787,828.88998284,656.88998284,633,658.88998284,0.454737883417,-0.00558986666713,0.0797957935219,0.999999945762,-0.000149415145049,-0.000285237717001,-6.9209315613e-05,1793251630507406848
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,724.314176783,696,671,642,900.314176783,787,828.314176783,656.314176783,633,658.314176783,0.455047191748,-0.00559360981071,0.0797928141438,0.999999944008,-0.000154336185562,-0.000289037336163,-6.79834622301e-05,1793251630524073216
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,724.260973064,695.739026936,671,642.260973064,900.260973064,787,828.260973064,656,633.260973064,658,0.455337241408,-0.00559556075292,0.0797915663849,0.999999942594,-0.000158131428687,-0.000291912040728,-6.77725193566e-05,1793251630540739584
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+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,695.673464897,670,642.673464897,900.326535103,787,829,656.673464897,633.326535103,658.326535103,0.456718540377,-0.00559799679984,0.079746497254,0.999999912464,-0.000159567132165,-0.000380654114355,-6.86568618274e-05,1793251630657406720
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,748,724.132110715,695,670.867889285,642,900.867889285,786,829,656,633,658,0.457486723872,-0.00560399394919,0.0797509814768,0.999999908146,-0.000187673630187,-0.000378628311333,-7.16074965843e-05,1793251630824072960
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+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,724.965072963,695.034927037,670,642,900.034927037,786,829,656,633,658,0.457549568383,-0.00559895855898,0.0797442687952,0.999999905848,-0.000179911642075,-0.000388633570089,-7.00040333678e-05,1793251630907406592
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+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,724,695.809721573,670,642,900.809721573,786,829,656,633,658,0.457554124649,-0.00559774064745,0.0797429345533,0.999999905663,-0.000175183045711,-0.00039150855742,-6.86054546082e-05,1793251630940740096
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768,748,724.752262735,695,670,642,900,787,828.752262735,656.752262735,633,658,0.457557420099,-0.00559718700233,0.079738356786,0.999999904407,-0.000168456660981,-0.000398067198614,-6.59589653146e-05,1793251631057408000
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748,724.176006104,695,670,642,900,787,828.176006104,656.176006104,633,658,0.457557353261,-0.0055999358065,0.0797381515384,0.999999904072,-0.000170044152542,-0.000398363373482,-6.51718078733e-05,1793251631074074368
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,724.40854956,695,670,642,900.40854956,786.59145044,828.40854956,656,633,658,0.457558090655,-0.0055992970256,0.0797382555817,0.999999904266,-0.000169036858618,-0.000398316034346,-6.51029789466e-05,1793251631090740736
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+247,4.116666667,HOLD_POSE2,768,748,725,696,669,642,900,787,829,656,633,658,0.457561318875,-0.00559726828871,0.0797397164306,0.999999906347,-0.000164325751344,-0.000395247798726,-6.38900159715e-05,1793251631194177024
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.001242567,748,724,695.998757433,670,642,900,786.001242567,829,656.998757433,633,658,0.456882379716,-0.00558195376598,0.0796471605833,0.99999983523,-0.000147984030644,-0.000552265610918,-5.14065620618e-05,1793251631826285312
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.596062026,748,724.596062026,696,670,642,900,786,829,656.403937974,633,658.596062026,0.456743379202,-0.00557924145471,0.0796472759359,0.99999983733,-0.000143019256207,-0.00055009701912,-4.77456019655e-05,1793251631842952704
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.813864563,670,642,900,786,829,656,633,658.813864563,0.45659361648,-0.00557605013955,0.0796450230175,0.99999983714,-0.00013823183138,-0.000551951031473,-4.42976679126e-05,1793251631859619584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.239012754,670,642,900,786,829,656,633,658.239012754,0.45642151766,-0.00557186009765,0.0796378310651,0.999999832151,-0.000133826657377,-0.00056221265714,-4.12975608364e-05,1793251631876285696
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724.6629511,695,670,642,900,786.3370489,829,656,633.3370489,658,0.456235069755,-0.00556801620007,0.0796350891847,0.999999830633,-0.000128200839336,-0.000566510524943,-3.69340364103e-05,1793251631892952064
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724.086028353,695,670,642,900,786.913971647,829,656,633.913971647,658,0.456038409753,-0.00556441864899,0.0796355143688,0.999999831597,-0.000121706302444,-0.000566564055564,-3.16001831469e-05,1793251631909618688
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,724.501604072,695.501604072,670.501604072,642,900,786.498395928,829,656.501604072,633.498395928,658.501604072,0.455821370588,-0.00556226865809,0.079647645371,0.999999842108,-0.000113299266796,-0.000549868388224,-2.43493879585e-05,1793251631926285312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.910458368,671,642,900,786.089541632,829,656.910458368,633,658.910458368,0.455595557668,-0.00555976216938,0.079661132125,0.999999853675,-0.000104292158973,-0.000530553980701,-1.69207162613e-05,1793251631942952192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.331117982,671,642,900,786.668882018,829,656.331117982,633,658.331117982,0.455341287488,-0.00555391795374,0.0796708135141,0.999999863974,-9.38359711762e-05,-0.000512970987455,-1.03566628842e-05,1793251631959619072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,724.753754452,695.246245548,671,642,900,787,829,656,633,658,0.455064745639,-0.00554820509334,0.0796771951756,0.999999871108,-8.40699412462e-05,-0.000500699953449,-3.89950629067e-06,1793251631976285952
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.595743943,748,724.404256057,695.191487885,671,642,899.595743943,787,829,656.404256057,633.404256057,658,0.454425095944,-0.00553701620562,0.0796780959183,0.999999877093,-5.86835537147e-05,-0.000492243197833,8.14526415515e-06,1793251632009618944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.00858814,748,724.99141186,694.01717628,671,642,899.00858814,787,829,656.99141186,633.99141186,658,0.454079415203,-0.00553131355378,0.0796756326072,0.99999987919,-3.86607884493e-05,-0.00048983726922,1.36110930368e-05,1793251632026285824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.140978819,671,642,899.570489409,787,829,656.429510591,634,658,0.453672248545,-0.0055234818724,0.0796733065918,0.999999879565,-2.38319525664e-06,-0.000490575821141,1.41289858533e-05,1793251632042952192
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.149302211,748,724.850697789,695.850697789,671,642,900,787,828.850697789,656,633.850697789,658,0.453258056922,-0.00551656112851,0.0796746290576,0.999999881061,2.08311531124e-05,-0.00048706802256,1.44836778495e-05,1793251632059618560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.727698653,748,724.272301347,695.272301347,671,642,900,787,828.272301347,656,633.272301347,658,0.452826298687,-0.00551234924497,0.0796864313937,0.999999888852,5.80830994151e-06,-0.000471222076368,1.45804150795e-05,1793251632076285440
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,724.8760941,695,671,642,899.1239059,787.8760941,828,656,633,658,0.451925682369,-0.00550058752818,0.0797237777127,0.999999913471,1.85241287891e-05,-0.00041494203138,2.31922190411e-05,1793251632109618944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,642,899,788,828,656,633,658,0.451441148145,-0.00549448113314,0.0797415635968,0.999999924345,3.76605130654e-05,-0.000386261266953,2.63356835267e-05,1793251632126285824
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,724.949077475,695,671,642.050922525,899,787.949077475,828,656,633,658,0.450944133523,-0.00548881158616,0.0797593115017,0.999999934507,5.55821380391e-05,-0.000356485914069,2.85410576034e-05,1793251632142952960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,724.370160706,695,671,642.629839294,899,787.370160706,828,656,633,658,0.450399305626,-0.00548684667597,0.0797852568463,0.999999951832,4.31793050323e-05,-0.000306078715784,2.80536809072e-05,1793251632159619072
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.888837676,642.111162324,898,788,828,656,633,657.888837676,0.446473511777,-0.00543654138446,0.0797143616026,0.999999906822,0.00010595803942,-0.000418041924259,1.92560096946e-05,1793251632259618816
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,898,788,827,656,632.014065104,657,0.442706743307,-0.00542430946496,0.0798212115331,0.999999951583,0.000124229726123,-0.000283035398023,3.59550891669e-05,1793251632342951680
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,897.412635607,788.587364393,827,656,632.587364393,657.587364393,0.441879281485,-0.00542859998949,0.0798062755436,0.999999948055,0.000115600971972,-0.000298868114303,3.47081991656e-05,1793251632359618560
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,897.338799763,789,827,656,633,657,0.439155679456,-0.00543190957875,0.0796758880786,0.999999867928,0.000133964709003,-0.000495067271761,3.32674609269e-05,1793251632409618432
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,896.174441315,789,827,656,633,657,0.438301099419,-0.00543319341408,0.0796620982221,0.999999863037,0.000129546055018,-0.000506122707914,3.13705690828e-05,1793251632426285056
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,896,789,826.506868726,656,633,657,0.437478680967,-0.00543452986152,0.0797315510353,0.999999908302,0.000130860249478,-0.000406144747083,3.63138985563e-05,1793251632442951424
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.073482893,747,724.073482893,695,671,642.926517107,895.926517107,789.073482893,826,656,633,657,0.436653362315,-0.00543493875259,0.0798108640955,0.999999947258,0.000134414669295,-0.000292652463661,4.20852306128e-05,1793251632459618048
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.450920987,747,724,695,671,643,893,789,825,656.549079013,633,657,0.430872220828,-0.00542353414095,0.0797052444566,0.999999863513,0.000169801518904,-0.000492029269662,4.52653774883e-05,1793251632559619584
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.326249135,747,725,691.326249135,671,643,889,790,820.673750865,657,633,657,0.400975569855,-0.00539080122782,0.079833360924,0.999999924622,0.000259299968109,-0.000285105641997,4.72665279816e-05,1793251633759619584
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.51179819,747,725,691.51179819,671,643,889,790,820.48820181,656.51179819,633,657,0.400974787766,-0.00539063728449,0.0798337321456,0.999999924465,0.000261066749919,-0.000284015794604,4.74304316895e-05,1793251633792952064
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,747,724.926035692,691.073964308,670.926035692,643,889,790,821,656,633,657,0.400975016201,-0.00539106264133,0.0798340972039,0.999999924933,0.000259916637023,-0.000283463365498,4.71816555334e-05,1793251633809618432
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,769.451733804,747,725,691,670.451733804,643,889,789.548266196,820.548266196,656.548266196,633,657,0.400973892139,-0.00539014112695,0.0798345359091,0.999999924255,0.000262597531182,-0.000283397070413,4.7096383984e-05,1793251633909618944
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,769.715901938,747,725,691.715901938,670,643,889,789.284098062,820.284098062,656.284098062,633,657,0.40097496307,-0.00538978967308,0.0798352405584,0.999999924349,0.00026341866452,-0.000282349617116,4.68168850494e-05,1793251633942951680
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd2f0bec0f9382b9480a9ee9a4d5677448c3aca5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+6,0.100000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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+12,0.200000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2e123fa516e2169ec55b9526d8838e80bba893e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf607960c3611d38cc8c787b13fe077e7e8a459c18953323bdd8d1af896ca89
+size 26329911
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c043147686a5fe36ebbc6a48a4097e87e82c1fa8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+4,0.066666667,BASELINE,769.335824404,747,725,691.664175596,670.335824404,643,889.664175596,790,820.335824404,656.664175596,633,657,0.400978415598,-0.00539000386031,0.0798385966163,0.999999926671,0.000261340424072,-0.000276027380524,4.65600136356e-05,1793251634161848064
+5,0.083333333,BASELINE,769.910004858,747,725,691.089995142,670.910004858,643,889.089995142,790,820.910004858,656.089995142,633,657,0.400976183924,-0.00539022249655,0.0798372237489,0.999999926291,0.000260754687747,-0.000278011875351,4.61981576678e-05,1793251634178514688
+6,0.100000000,BASELINE,770,747,725,691,671,643,889,790,821,656.484045354,633,657,0.400976682929,-0.00539056722903,0.0798375717464,0.999999926829,0.000259579715062,-0.000277154921929,4.63122657894e-05,1793251634195181568
+7,0.116666667,BASELINE,769.939730424,747,725,691.060269576,670.939730424,643,889,789.939730424,820.939730424,656.939730424,633,657,0.400977481289,-0.00539079307081,0.079838085427,0.999999927344,0.000258738705185,-0.000276051019764,4.64896105415e-05,1793251634211848448
+8,0.133333333,BASELINE,769.343869103,747,725,691.656130897,670.343869103,643,889,789.343869103,820.343869103,656.343869103,633,657,0.400976429525,-0.00538975409949,0.079837229037,0.999999926154,0.000261838758543,-0.000277445932335,4.64427424258e-05,1793251634228515072
+9,0.150000000,BASELINE,769.243492552,747,725,692,670.243492552,643,889,789.243492552,820.243492552,656.243492552,633,657,0.400975994939,-0.00538945288897,0.0798370338325,0.999999925698,0.000262892602575,-0.000278089789484,4.64526424516e-05,1793251634245181696
+10,0.166666667,BASELINE,769.819255498,747,725,692,670.819255498,643,889,789.819255498,820.819255498,656.819255498,633,657,0.400976402555,-0.00539015842831,0.0798377408832,0.999999926255,0.000261154185259,-0.000277708754879,4.65400083946e-05,1793251634261848320
+11,0.183333333,BASELINE,769.620845763,746.620845763,725,692,671,643,889,789.620845763,820.620845763,656.620845763,633,657,0.400975953016,-0.00539115646991,0.0798370665679,0.999999926551,0.00025926772758,-0.000278420005952,4.64830506984e-05,1793251634278514944
+12,0.200000000,BASELINE,769.068205795,746.068205795,725,692,671,643,889,789.068205795,820.068205795,656.068205795,633,657,0.400975111275,-0.00539228834883,0.079835760195,0.999999926723,0.000257313532433,-0.000279631042986,4.6360056317e-05,1793251634295181568
+13,0.216666667,BASELINE,769,746.536846156,725,692,671,643,889,789,820,656,633,657,0.400974062087,-0.00539084342279,0.0798357026654,0.999999925905,0.000259457987709,-0.000280631613819,4.60198600643e-05,1793251634311848192
+14,0.233333333,BASELINE,769,747,725,691.858364627,671,643,889.141635373,789,820,656.141635373,633,657,0.400973713086,-0.00538985813048,0.0798361244024,0.999999925488,0.000260993551237,-0.00028072016174,4.58493830869e-05,1793251634328514816
+15,0.250000000,BASELINE,769,747,725,691.277285833,671,643,889.722714167,789,820,656.722714167,633,657,0.400975627129,-0.00539142455465,0.0798374875915,0.999999926765,0.000258849508949,-0.000278070971196,4.63003650951e-05,1793251634345181440
+16,0.266666667,BASELINE,769,747,725,691.300186272,671,643,889.699813728,789.300186272,820.300186272,656.699813728,633,657,0.400976449257,-0.00539162507213,0.0798380356842,0.999999927138,0.000258475189554,-0.00027703644158,4.65266637216e-05,1793251634361848064
+17,0.283333333,BASELINE,769,747,725,691.874366351,671,643,889.125633649,789.874366351,820.874366351,656.125633649,633,657,0.400976274746,-0.00539057886369,0.0798378398007,0.999999926694,0.000259716177706,-0.000277475687361,4.65478834727e-05,1793251634378514688
+18,0.300000000,BASELINE,769.449920628,747,725,692,671,643,889.449920628,790,821,656.449920628,633,657,0.400975389561,-0.00539011243408,0.0798371337988,0.999999926252,0.000260151141281,-0.000278707527785,4.62472933305e-05,1793251634395181568
+19,0.316666667,BASELINE,769.973392189,747,725,692,671,643,889.973392189,790,820.973392189,657,633,657,0.400974339069,-0.00538984032658,0.0798363166007,0.999999925816,0.000260403110847,-0.000280092843301,4.58829756501e-05,1793251634411847936
+20,0.333333333,BASELINE,769.380793531,747,725,692,671,643,889.380793531,790,820.380793531,657,633,657,0.400974006394,-0.00539024745333,0.0798361733562,0.999999925524,0.000261564780216,-0.000280020560056,4.60804068135e-05,1793251634428514560
+21,0.350000000,BASELINE,769,746.793724329,725,692,670.793724329,643,889.206275671,789.793724329,820,657,633,657,0.400974208152,-0.00539068856293,0.0798365508275,0.999999925661,0.000261689584649,-0.000279377069716,4.63056626328e-05,1793251634445181184
+22,0.366666667,BASELINE,769,746.216596313,725,692,670.216596313,643,889.783403687,789.216596313,820,657,633,657,0.400975370743,-0.0053911907685,0.0798378644669,0.999999926568,0.000259950263201,-0.000277706635739,4.65809429383e-05,1793251634461848064
+23,0.383333333,BASELINE,769,746.358993677,725,692,670.358993677,643,890,789.358993677,820,656.641006323,633,657,0.40097517728,-0.00539147990166,0.079837759656,0.999999926709,0.000259307719199,-0.000277816376207,4.64681810776e-05,1793251634478514688
+24,0.400000000,BASELINE,769,746.933659725,725,692,670.933659725,643,890,789.933659725,820,656.066340275,633,657,0.400974169142,-0.00539164102751,0.0798368026839,0.999999926393,0.000259324085218,-0.000278995590621,4.61222954337e-05,1793251634495181312
+25,0.416666667,BASELINE,769,747,725,692,671,643,889.478643603,790.521356397,820,656.521356397,633,657,0.400974026724,-0.00539009013229,0.0798363727868,0.999999926265,0.000259721516157,-0.000279141272561,4.57805345729e-05,1793251634511847936
+26,0.433333333,BASELINE,769,747,725,692,671,643,889,790.891122605,820,657,633,657,0.400974105872,-0.00538882385746,0.0798360791856,0.99999992623,0.000259982390355,-0.000279069267553,4.54972992074e-05,1793251634528514816
+27,0.450000000,BASELINE,769,747,725,692,671,643,889,790.311710075,820,657,633,657,0.400974654291,-0.00538975322819,0.0798360773374,0.999999926492,0.00025943818206,-0.0002786394117,4.54646667712e-05,1793251634545181440
+28,0.466666667,BASELINE,769,747,725,691.734194138,670.734194138,642.734194138,889,790,820,656.734194138,633,657,0.400975758844,-0.00539095239194,0.0798370867293,0.999999926968,0.000259153335285,-0.000277156532537,4.56871503439e-05,1793251634561848064
+29,0.483333333,BASELINE,769,747,725,691.15888661,670.15888661,642.15888661,889,790,820,656.15888661,633,657,0.400977510954,-0.00539246569992,0.0798392735991,0.999999927687,0.000259170486482,-0.000274447523668,4.62066884282e-05,1793251634578514688
+30,0.500000000,BASELINE,769,746.583624537,725,691,670.416375463,642.416375463,889,789.583624537,820.416375463,656.416375463,633,657,0.400976416214,-0.00539186978046,0.0798387021369,0.999999926853,0.000260848989855,-0.000275873574222,4.6309908705e-05,1793251634595181312
+31,0.516666667,BASELINE,769,746.00837982,725,691,670.99162018,642.99162018,889,789.00837982,820.99162018,656.99162018,633,657,0.40097423525,-0.0053904690792,0.0798370782251,0.999999925417,0.000263161386918,-0.000278877368629,4.62542817148e-05,1793251634611847680
+32,0.533333333,BASELINE,769.582244748,746.582244748,725,691.582244748,670.417755252,643,889.582244748,789.582244748,821,656.417755252,633,657,0.400976054989,-0.00539243189441,0.0798386149574,0.9999999269,0.000259781421917,-0.000276702104256,4.63659146185e-05,1793251634628514560
+33,0.550000000,BASELINE,770,747,725,691.830485159,670,643,889.830485159,789.830485159,820.830485159,656.169514841,633.169514841,657,0.400977103963,-0.00539352843415,0.0798394889272,0.999999927753,0.000258035766118,-0.000275224769587,4.65163352173e-05,1793251634645181440
+34,0.566666667,BASELINE,770,747,725,691.251859619,670,643,889.251859619,789.251859619,820.251859619,656.748140381,633.748140381,657,0.400976150024,-0.00539241428588,0.0798386506096,0.999999927011,0.000260437473558,-0.000275616606794,4.67543995146e-05,1793251634661849088
+35,0.583333333,BASELINE,769.675358559,747,725,691.324641441,670.324641441,643,889,789,820.324641441,657,633.675358559,657,0.400975506546,-0.00539198955215,0.0798379486516,0.999999926931,0.000260248858792,-0.00027613263956,4.64749162212e-05,1793251634678516224
+36,0.600000000,BASELINE,769.100494913,747,725,691.899505087,670.899505087,643,889,789,820.899505087,657,633.100494913,657,0.40097510236,-0.00539209619478,0.0798373517947,0.999999927359,0.000258063715027,-0.000276744397936,4.57965254729e-05,1793251634695182848
+37,0.616666667,BASELINE,769,747,725,692,671,643,889,789,821,656.515609757,633.484390243,657,0.400975194375,-0.00539321298615,0.0798379148746,0.999999927868,0.000256613978583,-0.000276248213856,4.58288052934e-05,1793251634711848960
+38,0.633333333,BASELINE,769,747,725,691.929592229,670.929592229,643,889,789,820.929592229,656.070407771,633.929592229,657,0.400975426208,-0.0053940970262,0.0798385765996,0.999999928229,0.000255851378171,-0.000275620020722,4.59921595567e-05,1793251634728515328
+39,0.650000000,BASELINE,769,747,725,691.350728703,670.350728703,643,889,789,820.350728703,656.649271297,633.350728703,657,0.400975908607,-0.0053917548155,0.0798381761222,0.999999927406,0.000258925895577,-0.000275733544116,4.60148304714e-05,1793251634745182208
+40,0.666666667,BASELINE,769,746.772112187,725,691.227887813,670.227887813,643,889,789.227887813,820,657,633,657,0.400975963575,-0.00539090885282,0.0798376994518,0.99999992716,0.000259424391821,-0.000276161734875,4.59824591759e-05,1793251634761849088
+41,0.683333333,BASELINE,769,746.193875453,725,691.806124547,670.806124547,643,889,789.806124547,820,657,633,657,0.400975361423,-0.00539236318389,0.0798371056445,0.999999927805,0.000255962578538,-0.000277073687229,4.58654673864e-05,1793251634778515456
+42,0.700000000,BASELINE,769.381538502,746,725,692,671,643,889,789.618461498,820,657,633,657,0.400974580865,-0.00539261923461,0.07983656869,0.999999927554,0.000255699487036,-0.000278247257654,4.56895462698e-05,1793251634795181824
+43,0.716666667,BASELINE,769.955528603,746,725,692,671,643,889,789.044471397,820,657,633,657,0.400973710317,-0.00539227086145,0.0798360604127,0.999999926853,0.000257049860906,-0.000279552790661,4.54839006516e-05,1793251634811848448
+44,0.733333333,BASELINE,770,746.543365566,725,691.456634434,671,643,888.456634434,789.543365566,820.543365566,657,633,657,0.400974534193,-0.00539161297682,0.0798368614308,0.999999926579,0.000259668912052,-0.000278017015422,4.60477292078e-05,1793251634828515072
+45,0.750000000,BASELINE,770,747,725,691,671,643,888.130063559,789.869936441,820.869936441,656.869936441,633,657,0.400975110728,-0.00539101901102,0.0798375467877,0.999999926387,0.000261672345219,-0.000276770177763,4.6396035594e-05,1793251634845181696
+46,0.766666667,BASELINE,770,747,725,691,671,643,888.708820347,789.291179653,820.291179653,656.291179653,633,657,0.400974343057,-0.00539073522731,0.0798374537945,0.999999926384,0.000261184445276,-0.000277343329318,4.57778938241e-05,1793251634861848320
+47,0.783333333,BASELINE,769.714255553,746.714255553,725,691.285744447,671,643,889,789.285744447,820.285744447,656.285744447,633,657,0.400974081673,-0.00539099728021,0.079837480534,0.999999926524,0.000260479108406,-0.00027750724442,4.5744607606e-05,1793251634878515200
+48,0.800000000,BASELINE,769.139187029,746.139187029,725,691.860812971,671,643,889,789.860812971,820.860812971,656.860812971,633,657,0.400974332918,-0.00539181200757,0.0798376285062,0.999999926808,0.000259553610637,-0.00027725679648,4.63035035723e-05,1793251634895181824
+49,0.816666667,BASELINE,769.432591287,746.432591287,725,692,671,643,889,790,821,657,633,657,0.400974935146,-0.00539170865493,0.0798381583228,0.999999927124,0.000259036581083,-0.000276609281855,4.62571284412e-05,1793251634911848704
+50,0.833333333,BASELINE,769.996514501,747,725,692,671,643,889.003485499,790,820.996514501,657,633,657,0.400975646266,-0.0053913233789,0.0798388050269,0.99999992745,0.000258640581923,-0.000275837565694,4.60188122177e-05,1793251634928515328
+51,0.850000000,BASELINE,769.397143431,747,725,692,671,643,889.602856569,790,820.397143431,657,633,657,0.4009758126,-0.00539285983477,0.0798385893866,0.999999928058,0.000256637038506,-0.000275508807705,4.60088893544e-05,1793251634945181696
+52,0.866666667,BASELINE,769,746.806337834,725,692,671,643,890,790,820.193662166,657,633,657,0.400975719844,-0.00539326118536,0.0798383466029,0.999999928141,0.00025626298665,-0.000275564423118,4.5956300384e-05,1793251634961848320
+53,0.883333333,BASELINE,769,746.23235352,725,692,671,643,890,790,820.76764648,657,633,657,0.400975118274,-0.00539143336698,0.0798380505139,0.999999927195,0.000259089001001,-0.000276374887683,4.58199218655e-05,1793251634978514944
+54,0.900000000,BASELINE,769,746.342971944,725,692,671,643,889.657028056,790,820.657028056,657,633,657,0.40097548704,-0.0053912654304,0.0798383958024,0.999999927094,0.000259940903844,-0.000275918258582,4.59487287127e-05,1793251634995181824
+55,0.916666667,BASELINE,769,746.919209543,725,692,671,643,889.080790457,790,820.080790457,657,633,657,0.40097651576,-0.00539222643001,0.0798391773113,0.99999992757,0.000259450153272,-0.000274599840495,4.62578962012e-05,1793251635011848704
+56,0.933333333,BASELINE,769,747,725,691.494476989,671,643,889,790,820,657,633,657,0.400976853536,-0.00539101972242,0.0798398778665,0.999999927615,0.000260762809693,-0.000273232333699,4.60002647576e-05,1793251635028515072
+57,0.950000000,BASELINE,769,747,725,691.09218467,670.90781533,643,889,790,820.09218467,657,633,657,0.400977209799,-0.00538970125507,0.0798403972312,0.999999927632,0.000262028395507,-0.000272010275443,4.57003491247e-05,1793251635045181696
+58,0.966666667,BASELINE,769,747,725,691.671996833,670.328003167,643,889,790,820.671996833,657,633,657,0.400978259841,-0.00538966140483,0.0798400279831,0.999999927886,0.000261489435116,-0.000271599936312,4.56656651071e-05,1793251635061848320
+59,0.983333333,BASELINE,769,747,725,692,670.249731895,643,889,790,820.750268105,657,633,657,0.400978302427,-0.00539021588121,0.0798396977986,0.999999928161,0.000260183889747,-0.000271835064237,4.57050959771e-05,1793251635078514688
+60,1.000000000,BASELINE,769,747,725,692,670.824761431,643,889,790,820.175238569,657,633,657,0.400977032715,-0.00539154451999,0.0798394184979,0.999999928458,0.000257879800305,-0.00027291096941,4.58410679672e-05,1793251635095181312
+61,1.016666667,BASELINE,769,747,725,692,670.60083117,643,889.39916883,789.60083117,820,657,633,657,0.4009765449,-0.00539089863387,0.0798390753365,0.999999927888,0.000258845791364,-0.000274093039513,4.57906356139e-05,1793251635111848192
+62,1.033333333,BASELINE,769,747,725,692,670.026696505,643,889.973303495,789.026696505,820,657,633,657,0.400976399811,-0.00538938726327,0.0798387041833,0.999999926932,0.00026124514189,-0.000275321644332,4.56584974946e-05,1793251635128514816
+63,1.050000000,BASELINE,769,746.432716736,725,692,670.567283264,643,889.432716736,789.567283264,820,656.432716736,633,657,0.400976367169,-0.00538980586829,0.0798383313469,0.999999926508,0.00026268534058,-0.000275452422104,4.5890092482e-05,1793251635145181440
+64,1.066666667,BASELINE,769,746.157325579,725,691.842674421,671,642.842674421,889,790,820.157325579,656.157325579,633,657,0.400975990534,-0.00539021615761,0.0798378782949,0.999999926311,0.000263201513496,-0.000275655993365,4.6012544042e-05,1793251635161848064
+65,1.083333333,BASELINE,769,746.7342842,725,691.2657158,671,642.2657158,889,790,820.7342842,656.7342842,633,657,0.400974681743,-0.00539035322731,0.0798372115034,0.99999992665,0.000261377801543,-0.000276196524504,4.57965662177e-05,1793251635178514944
+66,1.100000000,BASELINE,769.309671361,747,725,691,671,642.309671361,889,789.690328639,820.690328639,656.690328639,633,657,0.400974767302,-0.00539047511076,0.0798372705376,0.999999926854,0.000260822378134,-0.000275986973694,4.57588953471e-05,1793251635195181824
+67,1.116666667,BASELINE,769.883716896,747,725,691,671,642.883716896,889,789.116283104,820.116283104,656.116283104,633,657,0.400976043252,-0.00539058402932,0.0798379492275,0.999999926946,0.000261349724428,-0.000275137059164,4.5873449587e-05,1793251635211848448
+68,1.133333333,BASELINE,770,747,725,691.470745017,670.529254983,643,889.470745017,789.470745017,820,656.470745017,633,657,0.400975968354,-0.00539124728114,0.0798381714896,0.999999927259,0.000260059870145,-0.000275223387664,4.58580253757e-05,1793251635228514816
+69,1.150000000,BASELINE,769.940113398,747,725,692,670,643,889.940113398,790,820.059886602,656.940113398,633,657,0.400975525357,-0.0053920515579,0.0798382021618,0.999999927572,0.000258437632016,-0.000275623747716,4.5789252899e-05,1793251635245181440
+70,1.166666667,BASELINE,769.361236783,747,725,692,670,643,889.361236783,790,820.638763217,656.361236783,633,657,0.400974866139,-0.00539285765788,0.0798375772708,0.99999992742,0.000257935334344,-0.000276684493831,4.55442921255e-05,1793251635261848320
+71,1.183333333,BASELINE,769.214531432,747,725,692,670.214531432,643,889,790,821,656,633.214531432,657,0.400974611092,-0.00539265452334,0.0798374263049,0.999999927065,0.000258923094033,-0.000277058370269,4.54613151667e-05,1793251635278514944
+72,1.200000000,BASELINE,769.785140445,747,725,692,670.785140445,643,889,790,821,656,633.785140445,657,0.400975026883,-0.00539077626941,0.0798380619558,0.999999926367,0.000262384039098,-0.000276292186003,4.56471976272e-05,1793251635295181312
+73,1.216666667,BASELINE,769.639902169,747,725,691.639902169,671,643,889.360097831,789.639902169,821,656,633.639902169,657,0.400975826616,-0.00539059636649,0.0798388855062,0.999999926852,0.000261715331896,-0.000275163059101,4.5671568407e-05,1793251635311847936
+74,1.233333333,BASELINE,769.062318559,747,725,691.062318559,671,643,889.937681441,789.062318559,821,656,633.062318559,657,0.400976858234,-0.00539144220489,0.0798398225409,0.999999928048,0.000258552467173,-0.00027381472831,4.55983920909e-05,1793251635328514560
+75,1.250000000,BASELINE,769.529369095,747,725,691.529369095,671,643,890,789.529369095,821,656,633,657,0.400975392568,-0.0053932243847,0.079838888634,0.999999928002,0.000257080804409,-0.00027532704986,4.58261975785e-05,1793251635345181184
+76,1.266666667,BASELINE,769.880785489,747,725,691.880785489,671,643,889.880785489,790,820.880785489,656.119214511,633,657,0.40097413675,-0.00539440891837,0.0798378888875,0.999999927698,0.000256600610244,-0.00027684906234,4.59868972622e-05,1793251635361847808
+77,1.283333333,BASELINE,769.304542128,747,725,691.304542128,671,643,889.304542128,790,820.304542128,656.695457872,633,657,0.400974843314,-0.00539286812948,0.0798375042184,0.99999992699,0.000259137231967,-0.000277081851658,4.57507818342e-05,1793251635378514944
+78,1.300000000,BASELINE,769,746.728085782,725,691.271914218,671,643,889.271914218,790,820.271914218,657,633.271914218,657,0.400975631294,-0.00539183936596,0.0798376791229,0.999999926819,0.000260268993022,-0.000276666051962,4.55841953738e-05,1793251635395181824
+79,1.316666667,BASELINE,769,746.151390748,725,691.848609252,671,643,889.848609252,790,820.848609252,657,633.848609252,657,0.400976510532,-0.00539138451704,0.0798384812373,0.999999927254,0.000259826086039,-0.000275523267501,4.54955419468e-05,1793251635411848192
+80,1.333333333,BASELINE,769,746.434116695,725,691.565883305,670.565883305,643,890,789.565883305,820.565883305,657,634,657,0.400976282384,-0.00539128606231,0.0798385634245,0.999999927206,0.000260038230112,-0.000275482702928,4.55874234532e-05,1793251635428514816
+81,1.350000000,BASELINE,769,747,725,691.022371246,670.022371246,643,889.977628754,789.022371246,820.022371246,657,633.977628754,657,0.400975677531,-0.00539131724544,0.0798383949943,0.999999927,0.000260452679601,-0.000275812688925,4.57462094047e-05,1793251635445181696
+82,1.366666667,BASELINE,769,747,725,691.60093478,670.60093478,643,889.39906522,789.60093478,820.60093478,657,633.39906522,657,0.400975507227,-0.00539141745157,0.0798383669588,0.999999927139,0.000260099747749,-0.000275600829581,4.597066708e-05,1793251635461848320
+83,1.383333333,BASELINE,769.179080365,747,725,691.820919635,671,643,889,790,820.820919635,657,633,657,0.400975433958,-0.00539170813045,0.0798381554006,0.999999927368,0.000259251990246,-0.000275557336198,4.60490268272e-05,1793251635478514944
+84,1.400000000,BASELINE,769.756296866,747,725,691.243703134,671,643,889,790,820.243703134,657,633,657,0.400975576415,-0.00539242227335,0.07983753583,0.999999927791,0.000257304123391,-0.000275888158366,4.58025778964e-05,1793251635495181568
+85,1.416666667,BASELINE,769.667562608,747,725,691,670.667562608,643,889,790,820,657,633,657,0.400975411441,-0.00539185797873,0.079837514042,0.999999927298,0.000258918928577,-0.000276194783511,4.56209819955e-05,1793251635511848192
+86,1.433333333,BASELINE,769.092208349,747,725,691,670.092208349,643,889,790,820,657,633,657,0.400975021821,-0.00539035951107,0.0798379290627,0.999999926123,0.000263137030486,-0.000276483727515,4.54867751672e-05,1793251635528514816
+87,1.450000000,BASELINE,769,747,725,691,670.49352634,643,889.49352634,790,820.49352634,657,633,657,0.400974758478,-0.00539023555521,0.0798379363853,0.999999926238,0.000262448883477,-0.00027672581119,4.54670264082e-05,1793251635545181440
+88,1.466666667,BASELINE,769,747,725,691,671,643,889.919409084,790,820.919409084,657,633,657,0.400974676173,-0.00539040710048,0.0798378838868,0.999999926561,0.000261095950749,-0.00027683995674,4.54679245868e-05,1793251635561848320
+89,1.483333333,BASELINE,769,747,725,691,671,643,889.336404265,790,820.336404265,657,633,657,0.40097557225,-0.00539078546721,0.0798379435278,0.999999926646,0.000261436028205,-0.000276212273527,4.546135819e-05,1793251635578514944
+90,1.500000000,BASELINE,769,747,724.757665861,691.242334139,670.757665861,643,889,790,820.242334139,656.757665861,633,657,0.400975976512,-0.00539070236544,0.07983820136,0.999999926819,0.000261329516408,-0.000275700986033,4.53679355727e-05,1793251635595181568
+91,1.516666667,BASELINE,769,747,724.184747606,691.815252394,670.184747606,643,889,790,820.815252394,656.184747606,633,657,0.400975709855,-0.00538998974377,0.0798387295581,0.999999927112,0.000260613782483,-0.00027534848173,4.51560266088e-05,1793251635611848192
+92,1.533333333,BASELINE,769,747,724.389357339,692,670.389357339,643,889,790,820.610642661,656,633,657,0.400975495353,-0.00539143104914,0.0798387911302,0.999999927483,0.000259063618805,-0.000275419753118,4.54319558483e-05,1793251635628515072
+93,1.550000000,BASELINE,769,747,724.964027131,692,670.964027131,643,889,790,820.035972869,656,633,657,0.400975305675,-0.00539389750401,0.0798386306144,0.999999927887,0.000257116312875,-0.00027569271815,4.59400689415e-05,1793251635645181696
+94,1.566666667,BASELINE,768.441931022,747,725,692,670.441931022,642.441931022,889,789.441931022,820,656,633,657.558068978,0.400974990518,-0.00539337203728,0.0798383184189,0.999999927803,0.000257547034942,-0.000275589640341,4.59875606018e-05,1793251635661848320
+95,1.583333333,BASELINE,768.148286337,747,725,692,670,642.148286337,889,789.148286337,820,656,633,657.851713663,0.400974502264,-0.00539244998279,0.0798378475887,0.99999992741,0.000258603092709,-0.00027603728589,4.59041612737e-05,1793251635678514944
+96,1.600000000,BASELINE,768.72375947,747,725,692,670,642.72375947,889,789.72375947,820,656,633,657.27624053,0.400973539491,-0.00539096099783,0.079836948939,0.99999992622,0.000261003160835,-0.000278143809322,4.55322998541e-05,1793251635695181568
+97,1.616666667,BASELINE,769,747,725,691.70209485,670.29790515,642.70209485,889,790,820.29790515,656.29790515,633.29790515,657,0.400973481115,-0.00539063729581,0.0798367092322,0.999999926032,0.000261203298522,-0.000278640797925,4.54848645528e-05,1793251635711848192
+98,1.633333333,BASELINE,769,747,725,691.129174659,670.870825341,642.129174659,889,790,820.870825341,656.870825341,633.870825341,657,0.400974257646,-0.00539138934007,0.0798370778373,0.999999926772,0.000259372541479,-0.000277651923251,4.57369274926e-05,1793251635728514816
+99,1.650000000,BASELINE,769,747,725,691.445901967,670.554098033,642.445901967,889,790,820.554098033,657,633.554098033,657,0.400974733324,-0.00539168832122,0.0798381090591,0.999999926973,0.000259966475307,-0.000276368204592,4.57448986008e-05,1793251635745181440
+100,1.666666667,BASELINE,769.0223571,747,725,691.9776429,670.0223571,643,889,789.9776429,820.0223571,656.9776429,633,657,0.400975129529,-0.00539181964831,0.0798392618597,0.999999927007,0.000261237100113,-0.000275052797417,4.56840290967e-05,1793251635761848064
+101,1.683333333,BASELINE,769.618066037,747,725,691.381933963,670.618066037,643,889,789.381933963,820.618066037,656.381933963,633,657,0.400975733582,-0.00539103372354,0.079838585921,0.99999992685,0.000261760466856,-0.000275125840031,4.56799560583e-05,1793251635778514944
+102,1.700000000,BASELINE,769.793749989,747,725,691.206250011,670.793749989,643,889,789,820.793749989,656,633,657,0.400975833458,-0.00539052097196,0.0798380359728,0.999999926825,0.00026144057856,-0.000275527558573,4.56503529908e-05,1793251635795181568
+103,1.716666667,BASELINE,769.219010301,747,725,691.780989699,670.219010301,643,889,789,820.219010301,656,633,657,0.400975032566,-0.00539049627621,0.0798377111214,0.999999927031,0.000259614116823,-0.000276516494946,4.55751375518e-05,1793251635811848192
+104,1.733333333,BASELINE,769,747,725,692,670.355840232,643,889,789,820,656.355840232,633,657,0.400974359613,-0.00539077135567,0.0798373932246,0.999999926898,0.000259363381275,-0.000277234700133,4.5549036141e-05,1793251635828514816
+105,1.750000000,BASELINE,769,747,725,692,670.930759065,643,889,789,820,656.930759065,633,657,0.400973765428,-0.00539123099642,0.0798370796094,0.999999926558,0.000260082766006,-0.00027778622553,4.55531725422e-05,1793251635845181440
+106,1.766666667,BASELINE,769.520972155,746.479027845,725,692,671,643,889,789.520972155,820,656.479027845,633,657,0.400973640654,-0.00539277665838,0.0798371715821,0.999999927296,0.000257324296058,-0.00027765181148,4.58444630229e-05,1793251635861848064
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,890,790,820,657,633,657,0.400974403756,-0.00539329117908,0.0798379368301,0.999999926713,0.000260972066158,-0.000276304021202,4.60888030272e-05,1793251635904281600
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,725,691.447262565,671,643,890,790,820,656.447262565,633,657,0.400976379145,-0.00539217869422,0.0798392067885,0.999999927087,0.000261644777641,-0.000274309143532,4.60761365328e-05,1793251635920948224
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,889.885248528,790,820,656,633,657,0.400977454771,-0.00539160601308,0.0798398245033,0.999999927451,0.000261285170548,-0.000273341155758,4.59712034563e-05,1793251635937614592
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,889.283897191,790,820,656,633,657,0.400974714985,-0.00539332235157,0.0798376764012,0.999999927768,0.000256548050471,-0.000276727660409,4.54750169483e-05,1793251635954280960
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725,691.310838052,670.689161948,643,889,789.689161948,820,656,632.689161948,657,0.400973693276,-0.00539321898464,0.0798369404409,0.999999927475,0.000256324236376,-0.000278015712991,4.53267701576e-05,1793251635970947584
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725,691.89965653,670.10034347,643,889,789.10034347,820,656,632.10034347,657,0.400974208031,-0.00539148826703,0.0798374673499,0.999999926647,0.000260136642419,-0.000277427133493,4.54896835974e-05,1793251635987614208
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.481330638,643,889,789,820,656,632.481330638,657,0.400975219743,-0.00539094138609,0.0798383658162,0.999999926829,0.000260873097203,-0.000276064746444,4.55473785008e-05,1793251636004280832
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,691.939177218,670.939177218,643,889,789.060822782,820,656,633,657,0.40097615908,-0.00539067157208,0.0798391414476,0.999999927168,0.000260804100305,-0.000274899109205,4.55627813141e-05,1793251636020947712
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725,691.365706024,670.365706024,643,889,789.634293976,820,656,633,657,0.400975627975,-0.00539068732561,0.0798382384406,0.999999927068,0.000259272041252,-0.000276731568004,4.54038992493e-05,1793251636037614592
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.209245152,747,725,691.209245152,670.209245152,643,889,790,820,656.209245152,633,657,0.400981410073,-0.00539080571042,0.0798403750062,0.999999928299,0.000258206920171,-0.000273266340989,4.53579119975e-05,1793251636054281216
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.786801315,747,725,691.786801315,670.786801315,643,889,790,820,656.786801315,633,657,0.400998304603,-0.00539110474565,0.0798478617939,0.999999931768,0.000257963698305,-0.000260476185519,4.55106409648e-05,1793251636070947840
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.625710318,747,725,692,671,643,889,790,820,656.625710318,633,657,0.401031800488,-0.00539235055656,0.0798596686645,0.999999937058,0.000259186366701,-0.000237953734717,4.56528537475e-05,1793251636087614208
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.032410205,747,725,692,671,643,889,790,820,656.032410205,633,657,0.401075010429,-0.00539415036021,0.0798740033727,0.999999942827,0.000261266780337,-0.000209736564523,4.57889131179e-05,1793251636104280832
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670.456628304,643,889,789.456628304,820,656,633,657,0.401141263788,-0.00539503446727,0.0798906419728,0.999999950249,0.000258127843045,-0.000175600811631,4.51201204232e-05,1793251636120947456
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.118733963,747,725,692,670.118733963,643,889,789.118733963,820.118733963,656,633,657,0.401210934505,-0.0053959179254,0.07990582854,0.999999955696,0.000255316086842,-0.000146503613667,4.42646200765e-05,1793251636137614080
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.696386971,747,725,692,670.696386971,643,889,789.696386971,820.696386971,656,633,657,0.401288667183,-0.0053970033867,0.0799148883054,0.999999957035,0.000254934605885,-0.000138202794734,4.28672304563e-05,1793251636154280704
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671.279152243,643,889.279152243,790,821,656.279152243,633,657,0.401372463715,-0.00539766331901,0.0799212026558,0.999999958301,0.000254810279635,-0.000129601576926,4.09114765408e-05,1793251636170947584
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671.867581432,643,889.867581432,790,821,656.867581432,633,657,0.401462978474,-0.00539785180133,0.0799244753195,0.99999995948,0.000254970858957,-0.000120667543204,3.83371025511e-05,1793251636187614208
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.551289243,747,724.551289243,691.551289243,671.551289243,643,889.551289243,790,821,657,633,657,0.401579520875,-0.00539989601741,0.0799295132664,0.999999961045,0.000252713352724,-0.000113165511166,3.51962373347e-05,1793251636204280832
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724.027578259,691.027578259,671,643,889.027578259,790,820.972421741,656.972421741,633,657,0.401704943332,-0.00540234919011,0.0799351629923,0.999999962709,0.000249779055221,-0.000105733414028,3.1814401791e-05,1793251636220947456
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724.603620843,691.603620843,671,643,889.603620843,790,820.396379157,656.396379157,633,657,0.401856657631,-0.00540221856497,0.0799427849184,0.999999964868,0.000247349584971,-9.14222734979e-05,2.69117661284e-05,1793251636237614080
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,642.817070996,889.817070996,790,820,656,633,657,0.402014581848,-0.00540293451057,0.0799497801129,0.99999996691,0.000244064999924,-7.8303294348e-05,2.19097704625e-05,1793251636254280960
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671,642.230558292,889.230558292,790,820,656,633,657,0.402186206559,-0.00540551818711,0.0799553925916,0.999999969026,0.000238893834219,-6.78145009181e-05,1.66885643023e-05,1793251636270947584
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.351040766,747,725,692,671,642,889,789.648959234,820,656,633,657,0.402375202746,-0.00540721071203,0.0799574065255,0.999999970776,0.000232875451194,-6.4081686199e-05,1.04851351643e-05,1793251636287614464
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.929457221,747,725,692,671,642,889,789.070542779,820,656,633,657,0.402575450781,-0.00540832602159,0.0799570896151,0.999999972291,0.000226308309106,-6.47248445837e-05,3.64550126302e-06,1793251636304281344
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.492462506,747,725,692,671,642.507537494,889.507537494,789.507537494,820.507537494,656.507537494,632.492462506,657,0.402803512789,-0.00541105528355,0.0799521178314,0.999999974112,0.00021460931212,-7.54825723479e-05,-4.50188133957e-06,1793251636320947968
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.084999804,747,725,692,671,643,890,789.915000196,820.915000196,657,632.084999804,657,0.403040984041,-0.005414018898,0.0799470814805,0.999999975881,0.000201629061855,-8.61203336664e-05,-1.29042991871e-05,1793251636337614336
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.659174695,747,725,692,671,643,890,789.340825305,820.340825305,657,632.659174695,657,0.403310372297,-0.00541704108406,0.0799453944695,0.999999978711,0.000185377383582,-8.79824933785e-05,-2.17290878408e-05,1793251636354280960
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.760498222,746.760498222,725,692,671,643,890,789.239501778,820.239501778,656.760498222,633,657,0.403597662505,-0.00541969596818,0.0799458084295,0.999999984727,0.000148494066182,-8.75568180926e-05,-2.87955684531e-05,1793251636370947840
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.171185417,746.171185417,725,692,671,643,890,789.828814583,820.828814583,656.171185417,633,657,0.403911099894,-0.00542181437899,0.0799492910217,0.999999992616,8.14766311722e-05,-8.37895809929e-05,-3.32939024229e-05,1793251636387614720
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746.411523783,724.588476217,692.411523783,671,643,890,790,821,656,633,657,0.404264382115,-0.00542184959089,0.0799529647665,0.999999991896,9.76151689831e-05,-7.60062646616e-05,-3.00501144088e-05,1793251636404281344
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,746.991529389,724.008470611,692.991529389,671,643,890,790,821,656,633,657,0.40463397719,-0.00542103192094,0.0799567167711,0.999999986582,0.000147798569074,-6.65787266088e-05,-2.36366265213e-05,1793251636420947712
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,724.568801954,693,671,643,890.568801954,790,821,656.568801954,633,657,0.405055297278,-0.00542592331436,0.0799572981084,0.999999989253,0.000130231856685,-6.12489156171e-05,-2.79849534032e-05,1793251636437614336
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890.855005534,790,821,656.855005534,633,657.144994466,0.405480156311,-0.00542958143507,0.0799557496325,0.999999990982,0.000115640943298,-6.03267257889e-05,-3.20108554909e-05,1793251636454281216
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890.281882623,790,821,656.281882623,633,657.718117377,0.405913201216,-0.00542934820404,0.0799480511627,0.99999999043,0.000112801605084,-7.22396962441e-05,-3.46137700941e-05,1793251636470947584
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890,790.30037132,820.69962868,656.30037132,633,657.69962868,0.406363249663,-0.00543073103012,0.0799399205083,0.999999989106,0.000114016941508,-8.69216596871e-05,-3.51244224332e-05,1793251636487614464
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890,790.891462983,820.108537017,656.891462983,633,657.108537017,0.406829755377,-0.00543367798912,0.0799313715545,0.999999986898,0.000119156674881,-0.00010428364933,-3.36100375278e-05,1793251636504281344
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,725,693.472928094,671,643,890.472928094,790.527071906,820,656.527071906,633,657,0.407340409363,-0.00543747276022,0.0799270692709,0.999999986736,0.000110486706357,-0.000114019411442,-3.63366385844e-05,1793251636520947712
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891,790.051822739,820,656,633,657,0.407864719629,-0.00544116681525,0.0799228711574,0.999999986632,9.95387181376e-05,-0.000123475719872,-3.97618355863e-05,1793251636537614592
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891,790.626628116,820,656,633,657,0.408426635919,-0.00544192005922,0.0799100849718,0.999999983609,9.69475280452e-05,-0.000147422292041,-4.06106705261e-05,1793251636554281216
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.205676569,747,725,694,671.205676569,643.205676569,891,790.794323431,820,656,633,657.205676569,0.409013458807,-0.00544502716159,0.079909972665,0.999999983643,9.19580233774e-05,-0.000150152470937,-4.13866825295e-05,1793251636570948096
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.792589842,747,725,694,671.792589842,643.792589842,891,790.207410158,820,656,633,657.792589842,0.40964644788,-0.00545249731424,0.0799333523291,0.999999989264,8.2523065753e-05,-0.000113556497271,-4.20277117902e-05,1793251636587614976
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.625379047,747,725.374620953,694,671.625379047,643.625379047,891.374620953,790,820,656.374620953,633,657.625379047,0.41030808533,-0.00545798415056,0.0799636952484,0.999999994416,7.38986329295e-05,-6.2646590307e-05,-4.22110199676e-05,1793251636604281600
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.046016206,747,725.953983794,694,671.046016206,643.046016206,891.953983794,790,820,656.953983794,633,657.046016206,0.41098537998,-0.00546238704317,0.0799978438004,0.999999996945,6.57171770062e-05,-3.91367904543e-06,-4.2144169356e-05,1793251636620948224
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.530837493,747,725.469162507,694,671,643,892,790,820.530837493,656.469162507,633.530837493,657,0.411680066116,-0.00546636909778,0.0799870232987,0.99999999682,6.10790111857e-05,-2.66461824784e-05,-4.38155942913e-05,1793251636637615104
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,892,790,821.107511897,656,633.892488103,657,0.412380616307,-0.00547162526346,0.0799680257518,0.999999995717,5.37419149717e-05,-5.98772746952e-05,-4.57365740663e-05,1793251636654281984
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,892,790,821.684348484,656,633.315651516,657,0.413100214615,-0.00548260184207,0.0799302695454,0.99999999243,3.32885845096e-05,-0.000108255595633,-4.80922505301e-05,1793251636670948352
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.733872075,747,725,694,671,643,892.266127925,790,822,656,633,657.266127925,0.41383987396,-0.00550160503807,0.0799126764558,0.999999990979,5.88509846271e-06,-0.000125283516324,-4.80863245124e-05,1793251636687614720
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.146118941,747,725,694,671,643,892.853881059,790,822,656,633,657.853881059,0.41460377789,-0.00553030869251,0.0799194512161,0.999999993078,-2.99179042701e-05,-0.000104423352628,-4.52263169816e-05,1793251636704281344
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,694.419173592,670.580826408,643,893,789.580826408,822,656,633.419173592,658,0.41540448832,-0.00553717988914,0.0799370379913,0.999999995216,-3.82364264001e-05,-7.8216766051e-05,-4.45962330267e-05,1793251636720948224
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,694.977034784,670.022965216,643,893,789.022965216,822,656,633.977034784,658,0.416217376488,-0.00553682760614,0.0799582020247,0.999999997037,-3.74614425349e-05,-5.02412654505e-05,-4.47039408166e-05,1793251636737615360
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,694.428671094,670.571328906,643,894.142657813,789.571328906,822.571328906,656,633.428671094,658,0.417008573285,-0.00553386997969,0.0799408495258,0.999999994898,-3.40114219396e-05,-8.33780808043e-05,-4.57656577273e-05,1793251636754281472
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,694.162156685,671,643,895,790,823.162156685,656,633,658,0.417843075243,-0.00553618670156,0.0799372384697,0.999999994251,-3.87281813664e-05,-8.84006422223e-05,-4.67196199846e-05,1793251636770948096
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,694.740086001,671,643,895,790,823.740086001,656,633,658,0.418791000228,-0.00555231375199,0.079973100754,0.999999996683,-6.46791878714e-05,-1.46102956344e-05,-4.72922766087e-05,1793251636787614720
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,695,670.675181716,643,895.324818284,789.675181716,824,656,633,657.675181716,0.419689560515,-0.00555858218483,0.0799875038176,0.999999996147,-7.22262385191e-05,1.4666566964e-05,-4.76798507955e-05,1793251636804281344
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,695,670.084889394,643,895.915110606,789.084889394,824,656,633,657.084889394,0.420547774979,-0.00555679316709,0.0799843682548,0.999999996728,-6.47317319607e-05,7.56254808476e-06,-4.79161572155e-05,1793251636820948224
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.496053465,747,725,695,670.496053465,643,896,789.496053465,824.496053465,656,633,657,0.421432233819,-0.0055484912655,0.0799713257907,0.99999999686,-5.99499580058e-05,-1.6225870981e-05,-4.92159986663e-05,1793251636837615104
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.92512569,747,725,695,670.92512569,643,896,789.92512569,825,656,633,657.07487431,0.422328698834,-0.0055374014433,0.0799618961722,0.99999999678,-5.21475317255e-05,-3.44137585479e-05,-5.03554518524e-05,1793251636854281728
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.349990826,747,725,695,670.349990826,643,896,789.349990826,825,656,633,657.650009174,0.423275928701,-0.00551499349334,0.0799877229531,0.999999998559,-2.11188188276e-05,3.54102366e-06,-4.92297730128e-05,1793251636870948096
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,695.224487028,670,643,896,789,825,656,633.224487028,658,0.424202255621,-0.00550463303539,0.0799901707303,0.999999998792,-6.3912420531e-06,-3.75038072953e-06,-4.85845644714e-05,1793251636887614720
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,695.797943635,670,643,896,789,825,656,633.797943635,658,0.425096088637,-0.00551300064155,0.079956275382,0.999999995359,-1.70041030363e-05,-8.13778823292e-05,-4.86862563963e-05,1793251636904281088
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,896.386362118,789,825.386362118,656,633.613637882,658,0.426027221076,-0.0055230446794,0.0799277558161,0.99999999197,-2.95450669813e-05,-0.000112166953382,-5.10499113869e-05,1793251636920947968
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,896.982920416,789,825.982920416,656,633.017079584,658,0.426978645814,-0.00553400076147,0.0799021608891,0.999999990677,-4.3134994131e-05,-0.000117474072712,-5.46441632906e-05,1793251636937614336
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747.558102518,725,696,670.558102518,643,897,789.558102518,826,656,633,657.441897482,0.427916285196,-0.00553663939047,0.079903808369,0.999999989628,-5.17441188887e-05,-0.000122703202876,-5.48752630927e-05,1793251636954281216
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747.867144488,725,696,671,643,897.132855512,789.867144488,826,656.132855512,633.132855512,657.132855512,0.428863192356,-0.00553919305048,0.0799121909102,0.999999989743,-5.79385327103e-05,-0.000119090445631,-5.45368830692e-05,1793251636970947840
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.291722173,725,696,671,643,897.708277827,789.291722173,826,656.708277827,633.708277827,657.708277827,0.429842325677,-0.00554228030032,0.0799403344541,0.999999993314,-5.65781210736e-05,-8.60313483387e-05,-5.26316646194e-05,1793251636987614464
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+174,2.900000000,POSE1_TO_POSE2_PRESS,768.116795213,747,725,696,671,643,898,789,826.883204787,656.116795213,633.116795213,657.116795213,0.431854203706,-0.00554339758787,0.0800275350399,0.9999999958,-6.57015041061e-05,4.05192683491e-05,-4.94214621944e-05,1793251637020947968
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+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,898.040702239,789,827,656,633.040702239,657.959297761,0.433645730246,-0.00552296734437,0.0799489896961,0.999999994311,-3.42458407052e-05,-8.56205850149e-05,-5.36069620272e-05,1793251637054280960
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,898.614416512,789,827,656,633.614416512,657.385583488,0.434552471845,-0.00552689936406,0.0799055631489,0.999999987804,-4.24014977495e-05,-0.000139323201393,-5.64246029355e-05,1793251637070947840
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,724.810978644,696,671,643,898.810978644,789,827,656,634,657,0.435475457242,-0.00553206071577,0.0798895590573,0.99999998463,-5.32680016011e-05,-0.000156646859544,-5.80036165117e-05,1793251637087614464
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,724.234548425,696,671,643,898.234548425,789,827,656,634,657,0.436431735293,-0.00553974164654,0.0799297586724,0.999999991003,-6.969052515e-05,-9.94100068448e-05,-5.70440011801e-05,1793251637104280832
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747,724,696,671.352040386,643,898.352040386,788.647959614,827.352040386,656,633.647959614,657.352040386,0.437396620196,-0.0055457678771,0.0799720652107,0.999999994698,-7.83705021112e-05,-3.70329034872e-05,-5.56013633323e-05,1793251637120947456
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747,724,696,671.945598476,643,898.945598476,788.054401524,827.945598476,656,633.054401524,657.945598476,0.438367409782,-0.00555065889825,0.0800158172037,0.999999994794,-8.173869511e-05,2.88706712194e-05,-5.38273473026e-05,1793251637137614080
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,724.523907138,696,672,643,899,788,827.476092862,656,633,658,0.439276840875,-0.00555794111817,0.0800259878551,0.999999993042,-9.44775705957e-05,4.5104953624e-05,-5.43620340611e-05,1793251637154280960
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.100204862,747,725,696.100204862,671.899795138,643,899.100204862,788.100204862,827.100204862,656,633.100204862,658,0.440153735191,-0.00556340213393,0.0800169529271,0.999999992533,-0.000104130023676,3.17077687788e-05,-5.55408967887e-05,1793251637170947840
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+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.314872568,724.685127432,696,672,643,900,788,828.314872568,656,633,658,0.447325832739,-0.00556363469,0.0800154553608,0.999999992456,-9.86634279504e-05,4.62537741186e-05,-5.66977336845e-05,1793251637320947456
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.908279281,724.091720719,696,672,643,900,788,828.908279281,656,633,658,0.448021228291,-0.00556706097358,0.0799885997554,0.99999999338,-9.65069942271e-05,1.93969196991e-05,-5.95864946598e-05,1793251637337614080
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.514581475,724.485418525,696,672,643,900,788,829,656,633.485418525,658,0.448620909246,-0.00557206290736,0.0799402219984,0.999999989927,-0.000113171968754,-5.90267709413e-05,-6.20864188302e-05,1793251637354281216
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,724.368972131,696,672,643,900,788,829,656,634,658,0.449813153472,-0.00557692738186,0.0798788564781,0.999999979734,-0.000121273931121,-0.000147262486883,-6.43336954524e-05,1793251637387614976
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.203400789,724,696,671.796599211,643,900.203400789,788,829,656,634,658,0.450424290088,-0.00557881098451,0.0798852137804,0.999999982131,-0.000119864703281,-0.00013157804184,-6.36997837133e-05,1793251637404281600
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.77699835,724,696,671.22300165,643,900.77699835,788,829,656,634,658,0.451042152719,-0.00558391926988,0.0799270207433,0.999999986777,-0.000132243873075,-7.1680863686e-05,-6.17958923578e-05,1793251637420948224
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.3660482,748,724,695.6339518,671,643,900.6339518,787.6339518,828.6339518,656,634,658,0.451618244103,-0.00558330667033,0.0799498305069,0.999999988403,-0.00013215096035,-4.52342983325e-05,-6.06890290423e-05,1793251637437614848
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,748,724,695,669.016301802,641.016301802,900.016301802,786.983698198,829,656,633,658,0.458039125473,-0.00559928944047,0.0797327437056,0.999999902349,-0.00014344949039,-0.000414070830273,-5.71762863157e-05,1793251638087614464
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,748,724,695,669.592363694,641.592363694,900.592363694,786.407636306,829,656,633,658,0.458041234099,-0.00559730840284,0.0797336172626,0.999999903601,-0.000140324118522,-0.00041206818575,-5.75090888077e-05,1793251638104281344
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,748,724,695,669.829970552,641.829970552,900.829970552,786.170029448,829,656,633,658,0.458042786202,-0.00559582344205,0.0797342635588,0.999999904379,-0.000138964817232,-0.000410602523513,-5.77637054175e-05,1793251638120947968
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748,724,695,669.248423044,641.248423044,900.248423044,786.751576956,829,656,633,658,0.458042991366,-0.00559553912387,0.0797343598212,0.999999904034,-0.000141879892998,-0.000410436506329,-5.78290906549e-05,1793251638137614848
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,724.334516319,695,669.334516319,641.334516319,900.334516319,787,829,656,633,658,0.458043519648,-0.00559553599205,0.0797343289482,0.999999904106,-0.000141672816644,-0.000410391060325,-5.74062356486e-05,1793251638154281216
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,748,724.918493613,695,669.918493613,641.918493613,900.918493613,787,829,656,633,658,0.45804428889,-0.00559574255113,0.0797342032658,0.999999904489,-0.000139137437873,-0.000410435528636,-5.66192821489e-05,1793251638170947584
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,748,724.502219561,695,669.502219561,642,901,786.502219561,829,656.497780439,633,658.497780439,0.458043841426,-0.00559630692476,0.0797338714932,0.999999904221,-0.000139928702955,-0.000410845337738,-5.64209720691e-05,1793251638187614464
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,748,724.076000161,695,669,642,901,786,829,656.923999839,633,658.923999839,0.458043304759,-0.00559681182796,0.0797335513515,0.999999903861,-0.000140971551239,-0.000411373067745,-5.63614727556e-05,1793251638204281344
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,748,724.652203952,695,669,642,901,786,829,656.347796048,633,658.347796048,0.458043479964,-0.00559654331271,0.079733527784,0.999999903592,-0.000140118660515,-0.00041228686544,-5.65871300039e-05,1793251638220947712
+247,4.116666667,HOLD_POSE2,767,748,724,695,669,641,900,786,829,656,633,658,0.458044749297,-0.0055960538812,0.0797335884763,0.999999903525,-0.00014234672283,-0.000411663565432,-5.67464258359e-05,1793251638259443456
+248,4.133333333,HOLD_POSE2,767.582782546,748,724.582782546,695,669,641.582782546,900,786,829,656,633,658,0.458043712999,-0.00559541712977,0.0797322107479,0.999999903279,-0.000140467610312,-0.00041289900252,-5.67897625631e-05,1793251638276110080
+249,4.150000000,HOLD_POSE2,768.163324904,748,725,695,669.163324904,641.836675096,900.163324904,786,829,656.163324904,633,658,0.458043329297,-0.0055949232212,0.079731393309,0.999999903113,-0.000139270968121,-0.000413704686497,-5.67996527877e-05,1793251638292776704
+250,4.166666667,HOLD_POSE2,768.7382222,748,725,695,669.7382222,641.2617778,900.7382222,786,829,656.7382222,633,658,0.458044590114,-0.00559478927097,0.0797319877775,0.999999903159,-0.000139794124161,-0.000413427409643,-5.67252591393e-05,1793251638309443072
+251,4.183333333,HOLD_POSE2,768.686645618,748,725,695,669.686645618,641,901,786,828.686645618,656.686645618,633,658,0.458044663912,-0.00559456368002,0.0797320393699,0.999999903067,-0.000140017280855,-0.00041354634975,-5.69323438524e-05,1793251638326109696
+252,4.200000000,HOLD_POSE2,768.111317098,748,725,695,669.111317098,641,901,786,828.111317098,656.111317098,633,658,0.458043745323,-0.00559426147455,0.0797316371007,0.999999902859,-0.000139989628611,-0.00041399653974,-5.73747533497e-05,1793251638342776064
+253,4.216666667,HOLD_POSE2,768,748,724.525452404,695,669.474547596,641.474547596,900.525452404,786,828.474547596,656,633,658,0.458043703917,-0.00559573729802,0.0797325240201,0.999999902958,-0.000140600596512,-0.000413626789142,-5.68249022926e-05,1793251638359442688
+254,4.233333333,HOLD_POSE2,768,748,724.062070712,695.062070712,669.937929288,641.937929288,900,786.062070712,829,656,633,658.062070712,0.458043904397,-0.00559720210977,0.0797335580309,0.999999903141,-0.000140998748482,-0.000413138739426,-5.61534590804e-05,1793251638376109312
+255,4.250000000,HOLD_POSE2,768,748,724.642337183,695.642337183,669.357662817,641.357662817,900,786.642337183,829,656,633,658.642337183,0.458044367412,-0.00559501393157,0.0797332380271,0.999999903427,-0.000138341175624,-0.000413305259907,-5.64542188211e-05,1793251638392776960
+256,4.266666667,HOLD_POSE2,768,748,725,695.77967169,669.22032831,641.22032831,900,787,829,656,633,658.77967169,0.458044546952,-0.00559403385622,0.0797325394893,0.999999903345,-0.000137185343472,-0.000413863767584,-5.66340283137e-05,1793251638409444096
+257,4.283333333,HOLD_POSE2,768,748,725,695.205336472,669.794663528,641.794663528,900,787,829,656,633,658.205336472,0.458044271023,-0.0055949948696,0.0797312327517,0.99999990268,-0.00013844239526,-0.000415052090705,-5.66195040429e-05,1793251638426110720
+258,4.300000000,HOLD_POSE2,767.62078999,748,725,695,670,641.62078999,900.37921001,787,829,656,633,658.37921001,0.458045058788,-0.00559351902382,0.0797315479265,0.999999903386,-0.000137112113425,-0.000413753999229,-5.68843859119e-05,1793251638442776832
+259,4.316666667,HOLD_POSE2,767.030561196,748,725,695,670,641.030561196,900.969438804,787,829,656,633,658.969438804,0.458046438467,-0.00559068714047,0.079732765646,0.999999904844,-0.000134342059607,-0.000411072294117,-5.73047487574e-05,1793251638459442944
+260,4.333333333,HOLD_POSE2,767,748,725,695,670,641.548807453,901,786.451192547,829,656,633,658.451192547,0.458045687635,-0.00559357998255,0.0797320393491,0.999999903986,-0.000137050795208,-0.000412374520075,-5.65001938449e-05,1793251638476109824
+261,4.350000000,HOLD_POSE2,767.126812215,748,725,695.126812215,669.873187785,642,901,786,829,656,633,658,0.458045108843,-0.00559542864385,0.0797314015356,0.999999903214,-0.000138770782117,-0.000413740599153,-5.59714635988e-05,1793251638492776704
+262,4.366666667,HOLD_POSE2,767.702091023,748,725,695.702091023,669.297908977,642,901,786,829,656,633,658,0.458045549887,-0.00559247908718,0.0797314520525,0.999999903225,-0.000135936077708,-0.000414563148007,-5.6654722889e-05,1793251638509443840
+263,4.383333333,HOLD_POSE2,767.723897848,747.723897848,724.723897848,695.723897848,669.276102152,641.723897848,901,786,829,656,633,658,0.45804524714,-0.00559111872549,0.0797312929249,0.999999903179,-0.000134891299075,-0.000414971187384,-5.69673063652e-05,1793251638526110464
+264,4.400000000,HOLD_POSE2,767.151248306,747.151248306,724.151248306,695.151248306,669.848751694,641.151248306,901,786,829,656,633,658,0.458044145522,-0.00559146523814,0.0797309086287,0.99999990308,-0.000135768989578,-0.000414934022998,-5.68817656113e-05,1793251638542776832
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,642,901,787,829,656,633,658,0.458047822471,-0.00559528599721,0.0797336884043,0.999999904588,-0.000137150285767,-0.000410927620911,-5.61527484394e-05,1793251638575246080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747.421879905,725,695,669.578120095,641.421879905,901,786.421879905,828.421879905,656,633,658,0.45804886792,-0.00559515982439,0.0797345120513,0.999999904933,-0.000138684812039,-0.000409587965523,-5.60122171301e-05,1793251638591912448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747.155535755,725,695,669.844464245,641,900.844464245,786,828.155535755,656,633,658,0.45804901119,-0.00559461527858,0.0797345812879,0.99999990493,-0.000138905296466,-0.000409531479259,-5.59358893722e-05,1793251638608579072
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.731049426,725,695,669.268950574,641,900.268950574,786,828.731049426,656,633,658,0.4580467184,-0.00559294104123,0.0797326134645,0.99999990398,-0.000135577603152,-0.000412939808204,-5.60329241241e-05,1793251638625245696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,724.694519632,695,669.305480368,641.305480368,900.305480368,786,829,656,633,658,0.458046335486,-0.00559196630389,0.0797319545261,0.999999903828,-0.000134341198377,-0.000413706520348,-5.60595694423e-05,1793251638641912064
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,748,724.121038611,695,669.878961389,641.878961389,900.878961389,786,829,656,633,658,0.458047628123,-0.00559160524424,0.0797324438843,0.99999990439,-0.000134939499894,-0.000412155718306,-5.6024461477e-05,1793251638658578688
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,724,695,669.531447966,641.531447966,900.531447966,786,829,656,632.531447966,658,0.458047999168,-0.00559181364908,0.079732527538,0.999999904414,-0.000135302581578,-0.000411974788364,-5.60488009996e-05,1793251638675245568
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641.060486995,900,786.060486995,829,656,632.060486995,658,0.458047684249,-0.00559213620763,0.079732279329,0.999999904151,-0.000135667509679,-0.00041248885456,-5.6087840864e-05,1793251638691912448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641.635697351,900,786.635697351,829,656,632.635697351,658,0.458043630036,-0.00559213377447,0.0797301306812,0.999999902654,-0.000136583634082,-0.000415798548409,-5.61166418296e-05,1793251638708579328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747.788938348,724,695,669,642,900.211061652,786.788938348,828.788938348,656,633,658,0.458036165979,-0.00559115811696,0.0797263681163,0.999999900266,-0.000136233948118,-0.000421585165696,-5.63328691753e-05,1793251638725245952
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.213308198,724,695,669,642,900.786691802,786.213308198,828.213308198,656,633,658,0.458022812071,-0.00558850140117,0.0797198178196,0.999999896284,-0.000133697817566,-0.000431650192507,-5.68728396174e-05,1793251638741912320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747.369415947,724.369415947,695,669.369415947,642,901,786,828.369415947,656,633.369415947,658.369415947,0.457993448932,-0.00558942348253,0.0797065737914,0.999999886699,-0.000134020968153,-0.000453201061681,-5.70067374611e-05,1793251638758578688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.956316565,724.956316565,695,669.956316565,642,901,786,828.956316565,656,633.956316565,658.956316565,0.457954660745,-0.00559245249358,0.0796893889907,0.999999873202,-0.00013602745077,-0.000481513942383,-5.69015699375e-05,1793251638775245056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,642,901,786,829,656,633.460374138,658.460374138,0.457893389811,-0.00558979110322,0.0796693731995,0.999999856558,-0.000134533938316,-0.000515308285318,-5.69391058087e-05,1793251638791911680
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,669.87923999,642,901,786.12076001,829,656,633,658,0.457828866084,-0.00558650025229,0.0796510440412,0.99999984116,-0.000132666986817,-0.000544824825173,-5.69658201782e-05,1793251638808578560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,669.305186408,642,901,786.694813592,829,656,633,658,0.457758918975,-0.00558256429276,0.0796399004967,0.999999834953,-0.00013045476151,-0.0005566292915,-5.69088385235e-05,1793251638825245184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,669.268510715,641.731489285,900.731489285,786.731489285,829,656,633,658,0.457682388606,-0.00558067287493,0.0796338635493,0.999999830574,-0.000128812610321,-0.000564930876482,-5.57882216397e-05,1793251638841911808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,669.841803191,641.158196809,900.158196809,786.158196809,829,656,633,658,0.457598385698,-0.00558110218044,0.0796336230107,0.999999828376,-0.000127817540322,-0.000569256402176,-5.34602912356e-05,1793251638858578688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.57217578,748,725,695.42782422,669.57217578,641,900,786,829,656.42782422,633,658,0.457503297242,-0.00557970272938,0.0796365237895,0.999999831149,-0.000124548018933,-0.000565336456352,-5.08344611535e-05,1793251638875245312
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.018374321,748,725,695.981625679,669,641.018374321,900.018374321,786.018374321,829,656.981625679,633,658,0.457402803557,-0.0055776029639,0.0796405356214,0.999999835619,-0.000120463274265,-0.000558516094339,-4.8064533279e-05,1793251638891911680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.599073469,748,725,695.400926531,669,641.599073469,900.599073469,786.599073469,829,656.400926531,633,658,0.457266184309,-0.005575400419,0.0796419114796,0.999999835762,-0.000117957417431,-0.000559102149033,-4.43591831327e-05,1793251638908578816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724.82199673,695,669,641.82199673,900.82199673,787,829,656,633,658,0.457121664111,-0.00557316344593,0.0796431617269,0.999999836035,-0.000115439768458,-0.000559435905213,-4.04419074289e-05,1793251638925245696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724.24701298,695,669,641.24701298,900.24701298,787,829,656,633,658,0.456959523339,-0.0055708496919,0.0796441318382,0.999999836621,-0.000112895821152,-0.0005592069886,-3.60519987176e-05,1793251638941911808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,669.327236455,641.327236455,900,786.672763545,828.672763545,656,633.327236455,658,0.45677680583,-0.00556690092744,0.0796424996656,0.999999835972,-0.000107075187716,-0.000561775315406,-3.15976189757e-05,1793251638958578176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724,695,669.900932896,641.900932896,900,786.099067104,828.099067104,656,633.900932896,658,0.456578590817,-0.00556172074539,0.0796389075682,0.99999983432,-9.87866993212e-05,-0.000566450401846,-2.70946820484e-05,1793251638975245056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,724.492702122,695,670,642,900,786,828,656.492702122,633.507297878,658,0.456351766943,-0.00555812613991,0.0796315238883,0.999999829596,-9.17063233219e-05,-0.000576132811894,-2.16766197538e-05,1793251638991911680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.914683014,748,724.914683014,695,670,642,900,786.085316986,828,656.914683014,633,658,0.456115167133,-0.00555458936264,0.0796260569628,0.999999826353,-8.43981550058e-05,-0.00058302544606,-1.58659166527e-05,1793251639008578304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.338892499,748,724.338892499,695,670,642,900,786.661107501,828,656.338892499,633,658,0.455856695512,-0.00554948245235,0.0796361587682,0.999999835959,-7.43307957464e-05,-0.000567871690844,-8.89606689257e-06,1793251639025245184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.236880716,748,724,695,670,642,900,786.763119284,828.236880716,656,633,658,0.455589452268,-0.00554451841196,0.0796493696947,0.999999848937,-6.30160236244e-05,-0.000546034620386,-1.24373722971e-06,1793251639041912064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.812629148,748,724,695,670,642,900,786.187370852,828.812629148,656,633,658,0.455309660868,-0.00553975875321,0.0796670283474,0.999999866301,-4.99167761073e-05,-0.000514636790221,7.38490789622e-06,1793251639058578688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.602045986,748,724.397954014,695,670.397954014,642,900,786.397954014,829,656,633,658,0.454996784505,-0.00553460616565,0.0796752412437,0.999999874535,-4.03233137215e-05,-0.000499104145884,1.41041515478e-05,1793251639075245312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.012101033,748,724.987898967,695,670.987898967,642,900,786.987898967,829,656,633,658,0.454667946474,-0.00552926401166,0.0796788970811,0.999999878625,-3.24212003558e-05,-0.00049122558271,1.99022136919e-05,1793251639091911680
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,670.719678618,642,900,787,828,656,633,658,0.453433826034,-0.00551104335771,0.0796801005989,0.999999885608,2.51517537475e-05,-0.000477483989845,1.27001411389e-05,1793251639141911808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.110803079,747.110803079,725,695,671,642,899.110803079,787,828,656,633,658,0.45253143837,-0.00550177658757,0.0797002098475,0.999999899615,1.36533507025e-05,-0.000447413745202,2.01308129713e-05,1793251639175245056
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,747,724.530091388,695,671.469908612,642.469908612,899,787,828,656,633,657.530091388,0.452045362643,-0.00549548126992,0.0797194649135,0.99999991147,2.57083798436e-05,-0.000419325315385,2.37836505596e-05,1793251639191911936
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.623870093,747.623870093,724.623870093,695,672,642.376129907,899,787.623870093,828,656,633,657,0.451016945959,-0.00548374143071,0.0797600226572,0.999999937704,4.67658788598e-05,-0.000348814971475,2.70858712273e-05,1793251639225245440
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,724.058827188,693,671.058827188,643,890,789.941172812,820.941172812,656.941172812,633,657,0.410241892771,-0.00540388678991,0.0797857460764,0.999999912926,0.000224688147327,-0.000348151535139,4.95349287176e-05,1793251640041912064
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,747,724.953736794,691,670.046263206,642.046263206,889,789.046263206,820,656.046263206,633,657,0.401088341788,-0.00539162961581,0.0798267201743,0.999999921855,0.000260103645726,-0.000294185963881,4.57167648742e-05,1793251640558578688
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,643,889,789,820.666273363,656.666273363,633,657,0.400994976911,-0.00539336337903,0.0798221393415,0.999999920355,0.000255068389084,-0.000303464316462,4.6253929734e-05,1793251640625245184
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,643,889,789,820.051544056,656.051544056,633,657,0.40098532697,-0.00539346346167,0.0798224664331,0.999999920249,0.000255837164898,-0.00030320601523,4.59846265636e-05,1793251640641912064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,747,724.468772819,692,671,643,889,789,820,656,632.468772819,657,0.400980420258,-0.00539365844926,0.0798245671726,0.999999921314,0.00025460332551,-0.000300718183191,4.60236904853e-05,1793251640658578688
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,747,724.685821722,692,671,643,889,789,820,656,633.371643444,657,0.400974719548,-0.00539494762835,0.0798269622521,0.999999922784,0.000253970737638,-0.000296279857523,4.63510474948e-05,1793251640691911680
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.57938293,670,643,889,789,820.42061707,656,633,657,0.400971481975,-0.00539436816577,0.0798278057721,0.999999923909,0.000252907929939,-0.000293461664508,4.58147742699e-05,1793251640741911808
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,747,724.013187853,691.013187853,670.013187853,643,889,789,820.986812147,656,632.986812147,657,0.400970858076,-0.00539314162619,0.0798277585573,0.999999923529,0.000254388969273,-0.000293518617728,4.55588242504e-05,1793251640758578432
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,747,724.588226397,691.588226397,670.588226397,643,889,789,820.411773603,656,632.411773603,657,0.400972925118,-0.00539322839196,0.0798301163256,0.99999992431,0.000255730925934,-0.000289653442068,4.56261931988e-05,1793251640775245056
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,747,725,691.836762989,671,643,888.836762989,789,820,656,632.163237011,657,0.400974089137,-0.00539362208204,0.0798316794281,0.999999924907,0.000256298262865,-0.000287074783637,4.56550659502e-05,1793251640791911424
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ced8f1f8c995074a4b358c7f8aa486d2d286b5f2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f43fd0bdea52fedcd1197f72e48d512c166df1db
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d17d0cbb58975d705f6e25b9efd508897642b0466cb3015dfaa25ee6ccbe8ba
+size 26447423
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb3f240a72a471159734411c8f4d34f430f5d37e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+11,0.183333333,BASELINE,769,747,725,692,670.632355403,643,888.632355403,789.632355403,820,657,633,657,0.400973926634,-0.00539481261771,0.0798350731142,0.999999926981,0.000253699390423,-0.000282257251303,4.47900556869e-05,1793251641343676160
+12,0.200000000,BASELINE,769,747,725,692,670.057778269,643,888.057778269,789.057778269,820,657,633,657,0.400972132544,-0.00539375854461,0.0798335688423,0.999999926517,0.000253598296924,-0.000284053179481,4.43546390401e-05,1793251641360342784
+13,0.216666667,BASELINE,769,747,725,692,670.53501569,643,888.53501569,789.53501569,820.53501569,657,633,657,0.400972628325,-0.00539300766337,0.0798340365231,0.999999926136,0.000256077701655,-0.000283190968055,4.42126259321e-05,1793251641377009408
+14,0.233333333,BASELINE,769,747,725,691.874486717,670.874486717,643,889,790,820.874486717,656.874486717,633,657.125513283,0.400973021002,-0.00539295553956,0.0798344073084,0.999999926012,0.000257354669627,-0.000282477755434,4.4169100785e-05,1793251641393676032
+15,0.250000000,BASELINE,769,747,725,691.299505645,670.299505645,643,889,790,820.299505645,656.299505645,633,657.700494355,0.400972127686,-0.00539528430598,0.0798336416144,0.99999992679,0.000253292536004,-0.000283362328489,4.4360797344e-05,1793251641410342656
+16,0.266666667,BASELINE,769,747,725,691.275404416,670.275404416,643,889,789.724595584,820,656,633,657.724595584,0.400972360961,-0.00539622757697,0.0798340609732,0.9999999274,0.000251444944152,-0.000282839257483,4.44625480364e-05,1793251641427009024
+17,0.283333333,BASELINE,769,747,725,691.850237236,670.850237236,643,889,789.149762764,820,656,633,657.149762764,0.400973819104,-0.00539566449332,0.0798357687592,0.999999927838,0.000252005072512,-0.000280785751211,4.44665067226e-05,1793251641443675648
+18,0.300000000,BASELINE,769.434622728,747,725,692,671,643,889,789,820.434622728,656.434622728,633,657,0.400974120903,-0.00539598840017,0.0798354702548,0.999999927862,0.000251764331985,-0.000280907429358,4.45138859864e-05,1793251641460342272
+19,0.316666667,BASELINE,769.97786146,747,724.97786146,692,671,643,889,789,820.97786146,656.97786146,633,657,0.400973984513,-0.00539660467015,0.0798345134601,0.999999927756,0.000251211502351,-0.000281771223078,4.4562710004e-05,1793251641477008896
+20,0.333333333,BASELINE,769.396291894,747,724.396291894,692,671,643,889,789,820.396291894,656.396291894,633,657,0.400973070293,-0.00539671186731,0.0798347841554,0.999999928027,0.000249902530059,-0.000282022077487,4.42614648929e-05,1793251641493675776
+21,0.350000000,BASELINE,769,747,724.182837971,692,671,643,889,789,820,656.182837971,633,657,0.400973073255,-0.00539662518996,0.0798352197885,0.999999928154,0.000249842235906,-0.000281644123913,4.41306866536e-05,1793251641510342400
+22,0.366666667,BASELINE,769,747,724.756749466,692,671,643,889,789,820,656.756749466,633,657,0.400975037984,-0.00539612383296,0.0798360082083,0.999999927972,0.000252452749056,-0.000279921208141,4.43645213372e-05,1793251641527009024
+23,0.383333333,BASELINE,769.331698151,747,725,692,671,643,889.331698151,789,820.331698151,656.668301849,633,657,0.40097558846,-0.00539548693799,0.079836012562,0.999999927616,0.000253967630992,-0.000279804791453,4.44756406359e-05,1793251641543676160
+24,0.400000000,BASELINE,769.907409904,747,725,692,671,643,889.907409904,789,820.907409904,656.092590096,633,657,0.400975098542,-0.00539475033452,0.0798354401179,0.999999927136,0.000254676512569,-0.000280870194951,4.4496484439e-05,1793251641560343552
+25,0.416666667,BASELINE,769.502426337,746.502426337,725,691.502426337,671,642.502426337,889.502426337,789,820.502426337,656.497573663,633,657,0.40097374881,-0.00539553141829,0.0798352152991,0.99999992754,0.000252463010673,-0.000281431588131,4.44750059221e-05,1793251641577009664
+26,0.433333333,BASELINE,769,746.087982527,724.912017473,691.087982527,671,642.087982527,889,789,820,656.912017473,633,657,0.400972548789,-0.00539622714632,0.0798350745138,0.999999927918,0.000250535126942,-0.000281820802002,4.44187138572e-05,1793251641593675776
+27,0.450000000,BASELINE,769,746.664376882,724.335623118,691.664376882,671,642.664376882,889,789,820,656.335623118,633,657,0.400973094595,-0.0053948343887,0.0798350303824,0.999999927239,0.000253301878155,-0.000281790420812,4.42141899401e-05,1793251641610342400
+28,0.466666667,BASELINE,769,747.238602996,724.238602996,692,671,643,889,789,820,656.238602996,633,657,0.400973326535,-0.00539426034222,0.0798351968726,0.99999992707,0.000254376633607,-0.000281435882698,4.41102517702e-05,1793251641627009024
+29,0.483333333,BASELINE,769,747.809806653,724.809806653,692,671,643,889,789,820,656.809806653,633,657,0.400973120962,-0.00539482753828,0.0798356569589,0.999999927621,0.000253092831285,-0.000280629486023,4.41465251217e-05,1793251641643675648
+30,0.500000000,BASELINE,769,747.23177334,725,692,671,643,889,789.38411333,820.38411333,656.61588667,633,657,0.400972996891,-0.00539496553638,0.0798357932053,0.99999992754,0.000253434164458,-0.000280596732956,4.42303692195e-05,1793251641660342528
+31,0.516666667,BASELINE,769,746.080062082,725,692,671,643,889,789.959968959,820.959968959,656.040031041,633,657,0.400972913506,-0.00539488928676,0.0798357677967,0.999999927143,0.000254586735376,-0.000280950168554,4.43379597565e-05,1793251641677009152
+32,0.533333333,BASELINE,769,746.555879351,725,692,671,643,889,789.444120649,821,656,633,657,0.400974382662,-0.00539524530595,0.0798365120868,0.999999927491,0.000254502640134,-0.000279771787655,4.44255601973e-05,1793251641693675776
+33,0.550000000,BASELINE,769,747,724.85207533,692,670.85207533,643,889,789,820.85207533,656,633,657,0.400975229147,-0.00539567149499,0.0798368721694,0.99999992777,0.000254052221447,-0.000279176677813,4.44638968257e-05,1793251641710342400
+34,0.566666667,BASELINE,769,747,724.275569324,692,670.275569324,643,889,789,820.275569324,656,633,657,0.400973935512,-0.0053962074201,0.0798359524844,0.999999927691,0.000252808138009,-0.00028060304503,4.43638286132e-05,1793251641727009024
+35,0.583333333,BASELINE,769,747,724,692,670,643,889,789,820,656.298840111,633,657,0.400973290739,-0.00539629730964,0.079835504533,0.999999927348,0.00025328091171,-0.000281393250982,4.43952425618e-05,1793251641743675648
+36,0.600000000,BASELINE,769,747,724,692,670,643,889,789,820,656.871329769,633,657,0.400973240131,-0.00539597876202,0.0798354885503,0.999999926763,0.000255325820876,-0.000281600920699,4.45470554431e-05,1793251641760342272
+37,0.616666667,BASELINE,769,747,724.458918593,691.541081407,670.458918593,643,889,789,820,656.541081407,633,657,0.400973131629,-0.00539521524169,0.0798356634438,0.999999926937,0.000254797790164,-0.000281513236353,4.42150215045e-05,1793251641777009152
+38,0.633333333,BASELINE,769,746.950365615,724.950365615,691,670.950365615,643,889,789,820,656.049634385,633,657,0.400972933854,-0.00539454413881,0.0798357823764,0.999999927282,0.000253539305516,-0.000281485360301,4.38129665331e-05,1793251641793675776
+39,0.650000000,BASELINE,769,746.372946717,724.372946717,691,670.372946717,643,889,789,820,656.627053283,633,657,0.400971965272,-0.00539622751431,0.0798347178193,0.999999927115,0.000252445444793,-0.000283003970747,4.41579508396e-05,1793251641810342400
+40,0.666666667,BASELINE,769.204017553,746,724.204017553,691.204017553,670.204017553,643,889,789,820,656.795982447,633.204017553,657,0.40097147402,-0.00539699187314,0.0798341242998,0.999999927109,0.000251650921689,-0.000283703178918,4.43346699335e-05,1793251641827009024
+41,0.683333333,BASELINE,769.780152572,746,724.780152572,691.780152572,670.780152572,643,889,789,820,656.219847428,633.780152572,657,0.400971853392,-0.00539607999297,0.0798343899286,0.999999927403,0.000251402374983,-0.000282907839626,4.42044819618e-05,1793251641843675904
+42,0.700000000,BASELINE,769.636553029,746,725,692,671,643,889,789,820.363446971,656,633.636553029,657,0.400971467471,-0.00539505706216,0.0798343414416,0.999999927088,0.000252837352395,-0.000282759052366,4.41011368311e-05,1793251641860342528
+43,0.716666667,BASELINE,769.048840953,746,725,692,671,643,889,789,820.951159047,656,633.048840953,657,0.400970609327,-0.00539396560754,0.0798340991292,0.999999926392,0.000255311149079,-0.000283009220338,4.40143550914e-05,1793251641877009152
+44,0.733333333,BASELINE,769,746.530830303,725,692,671,643,889,789,820.469169697,656.530830303,633,657,0.400972105101,-0.00539314483633,0.0798348803527,0.999999926546,0.000255932585488,-0.000281920566358,4.39091523847e-05,1793251641893675776
+45,0.750000000,BASELINE,769,747,725,692,671,643,889,789.109722331,820,656.890277669,633,657,0.400973518937,-0.00539278421818,0.0798357036164,0.9999999268,0.000256068797833,-0.000280897213976,4.38909183186e-05,1793251641910342400
+46,0.766666667,BASELINE,769,747,725,692,671,643,889,789.688398599,820,656.311601401,633,657,0.400973670717,-0.00539428544066,0.0798363100653,0.999999927159,0.000254848721988,-0.000280671590867,4.42515246724e-05,1793251641927009024
+47,0.783333333,BASELINE,769,747,725,691.735226,671,643,889,790,820,656,633,657,0.400973678638,-0.0053953326097,0.0798366945165,0.999999927446,0.000254087902042,-0.000280305344297,4.44516928527e-05,1793251641943675648
+48,0.800000000,BASELINE,769,747,725,691.161534989,671,643,889,790,820,656,633,657,0.400973518717,-0.00539585002592,0.0798368199587,0.999999927651,0.000253862904786,-0.000279775029554,4.44646747216e-05,1793251641960342272
+49,0.816666667,BASELINE,769,747,725,691.422948189,671,643,889.422948189,789.577051811,820,656,633,657,0.400972727231,-0.00539514865199,0.0798362311986,0.999999927623,0.000253033955907,-0.000280672777963,4.41633916272e-05,1793251641977009152
+50,0.833333333,BASELINE,769,747,725,692,671,643,889.988509232,789,820.011490768,656.011490768,633.011490768,657,0.400971739611,-0.00539401499401,0.0798353944654,0.999999927517,0.000251965212869,-0.000282074069715,4.37433270981e-05,1793251641993675776
+51,0.850000000,BASELINE,769,747,725,692,671,643,889.408394165,789,820.591605835,656.591605835,633.591605835,657,0.400973295229,-0.00539512759273,0.0798361383801,0.999999928221,0.00025074359,-0.000280696623078,4.35403744474e-05,1793251642010342400
+52,0.866666667,BASELINE,769,747,725,692,671,643,889.170708242,789.170708242,821,656.829291758,633.829291758,657,0.400974124902,-0.00539533607043,0.079836330009,0.999999928283,0.00025110097132,-0.000280159171435,4.3500943344e-05,1793251642027009280
+53,0.883333333,BASELINE,769,747,725,692,671,643,889.747402264,789.747402264,821,656.252597736,633.252597736,657,0.400973228104,-0.00539339432806,0.0798352081675,0.999999926817,0.000255213609275,-0.000281619432564,4.3850406321e-05,1793251642043675648
+54,0.900000000,BASELINE,769,746.692728547,725,692,671,643,889.692728547,789.692728547,821,656,633,657,0.400972627424,-0.00539378107896,0.0798347290949,0.999999926738,0.000254799291446,-0.000282262507896,4.39205132069e-05,1793251642060342528
+55,0.916666667,BASELINE,769,746.145972509,725,692,671,643,889.145972509,789.145972509,821,656,633,657,0.400972257535,-0.0053959826365,0.0798347509905,0.99999992774,0.000250856705107,-0.000282268675955,4.37728924705e-05,1793251642077009152
+56,0.933333333,BASELINE,769,746.458262981,725,692,670.541737019,642.541737019,889,789,820.541737019,656,633,657,0.400972135856,-0.005395898705,0.0798345586741,0.999999927856,0.000250460785216,-0.000282239214554,4.35679297531e-05,1793251642093676288
+57,0.950000000,BASELINE,769,747,725,691.923155193,670.076844807,642.076844807,889,789,820,656.076844807,633,657,0.400972104408,-0.00539517173076,0.079834384147,0.999999927708,0.000251209152107,-0.000282123428188,4.34131001858e-05,1793251642110342912
+58,0.966666667,BASELINE,769,747,725,691.347354393,670.652645607,642.652645607,889,789,820,656.652645607,633,657,0.400972071841,-0.0053956743634,0.079834831712,0.999999927914,0.000250999975219,-0.000281531390226,4.37193938634e-05,1793251642127009280
+59,0.983333333,BASELINE,769,747,724.772363292,691,671,643,889,789.227636708,820,656.772363292,633,657,0.400972165576,-0.00539596429098,0.0798352900493,0.999999927737,0.000252034215598,-0.000281180917373,4.40727166802e-05,1793251642143675648
+60,1.000000000,BASELINE,769,747,724.198603257,691,671,643,889,789.801396743,820,656.198603257,633,657,0.400972451352,-0.00539593079901,0.0798357647659,0.999999926972,0.000254959081259,-0.000281197745999,4.44975477032e-05,1793251642160342272
+61,1.016666667,BASELINE,769,747,724.374530531,691.374530531,671.374530531,643,889,789.625469469,820,656,633,657,0.400972730808,-0.00539557202535,0.0798353198518,0.999999927008,0.000254670388091,-0.000281338049967,4.44473279647e-05,1793251642177009152
+62,1.033333333,BASELINE,769,747,724.947332758,691.947332758,671.947332758,643,889,789.052667242,820,656,633,657,0.400973006918,-0.0053950410517,0.0798343880971,0.999999927468,0.000252680477612,-0.000281543720209,4.41456223753e-05,1793251642193675776
+63,1.050000000,BASELINE,769,747,725,692,670.91886059,643,889.540569705,789,820.540569705,656,633,657,0.400972822463,-0.00539576854399,0.0798350296902,0.999999927638,0.000252193025011,-0.000281415146535,4.3903285804e-05,1793251642210342400
+64,1.066666667,BASELINE,769.13187708,747,725,692,670.13187708,643,889.86812292,789.13187708,821,656,633,657,0.400972995411,-0.00539605398657,0.0798359026581,0.999999927809,0.000252104789065,-0.000280914744593,4.37176063074e-05,1793251642227009280
+65,1.083333333,BASELINE,769.709663725,747,725,692,670.709663725,643,889.290336275,789.709663725,821,656,633,657,0.400974534523,-0.00539441388069,0.0798370192875,0.999999928082,0.000252852001074,-0.000279271534534,4.37031721704e-05,1793251642243675904
+66,1.100000000,BASELINE,770,746.714841523,725,692,671,643,889,789.714841523,820.714841523,656,633,657,0.400974431852,-0.00539392810144,0.0798369298894,0.999999927859,0.000253349069176,-0.000279587768689,4.39062489365e-05,1793251642260342528
+67,1.116666667,BASELINE,770,746.141661709,725,692,671,643,889,789.141661709,820.141661709,656,633,657,0.400972670917,-0.00539460823785,0.0798356223557,0.999999927134,0.000253593481993,-0.000281883119084,4.43290203168e-05,1793251642277009152
+68,1.133333333,BASELINE,769.555604108,746.444395892,725,692,671,643,889,789,820,656,633,657,0.400972477501,-0.00539574142959,0.0798356405064,0.99999992776,0.000251252355876,-0.00028179284628,4.40916389864e-05,1793251642293675776
+69,1.150000000,BASELINE,769.034117118,747,725,691.965882882,671,643,889,789,820,656,633,657,0.400972766455,-0.00539691240773,0.079836051765,0.999999928729,0.000248345394071,-0.000280995946622,4.36699608414e-05,1793251642310342400
+70,1.166666667,BASELINE,769.614802402,747,725,691.385197598,671,643,889,789,820,656,633,657,0.400972539114,-0.00539630599519,0.0798357886156,0.999999928199,0.000249971597547,-0.000281425274814,4.37677050575e-05,1793251642327009024
+71,1.183333333,BASELINE,769.805960662,746.805960662,725,691,671,643,889,789.194039338,820,656,633,657,0.400971983781,-0.00539582369296,0.0798353543607,0.999999927684,0.000251242788849,-0.000282111058943,4.38526651907e-05,1793251642343675648
+72,1.200000000,BASELINE,769.229577509,746.229577509,725,691,671,643,889,789.770422491,820,656,633,657,0.400970782157,-0.00539558594314,0.0798345829518,0.999999927201,0.000251814448536,-0.000283302175426,4.39124350118e-05,1793251642360342272
+73,1.216666667,BASELINE,769,746,725,691,671,643,889,789.655548911,820,656,633,657,0.400971062865,-0.00539507333601,0.0798343486352,0.999999927206,0.000252309607489,-0.000282866614384,4.37584748878e-05,1793251642377008896
+74,1.233333333,BASELINE,769,746,725,691,671,643,889,789.083079011,820,656,633,657,0.400972324842,-0.00539437877957,0.0798344698615,0.999999927533,0.000252754124657,-0.000281354229621,4.34630303814e-05,1793251642393675776
+75,1.250000000,BASELINE,769,746,725,691,671,643,889,789,820,656.507752128,633,657,0.400972599648,-0.00539488555018,0.0798353725962,0.999999927805,0.000252533764001,-0.00028054732475,4.3708627845e-05,1793251642410342912
+76,1.266666667,BASELINE,769,746,725,691.098880192,671,642.901119808,889,789,820,656.901119808,633,657,0.400972659979,-0.00539543186596,0.079836085758,0.999999928034,0.000252038626209,-0.000280142836874,4.39180434896e-05,1793251642427009792
+77,1.283333333,BASELINE,769,746,725,691.676358556,671,642.323641444,889,789,820,656.323641444,633,657,0.400972493344,-0.00539518249384,0.0798352392111,0.999999928103,0.000250759826782,-0.000281106449371,4.35077748368e-05,1793251642443676160
+78,1.300000000,BASELINE,769,746.252119116,725,691.747880884,671,642.252119116,889.252119116,789,820,656,633,657,0.400972979103,-0.00539511578374,0.0798351861591,0.99999992823,0.00025066981345,-0.000280747954982,4.34131344517e-05,1793251642460342528
+79,1.316666667,BASELINE,769,746.825689436,725,691.174310564,671,642.825689436,889.825689436,789,820,656,633,657,0.400974296665,-0.00539528196724,0.0798361448113,0.99999992843,0.000252095499339,-0.000278703777738,4.37209193037e-05,1793251642477009152
+80,1.333333333,BASELINE,769,747,724.589169239,691,671.410830761,642.589169239,889.589169239,789,820,656,632.589169239,657,0.400974636232,-0.00539521192119,0.0798364134368,0.999999928641,0.000251803817891,-0.000278214867896,4.36993540259e-05,1793251642493675776
+81,1.350000000,BASELINE,769,746.998995918,724.001004082,691,671.998995918,642.001004082,889,789,820,656.001004082,632.001004082,657,0.400974548689,-0.00539503847402,0.0798363807014,0.999999928855,0.000250767825193,-0.000278405362269,4.3534330026e-05,1793251642510342400
+82,1.366666667,BASELINE,769,746.42020068,724.57979932,691,671.42020068,642.57979932,889,789,820,656.57979932,632.57979932,657,0.400974385175,-0.00539471139141,0.0798362869878,0.999999928206,0.000252876364199,-0.000278825332015,4.35594356502e-05,1793251642527009536
+83,1.383333333,BASELINE,769,746.158210521,724.841789479,691,671,643,889.158210521,789,820,657,633,657.158210521,0.400974184459,-0.00539486952053,0.0798362808184,0.999999927892,0.000253622529321,-0.00027926133095,4.36506439902e-05,1793251642543676416
+84,1.400000000,BASELINE,769,746.735604334,724.264395666,691,671,643,889.735604334,789,820,657,633,657.735604334,0.400973885178,-0.0053963132319,0.0798365065998,0.999999928468,0.000250759046396,-0.000279739799776,4.39169933683e-05,1793251642560343552
+85,1.416666667,BASELINE,769,747,724,691.310990571,671,643,889.689009429,789,820.310990571,657,633,657.689009429,0.400974065556,-0.00539695483841,0.079836750528,0.999999928814,0.000249745823039,-0.000279374937705,4.4151860795e-05,1793251642577010176
+86,1.433333333,BASELINE,769,747,724,691.884680935,671,643,889.115319065,789,820.884680935,657,633,657.115319065,0.400974651111,-0.00539691889125,0.079837009785,0.999999928967,0.00025029555015,-0.000278297697576,4.43601347884e-05,1793251642593676544
+87,1.450000000,BASELINE,769,747,724,692,671,643,889,789,820.528549936,657,633,657,0.400975232617,-0.00539611275171,0.0798375369846,0.999999928976,0.000251605200503,-0.000277091248728,4.43009643597e-05,1793251642610342912
+88,1.466666667,BASELINE,769,747,724.060163728,692,671,643,889,789,820.060163728,656.939836272,633,657,0.400975789019,-0.00539515053803,0.0798380632633,0.999999928991,0.000252803578574,-0.000275973200327,4.41180143083e-05,1793251642627009280
+89,1.483333333,BASELINE,769,747,724.637312333,692,671,643,889,789,820.637312333,656.362687667,633,657,0.400976138466,-0.00539451222965,0.0798380023765,0.999999929396,0.000251402953029,-0.000275894104558,4.34496065124e-05,1793251642643675904
+90,1.500000000,BASELINE,769,747,725,692,670.793924725,643,889,789,821,656,633,657,0.400975671184,-0.00539434035309,0.0798374824782,0.999999929426,0.000250487608509,-0.00027667073337,4.30896758488e-05,1793251642660342784
+91,1.516666667,BASELINE,769,747,725,692,670.239343336,643,889,789,821,656,633,657,0.400973822682,-0.00539495728713,0.079836186318,0.999999928825,0.000250392951644,-0.000278894528758,4.3251429219e-05,1793251642677009152
+92,1.533333333,BASELINE,769,747,725,692,670.336519901,643,889,789,820.663480099,656,633.336519901,657,0.400973150457,-0.00539570303851,0.0798356823163,0.999999928594,0.000250366908611,-0.000279712455467,4.3473755154e-05,1793251642693675776
+93,1.550000000,BASELINE,769,747,725,692,670.928541365,643,889,789,820.071458635,656,633.928541365,657,0.400973371315,-0.00539654659407,0.0798357797579,0.999999928645,0.000250392960383,-0.000279462981511,4.3742070615e-05,1793251642710342656
+94,1.566666667,BASELINE,769.52703233,747,725,692,671,643,889,789.52703233,820,656,633.47296767,657,0.400973957806,-0.00539587261888,0.0798366101358,0.999999928653,0.000251601687507,-0.000278329977185,4.38504035262e-05,1793251642727009280
+95,1.583333333,BASELINE,769.879049335,747,724.879049335,692,671,643,889,790,820,656,633,657,0.400974266792,-0.00539502642848,0.079837069089,0.999999928554,0.000252685284365,-0.000277707572805,4.38283939188e-05,1793251642743675904
+96,1.600000000,BASELINE,769.305562064,747,724.305562064,692,671,643,889,790,820,656,633,657,0.400973349698,-0.00539431530238,0.0798357619196,0.999999928085,0.000252693282185,-0.000279449359762,4.34008755522e-05,1793251642760342528
+97,1.616666667,BASELINE,769,747,724,692,671,642.730309142,889,789.730309142,820,656.269690858,633,657,0.400972692164,-0.00539450042226,0.0798350167419,0.999999927747,0.000252584459457,-0.000280774748752,4.32676731488e-05,1793251642777009152
+98,1.633333333,BASELINE,769,747,724,692,671,642.153042575,889,789.153042575,820,656.846957425,633,657,0.400972330651,-0.00539570768839,0.0798349125018,0.99999992756,0.000252342405804,-0.000281625246119,4.34701308e-05,1793251642793675776
+99,1.650000000,BASELINE,769,747,724.434387418,692,671,642.434387418,889.434387418,789,820.434387418,657,633,657,0.400972638873,-0.00539658905623,0.0798356856425,0.99999992799,0.000251785225151,-0.000280557209505,4.37149405273e-05,1793251642810342400
+100,1.666666667,BASELINE,769,747,725,691.975119904,671,643,889.975119904,789,820.975119904,656.975119904,633,657,0.400973161656,-0.00539727377404,0.0798367267332,0.999999928616,0.000251121842709,-0.000278878434575,4.39559363514e-05,1793251642827009024
+101,1.683333333,BASELINE,769,747,725,691.398029592,671,643,889.398029592,789,820.398029592,656.398029592,633,657,0.400973084027,-0.00539620333782,0.0798366897559,0.999999928713,0.00025062454581,-0.000279006095548,4.37731704863e-05,1793251642843675904
+102,1.700000000,BASELINE,768.82229264,746.82229264,724.82229264,691,671,643,889,789,820,656,633,657,0.400972737205,-0.00539563755053,0.0798363324111,0.999999928766,0.000249957426503,-0.000279441034089,4.36069574981e-05,1793251642860342784
+103,1.716666667,BASELINE,768.249564114,746.249564114,724.249564114,691,671,643,889,789,820,656,633,657,0.400971792003,-0.00539619353464,0.0798352629298,0.999999928719,0.000248912813356,-0.000280559012089,4.34775395028e-05,1793251642877009664
+104,1.733333333,BASELINE,768.327761103,746,724,691.327761103,671,643,889,789,820,656.327761103,633,657,0.400972187307,-0.0053965918752,0.0798352232909,0.999999929115,0.000247712784194,-0.000280227972644,4.33763105617e-05,1793251642893675776
+105,1.750000000,BASELINE,768.908636182,746,724,691.908636182,671,643,889,789,820,656.908636182,633,657,0.400973617817,-0.00539686847537,0.0798359789491,0.999999929849,0.000246392734682,-0.000278777927547,4.3296850644e-05,1793251642910342144
+106,1.766666667,BASELINE,769,746.496295248,724.496295248,692,671,643,889,789,820,656.503704752,633,657,0.400974153622,-0.00539602262921,0.0798362160948,0.999999929311,0.000248819557129,-0.00027850770008,4.36030260011e-05,1793251642927008768
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889,790,821,657,633,657,0.400972696432,-0.00539649644523,0.0798359426774,0.999999928473,0.000250899892886,-0.000279572264455,4.406895559e-05,1793251642969963776
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889,789.426864397,820.426864397,656.426864397,633,657,0.40097292967,-0.00539665465213,0.0798357946775,0.999999928258,0.000251445370965,-0.000279850731204,4.40751503113e-05,1793251642986630400
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670.853501915,643,889,789,820.146498085,656,633,657,0.400973428503,-0.00539660996642,0.0798359194947,0.999999928255,0.00025175543328,-0.000279584945463,4.40520092624e-05,1793251643003297280
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.279477199,643,889,789,820.720522801,656,633,657,0.400974702424,-0.00539597317745,0.0798368404764,0.999999928872,0.000251378479864,-0.000277730863031,4.39432573825e-05,1793251643019963904
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670,643,889,789,821,656,633,657,0.4009744408,-0.00539553742204,0.0798371266721,0.999999929026,0.000250986404247,-0.00027754034289,4.38740380123e-05,1793251643036630784
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670,643,889,789,821,656,633,657,0.400972722194,-0.00539529241445,0.0798368105603,0.999999928743,0.000250579980173,-0.000278928269954,4.38423285006e-05,1793251643053297408
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.476485188,747,725,692,670,643,889,789,820.523514812,656.476485188,632.523514812,657,0.400973847086,-0.00539567137067,0.0798373309305,0.999999928955,0.00025086845707,-0.000277883132823,4.40054385168e-05,1793251643069964288
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.945742847,746.945742847,724.945742847,691.945742847,670,643,889.054257153,789,820.054257153,656.945742847,632.054257153,657,0.400975409359,-0.0053962660711,0.0798379438861,0.999999929241,0.000251143045108,-0.000276572731102,4.41885462482e-05,1793251643086630912
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.369186579,746.369186579,724.369186579,691.369186579,670,643,889.630813421,789,820.630813421,656.369186579,632.630813421,657,0.400975356176,-0.00539765920543,0.0798377342889,0.999999929253,0.000249860197099,-0.000277693740813,4.41650063739e-05,1793251643103297536
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.211024398,724.211024398,691.211024398,670.211024398,643,889.577951204,789,821,656,633,657,0.400976520229,-0.0053978242769,0.0798380837302,0.999999929393,0.000249376633893,-0.000277626965862,4.41327255297e-05,1793251643119964160
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.7977419,724.7977419,691.7977419,670.7977419,643,888.404516199,789,821,656,633,657,0.400979851365,-0.00539580299087,0.0798394284444,0.999999929764,0.000250316061676,-0.000275445541915,4.40848828756e-05,1793251643136631040
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,724.622014126,691.622014126,671,643,888.377985874,789,821,656,633,657,0.401001274817,-0.00539579027626,0.0798482412371,0.999999933764,0.000250910969362,-0.000259937343972,4.41366673995e-05,1793251643153297664
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,724.045175722,691.045175722,671,643,888.954824278,789,821,656,633,657,0.401032216359,-0.00539683423988,0.0798609828706,0.999999939256,0.000251324630325,-0.000237418135767,4.424086422e-05,1793251643169964288
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,724.531750819,691,671,643,889,788.468249181,820.468249181,656,632.468249181,657,0.401088154834,-0.0053970425939,0.0798774448107,0.999999946411,0.000252223278116,-0.00020404562927,4.39034144313e-05,1793251643186630912
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,889.11127486,788.11127486,820,656.11127486,632.11127486,657,0.401148997977,-0.00539779337212,0.0798934467957,0.999999952497,0.000251817283742,-0.000172372980734,4.33754125861e-05,1793251643203297536
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,889.701957685,788.701957685,820,656.701957685,632.701957685,657,0.401221821129,-0.00540118698932,0.0799061052173,0.999999957396,0.000245612927283,-0.000151997043648,4.21881295211e-05,1793251643219964160
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746.713113502,725,691.286886498,671,643,889.713113502,789,820,656.713113502,633,657,0.401299246424,-0.00540272568954,0.0799152046914,0.999999959999,0.000243358759392,-0.000138312183531,4.0597971166e-05,1793251643236630784
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746.134044948,725,691.865955052,671,643,889.134044948,789,820,656.134044948,633,657,0.401381358808,-0.00540237523317,0.0799206795236,0.999999960573,0.00024512769596,-0.0001314419104,3.85975010404e-05,1793251643253297408
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+126,2.100000000,POSE1_TO_POSE2_PRESS,769.018236361,747,725,692,671,643,889,789,820.018236361,656.018236361,633,657,0.401588511112,-0.00540656962703,0.0799274449959,0.999999963131,0.00024192386069,-0.000118753053341,3.33063132078e-05,1793251643286630656
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+128,2.133333333,POSE1_TO_POSE2_PRESS,769.827701874,746.827701874,724.827701874,692,671,643,889.172298126,789,821,657,633,657,0.401874734641,-0.00540628218052,0.0799422123663,0.999999967193,0.000237159753263,-9.37067893698e-05,2.42544599127e-05,1793251643319963904
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+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746.347546064,724,692,671,643,889.652453936,789,820.652453936,656.652453936,633,657,0.40221871069,-0.00540994250506,0.0799554420148,0.99999997193,0.000226684442756,-6.76183214083e-05,1.35223955545e-05,1793251643353297408
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746.92941789,724,692,671,643,889.07058211,789,820.07058211,656.07058211,633,657,0.402411152561,-0.00541368254232,0.0799615754788,0.999999974694,0.000217298434021,-5.77464021106e-05,7.66091725107e-06,1793251643369963776
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.505507175,747,724.505507175,691.494492825,671,643,889,789,820,656,633,657,0.402618333602,-0.00541465142696,0.0799570109021,0.999999975799,0.000209643042945,-6.67219097201e-05,1.2922367845e-07,1793251643386630400
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.919534759,725,691.080465241,671,643,889.080465241,789.080465241,820,656,633,657,0.402833145187,-0.00541540540758,0.0799510131169,0.999999976447,0.000202337873078,-7.8129950459e-05,-7.79102651112e-06,1793251643403297024
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.34661416,725,691.65338584,671,643,889.65338584,789.65338584,820,656,633,657,0.403082203985,-0.00541718539771,0.0799452823255,0.999999976793,0.000195713954967,-8.85018555639e-05,-1.66781829776e-05,1793251643419963648
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.76557332,746.23442668,725,692,671,643,890,789.76557332,820,656,633,657,0.403348519136,-0.00541972538403,0.0799415260623,0.999999978881,0.000180446621384,-9.51208331516e-05,-2.50859829118e-05,1793251643436630528
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.172095441,746.827904559,725,692,671,643,890,789.172095441,820,656,633,657,0.403641264346,-0.00542342939108,0.0799407940149,0.999999983313,0.000151940911444,-9.59917735201e-05,-3.27595930976e-05,1793251643453297152
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889.590440183,789,820.409559817,656,633,657,0.403971830688,-0.0054245887441,0.0799472333004,0.999999986483,0.000138076962582,-8.54290486088e-05,-2.5906678332e-05,1793251643469963776
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889.013613378,789,820.986386622,656,633,657,0.404317843428,-0.00542470884319,0.0799566014065,0.999999988975,0.000130192808225,-7.01967377638e-05,-1.31210327565e-05,1793251643486630400
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,725,692.561712109,671,643,889.561712109,789,820.438287891,656,633,657,0.404708128362,-0.00542701080704,0.0799589445217,0.999999989661,0.000127786167035,-6.21989579303e-05,-2.1906144572e-05,1793251643503297280
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890.140337395,789,820.140337395,656,633,657,0.405107789176,-0.0054299971589,0.0799595394181,0.999999990358,0.000123373523515,-5.65500903098e-05,-2.94230391541e-05,1793251643519964160
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890.729635211,789,820.729635211,656,633,657,0.40553402136,-0.00543500425477,0.0799550847166,0.999999991554,0.000112119821344,-5.7856327606e-05,-3.12147262857e-05,1793251643536630784
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,891,789.31348372,820.68651628,656,633,657,0.405975721817,-0.00543670441513,0.0799472681891,0.999999990705,0.000111688827424,-7.13423193471e-05,-3.20299568799e-05,1793251643553297408
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,891,789.892712824,820.107287176,656,633,657,0.406430535035,-0.0054356012316,0.079936601785,0.999999987708,0.000120432422722,-9.51532924362e-05,-3.20174291469e-05,1793251643569964032
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,891,790,820.468255721,656.468255721,633.468255721,657,0.406913692236,-0.00544037141192,0.0799298676621,0.999999987942,0.000106408831758,-0.000107637178689,-3.4734100006e-05,1793251643586630656
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,725,693.043877212,671,643,891,790,820.956122788,656.956122788,633.956122788,657,0.407406621477,-0.00544615443766,0.0799237968513,0.999999988352,8.90006880712e-05,-0.000118077778578,-3.78516375736e-05,1793251643603297536
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,725,693.630844179,671,643,891,790,820.369155821,656.369155821,633.369155821,657,0.40794075038,-0.00544794753393,0.0799148715577,0.999999985747,9.37623654756e-05,-0.000135099685208,-3.8251507223e-05,1793251643619963904
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.21496613,747,725,694,671,643,891,790,820.21496613,656,633,657.21496613,0.408499494098,-0.00545040172626,0.0799104188667,0.999999984705,9.14874996353e-05,-0.000143737914632,-3.94915176557e-05,1793251643636630528
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.794266187,747,725,694,671,643,891,790,820.794266187,656,633,657.794266187,0.409099956039,-0.00545397637281,0.0799135465374,0.99999998658,7.72867945752e-05,-0.000138167122993,-4.21554351454e-05,1793251643653297152
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.627361264,747,725,694,671,643,891,790.372638736,820.627361264,656,633,657.627361264,0.40975917295,-0.00546036173568,0.0799406366984,0.999999992175,7.15862316793e-05,-9.36879951248e-05,-4.18014355481e-05,1793251643669964032
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.049499542,747,725,694,671,643,891,790.950500458,820.049499542,656,633,657.049499542,0.410450747911,-0.00546829504164,0.0799809236994,0.999999996333,7.05669444495e-05,-2.77809150049e-05,-3.9785381025e-05,1793251643686630912
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.526745018,747,725,694,671,643,891.526745018,789.946509965,820.526745018,656,633,657.526745018,0.411127287091,-0.00547982246664,0.0799910558082,0.99999999765,5.56549708221e-05,-1.37270720519e-05,-3.76081807967e-05,1793251643703297536
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.895276413,747,725,694,671,643,891.895276413,789.104723587,821,656.104723587,633.104723587,657.895276413,0.411803907776,-0.00549380720362,0.0799912103356,0.999999998601,3.54539619804e-05,-1.52846397423e-05,-3.61508273868e-05,1793251643719963904
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.30862099,747,725,694,671,643,891.30862099,789.69137901,821,656.69137901,633.69137901,657.30862099,0.412487385755,-0.00551755080244,0.0799584493618,0.999999997071,-3.09728752665e-06,-6.63294052629e-05,-3.80756427133e-05,1793251643736630784
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891.274699047,790,821.274699047,656.725300953,633.725300953,657,0.413197611908,-0.00552873742189,0.0799303315048,0.999999993529,-2.22798594652e-05,-0.000103764261119,-4.09586618001e-05,1793251643753297408
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891.854316848,790,821.854316848,656.145683152,633.145683152,657,0.413937528895,-0.00552598566873,0.0799073675507,0.999999990843,-1.99630059822e-05,-0.000126091984646,-4.49052972296e-05,1793251643769964032
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,892.432923425,790,822,656.432923425,633,657,0.414729127544,-0.00552910253347,0.079920181831,0.999999993585,-2.31266919738e-05,-0.000101443937644,-4.47800872847e-05,1793251643786630400
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,694.011102814,670.988897186,643,893.011102814,790,822.011102814,656.988897186,633,657.011102814,0.415537591117,-0.00553421281649,0.0799445127098,0.999999996732,-2.82111667628e-05,-6.21563002745e-05,-4.33315312823e-05,1793251643803297280
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,694.584840076,670.415159924,643,893.584840076,790,822.584840076,656.415159924,633,657.584840076,0.416321431455,-0.0055404972817,0.0799437552244,0.999999995113,-3.73916683101e-05,-8.02020746873e-05,-4.40963730247e-05,1793251643819963904
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,694.842198855,670,643,894,789.842198855,823,656,633,657.842198855,0.417128003493,-0.00554629551994,0.0799450844339,0.999999994264,-4.68362916663e-05,-8.52015331605e-05,-4.49445044471e-05,1793251643836630528
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,694.271269918,670,643,894,789.271269918,823,656,633,657.271269918,0.417994087709,-0.00555082080206,0.0799518766684,0.999999995748,-5.69723927325e-05,-5.60453720691e-05,-4.60106905392e-05,1793251643853297408
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,694.314231599,670.314231599,643,894,789.314231599,823.314231599,656,633,657.314231599,0.418891795762,-0.00555745168197,0.0799672509604,0.999999996409,-6.73899934495e-05,-2.08631546834e-05,-4.69593630084e-05,1793251643869963776
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,694.912925087,670.912925087,643,894,789.912925087,823.912925087,656,633,657.912925087,0.419818131622,-0.00556598867906,0.0799903942614,0.999999995615,-7.80624244696e-05,1.97742201957e-05,-4.78016547827e-05,1793251643886630400
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,695,670.507322191,643,894.492677809,789.507322191,824,656,633,658,0.420699174862,-0.00556995415654,0.0799777530976,0.999999995121,-8.57359357221e-05,-6.91816801701e-07,-4.906937051e-05,1793251643903297280
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,695.070107117,670.070107117,643,895.070107117,789.070107117,824.070107117,656,633,658,0.421577153895,-0.00557260154897,0.079963375051,0.999999994233,-9.17616028247e-05,-2.45542736245e-05,-5.01159516936e-05,1793251643919963904
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,695.65413512,670.65413512,643,895.65413512,789.65413512,824.65413512,656,633,658,0.422489178073,-0.00557129020537,0.079980910047,0.999999994794,-8.94492295337e-05,2.91938658563e-06,-4.90107378624e-05,1793251643936630528
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,696,670.763059706,643,896,789.763059706,825,656.236940294,633,657.763059706,0.423418983943,-0.00555688836637,0.0799943751504,0.999999996162,-7.04114767361e-05,2.0084856683e-05,-4.81191830341e-05,1793251643953296896
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,696,670.182030259,643,896,789.182030259,825,656.817969741,633,657.182030259,0.424374612858,-0.00552347626353,0.0800019298818,0.999999998255,-2.70848128131e-05,2.22805832061e-05,-4.75379076457e-05,1793251643969963776
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,896.397563953,789,825.397563953,657,633.397563953,657,0.425280643772,-0.00550922944594,0.0799669602128,0.999999997764,-9.58886475042e-06,-4.46502369901e-05,-4.8851684139e-05,1793251643986630656
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,896.97650335,789,825.97650335,657,633.97650335,657,0.426164047178,-0.00550372615983,0.0799125901877,0.999999988449,-3.87733162268e-06,-0.000143117764644,-5.10300152303e-05,1793251644003297280
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.448193284,747,725,696,670.551806716,643,897,789,826,656.448193284,634,657.551806716,0.427137434708,-0.0055211465608,0.0799068351556,0.999999989995,-3.04419905432e-05,-0.000127427553075,-5.33521162118e-05,1793251644019963904
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.129636649,747,725,696,671,643,897.129636649,789,826,656.129636649,634,658,0.428103183475,-0.0055354433366,0.0799064458449,0.999999990882,-5.23243877423e-05,-0.000111705176373,-5.49515384274e-05,1793251644036630528
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.716929094,747,725,696,671,643,897.716929094,789,826,656.716929094,634,658,0.429028526807,-0.00553528935215,0.07991773893,0.999999990771,-5.28568668364e-05,-0.000112917630987,-5.39782197546e-05,1793251644053297152
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.698989938,747,725,696.301010062,671,643,897.698989938,789,826.301010062,656.698989938,634,658,0.43001748711,-0.00553901657245,0.0799485532045,0.999999994199,-5.50722046234e-05,-7.66656557059e-05,-5.18825952951e-05,1793251644069964288
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.117897205,747,725,696.882102795,671,643,897.117897205,789,826.882102795,656.117897205,634,658,0.431065641432,-0.00554635516106,0.0799975314787,0.999999997065,-5.88534019736e-05,-5.55392319153e-06,-4.87426919702e-05,1793251644086631936
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,725,696.54155598,671.45844402,643,897.916888041,789,827,656,633.54155598,658,0.432031816839,-0.00554400571774,0.0800134419821,0.999999996979,-5.78769998137e-05,1.80213604635e-05,-4.86533825452e-05,1793251644103298560
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,724.966470503,696,671.966470503,643,899,789,827.033529497,656,633.033529497,658,0.432972977941,-0.00553869365181,0.0800160717447,0.999999996989,-5.52572753455e-05,2.25817124738e-05,-4.9585555262e-05,1793251644119965184
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,724.392133266,696,671.392133266,643,899,789,827.607866734,656,633.607866734,658,0.43384723023,-0.0055253697289,0.0799402485584,0.999999993912,-4.56637212813e-05,-8.43998000148e-05,-5.44696364367e-05,1793251644136631552
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,724,696.186738109,671,643.186738109,898.813261891,788.813261891,827.813261891,656.186738109,634,658,0.434742249394,-0.00551855256746,0.079892485735,0.999999986254,-4.26907894507e-05,-0.000149260920504,-5.82254936979e-05,1793251644153297920
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,724,696.775367818,671,643.775367818,898.224632182,788.224632182,827.224632182,656.775367818,634,658,0.435681962508,-0.00552573904088,0.079905113485,0.999999989148,-5.39665415126e-05,-0.000123471944766,-5.95532267083e-05,1793251644169965056
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747,724.359490254,696.640509746,671,643.640509746,898.359490254,788,827.359490254,656.640509746,634,658,0.436651997363,-0.00553549169472,0.0799382012725,0.999999993272,-6.0318401744e-05,-8.1032613574e-05,-5.7027004523e-05,1793251644186631936
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747,724.940831103,696.059168897,671,643.059168897,898.940831103,788,827.940831103,656.059168897,634,658,0.43764074448,-0.00554682800343,0.0799839154696,0.999999996216,-6.36316020926e-05,-2.8317925239e-05,-5.21224082133e-05,1793251644203298304
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671.516386401,643,899,788,828,656,633.483613599,658,0.438593166963,-0.00555161132583,0.0800163209979,0.99999999525,-7.65587271937e-05,2.99487365615e-05,-5.23587522992e-05,1793251644219964416
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,724.90867721,696,671.90867721,643,899,788,827.90867721,656,633,658,0.439522990529,-0.00555519155334,0.0800356835253,0.999999992317,-8.8318318501e-05,6.87114042981e-05,-5.33363956781e-05,1793251644236631040
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,724.333546569,696,671.333546569,643,899,788,827.333546569,656,633,658,0.440354895973,-0.00555633185734,0.0799939364231,0.999999994596,-8.81212658922e-05,8.13352655054e-07,-5.51551342807e-05,1793251644253297664
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.248894491,724.248894491,696,671,643,899,788,827.248894491,656,633.248894491,658,0.441146963854,-0.00555494038298,0.0799288859974,0.99999998956,-8.50534405587e-05,-0.000101227510053,-5.83039085521e-05,1793251644269964032
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.841428738,724.841428738,696,671,643,899,788,827.841428738,656,633.841428738,658,0.441884029364,-0.00555005337235,0.0798316615067,0.999999963601,-7.80220406964e-05,-0.000250408128881,-6.32890149047e-05,1793251644286630656
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.578365524,724.578365524,696,671.421634476,643,899.421634476,788,828,656.421634476,633.578365524,658,0.442746980693,-0.00554693690421,0.0798361454357,0.999999967432,-8.17867814811e-05,-0.000232930014982,-6.47266211884e-05,1793251644303297536
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.002664609,724.002664609,696,671.997335391,643,899.997335391,788,828,656.997335391,633.002664609,658,0.44365593112,-0.00554446739693,0.0798777939031,0.999999981948,-8.94964621981e-05,-0.000154554337786,-6.48679612359e-05,1793251644319964160
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.572204413,724.572204413,696,671.427795587,643,899.427795587,788,828.572204413,656.427795587,633.572204413,657.427795587,0.444510579776,-0.00554322083089,0.079946264494,0.999999994046,-7.23728779786e-05,-5.53852725563e-05,-6.00184816125e-05,1793251644336631040
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.151078868,747.848921132,724.848921132,696,671,643,899.151078868,788,828.848921132,656,633.848921132,657.151078868,0.445345267531,-0.00554404712662,0.0800038379532,0.999999995918,-6.58336483901e-05,2.61030040275e-05,-5.61166982971e-05,1793251644353297664
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.741615712,747.258384288,724.258384288,696,671,643,899.741615712,788,828.258384288,656,633.258384288,657.741615712,0.446122627728,-0.00555088641779,0.0800293510767,0.999999992836,-9.04180619997e-05,5.58802037036e-05,-5.5039077995e-05,1793251644369964288
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.67378972,747.32621028,724,695.67378972,671.32621028,643,900,788,828,656.32621028,633,658,0.446878009971,-0.0055563934559,0.080031232046,0.999999991651,-9.70598656096e-05,6.46659399732e-05,-5.5639325153e-05,1793251644386630656
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.093817734,747.906182266,724,695.093817734,671.906182266,643,900,788,828,656.906182266,633,658,0.447616295334,-0.0055608641228,0.0800147293632,0.999999992686,-8.97439612987e-05,5.71222393981e-05,-5.75447995589e-05,1793251644403297024
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,724.478614462,695.478614462,672,643,900,788,828,656.521385538,633,658,0.448270070136,-0.00556339575174,0.0799728717532,0.999999993155,-9.98804888324e-05,-8.27807579162e-06,-6.03786019716e-05,1793251644419964416
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,900,788,828.625854393,656,633.625854393,657.374145607,0.449504861459,-0.00557277342068,0.0798868129853,0.99999998191,-0.000113619169622,-0.000138487658702,-6.39634090608e-05,1793251644453298432
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+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.196893852,724.196893852,695.196893852,672,643,900,787.196893852,828.196893852,656,633.196893852,657.803106148,0.450761060674,-0.0055828337737,0.0799028024001,0.999999983281,-0.000131428122205,-0.000109676292952,-6.43113719007e-05,1793251644486631168
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.385833337,747,724,695.385833337,671.614166663,643,900,787.385833337,828.385833337,656,633.385833337,658,0.451374859106,-0.00558809037372,0.0799354408996,0.999999986516,-0.000137313901284,-6.49602192002e-05,-6.23940773949e-05,1793251644503297792
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+244,4.066666667,POSE1_TO_POSE2_PRESS,768,748,724.510729227,695,669.510729227,642,901,786.510729227,829,656,633,658,0.458534255537,-0.00558841410516,0.0797291269941,0.999999900919,-0.000134612912483,-0.000419912942836,-6.0943003718e-05,1793251645253297408
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,748,724.06453132,695,669,642,901.06453132,786,829,656,633,658,0.458534467997,-0.00558917951311,0.0797288026405,0.999999900714,-0.000135304717775,-0.000420209917259,-6.07383483599e-05,1793251645269963776
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,748,724.639400419,695,669,642,901.639400419,786,829,656,633,658,0.458534100476,-0.00558770898765,0.0797280994037,0.99999990069,-0.000132925487222,-0.000420977269363,-6.10719522319e-05,1793251645286631168
+247,4.116666667,POSE1_TO_POSE2_PRESS,768,748,725,695,669,642,901.779078489,786.220921511,829,656,633,658,0.458534178002,-0.00558686745713,0.0797277770558,0.99999990071,-0.000131903237131,-0.00042121940568,-6.12768200232e-05,1793251645303298048
+248,4.133333333,POSE1_TO_POSE2_PRESS,768,748,725,695,669,642,901.186362494,786.813637506,829,656,633,658,0.458535004507,-0.00558708447811,0.0797280957157,0.999999900814,-0.000133164683924,-0.000420577642986,-6.12650346124e-05,1793251645319964416
+249,4.150000000,HOLD_POSE2,768,748,725,695,669,642,901,786,829,656,633,658,0.458534925461,-0.00558909285566,0.079727998532,0.999999900456,-0.000131919147055,-0.000422019173858,-5.98726958427e-05,1793251645354476544
+250,4.166666667,HOLD_POSE2,767.415773519,748,724.415773519,695,669,641.415773519,900.415773519,786,829,656,633,658,0.458536169224,-0.00558852654595,0.0797287253917,0.999999900332,-0.00013517686804,-0.00042117851751,-6.06011232385e-05,1793251645371143424
+251,4.183333333,HOLD_POSE2,767.169616237,748,724,695,669.169616237,641,900.169616237,786,829,656,633,658,0.45853685374,-0.00558809250706,0.0797289689001,0.999999900196,-0.000137021548864,-0.000420843878536,-6.10151134309e-05,1793251645387810304
+252,4.200000000,HOLD_POSE2,767.757877295,748,724,695,669.757877295,641,900.757877295,786,829,656,633,658,0.45853615793,-0.00558798493737,0.0797280194069,0.999999900057,-0.000135378581103,-0.000421758185588,-6.06530135323e-05,1793251645404476672
+253,4.216666667,HOLD_POSE2,768,748.340018425,724.340018425,695,669.659981575,641,901,786,829,656,633,658.340018425,0.458536505775,-0.00558717408346,0.0797280659913,0.999999900312,-0.00013444857792,-0.000421443994594,-6.07010978206e-05,1793251645421143296
+254,4.233333333,HOLD_POSE2,768,748.917878651,724.917878651,695,669.082121349,641,901,786,829,656,633,658.917878651,0.458537583651,-0.0055858712845,0.0797288093289,0.999999900843,-0.000134017291277,-0.000420270473094,-6.10361046565e-05,1793251645437810176
+255,4.250000000,HOLD_POSE2,768,748.503968359,725,695,669,641.496031641,901,786,829,656,633,658.503968359,0.458539137414,-0.00558682898132,0.0797302574767,0.999999901488,-0.000134827637428,-0.000418509033652,-6.07909892951e-05,1793251645454477056
+256,4.266666667,HOLD_POSE2,768,748,724.926135004,695,669.073864996,642,900.926135004,786,829,656,633,658,0.458540306025,-0.0055877721152,0.0797313209233,0.999999901954,-0.00013550927664,-0.000417220269675,-6.04753020518e-05,1793251645471144192
+257,4.283333333,HOLD_POSE2,768,748,724.350800903,695,669.649199097,642,900.350800903,786,829,656,633,658,0.458538324639,-0.00558607416616,0.0797289799873,0.999999901096,-0.000133920751011,-0.000419801685681,-6.03329238694e-05,1793251645487810816
+258,4.300000000,HOLD_POSE2,768,748,724.222828413,695,669.777171587,641.777171587,900,786,828.777171587,656,633,658,0.458537515241,-0.00558587307377,0.079727778231,0.999999900623,-0.000133437705358,-0.000421111943578,-6.0107244257e-05,1793251645504477696
+259,4.316666667,HOLD_POSE2,768,748,724.793794194,695,669.206205806,641.206205806,900,786,828.206205806,656,633,658,0.458538536905,-0.0055880106049,0.0797283562792,0.999999900762,-0.000134681813428,-0.000420436199396,-5.97514181469e-05,1793251645521144576
+260,4.333333333,HOLD_POSE2,768,748,724.617596387,695,669,641.382403613,900,786,828.382403613,656,633,658,0.458539273649,-0.00558800620482,0.0797285460328,0.999999901127,-0.000133230608077,-0.000420043347231,-5.96623754121e-05,1793251645537810944
+261,4.350000000,HOLD_POSE2,768,748,724.019012624,695,669,641.980987376,900,786,828.980987376,656,633,658,0.458539849321,-0.00558679092985,0.0797285162758,0.999999901613,-0.000130255690096,-0.000419810419319,-5.97241504391e-05,1793251645554477312
+262,4.366666667,HOLD_POSE2,768,748,724.556206663,695,669,641.443793337,900.556206663,786,829,656,633,658,0.458538970006,-0.00558664226764,0.0797275835932,0.999999900753,-0.000130618376127,-0.000421718258531,-5.98948779129e-05,1793251645571143424
+263,4.383333333,HOLD_POSE2,768,748,725,695,669.12965952,641.12965952,900.87034048,786.12965952,829,656,633,658,0.458538360353,-0.00558658313176,0.0797270391046,0.999999900134,-0.000131484475655,-0.000422884002967,-6.01005953443e-05,1793251645587809792
+264,4.400000000,HOLD_POSE2,768,748,725,695,669.699716071,641.699716071,900.300283929,786.699716071,829,656,633,658,0.458538828742,-0.00558670923254,0.0797279137487,0.999999900496,-0.000133688565925,-0.000421290643593,-6.04130186794e-05,1793251645604476416
+265,4.416666667,HOLD_POSE2,768,748,724.716093423,695.283906577,669.716093423,642,900.283906577,786.716093423,829,656,633,658,0.458539423357,-0.00558578245062,0.0797285791625,0.999999900961,-0.000133142748471,-0.000420330527588,-6.06037599503e-05,1793251645621143296
+266,4.433333333,HOLD_POSE2,768,748,724.116170446,695.883829554,669.116170446,642,900.883829554,786.116170446,829,656,633,658,0.458540158474,-0.00558368370501,0.0797290116818,0.999999901539,-0.000129536008705,-0.000420075274847,-6.06590569015e-05,1793251645637810688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,748,725,696,669,642,901,786,829,656,633,658,0.458538860996,-0.005585174265,0.0797282464418,0.99999990154,-0.000129690601049,-0.000420233929028,-5.91930083142e-05,1793251645670012416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,748.573782909,725,695.426217091,669.573782909,642,901,786.573782909,829,656,633,658.573782909,0.45853981052,-0.00558352639868,0.0797285343558,0.99999990169,-0.000129023867507,-0.000419981553418,-5.99054939234e-05,1793251645686679040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.152424955,748.847575045,724.847575045,695,670,641.847575045,901,786.847575045,829,656.152424955,633,658.847575045,0.458540676594,-0.00558283734292,0.0797289034494,0.999999901839,-0.000128913788968,-0.00041960267078,-6.03116023523e-05,1793251645703345920
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.745101872,748.254898128,724.254898128,695,670,641.254898128,901,786.254898128,829,656.745101872,633,658.254898128,0.458541301643,-0.00558491763797,0.079729507016,0.999999901985,-0.000130411507745,-0.00041885839537,-5.98327957759e-05,1793251645720012544
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,724.330211622,695.330211622,670,641.330211622,901,786.330211622,829,656.669788378,633,658,0.458541052028,-0.00558426608579,0.0797291227402,0.999999901781,-0.000129586782668,-0.000419597708251,-5.98506760187e-05,1793251645736678912
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,724.909610924,695.909610924,670,641.909610924,901,786.909610924,829,656.090389076,633,658,0.458540142365,-0.00558155299893,0.0797279930087,0.999999901307,-0.000127009471111,-0.000421456581778,-6.02433711885e-05,1793251645753345280
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.515302665,669.515302665,642,901,786.515302665,829,656,633,658,0.458539273485,-0.0055836067197,0.0797273771519,0.999999900677,-0.000130850779929,-0.00042178003469,-6.02186429802e-05,1793251645770011904
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,724.939675057,695.060324943,669,641.939675057,901,786.060324943,829,656,633,658,0.458538612831,-0.00558621345921,0.0797270641178,0.999999900154,-0.000135230605619,-0.000421653300483,-6.0107008934e-05,1793251645786678784
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,724.352355294,695.647644706,669,641.352355294,901,786.647644706,829,656,633,658,0.45853970539,-0.00558595409448,0.0797285667408,0.999999901003,-0.000133950361934,-0.000420073093284,-5.99102088049e-05,1793251645803345664
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,724.231847829,695.768152171,669,641,900.768152171,786.768152171,829,656,633,658,0.458535201896,-0.00558576786823,0.0797266135045,0.999999899788,-0.000133396082353,-0.000423129136586,-5.99284675776e-05,1793251645820012544
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,724.811377153,695.188622847,669,641,900.188622847,786.188622847,829,656,633,658,0.458522306502,-0.00558569132123,0.0797194778242,0.999999895411,-0.000133930466441,-0.000433137751026,-6.02692310021e-05,1793251645836679168
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,641,900.389527308,786,829,656,633,658,0.458495427885,-0.00558368807703,0.0797073080639,0.999999887086,-0.000131056470907,-0.000452786778481,-6.03092590145e-05,1793251645853345536
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,641,900.967012029,786,829,656,633,658,0.458461801986,-0.00558075514953,0.0796927092238,0.999999876376,-0.000126537840427,-0.000477087565439,-6.02041740953e-05,1793251645870012160
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,641.541535387,901,786.541535387,829,656,633,658,0.458404747297,-0.0055814821287,0.079674744291,0.999999860794,-0.000127405907973,-0.000508483784495,-6.02065153063e-05,1793251645886679040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,642,901,787,829,656,633,658,0.458343964319,-0.00558171206997,0.0796573818147,0.999999845822,-0.000127999855048,-0.000536983484482,-6.0173755137e-05,1793251645903345920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,642,901,787,829,656,633,658,0.458274046513,-0.00557909826766,0.0796432097283,0.999999837706,-0.000126218104635,-0.000552322668053,-5.99763705462e-05,1793251645920012544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,724.708183964,695,669,642,901,786.708183964,829,656,633,658,0.458196492573,-0.00557571858996,0.0796341410946,0.999999831111,-0.00012382479822,-0.00056474238177,-5.92579913902e-05,1793251645936679168
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,724.129385807,695,669,642,901,786.129385807,829,656,633,658,0.458111428996,-0.00557158572369,0.079630091376,0.999999826111,-0.000120830066307,-0.000574290985597,-5.80272479286e-05,1793251645953345792
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641.551832588,901,786.448167412,829,656,633,658,0.458017446726,-0.00557096292138,0.0796336744114,0.999999829066,-0.00011900794621,-0.000569820113693,-5.48589295375e-05,1793251645970012160
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641,901,786.974788472,829,656,633,658,0.457919232681,-0.00557124665545,0.0796391378088,0.999999833954,-0.000117546621657,-0.000561834017655,-5.11679406651e-05,1793251645986679040
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641,901,786.401022822,829,656,633,658,0.457784811397,-0.00556926731197,0.0796377015582,0.999999832324,-0.000116590097531,-0.000565183495648,-4.82419056776e-05,1793251646003345408
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641.177878882,900.822121118,786,829,656,633,658,0.457644554846,-0.00556708714318,0.0796370251412,0.999999831346,-0.000114586928799,-0.000567588216007,-4.49645807125e-05,1793251646020012032
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641.768703864,900.231296136,786,829,656,633,658,0.457490751734,-0.0055644407584,0.0796381126789,0.9999998319,-0.000110153973131,-0.000567799679604,-4.08717359293e-05,1793251646036678656
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,724,695,669.352134645,642,900,786,829,656,633,658,0.457313919233,-0.0055608567694,0.0796369469477,0.999999830657,-0.000104146035838,-0.00057141052567,-3.64668188268e-05,1793251646053345280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,669.930808563,642,900,786,829,656,633,658,0.457122271187,-0.0055566695899,0.079634331618,0.999999828191,-9.71248629764e-05,-0.000577208301181,-3.18611353978e-05,1793251646070011904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.493610888,748,724.506389112,695,670,642,900,786.506389112,829,656,633,658.506389112,0.456901095669,-0.00555240473696,0.0796335000247,0.99999982787,-8.93002135764e-05,-0.00057930610129,-2.62636414559e-05,1793251646086678784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.081724286,748,725,695,670,642,900,786.918275714,829,656,633,658.918275714,0.456669700923,-0.00554813824366,0.0796327425191,0.999999827815,-8.12093982682e-05,-0.000580825398253,-2.04153216921e-05,1793251646103345408
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.658117306,748,725,695,670,642,900,786.341882694,829,656,633,658.341882694,0.456400722542,-0.00554392566944,0.0796309671785,0.999999828005,-7.21679845815e-05,-0.000581884557886,-1.38640721615e-05,1793251646120012032
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,642,900,786.239961418,829,656,633,658,0.456122662274,-0.00553898662196,0.0796297342535,0.999999828679,-6.23806310255e-05,-0.000581977563416,-7.26162790155e-06,1793251646136678656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,642,900,786.829752411,829,656,633,658,0.455831361922,-0.00553298848017,0.0796292920934,0.999999830089,-5.15058039097e-05,-0.000580662053801,-5.84549410306e-07,1793251646153345280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,724.58803432,695,670,642,900,787,828.58803432,656,633,658,0.455530074836,-0.00552763335808,0.0796431942624,0.999999845988,-3.95881493997e-05,-0.000553541390296,6.98807974081e-06,1793251646170012416
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,724.00889605,695,670,642,900,787,828.00889605,656,633,658,0.455224735215,-0.00552253916872,0.0796629172529,0.999999866416,-2.72473235477e-05,-0.000515949187716,1.49241164766e-05,1793251646186679296
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,724.565460184,695,670,642,900,787,828.565460184,656.565460184,633,658,0.454860285074,-0.00551612903022,0.0796744455098,0.999999876556,-5.376376202e-06,-0.000496397968878,2.11651645862e-05,1793251646203345408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,642,900,787,829,656.856200082,633,658,0.454479259674,-0.00551002409721,0.0796826290575,0.999999883436,1.08494675612e-05,-0.000482198072254,2.22495693009e-05,1793251646220012032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,642,900,787,829,656.265241423,633,658,0.454049559602,-0.00550493206742,0.0796808094652,0.999999882918,9.05903477838e-06,-0.000483763409165,7.38115349594e-06,1793251646236678656
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,670.318676661,642,900,787,829,656,633,658,0.453598722139,-0.00550053763681,0.0796812710336,0.999999884619,1.0190885362e-05,-0.000480241138016,5.18233925916e-06,1793251646253345792
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,642.472875467,900,787.472875467,828.527124533,656,633.472875467,658,0.452639645998,-0.00549099958827,0.0796951033155,0.999999895694,2.07221627293e-05,-0.000455881761195,1.8814123769e-05,1793251646286679040
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.045941231,747.954058769,725,695,671,642.045941231,899,787.954058769,828,656,633.045941231,658,0.449290444972,-0.00542427484041,0.0798262104779,0.999999962346,0.000122193828776,-0.000244870109711,2.03890305365e-05,1793251646386679296
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,694.24359272,671,643,898,788.75640728,827,656,633.75640728,657,0.441609328823,-0.00542938286952,0.0798065958627,0.999999946195,0.000139216703899,-0.000294904921659,3.54851421332e-05,1793251646553346048
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41a68ca4d656e8a3c9cf3de27faf859f748f9592
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
+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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+2,0.033333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+3,0.050000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+4,0.066666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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+6,0.100000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27280b1e0fea79a3f3acb8f815fa014d993cb81b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9688f6e9a6a803af4fa9baab8a744043def876f9333008542aa4b0cadc3a8018
+size 26517958
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0698c637b8b28398063ecc9ecb091ae7e18d2453
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+20,0.333333333,BASELINE,769,747,724,692,670.384173982,643,889,789.615826018,820.615826018,656.615826018,633,657,0.400970318225,-0.00539550145357,0.0798316934871,0.999999927057,0.000249469479243,-0.000285967643979,4.32808549332e-05,1793251648617390336
+21,0.350000000,BASELINE,769,747,724.201867908,692,670.201867908,643,889,789.798132092,820.798132092,656.798132092,633,657,0.400969144371,-0.00539617104986,0.0798309835309,0.999999926869,0.000248593749725,-0.000287417956062,4.30602107524e-05,1793251648634057216
+22,0.366666667,BASELINE,769,747,724.78266981,692,670.78266981,643,889,789.21733019,820.21733019,656.21733019,633,657,0.400971341546,-0.00539591567326,0.0798316655947,0.999999927381,0.00024807176513,-0.000286100765242,4.29567866256e-05,1793251648650723328
+23,0.383333333,BASELINE,769,747,725,692,671,643,889,789,820.359894636,656,633,657.359894636,0.400972732808,-0.00539560818669,0.0798326314955,0.999999927698,0.000249078644111,-0.000284073375454,4.31879219616e-05,1793251648667389952
+24,0.400000000,BASELINE,769,747,725,692,671,643,889,789,820.934980681,656,633,657.934980681,0.400973642191,-0.00539526954204,0.0798337671109,0.999999927893,0.00025099967477,-0.00028162133704,4.36191000626e-05,1793251648684056576
+25,0.416666667,BASELINE,769,747,725,692,670.491344587,643,889.508655413,789,820.491344587,656.508655413,633,657.491344587,0.400973170631,-0.00539566583054,0.0798333705444,0.99999992752,0.000250839384613,-0.00028307084989,4.37133468181e-05,1793251648700722944
+26,0.433333333,BASELINE,769,747,724.9148733,692,670.0851267,643,889.9148733,789,820,656.9148733,633,657,0.400972576416,-0.00539601692823,0.0798328042413,0.99999992715,0.000250364094962,-0.000284792538191,4.37077735735e-05,1793251648717389824
+27,0.450000000,BASELINE,769,747,724.320599423,692,670.679400577,643,889.320599423,789,820,656.320599423,633,657,0.400972301457,-0.00539553741158,0.0798323908963,0.999999927252,0.000249591612758,-0.000285167511007,4.33620542108e-05,1793251648734056960
+28,0.466666667,BASELINE,769.26544096,746.73455904,724.26544096,692,671,643,889,789,820,656,633,657,0.400971399765,-0.00539566332929,0.0798319109073,0.999999927321,0.000248692046087,-0.000285732168764,4.32122618489e-05,1793251648750723840
+29,0.483333333,BASELINE,769.841836078,746.158163922,724.841836078,692,671,643,889,789,820,656,633,657,0.400969763878,-0.00539649849074,0.0798313528473,0.999999927353,0.000247643604766,-0.000286519035312,4.32919906619e-05,1793251648767390208
+30,0.500000000,BASELINE,769.582521809,746.417478191,724.582521809,692,671,643,889,789,820.417478191,656,633,657,0.400971026519,-0.00539714835641,0.0798318335345,0.999999927873,0.000247289557909,-0.000285004878594,4.32842521234e-05,1793251648784056832
+31,0.516666667,BASELINE,769.007164476,746.992835524,724.007164476,692,671,643,889,789,820.992835524,656,633,657,0.400973385307,-0.00539772814813,0.0798327070482,0.999999928574,0.000247198112585,-0.000282620536091,4.32434357581e-05,1793251648800723200
+32,0.533333333,BASELINE,769.582432276,747,724,692,671,643,889.582432276,789,821,656.582432276,633,657,0.400972178067,-0.00539584500675,0.0798318178231,0.999999927553,0.0002488167237,-0.000284825900757,4.31114958909e-05,1793251648817389568
+33,0.550000000,BASELINE,770,747,724.169043132,692,671,643,890,789.169043132,821,656.830956868,633,657,0.400971942128,-0.00539477816838,0.0798319469196,0.999999927355,0.000248886760895,-0.000285484237794,4.29525390177e-05,1793251648834056448
+34,0.566666667,BASELINE,770,747,724.747978402,692,671,643,890,789.747978402,821,656.252021598,633,657,0.400974170408,-0.00539576598739,0.0798345991154,0.999999929205,0.000245149564961,-0.000282251046867,4.27308579755e-05,1793251648850723072
+35,0.583333333,BASELINE,769.675209314,747,725,692,671,643,889.675209314,789.675209314,820.675209314,656.324790686,633,657,0.400974840482,-0.00539588882627,0.0798352249951,0.999999929351,0.000246172550389,-0.000280821024289,4.2859403583e-05,1793251648867389952
+36,0.600000000,BASELINE,769.100033603,747,725,692,671,643,889.100033603,789.100033603,820.100033603,656.899966397,633,657,0.400974309315,-0.00539534484171,0.0798342887636,0.999999928179,0.000250865216182,-0.000280781085415,4.32579430811e-05,1793251648884057088
+37,0.616666667,BASELINE,769.485072854,747,724.514927146,692,670.514927146,643,889,789,820.485072854,656.514927146,633,657,0.400973479837,-0.00539496874625,0.0798332913852,0.999999927688,0.000250880398225,-0.000282528457845,4.31397031837e-05,1793251648900723712
+38,0.633333333,BASELINE,769.928758813,747,724.071241187,692,670.071241187,643,889,789.071241187,820.928758813,656.071241187,633,657,0.400972436564,-0.00539472895016,0.0798322845967,0.999999927274,0.000250153595999,-0.000284654273434,4.2985027048e-05,1793251648917390080
+39,0.650000000,BASELINE,769.349921041,747,724.650078959,692,670.650078959,643,889,789.650078959,820.349921041,656.650078959,633,657,0.400970317481,-0.00539520844831,0.0798313024852,0.999999926395,0.000251156650178,-0.000286795431941,4.33459434371e-05,1793251648934056448
+40,0.666666667,BASELINE,769.228838773,747,725,692,671,643,889,789.771161227,820,656.771161227,633,657,0.400969781261,-0.00539590772104,0.0798310538149,0.999999926206,0.000251274048498,-0.000287320797282,4.35471096097e-05,1793251648950723072
+41,0.683333333,BASELINE,769.807479386,747,725,692,671,643,889,789.192520614,820,656.192520614,633,657,0.400971664599,-0.00539694294006,0.0798319262793,0.999999927074,0.000250037637509,-0.000285376268899,4.3504082355e-05,1793251648967389696
+42,0.700000000,BASELINE,769.616633066,747,725,692,671,643,889,789,820,656.383366934,633,657,0.400971416005,-0.00539592127673,0.0798319645908,0.99999992718,0.000249593797918,-0.000285463116058,4.30616114774e-05,1793251648984056576
+43,0.716666667,BASELINE,769.042118222,747,725,692,671,643,889,789,820,656.957881778,633,657,0.400970104423,-0.00539387404562,0.0798315869911,0.999999926905,0.000249545136855,-0.000286562813251,4.24199768057e-05,1793251649000723456
+44,0.733333333,BASELINE,769,746.455816459,724.455816459,692,671,643,889,789.544183541,820,657,633,657,0.400970545441,-0.00539418379953,0.0798318188596,0.999999926963,0.000249895645822,-0.000285991122584,4.28348034654e-05,1793251649017390080
+45,0.750000000,BASELINE,769,746.130148879,724.130148879,691.869851121,671,643,889,790,820,656.869851121,633,657,0.400970866338,-0.00539485985275,0.079831976505,0.999999927036,0.000249952948225,-0.000285624721744,4.3248238625e-05,1793251649034057216
+46,0.766666667,BASELINE,769,746.711712981,724.711712981,691.288287019,671,643,889,790,820,656.288287019,633,657,0.4009702897,-0.00539615966127,0.0798317094785,0.999999927067,0.000248883748627,-0.000286428973578,4.33669634057e-05,1793251649050723584
+47,0.783333333,BASELINE,769.290272013,747,724.709727987,691.290272013,671,643,889,790,820.290272013,656,633,657,0.400970131679,-0.00539671556868,0.0798316362593,0.999999927273,0.000247849991044,-0.000286632724662,4.31914584095e-05,1793251649067389952
+48,0.800000000,BASELINE,769.865877174,747,724.134122826,691.865877174,671,643,889,790,820.865877174,656,633,657,0.400970385153,-0.00539654023232,0.0798317535499,0.999999927651,0.000246851072313,-0.00028624619238,4.27267298553e-05,1793251649084056320
+49,0.816666667,BASELINE,769.559432457,747,724.440567543,692,670.559432457,643,889,789.559432457,820.559432457,656.440567543,633,657,0.400970205553,-0.0053956128654,0.0798319025978,0.999999927407,0.000248197046019,-0.00028592158239,4.28090673152e-05,1793251649100722944
+50,0.833333333,BASELINE,769,747,724.984560286,692,670.015439714,643,889,789,820,657,633,657,0.40096992653,-0.0053944917657,0.0798320773507,0.999999927001,0.00025015734832,-0.000285596353095,4.30467082303e-05,1793251649117389824
+51,0.850000000,BASELINE,769,747,724.39251857,692,670.60748143,643,889,789,820,657,633,657,0.40097084799,-0.00539466785323,0.0798328517579,0.999999927733,0.000248455853009,-0.000284545451271,4.28774414847e-05,1793251649134056704
+52,0.866666667,BASELINE,769,746.805583773,724.194416227,692,670.805583773,643,889.194416227,789.194416227,820.194416227,657,633,657,0.400971595734,-0.0053946597138,0.0798332070631,0.999999928203,0.000247521629843,-0.000283717628803,4.27837258532e-05,1793251649150723328
+53,0.883333333,BASELINE,769,746.228695767,724.771304233,692,670.228695767,643,889.771304233,789.771304233,820.771304233,657,633,657,0.40097200173,-0.00539428914776,0.0798327378758,0.999999928169,0.000248096848386,-0.000283328666672,4.28386406706e-05,1793251649167390208
+54,0.900000000,BASELINE,769,746,725,692,670,643,889.652615567,789.652615567,820.652615567,656.652615567,633,657,0.400971949615,-0.00539426317582,0.079832648624,0.999999928054,0.000248716086956,-0.000283164096832,4.30160405451e-05,1793251649184057088
+55,0.916666667,BASELINE,769,746,725,692,670,643,889.077065964,789.077065964,820.077065964,656.077065964,633,657,0.400971596609,-0.00539446353634,0.0798328089173,0.999999927886,0.000249364238248,-0.000283146909849,4.32738896873e-05,1793251649200723712
+56,0.933333333,BASELINE,769.510093542,746.510093542,724.489906458,692,670.510093542,643,889,789.510093542,820.510093542,656.510093542,633,657,0.400971586513,-0.00539486232559,0.0798330220658,0.999999927676,0.000249728120552,-0.000283591122957,4.311781148e-05,1793251649217390080
+57,0.950000000,BASELINE,769.902627647,747,724,692,671,643,889.097372353,789.902627647,820.902627647,657,633,657,0.400971842561,-0.00539524483805,0.0798333144313,0.999999927544,0.000250106705437,-0.000283745129196,4.29710127036e-05,1793251649234056704
+58,0.966666667,BASELINE,769.323636788,747,724,692,671,643,889.676363212,789.323636788,820.323636788,657,633,657,0.400973152784,-0.00539539510861,0.0798339581993,0.99999992783,0.000250775385959,-0.000282110904837,4.31866330652e-05,1793251649250723328
+59,0.983333333,BASELINE,769,747,724.253296319,691.746703681,671,643,889.746703681,789,820,656.746703681,633,657,0.400973069193,-0.00539550099743,0.079833804836,0.999999927846,0.000250494928273,-0.000282290099678,4.32773810077e-05,1793251649267389952
+60,1.000000000,BASELINE,769,747,724.827621503,691.172378497,671,643,889.172378497,789,820,656.172378497,633,657,0.400971219077,-0.00539555063666,0.0798326411849,0.999999927517,0.000249011528754,-0.000284767629734,4.32098651282e-05,1793251649284056320
+61,1.016666667,BASELINE,769,747,724.601492286,691.398507714,670.601492286,642.601492286,889,789.398507714,820.398507714,656,633,657,0.400971305167,-0.00539643064107,0.0798325922226,0.999999927794,0.000248219682254,-0.000284496028595,4.31465536349e-05,1793251649300722944
+62,1.033333333,BASELINE,769,747,724.032080944,691.967919056,670.032080944,642.032080944,889,789.967919056,820.967919056,656,633,657,0.400972221616,-0.00539766675506,0.0798330213047,0.999999928331,0.000247724414594,-0.000283045437593,4.30850452345e-05,1793251649317389824
+63,1.050000000,BASELINE,769,747,724.56410953,692,671.128219059,642.56410953,889,789.43589047,820.43589047,656,633,657,0.400970807543,-0.00539604636155,0.0798326137574,0.999999927652,0.000248453799702,-0.000284812495529,4.29986930519e-05,1793251649334056704
+64,1.066666667,BASELINE,769,747,724.84360434,692,671.84360434,643,889.15639566,789,820,656.15639566,633,657,0.400970214161,-0.00539492940467,0.0798325343028,0.999999927275,0.000248989537994,-0.000285673434585,4.29448046764e-05,1793251649350723328
+65,1.083333333,BASELINE,769,747,724.26613478,692,671.26613478,643,889.73386522,789,820,656.73386522,633,657,0.400972204999,-0.00539562705331,0.0798334726777,0.999999927916,0.000248807051044,-0.000283577549316,4.29823141916e-05,1793251649367389696
+66,1.100000000,BASELINE,769,747,724,692,671,643,889.690550507,789,820.309449493,657,633.309449493,657,0.40097309959,-0.00539605452644,0.079834076639,0.999999928321,0.00024863381111,-0.000282280534439,4.30965332069e-05,1793251649384056320
+67,1.116666667,BASELINE,769,747,724,692,671,643,889.116577841,789,820.883422159,657,633.883422159,657,0.400973057087,-0.0053962510485,0.0798343947373,0.999999928527,0.000248468475707,-0.000281666408915,4.32763249255e-05,1793251649400722944
+68,1.133333333,BASELINE,769.470011094,747,724,692,671,643,889,789.470011094,821,656.529988906,633.529988906,657,0.400971888382,-0.0053947649433,0.0798339052727,0.99999992759,0.00025087492614,-0.000282865200413,4.32338870405e-05,1793251649417389568
+69,1.150000000,BASELINE,769.941292107,747,724.058707893,692,671,643,889,789.941292107,821,656,633,657,0.400970639745,-0.00539324225787,0.0798332740315,0.999999926562,0.000253361973163,-0.000284288289933,4.31779807977e-05,1793251649434056192
+70,1.166666667,BASELINE,769.362410245,747,724.637589755,692,671,643,889,789.362410245,821,656,633,657,0.400971226162,-0.00539519529466,0.0798332102957,0.999999927399,0.000250755333817,-0.000283604677336,4.35045955396e-05,1793251649450723328
+71,1.183333333,BASELINE,769.216570077,747,724.783429923,692,670.783429923,643,888.783429923,789,820.783429923,656,633,657,0.40097202431,-0.00539641517335,0.0798334969346,0.999999928159,0.000248905884505,-0.000282547987217,4.35207180281e-05,1793251649467390208
+72,1.200000000,BASELINE,769.795715331,747,724.204284669,692,670.204284669,643,888.204284669,789,820.204284669,656,633,657,0.400973176931,-0.0053964076209,0.0798343701604,0.999999928799,0.000248324099789,-0.000280866701713,4.30170236829e-05,1793251649484056832
+73,1.216666667,BASELINE,769.628309834,747,724.371690166,692,670.371690166,643,888.371690166,789,820.371690166,656.371690166,633,657,0.400972649386,-0.0053958496887,0.079834024358,0.999999928804,0.000247519668378,-0.000281608041189,4.26996660247e-05,1793251649500723456
+74,1.233333333,BASELINE,769.054062789,747,724.945937211,692,670.945937211,643,888.945937211,789,820.945937211,656.945937211,633,657,0.400971206214,-0.00539499182067,0.079833014232,0.999999928459,0.000246593903095,-0.000283669618423,4.24838547411e-05,1793251649517390080
+75,1.250000000,BASELINE,769,747,725,692,671,643,889.532724901,789.532724901,821,656.467275099,633,657,0.400971119714,-0.00539673936022,0.0798326892995,0.999999928352,0.000246749278071,-0.0002838762054,4.27303917724e-05,1793251649534056704
+76,1.266666667,BASELINE,769,747,725,692,671,643,889.881906938,789.881906938,821,656,633,657,0.400971096288,-0.00539817519051,0.0798325079242,0.999999928324,0.000246794886916,-0.000283898518666,4.29595489905e-05,1793251649550723328
+77,1.283333333,BASELINE,769,747,725,692,671,643,889.307069974,789.307069974,821,656,633,657,0.400970771479,-0.00539735814904,0.0798326063547,0.99999992851,0.000245981375672,-0.000283953767255,4.29356385474e-05,1793251649567389696
+78,1.300000000,BASELINE,769,747,724.729190567,691.729190567,671,643,889,789,820.729190567,656.270809433,633,657.270809433,0.400970921395,-0.00539658485778,0.0798328170357,0.999999928441,0.000246651944341,-0.000283613420824,4.29386161926e-05,1793251649584056320
+79,1.316666667,BASELINE,769,747,724.147822187,691.147822187,671,643,889,789,820.147822187,656.852177813,633,657.852177813,0.400971615716,-0.00539586173847,0.0798331564434,0.999999928077,0.000249024426817,-0.000282819413775,4.29724285716e-05,1793251649600722944
+80,1.333333333,BASELINE,769,747,724.428706463,691.428706463,671,643,889,789,820,656.571293537,633,657.571293537,0.400972340665,-0.00539589178434,0.0798337660137,0.999999928151,0.000249515321378,-0.000282101531929,4.31167959232e-05,1793251649617390592
+81,1.350000000,BASELINE,769,747,725,692,671,643,889.003674478,789,820,656.003674478,633,657,0.400973081338,-0.00539617869765,0.0798344680594,0.999999928377,0.00024936880026,-0.000281402334254,4.3295454481e-05,1793251649634057728
+82,1.366666667,BASELINE,769,747,725,692,671,643,889.592901376,789,820,656.592901376,633,657,0.400974663451,-0.00539647640683,0.0798352275417,0.999999928786,0.000249880700666,-0.000279544379382,4.29317105019e-05,1793251649650723840
+83,1.383333333,BASELINE,769,747,724.820693012,692,671,643,889.820693012,789,820,656.820693012,633,657,0.400975287987,-0.0053966189445,0.0798355314561,0.999999929044,0.000249703820027,-0.000278810947292,4.27062873637e-05,1793251649667390208
+84,1.400000000,BASELINE,769,747,724.240593513,692,671,643,889.240593513,789,820,656.240593513,633,657,0.40097377212,-0.00539641463809,0.079834817071,0.99999992897,0.000247987354843,-0.000280591082851,4.27900431653e-05,1793251649684056832
+85,1.416666667,BASELINE,769,747,724.336466084,692,671,643,889,789.336466084,820,656,632.663533916,657,0.400972963259,-0.00539716291301,0.0798342503492,0.999999928781,0.000247434185929,-0.000281699764158,4.31228821217e-05,1793251649700723456
+86,1.433333333,BASELINE,769,747,724.911371398,692,671,643,889,789.911371398,820,656,632.088628602,657,0.400972655423,-0.00539858624189,0.0798337882703,0.999999928513,0.00024770539579,-0.00028233261424,4.36322357295e-05,1793251649717390080
+87,1.450000000,BASELINE,769,747,725,692,671,643,889,790,820,656.498359746,632.498359746,657,0.40097290642,-0.00539678058235,0.0798339384981,0.999999928628,0.000247748289945,-0.000281955991121,4.31992187901e-05,1793251649734056960
+88,1.466666667,BASELINE,769.086064908,747,725,692,671,643,889,790,820.086064908,656.913935092,633,657,0.400973060198,-0.00539489569537,0.079834029102,0.999999928766,0.000247656623093,-0.000281620268839,4.27157387577e-05,1793251649750723584
+89,1.483333333,BASELINE,769.665258912,747,725,692,671,643,889,790,820.665258912,656.334741088,633,657,0.400972073354,-0.00539592888621,0.0798331386446,0.999999928642,0.000247032387277,-0.00028257308956,4.29272354044e-05,1793251649767390464
+90,1.500000000,BASELINE,769.75672101,747,725,692,671,643,889,789.75672101,820.75672101,656.24327899,633,657,0.400971747934,-0.00539664256545,0.0798326175892,0.999999928484,0.000247049656312,-0.000283083797627,4.3142652432e-05,1793251649784057088
+91,1.516666667,BASELINE,769.180308495,747,725,692,671,643,889,789.180308495,820.180308495,656.819691505,633,657,0.400972328235,-0.00539691872214,0.0798326023736,0.99999992828,0.000247945368592,-0.000282989099673,4.33634378069e-05,1793251649800723456
+92,1.533333333,BASELINE,769,747,725,692,670.607192774,643,889.392807226,789,820,657,633,657,0.400972648124,-0.00539608987414,0.0798330660749,0.999999928457,0.000247801092626,-0.000282546930123,4.29930138424e-05,1793251649817390080
+93,1.550000000,BASELINE,769,747,725,692,670.03557772,643,889.96442228,789,820,657,633,657,0.400972849472,-0.00539475802246,0.0798337477815,0.999999928806,0.000247183408853,-0.000281946589745,4.23534684287e-05,1793251649834056960
+94,1.566666667,BASELINE,769,746.443569105,724.443569105,692,670.556430895,643,890,789.556430895,820,656.443569105,633,657,0.400972466054,-0.00539562906244,0.0798336909735,0.999999928796,0.000247282925248,-0.000281878634028,4.24622729135e-05,1793251649850723584
+95,1.583333333,BASELINE,769,746.145973232,724.145973232,691.854026768,671,643,889.854026768,789.854026768,820.145973232,656.145973232,633,657,0.400972324787,-0.00539615481041,0.0798336729446,0.99999992859,0.000248180932555,-0.00028180120702,4.26039090944e-05,1793251649867389952
+96,1.600000000,BASELINE,769,746.724204364,724.724204364,691.275795636,671,643,889.275795636,789.275795636,820.724204364,656.724204364,633,657,0.40097301551,-0.00539522511711,0.0798339148973,0.999999927865,0.000251302482813,-0.000281591098165,4.26956856597e-05,1793251649884056832
+97,1.616666667,BASELINE,769,747,724.698873689,691.301126311,671,643,889.301126311,789,821,657,633,657,0.400973422385,-0.00539547874275,0.0798342277259,0.999999928212,0.000250454513999,-0.000281101326401,4.27791339286e-05,1793251649900724736
+98,1.633333333,BASELINE,769,747,724.123145643,691.876854357,671,643,889.876854357,789,821,657,633,657,0.400973570414,-0.00539681145527,0.0798346051873,0.999999929527,0.00024598667922,-0.000280356525718,4.28549874893e-05,1793251649917393664
+99,1.650000000,BASELINE,769,746.538288226,724.461711774,692,671,643,889.538288226,789.461711774,820.538288226,657,633,657.461711774,0.400972726398,-0.00539563544761,0.0798338033428,0.999999928973,0.000247116919733,-0.000281380020364,4.25770673449e-05,1793251649934059008
+100,1.666666667,BASELINE,769,746.048345288,725,692,671,643,889,789.951654712,820,657,633,657.951654712,0.40097181116,-0.00539393775679,0.0798328439586,0.999999928036,0.000249561587927,-0.0002825975901,4.22487606928e-05,1793251649950723584
+101,1.683333333,BASELINE,769,746.627209985,725,692,671,643,889,789.372790015,820,657,633,657.372790015,0.400973076455,-0.00539400602115,0.0798336770403,0.999999928535,0.000249715160211,-0.000280664981625,4.2423851661e-05,1793251649967389952
+102,1.700000000,BASELINE,769,747,724.794899042,692,671,643,889.205100958,789,820.205100958,656.794899042,633,657,0.400973901409,-0.00539459393242,0.0798342350194,0.999999928835,0.000249589914007,-0.000279677323321,4.26080327816e-05,1793251649984056320
+103,1.716666667,BASELINE,769,747,724.218769605,692,671,643,889.781230395,789,820.781230395,656.218769605,633,657,0.400973929782,-0.00539612188712,0.0798342953365,0.999999928781,0.000248960283993,-0.000280399083988,4.28086580067e-05,1793251650000722944
+104,1.733333333,BASELINE,769,747,724.357697975,692,671,643,889.642302025,789,820.642302025,656,633,656.642302025,0.400973478875,-0.00539687458119,0.0798339078036,0.99999992874,0.000248204832401,-0.000281175131455,4.30676104212e-05,1793251650017389568
+105,1.750000000,BASELINE,769,747,724.934372616,692,671,643,889.065627384,789,820.065627384,656,633,656.065627384,0.400972734561,-0.00539715267393,0.0798332461045,0.999999928706,0.0002473723549,-0.000281984412457,4.33622697765e-05,1793251650034056448
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889,789,821,656,633,657,0.40096988941,-0.00539331104702,0.0798324877042,0.999999927588,0.000249613328407,-0.00028415000358,4.21434234748e-05,1793251650064267520
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.42064459,643,889,789.57935541,820.42064459,656.57935541,633,657,0.400970982958,-0.00539611410045,0.0798329212,0.999999928651,0.000246436518833,-0.000283119595064,4.25572305261e-05,1793251650080934144
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670,643,889,789.841960103,820,657,633,657,0.40097183186,-0.00539813054372,0.0798333586072,0.999999929421,0.00024417033406,-0.000282311901584,4.2882626666e-05,1793251650097601024
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670,643,889,789.265053692,820,657,633,657,0.400972032358,-0.0053980621681,0.079833806381,0.999999929442,0.000244317654578,-0.00028209448839,4.29736999766e-05,1793251650114267392
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.309880439,643,889,789.309880439,820.309880439,657,633.309880439,657,0.400972806923,-0.0053969784681,0.0798343311031,0.99999992918,0.000246378112877,-0.0002812399247,4.29270133949e-05,1793251650130934016
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670.88313823,643,889,789.88313823,820.88313823,657,633.88313823,657,0.400974069406,-0.00539503181125,0.0798349212261,0.999999928663,0.000250064608503,-0.000279843826317,4.27632402438e-05,1793251650147600640
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724.529170055,691.529170055,670.529170055,643,889,790,820.529170055,656.529170055,633.529170055,657,0.400973882898,-0.00539461969356,0.0798346809807,0.999999928751,0.000249290402795,-0.000280237797282,4.26560051076e-05,1793251650164267520
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.939328172,724,691.060671828,670,643,889,790,820.060671828,656,633,657,0.400973316715,-0.00539477193093,0.079834275427,0.999999928969,0.00024751346856,-0.000281041698026,4.26053180732e-05,1793251650180934144
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746.362632574,724,691.637367426,670,643,889,790,820.637367426,656,633,657,0.400972676907,-0.00539638221724,0.0798342722555,0.999999928991,0.000246922573847,-0.000281433747978,4.29124546994e-05,1793251650197600768
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746.213356112,724.213356112,692,670.213356112,643,889,789.786643888,820.786643888,656,633,657,0.400973587155,-0.00539712045087,0.0798347479284,0.999999929157,0.000246780458271,-0.000280945848087,4.30693591094e-05,1793251650214267392
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.788147196,724.788147196,692,670.788147196,643,889,789.211852804,820.211852804,656,633,657,0.400977123266,-0.0053963813874,0.0798360347855,0.999999929562,0.000247398595056,-0.000278967273039,4.29717632708e-05,1793251650230934272
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.372637829,746.627362171,724.627362171,691.627362171,670.627362171,643,889,789,820,656,632.627362171,657,0.400990784488,-0.00539652719549,0.0798416438923,0.999999932324,0.000247012658305,-0.000269242990343,4.29589795881e-05,1793251650247600896
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.962790297,746.037209703,724.037209703,691.037209703,670.037209703,643,889,789,820,656,632.037209703,657,0.401010355899,-0.00539718951715,0.0798497759653,0.999999936296,0.000246040627848,-0.000254997414433,4.29957020961e-05,1793251650264267264
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746.542699078,724.542699078,691.542699078,670.542699078,643,889.542699078,789,820,656.542699078,632.542699078,657,0.401057495379,-0.00539675772026,0.0798659763035,0.999999943156,0.000248100038746,-0.000224224891581,4.31057884855e-05,1793251650280933888
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.878792416,747,725,692,671,643,889.878792416,789.121207584,820,657,633,657,0.401110489125,-0.00539703018662,0.0798821956373,0.99999994932,0.000249182483054,-0.000193440506793,4.29967052622e-05,1793251650297600768
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.302950376,747,725,692,671,643,889.302950376,789.697049624,820,657,633,657,0.401178483013,-0.00540022042376,0.0798964497054,0.99999995499,0.000245835279796,-0.000166783206954,4.20470265788e-05,1793251650314267392
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.726689415,643,889.273310585,790,820.273310585,657,633,657,0.401252116122,-0.00540215719602,0.0799079270349,0.99999995854,0.000243501469368,-0.000148188498842,4.08385952973e-05,1793251650330934016
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,725,692,670.149963424,643,889.850036576,790,820.850036576,657,633,657,0.401332009601,-0.00540270243561,0.0799163217708,0.999999960276,0.000242292676062,-0.000138544468599,3.93429102206e-05,1793251650347600896
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,724.564301918,692,670.435698082,643,889.564301918,789.564301918,820.564301918,657,633,657,0.401429300659,-0.00540279741199,0.0799230072383,0.999999962253,0.000240864614401,-0.000127017459517,3.66635904934e-05,1793251650364267520
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,724.02416622,691.97583378,671,643,889.02416622,789,820.02416622,656.97583378,633,657,0.401533674169,-0.00540280101479,0.0799290654258,0.999999964169,0.00023941324918,-0.000114966887924,3.35555620977e-05,1793251650380934144
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724.604957908,691.395042092,671,643,889.604957908,789,820.604957908,656.395042092,633,657,0.40166036648,-0.00540434433919,0.0799345098513,0.999999965309,0.000239199846188,-0.00010609747548,3.01531205689e-05,1793251650397600768
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,889.816370693,789,820.816370693,656,633,657,0.401795941631,-0.00540592068883,0.0799407339726,0.999999966908,0.000237380952308,-9.56235732061e-05,2.62863439644e-05,1793251650414267648
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,725,691,671,643,889.242208679,789,820.242208679,656,633,657,0.401950408306,-0.00540756727451,0.0799486163074,0.999999969484,0.000232147588767,-8.17373313674e-05,2.14320455022e-05,1793251650430935296
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,725,691.330771265,671,643,889.330771265,789.330771265,820,656,633,657,0.402120410156,-0.00540938667195,0.0799555667027,0.999999971641,0.000227301063941,-6.91796468748e-05,1.63097789293e-05,1793251650447602176
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,725,691.902888776,671,643,889.902888776,789.902888776,820,656,633,657,0.402301747215,-0.00541133216112,0.079961837112,0.999999973475,0.000222736794256,-5.75913387568e-05,1.09919897379e-05,1793251650464268800
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746.504422983,724.504422983,692,671,643,890,789.504422983,820.495577017,656,633,657,0.402506740964,-0.00541378302553,0.0799623764176,0.999999975231,0.000214968086704,-5.7537423523e-05,4.12070656562e-06,1793251650480935424
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.089212532,724.089212532,692,671,643,890,789.089212532,820.910787468,656,633,657,0.402719077824,-0.00541634177407,0.0799603622314,0.99999997678,0.000206344289289,-6.20540315205e-05,-3.24751492644e-06,1793251650497602048
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+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,890,790,820,656,633,657,0.403193558151,-0.00542070035175,0.0799447189193,0.999999978338,0.000187297655055,-8.85786287347e-05,-1.99480066637e-05,1793251650530934784
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,890,790,820,656,633,657,0.403473247392,-0.00542135108893,0.0799434379405,0.999999979683,0.000178497488189,-8.92797861974e-05,-2.83123792368e-05,1793251650547600896
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,725,692,670.60081498,643,890.39918502,790,820.39918502,656.39918502,633,657,0.403783905365,-0.00542430661584,0.079947633815,0.999999989073,0.000117393728988,-8.35129205138e-05,-3.31519210319e-05,1793251650564267520
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,725,692,670.013162728,643,890.986837272,790,820.986837272,656.986837272,633,657,0.404109184599,-0.00542835030315,0.0799544154765,0.999999996052,3.15958733175e-05,-7.46923064075e-05,-3.63272839667e-05,1793251650580934144
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,725,692.56628953,670.56628953,643,890.43371047,789.43371047,821,656.43371047,633,657,0.404486876789,-0.00542765910424,0.0799554092785,0.999999993353,8.56374844126e-05,-7.1299000454e-05,-2.95994600068e-05,1793251650597601024
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.144703606,747,725,693,671,643,890.144703606,789.144703606,821,656,633.144703606,657,0.404876142853,-0.00542832192524,0.0799563497825,0.999999989452,0.000126618564876,-6.64610628436e-05,-2.54394733214e-05,1793251650614267648
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.720583908,747,725,693,671,643,890.720583908,789.720583908,821,656,633.720583908,657,0.405296317475,-0.00543334260897,0.0799575266189,0.999999990844,0.000119135812481,-5.69479931908e-05,-2.96070384095e-05,1793251650630934784
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.704576094,747,725,693,671,643,890.704576094,790,821,656,633.704576094,657.295423906,0.405726247017,-0.0054377100609,0.0799541743648,0.999999991394,0.000111635952826,-6.10591488782e-05,-3.19528408083e-05,1793251650647601664
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.130716511,747,725,693,671,643,890.130716511,790,821,656,633.130716511,657.869283489,0.406165370577,-0.00544146184543,0.0799465534637,0.999999991006,0.00010411996877,-7.80110733752e-05,-3.2581640705e-05,1793251650664268800
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890,790,821,656,633,657.54300493,0.406634026501,-0.00544498013073,0.0799385807498,0.999999990407,9.95148046915e-05,-9.0440820228e-05,-3.32073899636e-05,1793251650680935168
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,725,693.047601752,671,643,890.047601752,790,820.952398248,656,633.047601752,657.047601752,0.407115868217,-0.00544885359743,0.0799307677014,0.999999989704,9.5410872757e-05,-0.000101700909847,-3.38542522271e-05,1793251650697601280
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,725,693.624955482,671,643,890.624955482,790,820.375044518,656,633.624955482,657.624955482,0.407647505767,-0.00545744633804,0.0799258864477,0.999999988995,8.73296099e-05,-0.000114789208138,-3.4746092526e-05,1793251650714267904
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891,790,820.20134585,656,633.79865415,657.79865415,0.408189340444,-0.00546918121272,0.0799196222726,0.999999988492,7.24366137867e-05,-0.000128635796433,-3.49504497602e-05,1793251650730934784
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891,790,820.775950287,656,633.224049713,657.224049713,0.408750078707,-0.00548674103199,0.0799107944132,0.999999988065,4.49159035521e-05,-0.00014388811566,-3.38803383633e-05,1793251650747601408
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,725,693.649352834,671,643,891,790,821,656,633.350647166,657.350647166,0.409373362871,-0.00550114466786,0.079925796735,0.999999991778,2.70195440257e-05,-0.000120917044059,-3.30545726931e-05,1793251650764268032
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,725,693.074596894,671,643,891,790,821,656,633.925403106,657.925403106,0.410036621913,-0.0055135310947,0.079956029617,0.999999996657,1.52743872063e-05,-7.351629395e-05,-3.23849754562e-05,1793251650780934656
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,725,693.517088093,671,643,891.517088093,790,821,656,634,657.482911907,0.410726190578,-0.00551146711575,0.0799854484386,0.999999999059,1.55421273133e-05,-2.4137682482e-05,-3.25323794644e-05,1793251650797601280
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.107896636,747,725,694.107896636,671,643,892,790,821,656,634,657,0.411417477489,-0.00550994242175,0.0800043877236,0.999999999309,1.48300370488e-05,7.68888535354e-06,-3.32019866662e-05,1793251650814267904
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.68394686,747,725,694.68394686,671,643,892,790,821,656,634,657,0.412099193702,-0.00552010896099,0.0799783840586,0.999999998645,2.09261885904e-06,-3.79212043791e-05,-3.56086777999e-05,1793251650830934272
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.74047898,747,725,694.74047898,671,643,892,790,821.25952102,656,634,657,0.412793685648,-0.00552525185897,0.0799488754681,0.999999995931,-7.79919748688e-06,-8.09250537379e-05,-3.90979448992e-05,1793251650847600896
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.165483447,747,725,694.165483447,671,643,892,790,821.834516553,656,634,657,0.413503707904,-0.00552428800527,0.0799151062766,0.999999991643,-1.42318935767e-05,-0.000120760755736,-4.39031948665e-05,1793251650864267776
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725,694.420556162,671,643,892,790,822,656,633.579443838,657,0.414260656054,-0.0055283352855,0.0799150910476,0.99999999229,-2.13302767335e-05,-0.000113681825755,-4.5178475619e-05,1793251650880934144
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,892.021497729,790,822,656,633,657.010748864,0.41503712371,-0.00553441990033,0.0799287548005,0.999999994718,-2.87004880822e-05,-8.78271305029e-05,-4.5010292435e-05,1793251650897600768
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,893.169420804,790,822,656,633,657.584710402,0.415842768537,-0.00554115112463,0.0799444640577,0.99999999582,-3.62187291587e-05,-7.15292795243e-05,-4.39510012153e-05,1793251650914267648
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894,790,822.321994342,656,633,657.839002829,0.41666105387,-0.00554644470492,0.0799527244055,0.999999996062,-4.34556494019e-05,-6.38443426405e-05,-4.37214462845e-05,1793251650930934272
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894,790,823.486739395,656,633,657.256630303,0.417512422952,-0.00554797556179,0.0799414888393,0.999999994613,-4.99562726355e-05,-7.8701850959e-05,-4.5663547141e-05,1793251650947600896
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894.321305051,789.678694949,824,656,633,657.321305051,0.418402928817,-0.00555370936111,0.0799566660682,0.999999995977,-6.12928940616e-05,-4.54460738926e-05,-4.71607905963e-05,1793251650964267520
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894.89574463,789.10425537,824,656,633,657.89574463,0.419324267866,-0.00556275437456,0.079992652153,0.999999995581,-7.64394709702e-05,2.57149088163e-05,-4.83075607024e-05,1793251650980934144
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,695.483110275,670.516889725,643,895,789,824.483110275,656,633.483110275,658,0.420184034105,-0.00556832588058,0.079987494806,0.999999995606,-7.90305731165e-05,1.6146806843e-05,-4.77542127249e-05,1793251650997601024
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,695.928017104,670,643,895.071982896,789,825,656,633.928017104,657.928017104,0.421039843726,-0.00557294168636,0.0799747488048,0.999999995652,-7.99855002133e-05,-8.2169256792e-06,-4.72292848306e-05,1793251651014267648
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,695.348723676,670,643,895.651276324,789,825,656,633.348723676,657.348723676,0.421963987719,-0.00557625008719,0.0799728153467,0.999999994751,-8.90296429756e-05,-1.06999752693e-05,-4.95614228517e-05,1793251651030934016
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,695.22863234,670,643,896,789,825,656,633,657.22863234,0.422905180087,-0.0055691229229,0.0799816354691,0.999999995246,-8.36763943757e-05,5.79927940612e-07,-5.00647862097e-05,1793251651047600896
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,695.803058218,670,643,896,789,825,656,633,657.803058218,0.423872157299,-0.00554621255458,0.080006719776,0.999999996725,-5.65479034451e-05,3.26755217832e-05,-4.78022311786e-05,1793251651064267520
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,896.386281133,789.386281133,825.386281133,656,633.386281133,658,0.424762475655,-0.00552140546454,0.0799838907942,0.999999998361,-2.38003600395e-05,-2.06344403922e-05,-4.78106725987e-05,1793251651080934144
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,896.974093621,789.974093621,825.974093621,656,633.974093621,658,0.425612799343,-0.00549560881448,0.0799360643953,0.999999991707,1.18787650839e-05,-0.000118502359539,-4.90039425041e-05,1793251651097600768
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,696,670.556887994,643,897,789.443112006,826,656,633.443112006,658,0.42658455586,-0.00551062313974,0.0799171444722,0.999999991761,-1.00828414901e-05,-0.000116903092806,-5.20614463336e-05,1793251651114267392
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.86244467,747,725,696,670.86244467,643,897,789,826,656,633,658,0.427555102041,-0.00552428567636,0.0799044508772,0.999999991487,-3.09645488116e-05,-0.000114480205862,-5.44200905285e-05,1793251651130934016
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.287800966,747,725,696,670.287800966,643,897,789,826,656,633,658,0.428504012479,-0.00552767407288,0.0799073069556,0.999999990038,-3.99705135349e-05,-0.000124012075708,-5.42849675771e-05,1793251651147600896
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,724.712939267,696.287060733,670,643,897.287060733,788.712939267,826.287060733,656,633.287060733,657.712939267,0.42949173766,-0.00553114708147,0.0799285765401,0.999999992561,-4.40624623161e-05,-0.000100587923139,-5.30906105629e-05,1793251651164267264
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,724.137858878,696.862141122,670,643,897.862141122,788.137858878,826.862141122,656,633.862141122,657.137858878,0.430518407185,-0.00553470498457,0.0799683211405,0.999999996802,-4.32239792911e-05,-4.40976580583e-05,-5.08334810116e-05,1793251651180933888
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,724.449906064,696.550093936,670,643,898,788.449906064,827,656,633.550093936,657.449906064,0.431514888341,-0.00554052983372,0.0800082562641,0.999999997265,-5.2484821034e-05,1.59073694715e-05,-4.96170397617e-05,1793251651197600512
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.040586373,747,725,696.040586373,670.040586373,643,898.040586373,789,827,656,633.040586373,658,0.432493372386,-0.00554571547725,0.0800406235581,0.99999999467,-6.3336988265e-05,6.51029481029e-05,-4.90840008943e-05,1793251651214267136
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.616954098,747,725,696.616954098,670.616954098,643,898.616954098,789,827,656,633.616954098,658,0.433359930387,-0.00553302708502,0.0799722947475,0.999999996244,-5.31591417964e-05,-4.30269788907e-05,-5.32408413766e-05,1793251651230934016
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.806677409,747,725,697,671.193322591,643,899,789,827,656,634,658,0.434255925332,-0.00552412363341,0.0799200288401,0.999999990052,-4.59805263515e-05,-0.000120626544239,-5.68488545958e-05,1793251651247600640
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.230307292,747,725,697,671.769692708,643,899,789,827,656,634,658,0.435210246515,-0.00552271962453,0.0798995898025,0.999999987751,-4.47445576557e-05,-0.000137733564419,-5.93694285202e-05,1793251651264267520
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,725,697,671.655648169,643,898.655648169,789,827,656,634,658,0.436179476396,-0.00552770377359,0.0799179692241,0.999999990836,-4.82914265542e-05,-0.000112469665955,-5.78457805758e-05,1793251651280934144
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747,725,697,671.082127759,643,898.082127759,789,827,656,634,658,0.437158628064,-0.00553693928702,0.0799621826059,0.999999995307,-5.5021307675e-05,-5.90076201152e-05,-5.36306740896e-05,1793251651297600768
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747,725,696.490661892,671,643,898.509338108,789,827.509338108,656,634,658,0.438125411599,-0.00554457006401,0.0800037508053,0.999999996038,-7.06461952712e-05,9.91975027595e-06,-5.3242963669e-05,1793251651314267392
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,899,789,828,656,634,658,0.439075710259,-0.00555082988005,0.0800357941704,0.999999992771,-8.53249364783e-05,6.55297401702e-05,-5.36935295807e-05,1793251651330934016
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,899,789,828,656,634,658,0.439957858406,-0.00555187713389,0.0800249048384,0.99999999351,-8.85042454062e-05,4.59727680795e-05,-5.50828171222e-05,1793251651347600896
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,725,696,671.252061869,643,899.252061869,789,828,656,633.747938131,658,0.440782510911,-0.00555024611082,0.0799723705835,0.999999993957,-8.56535329613e-05,-3.73449884732e-05,-5.79196732927e-05,1793251651364267776
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671.827259972,643,899.827259972,789,828,656,633.172740028,658,0.44153345555,-0.0055451816119,0.0798664487089,0.999999974739,-7.50725006168e-05,-0.00020240227759,-6.26122705677e-05,1793251651380934400
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.412984953,724.587015047,696,671.587015047,643,899.587015047,788.587015047,828,656,633.412984953,658,0.442366801875,-0.00554356389643,0.0798336759245,0.999999965912,-7.47994510298e-05,-0.00024156429832,-6.5026160052e-05,1793251651397600768
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,724.003043981,696,671,643,899,788,828,656,633.996956019,658,0.443235663553,-0.00554343027965,0.0798327508211,0.999999969116,-7.88695258177e-05,-0.000226131831028,-6.64251683308e-05,1793251651414267392
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,724.559595571,696,671,643,899,788,828,656,633.440404429,658,0.444131336509,-0.00554415061093,0.0799138665957,0.999999989855,-6.8176030318e-05,-0.000109112893473,-6.1126766884e-05,1793251651430934016
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.874999052,725,696,671.125000948,643.125000948,899.125000948,788,828,656,633.125000948,658,0.445011077206,-0.00554595332128,0.0799854522071,0.999999996203,-6.57950236494e-05,-6.2078940534e-06,-5.67965356579e-05,1793251651447600896
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.276021894,725,696,671.723978106,643.723978106,899.723978106,788,828,656,633.723978106,658,0.445830406526,-0.00555186017618,0.080020901551,0.999999992986,-9.49331536067e-05,4.31801725477e-05,-5.6137395042e-05,1793251651464267520
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.310074195,725,696,671.689925805,644,900,788.310074195,828,656,633.689925805,658,0.446620384501,-0.00555685702337,0.0800350049205,0.999999990674,-0.000103143177104,6.96790527253e-05,-5.61929250454e-05,1793251651480934144
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.885161118,725,696,671.114838882,644,900,788.885161118,828,656,633.114838882,658,0.447385276558,-0.00556107610917,0.0800308644127,0.999999991081,-9.34664652313e-05,7.66151097904e-05,-5.68592664597e-05,1793251651497601024
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,748,725,696,671.473462223,643.526537777,900,789,828,656,633.473462223,658,0.448071146467,-0.00556035776231,0.0799929065546,0.999999993564,-9.35084495826e-05,2.40552861523e-05,-5.95814681707e-05,1793251651514267648
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,900,788.936796495,828.063203505,656,634,658,0.448730364182,-0.0055587772531,0.0799459266847,0.999999992423,-9.59289679966e-05,-4.49427758602e-05,-6.26983798127e-05,1793251651530934272
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,900,788.362083677,828.637916323,656,634,658,0.449333456889,-0.00556018957217,0.079894219913,0.999999985054,-9.79737418074e-05,-0.000126833979305,-6.48582212589e-05,1793251651547600640
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.788948665,725,696,671.788948665,643,900,788,829,656,633.788948665,658,0.44995522285,-0.0055627006773,0.0798692953789,0.999999978927,-0.000102347000321,-0.000165304032061,-6.59271918906e-05,1793251651564267520
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.218500543,725,696,671.218500543,643,900,788,829,656,633.218500543,658,0.450608787211,-0.0055670828919,0.0798899780015,0.999999983325,-0.000110685408142,-0.000129832720486,-6.51385320131e-05,1793251651580934144
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.356190259,747,725,696,671,643,900,787.643809741,828.643809741,656,633.356190259,658,0.451251210629,-0.00557154283304,0.0799235749021,0.999999987744,-0.000117142474313,-8.22981116764e-05,-6.33734594769e-05,1793251651597600768
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.93351511,747,725,696,671,643,900,787.06648489,828.06648489,656,633.93351511,658,0.451886717447,-0.00557605102979,0.0799651894121,0.999999990273,-0.000122431542483,-2.7274208783e-05,-6.10021977479e-05,1793251651614267392
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.471496534,747.528503466,725,695.471496534,671.528503466,643,900,787.528503466,828.528503466,656.528503466,634,658,0.452417857971,-0.00557694626404,0.0799446339263,0.999999988089,-0.0001250406143,-6.59245533528e-05,-6.19671551246e-05,1793251651630934016
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,748,725,695,671.303394742,643,900.696605258,788,829,656.303394742,633.303394742,658,0.453384542785,-0.00557648619492,0.0798688154746,0.999999972645,-0.000129360630284,-0.000183299035751,-6.61576089779e-05,1793251651664267520
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,748,725,695,671,643,901,788,829,656,633,658,0.453833519933,-0.00557425817559,0.0798340441287,0.999999961463,-0.000131195793409,-0.000234572689109,-6.95557210676e-05,1793251651680934400
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,695,671,643,901,788,829,656,633,658,0.454269052195,-0.00557027816035,0.0798095087574,0.999999951502,-0.000132741571762,-0.000271872170773,-7.39007403348e-05,1793251651697601792
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768.816154127,747.816154127,725,695,670.816154127,642.816154127,900.816154127,787,828.816154127,657,633,658,0.45585045531,-0.00557063123856,0.0797876330612,0.999999941765,-0.000124397417027,-0.000310134751033,-6.93611597026e-05,1793251651764267776
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.241660393,747.241660393,725,695,670.241660393,642.241660393,900.241660393,787,828.241660393,657,633,658,0.456171564112,-0.0055757668603,0.0797823992466,0.999999937776,-0.000123997204626,-0.000322795725967,-6.98188227808e-05,1793251651780934656
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768,747.928503808,725,695,670,642,900,787,828.928503808,656.071496192,633,658,0.456725327528,-0.00558078931289,0.0797535728404,0.999999918186,-0.000126710274454,-0.000377611348103,-7.05783102244e-05,1793251651814267136
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,900,787,829,656,633,658.509581485,0.456982797479,-0.0055810600848,0.0797413049477,0.999999907658,-0.00014798096765,-0.00039699703292,-7.19643382271e-05,1793251651830934016
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,900.666023107,787,829,656,633.666023107,658.333976893,0.457470633973,-0.00558289555493,0.0797449612496,0.999999905828,-0.000172196081646,-0.00039163877676,-7.2885669857e-05,1793251651864267520
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,748,725,695.586988464,669.413011536,642,901,786.413011536,829,656.413011536,633,658,0.459019022346,-0.00558273039184,0.079719333697,0.999999892144,-0.000147366128614,-0.000435706175474,-6.4460774288e-05,1793251652264267776
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+256,4.266666667,HOLD_POSE2,768,748,724.511633645,695,669,642,901,786,829.511633645,656,633,658,0.459027018592,-0.00557984372655,0.079719685202,0.999999892232,-0.000149613863893,-0.000434856952408,-6.36528878807e-05,1793251652577223424
+257,4.283333333,HOLD_POSE2,768,748,724,695,669,641.93405902,901,786,829,656,633,658,0.459026853594,-0.00557992301919,0.079719796704,0.999999892046,-0.000149415536348,-0.000435396035359,-6.33554571393e-05,1793251652593890048
+258,4.300000000,HOLD_POSE2,768,748,724,695,669,641.358803894,901,786,829,656,633,658,0.459024903124,-0.00557978238132,0.0797180320887,0.99999989092,-0.000148967529225,-0.00043815686451,-6.31392633565e-05,1793251652610556672
+259,4.316666667,HOLD_POSE2,768,748,724.221453072,695,669,641,901,786.221453072,829,656,633,658,0.459024551555,-0.00557989567636,0.0797174449147,0.999999890635,-0.00014899424207,-0.000438814398059,-6.30255918409e-05,1793251652627223296
+260,4.333333333,HOLD_POSE2,768,748,724.810001361,695,669,641,901,786.810001361,829,656,633,658,0.459026850431,-0.00558042990736,0.0797188095452,0.999999891748,-0.00014980788209,-0.00043598536983,-6.30818680182e-05,1793251652643889920
+261,4.350000000,HOLD_POSE2,768.391743594,748,724.608256406,695,669,641,900.608256406,787,829,656,633,658,0.459028643076,-0.00558077006729,0.0797204224188,0.999999892841,-0.000149326801663,-0.00043366695164,-6.28661946245e-05,1793251652660556800
+262,4.366666667,HOLD_POSE2,768.970241259,748,724.029758741,695,669,641,900.029758741,787,829,656,633,658,0.459030194389,-0.00558101770869,0.0797221536362,0.999999893924,-0.000148228495348,-0.000431591953909,-6.25208760017e-05,1793251652677223680
+263,4.383333333,HOLD_POSE2,768.455520507,748,724.544479493,695,669,641,900,786.455520507,829,656,633,658,0.459029183812,-0.00558209737743,0.0797203578351,0.999999892779,-0.000149753957029,-0.000433711229951,-6.25334155721e-05,1793251652693890048
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+265,4.416666667,HOLD_POSE2,768,748,725,695,669,641,900.692368535,786,829,656,633,658,0.459028206148,-0.00558023330307,0.0797196186917,0.99999989196,-0.000149455396019,-0.00043562803803,-6.30142245953e-05,1793251652727222784
+266,4.433333333,HOLD_POSE2,768,748,724.724109811,695,669,641.275890189,901,786.275890189,829,656,633,658,0.459028001865,-0.00557897967459,0.0797197793888,0.999999892005,-0.000148351208944,-0.000435906407785,-6.29922898455e-05,1793251652743889664
+267,4.450000000,HOLD_POSE2,768,748,724.129475824,695,669,641.870524176,901,786.870524176,829,656,633,658,0.459027624232,-0.00557891763367,0.0797193234636,0.999999891918,-0.000147524684254,-0.000436454207786,-6.25088449364e-05,1793251652760556288
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,724,696,669,641,901,786,829,656,633,659,0.459028077311,-0.00557679475487,0.0797185073138,0.999999891909,-0.000145624633943,-0.000436942321206,-6.36884503056e-05,1793251652792975616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,724.573095025,696,669,641,901,786,829,656,633,659,0.459029269909,-0.00557743161958,0.079719310967,0.99999989228,-0.000146141857816,-0.000435983401963,-6.32473097148e-05,1793251652809642240
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.260652201,748,725,696,669,641.739347799,901,786,829,656,633,658.260652201,0.459029638622,-0.00558003896808,0.0797193923137,0.999999892421,-0.000148011977275,-0.000435141219638,-6.24635112125e-05,1793251652842976000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.323006105,748,725,695.676993895,669,641.676993895,901,786,829,656,633,658,0.459029293255,-0.00557955969435,0.0797192029372,0.999999892288,-0.000148204783765,-0.000435361773517,-6.2612014443e-05,1793251652859642368
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,641,901,786,829,656,633,658,0.459029400678,-0.00557771562007,0.0797197142393,0.999999892246,-0.000148083166417,-0.000435414493254,-6.31946593359e-05,1793251652892975872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,641,901,786,829,656.052951102,633,658,0.459029371585,-0.00557837924102,0.0797199554278,0.999999892278,-0.000148495750006,-0.000435214153701,-6.31032066987e-05,1793251652909642752
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,724.796379923,695,669,641,901,786,829,656.796379923,633,658,0.459012355731,-0.00557607395905,0.0797099077481,0.999999887171,-0.000145162989255,-0.000447910037207,-6.29457017454e-05,1793251652942975488
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.55630023,748,724.55630023,695.44369977,669,641,900.44369977,786,829,656,633.44369977,658,0.458437402501,-0.00556429951972,0.0796275869326,0.999999822101,-0.000134940685953,-0.000578365362708,-5.55261151207e-05,1793251653092975872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724.022730884,695.977269116,669,641,901,786,829,656,633.977269116,658,0.458330319379,-0.00556223152183,0.0796318588074,0.999999826268,-0.000131445722354,-0.00057220961459,-5.25476969691e-05,1793251653109642496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724.596989326,695.403010674,669,641,901,786,829,656,633.403010674,658,0.458184892023,-0.00556138121463,0.079632749928,0.999999825776,-0.000130716921851,-0.000573594154332,-4.84812800658e-05,1793251653126309376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,669.175284927,641,900.824715073,786,828.824715073,656,633,658,0.458032884619,-0.0055594157096,0.0796328335167,0.999999825196,-0.000128818373679,-0.000575338837675,-4.47079111461e-05,1793251653142976256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,669.763081404,641,900.236918596,786,828.236918596,656,633,658,0.4578653919,-0.00555482572353,0.079631016678,0.999999824423,-0.000124166968108,-0.000577931074573,-4.16241952468e-05,1793251653159642880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.654324364,725,695,670,641.345675636,900.345675636,786.345675636,828.345675636,656,633,658,0.457673309493,-0.00555137827521,0.0796289471222,0.999999822511,-0.000117180436564,-0.000583005760939,-3.67524754231e-05,1793251653176309504
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,748,724,695.079972035,670,641.079972035,900.079972035,786,829,656,633.079972035,658,0.456989637013,-0.00554026815766,0.0796302076576,0.999999822762,-9.09859863457e-05,-0.000588053250154,-1.97470196955e-05,1793251653226309120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,748,724,695.652612344,670,641.652612344,900.652612344,786,829,656,633.652612344,658,0.456720483945,-0.00553345758734,0.0796349810551,0.999999829648,-7.49274941882e-05,-0.000578737699087,-1.23889256648e-05,1793251653242976000
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,748,724.232536224,695.767463776,670,642,900.767463776,786,829,656,633.767463776,658,0.45643219855,-0.00552650417601,0.0796338949084,0.999999831211,-5.78740386493e-05,-0.000578097111195,-5.73191010894e-06,1793251653259642880
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.407861733,748,725,695,670,642,900,786.407861733,829,656,633,658,0.455777165614,-0.00551413838588,0.0796301528479,0.999999833181,-8.2122183785e-06,-0.000577506524632,7.59585067829e-06,1793251653292976128
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.108910347,725,695,671,642,900,787,829,656.108910347,633.108910347,658,0.453318352016,-0.00546083527469,0.0796877778018,0.999999889894,5.91436892072e-05,-0.000465483509557,6.28933513433e-06,1793251653392976896
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,747,724.673431271,692,671,643,889.673431271,789,820,656.673431271,632.673431271,657,0.403167741733,-0.00539453068325,0.0798294802362,0.999999926198,0.000239088134661,-0.00029682521454,4.83366425242e-05,1793251654526309120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,747,724.074095742,692,671,643,889.074095742,789,820,656.074095742,632.074095742,657,0.402893435812,-0.00539741661366,0.0798299579349,0.999999925201,0.000241560989575,-0.000297954356811,4.96894423047e-05,1793251654542976000
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,747,724.504700317,692,671,643,889,789,820.504700317,656,632.504700317,657,0.402663565009,-0.00539512521903,0.079832512069,0.999999925955,0.000243574170235,-0.000293749269061,4.97295859819e-05,1793251654559642368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,747,724.91800624,692,671.08199376,643,889,789,820.91800624,656,633,657,0.402445090182,-0.00539302631904,0.0798348537605,0.999999927097,0.000243878195437,-0.000289582343277,4.97165709392e-05,1793251654576309504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,747,724.332140581,692,671.667859419,643,889,789,820.332140581,656,633,657,0.402258125007,-0.00539659862953,0.0798340898532,0.999999929198,0.000234077536371,-0.000290274237632,5.05148395915e-05,1793251654592976384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,747,724.250985659,692,671.749014341,643,889,789.250985659,820.250985659,656,633.250985659,657,0.402084966978,-0.00539704603588,0.0798353625448,0.99999993102,0.000230113871835,-0.000286979046471,5.14851403734e-05,1793251654609643008
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,747,724.590393656,692,671,643,889.409606344,789.590393656,820.590393656,656.409606344,633.590393656,657,0.401787452599,-0.00539378328964,0.079841191303,0.999999933294,0.000234431166776,-0.000274838735392,5.40093139294e-05,1793251654642975744
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,747,724.563236034,692,671,643,889.436763966,789,820.563236034,657,633,657,0.401535646543,-0.0053966457199,0.0798373756097,0.999999926533,0.000252847150196,-0.000283479794392,5.13895249465e-05,1793251654676308736
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,670.859107011,643,889,789,821,657,633,657,0.401427789715,-0.00539728359084,0.0798325480231,0.999999920734,0.000265719343766,-0.000292750187274,4.71496651584e-05,1793251654692975360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,747,725,692,670.271941466,643,889,789,821,657,633,657,0.401339855269,-0.00539742660101,0.0798281991284,0.999999921409,0.000257821356876,-0.000298167962935,4.25070939792e-05,1793251654709642240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.312589326,747,724.687410674,692,670.625178651,642.687410674,889,789,821,657,633,657,0.401262595593,-0.00539765410764,0.0798239440613,0.999999921443,0.000251514799816,-0.000303645831407,4.0667736366e-05,1793251654726309120
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,746.62137224,724,691.62137224,671,642.37862776,889,789,820.37862776,657,633,657,0.40106680399,-0.00539737569781,0.0798207071158,0.999999920671,0.000250125734184,-0.00030682238934,4.42070541173e-05,1793251654792975616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,747,724.200990014,692,671,642.200990014,889,789,820.200990014,656.799009986,633,657,0.401038393426,-0.00539791812073,0.0798206338978,0.999999920939,0.000248773425323,-0.000306991255403,4.46146338222e-05,1793251654809642240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,747,724.788601228,692,671,642.788601228,889,789,820.788601228,656.211398772,633,657,0.401016463558,-0.00539700795835,0.0798202096031,0.999999920725,0.000247844230038,-0.000308480488582,4.43146203164e-05,1793251654826308864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,747,724.627819798,692,671,643,889,789,821,656.372180202,633,657,0.401000720985,-0.00539691213456,0.0798199773273,0.999999920718,0.000247720235596,-0.000308613071835,4.42350343758e-05,1793251654842975744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,747,724.046506612,692,671,643,889,789,821,656.953493388,633,657,0.400988455135,-0.00539727389843,0.0798198529495,0.999999920829,0.000248048694202,-0.00030798333548,4.42793096127e-05,1793251654859642624
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,747,724.529236424,692,671,643,889,789,821,657,633,657,0.400981164852,-0.00539530092483,0.0798207632238,0.999999920446,0.000251369551558,-0.000306562246983,4.40543274055e-05,1793251654876309504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,746.895611481,724.895611481,692,671,643,889,789,821,656.895611481,633.104388519,657,0.400975366453,-0.00539389812111,0.0798220788531,0.999999920513,0.00025341060869,-0.000304682926177,4.38772241784e-05,1793251654892975872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,746.320939627,724.320939627,692,671,643,889,789,821,656.320939627,633.679060373,657,0.400974339934,-0.00539597867136,0.0798248153175,0.999999922836,0.00024851368984,-0.000301049235444,4.40213072609e-05,1793251654909642496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,746,724,692,670.738416076,643,889,789.261583924,821,656.261583924,633.738416076,657,0.400973153815,-0.00539759337709,0.0798263494994,0.999999924288,0.00024534051719,-0.000298802999088,4.41537436031e-05,1793251654926309120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,746,724,692,670.145961027,643,889,789.854038973,821,656.854038973,633.145961027,657,0.400971765822,-0.00539861884772,0.0798263629439,0.999999924672,0.000244347668411,-0.000298311719458,4.42714482886e-05,1793251654942975744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,746.431701671,724,692,670.863403342,643,889,790,821,656.568298329,633,657,0.400971619589,-0.00539916313008,0.0798266274949,0.999999924885,0.000244643923409,-0.000297393136088,4.40026047203e-05,1793251654959642368
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,747,724,692,671.99542104,643,889.00457896,789.99542104,821,656.00457896,633,657,0.400971876765,-0.00539952774302,0.0798269822831,0.999999925038,0.000245383251634,-0.000296325986155,4.36130503051e-05,1793251654976308992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,671.416229557,643,889.583770443,789.416229557,821,656.583770443,633,657,0.40097181656,-0.00539708556852,0.0798283597216,0.999999924814,0.000248840573885,-0.000294144613298,4.39329644076e-05,1793251654992975616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.16583092,747,724.16583092,691.83416908,671,643,890,789,820.83416908,656.83416908,633,657,0.400971880905,-0.00539565775812,0.0798293214047,0.999999924646,0.000251232829863,-0.000292653830075,4.40917642579e-05,1793251655009642240
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769.755219207,747,724.755219207,691.244780793,671,643,890,789,820.244780793,656.244780793,633,657,0.400972263375,-0.00539682078795,0.0798292211853,0.999999924659,0.000250904744543,-0.000292926917851,4.38390538087e-05,1793251655026309120
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,747,724.661641756,691.338358244,671,643,889.661641756,789,820,656,633,657,0.40097166226,-0.00539759433138,0.0798292522518,0.999999924738,0.000250138878117,-0.000293328575804,4.37421302079e-05,1793251655042976000
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,724.082941698,691.917058302,671,643,889.082941698,789,820,656,633,657,0.400970362487,-0.00539809121572,0.079829376573,0.999999924861,0.000249062048082,-0.000293821559403,4.37558647576e-05,1793251655059642624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,671,643,889,789,820,656,633,657,0.400971641299,-0.00539804597037,0.0798298532476,0.999999925481,0.000247833190034,-0.000292758863409,4.36917696638e-05,1793251655076309248
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.930026318,747,724,692,671,643,889,789,820,656,633,657,0.400973040948,-0.00539786643346,0.0798302877744,0.999999926039,0.000246999388272,-0.000291564600664,4.36184353619e-05,1793251655092975616
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.355379708,747,724,692,671,643,889,789,820,656,633,657,0.400972200682,-0.00539737249831,0.0798299931531,0.999999925573,0.000249198304712,-0.000291298583554,4.35723773857e-05,1793251655109642240
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,643,889,789,820,656,633,657,0.400971434241,-0.00539726852951,0.079829734116,0.999999925404,0.000249831248425,-0.000291336114545,4.35857598829e-05,1793251655126308864
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,643,889,789,820,656,633,657,0.400970787452,-0.00539779660386,0.0798295327521,0.999999925719,0.000247926121012,-0.000291865625181,4.36954813241e-05,1793251655142975488
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,746.603232781,724.396767219,691.603232781,671,643,888.603232781,789,820.396767219,656,633,657,0.400970944822,-0.00539804989159,0.0798300812102,0.999999925855,0.000247906336406,-0.00029137938703,4.39330780192e-05,1793251655159642112
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,746.026608292,724.973391708,691.026608292,671,643,888.026608292,789,820.973391708,656,633,657,0.400971466721,-0.00539817861664,0.0798309695677,0.99999992591,0.000248741190584,-0.000290432703039,4.42286414269e-05,1793251655176308992
+412,6.866666667,POSE2_TO_POSE3_RETREAT,769,746.550850077,724.449149923,691.550850077,671,643,888.550850077,789,820.449149923,656,633,657,0.400972314047,-0.00539829491891,0.0798312803169,0.999999926773,0.000247378890379,-0.00028867556586,4.38567141626e-05,1793251655192975872
+413,6.883333333,POSE2_TO_POSE3_RETREAT,769,747,724.130435259,692,671,643,889,789,820,656,633,657,0.400973038118,-0.00539838549559,0.0798316264714,0.999999927371,0.000246640778474,-0.000287269563613,4.36105988656e-05,1793251655209642752
+414,6.900000000,POSE2_TO_POSE3_RETREAT,769,747,724.717321912,692,671,643,889,789,820,656,633,657,0.400973275771,-0.00539838815003,0.0798321943097,0.999999926919,0.000248458945707,-0.000287229544563,4.39177580484e-05,1793251655226309120
+415,6.916666667,POSE2_TO_POSE3_RETREAT,769,746.699666391,724.699666391,691.699666391,671,642.699666391,889.300333609,789,820,656,633,656.699666391,0.400973164954,-0.00539833932729,0.0798326881518,0.999999926879,0.000248639685499,-0.000287221179195,4.38606347008e-05,1793251655242975744
+416,6.933333333,POSE2_TO_POSE3_RETREAT,769,746.120255433,724.120255433,691.120255433,671,642.120255433,889.879744567,789,820,656,633,656.120255433,0.400972730329,-0.00539824267068,0.0798331132349,0.999999927223,0.000247298887476,-0.000287242227207,4.34650110802e-05,1793251655259642112
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c610e8737fe4070e4715af483d4631386bb4fd4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
+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,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+1,0.016666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+2,0.033333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+3,0.050000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+4,0.066666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+5,0.083333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+6,0.100000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+7,0.116666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+8,0.133333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+9,0.150000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+10,0.166666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+11,0.183333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+12,0.200000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+13,0.216666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+14,0.233333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+15,0.250000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+16,0.266666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+17,0.283333333,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+18,0.300000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
+19,0.316666667,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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+367,6.116666667,pose2_to_pose3_retreat,0.588876661354,5.14490960415e-06,1.07002099206,0.559448006082,0.00867755785583,1.06963237016
+368,6.133333333,pose2_to_pose3_retreat,0.588571858685,5.11158023234e-06,1.07002107453,0.559143203907,0.0086775259088,1.06963244609
+369,6.150000000,pose2_to_pose3_retreat,0.588284012675,5.06557754744e-06,1.07002109487,0.558855357919,0.0086774799085,1.06963246484
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+371,6.183333333,pose2_to_pose3_retreat,0.587760131354,5.07114514574e-06,1.07002075648,0.558331474987,0.00867748035517,1.06963213421
+372,6.200000000,pose2_to_pose3_retreat,0.587527350885,5.07219886366e-06,1.07002096363,0.558098694985,0.00867748295526,1.06963234047
+373,6.216666667,pose2_to_pose3_retreat,0.587314209723,5.13073700759e-06,1.07002107214,0.557885553764,0.00867754141293,1.06963245167
+374,6.233333333,pose2_to_pose3_retreat,0.58712051134,5.15018163563e-06,1.07002105649,0.557691855273,0.00867756015585,1.06963242856
+375,6.250000000,pose2_to_pose3_retreat,0.586945660785,5.1436466971e-06,1.07002089546,0.557517004053,0.00867755136686,1.06963226764
+376,6.266666667,pose2_to_pose3_retreat,0.586790191329,5.11806037625e-06,1.07002083054,0.557361534979,0.00867752713963,1.06963220418
+377,6.283333333,pose2_to_pose3_retreat,0.586648953562,5.08595335646e-06,1.07002103747,0.557220299622,0.00867750283855,1.06963240287
+378,6.300000000,pose2_to_pose3_retreat,0.586520969049,5.14450725491e-06,1.07002101027,0.557092313742,0.00867755698689,1.06963238081
+379,6.316666667,pose2_to_pose3_retreat,0.586404824567,5.25145935754e-06,1.07002093357,0.556976165551,0.00867765123173,1.06963230147
+380,6.333333333,pose2_to_pose3_retreat,0.586299258534,5.13292830543e-06,1.07002095082,0.556870602333,0.00867754248179,1.06963232384
+381,6.350000000,pose2_to_pose3_retreat,0.586204625919,5.06979262403e-06,1.07002098396,0.556775970228,0.00867748124462,1.06963236098
+382,6.366666667,pose2_to_pose3_retreat,0.586120603214,5.10912767678e-06,1.0700210216,0.556691946304,0.0086775164778,1.06963239966
+383,6.383333333,pose2_to_pose3_retreat,0.586047783019,5.09456750845e-06,1.07002099279,0.556619128425,0.00867750998043,1.06963237527
+384,6.400000000,pose2_to_pose3_retreat,0.585985421979,5.12511627547e-06,1.07002061233,0.556556764081,0.0086775295767,1.06963200055
+385,6.416666667,pose2_to_pose3_retreat,0.585933252343,5.1413671773e-06,1.07002109969,0.556504597287,0.00867755469966,1.06963247065
+386,6.433333333,pose2_to_pose3_retreat,0.585890092339,5.15961385123e-06,1.07002111514,0.556461435755,0.0086775679407,1.06963249007
+387,6.450000000,pose2_to_pose3_retreat,0.585854982119,5.13004473044e-06,1.07002116015,0.556426325854,0.00867753910514,1.06963252728
+388,6.466666667,pose2_to_pose3_retreat,0.585827215698,5.23166342984e-06,1.07002096704,0.556398557087,0.00867763277229,1.0696323344
+389,6.483333333,pose2_to_pose3_retreat,0.585805026852,5.27066246254e-06,1.07002079322,0.556376367317,0.00867766908583,1.0696321706
+390,6.500000000,pose2_to_pose3_retreat,0.585788221622,5.15854040717e-06,1.07002086141,0.556359564801,0.00867756644914,1.06963224495
+391,6.516666667,pose2_to_pose3_retreat,0.585775391161,5.11929587864e-06,1.07002101978,0.556346735956,0.00867753209497,1.06963239011
+392,6.533333333,pose2_to_pose3_retreat,0.585765996371,5.11508246022e-06,1.07002098506,0.556337341183,0.00867752819686,1.06963236115
+393,6.550000000,pose2_to_pose3_retreat,0.585760013822,5.11097796566e-06,1.07002073428,0.556331358623,0.00867752398499,1.06963210887
+394,6.566666667,pose2_to_pose3_retreat,0.585756256046,5.15415342138e-06,1.07002083471,0.556327599447,0.0086775621306,1.06963220296
+395,6.583333333,pose2_to_pose3_retreat,0.585754057075,5.20671888441e-06,1.07002105989,0.556325398944,0.00867760923967,1.06963242222
+396,6.600000000,pose2_to_pose3_retreat,0.585752929573,5.24330729903e-06,1.07002116726,0.556324272278,0.00867764892814,1.06963253565
+397,6.616666667,pose2_to_pose3_retreat,0.585752517365,5.25668379284e-06,1.07002120651,0.556323860376,0.008677663438,1.06963257712
+398,6.633333333,pose2_to_pose3_retreat,0.5857522193,5.26635626118e-06,1.07002123489,0.556323562531,0.00867767393,1.06963260711
+399,6.650000000,pose2_to_pose3_retreat,0.585752068942,5.27123551478e-06,1.07002124921,0.556323412285,0.00867767922266,1.06963262224
+400,6.666666667,pose2_to_pose3_retreat,0.585752018325,5.26758948314e-06,1.07002124241,0.556323361731,0.00867767580698,1.06963261579
+401,6.683333333,pose2_to_pose3_retreat,0.585752014063,5.26722313919e-06,1.07002124171,0.556323357475,0.00867767546106,1.06963261511
+402,6.700000000,pose2_to_pose3_retreat,0.58575186281,5.25422258667e-06,1.07002121677,0.556323206421,0.00867766318515,1.06963259124
+403,6.716666667,pose2_to_pose3_retreat,0.585751845304,5.25271791591e-06,1.07002121388,0.556323188938,0.00867766176435,1.06963258847
+404,6.733333333,pose2_to_pose3_retreat,0.585751729433,5.24275858218e-06,1.07002119478,0.556323073221,0.00867765236014,1.06963257018
+405,6.750000000,pose2_to_pose3_retreat,0.585751723171,5.24222034307e-06,1.07002119374,0.556323066967,0.0086776518519,1.06963256919
+406,6.766666667,pose2_to_pose3_retreat,0.585751700396,5.2402627283e-06,1.07002118999,0.556323044221,0.0086776500034,1.0696325656
+407,6.783333333,pose2_to_pose3_retreat,0.585751657948,5.23661427023e-06,1.07002118299,0.55632300183,0.00867764655831,1.0696325589
+408,6.800000000,pose2_to_pose3_retreat,0.585751588381,5.2306347963e-06,1.07002117152,0.556322932354,0.00867764091213,1.06963254791
+409,6.816666667,pose2_to_pose3_retreat,0.585751431139,5.21711956277e-06,1.07002114559,0.55632277532,0.00867762815022,1.06963252309
+410,6.833333333,pose2_to_pose3_retreat,0.585751419816,5.21614628862e-06,1.07002114372,0.556322764012,0.0086776272312,1.0696325213
+411,6.850000000,pose2_to_pose3_retreat,0.585751259613,5.20237650053e-06,1.07002111731,0.55632260402,0.00867761422893,1.06963249601
+412,6.866666667,pose2_to_pose3_retreat,0.585751050357,5.17943204955e-06,1.07002115463,0.556322394956,0.00867759184595,1.06963253138
+413,6.883333333,pose2_to_pose3_retreat,0.585750884594,5.15811766115e-06,1.07002122967,0.55632222929,0.00867757069713,1.0696326027
+414,6.900000000,pose2_to_pose3_retreat,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865768,1.06963260958
+415,6.916666667,pose2_to_pose3_retreat,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c82c761059242d43aebd06391aba69da766e0cb2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43790587ea54fac744b8a162b537770e9707dcfa2e2d7d82969ec8cdc8dcb321
+size 26518760
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af98b209d524da178e9292b6b472abe0e37be123
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+28,0.466666667,BASELINE,769,746.2572351,724,691.2572351,670,642.7427649,889.2572351,789.7427649,820,657,633,657,0.400973282686,-0.0053991303118,0.0798341597601,0.999999928919,0.000244971913312,-0.000283423952344,4.26920483757e-05,1793251655873648384
+29,0.483333333,BASELINE,769,746.83644571,724,691.83644571,670,642.16355429,889.83644571,789.16355429,820,657,633,657,0.400972691823,-0.00539966018593,0.0798339125613,0.999999928807,0.000245250145159,-0.000283519425762,4.30613999116e-05,1793251655890315008
+30,0.500000000,BASELINE,769.413169781,747,724,692,670,642.413169781,889.586830219,789.413169781,820,656.586830219,633,657,0.400972636437,-0.00539950288162,0.0798334219898,0.999999928644,0.000245574218252,-0.000283823549508,4.30040494538e-05,1793251655906981632
+31,0.516666667,BASELINE,769.988915423,747,724,692,670,642.988915423,889.011084577,789.988915423,820,656.011084577,633,657,0.400972791754,-0.00539907518331,0.0798328356549,0.99999992846,0.000245916329151,-0.000284209773898,4.27787984109e-05,1793251655923648512
+32,0.533333333,BASELINE,769.436326295,747,724,692.563673705,670.563673705,643,889,789.436326295,820.563673705,656.563673705,633,657,0.400971923076,-0.005398464189,0.0798324097274,0.999999927473,0.000248607090541,-0.000285340822728,4.2778972005e-05,1793251655940314624
+33,0.550000000,BASELINE,769.142371428,747,724,692.715257143,670.857628572,643,889,789,820.857628572,656.857628572,633,657,0.400971500724,-0.00539791652463,0.079832290739,0.999999926938,0.00025012978755,-0.00028588663226,4.2751625344e-05,1793251655956981248
+34,0.566666667,BASELINE,769.733548676,747,724,691.532902649,670.266451324,643,889,789,820.266451324,656.266451324,633,657,0.400972548718,-0.00539757984187,0.0798331294063,0.999999927901,0.000247824985989,-0.000284541465846,4.26235751552e-05,1793251655973647872
+35,0.583333333,BASELINE,769.682127227,747,724.317872773,691.317872773,670.317872773,643,889,789.317872773,820.317872773,656.317872773,633,657,0.400972545232,-0.00539825103684,0.0798332773009,0.999999928102,0.000247105308081,-0.000284431942304,4.28174982098e-05,1793251655990314496
+36,0.600000000,BASELINE,769.103426365,747,724.896573635,691.896573635,670.896573635,643,889,789.896573635,820.896573635,656.896573635,633,657,0.400971678961,-0.00539974923819,0.0798328583873,0.999999927681,0.000247686291095,-0.000285336315988,4.32756139494e-05,1793251656006981376
+37,0.616666667,BASELINE,769.471813614,747,725,692,671,643,889,789.528186386,820.528186386,657,633,657,0.40097150758,-0.00539999431017,0.0798332800364,0.999999927839,0.000247304340284,-0.000285130499094,4.31758217231e-05,1793251656023648000
+38,0.633333333,BASELINE,770,747,725,692,671,643,889,789,820,656.95258725,633,657,0.400971555054,-0.00539984901047,0.0798338186395,0.999999928085,0.000246845197264,-0.00028469808477,4.29535113121e-05,1793251656040314880
+39,0.650000000,BASELINE,770,747,725,692,671,643,889,789,820,656.364298846,633,657,0.400972374117,-0.00539836131671,0.079833604737,0.999999927909,0.000247895941761,-0.000284436736358,4.27185423619e-05,1793251656056981760
+40,0.666666667,BASELINE,770,747,724.779398816,692,671,643,889,789,820,656.220601184,633,657,0.400972686076,-0.00539777288274,0.0798333653742,0.999999927848,0.00024823717481,-0.000284349128352,4.27586979213e-05,1793251656073648384
+41,0.683333333,BASELINE,770,747,724.200009706,692,671,643,889,789,820,656.799990294,633,657,0.400972173272,-0.0053986470138,0.0798330846025,0.999999927973,0.000247424451434,-0.000284544093459,4.32463186907e-05,1793251656090314752
+42,0.700000000,BASELINE,770,746.622906345,724.377093655,692,671,643,889,789,820,656.622906345,633,657,0.400972292531,-0.00539888127675,0.0798335258885,0.999999927824,0.000248566655421,-0.000284052040247,4.33740912843e-05,1793251656106981376
+43,0.716666667,BASELINE,770,746.047008054,724.952991946,692,671,643,889,789,820,656.047008054,633,657,0.400972745013,-0.00539877819974,0.0798343478448,0.999999927526,0.000250739501599,-0.000283197789403,4.33121510826e-05,1793251656123648256
+44,0.733333333,BASELINE,770,746.526773174,724.473226826,692,671,643,889,789,820,656,633,657,0.400972513725,-0.00539716609708,0.0798338762882,0.999999927334,0.000251055111096,-0.000283674837846,4.27929922813e-05,1793251656140314880
+45,0.750000000,BASELINE,769.896526075,747,724,691.896526075,671,642.896526075,889,789,820,656,633,657,0.400972331252,-0.00539605501201,0.0798335043609,0.999999927369,0.000250565483605,-0.000284046399283,4.23788699314e-05,1793251656156981248
+46,0.766666667,BASELINE,769.305172758,747,724,691.305172758,671,642.305172758,889,789,820,656,633,657,0.400972665492,-0.00539793861443,0.0798341442602,0.999999928425,0.000247057480183,-0.000283362679688,4.26516018037e-05,1793251656173648128
+47,0.783333333,BASELINE,769,747,724,691.279985086,671,642.279985086,889,789,820,656.279985086,633,657,0.400972420014,-0.00539906132629,0.0798338161959,0.999999928621,0.000245762032882,-0.000283775871681,4.27932423017e-05,1793251656190315008
+48,0.800000000,BASELINE,769,747,724,691.858536369,671,642.858536369,889,789,820,656.858536369,633,657,0.400971556345,-0.00539937265161,0.0798324559294,0.999999927908,0.000246825976776,-0.000285358771331,4.27950916271e-05,1793251656206981632
+49,0.816666667,BASELINE,769,747,724.434246319,692,671,643,889,789,820,657,633,657,0.400972537217,-0.00539995294274,0.0798334290336,0.999999928461,0.000246207593022,-0.000283959621205,4.27498463826e-05,1793251656223648000
+50,0.833333333,BASELINE,769.009011545,747,724.990988455,692,671,643,889,789,820,656.990988455,633,657,0.400974061983,-0.005400573368,0.0798351061598,0.999999929382,0.000245102918623,-0.000281669289915,4.26885821003e-05,1793251656240314880
+51,0.850000000,BASELINE,769.582206006,747,724.417793994,692,671,643,889,789,820,656.417793994,633,657,0.400972262895,-0.00539825649234,0.0798335794287,0.9999999281,0.000247641667726,-0.00028400938309,4.25786811433e-05,1793251656256981248
+52,0.866666667,BASELINE,769.838927153,747,724.161072847,692,671,643,889,789,820,656,633,657,0.400971361289,-0.00539677374194,0.079832583394,0.999999927383,0.000248890899759,-0.000285447540443,4.25098977695e-05,1793251656273647872
+53,0.883333333,BASELINE,769.244810159,747,724.755189841,692,671,643,889,789,820,656,633,657,0.400972872558,-0.00539753353639,0.0798330141359,0.999999928212,0.000246673266628,-0.000284460844333,4.25516589748e-05,1793251656290314496
+54,0.900000000,BASELINE,769,747,725,692,671,643,889,789,820.339981886,656.339981886,633,657,0.400972876279,-0.00539903426033,0.0798328959374,0.999999928609,0.000244786649783,-0.000284681314419,4.26290649411e-05,1793251656306981376
+55,0.916666667,BASELINE,769,747,725,692,671,643,889,789,820.918238556,656.918238556,633,657,0.400971823439,-0.00540105426135,0.0798323930166,0.999999928705,0.000243132024315,-0.000285747821579,4.2731452377e-05,1793251656323648512
+56,0.933333333,BASELINE,769,747,725,692,671,643,889,789.49256047,820.50743953,656.50743953,633,657,0.400971361004,-0.0054011002988,0.0798328293267,0.99999992821,0.000245067690939,-0.000285780237041,4.3030809404e-05,1793251656340315136
+57,0.950000000,BASELINE,769,747,724.931923797,692,670.931923797,642.931923797,889,789.931923797,820.068076203,656,633,657,0.400971053515,-0.00540082661627,0.0798333366639,0.999999927668,0.000247408473649,-0.000285614364515,4.33371868164e-05,1793251656356981760
+58,0.966666667,BASELINE,769,747,724.34229798,692,670.34229798,642.34229798,889,789.34229798,820.65770202,656,633,657,0.400971188229,-0.0054005938973,0.0798332031924,0.999999927545,0.000248323316724,-0.000285234002306,4.34488453026e-05,1793251656373647872
+59,0.983333333,BASELINE,769,747,724,692,670,642.243150812,889.243150812,789,820.756849188,656.243150812,633.243150812,657,0.400971858557,-0.00540026774682,0.0798337602506,0.999999927849,0.00024843299061,-0.000284085676064,4.333476866e-05,1793251656390314496
+60,1.000000000,BASELINE,769,747,724,692,670,642.822818748,889.822818748,789,820.177181252,656.822818748,633.822818748,657,0.400973270166,-0.00539981228848,0.0798352729914,0.999999928742,0.000247428322384,-0.000281874498913,4.29082779561e-05,1793251656406981376
+61,1.016666667,BASELINE,769.399484117,746.600515883,724,692,670.399484117,643,889.600515883,789,820,656.600515883,633.600515883,657,0.400972032056,-0.00539885705096,0.0798343526497,0.999999928238,0.000247725786672,-0.000283448398939,4.25680461333e-05,1793251656423648000
+62,1.033333333,BASELINE,769.974827671,746.025172329,724,692,670.974827671,643,889.025172329,789,820,656.025172329,633.025172329,657,0.400969627497,-0.0053976818025,0.0798323612252,0.999999927112,0.000248596471033,-0.000286688551931,4.2265786905e-05,1793251656440314624
+63,1.050000000,BASELINE,769.452797719,746.547202281,724,692,670.452797719,643,889,789.547202281,820,656.547202281,633,657,0.400970869803,-0.0053994998971,0.0798332658779,0.999999927622,0.000248379163212,-0.000285019637926,4.27460388425e-05,1793251656456981248
+64,1.066666667,BASELINE,769,747,724.123844711,692,670.123844711,643,889,789.876155289,820,657,633,657,0.400972075733,-0.00540062666972,0.0798341222588,0.999999928072,0.000248271360257,-0.000283481866942,4.30824420919e-05,1793251656473648128
+65,1.083333333,BASELINE,769,747,724.717181266,692,670.717181266,643,889,789.282818734,820,657,633,657,0.400972511214,-0.00539861346243,0.0798342933159,0.999999928017,0.000248767400231,-0.000283292736791,4.27377918313e-05,1793251656490314752
+66,1.100000000,BASELINE,769.304088611,747,725,692,671,643,889,789,820.304088611,656.695911389,633,657.304088611,0.400972753606,-0.00539828852446,0.0798341616041,0.999999928154,0.000248228782843,-0.000283320458971,4.24751829033e-05,1793251656506981376
+67,1.116666667,BASELINE,769.885140219,747,725,692,671,643,889,789,820.885140219,656.114859781,633,657.885140219,0.400972820135,-0.00539950125722,0.0798337541312,0.999999928465,0.000246747802603,-0.000283545689615,4.22872969941e-05,1793251656523648000
+68,1.133333333,BASELINE,769.538989453,746.538989453,725,692,671,643,889,789.461010547,820.538989453,656,633,657.538989453,0.400973610053,-0.00539977632419,0.0798347946464,0.999999928924,0.000246175896637,-0.000282387685563,4.25088373115e-05,1793251656540314624
+69,1.150000000,BASELINE,769,746.035261882,725,692,671,643,889,789.964738118,820.035261882,656,633,657,0.400974467284,-0.00539982892596,0.0798360588742,0.999999929365,0.00024588249183,-0.00028103151144,4.28052910809e-05,1793251656556981248
+70,1.166666667,BASELINE,769,746.604328689,725,692,671,643,889,789.395671311,820.604328689,656,633,657,0.400973645443,-0.00540001104764,0.0798353090843,0.999999929013,0.000246414496145,-0.000281834508997,4.27087468436e-05,1793251656573647872
+71,1.183333333,BASELINE,769.181562992,747,725,692,671,642.818437008,889,789.181562992,820.818437008,656,633,657,0.400973115318,-0.0054003299414,0.0798348237413,0.999999928835,0.000246595757072,-0.000282310434295,4.26669093065e-05,1793251656590314752
+72,1.200000000,BASELINE,769.77743483,747,725,692,671,642.22256517,889,789.77743483,820.22256517,656,633,657,0.400973250864,-0.00540096093562,0.07983494184,0.999999929061,0.00024597665627,-0.000282040013101,4.27499070471e-05,1793251656606981888
+73,1.216666667,BASELINE,769.636998307,747,724.636998307,692,671,642.363001693,889,789.636998307,820.363001693,656.363001693,633,657,0.400973059559,-0.00540038340058,0.0798347685931,0.999999928687,0.000246943335965,-0.00028249278658,4.292978598e-05,1793251656623648768
+74,1.233333333,BASELINE,769.057575297,747,724.057575297,692,671,642.942424703,889,789.057575297,820.942424703,656.942424703,633,657,0.400972673387,-0.00539908534133,0.0798344216462,0.999999927953,0.000248855456749,-0.000283376728156,4.31674253966e-05,1793251656640315392
+75,1.250000000,BASELINE,769.518128849,747,724.518128849,692,671,643,889,789,821,656.481871151,633,657,0.400973090206,-0.00539901114487,0.0798349962417,0.999999928097,0.000249251238056,-0.000282539128558,4.30384245146e-05,1793251656656981760
+76,1.266666667,BASELINE,769.904712352,747,725,692,671,643,889,789,820.904712352,656.095287648,633.095287648,657,0.400973451207,-0.00539912477625,0.0798354665649,0.999999928321,0.000249213230002,-0.000281800615785,4.28961252244e-05,1793251656673647872
+77,1.283333333,BASELINE,769.317934197,747,725,692,671,643,889,789,820.317934197,656.682065803,633.682065803,657,0.400973067335,-0.00539951074534,0.0798348746265,0.999999928459,0.000247800664599,-0.000282552878836,4.28938797035e-05,1793251656690314752
+78,1.300000000,BASELINE,769.26622899,747,725,692,671,643,889.26622899,789.26622899,820.26622899,657,633.73377101,657,0.400972734259,-0.00539914832516,0.0798342381938,0.999999928343,0.000247564105403,-0.000283183823947,4.28116309384e-05,1793251656706981632
+79,1.316666667,BASELINE,769.847299681,747,725,692,671,643,889.847299681,789.847299681,820.847299681,657,633.152700319,657,0.400972461254,-0.00539790086178,0.0798335491423,0.999999927926,0.000248718288141,-0.000283671298729,4.26347705485e-05,1793251656723648256
+80,1.333333333,BASELINE,769.574966942,747,725,692,671,643,890,789.574966942,821,656.574966942,633,657.425033058,0.400973229835,-0.0053992349958,0.079834286078,0.99999992867,0.0002468769382,-0.000282657205819,4.26217456496e-05,1793251656740314880
+81,1.350000000,BASELINE,769,746.998395547,724.998395547,691.998395547,671,643,890,789,820.998395547,656,633,657.998395547,0.400974363931,-0.0054014782824,0.0798355239269,0.999999929812,0.000243983773651,-0.00028111756528,4.26666650221e-05,1793251656756981504
+82,1.366666667,BASELINE,769,746.411754126,724.411754126,691.411754126,671,643,890,789,820.411754126,656,633,657.411754126,0.400973392072,-0.00539967253074,0.0798340613747,0.999999928531,0.000246923686491,-0.000283119716808,4.25446415742e-05,1793251656773648640
+83,1.383333333,BASELINE,769.172726441,746.172726441,724,691.172726441,671,643,889.827273559,789,820,656,633,657,0.400973122483,-0.00539862550868,0.0798336929433,0.999999927857,0.00024896707742,-0.00028370586242,4.2562114137e-05,1793251656790315264
+84,1.400000000,BASELINE,769.752119614,746.752119614,724,691.752119614,671,643,889.247880386,789,820,656,633,657,0.400974506314,-0.00539936483747,0.0798359005069,0.999999928635,0.000248899699843,-0.000280958167404,4.29080157595e-05,1793251656806981632
+85,1.416666667,BASELINE,770,747,724.327699798,691.672300202,671.327699798,643,889,789.327699798,820,656.327699798,633,657,0.40097436567,-0.00539894995986,0.0798362876861,0.99999992864,0.000249150658535,-0.00028071549795,4.29168888115e-05,1793251656823648256
+86,1.433333333,BASELINE,770,747,724.90042888,691.09957112,671.90042888,643,889,789.90042888,820,656.90042888,633,657,0.400973085137,-0.00539767205338,0.0798353137185,0.99999992807,0.000249639645174,-0.000282345898537,4.26737572036e-05,1793251656840315136
+87,1.450000000,BASELINE,769.521241801,747,725,691.478758199,671.521241801,643,889.478758199,789.521241801,820,657,633,657,0.400972794744,-0.00539793712182,0.0798352093296,0.999999928164,0.000248853395538,-0.00028271026285,4.26564204e-05,1793251656856981760
+88,1.466666667,BASELINE,769,746.940793481,724.940793481,692,671,643,889.940793481,789.059206519,820.059206519,656.940793481,633,657,0.400972658651,-0.00539855161997,0.079835175672,0.999999928376,0.000247803849427,-0.000282879294456,4.26617489013e-05,1793251656873648128
+89,1.483333333,BASELINE,769,746.351931606,724.351931606,692,671,643,889.351931606,789.648068394,820.648068394,656.351931606,633,657,0.400972038899,-0.005399387322,0.0798341377276,0.999999928406,0.000246799601671,-0.000283684301622,4.24447643907e-05,1793251656890314752
+90,1.500000000,BASELINE,769.232882796,746.232882796,724,692,671,643,889.232882796,789.767117204,820.767117204,656,633,657,0.400972033263,-0.0053991366441,0.0798335944739,0.999999928257,0.000247188438999,-0.000283889886638,4.2309583501e-05,1793251656906981632
+91,1.516666667,BASELINE,769.811685109,746.811685109,724,692,671,643,889.811685109,789.188314891,820.188314891,656,633,657,0.400972939823,-0.00539727227881,0.079833786024,0.999999927841,0.000249646537551,-0.000283205101731,4.22959121173e-05,1793251656923648768
+92,1.533333333,BASELINE,769.611068819,747,724,691.611068819,671,643,889.611068819,789.388931181,820.388931181,656.388931181,633,657,0.400972327631,-0.00539923185514,0.0798334408454,0.999999928247,0.000247119046819,-0.000283950605052,4.25555248336e-05,1793251656940315648
+93,1.550000000,BASELINE,769.034573202,747,724,691.034573202,671,643,889.034573202,789.965426798,820.965426798,656.965426798,633,657,0.400970983011,-0.00540303555051,0.079832836826,0.999999929028,0.000242187225431,-0.000285385873537,4.29469304734e-05,1793251656956982784
+94,1.566666667,BASELINE,769.538318993,747,724.538318993,691.538318993,671,643,889,789.461681007,820.461681007,657,633,657,0.40097148314,-0.00540014507553,0.0798336188918,0.999999928228,0.000246730209017,-0.000284306261563,4.28781225892e-05,1793251656973648896
+95,1.583333333,BASELINE,769.8851334,747,725,692,671,643,889.1148666,789,820,657,633,657,0.400972071966,-0.00539758875601,0.0798342429052,0.999999927597,0.000250498545668,-0.000283243924808,4.27650789819e-05,1793251656990315264
+96,1.600000000,BASELINE,769.292422801,747,725,692,671,643,889.707577199,789,820,657,633,657,0.400972540181,-0.00539819912708,0.0798338415602,0.999999928187,0.000248529781651,-0.000282920892407,4.25901541141e-05,1793251657006982144
+97,1.616666667,BASELINE,769,747,724.706569155,692,671,643,889.706569155,789,820,656.706569155,633,657.293430845,0.400973414637,-0.00539840872221,0.0798342726538,0.999999928702,0.000247355413411,-0.000282137614746,4.25349674352e-05,1793251657023648768
+98,1.633333333,BASELINE,769,747,724.127392903,692,671,643,889.127392903,789,820,656.127392903,633,657.872607097,0.400974684694,-0.00539822803834,0.079835514383,0.999999929145,0.000246954634534,-0.000280906146428,4.25963828155e-05,1793251657040315392
+99,1.650000000,BASELINE,769,747,724.448769479,692,671,643,889.448769479,789,820,656,633,657.551230521,0.400974668137,-0.00539983362027,0.0798359016461,0.999999929601,0.000245438196395,-0.000280593611458,4.27133998413e-05,1793251657056982016
+100,1.666666667,BASELINE,769,746.975967114,725,692,671,643,889.951934228,789,820,656,633.024032886,657,0.400974297995,-0.00540180144996,0.0798360251409,0.999999930004,0.00024381168662,-0.000280557378782,4.28417074197e-05,1793251657073648384
+101,1.683333333,BASELINE,769,746.401828098,725,692,671,643,888.803656195,789,820,656,633.598171902,657,0.400974138706,-0.00540053176581,0.0798356261168,0.999999929153,0.000246866572928,-0.00028091447014,4.28695776678e-05,1793251657090315008
+102,1.700000000,BASELINE,769.177422371,746.177422371,725,692,671,643,888.177422371,789.177422371,820.177422371,656,633.822577629,657,0.400973563462,-0.00539901793168,0.0798351122999,0.999999928311,0.000249407327527,-0.000281683260758,4.27539454598e-05,1793251657106981888
+103,1.716666667,BASELINE,769.768592636,746.768592636,725,692,671,643,888.768592636,789.768592636,820.768592636,656,633.231407364,657,0.40097201821,-0.00539693474146,0.0798343307871,0.999999927506,0.000250749129675,-0.000283412131511,4.23036663905e-05,1793251657123648256
+104,1.733333333,BASELINE,770,747,724.649450372,691.649450372,671,643,889,789.649450372,821,656,633,657,0.400972781247,-0.00539707288172,0.0798343629389,0.999999927571,0.000250655459247,-0.00028326061255,4.2336545326e-05,1793251657140314880
+105,1.750000000,BASELINE,770,747,724.073419499,691.073419499,671,643,889,789.073419499,821,656,633,657,0.400975029027,-0.00539863983047,0.0798349184577,0.999999928196,0.000249638461366,-0.000281899585672,4.26802020894e-05,1793251657156981504
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,789,821,656,633,657,0.400971551475,-0.00539957030902,0.0798336445762,0.999999927747,0.00024886398285,-0.000284132927368,4.29157520271e-05,1793251657188070144
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.409357618,747,724.409357618,692,671,643,889,789,820.409357618,656.590642382,633,657,0.400973752924,-0.00539935470405,0.0798355843765,0.999999929292,0.000246638581803,-0.000280621615836,4.28494826073e-05,1793251657204736768
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,724.177859898,691.822140102,671,643,889,789,820,657,633.177859898,657,0.400974814231,-0.00539895377277,0.0798364825855,0.999999929854,0.000246356698491,-0.000278870170797,4.28092099236e-05,1793251657221403648
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724.757343864,691.242656136,671,643,889,789,820,657,633.757343864,657,0.400973300991,-0.00539813435754,0.0798350287859,0.99999992821,0.000250463457221,-0.000281092666079,4.28276402574e-05,1793251657238070016
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.332865773,747,725,691.332865773,670.667134227,643,889,789,820.332865773,656.667134227,633.667134227,657,0.400973062121,-0.00539900895939,0.079834537426,0.999999928198,0.000249645128521,-0.00028186490579,4.28283207853e-05,1793251657254736640
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.905533319,747,725,691.905533319,670.094466681,643,889,789,820.905533319,656.094466681,633.094466681,657,0.400973741328,-0.00540110395803,0.079834739423,0.999999929355,0.000245278688619,-0.000281592358293,4.28162140708e-05,1793251657271403264
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.519720024,747,725,692,670.480279976,643,889.480279976,789,820.519720024,656,633,657,0.400972101994,-0.00540061536435,0.0798339877684,0.99999992873,0.000245738649526,-0.00028341641594,4.27393097082e-05,1793251657288070144
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,724.942808733,692,671.057191267,643,889.942808733,789,820,656.057191267,633.057191267,657,0.400970475799,-0.005399857114,0.079833305071,0.999999927952,0.000246947485032,-0.00028511908596,4.26662729235e-05,1793251657304736768
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,724.349454646,692,671.650545354,643,889.349454646,789,820,656.650545354,633.650545354,657,0.400973266654,-0.00540135560739,0.0798350349799,0.999999929064,0.000246238573585,-0.000281800896615,4.27494979881e-05,1793251657321403392
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,724,692,671.763156164,643,889.236843836,789.236843836,820,656.763156164,633.763156164,657,0.400975057382,-0.00540155069273,0.0798360919312,0.999999929589,0.000245943040564,-0.000280181031964,4.2806600052e-05,1793251657338070016
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,724,692,671.186966875,643,889.813033125,789.813033125,820,656.186966875,633.186966875,657,0.400975415149,-0.0053998782791,0.0798361846811,0.999999929287,0.000246239788546,-0.000280994495714,4.28262735586e-05,1793251657354736896
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,724.387068749,692,671,643,890,790,820,656,633,657,0.40098956618,-0.00540014828165,0.079841265118,0.999999932067,0.000245484483133,-0.000271591578165,4.29193906662e-05,1793251657371403264
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,724.960069889,692,671,643,890,790,820,656,633,657,0.401010342946,-0.00540135134333,0.0798487414407,0.999999936154,0.000244223813207,-0.000257281118475,4.30477871453e-05,1793251657388069888
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889.457001624,790,820,656,633,657,0.401055721338,-0.0054003865536,0.0798648767192,0.999999942364,0.000248780184197,-0.0002269642047,4.32099747649e-05,1793251657404736768
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725,691.872542579,671,643,889,790,820.127457421,656.127457421,633,657,0.401108036555,-0.00539979515292,0.0798811847572,0.999999948181,0.000251818142924,-0.000195879008856,4.30964000044e-05,1793251657421403392
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,725,691.285244242,671,643,889,790,820.714755758,656.714755758,633,657,0.40117873,-0.00540113671635,0.0798957760406,0.999999954579,0.000247805948352,-0.000166347663341,4.19787979194e-05,1793251657438069760
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725,691.593273819,671,643,889,789.70336309,821,656.70336309,633.29663691,657,0.401255206556,-0.00540279643781,0.0799078463711,0.999999958552,0.000244141366948,-0.000147142291534,4.04972162233e-05,1793251657454736640
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,725,692.746804636,671,643,889,789.126597682,821,656.126597682,633.873402318,657,0.401337144378,-0.00540475661113,0.0799175360437,0.99999996078,0.000240805053745,-0.000137688235125,3.86719111669e-05,1793251657471403264
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,725,692.550361207,671,643,889,789.449638793,821,656,633.550361207,657,0.401431751275,-0.0054057354134,0.0799216913949,0.999999962116,0.000240042063333,-0.000129790574933,3.60985040292e-05,1793251657488069888
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,725,691.973558676,671,643,889,789.973558676,821,656,633,657,0.401531071755,-0.00540647471357,0.0799245103015,0.999999963192,0.000239962685821,-0.00012217061271,3.32892622305e-05,1793251657504736512
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,725,691.381464329,671,643,889,789.381464329,821,656,633,657,0.401655009835,-0.00540799447245,0.0799320342481,0.99999996481,0.000239026194764,-0.000111127869971,2.99355549869e-05,1793251657521403136
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.205901704,747,724.794098296,691.205901704,671,643,889,789.205901704,820.794098296,656,633,657,0.40179083802,-0.00540931586771,0.0799397378577,0.999999966836,0.000236578924077,-9.83642912293e-05,2.61317459759e-05,1793251657538069760
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.784704398,747,724.215295602,691.784704398,671,643,889,789.784704398,820.215295602,656,633,657,0.401948199919,-0.00541027801377,0.0799477668477,0.999999969595,0.00023139553615,-8.24841709931e-05,2.15127745989e-05,1793251657554736384
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.639318799,747,724,692,671,643,889,789.639318799,820,656.360681201,633,657,0.402120647319,-0.00541266359,0.0799533203367,0.999999971938,0.000224919411452,-7.2634271429e-05,1.61251922146e-05,1793251657571403264
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.065015642,747,724,692,671,643,889,789.065015642,820,656.934984358,633,657,0.40230202948,-0.00541589222646,0.0799574076526,0.999999974054,0.000217677632393,-6.63559108988e-05,1.02823813761e-05,1793251657588070144
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,724.52126371,692,671,643,889.52126371,789.52126371,820,656.47873629,633.52126371,657,0.40250156921,-0.00541808138155,0.0799585801344,0.999999976088,0.000209159210607,-6.37485287563e-05,3.56588299008e-06,1793251657604736512
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,890,789.892597194,820,656.107402806,633.892597194,657,0.402708399627,-0.00542021592249,0.0799579833348,0.999999977712,0.000201071201822,-6.43044768837e-05,-3.43382600109e-06,1793251657621403136
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,890,789.313784047,820,656.686215953,633.313784047,657,0.402937056151,-0.0054226931979,0.0799512540874,0.99999997787,0.000195587682831,-7.66879201415e-05,-1.11870527107e-05,1793251657638070784
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.264016698,747,725,692,671,643,889.735983302,789,820.264016698,657,633,657,0.403188411629,-0.00542491521377,0.0799467064036,0.999999978699,0.000187338295655,-8.44487001716e-05,-1.93555658488e-05,1793251657654737920
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.840618764,747,725,692,671,643,889.159381236,789,820.840618764,657,633,657,0.403466641759,-0.00542683501226,0.0799447416056,0.999999980391,0.000175814229867,-8.67364283361e-05,-2.80157612908e-05,1793251657671404288
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.583612746,747,725,692.416387254,670.583612746,642.583612746,889.416387254,789,820.583612746,657,633,657.416387254,0.403787045523,-0.00543015333839,0.0799474937296,0.999999990146,0.000107795412138,-8.33826809695e-05,-3.36952737017e-05,1793251657688070656
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+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,725,693,670,642.580593587,890,789.580593587,820.580593587,656.419406413,633,657.419406413,0.404487892833,-0.00543198711123,0.0799563867851,0.999999993575,8.50707957181e-05,-6.94585262999e-05,-2.80822891609e-05,1793251657721403392
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+146,2.433333333,POSE1_TO_POSE2_PRESS,769.773005967,747,725,694,671,642.773005967,890.226994033,790,820,656,633.226994033,657,0.4081675856,-0.00549420046253,0.0799179238749,0.999999990198,4.09210233297e-05,-0.00013009171363,-3.16977413788e-05,1793251657854737152
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.194113483,747,725,694,671,642.194113483,890.805886517,790,820,656,633.805886517,657,0.408726680138,-0.00550515329798,0.0799079115924,0.999999988287,1.71555663595e-05,-0.000148466739975,-3.30134297177e-05,1793251657871404544
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.618284212,725,694,671,642.381715788,891,790,820.381715788,656,633.618284212,657,0.409353687624,-0.00550787900831,0.0799228258882,0.999999991505,1.7488555417e-05,-0.000124872948153,-3.30251369763e-05,1793251657888071424
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.044000289,725,694,671,642.955999711,891,790,820.955999711,656,633.044000289,657,0.410014955844,-0.00550645429492,0.0799503151544,0.999999995818,2.99787389238e-05,-8.01067092995e-05,-3.23790112453e-05,1793251657904738304
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.543112125,725,694,671.543112125,642.456887875,891.543112125,790,820.456887875,656,633.543112125,657,0.410719784514,-0.0055141225965,0.0799861324874,0.999999999146,1.17319071757e-05,-2.23667347878e-05,-3.27094594136e-05,1793251657921404672
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.7413946,642.1293027,892,790,820.1293027,656,634,657.1293027,0.411418157759,-0.00552062068223,0.080008182964,0.999999999353,-3.51862341979e-06,1.21876253717e-05,-3.36688667529e-05,1793251657938071040
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,725,694,670.582838308,642.708580846,892,790,820.708580846,656,634,657.708580846,0.41208148759,-0.00552042074868,0.0799799197883,0.999999998622,5.33473167846e-07,-3.76905563085e-05,-3.65350722449e-05,1793251657954737664
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,725,694,670.287390006,643,891.712609994,790,821.287390006,656,633.712609994,658,0.412766624296,-0.00552196397565,0.0799482457336,0.999999995628,-4.82601804499e-06,-8.436220804e-05,-4.00436241703e-05,1793251657971404288
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725,694,670.865724451,643,891.134275549,790,821.865724451,656,633.134275549,658,0.413473837663,-0.00552527192248,0.0799131186107,0.999999990664,-1.97134988285e-05,-0.000127787677544,-4.42024674071e-05,1793251657988070656
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725,694.440530283,671,643,891.440530283,790,822,656,633,658,0.414245601899,-0.00553129254246,0.0799137209011,0.999999991466,-2.79701267399e-05,-0.00011930782237,-4.52820743314e-05,1793251658004737024
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747.014657872,725,695,671,643,892.014657872,790,822,656,633.014657872,658,0.415037314166,-0.00553799166136,0.079925219159,0.999999993844,-3.4078064954e-05,-9.53350008915e-05,-4.54094163909e-05,1793251658021403648
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747.604029,725,695,671,643,892.604029,790,822,656,633.604029,658,0.415845848371,-0.00553913238614,0.0799403256259,0.99999999526,-3.45542193422e-05,-7.92934134433e-05,-4.47071730869e-05,1793251658038070272
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747.809838823,725,695,671,643,893.190161177,790,822.380322354,656,634,658,0.416660341811,-0.00554156130521,0.079947396777,0.999999995598,-3.86221948964e-05,-7.28684742546e-05,-4.47465947767e-05,1793251658054737152
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747.230338168,725,695,671,643,893.769661832,790,823.539323664,656,634,658,0.417487036251,-0.0055466276968,0.0799380162745,0.999999993966,-5.00441308825e-05,-8.6132837859e-05,-4.63045150137e-05,1793251658071403776
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747.328876633,725,695,670.671123367,643,894.328876633,790,824,656,634,658,0.41836692294,-0.00555532378438,0.0799559501337,0.999999995517,-6.65660100991e-05,-4.80735106053e-05,-4.71583554916e-05,1793251658088070400
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747.874709086,725,695,670.125290914,643,894.874709086,790,824,656,634,658,0.41928189986,-0.005566414337,0.0799919029376,0.999999994848,-8.64522576387e-05,2.38434172192e-05,-4.75477230547e-05,1793251658104737024
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747.533219165,725,695,670.466780835,643,895,789.533219165,824.466780835,656,633.533219165,658,0.420166261492,-0.00556912996643,0.0799873900442,0.999999995145,-8.42817166937e-05,1.79436162551e-05,-4.77888110573e-05,1793251658121403904
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895.07106526,789.07106526,825,656,633.07106526,658,0.421047673933,-0.00556960437195,0.0799728573696,0.999999995794,-7.76715505407e-05,-7.67871396152e-06,-4.81615209594e-05,1793251658138070528
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895.66387214,789.66387214,825,656,633.66387214,658,0.421974398612,-0.00557194281579,0.0799732729363,0.999999994968,-8.67117442521e-05,-7.88971118073e-06,-4.98248947038e-05,1793251658154736896
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,695.247459341,671,643,895.752540659,789.752540659,825,656,633.752540659,657.752540659,0.422908139767,-0.00556072240218,0.0799845182778,0.999999995902,-7.53295400505e-05,6.03824323306e-06,-4.98510060211e-05,1793251658171403520
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,695.818973213,671,643,895.181026787,789.181026787,825,656,633.181026787,657.181026787,0.423851069312,-0.00553174630759,0.0800099454951,0.999999997428,-3.72036684176e-05,3.84815275826e-05,-4.77330791652e-05,1793251658188070400
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,895.791195299,789.39559765,825.39559765,656,633,657.39559765,0.424744313534,-0.00551419907061,0.0799857035361,0.999999998583,-1.48388972489e-05,-1.73380328663e-05,-4.8102486974e-05,1793251658204737024
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896.949182539,789.974591269,825.974591269,656,633,657.974591269,0.425614523972,-0.0055019501642,0.0799384353347,0.999999992262,2.19149087655e-07,-0.000114075558239,-4.9625003415e-05,1793251658221403648
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.434958819,747,725,696,671.565041181,643,897.565041181,789.434958819,826,656,633.565041181,658,0.426604444901,-0.00551299917089,0.0799200697419,0.99999999222,-1.65458716597e-05,-0.000111938512898,-5.25000369325e-05,1793251658238071296
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.153152805,747.153152805,725,696,671.69369439,643,897.846847195,789,826.153152805,656,634,658,0.42758794525,-0.00552260184539,0.0799080603438,0.999999991975,-3.10247107515e-05,-0.000110109983545,-5.44354692512e-05,1793251658254738432
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.733279549,747.733279549,725,696,670.533440903,643,897.266720451,789,826.733279549,656,634,658,0.428538227459,-0.00552519108969,0.0799100729644,0.999999990533,-3.50578261865e-05,-0.000121793581691,-5.35783234951e-05,1793251658271404544
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.688186595,724.688186595,696,670.311813405,643,897.311813405,789,827,656,634,658,0.429521491028,-0.0055294804784,0.0799325444914,0.99999999312,-4.10501209344e-05,-9.65847592509e-05,-5.23994297762e-05,1793251658288070912
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.111008373,724.111008373,696,670.888991627,643,897.888991627,789,827,656,634,658,0.430532822916,-0.00553521675316,0.0799724273094,0.999999996717,-4.87097499096e-05,-3.99791126499e-05,-5.09467164796e-05,1793251658304737024
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.539039817,747,724.460960183,696,671,643,898,789,827,656,634,658,0.43152417859,-0.00553951323923,0.0800099023868,0.999999997089,-5.49694497811e-05,1.77350439374e-05,-4.98498630968e-05,1793251658321403904
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,898.033001331,789,827,656,634,658,0.43250567947,-0.0055424956803,0.0800406648763,0.999999994816,-5.98793263094e-05,6.6097081546e-05,-4.91190035095e-05,1793251658338070528
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671,643,898.627379607,789,827,656,634,658,0.433400460303,-0.00552895745725,0.0799669943934,0.999999996252,-4.74984611694e-05,-4.91176718202e-05,-5.31724739203e-05,1793251658354737152
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725,696.215391312,671,643,898.784608688,789,827,656,634,657.784608688,0.434318553747,-0.00552141488885,0.0799147427236,0.999999989653,-4.12276196867e-05,-0.00012553694764,-5.68673576245e-05,1793251658371403520
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,725,696.792705344,671,643,898.207294656,789,827,656,634,657.207294656,0.435275819592,-0.00552394683622,0.0798984811432,0.999999987827,-4.52234696484e-05,-0.000136768076173,-5.99597085492e-05,1793251658388070400
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,725,696.630429508,671,643,898.369570492,789,827.369570492,656,633.630429508,657.369570492,0.436238085902,-0.00553128507061,0.0799200981848,0.999999991051,-5.26680588943e-05,-0.000108377631946,-5.81154942449e-05,1793251658404737536
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747,725,696.053815872,671,643,898.946184128,789,827.946184128,656,633.053815872,657.946184128,0.437203153548,-0.00554131591369,0.0799629358312,0.999999994974,-6.20447225666e-05,-5.77901359288e-05,-5.35056854882e-05,1793251658421404416
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747.532713726,724.467286274,696,671,643,899,789,827.467286274,656.532713726,633.532713726,658,0.438164906835,-0.0055471945661,0.0800027638627,0.999999995704,-7.47706830735e-05,9.18226480439e-06,-5.40104862831e-05,1793251658438070784
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747.881403931,724,696,671,643,899,789,827.118596069,656.881403931,633.881403931,658,0.439118599185,-0.00555143430012,0.0800316326416,0.999999993075,-8.54297267781e-05,5.94579414384e-05,-5.491679459e-05,1793251658454737152
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747.302002575,724,696,671,643,899,789,827.697997425,656.302002575,633.302002575,658,0.440042296345,-0.00555096675086,0.0800191229647,0.999999993975,-8.67181542419e-05,3.83050416402e-05,-5.53374885878e-05,1793251658471403520
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,724.276477852,696,671,643,899,789,828,656,633.276477852,658,0.440886102951,-0.00554626741134,0.0799623649932,0.999999993749,-8.01038483246e-05,-5.19316083222e-05,-5.82054172904e-05,1793251658488070400
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,724.85395563,696,671,643,899,789,828,656,633.85395563,658,0.441642933088,-0.00553696094492,0.0798574341462,0.999999972237,-6.48858780224e-05,-0.000217379357716,-6.37376358662e-05,1793251658504736768
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,725,696.428021189,671,643,899,788.571978811,828.428021189,656,634,658,0.442488700449,-0.00553777994883,0.0798378193837,0.99999996743,-6.85870056755e-05,-0.00023699280616,-6.53541690403e-05,1793251658521403648
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.000961505,724.999038495,696.999038495,671.000961505,643,899,788,828.999038495,656,634,658,0.443364593851,-0.00554202677171,0.0798471958027,0.999999973305,-7.86680373448e-05,-0.000207103948584,-6.56378357444e-05,1793251658538070272
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.59218363,724.40781637,696.40781637,671.59218363,643,899,788,828.40781637,656,634,658,0.444252680667,-0.00554642662034,0.0799246303926,0.999999991001,-7.3773648744e-05,-9.3733173311e-05,-6.13973872117e-05,1793251658554736896
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.820320011,724.179679989,696.179679989,672,643,899.179679989,788,828,656,634,658,0.445133087379,-0.00555098736064,0.0799902544017,0.999999995347,-7.71067326252e-05,1.66138053741e-06,-5.79497607191e-05,1793251658571403776
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.241108057,724.758891943,696.758891943,672,643,899.758891943,788,828,656,634,658,0.445996416975,-0.00555590585653,0.0800296167117,0.999999991914,-9.87342207787e-05,5.70844743391e-05,-5.62650341668e-05,1793251658588070400
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,725,696.664463012,672,643,900,788,828.335536988,656,634,658,0.446800374095,-0.00555842132327,0.0800392644991,0.99999999021,-0.000101517305066,7.8008947259e-05,-5.64726449558e-05,1793251658604736768
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,725,696.08964851,672,643,900,788,828.91035149,656,634,658,0.447561991574,-0.00555922314602,0.080027722319,0.999999991426,-9.08621019791e-05,7.43318245877e-05,-5.80297160268e-05,1793251658621403392
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.495789638,725,696,672,643.495789638,900.495789638,788,829,656,634,658,0.44822428111,-0.00555593699216,0.0799835995565,0.999999993749,-9.28822503012e-05,1.05813557717e-05,-6.13400463142e-05,1793251658638070016
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,724.918016576,696,672,643.918016576,900.918016576,788,829,656,634,658,0.448866437142,-0.00555291100331,0.0799339652691,0.999999991204,-9.66401903826e-05,-6.38462027163e-05,-6.4621857521e-05,1793251658654736896
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,748,724.33914064,696,672,643.33914064,900.33914064,788,829,656,634,658,0.449497806117,-0.00555604007515,0.0798874140596,0.99999998395,-9.67352485152e-05,-0.000135708756058,-6.57672996521e-05,1793251658671404288
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,724.23837703,696,672,643,900,788,829,656,634,658,0.450157815639,-0.00555902037,0.0798718851572,0.999999980001,-0.000101402110569,-0.000159105838174,-6.63403895658e-05,1793251658688071424
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,748,724.813973186,696,672,643,900,788,829,656,634,658,0.450858341346,-0.00556179019781,0.0799002418429,0.999999984992,-0.000112536457407,-0.000113941427111,-6.61038038567e-05,1793251658704738304
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,900,788,828.609165331,656,634,658,0.451509427096,-0.00556748105457,0.0799326184963,0.99999998847,-0.000117540887728,-7.08162676211e-05,-6.50315305124e-05,1793251658721404672
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,900,788,828.031699578,656,634,658,0.452136904375,-0.00557456675915,0.0799669147641,0.999999990415,-0.000119618165715,-2.86648859934e-05,-6.35602001506e-05,1793251658738070784
+200,3.333333333,POSE1_TO_POSE2_PRESS,767.443464294,748,725,695.443464294,671.443464294,643,900.556535706,788,828.556535706,656,634,658.556535706,0.452647529329,-0.00557772689947,0.0799373569663,0.999999986423,-0.000128876289555,-8.02040238548e-05,-6.41278779988e-05,1793251658754737408
+201,3.350000000,POSE1_TO_POSE2_PRESS,767.142627963,748,725,695.142627963,671,643,900.857372037,788,829,656,634,658.857372037,0.453145993189,-0.00557962241849,0.0799013946213,0.999999979113,-0.000135292984684,-0.000138540405287,-6.538861756e-05,1793251658771404032
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.720276187,748,725,695.720276187,671,643,900.279723813,788,829,656,634,658.279723813,0.453628066304,-0.0055783562297,0.0798572101973,0.999999968776,-0.000131771108693,-0.000201010953793,-6.84020010171e-05,1793251658788070400
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643,900,787.70321929,829,656,634,658,0.454096511221,-0.00557746079442,0.0798221215192,0.999999956829,-0.000131467150257,-0.000253096041752,-7.07156298122e-05,1793251658804737024
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643,900,787.127788631,829,656,634,658,0.454552160477,-0.00557691346286,0.0797955729175,0.999999944739,-0.000134184522541,-0.000295430128449,-7.23722528795e-05,1793251658821403648
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643,900,787.446045028,829,656,634,658,0.454988994185,-0.00557323898871,0.0797865327837,0.99999994246,-0.000129684901338,-0.000305505439465,-7.02057293105e-05,1793251658838070272
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725,695.979877754,671,643,900,787.979877754,829,656,633.979877754,658,0.455418535753,-0.00556877885421,0.0797826241936,0.999999943155,-0.000123224435242,-0.000306592026876,-6.71373554563e-05,1793251658854736640
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,695.385851199,671,643,900,787.385851199,829,656,633.385851199,658,0.455793293036,-0.00556737178889,0.0797825200377,0.99999994115,-0.000119598782815,-0.000313959136126,-6.94749885543e-05,1793251658871403520
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.797630992,748,725,695,670.797630992,642.797630992,900.202369008,787,829,656,633,658,0.456151467872,-0.00556823718756,0.0797796495499,0.999999937463,-0.000117762459528,-0.000325877270786,-7.07757633146e-05,1793251658888070400
+209,3.483333333,POSE1_TO_POSE2_PRESS,767.220172862,748,725,695,670.220172862,642.220172862,900.779827138,787,829,656,633,658,0.456478907253,-0.00557331457782,0.079771651691,0.999999930492,-0.000119242641964,-0.000346230688916,-7.01547302729e-05,1793251658904737280
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767.929100347,748,725,695.929100347,670,642,901,787,829,656,633,658,0.45707619739,-0.00557624831371,0.0797346169933,0.999999901952,-0.000155724774047,-0.000408024169165,-7.3221752539e-05,1793251658938070016
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,748,725,695.48209604,670,642,901,787,829,656.51790396,633,658,0.45735048281,-0.00557638416683,0.079736513722,0.999999903287,-0.000157407411325,-0.000404001564838,-7.36929622881e-05,1793251658954736640
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.685517058,748,724.314482942,695,670,642.685517058,901,787,829,656.314482942,633.685517058,658,0.457862909351,-0.00558054256687,0.0797546369638,0.999999917197,-0.000140720651402,-0.000375542626328,-6.90748022158e-05,1793251658988070144
+215,3.583333333,POSE1_TO_POSE2_PRESS,768.747210808,748,724.252789192,695,670,642.747210808,901,787,829,656,634,658,0.458084961173,-0.00558340433679,0.0797609673583,0.99999992182,-0.000128667150537,-0.000368216197053,-6.497197879e-05,1793251659004736768
+216,3.600000000,POSE1_TO_POSE2_PRESS,768.193794763,748,724.806205237,695,670,642.193794763,901,787,829,656,634,658,0.458279165308,-0.00558554889258,0.0797608223267,0.999999921564,-0.000118048661471,-0.000373143344743,-6.08328552176e-05,1793251659021403392
+217,3.616666667,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,901,786.609779076,828.609779076,656,633.609779076,658.390220924,0.458458524849,-0.00558384548406,0.0797594644196,0.999999920906,-0.000113361864125,-0.000376364500106,-6.07118764831e-05,1793251659038070016
+218,3.633333333,POSE1_TO_POSE2_PRESS,768,748,725,695,670,642,901,786.0092737,828.0092737,656,633.0092737,658.9907263,0.458629884845,-0.00558006846277,0.0797574529113,0.999999920079,-0.00011187157061,-0.00037866632056,-6.27562184326e-05,1793251659054736896
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+220,3.666666667,POSE1_TO_POSE2_PRESS,767,748,725,695,670,641,901,786,829,656,633,658,0.458884523043,-0.00558477688861,0.079747464012,0.999999911185,-0.00013591121376,-0.000393422043009,-6.61612156929e-05,1793251659088069888
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,748,725,695,670,641,901,786,829,656,633,658,0.458986082945,-0.00558459100312,0.0797399908764,0.999999904995,-0.000144614088054,-0.000405793180424,-6.65433858259e-05,1793251659104736512
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+224,3.733333333,POSE1_TO_POSE2_PRESS,768,748,724,695,669.527050862,641.527050862,900,786,829,656,633,658,0.459224837778,-0.00558395219086,0.0797232553141,0.999999892707,-0.000158993603938,-0.000429675573933,-6.84516745466e-05,1793251659154737408
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,748,724.640070657,695,669,641,900,786,829,656,633,658,0.459331608176,-0.00558395474595,0.0797180206567,0.99999988847,-0.000166942555445,-0.000436408410929,-6.88269026807e-05,1793251659188070912
+227,3.783333333,POSE1_TO_POSE2_PRESS,767.776121424,748,725,695,669,641.223878576,900.223878576,786,829.223878576,656,633,658,0.45936854932,-0.0055842518754,0.0797139719788,0.999999885358,-0.000169472483917,-0.000442520796849,-6.88400366998e-05,1793251659204737280
+228,3.800000000,POSE1_TO_POSE2_PRESS,767.203776849,748,725,695,669,641.796223151,900.796223151,786,829.796223151,656,633,658,0.459394899349,-0.00558355283638,0.0797084164961,0.999999880665,-0.000170667689124,-0.000452494657125,-6.92181075305e-05,1793251659221403392
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,748,724.625243086,695,669,642,901,786,829.625243086,656,633,658,0.459417763086,-0.00558274123659,0.0797048141954,0.999999878081,-0.000169330131452,-0.000458705271516,-6.89618787622e-05,1793251659238069760
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767.543198643,748,724,695,670.086397287,641.456801357,901,786,829,656,633,658,0.459453846951,-0.00558093837521,0.0797019296397,0.999999876967,-0.000165624455905,-0.000462530621978,-6.85525757616e-05,1793251659271403264
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,724,695,670.7418037,641,901,786,829,656,633,658,0.459466747769,-0.00558055710987,0.0797016704765,0.999999877135,-0.000165482204369,-0.000462210915769,-6.86120558821e-05,1793251659288069888
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,724,695,669.576683049,641,901,786,829,656,633,658,0.459473390393,-0.00558211546185,0.0797011632753,0.999999876396,-0.000167740017106,-0.00046308991382,-6.79592068482e-05,1793251659304736768
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+235,3.916666667,POSE1_TO_POSE2_PRESS,768,748,724,695,669,641.865765639,901,786,829,656,633,658.865765639,0.459477765064,-0.0055797110693,0.0796966232357,0.999999873306,-0.00016498522318,-0.000470757428673,-6.74875553227e-05,1793251659338070016
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,748,724.440474896,695.440474896,669,641.559525104,901,786,829,656,633,658.559525104,0.459479976166,-0.00557842956351,0.0796965321249,0.999999873377,-0.000163529570905,-0.000471158183338,-6.71842738877e-05,1793251659354736384
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767.396274056,748,724.396274056,695.396274056,669,641,901,786.603725944,829,656,633,658,0.45948648739,-0.00557962205686,0.0796988710788,0.999999875078,-0.000162790765883,-0.000467912533076,-6.63474286759e-05,1793251659388069632
+239,3.983333333,POSE1_TO_POSE2_PRESS,767.189458407,748,724.189458407,695,669,641,900.810541593,787,829,656,633,658,0.459488697371,-0.00558059172931,0.0796994204454,0.999999875503,-0.000162981772898,-0.000466966606164,-6.61349815443e-05,1793251659404736512
+240,4.000000000,POSE1_TO_POSE2_PRESS,767.769803881,748,724.769803881,695,669,641,900.230196119,787,829,656,633,658,0.459487592232,-0.00557914892387,0.079697866247,0.999999874664,-0.00016286794341,-0.000468754331378,-6.64510112115e-05,1793251659421403136
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748.346615624,724.653384376,695,669,641,900.346615624,786.653384376,829,656,633,658,0.459487124432,-0.00557928148933,0.0796968405971,0.999999874094,-0.000162605311728,-0.000470080016822,-6.63021061764e-05,1793251659438069760
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748.921104189,724.078895811,695,669,641,900.921104189,786.078895811,829,656,633,658,0.459487075634,-0.00558044973928,0.0796961624268,0.999999873702,-0.000162244854126,-0.000471101946811,-6.58475425522e-05,1793251659454736384
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+250,4.166666667,HOLD_POSE2,768,748,724,695,670,641,900,787,829,656,633,658,0.459486705382,-0.00557267689921,0.0796929863499,0.999999872286,-0.000157147674835,-0.000475684024835,-6.67584544148e-05,1793251659600395264
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+252,4.200000000,HOLD_POSE2,768,748,725,696,669,641,901,786,829,656,633,658,0.459489784255,-0.00557814981377,0.0796947766165,0.999999873218,-0.000160872549553,-0.000472745039392,-6.47749133518e-05,1793251659633728512
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+256,4.266666667,HOLD_POSE2,767.952443529,748,724.523778236,695,669,641.476221764,900,786,829,656,633,658.523778236,0.459491026884,-0.00557601928286,0.0796960234376,0.999999874063,-0.000157952237624,-0.000471889215672,-6.51534891013e-05,1793251659700394496
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+266,4.433333333,HOLD_POSE2,767.722399756,748,724.277600244,695,669.277600244,641,901,786,829,656,633.722399756,658,0.459493082766,-0.00557652464066,0.0796956242204,0.999999873937,-0.000159370630862,-0.000471656994483,-6.53161831252e-05,1793251659867061504
+267,4.450000000,HOLD_POSE2,767.148464007,748,724.851535993,695,669.851535993,641,901,786,829,656,633.148464007,658,0.459492845668,-0.00557619308704,0.0796947649281,0.999999873448,-0.000159037076827,-0.000472827225633,-6.51588374624e-05,1793251659883728128
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,748,724,695,669,641,901,786,829,656,633,658,0.459492667938,-0.00557208739294,0.0796956455451,0.999999874343,-0.000154399917007,-0.00047243440515,-6.54195480237e-05,1793251659916184576
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,748,724.57733665,695,669,641,901,786,829,656,633,658,0.45949370741,-0.00557449280664,0.0796959227927,0.999999874426,-0.000156237450874,-0.000471713731335,-6.49951688701e-05,1793251659932851200
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.154373836,748,724.845626164,695,669,641,901,786,829,656,632.845626164,658,0.459493961797,-0.00557560724663,0.0796958437113,0.99999987431,-0.000157215628075,-0.000471663179429,-6.47867054354e-05,1793251659949517824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.730592827,748,724.269407173,695,669,641,901,786,829,656,632.269407173,658,0.459492070848,-0.00557319394555,0.079694790918,0.999999873658,-0.000155845509785,-0.000473443816435,-6.51682576917e-05,1793251659966184192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641,901,786,829,656,632.313239002,658,0.459491290409,-0.00557315090577,0.0796942202551,0.999999873178,-0.000156032204957,-0.000474420526302,-6.49847303942e-05,1793251659982850560
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,669,641,901,786,829,656,632.901528762,658,0.459491485093,-0.00557518915922,0.0796940729443,0.99999987285,-0.000157585916198,-0.000474691318957,-6.43050146709e-05,1793251659999517184
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.517911546,748,724.482088454,694.517911546,669,641,901,786,829,656,633,658,0.459491939459,-0.00557579344807,0.0796947882452,0.999999873552,-0.000158358638018,-0.000472966563124,-6.41899487988e-05,1793251660016184064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.060872988,748,725,694.060872988,669,641,901,786,829,656,633,658,0.459491999103,-0.00557608017927,0.079695244047,0.999999874127,-0.00015900998207,-0.000471532152083,-6.41774046727e-05,1793251660032850688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.63778292,748,725,694.63778292,669,641,901,786,829,656,633,658,0.459488270038,-0.00557611870526,0.0796920299087,0.999999871884,-0.0001599633659,-0.000475959963547,-6.40716673757e-05,1793251660049517312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,724.785887924,695,669,641,901,786,829,656,633,658,0.459479474796,-0.00557560078581,0.0796867671693,0.999999868218,-0.000159783388306,-0.000483605848329,-6.44887239312e-05,1793251660066184192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,724.210538674,695,669,641,901,786,829,656,633,658,0.459462132201,-0.00557414406466,0.079678048152,0.999999862057,-0.000157691270547,-0.000496681074707,-6.5787807216e-05,1793251660082850560
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.6282985,748,724,695,669,641,901.3717015,786,829,656,633,658,0.459432362532,-0.0055718225612,0.0796652966821,0.999999851606,-0.000155707031863,-0.000517822289778,-6.63513605577e-05,1793251660099517184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.042081395,748,724,695,669,641,901.957918605,786,829,656,633,658,0.459395420973,-0.00556900197623,0.0796502180106,0.999999838204,-0.000153785051856,-0.000543618532641,-6.64904264628e-05,1793251660116184064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,748,724.540053579,695,669,641,901.459946421,786,829,656,633,658.540053579,0.45933466473,-0.00556885572833,0.0796306103501,0.99999982096,-0.000152463173507,-0.000574891766389,-6.58369274743e-05,1793251660132850432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.120553372,748,724.879446628,695,669,641,901,786,829,656,633,659,0.459271147897,-0.0055686332571,0.0796135289116,0.999999805761,-0.000151623933954,-0.00060103887138,-6.51207072086e-05,1793251660149517056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.696073621,748,724.303926379,695,669,641,901,786,829,656,633,659,0.459204163307,-0.00556734257229,0.0796073032541,0.999999802544,-0.000152431017935,-0.000606241496559,-6.43991002932e-05,1793251660166184192
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.728623948,748,724.271376052,695,669,641,900.728623948,786,829,656,633,658.728623948,0.459130831465,-0.00556572197887,0.0796056556925,0.999999802154,-0.000150679400371,-0.000607474274788,-6.29515232908e-05,1793251660182850816
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.431350297,748,725,695,669,641,900,786.431350297,829,656,633,658,0.458955870794,-0.00556300779353,0.0796137416548,0.999999808657,-0.000146004037495,-0.000598334052663,-5.80154529005e-05,1793251660216184064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.980434066,669,641,900.019565934,786.980434066,829,656,633,658,0.458855024046,-0.00556261544911,0.0796186339642,0.999999812641,-0.000147416950093,-0.000591558415183,-5.51787381589e-05,1793251660232850432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,694.400557343,669,641,900.599442657,786.400557343,829,656,633,658,0.458720189685,-0.00555853020835,0.0796197580625,0.999999814904,-0.00014350295074,-0.000588970489534,-5.20841186717e-05,1793251660249517056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,724.822820779,694.177179221,669,641,901,786,829,656,633,658,0.458575916251,-0.00555503502259,0.079622132982,0.999999817322,-0.000139018526345,-0.000586250114406,-4.8385151323e-05,1793251660266183936
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,724.249864906,694.750135094,669,641,901,786,829,656,633,658,0.45841055817,-0.00555285788129,0.0796273019412,0.999999820101,-0.000133259907269,-0.000583233878693,-4.33362135927e-05,1793251660282850816
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,724.32554261,695,669.32554261,641,901,786.32554261,829,656.32554261,633,658,0.458228910051,-0.00554878304997,0.0796300225849,0.999999821994,-0.000126299780982,-0.00058188147756,-3.83886455164e-05,1793251660299517440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,724.902846184,695,669.902846184,641,901,786.902846184,829,656.902846184,633,658,0.458034663884,-0.00554324062477,0.0796308498048,0.999999823173,-0.000118410458934,-0.00058181581578,-3.35194719288e-05,1793251660316184320
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.505315542,748,724.505315542,695,670,641.494684458,900.505315542,787,829,656.505315542,633,658,0.45781231606,-0.00553936102261,0.0796304120318,0.99999982325,-0.000111722998213,-0.000583293694816,-2.8029516652e-05,1793251660332850944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.086573764,748,724.086573764,695,670,642,900.086573764,787,829,656,633,658,0.45757764648,-0.00553548553101,0.0796293952168,0.999999822654,-0.000104125513549,-0.000585963323013,-2.22696576496e-05,1793251660349517824
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,724.762499806,695,670,642,901,786.762499806,829,656,633,658,0.457018447403,-0.00552417169378,0.079626911161,0.999999820767,-7.60521944701e-05,-0.000593805355341,-8.73855912765e-06,1793251660382850816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,724.187433202,695,670,642,901,786.187433202,829,656,633,658,0.456710220517,-0.00551888274013,0.0796318160361,0.999999827853,-6.23017153299e-05,-0.00058344754977,-1.24031659049e-06,1793251660399517440
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.601709002,748,724.398290998,694.601709002,670,642,900.601709002,786.398290998,829,656,633,658,0.456374422952,-0.00551222614646,0.0796284196061,0.999999828006,-1.05495004776e-05,-0.000586385554309,5.43132618243e-06,1793251660416183808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747.858484367,725,694.858484367,671,642,900,786.141515633,829,656,633,658,0.455289875395,-0.00549155622354,0.0796428748402,0.999999847109,5.2973322476e-05,-0.000550122547575,1.84572364776e-05,1793251660466183936
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.283743371,725,694.283743371,671,642,900,786.716256629,829,656,633,658,0.454889098269,-0.00548408888618,0.0796639648528,0.999999868185,2.32310016986e-05,-0.000512812661761,1.06319380819e-05,1793251660482850816
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747.299070044,725,694.299070044,671,642,900,787.299070044,828.700929956,656,633,658,0.454455625395,-0.00547298996985,0.0796793602863,0.99999988184,2.05219004509e-05,-0.000485658310708,5.88382248069e-06,1793251660499517696
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.889754711,725,694.889754711,671,642,900,787.889754711,828.110245289,656,633,658,0.453990271785,-0.00545835000412,0.0796892031014,0.999999889314,4.41721127946e-05,-0.000468406326478,4.13617865752e-06,1793251660516184320
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.52913738,748,725,694.52913738,671,642,899.52913738,787.52913738,828,656,633,658,0.453481544541,-0.00543687814853,0.0796927344752,0.999999891742,7.99081161718e-05,-0.000458372392826,4.95654246591e-06,1793251660532850944
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,748,724.950415176,694,671,642,899,787,828.049584824,656,633,658,0.452959639086,-0.00541574158355,0.0796953117414,0.999999892222,0.000113884537155,-0.000450051093606,6.35620690466e-06,1793251660549517312
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,748,724.373692803,694,671,642,899,787,828.626307197,656,633,658,0.452403444319,-0.00541483571985,0.0797031424795,0.999999897176,9.96718177226e-05,-0.000442328591311,7.64983835661e-06,1793251660566184192
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.202115361,748,724,694.202115361,671,642,899,787,828.797884639,656,633.202115361,658,0.451840863579,-0.00541851236718,0.0797168970909,0.99999990523,9.90086951853e-05,-0.000423808155956,1.11489036778e-05,1793251660582850816
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,748,725,693.943743198,672,642.528128401,899,787,828.471871599,656,633.471871599,658,0.449405500725,-0.00544413936464,0.0798212114305,0.999999965521,8.24910597195e-05,-0.000248573143537,1.91095931312e-05,1793251660649517824
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.718363164,747,724,691.281636836,671,643,889,789.281636836,821,656,633,657,0.401415067493,-0.00540110412449,0.0798320770224,0.999999925985,0.000246156439836,-0.000292740855662,4.17024357396e-05,1793251661832851456
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.0865144,671,643,889,789,820.0865144,656,633,656.0865144,0.40096835046,-0.00540270635908,0.079825353429,0.999999924338,0.000245323971933,-0.000298804973353,4.30854488285e-05,1793251662182850560
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,746.351939931,724.648060069,691.648060069,670.648060069,643,889.648060069,789.351939931,821,656.351939931,633,657,0.400970007831,-0.00540175484962,0.0798287650715,0.999999925535,0.000245542596238,-0.00029461084818,4.29223593815e-05,1793251662232850432
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,768.384121629,746,724,691.615878371,671,643,889,789,820.615878371,656.615878371,633,657,0.400968628701,-0.00540377709993,0.0798281605038,0.999999926308,0.000242269274401,-0.000294738278566,4.26558737357e-05,1793251662282850816
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,769.709468792,746.709468792,724,692,670.290531208,643,889,789,820,656,633,657,0.400971738647,-0.00540241052141,0.0798304448124,0.999999927275,0.00024387851014,-0.00029008513005,4.27008097061e-05,1793251662349517312
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,769.123546314,746.123546314,724.876453686,692,670.876453686,643,889,789.876453686,820,656,633,657,0.400969620307,-0.00540585208285,0.0798286571407,0.999999926904,0.000241464053969,-0.000293370591674,4.26754101376e-05,1793251662382850816
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7355a5fc7bf2e66d262243712c469bead4636231
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
+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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+6,0.100000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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+15,0.250000000,pose1_baseline,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865766,1.06963260958
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+388,6.466666667,pose2_to_pose3_retreat,0.585851362722,5.27143024416e-06,1.07002099628,0.556422703296,0.00867767009371,1.06963237074
+389,6.483333333,pose2_to_pose3_retreat,0.585823984825,5.12882315955e-06,1.07002121084,0.556395327993,0.00867753604127,1.06963257981
+390,6.500000000,pose2_to_pose3_retreat,0.585803450633,5.07102757081e-06,1.07002103175,0.556374794883,0.00867748207089,1.06963240418
+391,6.516666667,pose2_to_pose3_retreat,0.585787505441,5.1033591358e-06,1.07002096073,0.556358849872,0.00867751525536,1.06963233843
+392,6.533333333,pose2_to_pose3_retreat,0.585775641279,5.13115783749e-06,1.07002102556,0.556346986151,0.00867754451479,1.06963240254
+393,6.550000000,pose2_to_pose3_retreat,0.585767077126,5.00850670289e-06,1.07002082151,0.556338423937,0.00867742784892,1.06963218521
+394,6.566666667,pose2_to_pose3_retreat,0.585761022949,5.08135644562e-06,1.07002085808,0.556332366765,0.0086774908709,1.06963222926
+395,6.583333333,pose2_to_pose3_retreat,0.585757065462,5.08704790721e-06,1.07002088442,0.556328408385,0.00867749359671,1.06963225716
+396,6.600000000,pose2_to_pose3_retreat,0.585754535036,5.06132513945e-06,1.07002089698,0.556325878235,0.00867746874564,1.06963226823
+397,6.616666667,pose2_to_pose3_retreat,0.585753264157,5.1149201016e-06,1.07002093602,0.556324607009,0.00867752139208,1.06963231234
+398,6.633333333,pose2_to_pose3_retreat,0.585752635972,5.1414116246e-06,1.07002095532,0.556323978653,0.00867754741476,1.06963233414
+399,6.650000000,pose2_to_pose3_retreat,0.585752421942,5.15043762423e-06,1.0700209619,0.556323764564,0.00867755628102,1.06963234156
+400,6.666666667,pose2_to_pose3_retreat,0.585752353586,5.15332029793e-06,1.070020964,0.556323696189,0.00867755911267,1.06963234394
+401,6.683333333,pose2_to_pose3_retreat,0.585752225924,5.15830646221e-06,1.07002097165,0.556323568535,0.00867756414297,1.06963235198
+402,6.700000000,pose2_to_pose3_retreat,0.585751981342,5.16249454495e-06,1.07002103669,0.556323324545,0.00867757029685,1.06963241612
+403,6.716666667,pose2_to_pose3_retreat,0.58575186329,5.16451601149e-06,1.07002106808,0.556323206778,0.00867757326716,1.06963244707
+404,6.733333333,pose2_to_pose3_retreat,0.585751842853,5.16486595591e-06,1.07002107351,0.556323186391,0.00867757378136,1.06963245243
+405,6.750000000,pose2_to_pose3_retreat,0.585751773094,5.16606048509e-06,1.07002109206,0.5563231168,0.00867757553658,1.06963247073
+406,6.766666667,pose2_to_pose3_retreat,0.585751700731,5.16729958491e-06,1.0700211113,0.556323044613,0.00867757735729,1.0696324897
+407,6.783333333,pose2_to_pose3_retreat,0.585751699058,5.16732823276e-06,1.07002111175,0.556323042944,0.00867757739938,1.06963249014
+408,6.800000000,pose2_to_pose3_retreat,0.585751610039,5.16885254354e-06,1.07002113542,0.55632295414,0.00867757963918,1.06963251349
+409,6.816666667,pose2_to_pose3_retreat,0.585751468456,5.17127694604e-06,1.07002117306,0.556322812899,0.00867758320155,1.06963255062
+410,6.833333333,pose2_to_pose3_retreat,0.585751444065,5.17169459805e-06,1.07002117955,0.556322788567,0.00867758381524,1.06963255701
+411,6.850000000,pose2_to_pose3_retreat,0.585751332922,5.17359775593e-06,1.0700212091,0.556322677693,0.0086775866117,1.06963258616
+412,6.866666667,pose2_to_pose3_retreat,0.585751059809,5.13276854416e-06,1.07002116081,0.556322405498,0.00867754875325,1.06963253466
+413,6.883333333,pose2_to_pose3_retreat,0.585750886323,5.14137226811e-06,1.07002120253,0.556322231476,0.00867755547565,1.06963257502
+414,6.900000000,pose2_to_pose3_retreat,0.585750880581,5.14613396772e-06,1.07002121368,0.556322225589,0.00867755974853,1.06963258622
+415,6.916666667,pose2_to_pose3_retreat,0.585750876091,5.14985737178e-06,1.07002122239,0.556322220986,0.0086775630897,1.06963259498
+416,6.933333333,pose2_to_pose3_retreat,0.585750868609,5.15606231216e-06,1.07002123691,0.556322213315,0.00867756865767,1.06963260958
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0bc0082ce36fcb02d01f94d9d313c387c776372b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7a488d6697bc9decac1b7e879085c03d0fefb1d2eb211817d52c2fe13f4e7c
+size 26193847
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83a37e05b5612cf1b0e8daf85e63651f919ff83f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
+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,770.577797716,746,724,691,670,643,890,791,820,657,633,657,0.400917330316,-0.0154332713938,0.0599246091128,0.999999970917,-9.29091835894e-05,-0.000218597735601,-4.18222462304e-05,1793251664011787776
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+39,0.650000000,BASELINE,769.625610511,746,724,691.625610511,670.374389489,643,890.625610511,790,820,657,633,657,0.400918822825,-0.0154365921138,0.0599228401362,0.999999971321,-9.13376922469e-05,-0.000217597508652,-4.08311477422e-05,1793251664645121280
+40,0.666666667,BASELINE,770,746,724,691.793956479,670,643,890.793956479,790.206043521,820,657,633,657,0.400918788812,-0.015436402851,0.0599225666657,0.999999971335,-9.08037668172e-05,-0.000217760909526,-4.07968667091e-05,1793251664661788672
+41,0.683333333,BASELINE,770,746,724,691.202212571,670,643,890.202212571,790.797787429,820,657,633,657,0.400919242828,-0.0154377132812,0.0599234167789,0.999999971392,-9.33633938628e-05,-0.000216443708238,-4.06425822893e-05,1793251664678455040
+42,0.700000000,BASELINE,770,746.379705602,724,691,670.379705602,643,890,790.620294398,820,657,633,657,0.400918759491,-0.0154381267641,0.0599236806475,0.999999971331,-9.42673243179e-05,-0.000216344587477,-4.05673212986e-05,1793251664695121664
+43,0.716666667,BASELINE,770,746.956523044,724,691,670.956523044,643,890,790.043476956,820,657,633,657,0.400917789559,-0.0154380746258,0.0599236401862,0.999999971213,-9.4311753541e-05,-0.000216877793733,-4.05330827617e-05,1793251664711788288
+44,0.733333333,BASELINE,770,747,724,691,671,643,890,790,820,657,633,657,0.400918150758,-0.0154377885435,0.0599231128582,0.999999971176,-9.34079955449e-05,-0.000217442952579,-4.05126786717e-05,1793251664728454656
+45,0.750000000,BASELINE,770,747,724,691,670.889171858,643,890,790.110828142,820,657,633,657,0.400918803108,-0.0154374149697,0.059922887601,0.999999971283,-9.21225281057e-05,-0.000217504549329,-4.04885812945e-05,1793251664745121280
+46,0.766666667,BASELINE,770,747,724,691,670.300797951,643,890,790.699202049,820,657,633,657,0.400920242431,-0.0154367465783,0.0599241349457,0.999999971979,-8.95253719062e-05,-0.000215385131122,-4.04437105863e-05,1793251664761788672
+47,0.783333333,BASELINE,769.717121722,747,724,691,670,643,890,790.717121722,820,657,633,657,0.400919933551,-0.0154360380473,0.0599238785304,0.999999971936,-8.89024152447e-05,-0.000215795837409,-4.06914355095e-05,1793251664778455552
+48,0.800000000,BASELINE,769.138359086,747,724,691,670,643,890,790.138359086,820,657,633,657,0.400917796087,-0.0154352875309,0.0599220492159,0.99999997112,-9.0344426876e-05,-0.000218852997133,-4.12452089208e-05,1793251664795122688
+49,0.816666667,BASELINE,769,747,724,691,670,643.437361981,890,790.437361981,820.437361981,657,633,657,0.400918196207,-0.0154354105582,0.0599224776903,0.999999971252,-9.03131215862e-05,-0.000218310994981,-4.09852251726e-05,1793251664811789312
+50,0.833333333,BASELINE,769.012164741,746.987835259,724,691,670.012164741,643.987835259,890,791,820.987835259,657,633,657,0.400919334157,-0.0154358348103,0.0599235752041,0.999999971659,-8.99011877737e-05,-0.000216703822039,-4.04821040546e-05,1793251664828455936
+51,0.850000000,BASELINE,769.588697111,746.411302889,724,691,670.588697111,643.411302889,890,791,820.411302889,657,633,657,0.400917716893,-0.015437501886,0.059922804102,0.999999971032,-9.33044451041e-05,-0.000218138100139,-4.05596500537e-05,1793251664845122048
+52,0.866666667,BASELINE,770,746,724,691,670.83076239,643,889.83076239,791,820,657,633,657,0.40091700608,-0.0154381326212,0.0599225377198,0.999999970765,-9.50326497007e-05,-0.000218606427127,-4.06176101199e-05,1793251664861788160
+53,0.883333333,BASELINE,770,746,724,691,670.240244559,643,889.240244559,791,820,657,633,657,0.400918551681,-0.015436183612,0.059923527728,0.999999971415,-9.25911746485e-05,-0.000216670228841,-4.06268152623e-05,1793251664878454272
+54,0.900000000,BASELINE,770,746,724,690.656448105,670.343551895,643,889,790.656448105,820,657,633,657,0.400918974238,-0.0154357653025,0.0599234940113,0.999999971573,-9.11090179449e-05,-0.000216569168368,-4.06324637763e-05,1793251664895120896
+55,0.916666667,BASELINE,770,746,724,690.077261714,670.922738286,643,889,790.077261714,820,657,633,657,0.400918626523,-0.0154363968654,0.0599227581449,0.999999971396,-9.02848361569e-05,-0.000217726787604,-4.06356728789e-05,1793251664911787520
+56,0.933333333,BASELINE,770,746,724,690.49871225,671,643,889.49871225,790.49871225,820,657,633,657,0.40091816625,-0.0154364387359,0.0599223249274,0.999999971308,-9.05407433087e-05,-0.000218003076238,-4.07630528177e-05,1793251664928454656
+57,0.950000000,BASELINE,770,746,724,691,671,643,890.074056675,791,820,657,633,657,0.4009179001,-0.0154364573799,0.059922086849,0.999999971264,-9.09791102497e-05,-0.00021799958266,-4.08862820943e-05,1793251664945121280
+58,0.966666667,BASELINE,770,746,724,691,671,643,890.648488374,791,820,657,633,657,0.400919062635,-0.0154369324039,0.0599228524855,0.999999971428,-9.15269396793e-05,-0.000217022332776,-4.08523219654e-05,1793251664961787904
+59,0.983333333,BASELINE,770,746,724,691,670.770653901,643,890.770653901,790.770653901,820,657,633,657,0.400919646066,-0.0154372557623,0.0599232358903,0.999999971544,-9.16659158708e-05,-0.00021645214612,-4.07284583327e-05,1793251664978455040
+60,1.000000000,BASELINE,770,746,724,691,670.179663202,643,890.179663202,790.179663202,820,657,633,657,0.400919316334,-0.0154373399669,0.0599230165726,0.999999971585,-9.1160191554e-05,-0.000216523837331,-4.04628302746e-05,1793251664995122176
+61,1.016666667,BASELINE,770,746,724,691,670.401757024,643,890,790.401757024,820,657,633,657,0.400918386605,-0.0154374851918,0.0599223338019,0.999999971278,-9.2135786268e-05,-0.000217522082745,-4.04857667621e-05,1793251665011788800
+62,1.033333333,BASELINE,770,746,724,691,670.97899694,643,890,790.97899694,820,657,633,657,0.400917194804,-0.0154376570697,0.0599214486002,0.999999970815,-9.37584042954e-05,-0.00021892503648,-4.06347449727e-05,1793251665028455168
+63,1.050000000,BASELINE,770,746,724,691,670.444446904,643,890,790.444446904,820,657,633,657,0.400917530142,-0.0154371850933,0.0599219128738,0.999999971014,-9.27310139707e-05,-0.00021845182254,-4.06361577939e-05,1793251665045121792
+64,1.066666667,BASELINE,770,746.134462423,724,691,670,643,890,790.134462423,820,657,633,657,0.400917778679,-0.0154367643805,0.0599222949064,0.99999997117,-9.17767363871e-05,-0.000218140873352,-4.06451437804e-05,1793251665061788416
+65,1.083333333,BASELINE,770,746.72137677,724,691,670,643,890,790.72137677,820,657,633,657,0.400917541101,-0.0154365979697,0.0599222287485,0.999999971098,-9.14051743476e-05,-0.000218614305927,-4.0698361704e-05,1793251665078455040
+66,1.100000000,BASELINE,770,746.69789589,724,691,670,643,889.69789589,790.69789589,820,657,633,657,0.400918120241,-0.0154368173065,0.0599221667032,0.999999971234,-9.14244780973e-05,-0.000218006233311,-4.05829374016e-05,1793251665095122432
+67,1.116666667,BASELINE,770,746.122760193,724,691,670,643,889.122760193,790.122760193,820,657,633,657,0.400919437505,-0.0154373852691,0.0599221083746,0.999999971555,-9.17970332906e-05,-0.000216420732459,-4.03150998941e-05,1793251665111790080
+68,1.133333333,BASELINE,770,746.452612376,724,691,670,643,889.452612376,790.452612376,820,657,633,657,0.40091848418,-0.0154369447493,0.0599215506642,0.999999971351,-9.11111027565e-05,-0.000217604921444,-4.05596450038e-05,1793251665128456192
+69,1.150000000,BASELINE,770,747,724.028332818,691,670,643,890,791,820,657,633,657,0.400917077203,-0.0154362994943,0.0599209727117,0.999999971045,-9.02073309029e-05,-0.000219316516405,-4.09102993624e-05,1793251665145122560
+70,1.166666667,BASELINE,770,747,724.609586805,691,670,643,890,791,820,657,633,657,0.400918841699,-0.0154369995151,0.0599226443612,0.999999971596,-9.06578725464e-05,-0.000216652816649,-4.0618220396e-05,1793251665161789696
+71,1.183333333,BASELINE,770,746.806707353,724.806707353,691,670,643,890,790.806707353,820,657,633,657,0.400919384813,-0.01543762894,0.0599232378791,0.999999971629,-9.22448842912e-05,-0.000215848762563,-4.05278860098e-05,1793251665178456576
+72,1.200000000,BASELINE,770,746.217985513,724.217985513,691,670,643,890,790.217985513,820,657,633,657,0.400917429284,-0.0154381139435,0.0599216258056,0.999999970595,-9.61568342863e-05,-0.000218849085419,-4.08502713366e-05,1793251665195122432
+73,1.216666667,BASELINE,770,746,724,691.364690789,670,643,890,790.364690789,820,657,633,657,0.400916894583,-0.0154384229926,0.0599214103711,0.999999970393,-9.65219544135e-05,-0.00021961883883,-4.08069222012e-05,1793251665211788800
+74,1.233333333,BASELINE,770,746,724,691.943812403,670,643,890,790.943812403,820,657,633,657,0.400917195302,-0.015438628584,0.0599220161321,0.999999970687,-9.4801609926e-05,-0.000219077062246,-4.05485285638e-05,1793251665228455680
+75,1.250000000,BASELINE,770,746,724,691.478947348,670,643,890,790.478947348,820,657,633,657,0.400916643007,-0.0154357050976,0.0599212265249,0.999999970933,-9.02739921742e-05,-0.000219787813385,-4.09556354996e-05,1793251665245122304
+76,1.266666667,BASELINE,769.902714519,746.097285481,724,691,670.097285481,643,890,790,820,657,633,657,0.40091643774,-0.0154334214615,0.0599206164677,0.999999971143,-8.66997489511e-05,-0.000220209757688,-4.12835572521e-05,1793251665261788672
+77,1.283333333,BASELINE,769.330413614,746.669586386,724,691,670.669586386,643,890,790,820,657,633,657,0.400918374417,-0.0154359036294,0.0599216151513,0.999999971296,-8.92533240673e-05,-0.000218564432185,-4.08757001475e-05,1793251665278455040
+78,1.300000000,BASELINE,769.250175798,746.749824202,724,691,670.749824202,643,889.749824202,790,820,657,633,657,0.400919746619,-0.0154375638644,0.0599225316822,0.999999971482,-9.08959686337e-05,-0.00021708401004,-4.06074878234e-05,1793251665295121664
+79,1.316666667,BASELINE,769.84208711,746.15791289,724,691,670.15791289,643,889.15791289,790,820,657,633,657,0.400920347756,-0.0154381013539,0.0599233359941,0.99999997172,-9.1294298702e-05,-0.000215828842968,-4.05300277213e-05,1793251665311788032
+80,1.333333333,BASELINE,770,746.42455621,724,691,670.42455621,643,889.42455621,790.42455621,820,657,633,657,0.400919111564,-0.0154369766981,0.0599224436434,0.999999971485,-9.06072692133e-05,-0.000217171070734,-4.07003455352e-05,1793251665328454400
+81,1.350000000,BASELINE,770,747,724,691,670.996461032,643,890,791,820,657,633.003538968,657,0.400917228045,-0.0154352709526,0.0599209515567,0.999999971077,-8.95453817124e-05,-0.000219433418281,-4.09578457214e-05,1793251665345121024
+82,1.366666667,BASELINE,770,747,724,691,670.425619216,643,890,791,820,657,633.574380784,657,0.400918742263,-0.0154373630276,0.0599222815503,0.99999997127,-9.16985972388e-05,-0.000217694975514,-4.07387514621e-05,1793251665361787392
+83,1.383333333,BASELINE,770,746.852439622,724,691,670.147560378,643,890,791,820,657,634,657,0.400919977928,-0.0154387157311,0.0599233877982,0.999999971484,-9.28646139828e-05,-0.000216245873652,-4.05603943172e-05,1793251665378454016
+84,1.400000000,BASELINE,770,746.27240832,724,691,670.72759168,643,890,791,820,657,634,657,0.40092039721,-0.0154379014805,0.0599238382906,0.999999971775,-9.11373425654e-05,-0.000215644773603,-4.05014297236e-05,1793251665395121408
+85,1.416666667,BASELINE,770,746.31506022,724,691,670.68493978,643,890,791,820,657,634,657,0.400918654287,-0.0154384434726,0.0599227080561,0.999999971322,-9.19589018705e-05,-0.000217419535736,-4.03473560262e-05,1793251665411788288
+86,1.433333333,BASELINE,770,746.909114596,724,691,670.090885404,643,890,791,820,657,634,657,0.400914996677,-0.0154401864537,0.0599201780459,0.999999970193,-9.50375182786e-05,-0.000221298186686,-4.01090607053e-05,1793251665428454912
+87,1.450000000,BASELINE,770,746.513202508,724,691,670,643,890,791,820,657,633.513202508,657,0.400916553237,-0.0154390821564,0.0599207074104,0.999999970591,-9.33421139998e-05,-0.00022019733164,-4.02256406888e-05,1793251665445121024
+88,1.466666667,BASELINE,769.938414947,746,724,691,670,643,890,791,820,657,633,657,0.400918706504,-0.015437724673,0.0599216372454,0.999999971149,-9.12797188829e-05,-0.00021849359383,-4.03794652226e-05,1793251665461787392
+89,1.483333333,BASELINE,769.363112026,746,724,691,670,643,890,791,820,657,633,657,0.400917981018,-0.0154385452356,0.0599212980549,0.999999970792,-9.33490972749e-05,-0.00021926352024,-4.03092747608e-05,1793251665478454272
+90,1.500000000,BASELINE,769,746,724.218140761,691,670.218140761,643,889.781859239,791,819.781859239,657,633.218140761,657,0.400917762549,-0.01543929822,0.0599213345977,0.999999970672,-9.45210818868e-05,-0.000219316094553,-4.02854006228e-05,1793251665495120896
+91,1.516666667,BASELINE,769,746,724.809575205,691,670.809575205,643,889.190424795,791,819.190424795,657,633.809575205,657,0.400918411714,-0.0154399355612,0.0599220141146,0.999999970961,-9.41573999193e-05,-0.000218141099007,-4.03407853665e-05,1793251665511787520
+92,1.533333333,BASELINE,769,746.39034145,724.60965855,691,670.60965855,643,889,790.60965855,819.39034145,657,633.60965855,657,0.400919665155,-0.0154394285497,0.0599227275066,0.999999971419,-9.34173936993e-05,-0.000216364919993,-4.0256399734e-05,1793251665528454400
+93,1.550000000,BASELINE,769,746.966041808,724.033958192,691,670.033958192,643,889,790.033958192,819.966041808,657,633.033958192,657,0.400921205545,-0.0154383781269,0.0599234569848,0.999999971955,-9.24986847937e-05,-0.000214303260788,-4.01056422559e-05,1793251665545121792
+94,1.566666667,BASELINE,769.543226749,747,724,691.543226749,670.543226749,643,890.086453498,790,820,656.456773251,633,657,0.400920964558,-0.0154374391678,0.0599232305748,0.999999971918,-9.02797013502e-05,-0.000215424851225,-4.00605529702e-05,1793251665561788416
+95,1.583333333,BASELINE,770,746.877254727,724,692,671,643,890.877254727,790,820,656.122745273,633,657.122745273,0.400920355766,-0.0154363931247,0.0599229230503,0.999999971813,-8.85488973321e-05,-0.000216609265486,-4.01581303002e-05,1793251665578455040
+96,1.600000000,BASELINE,770,746.289243322,724,692,671,643,890.289243322,790,820,656.710756678,633,657.710756678,0.400918776063,-0.0154349146959,0.059922535181,0.999999971606,-8.89774842097e-05,-0.000217275470071,-4.07713787421e-05,1793251665595121408
+97,1.616666667,BASELINE,769.705766103,746.294233897,724,691.705766103,670.705766103,643.294233897,890,790,820,657,633,657.705766103,0.400918614618,-0.0154357477691,0.0599226504536,0.999999971501,-9.0191312483e-05,-0.000217255966721,-4.07792942721e-05,1793251665611787776
+98,1.633333333,BASELINE,769.126678556,746.873321444,724,691.126678556,670.126678556,643.873321444,890,790,820,657,633,657.126678556,0.400919826217,-0.015438818653,0.0599232528279,0.999999971493,-9.21653484458e-05,-0.000216572615927,-4.0201175009e-05,1793251665628454400
+99,1.650000000,BASELINE,769.449369786,747,724,691,670,643.550630214,890,790,820,657,633,657,0.400918893431,-0.0154392218231,0.0599223445373,0.99999997132,-9.25904553146e-05,-0.000217220244758,-4.00340020827e-05,1793251665645120768
+100,1.666666667,BASELINE,770,746.97549047,724,691,670,643.02450953,890,790,820,657,633,657,0.40091749376,-0.0154388416045,0.0599211267297,0.999999971124,-9.25740438698e-05,-0.000218133213519,-3.99943881701e-05,1793251665661787392
+101,1.683333333,BASELINE,770,746.401641413,724,691,670,643.598358587,890,790,820,657,633,657,0.400919087656,-0.0154376454299,0.0599224524421,0.999999971457,-9.23827113975e-05,-0.000216640198665,-4.02347247046e-05,1793251665678454016
+102,1.700000000,BASELINE,769.822218909,746.177781091,724,691,670,643.822218909,890,790,820,657,633.177781091,657,0.400919980623,-0.0154365660626,0.0599232403878,0.999999971682,-9.16230377653e-05,-0.000215888770859,-4.04166261392e-05,1793251665695120896
+103,1.716666667,BASELINE,769.229797491,746.770202509,724,691,670,643.229797491,890,790,820,657,633.770202509,657,0.400919238805,-0.0154357591261,0.0599227740956,0.999999971657,-8.95378173092e-05,-0.000216866952953,-4.04622388668e-05,1793251665711787776
+104,1.733333333,BASELINE,769.353623888,747,724,690.646376112,670.353623888,643,889.646376112,790.353623888,820,656.646376112,633.646376112,657.353623888,0.400919109938,-0.0154366448019,0.0599223797849,0.999999971562,-9.00861100088e-05,-0.000217068922428,-4.05058850527e-05,1793251665728454400
+105,1.750000000,BASELINE,769.931341932,747,724,690.068658068,670.931341932,643,889.068658068,790.931341932,820,656.068658068,633.068658068,657.931341932,0.400919369504,-0.0154386030991,0.0599220310895,0.999999971421,-9.23032798813e-05,-0.000216779000139,-4.05482850304e-05,1793251665745121024
+106,1.766666667,BASELINE,770,747,724,690.502043427,670.497956573,643,889.502043427,790.497956573,820,656.502043427,633,657.497956573,0.400918502245,-0.0154376469702,0.0599215718764,0.999999971278,-9.24205363976e-05,-0.000217395963471,-4.0511502882e-05,1793251665761787648
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,724,690,670,643,890,790,820,657,633,657,0.400920386624,-0.0154374036364,0.0599229948,0.999999971956,-8.911423281e-05,-0.000215680504338,-4.0343776391e-05,1793251665805386240
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746,724.597656353,690.597656353,670,643,890,790,819.402343647,657,633,657,0.400920250089,-0.0154360831886,0.0599230349273,0.999999971884,-8.90290383138e-05,-0.000216032207223,-4.0442309226e-05,1793251665822053376
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.188439766,724.811560234,691,670.188439766,643,890,790.188439766,819.188439766,657,633,657,0.400920270132,-0.0154359582216,0.0599229794045,0.999999971729,-8.99043320858e-05,-0.000216379860234,-4.04860494446e-05,1793251665838720256
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746.765065047,724.234934953,691,670.765065047,643,890,790.765065047,819.765065047,657,633,657,0.400920612725,-0.015438295942,0.0599227268427,0.999999971398,-9.27582296246e-05,-0.000216719170576,-4.04169170079e-05,1793251665855386880
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.658332651,747,724,691,671,643,889.658332651,791,819.658332651,657,633,657,0.400920255095,-0.0154387439042,0.0599222884916,0.999999971324,-9.2020770386e-05,-0.000217370766099,-4.0424704699e-05,1793251665872053248
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.081746184,747,724,691,671,643,889.081746184,791,819.081746184,657,633,657,0.400919416015,-0.0154378925312,0.059921722398,0.999999971423,-8.88140133712e-05,-0.000218237078517,-4.04853801185e-05,1793251665888719360
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.491933045,747,724,691,670.508066955,643,889,790.508066955,819,657,633,657,0.40092519597,-0.0154372628523,0.0599240746504,0.999999972463,-8.90945152632e-05,-0.000213350755962,-4.02147061525e-05,1793251665905385984
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889.067586209,790.067586209,819.067586209,657,633,657,0.40093309867,-0.0154369180107,0.0599269956187,0.999999973703,-9.02303163187e-05,-0.000207019688601,-3.99334742654e-05,1793251665922052864
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889.662383578,790.662383578,819.662383578,657,633,657,0.400949030507,-0.0154385093804,0.0599305922217,0.999999975453,-9.35441471941e-05,-0.000196831813937,-3.99968720029e-05,1793251665938719488
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.76383439,724,691,670.23616561,643,890,791,820,657,633,657,0.400971582171,-0.015440125527,0.0599352323695,0.999999977914,-9.53948190415e-05,-0.000183001194807,-3.97731454469e-05,1793251665955386112
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746.21764046,724,691,670.78235954,643,890,791,820,657,633,657,0.401002824068,-0.0154417741998,0.0599412424388,0.999999981178,-9.53247167315e-05,-0.000164388534106,-3.91724941356e-05,1793251665972052736
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643.365552271,890.365552271,790.634447729,820,657,633.365552271,657,0.401040116434,-0.0154429079025,0.0599458156262,0.999999984246,-9.31425162259e-05,-0.00014594715854,-3.91283726647e-05,1793251665988719360
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643.973253816,890.973253816,790.026746184,820,657,633.973253816,657,0.401081416759,-0.0154437004788,0.0599494369945,0.999999987068,-8.9561218814e-05,-0.000127619243869,-3.94529078374e-05,1793251666005385984
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.453722584,643.453722584,890.453722584,790,820,657,633.453722584,657,0.401135863852,-0.0154458820077,0.0599524875643,0.999999988485,-8.95988630181e-05,-0.000115957053083,-3.94453326809e-05,1793251666022052864
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,890,790.124019811,820,657,633,657,0.401193911809,-0.0154485505179,0.0599552675813,0.999999989482,-9.05642342171e-05,-0.00010618030209,-3.95015011936e-05,1793251666038719488
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,890,790.726106373,820,657,633,657,0.401263507136,-0.0154528497329,0.0599571059803,0.999999989492,-9.44635303773e-05,-0.000102488524832,-3.98623248158e-05,1793251666055386112
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.313294783,643,890,791,820.313294783,657,633,657,0.401345861268,-0.0154573704532,0.0599600211827,0.999999989964,-9.73871922937e-05,-9.46862835798e-05,-4.0275291221e-05,1793251666072052736
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.888049896,643,890,791,820.888049896,657,633,657,0.401438863265,-0.0154620760306,0.0599638350317,0.999999990738,-9.9496637884e-05,-8.34536525965e-05,-4.07317733891e-05,1793251666088719360
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.526756957,746.473243043,724,691,671,643,890,791,820.526756957,657,633,657,0.401547766013,-0.015467095299,0.0599656766163,0.999999990937,-0.000100755195353,-7.91291349309e-05,-4.1394345519e-05,1793251666105386240
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.060051715,747,724,691,671,643,890,791,820,657,633,657,0.401663156952,-0.0154723765619,0.0599668427938,0.999999990995,-0.000102048334359,-7.63029635354e-05,-4.21276049877e-05,1793251666122052864
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.639002576,747,724,691,671,643,890,791,820,657,633,657,0.401801376076,-0.0154792660148,0.0599662952568,0.999999990926,-0.000105418798609,-7.19845989504e-05,-4.30408992817e-05,1793251666138719744
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.782530598,643,890.217469402,791,820,657,633,657,0.401951982295,-0.0154867524736,0.0599659366963,0.999999990854,-0.000108741825221,-6.73795774617e-05,-4.38922481154e-05,1793251666155386368
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.204865536,643,890.795134464,791,820,657,633,657,0.402123105305,-0.0154952277555,0.0599658911388,0.999999990792,-0.000111986280304,-6.2299765139e-05,-4.46409962831e-05,1793251666172053248
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724.370969752,691,670,643.370969752,891,790.629030248,820,657,633,657,0.402316033918,-0.0155047284698,0.0599665218743,0.999999990479,-0.000117710693175,-5.60534614701e-05,-4.52167906418e-05,1793251666188719872
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,724.945799573,691,670,643.945799573,891,790.054200427,820,657,633,657,0.402520945441,-0.0155147926937,0.059967524255,0.99999998996,-0.000124797924639,-4.9166131997e-05,-4.56975412655e-05,1793251666205386240
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.466876968,746.466876968,724.466876968,691,670.533123032,643.466876968,890.466876968,790.533123032,820.533123032,657,633,657,0.402761872401,-0.0155240754293,0.0599669971871,0.999999989078,-0.000133683341206,-4.27898978063e-05,-4.62763654342e-05,1793251666222053120
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.119828565,746,724,691,670.880171435,643,890.119828565,791,820.880171435,657,633,657,0.403013271997,-0.0155337468176,0.0599668662109,0.999999987328,-0.000147726195208,-3.66716946573e-05,-4.66511378242e-05,1793251666238719744
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.699176865,746,724,691,670.300823135,643,890.699176865,791,820.300823135,657,633,657,0.403290453966,-0.0155452206079,0.0599688647648,0.999999982092,-0.000180828961992,-3.13389475264e-05,-4.62042572221e-05,1793251666255386112
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.275561136,724.275561136,691,670,643,890.724438864,791,820.275561136,657,633,657,0.403577043256,-0.0155530792434,0.0599635653676,0.999999979361,-0.000193996159666,-3.80801791114e-05,-4.68316887448e-05,1793251666272052736
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.84874405,724.84874405,691,670,643,890.15125595,791,820.84874405,657,633,657,0.403873792974,-0.0155570333047,0.0599503837658,0.999999979914,-0.000185631801305,-5.78619981943e-05,-4.86194388237e-05,1793251666288719616
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.575373652,747,724.575373652,691,670,643,890.424626348,791,820.575373652,657,633.424626348,657,0.404196230368,-0.0155538144932,0.0599370092694,0.999999980925,-0.000170652741973,-8.07049647532e-05,-5.01365320754e-05,1793251666305386496
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.001512089,746.998487911,724,691,670,643,891,791,820,657,633.998487911,657,0.404528040179,-0.0155480227366,0.0599235883375,0.999999981445,-0.000153329041545,-0.000104604336848,-5.1555590028e-05,1793251666322053632
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.592333538,746.407666462,724,691,670,643,891,791,820,657,633.407666462,657,0.404923645092,-0.0155416256329,0.0599190200464,0.99999998157,-0.000146392724519,-0.000112532514566,-5.258184298e-05,1793251666338720256
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746.179260837,724,691,670,643,891,791,820,657,633,657,0.405341395454,-0.0155394978333,0.0599221523315,0.999999982008,-0.000147243254852,-0.000107387811864,-5.26417670178e-05,1793251666355386880
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746.757520457,724,691,670,643,891,791,820,657,633,657,0.405808437104,-0.0155468726521,0.0599424245598,0.999999982364,-0.000165425751359,-7.3145489924e-05,-5.05508359169e-05,1793251666372053248
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746.665147635,724.334852365,691,670,643,891,791,820,656.665147635,633,657,0.406306630138,-0.0155532251973,0.0599669553643,0.999999984509,-0.000166376180463,-3.06901577249e-05,-4.8568983762e-05,1793251666388719872
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746.088485604,724.911514396,691,670,643,891,791,820,656.088485604,633,657,0.406827318821,-0.0155588395207,0.0599945614514,0.99999998676,-0.000154882678017,1.7696106052e-05,-4.66659014019e-05,1793251666405386496
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.484352199,724.515647801,691.484352199,670.484352199,643,891.484352199,791,820,656.484352199,633,657,0.407348979418,-0.0155606217261,0.0600089353558,0.999999987489,-0.000147483524927,3.42128792515e-05,-4.58263048991e-05,1793251666422053120
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.94137668,747,724.05862332,692,671,643,892,791,820.05862332,657,633,657,0.407873803423,-0.0155613458125,0.0600183389779,0.999999987988,-0.00014263385742,4.03266355239e-05,-4.53160157012e-05,1793251666438720000
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+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746.77090371,724.77090371,692,671,643,892,791,821,657,633,657,0.40899726969,-0.015556809835,0.0599925587518,0.999999986675,-0.000154565715735,-2.38837399355e-05,-4.67789389596e-05,1793251666472053504
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.217980442,724.217980442,692,671,643,892,791,821,657,633,657,0.409595910978,-0.015555788581,0.0599841830087,0.999999988414,-0.000138793657332,-4.06554995231e-05,-4.74932682566e-05,1793251666488719872
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.363719006,746.363719006,724,691.636280994,670.636280994,643,892.363719006,791,821,657,633,657,0.410242267525,-0.0155554791806,0.0599866146674,0.99999998973,-0.000132301294277,-2.79416504621e-05,-4.749826996e-05,1793251666505386496
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.964145939,746.964145939,724,691.035854061,670.035854061,643,892.964145939,791,821,657,633,657,0.410919677088,-0.0155556330537,0.0599960797715,0.999999990194,-0.000131848147202,3.96140067275e-06,-4.70416419968e-05,1793251666522053120
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+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.201941583,724,692.201941583,670,643.798058417,897,790.798058417,825,657,634,657,0.41780378567,-0.0155705258745,0.0600223241515,0.999999987538,-0.000146544514304,3.20696848222e-05,-4.92025215194e-05,1793251666672053248
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+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724.934125747,693,670,643,897,790.934125747,825.934125747,657,634,657,0.420361726313,-0.0155719698313,0.0599407278916,0.999999983967,-0.000145184303426,-8.77423240381e-05,-5.73541684218e-05,1793251666722053120
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724.492315353,693,670,643,896.492315353,790.492315353,826,657,633.492315353,657,0.421185876679,-0.0155680783676,0.0599016102138,0.999999974502,-0.000143492104516,-0.000163503947653,-6.0609159592e-05,1793251666738720000
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,693.084165277,670.084165277,643,896.168330554,790,826,657,633,657,0.422028320607,-0.0155652525211,0.0598717316363,0.999999963193,-0.000142326670923,-0.000222175762716,-6.31999458405e-05,1793251666755386880
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+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,694,671,643,898.266414396,790,826,657,633,657.266414396,0.423985629444,-0.0155760060421,0.059951120738,0.999999984642,-0.00014638571375,-7.65913497466e-05,-5.84915143145e-05,1793251666788719872
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,694,671,643,898.842474555,790,826,657,633,657.842474555,0.425015305098,-0.015581067825,0.0600207068371,0.999999987548,-0.000145926390179,3.00093989612e-05,-5.2053263759e-05,1793251666805386496
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+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.007616162,724,694,671,643,899,790,826.992383838,657,633.992383838,658,0.42693937589,-0.0155829860734,0.0600419784379,0.999999984767,-0.000144248180713,8.41434606693e-05,-5.07842663702e-05,1793251666838719232
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,642.458007778,893.541992222,790,824.541992222,656.541992222,633,657,0.426728797228,-0.0154069820663,0.0597415243261,0.999999905055,0.000144168275863,-0.000410701537164,2.0753850576e-05,1793251669580336128
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769.036126117,746.963873883,724,692.036126117,671,643,893,790,824,656.072252234,633,657,0.425801350238,-0.0154083912162,0.059743219766,0.9999999158,0.000140132357278,-0.000385171645521,2.01584289342e-05,1793251669597002752
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769.609522156,746.390477844,724,692.609522156,671,643,893,790,824,657.219044312,633,657,0.42486445585,-0.0154072433225,0.0597811747317,0.99999992808,0.000149601900802,-0.000347600310618,2.51510609767e-05,1793251669613669376
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769.822610221,746,724,692.822610221,671,643,893,790,824,657.822610221,633,657,0.423939506687,-0.0154062775641,0.059812571545,0.999999938382,0.000159401173795,-0.000311421290299,2.9049679638e-05,1793251669630336000
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769.266544074,746,724,692.266544074,671,643,893,790,824,657.266544074,633,657,0.423040056984,-0.0154057006124,0.0598299685886,0.999999946396,0.000169904326826,-0.000278214456415,3.06128940858e-05,1793251669647002880
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746,724,691.678306977,671,643,893,790.321693023,823.678306977,657,633,657,0.422150709717,-0.0154056222355,0.0598413329097,0.999999951134,0.000175214516508,-0.000256929327362,3.19238257918e-05,1793251669663669504
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746,724,691.060452222,671,643,893,790.939547778,823.060452222,657,633,657,0.421270663155,-0.0154060028639,0.0598471432966,0.999999953602,0.000175743883892,-0.000246619734598,3.3002497203e-05,1793251669680336384
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,724,691.518492226,670.481507774,643,893,791,822.481507774,657,633,657,0.420300002444,-0.0153976588641,0.0597885189337,0.999999921041,0.000180100876803,-0.00035315070128,2.76733805818e-05,1793251669697003264
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,724,692,670.093233202,642.906766798,892.906766798,791,821.906766798,657,633,657,0.419337200459,-0.0153901833258,0.0597316206366,0.999999881031,0.00018305799204,-0.000451586352922,2.23201163979e-05,1793251669713669632
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,724,692,670.668059321,642.331940679,892.331940679,791,821.331940679,657,633,657,0.418465755663,-0.0153920814421,0.0597197354295,0.999999886176,0.000176639814638,-0.000442750405404,2.04318438819e-05,1793251669730336256
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769.250507513,746.250507513,724,692,671,642.250507513,892.250507513,791,820.749492487,657,633,657,0.417630864637,-0.0153943217015,0.0597330060642,0.999999899851,0.000173662499235,-0.000411916963235,2.15496604467e-05,1793251669747002880
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.843372403,746.843372403,724,692,671,642.843372403,892.843372403,791,820.156627597,657,633,657,0.41684593008,-0.0153970295523,0.05978065606,0.999999922653,0.000175387655615,-0.000351020531863,2.67757641694e-05,1793251669763669248
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769.576324667,746.576324667,724,692,671,643,893,791,820.423675333,657,633,657,0.416067926718,-0.0153987531783,0.0598153647376,0.999999937259,0.000174371427404,-0.000306849892008,3.03308370463e-05,1793251669780336128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.000531963,746.000531963,724,692,671,643,893,791,820.999468037,657,633,657,0.415292411884,-0.0154001234263,0.0598454269385,0.999999948494,0.00017237092621,-0.00026868451388,3.32859395618e-05,1793251669797003008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746.575131748,724,692,671,643,892.424868252,791,820.424868252,657,633,657,0.414519899983,-0.0153962582105,0.0598432193318,0.999999945796,0.000180714356164,-0.000273253310088,3.29161255626e-05,1793251669813669888
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,642.845497047,892,791,820.154502953,657,633,657,0.413747140025,-0.0153929020082,0.0598380017607,0.999999941944,0.000188057648011,-0.000282295128689,3.24777162641e-05,1793251669830336768
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,642.255679448,892,791,820.744320552,657,633,657,0.412973673157,-0.0153909935999,0.0598243876413,0.999999934798,0.000192556085319,-0.00030382842156,3.18547013958e-05,1793251669847003392
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769.328139595,747,724,692,671,642.328139595,891.671860405,791,821,657,633,657,0.412197636565,-0.0153870912013,0.059788766079,0.999999914614,0.000194196472309,-0.000363691546537,2.80634969313e-05,1793251669863669760
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.907368564,747,724,692,671,642.907368564,891.092631436,791,821,657,633,657,0.41141963369,-0.0153816630199,0.0597363046263,0.999999878459,0.000193649904282,-0.000452884299947,2.18480230525e-05,1793251669880336128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,747,723.515902792,692,671,643,891,791,820.515902792,657,633,657,0.410764737481,-0.0153827230974,0.0597370630517,0.999999883918,0.000198147544408,-0.000438663063958,2.18164202226e-05,1793251669897002752
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,747,723.06019126,691.93980874,671,643,891,791,820,657,633,657,0.41013862666,-0.0153850875397,0.0597517308138,0.999999898651,0.000202612452201,-0.000401369467268,2.34218249028e-05,1793251669913669376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,747,723.634929407,691.365070593,671,643,891,791,820,657,633,657,0.409558251418,-0.015388043742,0.0597986958029,0.999999923705,0.000198588872438,-0.000335131449289,2.89579396506e-05,1793251669930336256
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.78476337,747,724,691.21523663,671,643,891,791,820.21523663,657,633,657,0.408975871597,-0.0153896754204,0.0598345549393,0.999999939381,0.000197427945312,-0.000284930463586,3.27958154429e-05,1793251669947002880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769.194759398,747,724,691.805240602,671,643,891,791,820.805240602,657,633,657,0.408390001489,-0.015389000854,0.0598510766985,0.999999944689,0.000201251434919,-0.000262652967681,3.36767383088e-05,1793251669963669504
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,643,891,791,820.612093693,657,633,657,0.407822359239,-0.0153881365666,0.0598451939411,0.999999943451,0.000201573416314,-0.000267180464987,3.28629926263e-05,1793251669980336896
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,671,643,891,791,820.033043915,657,633,657,0.407263698836,-0.0153871787929,0.0598282712072,0.99999993889,0.000200170006046,-0.000284916302969,3.12141875672e-05,1793251669997004544
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.540692989,746.459307011,724,692,671,643,890.459307011,790.459307011,820,657,633,657,0.40675416402,-0.0153843378722,0.0598142256034,0.999999932717,0.000200912019761,-0.000305565038942,2.88075551837e-05,1793251670013670912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,746.117128469,724,692,671,643,890,790.117128469,820,657,633,657,0.406259377024,-0.0153825036212,0.0598052118271,0.99999992884,0.000200218573629,-0.000318591289809,2.70741249793e-05,1793251670030337024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,746.705720614,724,692,671,643,890,790.705720614,820,657,633,657,0.405811985501,-0.0153851801382,0.0598157512066,0.999999935866,0.00019322450905,-0.000300226053528,2.82350647986e-05,1793251670047003392
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770.289646848,747,724,691.710353152,671,643,890,790.710353152,820.289646848,657,633,657,0.405378483691,-0.0153863496557,0.0598197690895,0.999999938,0.000195115464659,-0.000291736791779,2.86374398135e-05,1793251670063669760
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770.868907665,747,724,691.131092335,671,643,890,790.131092335,820.868907665,657,633,657,0.404958870044,-0.0153860123445,0.0598172662155,0.999999935444,0.000205890432341,-0.000293122384664,2.82813360673e-05,1793251670080336128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.553013596,747,724,691,671,643,890,790,821,657,633,657,0.404548684448,-0.0153858750753,0.0597981458948,0.999999924848,0.000212517129395,-0.000323174746387,2.6436638547e-05,1793251670097003264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,723.97543965,691,671,643,889.97543965,790,820.97543965,657,633,657,0.404143829886,-0.0153856533546,0.0597744279899,0.999999910882,0.000217188802989,-0.000361223383993,2.41360733611e-05,1793251670113670144
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,723.401423212,691,671,643,889.401423212,790,820.401423212,657,633,657,0.403796543399,-0.0153822332623,0.0597565967844,0.999999902431,0.000205269070657,-0.00039057059587,2.13781452699e-05,1793251670130336512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,723.177271685,691,671,643,889,790,820,657,633,657,0.403476089014,-0.0153803262504,0.0597501159349,0.999999900829,0.000197295769422,-0.000398765236537,2.00502368777e-05,1793251670147002880
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,723.766847819,691,671,643,889,790,820,657,633,657,0.40321804168,-0.0153819384124,0.0597700341277,0.999999916059,0.000198501212268,-0.000357762511636,2.20483168201e-05,1793251670163669504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.649907323,643,889,790,820.350092677,657,633,657,0.402975387648,-0.0153841981689,0.0597890360945,0.999999925484,0.000206963265778,-0.000324999962928,2.39308235569e-05,1793251670180335872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.070803966,643,889,790,820.929196034,657,633,657,0.402742803012,-0.015386881545,0.0598074387203,0.99999993114,0.000220172180606,-0.000297627663895,2.57377290863e-05,1793251670197002752
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,670.505737817,643,889,790,821,657,633,657,0.402535898394,-0.0153855375617,0.0598196905513,0.999999936642,0.000221895279562,-0.000277052121983,2.68618688298e-05,1793251670213669376
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.08175749,790,820.91824251,657,633,657,0.402335041689,-0.0153837819934,0.0598292860456,0.999999941005,0.000221491192051,-0.00026108153457,2.77170940627e-05,1793251670230336000
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.656780141,790,820.343219859,657,633,657,0.402149091869,-0.015382927851,0.0598280243289,0.999999940187,0.000217905998102,-0.000267181823308,2.75236881927e-05,1793251670247002624
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.762362595,790,820,657,633,657,0.401969547294,-0.0153829533345,0.0598242164747,0.999999938455,0.000213143209007,-0.000277352984393,2.71125953544e-05,1793251670263669248
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.172866323,790,820,657,633,657,0.401799486685,-0.0153842812399,0.0598166386708,0.999999935216,0.000206636808668,-0.000293551700093,2.63791833574e-05,1793251670280335872
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,746.589842894,724,691,671,643,889.410157106,790,820,657,633,657,0.401661992469,-0.0153872580937,0.0598159130799,0.9999999353,0.000199493713196,-0.000298179549761,2.62844227153e-05,1793251670297003264
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,746.009505166,724,691,671,643,889.990494834,790,820,657,633,657,0.401538010565,-0.0153909191222,0.0598180305799,0.999999936798,0.000192086443088,-0.00029800646504,2.64546485672e-05,1793251670313670912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746.564675406,724,691,671,643,889.435324594,790,820.564675406,657,633,657,0.401441966009,-0.0153917361765,0.0598205602206,0.999999937588,0.000191981715335,-0.000295397632202,2.66015700354e-05,1793251670330336768
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820.286116469,657,633,657,0.401281359113,-0.0153911271205,0.0598241650283,0.999999938885,0.000194952144979,-0.00028898515706,2.66600405266e-05,1793251670363669760
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,746.702043728,724,691,671,643,889,790,820.297956272,657,633,657,0.401217279057,-0.01539071868,0.0598256411564,0.999999939136,0.000196574271812,-0.000287011468355,2.66705736305e-05,1793251670380336384
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,746.10890873,724,691,671,643,889,790,820.89109127,657,633,657,0.401160029147,-0.0153908572075,0.0598272381844,0.999999939082,0.000197443678931,-0.000286595732744,2.67335448888e-05,1793251670397002496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,746.469150977,724,691,671,643,889.469150977,790,820.530849023,657,633,657,0.401113097627,-0.0153902639051,0.0598267907333,0.999999937995,0.000201025871178,-0.000287916823947,2.65191604301e-05,1793251670413669376
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,890,790,820,657,633,657,0.401069938545,-0.0153895629717,0.0598258807652,0.999999936715,0.000205094249298,-0.000289512717784,2.62486616467e-05,1793251670430336256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,890,790,820,657,633,657,0.401044365762,-0.0153895521535,0.0598249382394,0.999999936134,0.000207661008628,-0.000289705387713,2.60540775562e-05,1793251670447003136
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.806849924,790,820,657,633,657,0.401020823808,-0.0153895140569,0.0598235676223,0.999999935228,0.000210101329789,-0.000291093636669,2.58054182466e-05,1793251670463669760
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.208828512,790,820,657,633,657,0.401001538773,-0.015389418781,0.059821299662,0.999999933637,0.000212276617554,-0.000294987997385,2.54434092325e-05,1793251670480336128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820,656.643385566,633,657,0.400990064065,-0.0153897591102,0.0598221879799,0.999999934104,0.000211816611664,-0.00029375963403,2.51251635618e-05,1793251670497002752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820,656.095423205,633,657,0.40098278013,-0.0153903331711,0.059824769856,0.999999935667,0.000209942591214,-0.000289782580269,2.48303999162e-05,1793251670513669376
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820,656.500483965,633,657,0.400977721258,-0.0153895064396,0.0598268821526,0.999999935806,0.000213684897752,-0.000286522325296,2.51293513742e-05,1793251670530336256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790.103682418,820,657,633,657,0.40097331554,-0.0153888108229,0.0598282680784,0.999999935702,0.000217090690861,-0.000284298979545,2.53342541859e-05,1793251670547003136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790.693661452,820,657,633,657,0.400969772709,-0.0153901155443,0.0598267115532,0.999999935974,0.000213363632034,-0.000286230089715,2.45108639567e-05,1793251670563669760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,746.721727083,724,691,671,643,889,790.721727083,820,657,633,657,0.400968126515,-0.015391380687,0.0598271705269,0.999999936325,0.000212585048087,-0.000285568875773,2.46677042054e-05,1793251670580336384
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af745929b51a2e2ff4ac5931f9c97b5b6b57a549
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96cf4a5a2647c753a2f78497de4ee4dffcc6be5c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe59e4714ef150d346b6ee892e7e0abf50a156926c79ceab7c528f356e731884
+size 39239285
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2eed288f6ab1203e2ba18433379e5913796e78c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/franka_data.csv
@@ -0,0 +1,617 @@
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+8,0.133333333,BASELINE,770,746,724,691,671,642.635776129,889.364223871,790,820,657,633,656.635776129,0.40096767224,-0.0153958853362,0.0598349576879,0.999999939859,0.000210898657544,-0.000274252491847,2.42573233987e-05,1793251671165406976
+9,0.150000000,BASELINE,770,746,724,691,671,643,888.788398194,790,820,657,633,657,0.400967841017,-0.0153966635368,0.059835142951,0.999999940058,0.000210257962956,-0.00027399966902,2.44944770526e-05,1793251671182073856
+10,0.166666667,BASELINE,770,746,724,691,671,643,888.21581592,790,820,657,633,657,0.400968384063,-0.0153966433341,0.0598356520281,0.999999940033,0.000211287541922,-0.000273284750934,2.46531935792e-05,1793251671198740992
+11,0.183333333,BASELINE,770,746.371506558,724,691,671,643,888.371506558,790.371506558,820,657,633,657,0.400969611692,-0.0153966397409,0.0598365159133,0.999999940571,0.000211126366548,-0.000271427713433,2.46915275286e-05,1793251671215407360
+12,0.200000000,BASELINE,770,746.967745773,724,691,671,643,888.967745773,790.967745773,820,657,633,657,0.400971253439,-0.0153966461953,0.05983759443,0.999999941446,0.000210244877245,-0.000268879782192,2.46570393703e-05,1793251671232073728
+13,0.216666667,BASELINE,770,747,724,691,671,643,889,790.458305148,820,657,633,657,0.400969339148,-0.015396313652,0.0598369817725,0.999999941051,0.000210331177096,-0.000270296209178,2.44576014975e-05,1793251671248740352
+14,0.233333333,BASELINE,770,746.884754689,724,691,671,643,889,790,820,657,633,657,0.400967702064,-0.0153961953183,0.0598363274707,0.999999940622,0.000210452097776,-0.000271799336274,2.43033578365e-05,1793251671265406720
+15,0.250000000,BASELINE,770,746.307693115,724,691,671,643,889,790,820,657,633,657,0.400967990768,-0.0153970130643,0.059835893863,0.999999940356,0.000210489960695,-0.000272741365262,2.43680205807e-05,1793251671282073856
+16,0.266666667,BASELINE,769.723911849,746,724,691,670.723911849,643,889,790,820,657,633,657,0.400968150449,-0.0153974867512,0.059835722623,0.999999940318,0.00021037841223,-0.000272957333415,2.44830762188e-05,1793251671298740736
+17,0.283333333,BASELINE,769.132454878,746,724,691,670.132454878,643,889,790,820,657,633,657,0.400968162752,-0.0153975674276,0.0598358510793,0.99999994054,0.00021009619475,-0.000272343939771,2.46556944377e-05,1793251671315407616
+18,0.300000000,BASELINE,769.449267225,746,724,691,670.449267225,643,889,790.449267225,820,657,633,657,0.40096872495,-0.0153971540898,0.0598363739409,0.999999940917,0.000208986906873,-0.000271842270019,2.43555482216e-05,1793251671332073984
+19,0.316666667,BASELINE,770,746,724,691,671,643,889,790.972013494,820,656.972013494,633,657,0.400969412368,-0.0153966376117,0.0598369762792,0.999999941303,0.000207770753006,-0.000271388349629,2.39556972147e-05,1793251671348740096
+20,0.333333333,BASELINE,770,746,724,691,671,643,889,790.397077957,820,656.397077957,633,657,0.400969445774,-0.0153968914925,0.0598369075544,0.999999941053,0.000209130463502,-0.00027123752715,2.42735059256e-05,1793251671365406720
+21,0.350000000,BASELINE,770,746,724,691,670.822411885,643,889,790,820,656.177588115,633,657,0.400969006714,-0.0153968471489,0.059836606582,0.999999940744,0.000210050759735,-0.000271649188608,2.44472387294e-05,1793251671382073600
+22,0.366666667,BASELINE,770,746,724,691,670.248347487,643,889,790,820,656.751652513,633,657,0.400967512844,-0.0153961370007,0.0598357871026,0.999999940306,0.000209990036686,-0.000273316629734,2.42993132536e-05,1793251671398740480
+23,0.383333333,BASELINE,770,746,724,691,670.336293517,643,889,790,820,657,633,657,0.400967747753,-0.0153958692029,0.0598362686501,0.999999940448,0.000210122418346,-0.00027270355274,2.42061714573e-05,1793251671415407360
+24,0.400000000,BASELINE,770,746,724,691,670.928998867,643,889,790,820,657,633,657,0.400969300794,-0.0153959386814,0.0598377421841,0.999999941029,0.000210402035465,-0.000270351662055,2.41548002504e-05,1793251671432074496
+25,0.416666667,BASELINE,769.491791612,746,724,690.491791612,671,643,889,790,820,657,633,657.508208388,0.400967898488,-0.0153971917776,0.0598364604883,0.999999940878,0.000209458544981,-0.000271638962116,2.41399187265e-05,1793251671448741120
+26,0.433333333,BASELINE,769.085185047,746,724,690,671,643,889,790.085185047,820,657,633,657.914814953,0.400966532819,-0.0153982227265,0.0598351010849,0.999999940653,0.000208732785072,-0.000273030220997,2.40840734508e-05,1793251671465407744
+27,0.450000000,BASELINE,769.659885455,746,724,690,671,643,889,790.659885455,820,657,633,657.340114545,0.400967688959,-0.0153970514398,0.0598354499097,0.999999940583,0.000210214764112,-0.00027217278883,2.37642928453e-05,1793251671482074112
+28,0.466666667,BASELINE,770,746,724,690.24047803,671,643,889,790.75952197,820,657,633,657,0.400968630066,-0.0153966902524,0.0598358822715,0.999999940693,0.000211089890321,-0.000271091059348,2.37567181212e-05,1793251671498740480
+29,0.483333333,BASELINE,770,746,724,690.829613333,671,643,889,790.170386667,820,657,633,657,0.400969259405,-0.0153975035884,0.0598364357497,0.999999941064,0.000211085170355,-0.000269684132271,2.42017953762e-05,1793251671515407104
+30,0.500000000,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400968466417,-0.0153982244159,0.059835850239,0.999999940818,0.000210771016943,-0.000270831756519,2.43028596423e-05,1793251671532073984
+31,0.516666667,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400967094691,-0.015398907602,0.0598348012796,0.999999940316,0.000210330956662,-0.000273018814517,2.42639467924e-05,1793251671548740352
+32,0.533333333,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400968880071,-0.0153984561659,0.0598363134361,0.999999941046,0.00020953742673,-0.000270945308814,2.43202955001e-05,1793251671565407744
+33,0.550000000,BASELINE,770,746.146567227,724,691,671,643,889,790,820,657,633,657,0.400969948172,-0.0153981402762,0.0598373356844,0.999999941578,0.000208759020831,-0.00026957633859,2.43251658541e-05,1793251671582074624
+34,0.566666667,BASELINE,770,746.718416711,724,691,671,643,889,790,820,657,633,657,0.400968791108,-0.0153982694051,0.059836819673,0.999999941497,0.000208040609969,-0.000270445853546,2.41763237227e-05,1793251671598741248
+35,0.583333333,BASELINE,770,746.70020907,724,691,671,643,889.29979093,790,820,657,633,657,0.4009682702,-0.0153976321621,0.0598364411753,0.999999941072,0.000209127575139,-0.000271194803815,2.39893505226e-05,1793251671615407872
+36,0.600000000,BASELINE,770,746.109594965,724,691,671,643,889.890405035,790,820,657,633,657,0.400968366416,-0.0153962514721,0.0598361960776,0.999999940308,0.000211965911387,-0.000271826795991,2.37653868643e-05,1793251671632073984
+37,0.616666667,BASELINE,770,746.471127884,724,691,671,643,889.528872116,790,820,657,633,657,0.400967124257,-0.0153972892815,0.0598358083853,0.999999940228,0.000211475547264,-0.000272487164632,2.3948663914e-05,1793251671648740608
+38,0.633333333,BASELINE,770,746.950707234,724,691,671,643,889.049292766,790.049292766,820,657,633,657,0.400965911085,-0.0153986964293,0.0598355048029,0.999999940342,0.00021036611194,-0.000272903148725,2.41893358055e-05,1793251671665406976
+39,0.650000000,BASELINE,770,746.37578737,724,691,671,643,889.62421263,790.62421263,820,657,633,657,0.400968258642,-0.0153981661458,0.0598364445539,0.99999994088,0.000210742476711,-0.000270644228381,2.405262569e-05,1793251671682073600
+40,0.666666667,BASELINE,770,746,723.796641684,691,670.796641684,643,890,790.796641684,820,657,633,657,0.400969468135,-0.0153981845246,0.0598367842771,0.999999941191,0.000210456610678,-0.000269718738885,2.40501585155e-05,1793251671698740480
+41,0.683333333,BASELINE,770,746,723.209521389,691,670.209521389,643,890,790.209521389,820,657,633,657,0.400968529964,-0.0153992382963,0.0598359916746,0.999999941076,0.000208921034221,-0.000271309596379,2.43010241734e-05,1793251671715407616
+42,0.700000000,BASELINE,770,746,723.37255367,690.62744633,670.37255367,643,889.62744633,790,820,657,633,657,0.400968320718,-0.0153985480149,0.0598359308197,0.999999940872,0.000209584471822,-0.000271550220169,2.42956200397e-05,1793251671732074496
+43,0.716666667,BASELINE,770,746,723.951829219,690.048170781,670.951829219,643,889.048170781,790,820,657,633,657,0.400968515935,-0.0153968899965,0.0598362759956,0.999999940617,0.000211468094252,-0.000271041628772,2.41480173984e-05,1793251671748741120
+44,0.733333333,BASELINE,770,746,724,690.52992818,671,643,889,790,820,657,633,657,0.400968219588,-0.0153973556746,0.0598365073269,0.999999940857,0.000210470712003,-0.000270945775427,2.40141877645e-05,1793251671765407488
+45,0.750000000,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400968049506,-0.015397896512,0.0598366564479,0.999999941165,0.000209141903233,-0.000270849805044,2.38698993333e-05,1793251671782074112
+46,0.766666667,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400968623599,-0.0153979257334,0.0598364924586,0.99999994158,0.000207507664086,-0.000270590268275,2.36746141242e-05,1793251671798740480
+47,0.783333333,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400969024697,-0.0153986275697,0.0598365743346,0.999999941822,0.000206696429578,-0.000270306333045,2.37992793041e-05,1793251671815407104
+48,0.800000000,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.40096921289,-0.0154001571804,0.0598369587922,0.999999941853,0.000206898051031,-0.00026999237106,2.43177013256e-05,1793251671832073728
+49,0.816666667,BASELINE,770,746.434703488,724,691,671,643,889,790,820,657,633,657,0.400969268839,-0.0153990799468,0.0598370410858,0.999999941565,0.000208385306875,-0.000269938779672,2.40446371168e-05,1793251671848740352
+50,0.833333333,BASELINE,769.984115998,746.984115998,724,691,670.984115998,643,889,790,820.015884002,657,633,657,0.400969272354,-0.0153972071361,0.0598370277301,0.999999941182,0.000210242351956,-0.000269964177522,2.35300882042e-05,1793251671865407232
+51,0.850000000,BASELINE,769.409592856,746.409592856,724,691,670.409592856,643,889,790,820.590407144,657,633,657,0.400969000999,-0.015398287066,0.0598372359117,0.999999941333,0.000209849366526,-0.000269678031778,2.39144113398e-05,1793251671882074368
+52,0.866666667,BASELINE,769.164822027,746.164822027,724,691,670.164822027,643,889,790,820.835177973,657,633,657,0.400968460898,-0.0153990516354,0.059837056211,0.9999999413,0.000209620670319,-0.000269959088579,2.41181880263e-05,1793251671898740992
+53,0.883333333,BASELINE,769.738968025,746.738968025,724,691,670.738968025,643,889,790,820.261031975,657,633,657,0.400967253384,-0.0153990330291,0.0598359132316,0.99999994081,0.000209799974922,-0.000271648753225,2.38735902182e-05,1793251671915407360
+54,0.900000000,BASELINE,770,746.676232019,724,691,670.676232019,643,889,790,820,657,633,657,0.400966982187,-0.0153980335944,0.0598355056108,0.999999940653,0.000210330817802,-0.000271831849829,2.37092198062e-05,1793251671932073728
+55,0.916666667,BASELINE,770,746.08255027,724,691,670.08255027,643,889,790,820,657,633,657,0.400967491565,-0.0153962164783,0.059835711032,0.999999940773,0.000211154725545,-0.000270758974539,2.36117321129e-05,1793251671948740096
+56,0.933333333,BASELINE,770,746.496609852,724,691,670.496609852,643,889.496609852,790,820.496609852,657,633,657,0.400969820898,-0.0153979884988,0.0598376943766,0.999999942009,0.000209041820676,-0.000267775438168,2.40999561783e-05,1793251671965406976
+57,0.950000000,BASELINE,770,746.926855271,724,691,671,643,890,790,820.926855271,657,633,657,0.400971887208,-0.0154000781897,0.0598395236254,0.999999943086,0.000207029569677,-0.000265256464545,2.46049060834e-05,1793251671982073856
+58,0.966666667,BASELINE,770,746.352239825,724,691,671,643,890,790,820.352239825,657,633,657,0.400970135095,-0.0154003716906,0.0598383277947,0.999999941944,0.000208959195868,-0.000268038066813,2.45759924793e-05,1793251671998740992
+59,0.983333333,BASELINE,770,746.228123452,724,691,670.771876548,643,889.771876548,790.228123452,820,657,633,657,0.400968758798,-0.015399695382,0.0598372574998,0.999999941002,0.000210680891665,-0.000270207161461,2.44541343902e-05,1793251672015407872
+60,1.000000000,BASELINE,770,746.8175913,724,691,670.1824087,643,889.1824087,790.8175913,820,657,633,657,0.400967977786,-0.0153974829089,0.0598363860517,0.999999940389,0.000212073228889,-0.000271406052931,2.41850535166e-05,1793251672032074496
+61,1.016666667,BASELINE,770,746.600000785,724,691,670.399999215,643,889,790.600000785,820,657.399999215,633.399999215,657,0.400969841332,-0.0153973385643,0.0598381995274,0.999999941106,0.000212075951444,-0.00026874194342,2.4273239164e-05,1793251672048740608
+62,1.033333333,BASELINE,770,746.020756557,724,691,670.979243443,643,889,790.020756557,820,657.979243443,633.979243443,657,0.40097288994,-0.0153981209758,0.0598412161535,0.999999942403,0.000211455968941,-0.000264346771275,2.45215207475e-05,1793251672065406720
+63,1.050000000,BASELINE,770,746.55580789,724,691,670.44419211,643,889.55580789,790,820,657.44419211,633.44419211,657,0.400970817017,-0.0153981584996,0.0598393766058,0.999999941971,0.000210707553556,-0.000266592986347,2.42524888727e-05,1793251672082073600
+64,1.066666667,BASELINE,770,747,724,691,670.131627229,643,890,790,820,657,633,657,0.400969151578,-0.0153981599357,0.0598378586174,0.999999941598,0.000209944034624,-0.000268610868814,2.39742701203e-05,1793251672098740224
+65,1.083333333,BASELINE,770,747,724,691,670.705278812,643,890,790,820,657,633,657,0.400969493741,-0.0153981331518,0.0598380265635,0.999999941658,0.000209145825158,-0.000269033077553,2.37297652676e-05,1793251672115406848
+66,1.100000000,BASELINE,770,747,724,691,671,643,889.712792944,790,820,657.287207056,633,657,0.400969237334,-0.0153983189425,0.0598377848244,0.999999941566,0.000208334597042,-0.000269993188586,2.38198304958e-05,1793251672132073728
+67,1.116666667,BASELINE,770,747,724,691,671,643,889.122119519,790,820,657.877880481,633,657,0.40096834847,-0.015398729342,0.0598371102071,0.999999941314,0.000207509613315,-0.000271521653514,2.42634064408e-05,1793251672148740864
+68,1.133333333,BASELINE,770,746.542607136,723.542607136,691,670.542607136,643,889,790,820,657.542607136,633,657,0.40096892043,-0.0154004173238,0.0598377948271,0.999999942165,0.000205556088458,-0.000269855677132,2.43894229457e-05,1793251672165407744
+69,1.150000000,BASELINE,770,746,723.034062248,691,670.034062248,643,889.034062248,790,820,657,633,657.034062248,0.400969780267,-0.0154022792665,0.0598387713895,0.999999943201,0.000203551060514,-0.000267522536432,2.4428189489e-05,1793251672182073856
+70,1.166666667,BASELINE,770,746,723.611782916,691,670.611782916,643,889.611782916,790,820,657,633,657.611782916,0.400969158035,-0.0154016031942,0.0598387533345,0.999999942738,0.000205418577308,-0.000267829384708,2.43953843684e-05,1793251672198740480
+71,1.183333333,BASELINE,770,746.192408686,724,691,670.807591314,643,889.807591314,790,820,657,633,657.807591314,0.400968477882,-0.0154009485913,0.0598383332413,0.999999942204,0.000206955530235,-0.00026864099697,2.4375732161e-05,1793251672215406848
+72,1.200000000,BASELINE,770,746.778985959,724,691,670.221014041,643,889.221014041,790,820,657,633,657.221014041,0.400967679073,-0.0154003379704,0.0598370895323,0.999999941528,0.0002078152901,-0.00027048666919,2.43830250159e-05,1793251672232073472
+73,1.216666667,BASELINE,770,746.638916649,724,691,670.361083351,643,889,790,820,657,633,657,0.400967402773,-0.0153992761415,0.0598367919687,0.999999941164,0.00020888262848,-0.000271023893343,2.41997171174e-05,1793251672248740352
+74,1.233333333,BASELINE,770,746.059527761,724,691,670.940472239,643,889,790,820,657,633,657,0.400967442376,-0.0153979415192,0.0598370664305,0.99999994099,0.00021007546564,-0.000270770049455,2.3901174883e-05,1793251672265406976
+75,1.250000000,BASELINE,770,746.519208892,724,691,671,643,889.519208892,790,820,657,633,657,0.400967570744,-0.0153986891033,0.0598362636112,0.999999941129,0.000208917213234,-0.000271174033257,2.36717914847e-05,1793251672282073600
+76,1.266666667,BASELINE,770,746.902839358,724,691,671,643,889.902839358,790.097160642,820,657,633,657,0.400967815276,-0.0153998198396,0.0598357233594,0.999999941372,0.00020756880645,-0.000271322017242,2.35595280861e-05,1793251672298740480
+77,1.283333333,BASELINE,770,746.328376569,724,691,671,643,889.328376569,790.671623431,820,657,633,657,0.400968580526,-0.0154016615373,0.0598370789597,0.999999941961,0.000206608791877,-0.000269842361922,2.3983714306e-05,1793251672315407360
+78,1.300000000,BASELINE,770,746,724,691,670.748206232,643,889,790.748206232,820,657,633,657,0.400969034955,-0.0154015225543,0.0598379899393,0.999999941965,0.000207733961867,-0.000268941262665,2.4243556789e-05,1793251672332074240
+79,1.316666667,BASELINE,770,746,724,691,670.160419808,643,889,790.160419808,820,657,633,657,0.400969074626,-0.0153987405582,0.0598383076188,0.999999941179,0.000211641594349,-0.000268812186556,2.42840995748e-05,1793251672348740608
+80,1.333333333,BASELINE,770,746.420805277,724,691,670.420805277,643,889,790,820,657,633,657,0.40096859599,-0.0153987478343,0.0598380391841,0.99999994134,0.000210510406465,-0.000269102764991,2.42756120932e-05,1793251672365407232
+81,1.350000000,BASELINE,770,746.999567491,724,691,670.999567491,643,889,790,820,657,633,657,0.400967922797,-0.0153998021143,0.0598375507408,0.999999941852,0.000207487805748,-0.000269550868405,2.42487202094e-05,1793251672382073856
+82,1.366666667,BASELINE,770.5775254,746.4224746,724,691,671,643,889,790.5775254,820,657,633,657,0.400967933299,-0.0153996022622,0.0598371178495,0.999999941573,0.000207960000378,-0.000270230383725,2.41476383844e-05,1793251672398740224
+83,1.383333333,BASELINE,770.845537266,746,724,691,671,643,889,790.845537266,820,657,633,657,0.40096823457,-0.0153996659745,0.0598371033221,0.999999941613,0.000207820071262,-0.000270195627169,2.40511275443e-05,1793251672415407104
+84,1.400000000,BASELINE,770.271371257,746,724,691,671,643,889,790.271371257,820,657,633,657,0.400969324528,-0.015400448388,0.0598382254525,0.999999942522,0.000206009789299,-0.000268219594227,2.39671876363e-05,1793251672432073984
+85,1.416666667,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400969841499,-0.0154000520933,0.0598387427731,0.999999942611,0.000206930142241,-0.000267180652862,2.39207370747e-05,1793251672448741120
+86,1.433333333,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400969844947,-0.0153985994146,0.05983871805,0.999999941962,0.000210297749493,-0.000266981553403,2.39078852832e-05,1793251672465408000
+87,1.450000000,BASELINE,770,746,724,691,670.518200621,643,889,790,820.481799379,657,633,657,0.400968293932,-0.0153985619348,0.0598375301015,0.999999941864,0.000208584605686,-0.000268701669872,2.3756405411e-05,1793251672482074368
+88,1.466666667,BASELINE,770,746.061663164,724,691,670.061663164,643,889,790,821,657,633,657,0.400966797796,-0.0153987945744,0.0598363641638,0.999999941884,0.000206166155018,-0.000270496589011,2.3634148851e-05,1793251672498740736
+89,1.483333333,BASELINE,770,746.636698241,724,691,670.636698241,643,889,790,821,657,633,657,0.400968408233,-0.0153988637787,0.0598373642638,0.99999994203,0.000206536175959,-0.000269642851712,2.39914887188e-05,1793251672515407872
+90,1.500000000,BASELINE,770,747,724,691,671,643,889,790,820.787936705,657,633,657,0.400969318755,-0.0153987554285,0.0598380677323,0.999999942077,0.000207048581588,-0.000269063136564,2.41232908831e-05,1793251672532074496
+91,1.516666667,BASELINE,770,747,724,691,671,643,889,790,820.212005518,657,633,657,0.400969028329,-0.0153983424221,0.0598382622267,0.999999941956,0.000207805297332,-0.000268953601232,2.38681051149e-05,1793251672548740352
+92,1.533333333,BASELINE,770,747,724,691,671,643.374415797,889,790.374415797,820,657,633,657,0.400969250619,-0.0153984111213,0.0598382714171,0.999999941899,0.000208328588632,-0.000268752022054,2.39658187536e-05,1793251672565406976
+93,1.550000000,BASELINE,770,747,724,691,671,643.966948211,889,790.966948211,820,657,633,657,0.400969771592,-0.0153987604389,0.0598381726583,0.999999941879,0.000208715898161,-0.000268496822553,2.42691145717e-05,1793251672582073856
+94,1.566666667,BASELINE,770,747,724,691,671,643.45711797,889.54288203,790.45711797,820,657,633,657,0.400969693732,-0.0153989090398,0.0598382534306,0.999999941781,0.000208992844814,-0.000268665770762,2.40500644804e-05,1793251672598740480
+95,1.583333333,BASELINE,770,746.88195179,724,691,670.88195179,643,889.88195179,790,820,657,633,657,0.400969707415,-0.0153990887371,0.0598385051775,0.999999941829,0.000208936255718,-0.000268548733117,2.38422289709e-05,1793251672615407360
+96,1.600000000,BASELINE,770,746.305959399,724,691,670.305959399,643,889.305959399,790,820,657,633,657,0.400970213451,-0.0153994350654,0.0598393790427,0.999999942461,0.000207611074313,-0.000267225068061,2.37976055655e-05,1793251672632073728
+97,1.616666667,BASELINE,770,746,724,691,670.276690287,643,889,790,820.276690287,657,633.276690287,657,0.400970359354,-0.0153994769324,0.059839711102,0.999999942835,0.000206624266209,-0.000266593466006,2.3743594881e-05,1793251672648740352
+98,1.633333333,BASELINE,770,746,724,691,670.866882949,643,889,790,820.866882949,657,633.866882949,657,0.400970097209,-0.0153991738314,0.059839429271,0.999999942921,0.000206020850156,-0.000266746002128,2.36789479955e-05,1793251672665406720
+99,1.650000000,BASELINE,770,746.448556315,724,691,671,643,889,790,820.551443685,657,633.551443685,657,0.400968753363,-0.0153991575414,0.0598380847322,0.999999942303,0.000206600909752,-0.000268624231169,2.34769025812e-05,1793251672682073600
+100,1.666666667,BASELINE,770,746.972514665,724,691,671,643,889.027485335,790.027485335,820,657,633,657,0.400967167536,-0.0153991847626,0.0598365125254,0.999999941513,0.000207524863051,-0.000270863128227,2.32488682804e-05,1793251672698740224
+101,1.683333333,BASELINE,770,746.398816382,724,691,671,643,889.601183618,790.601183618,820,657,633,657,0.400967033401,-0.0153984167003,0.0598365665394,0.99999994148,0.00020843336601,-0.000270281734261,2.32995822496e-05,1793251672715406848
+102,1.700000000,BASELINE,770,746,724,691,670.820658795,643,890,791,820.179341205,657,633,657,0.400966773051,-0.0153980772311,0.0598364931984,0.999999941318,0.000209111190746,-0.00027035048945,2.34086614462e-05,1793251672732073472
+103,1.716666667,BASELINE,770,746,724,691,670.23233189,643,890,791,820.76766811,657,633,657,0.400966224872,-0.0153987151639,0.0598361294258,0.99999994086,0.000209262956136,-0.00027190190292,2.36508419126e-05,1793251672748740096
+104,1.733333333,BASELINE,770,746,724,691,670.350524364,643,889.649475636,790.649475636,820.649475636,657,633,657,0.400966910212,-0.0153989938224,0.0598365684246,0.999999941028,0.000209097818944,-0.000271401540402,2.37223131415e-05,1793251672765406720
+105,1.750000000,BASELINE,770,746,724,691,670.929810382,643,889.070189618,790.070189618,820.070189618,657,633,657,0.400968400579,-0.0153990380091,0.0598375313335,0.999999941604,0.000208725862595,-0.000269562133686,2.36823749415e-05,1793251672782073344
+106,1.766666667,BASELINE,770,746.508124289,724,691,671.508124289,643,889,790,820,657,633,657,0.400968416257,-0.0153998573498,0.0598375708488,0.999999941765,0.000207811212539,-0.000269652393744,2.39023632833e-05,1793251672798739968
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,790,820,657,633,657,0.400970054761,-0.0153968207336,0.0598390530801,0.999999942068,0.000210569927416,-0.000266446157415,2.30379943841e-05,1793251672841942016
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,790,820,657,633,657,0.400969278835,-0.0153977499775,0.0598383787779,0.999999941929,0.000208863646229,-0.000268285367348,2.32644355858e-05,1793251672858608896
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,790,820,656.825437661,632.825437661,657,0.400968394864,-0.0153986843724,0.0598377219688,0.999999941827,0.000207074085848,-0.000270031173201,2.34586955805e-05,1793251672875275776
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,790,820,656.246527206,632.246527206,657,0.40096726062,-0.015399630699,0.0598371056794,0.999999941818,0.000205091621064,-0.000271560622536,2.35784125635e-05,1793251672891941888
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.670504438,643,889,790,820.329495562,656.658991123,632.329495562,657,0.400948899111,-0.0154037957997,0.0598376123792,0.999999943405,0.000197614314843,-0.000271266652592,2.35367536094e-05,1793251672908608256
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.09662349,643,889,790,820.90337651,657.80675302,632.90337651,657,0.400917760217,-0.0154103482507,0.0598389519952,0.99999994607,0.000186061509365,-0.000269620260589,2.33754028335e-05,1793251672925274880
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.489254735,746.489254735,724,691,670.489254735,643,889.489254735,790,820.510745265,657.510745265,633,657,0.400891600577,-0.0154090076275,0.0598362058159,0.999999943941,0.000186012548042,-0.000277455065717,2.31467798666e-05,1793251672941941504
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.923663006,747,724,691,670.923663006,643,889.923663006,790,820,657,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251672958607872
+115,1.916666667,POSE1_TO_POSE2_PRESS,770.344646596,747,724,691,670.344646596,643,889.344646596,790,820,657,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251672975274752
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.234431371,643,889,790,820,657,633.234431371,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251672991941376
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.813599808,643,889,790,820,657,633.813599808,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673008607744
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643.394373394,889,790,820,657,633.605626606,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673025274368
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643.975908803,889,790,820,657,633.024091197,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673041941248
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.443910922,724,690.443910922,671,642.887821844,889.556089078,790,820.556089078,656.443910922,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673058607872
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,724,690.136053903,670.863946097,642.136053903,889.863946097,790,820.863946097,656.136053903,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673075274496
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,724,690.715507588,670.284492412,642.715507588,889.284492412,790,820.284492412,656.715507588,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673091940608
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.29454605,724,691,670.29454605,643,889.29454605,790,820,657,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673108607232
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.873183991,724,691,670.873183991,643,889.873183991,790,820,657,633,657,0.400869764974,-0.0154064564316,0.0598331035543,0.99999994119,0.000187992004762,-0.000285923391533,2.29364743041e-05,1793251673125274112
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746.984902343,724,691,670.984902343,643,890,790,820,657,633,657,0.400851166425,-0.0154063970285,0.0598332146392,0.999999941197,0.000187709241121,-0.000286082384729,2.2965182491e-05,1793251673141940736
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746.965567122,724,691,670.965567122,643,890,790,820,657,633,657,0.400827347692,-0.0154063209524,0.059833356903,0.999999941206,0.000187347112243,-0.000286286003649,2.30019484042e-05,1793251673158607360
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746.946231902,724,691,670.946231902,643,890,790,820,657,633,657,0.400803528961,-0.0154062448763,0.0598334991669,0.999999941215,0.000186984983388,-0.000286489622557,2.30387143152e-05,1793251673175273984
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746.926896681,724,691,670.926896681,643,890,790,820,657,633,657,0.400779710228,-0.0154061688002,0.0598336414307,0.999999941223,0.00018662285451,-0.000286693241477,2.30754802282e-05,1793251673191940608
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.90756146,724,691,670.90756146,643,890,790,820,657,633,657,0.400755891495,-0.0154060927241,0.0598337836946,0.999999941231,0.000186260725634,-0.000286896860396,2.31122461413e-05,1793251673208607488
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.88822624,724,691,670.88822624,643,890,790,820,657,633,657,0.400732072763,-0.015406016648,0.0598339259584,0.99999994124,0.000185898596779,-0.000287100479304,2.31490120523e-05,1793251673225274112
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.868891019,724,691,670.868891019,643,890,790,820,657,633,657,0.400708254031,-0.0154059405719,0.0598340682223,0.999999941247,0.000185536467901,-0.000287304098224,2.31857779653e-05,1793251673241940736
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746.849555798,724,691,670.849555798,643,890,790,820,657,633,657,0.400684435298,-0.0154058644958,0.0598342104861,0.999999941255,0.000185174339024,-0.000287507717144,2.32225438784e-05,1793251673258607360
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.830220579,724,691,670.830220579,643,890,790,820,657,633,657,0.400660616566,-0.0154057884197,0.05983435275,0.999999941263,0.000184812210168,-0.000287711336051,2.32593097894e-05,1793251673275273984
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.810885358,724,691,670.810885358,643,890,790,820,657,633,657,0.400636797833,-0.0154057123436,0.0598344950138,0.99999994127,0.000184450081291,-0.00028791495497,2.32960757024e-05,1793251673291940864
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.791550137,724,691,670.791550137,643,890,790,820,657,633,657,0.400612979101,-0.0154056362675,0.0598346372777,0.999999941277,0.000184087952413,-0.00028811857389,2.33328416155e-05,1793251673308607488
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.772214917,724,691,670.772214917,643,890,790,820,657,633,657,0.400589160369,-0.0154055601914,0.0598347795415,0.999999941284,0.000183725823558,-0.000288322192797,2.33696075263e-05,1793251673325274112
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.752879696,724,691,670.752879696,643,890,790,820,657,633,657,0.400565341636,-0.0154054841153,0.0598349218054,0.999999941291,0.00018336369468,-0.000288525811717,2.34063734394e-05,1793251673341940736
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.733544475,724,691,670.733544475,643,890,790,820,657,633,657,0.400541522903,-0.0154054080392,0.0598350640692,0.999999941298,0.000183001565802,-0.000288729430635,2.34431393526e-05,1793251673358607360
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.714209255,724,691,670.714209255,643,890,790,820,657,633,657,0.400517704172,-0.0154053319631,0.0598352063331,0.999999941305,0.000182639436947,-0.000288933049543,2.34799052634e-05,1793251673375274240
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746.694874034,724,691,670.694874034,643,890,790,820,657,633,657,0.400493885439,-0.015405255887,0.0598353485969,0.999999941311,0.000182277308069,-0.000289136668462,2.35166711765e-05,1793251673391940864
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746.675538813,724,691,670.675538813,643,890,790,820,657,633,657,0.400470066706,-0.0154051798108,0.0598354908608,0.999999941317,0.000181915179192,-0.000289340287382,2.35534370896e-05,1793251673408607488
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746.656203593,724,691,670.656203593,643,890,790,820,657,633,657,0.400446247975,-0.0154051037347,0.0598356331246,0.999999941323,0.000181553050335,-0.000289543906288,2.35902030004e-05,1793251673425274112
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746.636868372,724,691,670.636868372,643,890,790,820,657,633,657,0.400422429242,-0.0154050276586,0.0598357753885,0.999999941329,0.000181190921458,-0.000289747525207,2.36269689135e-05,1793251673441940992
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.617533151,724,691,670.617533151,643,890,790,820,657,633,657,0.400398610509,-0.0154049515825,0.0598359176523,0.999999941335,0.000180828792581,-0.000289951144127,2.36637348266e-05,1793251673458607616
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.598197931,724,691,670.598197931,643,890,790,820,657,633,657,0.400374791777,-0.0154048755064,0.0598360599162,0.99999994134,0.000180466663724,-0.000290154763034,2.37005007373e-05,1793251673475274240
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746.57886271,724,691,670.57886271,643,890,790,820,657,633,657,0.400350973045,-0.0154047994303,0.05983620218,0.999999941345,0.000180104534847,-0.000290358381952,2.37372666504e-05,1793251673491940864
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746.559527489,724,691,670.559527489,643,890,790,820,657,633,657,0.400327154312,-0.0154047233542,0.0598363444439,0.999999941351,0.000179742405968,-0.000290562000871,2.37740325635e-05,1793251673508607488
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.540192269,724,691,670.540192269,643,890,790,820,657,633,657,0.40030333558,-0.0154046472781,0.0598364867077,0.999999941356,0.000179380277113,-0.000290765619778,2.38107984743e-05,1793251673525274368
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.520857048,724,691,670.520857048,643,890,790,820,657,633,657,0.400279516847,-0.015404571202,0.0598366289716,0.99999994136,0.000179018148234,-0.000290969238697,2.38475643873e-05,1793251673541940992
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746.501521827,724,691,670.501521827,643,890,790,820,657,633,657,0.400255698114,-0.0154044951259,0.0598367712354,0.999999941365,0.000178656019357,-0.000291172857616,2.38843303004e-05,1793251673558607616
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746.482186607,724,691,670.482186607,643,890,790,820,657,633,657,0.400231879383,-0.0154044190498,0.0598369134993,0.999999941369,0.0001782938905,-0.000291376476522,2.39210962111e-05,1793251673575274240
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746.462851386,724,691,670.462851386,643,890,790,820,657,633,657,0.40020806065,-0.0154043429737,0.0598370557631,0.999999941374,0.000177931761623,-0.00029158009544,2.39578621242e-05,1793251673591940864
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.443516165,724,691,670.443516165,643,890,790,820,657,633,657,0.400184241917,-0.0154042668976,0.059837198027,0.999999941378,0.000177569632745,-0.000291783714359,2.39946280372e-05,1793251673608607744
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.424180946,724,691,670.424180946,643,890,790,820,657,633,657,0.400160423186,-0.0154041908215,0.0598373402908,0.999999941382,0.000177207503888,-0.000291987333265,2.4031393948e-05,1793251673625274368
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746.404845725,724,691,670.404845725,643,890,790,820,657,633,657,0.400136604453,-0.0154041147454,0.0598374825547,0.999999941385,0.000176845375011,-0.000292190952183,2.4068159861e-05,1793251673641940992
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746.385510504,724,691,670.385510504,643,890,790,820,657,633,657,0.40011278572,-0.0154040386693,0.0598376248185,0.999999941389,0.000176483246132,-0.000292394571102,2.41049257741e-05,1793251673658607616
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746.366175284,724,691,670.366175284,643,890,790,820,657,633,657,0.400088966989,-0.0154039625932,0.0598377670824,0.999999941392,0.000176121117276,-0.000292598190009,2.41416916848e-05,1793251673675274240
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746.346840063,724,691,670.346840063,643,890,790,820,657,633,657,0.400065148256,-0.0154038865171,0.0598379093462,0.999999941396,0.000175758988397,-0.000292801808927,2.41784575978e-05,1793251673691941120
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746.327504842,724,691,670.327504842,643,890,790,820,657,633,657,0.400041329523,-0.015403810441,0.0598380516101,0.999999941399,0.000175396859519,-0.000293005427845,2.42152235107e-05,1793251673708607744
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746.308169622,724,691,670.308169622,643,890,790,820,657,633,657,0.400017510791,-0.0154037343649,0.0598381938739,0.999999941402,0.000175034730663,-0.000293209046751,2.42519894216e-05,1793251673725274368
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746.288834401,724,691,670.288834401,643,890,790,820,657,633,657,0.399993692058,-0.0154036582888,0.0598383361378,0.999999941404,0.000174672601785,-0.000293412665669,2.42887553346e-05,1793251673741940992
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746.26949918,724,691,670.26949918,643,890,790,820,657,633,657,0.399969873326,-0.0154035822127,0.0598384784016,0.999999941407,0.000174310472907,-0.000293616284588,2.43255212475e-05,1793251673758607616
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746.25016396,724,691,670.25016396,643,890,790,820,657,633,657,0.399946054594,-0.0154035061366,0.0598386206655,0.999999941409,0.00017394834405,-0.000293819903493,2.43622871583e-05,1793251673775274496
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746.230828739,724,691,670.230828739,643,890,790,820,657,633,657,0.399922235861,-0.0154034300604,0.0598387629293,0.999999941411,0.000173586215172,-0.000294023522411,2.43990530713e-05,1793251673791941120
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746.211493518,724,691,670.211493518,643,890,790,820,657,633,657,0.399898417128,-0.0154033539843,0.0598389051932,0.999999941413,0.000173224086293,-0.000294227141329,2.44358189842e-05,1793251673808607744
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,746.192158298,724,691,670.192158298,643,890,790,820,657,633,657,0.399874598397,-0.0154032779082,0.059839047457,0.999999941415,0.000172861957437,-0.000294430760236,2.4472584895e-05,1793251673825274368
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,746.172823077,724,691,670.172823077,643,890,790,820,657,633,657,0.399850779664,-0.0154032018321,0.0598391897209,0.999999941417,0.000172499828558,-0.000294634379152,2.4509350808e-05,1793251673841941248
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,746.153487856,724,691,670.153487856,643,890,790,820,657,633,657,0.399826960931,-0.015403125756,0.0598393319847,0.999999941418,0.00017213769968,-0.00029483799807,2.45461167209e-05,1793251673858607872
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,746.134152636,724,691,670.134152636,643,890,790,820,657,633,657,0.3998031422,-0.0154030496799,0.0598394742486,0.99999994142,0.000171775570823,-0.000295041616976,2.45828826316e-05,1793251673875274496
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746.114817415,724,691,670.114817415,643,890,790,820,657,633,657,0.399779323467,-0.0154029736038,0.0598396165124,0.999999941421,0.000171413441944,-0.000295245235894,2.46196485446e-05,1793251673891941120
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746.095482194,724,691,670.095482194,643,890,790,820,657,633,657,0.399755504734,-0.0154028975277,0.0598397587763,0.999999941422,0.000171051313066,-0.000295448854812,2.46564144575e-05,1793251673908607744
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746.076146974,724,691,670.076146974,643,890,790,820,657,633,657,0.399731686003,-0.0154028214516,0.0598399010401,0.999999941423,0.000170689184209,-0.000295652473717,2.46931803682e-05,1793251673925274624
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746.056811753,724,691,670.056811753,643,890,790,820,657,633,657,0.39970786727,-0.0154027453755,0.059840043304,0.999999941423,0.000170327055331,-0.000295856092635,2.47299462812e-05,1793251673941941248
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,746.037476532,724,691,670.037476532,643,890,790,820,657,633,657,0.399684048537,-0.0154026692994,0.0598401855678,0.999999941424,0.000169964926452,-0.000296059711552,2.47667121941e-05,1793251673958607872
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,746.018141313,724,691,670.018141313,643,890,790,820,657,633,657,0.399660229805,-0.0154025932233,0.0598403278317,0.999999941424,0.000169602797595,-0.000296263330458,2.48034781048e-05,1793251673975274496
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889.964043254,790,820,657,633,657,0.399637862612,-0.0154026732049,0.059840508434,0.999999941476,0.000169053225225,-0.000296399195731,2.48469911001e-05,1793251673991941120
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889.381727585,790,820,657,633,657,0.399637551403,-0.0154051244663,0.059841271586,0.999999942305,0.000165655468964,-0.000295505551602,2.49930252939e-05,1793251674008608256
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,746.197282187,724,691,670,643,889,790,820,657,633.197282187,657,0.39963698799,-0.015406151559,0.0598415157188,0.99999994253,0.000164060180436,-0.00029563196412,2.50274810048e-05,1793251674025275136
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,746.770000794,724,691,670,643,889,790,820,657,633.770000794,657,0.39963594462,-0.0154044683981,0.059840772136,0.999999941618,0.000165895064338,-0.000297699587817,2.48495981271e-05,1793251674041941504
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746.64389445,724,691,670,643,889,790,820,657,633.64389445,657,0.399636217317,-0.0154039276915,0.0598405074429,0.999999941591,0.000165736260253,-0.00029788720545,2.47557263412e-05,1793251674058608384
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,746.048806277,724,691,670,643,889,790,820,657,633.048806277,657,0.399637373228,-0.0154041536865,0.0598405641329,0.999999942158,0.000164239490991,-0.000296813149891,2.47182344542e-05,1793251674075275520
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399637037867,-0.0154033116429,0.0598399751221,0.999999941834,0.000165481459068,-0.000297252959429,2.42500460335e-05,1793251674091941632
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636569271,-0.0154023741778,0.0598393284226,0.999999941428,0.000166968113215,-0.000297828021698,2.37433780417e-05,1793251674108607744
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636196556,-0.0154019217195,0.0598394976361,0.999999941117,0.000168865729957,-0.000297783928053,2.39800211906e-05,1793251674125274624
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636221101,-0.0154021782378,0.0598397138483,0.999999941121,0.000169096317725,-0.000297624395091,2.41886727165e-05,1793251674141941248
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636694884,-0.0154032191938,0.0598399388608,0.99999994148,0.000167396932474,-0.000297366910718,2.43243266186e-05,1793251674158607616
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643.368379469,889,790,820,657,633,657,0.399637104305,-0.0154036030546,0.0598402176683,0.999999941409,0.000167737798024,-0.000297400219297,2.44858009505e-05,1793251674175274240
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643.951270304,889,790,820,657,633,657,0.399637476248,-0.015403604282,0.0598405278013,0.999999941087,0.000169266723608,-0.000297602859746,2.46623108119e-05,1793251674191940864
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746,724,690.4415339,670.5584661,643.4415339,889,790,820,657,633,657,0.399638478912,-0.0154022163617,0.0598412712817,0.9999999416,0.0001699777344,-0.000295477188305,2.45315025881e-05,1793251674208607488
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,746,724,690,671,643,889,790,820,657,633,657,0.399638679799,-0.0154013459512,0.0598415723898,0.999999941823,0.00017030637319,-0.000294541566986,2.44096660782e-05,1793251674225274112
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,746,724,690,671,643,889,790,820,657,633,657,0.399636620627,-0.0154021699294,0.0598406060536,0.99999994109,0.000169825590984,-0.000297294498388,2.4385161328e-05,1793251674241940736
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,746.320933212,724,690.320933212,671,643,889,790,820,657,633,657,0.39963576464,-0.0154031860869,0.0598401390083,0.999999941245,0.000167480403014,-0.000298099088217,2.44274422035e-05,1793251674258607360
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,746.914288103,724,690.914288103,671,643,889,790,820,657,633,657,0.399635929967,-0.0154043653743,0.0598400957823,0.999999942146,0.000163552628646,-0.000297249843186,2.45264135427e-05,1793251674275273984
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,746.505870645,724.494129355,691,670.505870645,643,889,790,820,657,633,657,0.399637039776,-0.0154035140623,0.0598403373369,0.999999941886,0.000166509781222,-0.000296486830911,2.44469575225e-05,1793251674291940608
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+196,3.266666667,POSE1_TO_POSE2_PRESS,770,746,724.356024452,691,670,643,889,790,820,657,633,657,0.39963848794,-0.0154010138629,0.0598410282859,0.999999941518,0.000170609809021,-0.000295409150612,2.42825628121e-05,1793251674325273856
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,746,724,690.782203863,670.217796137,643,889.217796137,790,820,657,633,657.217796137,0.399638499169,-0.0154009022953,0.0598413163957,0.999999941662,0.000170028575147,-0.000295246148107,2.44021722075e-05,1793251674341940736
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,746,724,690.206820727,670.793179273,643,889.793179273,790,820,657,633,657.793179273,0.399638037459,-0.0154027315744,0.0598414388917,0.999999941978,0.000167774822505,-0.000295432062467,2.48180841027e-05,1793251674358607360
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,746,724,690,670.619511175,643,889.619511175,790.380488825,820,657,633.380488825,657.619511175,0.399638642097,-0.0154036408165,0.0598414511333,0.999999942209,0.00016672368225,-0.000295242323072,2.48442910838e-05,1793251674375274240
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,746,724,690,670.025508995,643,889.025508995,790.974491005,820,657,633.974491005,657.025508995,0.399639845121,-0.0154040337751,0.059841401505,0.999999942395,0.000166347394206,-0.000294841783565,2.46518130914e-05,1793251674391940864
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,746.549087528,724,690.549087528,670,643,889,790.450912472,820,657,633.450912472,657,0.399638345023,-0.0154032420407,0.0598406858334,0.999999941917,0.00016724025726,-0.000295952588003,2.46750034304e-05,1793251674408607232
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889,790,820,657,633,657,0.399637130534,-0.0154024097009,0.0598400602855,0.999999941511,0.000168069181335,-0.000296860884406,2.45990937551e-05,1793251674425274112
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889,790,820,657,633,657,0.399637410001,-0.0154016234505,0.0598398753571,0.999999941482,0.000168454264156,-0.000296776678917,2.41238049542e-05,1793251674441940992
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,746.778441369,724,691,670,643,889,790,820,657,633,657,0.399637463141,-0.0154012563579,0.0598397032689,0.999999941354,0.000168752869293,-0.000297054129488,2.39346850145e-05,1793251674458607872
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,746.139004165,724,691,670,643,889,790,820,657,633,657,0.39963708941,-0.0154016798328,0.0598395553984,0.999999941037,0.000168888370082,-0.000298013694396,2.42853041083e-05,1793251674475274752
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,746,724,690.546896392,670.453103608,643.453103608,889,790,820,657,633,657,0.399637634765,-0.015402038914,0.0598402632455,0.999999941324,0.000168917081101,-0.000297009514315,2.45872649691e-05,1793251674491942144
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,746,724,690.031896911,670.968103089,643.968103089,889,790,820,656.968103089,633,657,0.399638363339,-0.015402323078,0.0598411444989,0.999999941754,0.000168884879304,-0.00029555513382,2.48400714078e-05,1793251674508609280
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,746,724,690.607827008,670.392172992,643.392172992,889,790,820,656.392172992,633,657,0.399637862627,-0.0154016345253,0.0598409293186,0.999999941808,0.000168319676958,-0.000295725584982,2.44850242508e-05,1793251674525275136
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,746.184135551,724,691,670.184135551,643,889,790,820,656.368271101,633,657,0.399637099815,-0.0154011625391,0.0598403165891,0.999999941589,0.000167830568084,-0.000296764633036,2.41999347053e-05,1793251674541940992
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,746.761251696,724,691,670.761251696,643,889,790,820,657.522503391,633,657,0.399635777632,-0.0154011527475,0.0598388554135,0.999999940784,0.000167503857352,-0.000299657433487,2.40641481704e-05,1793251674558607360
+211,3.516666667,POSE1_TO_POSE2_PRESS,769.654127567,747,724.345872433,691,670.654127567,643,889,790,820,657.654127567,633,657,0.399635835416,-0.015401598037,0.0598391707919,0.99999994066,0.000168339943119,-0.000299582204751,2.43238087604e-05,1793251674575273728
+212,3.533333333,POSE1_TO_POSE2_PRESS,769.064211618,747,724.935788382,691,670.064211618,643,889,790,820,657.064211618,633,657,0.399636866887,-0.0154023644263,0.0598407396857,0.999999941014,0.000169996484367,-0.000297412769871,2.48624921709e-05,1793251674591940352
+213,3.550000000,POSE1_TO_POSE2_PRESS,769.516300633,746.483699367,724.483699367,691,670,643,889,790,820,657,633.516300633,657,0.399637776946,-0.0154026304035,0.0598410572351,0.999999941494,0.000169444418567,-0.000296124222943,2.47179190834e-05,1793251674608607232
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,746,724,690.905424547,670,643,889,790,820,657,633.905424547,657,0.399638255211,-0.0154025633402,0.0598410297258,0.999999941758,0.000169070796548,-0.000295466925825,2.44672763468e-05,1793251674625273856
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,746,724,690.332654865,670,643,889,790,820,657,633.332654865,657,0.399636625212,-0.0154011213993,0.0598400303386,0.999999940855,0.000170963431535,-0.000297457341013,2.41022922741e-05,1793251674641940480
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,746.24829514,724,690,670,643,889,790,820,656.75170486,633,657,0.399636269843,-0.0154007622341,0.0598398375452,0.999999940668,0.000171107938971,-0.000297997176445,2.41531023631e-05,1793251674658607104
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,746.840578121,724,690,670,643,889,790,820,656.159421879,633,657,0.399637680343,-0.0154019031456,0.0598407622062,0.999999941477,0.00016883059212,-0.000296527379998,2.47799532941e-05,1793251674675273984
+218,3.633333333,POSE1_TO_POSE2_PRESS,770.423342539,747,724,690,670.423342539,643,889,790,820,656.423342539,633,657,0.399637628311,-0.0154026158577,0.0598405138163,0.999999941611,0.000167946031632,-0.000296594583811,2.45622455818e-05,1793251674691940608
+219,3.650000000,POSE1_TO_POSE2_PRESS,770.997428321,747,724,690.002571679,670.997428321,643,889,790,820,657,633,657,0.399637049378,-0.0154031639655,0.0598398446356,0.999999941503,0.000167574799146,-0.000297213223341,2.40358833343e-05,1793251674708606976
+220,3.666666667,POSE1_TO_POSE2_PRESS,770.424760598,747,724,690.575239402,670.424760598,643,889,790,820,657,633,657,0.399639074326,-0.0154021825925,0.0598416674772,0.999999942328,0.000167285048533,-0.000294586788165,2.40403868851e-05,1793251674725273856
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,746.851630617,724,691,670.148369383,643,889,790,820,657,633,657,0.399639857642,-0.0154014254563,0.0598425669197,0.999999942679,0.000167031093648,-0.000293536239817,2.40641788915e-05,1793251674741940480
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,746.277173219,724,691,670.722826781,643,889,790,820,657,633,657,0.399637075234,-0.0154013122848,0.0598408145388,0.999999941676,0.000166879937182,-0.000297011332424,2.41433635911e-05,1793251674758607104
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,746.307159675,724,691,670.692840325,643,889,790,820,657,633,657,0.399635777,-0.0154017191524,0.059839791113,0.999999941062,0.000167198693602,-0.000298883677927,2.42726255126e-05,1793251674775273728
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,746.900700065,724,691,670.099299935,643,889,790,820,657,633,657,0.399635862538,-0.015402610879,0.0598394473289,0.999999940818,0.000167955573889,-0.000299261700517,2.44485770054e-05,1793251674791940608
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889,789.517419799,820,657,633,657,0.399637045895,-0.0154028902364,0.0598402266144,0.999999941542,0.000167270716534,-0.000297228555289,2.43052263913e-05,1793251674808607488
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,746.938602502,724,691,670,643,889,789.061397498,820,657,633,657,0.399638367522,-0.0154029830408,0.0598411546295,0.999999942317,0.000166647769406,-0.000294974726139,2.41681804482e-05,1793251674825274624
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,746.365783311,724,691,670,643,889,789.634216689,820,657,633,657,0.399639003644,-0.01540254675,0.0598414420003,0.999999941936,0.000168953336836,-0.00029491788261,2.46180189005e-05,1793251674841941248
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399638696963,-0.0154023386562,0.0598410932018,0.999999941648,0.000169293504266,-0.000295694045057,2.46662199587e-05,1793251674858607872
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636724574,-0.0154025337326,0.0598396204428,0.999999941522,0.000166161276099,-0.000297941931412,2.4004823014e-05,1793251674875274240
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,888.62931294,790,820,657,633,657,0.399636626069,-0.0154026597323,0.0598396702108,0.999999941291,0.000167222291268,-0.000298123072051,2.40368184476e-05,1793251674891940864
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,888.036491491,790,820,657,633,657,0.39963765049,-0.0154027443377,0.0598406323538,0.999999940991,0.000170796109535,-0.000297065714292,2.44843296045e-05,1793251674908607488
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.543496103,643,889.086992206,790,820,657,633,657,0.39963818376,-0.0154007565467,0.0598404178456,0.99999994129,0.000169602431624,-0.000296775397289,2.40879476651e-05,1793251674925274112
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670.878260277,643,889.878260277,790,820,657,633,657,0.399638323519,-0.0153995315816,0.0598402945712,0.99999994157,0.000168351200126,-0.000296563803815,2.38088345077e-05,1793251674941940992
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.303374859,643,889.303374859,790,820,657,633,657,0.399637118448,-0.0154016520311,0.0598407981766,0.999999941644,0.000168049745737,-0.000296457962618,2.41722654814e-05,1793251674958607360
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.276986893,643,889.276986893,790.276986893,820,657,633,657,0.399636789369,-0.0154027585401,0.0598410046332,0.999999941365,0.000169270779543,-0.000296680153797,2.44485308955e-05,1793251674975273984
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670.863467751,643,889.863467751,790.863467751,820,657,633,657,0.399637439087,-0.0154027321131,0.0598408790677,0.999999940687,0.000172192980123,-0.000297268875087,2.462740108e-05,1793251674991941120
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.555942762,643,889.555942762,791,820,657,633,657,0.399638417406,-0.0154023616798,0.0598410033616,0.999999941025,0.000171060121797,-0.000296794367196,2.45448360457e-05,1793251675008607744
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790.954317132,820,657,633,657,0.399639387802,-0.0154018439002,0.0598411746389,0.999999941616,0.000168852482248,-0.000296077017327,2.43810418687e-05,1793251675025273856
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,789.797603729,820,657,633,657,0.399637740516,-0.0154002812838,0.0598406446618,0.999999940991,0.000170431163513,-0.000297300051452,2.41710547451e-05,1793251675041940736
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,789.176643324,820,657,633,657,0.399636555896,-0.0153996739963,0.0598403712679,0.999999940678,0.000170992402747,-0.000298031676316,2.413409221e-05,1793251675058607360
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,789.745621838,820,657,633,657,0.399636398886,-0.0154011885507,0.0598406677602,0.999999941066,0.000169293843422,-0.000297671852296,2.44814274532e-05,1793251675075273984
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636488835,-0.0154018192282,0.059840691819,0.999999941194,0.000168607904312,-0.000297613352132,2.46814872997e-05,1793251675091940608
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790,820,657,633,657,0.399636778469,-0.0154017352244,0.0598404955947,0.999999941115,0.000168740745175,-0.000297798495074,2.47624638532e-05,1793251675108607488
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.496751095,746,724,691,670,643,889,790,820,657,633,657.503248905,0.399637173804,-0.0154021986555,0.0598404113743,0.99999994128,0.000168402679311,-0.000297448397048,2.46121547817e-05,1793251675125275392
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.080422093,746.080422093,724,691,670,643,889,790,820,657,633,657.919577907,0.399637388745,-0.0154026689987,0.0598403242397,0.999999941464,0.000167916635744,-0.000297117791843,2.44450995691e-05,1793251675141943296
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+247,4.116666667,POSE1_TO_POSE2_PRESS,770,746.768003676,724,691,670,643,889,790,820,657,633,657,0.39963653004,-0.0154026884547,0.0598404512643,0.99999994172,0.00016685010365,-0.00029685318186,2.44810961645e-05,1793251675175275520
+248,4.133333333,POSE1_TO_POSE2_PRESS,770,746.191690081,724,691,670,643,889,790,820,657,633,657,0.399638332837,-0.0154026730289,0.0598415871922,0.999999942029,0.000168049502282,-0.000295103761921,2.48096728878e-05,1793251675191941120
+249,4.150000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.395410779,643,889,790,820,657,633,657,0.399637847827,-0.0154026560408,0.0598410772954,0.999999941566,0.000168748854641,-0.000296273341762,2.47688540453e-05,1793251675208607232
+250,4.166666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.987887802,643,889,790,820,657,633,657,0.399636222612,-0.015402638274,0.0598397471466,0.999999940715,0.000169198992072,-0.000298897703293,2.45439344955e-05,1793251675225273856
+251,4.183333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643.565302257,889,790,820,657,633,657,0.399636034972,-0.0154036730997,0.0598402411231,0.999999941292,0.000166967471441,-0.000298208568686,2.46910598527e-05,1793251675241940736
+252,4.200000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643.857636608,889,790.142363392,820,657,633,657,0.399635851946,-0.0154041303179,0.0598404502483,0.999999941539,0.000165910956738,-0.000297968134124,2.47007983531e-05,1793251675258607616
+253,4.216666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643.280694444,889,790.719305556,820,657,633,657,0.39963559142,-0.0154027572721,0.0598396736247,0.999999940698,0.000168612109889,-0.000299308497526,2.42674473244e-05,1793251675275274240
+254,4.233333333,POSE1_TO_POSE2_PRESS,770.301993975,746.301993975,724,691,670.698006025,643,889,790.698006025,820,657,633,657,0.399635794617,-0.0154017481855,0.0598392918079,0.999999940493,0.000169768194029,-0.000299351288527,2.41119938242e-05,1793251675291940864
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+256,4.266666667,POSE1_TO_POSE2_PRESS,770.529181298,747,724.470818702,691,670.470818702,643,889,790,820.470818702,657,633,657,0.399637418979,-0.0154004543184,0.0598399550502,0.999999941021,0.000171259925626,-0.00029671443087,2.42772749938e-05,1793251675325273856
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+261,4.350000000,POSE1_TO_POSE2_PRESS,770,746,724,690.641820568,670,643,889,790,820,657,633,657,0.399636382635,-0.015402769615,0.0598399661901,0.999999940929,0.000169118945032,-0.000298221856808,2.45830955772e-05,1793251675408607488
+262,4.366666667,POSE1_TO_POSE2_PRESS,770,746,724,690.051283341,670,643,889,790,820,657,633,657,0.399637017147,-0.0154019948637,0.0598405097491,0.999999941212,0.000169144820299,-0.000297268867606,2.4439134749e-05,1793251675425274112
+263,4.383333333,POSE1_TO_POSE2_PRESS,770,746.513009983,724,690.513009983,670,643,889.513009983,790,820,657,632.486990017,657,0.399635724532,-0.0154014617474,0.0598394041459,0.999999940754,0.000168515340932,-0.00029916845742,2.43369868728e-05,1793251675441940992
+264,4.400000000,POSE1_TO_POSE2_PRESS,770,746.919897942,723.919897942,690.919897942,670.080102058,643,889.919897942,790,820,657,632.080102058,657,0.399634540479,-0.0154012679602,0.0598383586252,0.99999994033,0.000167866649871,-0.000300952665986,2.42642456043e-05,1793251675458607616
+265,4.416666667,POSE1_TO_POSE2_PRESS,770,746.318338773,723.318338773,690.318338773,670.681661227,643,889.318338773,790,820,657,632.681661227,657,0.399635256224,-0.0154031335798,0.0598387252263,0.99999994061,0.000167498619836,-0.000300219733017,2.43570524518e-05,1793251675475273984
+266,4.433333333,POSE1_TO_POSE2_PRESS,770,746,723.272630656,690,670.727369344,643,889,790,820,657,633,657,0.399635532799,-0.0154039214862,0.0598390265777,0.999999940947,0.000166405635904,-0.000299695902118,2.44444697534e-05,1793251675491940608
+267,4.450000000,POSE1_TO_POSE2_PRESS,770,746,723.851697213,690,670.148302787,643,889,790,820,657,633,657,0.399635315748,-0.0154034980464,0.0598392545889,0.999999941347,0.000164497806362,-0.000299407101258,2.45258292179e-05,1793251675508607232
+268,4.466666667,POSE1_TO_POSE2_PRESS,769.566983922,746,724,690.433016078,670,643,889,790,820,657,633,657,0.399636201432,-0.0154028296366,0.0598399312228,0.999999941537,0.000165854399633,-0.000298028872811,2.44372519101e-05,1793251675525273856
+269,4.483333333,POSE1_TO_POSE2_PRESS,769.014924066,746.014924066,724,691,670,643,889,790,820,657,633,657,0.399637439665,-0.0154020791736,0.0598407546216,0.99999994164,0.000168310195282,-0.000296313815283,2.42971418813e-05,1793251675541940992
+270,4.500000000,POSE1_TO_POSE2_PRESS,769.589839865,746.589839865,724,691,670,643,889,790,820,657,633,657,0.399637661108,-0.0154014144386,0.0598412896055,0.999999941461,0.000169840341246,-0.000296033543184,2.4418674122e-05,1793251675558607616
+271,4.516666667,POSE1_TO_POSE2_PRESS,770,746.83160403,724,691,670.16839597,643,889.16839597,790,820,657,633,657,0.399637518831,-0.0154009115952,0.0598413647275,0.999999941214,0.000170525124427,-0.000296469555114,2.44666158523e-05,1793251675575274496
+272,4.533333333,POSE1_TO_POSE2_PRESS,770,746.24398524,724,691,670.75601476,643,889.75601476,790,820,657,633,657,0.39963647107,-0.0154008117819,0.0598402950205,0.999999940798,0.000169105371992,-0.000298688760554,2.43313535721e-05,1793251675591940864
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+274,4.566666667,POSE1_TO_POSE2_PRESS,770,746.918347706,724,690.081652294,670.081652294,643,889.081652294,790,820,657,633,657,0.39963604846,-0.0154015007874,0.0598396588278,0.999999941161,0.000166698451804,-0.000298853628367,2.40041563766e-05,1793251675625273856
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+276,4.600000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889,790,820,657,633,657.072046165,0.399636246334,-0.0154012731571,0.0598401433013,0.999999940564,0.000170837498917,-0.000298483079956,2.43795085369e-05,1793251675658607360
+277,4.616666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889,790,820,657,633,657.643975913,0.399636981738,-0.0154011712201,0.0598401798781,0.999999941057,0.000168914806455,-0.000297951288407,2.40676944607e-05,1793251675675274496
+278,4.633333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.223654254,643.223654254,889.223654254,790,820,656.776345746,633,657.776345746,0.399637229443,-0.0154009244992,0.0598399971049,0.999999941122,0.000168407097339,-0.000298029326158,2.39397749693e-05,1793251675691941376
+279,4.650000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.816109809,643.816109809,889.816109809,790,820,656.183890191,633,657.183890191,0.399636672943,-0.0154004390328,0.0598394526281,0.999999940485,0.000170232667069,-0.000299112960031,2.41150939258e-05,1793251675708607744
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+281,4.683333333,POSE1_TO_POSE2_PRESS,770.976958093,747,724,691,670.023041907,643.023041907,889.023041907,790,820.976958093,656.976958093,633,656.023041907,0.399640251651,-0.0154022424528,0.0598424023828,0.99999994264,0.000168065286851,-0.00029304021287,2.45111133584e-05,1793251675741940736
+282,4.700000000,POSE1_TO_POSE2_PRESS,770.445655298,746.445655298,724,691,670.554344702,643,889,790,820.445655298,657,633,656.554344702,0.399638312259,-0.0154020934606,0.0598409137951,0.999999941917,0.000167959141606,-0.00029557221202,2.43554431178e-05,1793251675758607360
+283,4.716666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.868844013,643,889,790,820,657,633,657,0.399636495524,-0.0154018683572,0.059839673034,0.999999941169,0.000168206170418,-0.000297966927111,2.41899450816e-05,1793251675775273984
+284,4.733333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670.293863238,643,889,790,820,657,633,657,0.399635678073,-0.0154015690561,0.059839739216,0.999999940654,0.000169435966745,-0.000299008717981,2.40414492002e-05,1793251675791940864
+285,4.750000000,POSE1_TO_POSE2_PRESS,770,746.28823438,724,691,670.28823438,643,889,790.28823438,820,657,633.28823438,657,0.399634964182,-0.0154016391626,0.059839328271,0.999999940378,0.000169160406092,-0.000300091057576,2.39574047695e-05,1793251675808607744
+286,4.766666667,POSE1_TO_POSE2_PRESS,770,746.87777148,724,691,670.87777148,643,889,790.87777148,820,657,633.87777148,657,0.399634358547,-0.0154020954255,0.0598384185663,0.999999940351,0.000167311236577,-0.000301215784286,2.39407339813e-05,1793251675825274112
+287,4.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.541173185,643,889,790.08234637,820,657,633.541173185,657,0.399635171494,-0.015401939615,0.0598389295934,0.999999940544,0.000168122096622,-0.000300121840773,2.39348335292e-05,1793251675841940480
+288,4.800000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.037544274,643,889,789.037544274,820,657,633,657,0.399636239936,-0.0154017113381,0.0598397563836,0.99999994077,0.000169492917435,-0.000298592121893,2.395864623e-05,1793251675858607360
+289,4.816666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670.61454626,643,889,789.61454626,820,657,633,657,0.399635648125,-0.0154027421304,0.0598397808134,0.999999940695,0.000168912593747,-0.000299139188156,2.43689172715e-05,1793251675875273984
+290,4.833333333,POSE1_TO_POSE2_PRESS,770,746.810021706,724,691,670.810021706,643,889,790.189978294,820,657,633,657,0.399635298814,-0.0154034269506,0.0598398149428,0.999999940716,0.000168279559805,-0.000299409931967,2.45667971818e-05,1793251675891940864
+291,4.850000000,POSE1_TO_POSE2_PRESS,770,746.237748966,724,691,670.237748966,643,889,790.762251034,820,657,633,657,0.399635437486,-0.0154034155694,0.0598398685907,0.999999940931,0.000167540456777,-0.000299124630403,2.43372811099e-05,1793251675908608000
+292,4.866666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790.654669122,820,657,633,657.345330878,0.39963592604,-0.0154032123077,0.0598399192221,0.999999941078,0.000167166452959,-0.000298839148468,2.43818133346e-05,1793251675925275392
+293,4.883333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670,643,889,790.063908517,820,657,633,657.936091483,0.399636663257,-0.0154028726747,0.0598399677097,0.999999941177,0.000167051928324,-0.00029855353831,2.46211140993e-05,1793251675941942528
+294,4.900000000,POSE1_TO_POSE2_PRESS,770,746.516514429,724,691,670,643.516514429,889,790,820,657,633,657.483485571,0.399637070291,-0.0154018718285,0.0598400627575,0.99999994131,0.000167317650522,-0.000297974230195,2.44318480728e-05,1793251675958608896
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+296,4.933333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643.329338864,889,790,820,657,633,657,0.399636596882,-0.0154026273777,0.0598405687894,0.99999994152,0.000166797494739,-0.000297568451333,2.43208073771e-05,1793251675991941632
+297,4.950000000,POSE1_TO_POSE2_PRESS,770,746.754113447,724,691,670,643,889,790,820,657,633,657,0.39963659052,-0.0154030296211,0.0598407965164,0.999999941472,0.00016722608253,-0.000297491875755,2.42805084845e-05,1793251676008607744
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+299,4.983333333,POSE1_TO_POSE2_PRESS,770.40602268,746,724,691,670,643,889,790,820,657,633,657,0.399638235291,-0.0154018365361,0.0598413081349,0.999999941653,0.000168772161021,-0.000296008830759,2.42581653979e-05,1793251676041940736
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+301,5.016666667,POSE1_TO_POSE2_PRESS,770.426344762,746.573655238,724,691,670.573655238,643,889,790,820,657,633.573655238,657,0.399635519715,-0.0154007274323,0.0598387266433,0.999999939972,0.000168495906809,-0.000301822743045,2.38486639002e-05,1793251676075274496
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+304,5.066666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670,643,889.30643743,789.69356257,820,657,633,657,0.399602204255,-0.0153993495948,0.0598104038305,0.999999923815,0.000167947749659,-0.000351755828749,2.07761679672e-05,1793251676125274368
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+307,5.116666667,POSE1_TO_POSE2_PRESS,770,746,724.947955215,691,670.052044785,643.052044785,889.947955215,790,820,657,633,657,0.399590277652,-0.015398419157,0.0597990599377,0.9999999162,0.000170490207851,-0.000371682436664,1.96172154249e-05,1793251676175273728
+308,5.133333333,POSE1_TO_POSE2_PRESS,770,746,724.369155033,691,670.630844967,643.630844967,889.369155033,790,820,657,633,657,0.399588478603,-0.0153983931766,0.0597964067613,0.999999914973,0.000169859451596,-0.000375275205939,1.92294565303e-05,1793251676191940608
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+496,8.266666667,POSE2_TO_POSE3_RETREAT,768.834308944,748,725,692.165691056,672.834308944,642.165691056,901,788.165691056,829,657,633.834308944,658,0.455471900317,-0.0154718249075,0.0597793460275,0.999999942219,-0.000108241684572,-0.000318271828956,-5.04885467191e-05,1793251679356830976
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+499,8.316666667,POSE2_TO_POSE3_RETREAT,768.561557042,748,725,692.438442958,672.561557042,642.561557042,901,788.438442958,828.438442958,656,634,658,0.454402555785,-0.0154664281278,0.0597989733606,0.999999946732,-0.000115039515437,-0.000302327822581,-4.35815369676e-05,1793251679406831360
+500,8.333333333,POSE2_TO_POSE3_RETREAT,769,747.863634092,724.863634092,692,673,643,901,788.136365908,828.136365908,656,634,658,0.453990432495,-0.015468724655,0.0597929987014,0.999999942347,-0.000118991745778,-0.000315342407907,-4.12973655011e-05,1793251679423498240
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+509,8.483333333,POSE2_TO_POSE3_RETREAT,768,747,724.374286083,693,672,643,900,788.625713917,828,656.625713917,633,658,0.449218767485,-0.0154138875054,0.0597691002141,0.999999940755,4.5022722109e-05,-0.000340820611387,-1.74285079907e-05,1793251679573498112
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+552,9.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.672048713,671,643,891,791,820.672048713,657,633,657,0.412322096833,-0.0153640516747,0.0597968599441,0.999999915639,0.000213458822343,-0.000350265819594,2.17075422302e-05,1793251680290163968
+553,9.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.08995291,671,643,891,791,820.08995291,657,633,657,0.411513918633,-0.0153582560905,0.059744297831,0.999999878148,0.00021710752451,-0.000443051892115,1.65126782923e-05,1793251680306830592
+554,9.233333333,POSE2_TO_POSE3_RETREAT,770,746.519214799,724,691.480785201,671,643,891,791,820.480785201,657,633,657,0.410850740539,-0.0153568815634,0.0597393623578,0.999999878081,0.000223954732999,-0.000439821503099,1.54555398288e-05,1793251680323497472
+555,9.250000000,POSE2_TO_POSE3_RETREAT,769.948387638,746.051612362,724,691.948387638,671,643,891,791,820.948387638,657,633,657,0.410219796339,-0.0153565725731,0.0597468558897,0.999999887224,0.000230425071333,-0.000414982413989,1.56492410833e-05,1793251680340164352
+556,9.266666667,POSE2_TO_POSE3_RETREAT,769.354827328,746.645172672,724,691.354827328,671,643,891,791,820.354827328,657,633,657,0.409649030258,-0.0153589670532,0.0597934516987,0.999999913674,0.00022679945848,-0.000347522390594,2.10359372837e-05,1793251680356831488
+557,9.283333333,POSE2_TO_POSE3_RETREAT,769.232711102,746.767288898,724,691,671,643,890.767288898,791,820,657,633,657,0.409076283966,-0.0153617115743,0.0598320177823,0.999999931752,0.000226301936782,-0.000290905928002,2.56404761752e-05,1793251680373498368
+558,9.300000000,POSE2_TO_POSE3_RETREAT,769.8112992,746.1887008,724,691,671,643,890.1887008,791,820,657,633,657,0.408500594551,-0.0153649763587,0.0598586493333,0.999999941671,0.00023045367789,-0.00025040618673,2.90824993609e-05,1793251680390164992
+559,9.316666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,890.390238381,791,820.390238381,657,633,657.390238381,0.407920781134,-0.0153646542636,0.0598552290832,0.999999941933,0.000227309727136,-0.000252326063231,2.82145170753e-05,1793251680406831616
+560,9.333333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,890.969347533,791,820.969347533,657,633,657.969347533,0.407338971697,-0.0153625961614,0.0598372641182,0.99999993759,0.000220634748011,-0.000274776530502,2.52605433177e-05,1793251680423497984
+561,9.350000000,POSE2_TO_POSE3_RETREAT,770,746.543209905,724,691,671,643,890.456790095,790.456790095,820.456790095,657,633,657.456790095,0.406823866856,-0.0153611210537,0.0598235022064,0.999999931001,0.00022526613272,-0.000294433072017,2.37336914904e-05,1793251680440164864
+562,9.366666667,POSE2_TO_POSE3_RETREAT,770,746.88009048,724,691.11990952,671,643,890,790,820.11990952,657,633,657,0.406327584096,-0.0153598662479,0.05981427038,0.999999926583,0.000228036355678,-0.000307134009159,2.2390819663e-05,1793251680456831488
+563,9.383333333,POSE2_TO_POSE3_RETREAT,770,746.291145586,724,691.708854414,671,643,890,790,820.708854414,657,633,657,0.405890342757,-0.0153593457195,0.0598218394901,0.999999932343,0.000221054789397,-0.000293238354252,2.14556127364e-05,1793251680473498112
+564,9.400000000,POSE2_TO_POSE3_RETREAT,770.292729676,746.292729676,724,691.707270324,671.292729676,643,890,790,821,657,633,657,0.405460822865,-0.015360354264,0.0598252371577,0.999999935619,0.000216731336962,-0.000285215930445,2.10173052656e-05,1793251680490164736
+565,9.416666667,POSE2_TO_POSE3_RETREAT,770.871648542,746.871648542,724,691.128351458,671.871648542,643,890,790,821,657,633,657,0.405038851927,-0.015362857717,0.0598245565855,0.999999936638,0.000215006608342,-0.000282935512469,2.10647950394e-05,1793251680506831360
+566,9.433333333,POSE2_TO_POSE3_RETREAT,770.553696865,746.553696865,724,691,671.553696865,643,890,790,820.553696865,657,633.446303135,657,0.404619500331,-0.0153626091138,0.0598060313144,0.999999924581,0.000230678959689,-0.000311812075093,1.99859439476e-05,1793251680523497728
+567,9.450000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,890,790.019878503,820,657,633.980121497,657,0.404203083482,-0.0153614378739,0.0597825918225,0.999999907444,0.000250406016992,-0.000349376713292,1.85891542665e-05,1793251680540164352
+568,9.466666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,890,790.597254859,820,657,633.402745141,657,0.403848045899,-0.0153563776334,0.0597638956728,0.999999897032,0.000244860513682,-0.000381682967382,1.72741991766e-05,1793251680556831232
+569,9.483333333,POSE2_TO_POSE3_RETREAT,770,746.178452926,724,691,671,643,890,791,820.178452926,657,633.178452926,657,0.403522218894,-0.0153530989942,0.0597550801924,0.99999989326,0.000240917254879,-0.000393893413247,1.69452213153e-05,1793251680573497856
+570,9.500000000,POSE2_TO_POSE3_RETREAT,770,746.768464771,724,691,671,643,890,791,820.768464771,657,633.768464771,657,0.403263759141,-0.0153539291922,0.0597690521109,0.999999906148,0.000240669190264,-0.000359757688076,1.88901639147e-05,1793251680590164480
+571,9.516666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,890,790.647966861,821,657,633.647966861,657,0.403020107271,-0.0153560344168,0.059787430852,0.999999914513,0.000251725477658,-0.000327328269182,2.15527945728e-05,1793251680606831360
+572,9.533333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,890,790.068560193,821,657,633.068560193,657,0.402786019589,-0.0153589631641,0.0598086559028,0.999999919415,0.000270083095748,-0.000296000927317,2.46789705982e-05,1793251680623497984
+573,9.550000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.493537039,790,821,657,633,657,0.402575094028,-0.0153598814981,0.0598241336696,0.99999992645,0.000269148395756,-0.000271975946769,2.62186260368e-05,1793251680640164352
+574,9.566666667,POSE2_TO_POSE3_RETREAT,770,746.917435873,724,691,671,643,889.082564127,790.082564127,821,657,633,657,0.402369971627,-0.0153604863649,0.0598362957261,0.999999932799,0.000263548067183,-0.000253431257143,2.67755087129e-05,1793251680656831232
+575,9.583333333,POSE2_TO_POSE3_RETREAT,770,746.331168659,724,691,671,643,889.668831341,790.668831341,821,657,633,657,0.402181288196,-0.0153608249237,0.0598329352054,0.999999935251,0.000245279982546,-0.000262341447553,2.26357454487e-05,1793251680673497600
+576,9.600000000,POSE2_TO_POSE3_RETREAT,770.252811363,746.252811363,724,691,671,643,890,791,820.747188637,657,633,657,0.402002009557,-0.0153620477889,0.0598288480834,0.999999938247,0.000221553580459,-0.000272222212049,1.77463568878e-05,1793251680690164224
+577,9.616666667,POSE2_TO_POSE3_RETREAT,770.83382212,746.83382212,724,691,671,643,890,791,820.16617788,657,633,657,0.401834940221,-0.0153644186595,0.0598238176887,0.999999941591,0.000190741198521,-0.000283362973973,1.18838059501e-05,1793251680706831104
+578,9.633333333,POSE2_TO_POSE3_RETREAT,770.587608703,747,724,691,671,643,889.587608703,790.587608703,820.412391297,657,633,657,0.40169508908,-0.015365391192,0.0598227762685,0.999999941775,0.000182822461357,-0.00028791781819,1.13437394799e-05,1793251680723497728
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+580,9.666666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.564799015,671,643,889,790,820.435200985,657,633,657,0.401460154954,-0.0153619389806,0.0598229708796,0.999999939034,0.000188232706915,-0.000293798337152,1.35147108906e-05,1793251680756831232
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+582,9.700000000,POSE2_TO_POSE3_RETREAT,770,746.268446276,724,691.268446276,671,643,889,790.731553724,820.731553724,657,633,657,0.401292482429,-0.0153568272352,0.0598258291329,0.999999939801,0.000192524048285,-0.000288342172482,1.38162222304e-05,1793251680790164992
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+585,9.750000000,POSE2_TO_POSE3_RETREAT,770,746.529819858,724,691.529819858,671,643,889.529819858,790.529819858,820,657,633,657,0.40112701854,-0.0153565899602,0.0598316314807,0.999999942242,0.000192663927286,-0.00027958249455,1.51583133524e-05,1793251680840164864
+586,9.766666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790,820,657,632.952886356,657,0.401085000865,-0.0153578804418,0.0598330238265,0.999999942535,0.000192444947534,-0.000278663097696,1.5552138996e-05,1793251680856830976
+587,9.783333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790,820,657,632.379738532,657,0.401054086208,-0.0153564580607,0.059831162223,0.999999941633,0.000193355200465,-0.00028126851219,1.53872376116e-05,1793251680873497600
+588,9.800000000,POSE2_TO_POSE3_RETREAT,769.800292698,746.199707302,724,691,671,643,889,790,820.199707302,657,632.199707302,657,0.40102633022,-0.0153564263924,0.059829105805,0.999999940863,0.000192704988238,-0.00028443652743,1.52958512539e-05,1793251680890164224
+589,9.816666667,POSE2_TO_POSE3_RETREAT,769.208481425,746.791518575,724,691,671,643,889,790,820.791518575,657,632.791518575,657,0.401004775943,-0.0153591252403,0.0598266668897,0.999999940347,0.000188990969181,-0.000288709149024,1.53488038138e-05,1793251680906830848
+590,9.833333333,POSE2_TO_POSE3_RETREAT,769.374280515,747,724,691,671,643,889,790,820.625719485,657,633,657.374280515,0.40099085668,-0.0153602546242,0.0598262671327,0.99999994037,0.000188394641834,-0.000289023039152,1.52421925072e-05,1793251680923497728
+591,9.850000000,POSE2_TO_POSE3_RETREAT,769.952120781,747,724,691,671,643,889,790,820.047879219,657,633,657.952120781,0.400981089867,-0.0153605304245,0.0598269764118,0.999999940695,0.000189493931987,-0.000287183895909,1.50487992814e-05,1793251680940164608
+592,9.866666667,POSE2_TO_POSE3_RETREAT,770,746.471259766,724,691,671,643,889,790.528740234,820,657,633,657.471259766,0.400976416192,-0.0153608193399,0.0598282313501,0.999999941283,0.00018946185122,-0.000285149615239,1.50777937414e-05,1793251680956831232
+593,9.883333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.892802097,820,657,633,657,0.40097255888,-0.015361126918,0.0598294586604,0.999999941835,0.000189271465882,-0.000283333842479,1.51098330739e-05,1793251680973498112
+594,9.900000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.305620044,820,657,633,657,0.400970296579,-0.015361512754,0.0598303415325,0.999999942134,0.000188829929778,-0.000282575388459,1.50655449285e-05,1793251680990164736
+595,9.916666667,POSE2_TO_POSE3_RETREAT,770.27779408,746.27779408,724,691,671,643,889,790.27779408,820,657,633,657,0.400968706854,-0.0153616844766,0.0598309636249,0.999999942284,0.000189163722291,-0.000281820723256,1.50332105119e-05,1793251681006831104
+596,9.933333333,POSE2_TO_POSE3_RETREAT,770.857118396,746.857118396,724,691,671,643,889,790.857118396,820,657,633,657,0.40096784717,-0.0153616237909,0.0598313026551,0.999999942273,0.000190339091433,-0.000281070170512,1.50138512069e-05,1793251681023497728
+597,9.950000000,POSE2_TO_POSE3_RETREAT,770.565403704,746.565403704,724,691,671,643,889,791,820,657,633,657,0.400966973336,-0.0153626122799,0.0598312965058,0.999999942696,0.000188326042166,-0.000280925324539,1.48835043185e-05,1793251681040164352
+598,9.966666667,POSE2_TO_POSE3_RETREAT,770,746.011434083,724,691,671,643,889.011434083,790.988565917,820,657,633,657,0.400966120609,-0.0153639433335,0.059831201973,0.999999943254,0.000185326775794,-0.000280944337997,1.47238723869e-05,1793251681056830720
+599,9.983333333,POSE2_TO_POSE3_RETREAT,770,746.586516874,724,691,671,643,889.586516874,790.413483126,820,657,633,657,0.400966536818,-0.0153652294429,0.0598323211213,0.999999943751,0.000185166916555,-0.00027926583956,1.49117639999e-05,1793251681073497600
+600,10.000000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.834416897,671,643,890,790.165583103,820,657,633,657,0.400967161396,-0.0153660050454,0.0598335054572,0.999999944076,0.000185968477755,-0.000277549590959,1.51434303435e-05,1793251681090164224
+601,10.016666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.245158327,671,643,890,790.754841673,820,657,633,657,0.400968319124,-0.0153654744198,0.0598348565877,0.999999943961,0.00018923001373,-0.00027573675157,1.54871025455e-05,1793251681106830848
+602,10.033333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.33850658,671,643,889.66149342,790.66149342,820,657,633,657,0.400967552528,-0.0153648659135,0.0598348044277,0.999999943718,0.000189668227906,-0.000276315832427,1.54912355975e-05,1793251681123497728
+603,10.050000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.918186189,671,643,889.081813811,790.081813811,820,657,633,657,0.400965414923,-0.01536420192,0.0598337524765,0.999999943385,0.000188094932817,-0.00027859906533,1.52534599376e-05,1793251681140164352
+604,10.066666667,POSE2_TO_POSE3_RETREAT,770,746.505507562,724,691,671,643,889,790.494492438,820.494492438,657,633,657,0.400965078012,-0.0153643053699,0.0598338132256,0.999999943419,0.000188644785254,-0.000278116102369,1.50288635063e-05,1793251681156830720
+605,10.083333333,POSE2_TO_POSE3_RETREAT,770,746.071851563,724,691,671,643,889,790.928148437,820.928148437,657,633,657.071851563,0.400965068646,-0.0153646531714,0.0598340862192,0.999999943593,0.000189048165282,-0.000277226979005,1.48394824188e-05,1793251681173497600
+606,10.100000000,POSE2_TO_POSE3_RETREAT,770,746.660776604,724,691,671,643,889,790.339223396,820.339223396,657,633,657.660776604,0.400965286975,-0.0153658518647,0.0598345707556,0.999999944335,0.000185886678088,-0.000276686205049,1.48879400935e-05,1793251681190164224
+607,10.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820,657,633,657.754892716,0.400965724513,-0.0153666354661,0.0598349936206,0.999999944872,0.000184149765532,-0.000275899531757,1.49493784987e-05,1793251681206830848
+608,10.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820,657,633,657.176803462,0.400966459847,-0.0153668551589,0.0598353327041,0.999999945143,0.000184348158828,-0.000274778800405,1.50284514302e-05,1793251681223497728
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb6b0f7f5aec4689c5b5eaa39943561a4997c9e1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,617 @@
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+578,9.633333333,pose2_to_pose3_retreat,0.586300197721,-0.00999489297794,1.05002082923,0.556871542638,-0.00132247953681,1.04963220431
+579,9.650000000,pose2_to_pose3_retreat,0.586204638529,-0.00999484923604,1.05002101136,0.556775982234,-0.00132243981539,1.04963238853
+580,9.666666667,pose2_to_pose3_retreat,0.586123482229,-0.00999473644527,1.05002099321,0.556694825552,-0.00132232819877,1.04963237357
+581,9.683333333,pose2_to_pose3_retreat,0.586054192835,-0.00999487396542,1.0500208576,0.556625537315,-0.00132246218199,1.0496322292
+582,9.700000000,pose2_to_pose3_retreat,0.585995770434,-0.00999487147006,1.05002102239,0.556567114493,-0.00132246091265,1.04963239845
+583,9.716666667,pose2_to_pose3_retreat,0.585946451992,-0.00999481265883,1.05002122658,0.556517795536,-0.00132240353855,1.04963260963
+584,9.733333333,pose2_to_pose3_retreat,0.585905447834,-0.00999480833875,1.05002121951,0.556476792089,-0.00132239685817,1.04963260129
+585,9.750000000,pose2_to_pose3_retreat,0.585870460093,-0.00999481615018,1.05002093974,0.556441803555,-0.001322407456,1.0496323194
+586,9.766666667,pose2_to_pose3_retreat,0.585840864796,-0.00999473584456,1.05002099046,0.556412207415,-0.00132233035678,1.04963236239
+587,9.783333333,pose2_to_pose3_retreat,0.585816578522,-0.00999472851405,1.05002103943,0.55638792075,-0.00132232442269,1.04963240982
+588,9.800000000,pose2_to_pose3_retreat,0.585797062594,-0.0099948100562,1.05002104553,0.556368405622,-0.00132240308861,1.04963241952
+589,9.816666667,pose2_to_pose3_retreat,0.585782384566,-0.00999489319167,1.05002112644,0.556353729929,-0.00132247829572,1.04963250056
+590,9.833333333,pose2_to_pose3_retreat,0.585771614319,-0.00999483689226,1.05002104939,0.556342959374,-0.00132242323547,1.04963241918
+591,9.850000000,pose2_to_pose3_retreat,0.585764316513,-0.00999486588558,1.05002103111,0.556335661744,-0.00132245157013,1.0496324023
+592,9.866666667,pose2_to_pose3_retreat,0.585759748867,-0.00999489162533,1.05002099815,0.556331093808,-0.00132247819593,1.04963237153
+593,9.883333333,pose2_to_pose3_retreat,0.585756959116,-0.00999489024282,1.05002091896,0.5563283029,-0.00132248065542,1.04963229421
+594,9.900000000,pose2_to_pose3_retreat,0.585755313995,-0.00999488424935,1.0500208713,0.556326657152,-0.00132247675977,1.04963224725
+595,9.916666667,pose2_to_pose3_retreat,0.58575421884,-0.00999486230655,1.05002083627,0.556325561769,-0.00132245563162,1.04963221129
+596,9.933333333,pose2_to_pose3_retreat,0.585753472148,-0.00999484734564,1.05002081239,0.556324814922,-0.00132244122615,1.04963218677
+597,9.950000000,pose2_to_pose3_retreat,0.585753036101,-0.00999483860891,1.05002079844,0.556324378785,-0.00132243281378,1.04963217246
+598,9.966666667,pose2_to_pose3_retreat,0.585752856864,-0.00999483501766,1.05002079271,0.55632419951,-0.00132242935586,1.04963216657
+599,9.983333333,pose2_to_pose3_retreat,0.585752802128,-0.00999483392096,1.05002079096,0.556324144763,-0.00132242829988,1.04963216477
+600,10.000000000,pose2_to_pose3_retreat,0.585752734955,-0.00999483257506,1.05002078881,0.556324077576,-0.00132242700395,1.04963216257
+601,10.016666667,pose2_to_pose3_retreat,0.585752662618,-0.00999483559516,1.05002079339,0.556324005325,-0.00132242972842,1.0496321672
+602,10.033333333,pose2_to_pose3_retreat,0.585752517635,-0.00999484407082,1.05002080631,0.556323860571,-0.00132243742214,1.04963218027
+603,10.050000000,pose2_to_pose3_retreat,0.585752309649,-0.00999485622968,1.05002082485,0.556323652912,-0.00132244845927,1.04963219902
+604,10.066666667,pose2_to_pose3_retreat,0.5857520083,-0.00999487384645,1.0500208517,0.556323352038,-0.00132246445077,1.04963222619
+605,10.083333333,pose2_to_pose3_retreat,0.585751826624,-0.00999488446721,1.05002086789,0.556323170648,-0.00132247409169,1.04963224257
+606,10.100000000,pose2_to_pose3_retreat,0.585751722775,-0.00999489053821,1.05002087714,0.556323066963,-0.00132247960261,1.04963225194
+607,10.116666667,pose2_to_pose3_retreat,0.585751636564,-0.00999489557813,1.05002088483,0.556322980887,-0.00132248417755,1.04963225971
+608,10.133333333,pose2_to_pose3_retreat,0.585751617862,-0.00999489667141,1.05002088649,0.556322962215,-0.00132248516997,1.04963226139
+609,10.150000000,pose2_to_pose3_retreat,0.585751554501,-0.00999490037551,1.05002089214,0.556322898954,-0.00132248853234,1.04963226711
+610,10.166666667,pose2_to_pose3_retreat,0.58575148817,-0.00999490425319,1.05002089805,0.556322832727,-0.00132249205228,1.04963227309
+611,10.183333333,pose2_to_pose3_retreat,0.585751382102,-0.00999490773685,1.05002090561,0.556322726796,-0.00132249507344,1.04963228066
+612,10.200000000,pose2_to_pose3_retreat,0.585751227571,-0.00999489875246,1.05002090686,0.556322572302,-0.00132248598214,1.04963228143
+613,10.216666667,pose2_to_pose3_retreat,0.58575107925,-0.00999489012917,1.05002090806,0.556322424018,-0.00132247725624,1.04963228216
+614,10.233333333,pose2_to_pose3_retreat,0.585750962617,-0.00999486085151,1.05002095867,0.556322306521,-0.00132245087385,1.04963233365
+615,10.250000000,pose2_to_pose3_retreat,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242484,1.04963239686
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bd0864410830dd266c83dd127016af2b322309c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:010d50b5efde55149cf75c75dc519d3e2a614fc7f33be3c8af6289128b9d96f7
+size 26312522
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dec71e02f7fdb4304c58d8fad3a220ad1623bfe5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+38,0.633333333,BASELINE,770,746.04008712,724,691.04008712,671,643,889,790.04008712,820,657,633,657,0.400965950576,-0.015367991239,0.0598371327425,0.999999944577,0.000192046817821,-0.000271562459578,1.47308679745e-05,1793251682091826432
+39,0.650000000,BASELINE,770,746.609652242,724,691.609652242,671,643,889,790.609652242,820,657,633,657,0.4009645146,-0.015370270158,0.0598369993731,0.99999994522,0.000187786078768,-0.000272171775083,1.4799167496e-05,1793251682108493312
+40,0.666666667,BASELINE,770,746.811228738,724,691.811228738,671,643,889,790.811228738,820,657,633,657,0.400964009648,-0.0153717136727,0.0598372186165,0.999999945781,0.000184833848409,-0.000272128577046,1.48427000037e-05,1793251682125159936
+41,0.683333333,BASELINE,770,746.211300708,724,691.211300708,671,643,889,790.211300708,820,657,633,657,0.400965532532,-0.0153713376194,0.059838205875,0.999999946198,0.000184731640085,-0.000270664159688,1.48322882513e-05,1793251682141826560
+42,0.700000000,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400966195943,-0.0153718023008,0.0598387298143,0.999999946404,0.000184836973653,-0.000269826845863,1.48262651695e-05,1793251682158493184
+43,0.716666667,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.40096639205,-0.0153727240983,0.0598390018422,0.999999946498,0.000185055149893,-0.000269330494752,1.48226282537e-05,1793251682175159808
+44,0.733333333,BASELINE,770,746.523414268,724,690.476585732,671,643,889.523414268,790.523414268,820,657,633,657,0.400966103067,-0.0153714961173,0.0598384191535,0.999999946005,0.000186844118303,-0.000269927024779,1.4782232039e-05,1793251682191826432
+45,0.750000000,BASELINE,769.898751845,747,724,690.101248155,671,643,889.898751845,790.898751845,820,657,633,657.101248155,0.400965922521,-0.0153700917327,0.05983796972,0.999999945584,0.000188526387313,-0.000270322071371,1.46744782464e-05,1793251682208493312
+46,0.766666667,BASELINE,769.322590541,747,724,690.677409459,671,643,889.322590541,790.322590541,820,657,633,657.677409459,0.400966488728,-0.0153689151908,0.0598385648935,0.999999945806,0.000188937106494,-0.000269235571662,1.42688222908e-05,1793251682225160192
+47,0.783333333,BASELINE,769.260967748,746.739032252,724,691,671,643,889.260967748,790.260967748,820.260967748,657,633,657.739032252,0.400966157155,-0.0153689507197,0.0598384774715,0.999999945788,0.000188818714469,-0.000269390200629,1.41812209445e-05,1793251682241827072
+48,0.800000000,BASELINE,769.853936501,746.146063499,724,691,671,643,889.853936501,790.853936501,820.853936501,657,633,657.146063499,0.400964683434,-0.0153705282348,0.0598375216574,0.999999945464,0.000188027191616,-0.000271123783048,1.44982459774e-05,1793251682258493952
+49,0.816666667,BASELINE,770,746.434651737,724,691,671,643,889.565348263,791,820.565348263,657,633,657,0.400966425827,-0.0153708964786,0.059838684073,0.999999946076,0.000187357246303,-0.000269308683015,1.47738941602e-05,1793251682275160320
+50,0.833333333,BASELINE,770,746.988669024,724,691,671,643,889,790.988669024,820,657,633,657,0.400969088983,-0.0153708853628,0.0598404629643,0.99999994695,0.000186742206144,-0.000266462284989,1.50303788525e-05,1793251682291826432
+51,0.850000000,BASELINE,770,746.413537534,724,691,671,643,889,790.413537534,820,657,633,657,0.400965265229,-0.0153716639173,0.0598384686421,0.999999945972,0.00018688196321,-0.000270011176332,1.5006224364e-05,1793251682308492800
+52,0.866666667,BASELINE,770,746,724,690.834408443,671,643,889,790,820,657,633,657,0.400963154773,-0.0153719441274,0.0598373215306,0.999999945269,0.00018767486533,-0.0002720594432,1.49880591563e-05,1793251682325159424
+53,0.883333333,BASELINE,770,746,724,690.245049063,671,643,889,790,820,657,633,657,0.400965428846,-0.015370949017,0.0598383425287,0.999999945289,0.000190139240694,-0.000270267439391,1.49852212079e-05,1793251682341826304
+54,0.900000000,BASELINE,770,746.337812332,724,690.337812332,670.662187668,643,889,790,820,657,633,657,0.400965807261,-0.0153708012325,0.0598387129264,0.999999945354,0.000190392724658,-0.000269851370935,1.49450892652e-05,1793251682358493184
+55,0.916666667,BASELINE,770,746.91604902,724,690.91604902,670.08395098,643,889,790,820,657,633,657,0.400964836519,-0.0153712564981,0.0598386202852,0.999999945453,0.000189072695372,-0.000270414569274,1.48784148203e-05,1793251682375160320
+56,0.933333333,BASELINE,770,746.50769982,724,691,670,643,889,790.49230018,820,657,633,657,0.400965629473,-0.0153699810926,0.059838705734,0.999999945337,0.000190498429168,-0.000269847627028,1.48093877151e-05,1793251682391827200
+57,0.950000000,BASELINE,770,746,724,691,670,643,889,790.931535456,820.068464544,657,633,657,0.400966575737,-0.0153687152749,0.0598388038184,0.999999945242,0.000191898618077,-0.000269208049015,1.47320331852e-05,1793251682408493824
+58,0.966666667,BASELINE,770,746,724,691,670,643,889,790.353507492,820.646492508,657,633,657,0.400966433567,-0.0153697085533,0.059838770824,0.999999945609,0.000189637772603,-0.000269456469471,1.45956738704e-05,1793251682425159936
+59,0.983333333,BASELINE,769.771690285,746.228309715,724,691,670.228309715,643,889,790.228309715,820.771690285,657,633,657,0.400966521129,-0.0153704687013,0.0598388240081,0.999999945839,0.000188843707608,-0.000269160922845,1.45903063654e-05,1793251682441826816
+60,1.000000000,BASELINE,769.183906825,746.816093175,724,691,670.816093175,643,889,790.816093175,820.183906825,657,633,657,0.400966970404,-0.0153708617857,0.0598390128802,0.999999945858,0.000190359088757,-0.000268008899849,1.47911855005e-05,1793251682458494208
+61,1.016666667,BASELINE,769.398846588,747,724,691,671,643,889.398846588,790.601153412,820,657,633,657,0.400966947229,-0.0153711605685,0.0598392421903,0.999999945937,0.000189701577875,-0.000268177446768,1.4859453266e-05,1793251682475160320
+62,1.033333333,BASELINE,769.979309514,747,724,691,671,643,889.979309514,790.020690486,820,657,633,657,0.400966708923,-0.0153714164107,0.059839489914,0.999999946041,0.000188054632096,-0.000268947320381,1.48673359186e-05,1793251682491826432
+63,1.050000000,BASELINE,770,746.445075437,724,691,671,643,890,790,820.554924563,657,633,657,0.400967132851,-0.0153721148624,0.0598392243385,0.999999946473,0.000186903727256,-0.000268156824137,1.45770125552e-05,1793251682508493056
+64,1.066666667,BASELINE,770.133356232,746.133356232,724,691,670.866643768,643,889.866643768,790,820.866643768,657,633,657,0.400967458059,-0.0153725228129,0.0598390317184,0.999999946747,0.00018611289392,-0.000267695354783,1.4375261709e-05,1793251682525159680
+65,1.083333333,BASELINE,770.722016134,746.722016134,724,691,670.277983866,643,889.277983866,790,820.277983866,657,633,657,0.400967362646,-0.015371883081,0.0598391529589,0.999999946445,0.00018648881501,-0.000268554159256,1.45135469139e-05,1793251682541826048
+66,1.100000000,BASELINE,770.388529216,747,724,690.694264608,670.305735392,643,889.305735392,790.305735392,820,657,633,657,0.400966521596,-0.0153708025172,0.0598388516694,0.999999945997,0.000187405335689,-0.000269591738526,1.43093051672e-05,1793251682558492928
+67,1.116666667,BASELINE,769.229932252,747,724,690.114966126,670.885033874,643,889.885033874,790.885033874,820,657,633,657,0.400965013372,-0.0153693275098,0.0598381723126,0.999999945418,0.000188805569054,-0.000270789280211,1.37985803116e-05,1793251682575159552
+68,1.133333333,BASELINE,769.461752979,746.538247021,724,690.461752979,671,643,889.538247021,791,820,657,633,657,0.400964590688,-0.0153690588869,0.0598382091082,0.999999945336,0.000189979054521,-0.000270261059313,1.39307179876e-05,1793251682591826176
+69,1.150000000,BASELINE,770,746.038479647,724,691,671,643,889,791,820,657,633,657,0.400964565438,-0.0153690906569,0.0598384726363,0.999999945416,0.000190873150508,-0.000269319385719,1.42045036544e-05,1793251682608493056
+70,1.166666667,BASELINE,770,746.624399062,724,691,671,643,889,791,820,657,633,657,0.400966370591,-0.0153691465964,0.0598394392084,0.999999946049,0.000188591155725,-0.000268574562608,1.42290192368e-05,1793251682625159680
+71,1.183333333,BASELINE,770,746.792122673,724,691,671,643,889,791,820,657,633,657,0.400967147219,-0.0153695071938,0.0598396248179,0.999999946236,0.000187935160984,-0.00026833877625,1.42604672302e-05,1793251682641826048
+72,1.200000000,BASELINE,770,746.213003883,724,691,671,643,889,791,820,657,633,657,0.400966087036,-0.0153704118697,0.0598384157316,0.999999945629,0.000190182987299,-0.000269012062215,1.43042955985e-05,1793251682658492672
+73,1.216666667,BASELINE,770,746,724,691,671,643,889,790.634630701,820,657,632.634630701,657,0.400966031825,-0.0153703611666,0.0598384746807,0.999999945326,0.000191625966361,-0.000269117026442,1.42729308389e-05,1793251682675159552
+74,1.233333333,BASELINE,770,746,724,691,671,643,889,790.056691345,820,657,632.056691345,657,0.400966561301,-0.0153697546286,0.0598392713664,0.9999999452,0.000192600689126,-0.000268891343839,1.41978190854e-05,1793251682691826432
+75,1.250000000,BASELINE,770,746.520735149,724,690.479264851,671,643,889,790,820,657,633.041470297,657.520735149,0.400966532241,-0.0153709690386,0.0598387990179,0.999999945476,0.000190091856495,-0.000269641388575,1.44083716013e-05,1793251682708492800
+76,1.266666667,BASELINE,770,747,724,690.099551396,671,643,889.099551396,790,820,657,633.900448604,657.900448604,0.400966706136,-0.0153720743068,0.0598385046253,0.999999945853,0.000187563024542,-0.000270001741892,1.46091897473e-05,1793251682725159424
+77,1.283333333,BASELINE,770,747,724,690.685429314,671,643,889.685429314,790,820,657,633.314570686,657.314570686,0.400968168267,-0.0153716788982,0.0598397538379,0.999999946553,0.00018678736135,-0.000267939962709,1.46106757173e-05,1793251682741826304
+78,1.300000000,BASELINE,770,746.732181143,724,691,670.732181143,643,889.732181143,790,820,657,633,657,0.400968622547,-0.01537041292,0.059840273067,0.999999946643,0.000187957021786,-0.000266787004719,1.44991245458e-05,1793251682758492928
+79,1.316666667,BASELINE,770,746.153836283,724,691,670.153836283,643,889.153836283,790,820,657,633,657,0.400967908261,-0.0153681375487,0.0598399459072,0.999999946024,0.000191382212669,-0.000266687791245,1.42565110128e-05,1793251682775159552
+80,1.333333333,BASELINE,770,746,724,691,670.424168771,643,889,790,820,657,633,657,0.400966934615,-0.0153692559834,0.0598393271964,0.999999945842,0.000190878817526,-0.000267724408867,1.43050083707e-05,1793251682791826176
+81,1.350000000,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.40096587385,-0.0153715932966,0.0598386092022,0.999999945818,0.000188960635106,-0.000269163469587,1.44588989869e-05,1793251682808492800
+82,1.366666667,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.40096674201,-0.0153708441738,0.0598396800866,0.999999946012,0.000189536008289,-0.000268028453242,1.45842937256e-05,1793251682825159424
+83,1.383333333,BASELINE,770,746.154073616,724,691,671,643,889,790,820.154073616,657,633,657,0.400966940884,-0.0153702204114,0.0598400803119,0.999999945956,0.00019013949534,-0.000267809910537,1.45815542785e-05,1793251682841826304
+84,1.400000000,BASELINE,770,746.744414759,724,691,671,643,889,790,820.744414759,657,633,657,0.400965244642,-0.0153699516133,0.0598385815313,0.999999945192,0.000190822588414,-0.000270186410764,1.42159961897e-05,1793251682858492928
+85,1.416666667,BASELINE,770,747,724,691,671,643,889,790,820.671640592,657,633,657,0.400964535301,-0.0153703933929,0.0598378644721,0.999999944879,0.000190842647923,-0.000271327310602,1.42307369771e-05,1793251682875159552
+86,1.433333333,BASELINE,770,747,724,691,671,643,889,790,820.092579683,657,633,657,0.400964579458,-0.0153713776966,0.0598377442552,0.999999944914,0.000190356483096,-0.000271524832814,1.4535834927e-05,1793251682891826176
+87,1.450000000,BASELINE,770,746.516192568,724,691,670.516192568,643,889,790,820.483807432,657,633,657,0.400966402757,-0.0153711579846,0.0598390355311,0.999999945646,0.000190229012038,-0.000268908847232,1.44655934078e-05,1793251682908492800
+88,1.466666667,BASELINE,770,746,724,690.939228139,670.121543723,643,889.060771861,790,820.939228139,657,633,657,0.400968186176,-0.0153707766563,0.0598403158585,0.999999946361,0.00019021207592,-0.000266253578225,1.43394258035e-05,1793251682925159680
+89,1.483333333,BASELINE,770,746,724,690.352870104,671.294259793,643,889.647129896,790,820.352870104,657,633,657,0.400966696491,-0.0153709792195,0.0598391783887,0.999999945858,0.000190560745431,-0.000267889185683,1.43473342999e-05,1793251682941826304
+90,1.500000000,BASELINE,770,746,724,690.461500558,671.769249721,643,889.769249721,790,820,657,633,657,0.400965827414,-0.0153706574574,0.0598386129547,0.99999994551,0.000191211361749,-0.000268720460712,1.43749958232e-05,1793251682958493184
+91,1.516666667,BASELINE,770,746,724,691.620466395,671.189766802,643,889.189766802,790,820,657,633,657,0.400965896258,-0.015369543283,0.059838912038,0.999999945401,0.000192318309906,-0.000268336148889,1.44325100736e-05,1793251682975159808
+92,1.533333333,BASELINE,770,746.389537371,724,691.220925258,671,643,889,790,820,657,633,657,0.400966232953,-0.015369536303,0.0598392135725,0.999999945548,0.000191826959163,-0.000268145751245,1.42718956384e-05,1793251682991826432
+93,1.550000000,BASELINE,770,746.968754558,724,690.062490884,671,643,889,790,820,657,633,657,0.400966700074,-0.015370068456,0.0598395163006,0.999999945821,0.000190557339051,-0.000268049777385,1.40050664723e-05,1793251683008493056
+94,1.566666667,BASELINE,770,747,724,690.54264139,671,643,889,790,820,657,633,657,0.40096699687,-0.0153709957288,0.059840126026,0.999999946268,0.000189728466816,-0.000266950642047,1.43209465728e-05,1793251683025160192
+95,1.583333333,BASELINE,770,746.88318504,724,691,670.88318504,643,889,790.11681496,820,657,633,657,0.400966883158,-0.0153717302856,0.0598403008023,0.999999946457,0.000189348227332,-0.000266501164413,1.45297143575e-05,1793251683041827328
+96,1.600000000,BASELINE,770,746.30668691,724,691,670.30668691,643,889,790.69331309,820,657,633,657,0.400965192255,-0.0153716178207,0.0598386951093,0.999999945593,0.000190634524057,-0.000268833271849,1.41862306769e-05,1793251683058493440
+97,1.616666667,BASELINE,770,746,724,690.72362489,670.27637511,643,888.72362489,790.72362489,820,657,633,657,0.400965357831,-0.0153722373,0.0598386712755,0.999999945744,0.000189907912622,-0.000268783513328,1.42368536871e-05,1793251683075160064
+98,1.633333333,BASELINE,770,746,724,690.133101912,670.866898088,643,888.133101912,790.133101912,820,657,633,657,0.400967633615,-0.0153736887598,0.0598404454967,0.999999947042,0.000186893284639,-0.000266026354176,1.47354467828e-05,1793251683091826688
+99,1.650000000,BASELINE,770,746,724,690.448500673,671,643,888,790,820,657,633,657,0.400966903361,-0.0153726461404,0.0598393856612,0.999999946366,0.000187671622199,-0.000268026392936,1.44318854498e-05,1793251683108493056
+100,1.666666667,BASELINE,770,746,724,691,671,643,888.027010662,790,820,657,633.027010662,657,0.400965351359,-0.0153709233269,0.0598376191317,0.999999945166,0.000189510029558,-0.000271219370827,1.39204902406e-05,1793251683125160192
+101,1.683333333,BASELINE,770,746,724,691,671,643,888.595558247,790,820,657,633.595558247,657,0.400964861133,-0.0153701135746,0.0598382177716,0.999999945157,0.000190473899772,-0.000270576448911,1.39219425028e-05,1793251683141826560
+102,1.700000000,BASELINE,770,746,724,690.828427396,671,643,889,790,820,657,633.828427396,657,0.400964739087,-0.0153699551875,0.059838724916,0.999999945282,0.000190924913648,-0.000269788944777,1.40287335683e-05,1793251683158493184
+103,1.716666667,BASELINE,770,746,724,690.234011133,671,643,889,790,820,657,633.234011133,657,0.400965524429,-0.0153714021012,0.0598390065678,0.99999994574,0.000190111984037,-0.000268645115351,1.43951339419e-05,1793251683175159808
+104,1.733333333,BASELINE,770,746.350599767,724,690.350599767,671,643,889,790,820,657,633,657,0.400965209871,-0.0153711830969,0.0598387884442,0.999999945501,0.000190505991644,-0.000269247228961,1.45235458518e-05,1793251683191826688
+105,1.750000000,BASELINE,770,746.928844099,724,690.928844099,671,643,889,790,820,657,633,657,0.400964181148,-0.0153698824115,0.0598382458164,0.999999944808,0.000191683663978,-0.000270982983955,1.4497431795e-05,1793251683208493312
+106,1.766666667,BASELINE,770,746.494933857,724,690.494933857,671,643,889,790.505066143,820,657,633,657,0.400964041483,-0.015369601026,0.0598380902398,0.999999944558,0.000192671999002,-0.00027121223351,1.43004567579e-05,1793251683225159936
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,723,691,670,643,889,790,820,657,633,657,0.400965434431,-0.0153710353118,0.0598396794157,0.99999994561,0.00019149922867,-0.00026813715114,1.45101446383e-05,1793251683267860224
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746,723.579192147,691,670.579192147,643,889,790,820,657,633,657,0.400965756509,-0.0153714925189,0.059839856499,0.999999945796,0.000190423543669,-0.000268220079097,1.43265974971e-05,1793251683284526592
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746,724.158381227,691,671,643,889,790,820,657,633,657,0.400966359602,-0.0153718041661,0.0598399045901,0.999999945948,0.00018967944476,-0.000268183680494,1.42502162085e-05,1793251683301192960
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746,724.737562284,691,671,643,889,790,820,657,633,657,0.40096770932,-0.015371729078,0.0598396099646,0.999999946014,0.000189816329896,-0.000267830245621,1.44585616327e-05,1793251683317859328
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746,724.685434114,691,671,643,889.314565886,790,820,657,633,657,0.400968427215,-0.015371216896,0.0598396512681,0.999999946037,0.000190653728969,-0.000267155280268,1.42955397019e-05,1793251683334525952
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746,724.110234676,691,671,643,889.889765324,790,820,657,633,657,0.400968621613,-0.0153703425599,0.0598399709057,0.999999946024,0.000192071538826,-0.00026621391087,1.3824821353e-05,1793251683351192576
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889.527823723,790,820,657,633,657,0.400967501316,-0.0153707706592,0.059840112156,0.999999945623,0.000193220960769,-0.000266863768558,1.42648806943e-05,1793251683367859200
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.056127098,724,691,671,643,889,790,820,657,633,657,0.400966343652,-0.0153715364739,0.0598402724817,0.999999945226,0.000194063794245,-0.000267707304857,1.48641246648e-05,1793251683384525568
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.638485481,724,691,671,643,889,790,820,657,633,657,0.400967757965,-0.0153725735429,0.0598410081743,0.999999945737,0.000192628719066,-0.000266829720482,1.49313518934e-05,1793251683401192192
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.781486444,724,691,671,643,889,790,820,656.781486444,633,657,0.400972186737,-0.015372759039,0.0598426610969,0.999999946549,0.00019184686488,-0.000264338541361,1.49181400825e-05,1793251683417858816
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746.205273071,724,691,671,643,889,790,820,656.205273071,633,657,0.400981550082,-0.0153715505371,0.0598458154962,0.999999947839,0.000192134313053,-0.000259205958476,1.47732520873e-05,1793251683434525696
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.632675931,746,724,691,671,643,889,790,820,656.367324069,633,657,0.40101021557,-0.0153726743883,0.0598582846832,0.999999953269,0.000192257204198,-0.00023717169621,1.58002459473e-05,1793251683451192320
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.06207991,746,724,691,671,643,889,790,820,656.93792009,633,657,0.401049562594,-0.0153750889308,0.0598759085426,0.999999960186,0.00019228903168,-0.000205784282566,1.74757426521e-05,1793251683467859200
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.529756861,746,724,691,671,643,889,790,820,657,633,657,0.401106514962,-0.0153779918904,0.0598950320254,0.99999996693,0.000190824757609,-0.000171335691908,1.9244257676e-05,1793251683484525568
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,724,690.878226374,671,643,889,790,820,657,633,657,0.401167750461,-0.0153810009228,0.0599130032617,0.999999971804,0.000190231042126,-0.000140602903455,2.08672820204e-05,1793251683501191936
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,724,690.295346792,671,643,889,790,820,657,633,657,0.401237066015,-0.0153841858297,0.059925918198,0.999999973158,0.000193625369192,-0.000125355383737,2.18963949987e-05,1793251683517858816
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746,724,690.282218806,670.717781194,643,889,790,820,657,633,657,0.401317844802,-0.0153888011411,0.0599361159505,0.999999975094,0.00019302887828,-0.000109754417089,2.24988457972e-05,1793251683534525696
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746,724,690.854325971,670.145674029,643,889,790,820,657,633,657,0.401410398341,-0.0153948857294,0.0599435226767,0.99999997761,0.00018833311505,-9.37903991839e-05,2.26630394182e-05,1793251683551192576
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.571142432,746,724,691,670.428857568,643,889,790,820,657,633,657,0.401510568473,-0.0154009909455,0.0599448907813,0.999999978819,0.000183640747652,-9.02816475251e-05,2.20784202286e-05,1793251683567859200
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.004354384,746.004354384,724,691,671,643,889,790,820,657,633,657,0.401613489514,-0.0154071048991,0.059944179661,0.999999979614,0.000178982745709,-9.10255962522e-05,2.12345551603e-05,1793251683584525824
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.598407235,746.598407235,724,691,671,643,889,790,820,657,633,657,0.401736589596,-0.0154134478547,0.0599412518149,0.999999979629,0.000178821617649,-9.14785023481e-05,1.99243367415e-05,1793251683601192448
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.401871993441,-0.0154201545056,0.0599397556756,0.999999980182,0.000176967717239,-8.93220582701e-05,1.84477444189e-05,1793251683617858816
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.40203307065,-0.0154276200527,0.0599412469766,0.999999981803,0.000171581629893,-8.17208698265e-05,1.66239917386e-05,1793251683634525440
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.662333977,724,691,671,643,889,790,820,657,633,657,0.402215213563,-0.0154368924366,0.0599437424215,0.999999983645,0.00016446818501,-7.36895629274e-05,1.51880900257e-05,1793251683651192064
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.089178329,724,691,671,643,889,790,820,657,633,657,0.402412047797,-0.0154474249165,0.0599469381606,0.999999985574,0.000156150073561,-6.53582889309e-05,1.40226769305e-05,1793251683667858688
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,790,820.495324386,657,633,657,0.402633347592,-0.0154557832064,0.0599467623385,0.999999986584,0.000151018244897,-6.23376534809e-05,1.17708111018e-05,1793251683684525312
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.08159175,724,691,671,643,889.08159175,790.08159175,820.91840825,657,633,657,0.402865268112,-0.0154640902273,0.0599466163299,0.999999987536,0.000146022612368,-5.93045999434e-05,9.39705557927e-06,1793251683701192192
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.665849874,724,691,671,643,889.665849874,790.665849874,820.334150126,657,633,657,0.403134847338,-0.0154745495108,0.0599504813517,0.999999989157,0.000138249017323,-5.0166466123e-05,7.50569549496e-06,1793251683717858816
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.753367826,746.753367826,724,690.753367826,671,642.753367826,889.753367826,790.753367826,820,657,633,657,0.403408738609,-0.0154825633562,0.0599464205799,0.99999998953,0.000134042460249,-5.43309504313e-05,4.5394318229e-06,1793251683734525440
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.177229342,746.177229342,724,690.177229342,671,642.177229342,889.177229342,790.177229342,820,657,633,657,0.403688390854,-0.0154873100391,0.0599317707636,0.999999988033,0.000134601549161,-7.62680419514e-05,1.37072113596e-07,1793251683751192064
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.396696413,746,724,690.396696413,670.603303587,642.396696413,889.793392825,790,820,657,633,657.396696413,0.403994058297,-0.0154857566111,0.0599186444728,0.999999989104,0.000108849514476,-9.96366436349e-05,-4.06215471887e-06,1793251683767858688
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.96963907,746,724,690.96963907,670.03036093,642.96963907,890.93927814,790,820,657,633,657.96963907,0.404311283892,-0.0154814041385,0.0599061950618,0.999999989773,7.14078434496e-05,-0.000123641242997,-8.17113254829e-06,1793251683784525312
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.560271817,724,691,670.560271817,643,890.439728183,790.560271817,820.560271817,657,633,657.439728183,0.404681145202,-0.0154751060273,0.0598978143326,0.999999987193,7.93216107217e-05,-0.000138395703579,-1.30210192258e-05,1793251683801191936
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.851693417,747,724,691,670.851693417,643,890,791,821,657,633,657,0.405071138162,-0.0154730374386,0.0598945591296,0.999999985875,8.3543581168e-05,-0.00014482357767,-1.71966134588e-05,1793251683817858816
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.274045454,747,724,691,670.274045454,643,890,791,821,657,633,657,0.405510884802,-0.0154835283195,0.0599054830212,0.999999989108,6.97307562529e-05,-0.000128644771949,-1.93001373208e-05,1793251683834525696
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.301993869,747,724,691,670.301993869,643,890.301993869,791,820.698006131,657,633,657,0.405983555888,-0.0154921120576,0.0599258568884,0.999999993845,5.47050930497e-05,-9.42038011179e-05,-2.10244799026e-05,1793251683851192576
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.876581224,747,724,691,670.876581224,643,890.876581224,791,820.123418776,657,633,657,0.406485946134,-0.0154989743226,0.0599547607374,0.999999998068,3.85846648175e-05,-4.3278562236e-05,-2.24065563081e-05,1793251683867858688
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.537027821,643,891,791,820.462972179,657,633,657,0.407022161151,-0.015505010853,0.0599805853738,0.999999999388,2.55029169724e-05,-4.22018163179e-06,-2.35854961488e-05,1793251683884525312
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,691,670.051659724,643,891,790.948340276,820.948340276,657,633,657,0.407565914973,-0.0155100235461,0.0600024740389,0.999999999285,1.1961799764e-05,2.56861929395e-05,-2.50372932644e-05,1793251683901191936
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.630827477,643,891,790.369172523,820.369172523,657,633,657,0.408092166313,-0.0155068881636,0.0599927729115,0.999999999435,-1.47580213767e-05,-4.71258528377e-06,-2.98427165765e-05,1793251683917858560
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746.791355074,724,691,670.791355074,643,891,790.208644926,820,657,633,657,0.408636913723,-0.0155049211945,0.0599826080749,0.999999998386,-3.06693945485e-05,-3.26370916941e-05,-3.49684174328e-05,1793251683934525184
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.215911501,724,691,670.215911501,643,891,790.784088499,820,657,633,657,0.40921417727,-0.0155050083013,0.0599716280363,0.999999997213,-2.75794696972e-05,-5.62118161588e-05,-4.06571673136e-05,1793251683951191808
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.365446328,724,691.365446328,670.365446328,643,891.365446328,791,820.365446328,657,633,657,0.409832154428,-0.0155070611506,0.0599721518867,0.999999996746,-4.30943038993e-05,-5.08609368036e-05,-4.54304137356e-05,1793251683967858944
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746.950355852,724,691.950355852,670.950355852,643,891.950355852,791,820.950355852,657,633,657,0.4104745815,-0.0155102944963,0.0599795842218,0.999999995937,-6.97819413403e-05,-2.81392281134e-05,-4.96538683342e-05,1793251683984526080
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724.529924169,692,671,643,892.529924169,791,821,657,633,657.529924169,0.411179049641,-0.0155135619163,0.059984851369,0.999999999446,7.52134843097e-06,-1.40910162167e-05,-2.92018360479e-05,1793251684001192960
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724.890648243,691.890648243,671,643,892.890648243,790.890648243,821.109351757,657,633.109351757,657.890648243,0.411881633089,-0.0155143629211,0.0599835834848,0.999999997027,7.47429120441e-05,-1.41898373684e-05,-1.26151097681e-05,1793251684017859584
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724.309691303,691.309691303,671,643,892.309691303,790.309691303,821.690308697,657,633.690308697,657.309691303,0.412551272194,-0.0155045132994,0.0599549977968,0.999999995547,5.68890561948e-05,-7.18317393221e-05,-2.25684392568e-05,1793251684034526208
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.732338138,747,724,691.267661862,670.732338138,643,892.267661862,790.267661862,822,656.732338138,633.732338138,657,0.413238762309,-0.0155004982024,0.0599263015044,0.999999990716,3.89675261264e-05,-0.000126710534593,-3.15126674047e-05,1793251684051192576
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.159099161,747,724,691.840900839,670.159099161,643,892.840900839,790.840900839,822,656.159099161,633.159099161,657,0.413946632178,-0.0155031441101,0.0598974789363,0.999999983088,2.09687333283e-05,-0.000178434826747,-3.9304852722e-05,1793251684067858944
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.415620246,747,724,691.584379754,670.415620246,643,893.831240493,790.584379754,822.415620246,656.415620246,633,657,0.414765097184,-0.0155099735007,0.0599257445338,0.999999991638,1.08668259075e-06,-0.000122975056912,-4.00011977107e-05,1793251684084525568
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.990908353,747,724,691.009091647,670.990908353,643,894.981816707,790.009091647,822.990908353,656.990908353,633,657,0.415626049222,-0.01551841005,0.0599759415604,0.999999998742,-1.95188538803e-05,-2.63386319251e-05,-3.7971549495e-05,1793251684101192448
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746.417006874,724,691.582993126,670.417006874,643,895,790.582993126,823.582993126,657,633.582993126,657.582993126,0.416487445287,-0.0155226677407,0.0600096085777,0.999999999112,-1.42944054985e-05,2.04436736055e-05,-3.39785925081e-05,1793251684117859072
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746.170433878,724,692,670.170433878,643,895,790.829566122,824,657,633.829566122,658,0.417340989745,-0.0155253536086,0.060028414435,0.999999998318,-1.13922582784e-05,4.69039819611e-05,-3.21442391622e-05,1793251684134525696
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746.746188893,724,692,670.746188893,643,895,790.253811107,824,657,633.253811107,658,0.418175844723,-0.0155244609899,0.0600125091264,0.999999998894,-1.49993207114e-05,2.69388689868e-05,-3.55183911107e-05,1793251684151192064
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.67710838,747,724,692,670.67710838,643,895.32289162,790.32289162,824.32289162,657,633.32289162,658,0.419015244174,-0.0155247349476,0.0599874117072,0.999999998924,-2.01528284666e-05,-1.32614038996e-05,-3.96193656666e-05,1793251684167858688
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.099658533,747,724,692,670.099658533,643,895.900341467,790.900341467,824.900341467,657,633.900341467,658,0.419858226314,-0.0155259286,0.0599550674998,0.999999996258,-2.65255078771e-05,-6.94144789393e-05,-4.4293345476e-05,1793251684184525312
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,692.48700977,670.48700977,643.48700977,896,790.51299023,825,657,634,658,0.420678842253,-0.0155252168112,0.0599179617427,0.999999989747,-3.13439308007e-05,-0.000131141112994,-4.82297973596e-05,1793251684201191936
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724,693,671,643.925595681,896.074404319,790,825.074404319,657,634,658,0.421510785248,-0.0155240716075,0.0598842367876,0.999999980617,-3.43617414659e-05,-0.000186852166202,-5.16826951575e-05,1793251684217858560
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724,693,671,643.346320656,896.653679344,790,825.653679344,657,634,658,0.422451243203,-0.015522682298,0.0598801914649,0.999999979436,-2.73612798514e-05,-0.000193856015694,-5.28982812508e-05,1793251684234525440
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,693,671,643.231761141,897,790,826,657,634,658,0.423424279376,-0.0155248175277,0.0599078967499,0.999999987292,-2.51967460335e-05,-0.000148716322592,-5.16120123789e-05,1793251684251192064
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,693,671,643.808069116,897,790,826,657,634,658,0.424445747976,-0.0155321925003,0.0599828039567,0.999999998118,-3.02215249088e-05,-2.60576258563e-05,-4.66063697981e-05,1793251684267858688
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724,693,671,644,897,790,826,657,633.60935678,658,0.42541275173,-0.015536367346,0.0600195817643,0.999999997676,-3.617583195e-05,3.74241389928e-05,-4.40211167721e-05,1793251684284525312
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724,693,671,644,897,790,826,657,633.023653848,658,0.426352559515,-0.0155389442732,0.0600373204307,0.999999995638,-4.25942797199e-05,7.13571043293e-05,-4.26444363138e-05,1793251684301191936
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,693.5547482,671,643.4452518,897.5547482,790,826.5547482,657,633.5547482,658,0.427313163891,-0.0155399671612,0.0600214001,0.999999996107,-5.067512502e-05,5.63032932898e-05,-4.5254312515e-05,1793251684317858560
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,694,670.866487744,643,898,790,827,657,634,658,0.428263514021,-0.0155403242554,0.0599983071964,0.999999996874,-5.63739138122e-05,2.69748791599e-05,-4.84432408928e-05,1793251684334525440
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,694,670.285480532,643,898,790,827,657,634,658,0.429176561297,-0.0155386690067,0.0599559217144,0.999999996208,-5.38542360608e-05,-4.32880011351e-05,-5.30106549497e-05,1793251684351191808
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724.295901459,694,670.295901459,643,898.295901459,789.704098541,827,657,634,658,0.430088999491,-0.0155361405434,0.0599290448276,0.999999993018,-5.27494768633e-05,-8.95061094309e-05,-5.63051425749e-05,1793251684367858688
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724.877645453,694,670.877645453,643,898.877645453,789.122354547,827,657,634,658,0.431000849255,-0.0155327685498,0.0599171493367,0.999999990564,-5.30115375575e-05,-0.000112496823825,-5.83699757478e-05,1793251684384525312
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.543000126,724.543000126,693.543000126,671,643.456999874,899,789,827,657,634,658,0.432003349669,-0.0155367327146,0.0599521323426,0.999999995625,-5.8450862723e-05,-4.65595841071e-05,-5.62611356685e-05,1793251684401191936
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.035767594,724.035767594,693.035767594,671,643.964232406,899,789,827,657,633.964232406,658,0.433026194389,-0.0155424787488,0.0599972693269,0.999999995778,-6.47039292007e-05,3.78340804877e-05,-5.31584502651e-05,1793251684417858560
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.615290832,724.615290832,693.615290832,671,643.384709168,899,789,827,657,633.384709168,658,0.433991272527,-0.0155456091123,0.0600069583903,0.999999995798,-6.23648657081e-05,4.27370746693e-05,-5.18462864266e-05,1793251684434525184
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.805496975,694.194503025,671,643,899.194503025,789.194503025,827.194503025,656.805496975,633,658,0.434945178964,-0.015547416832,0.0600014491145,0.999999996271,-6.40098593191e-05,2.42072272943e-05,-5.26690197052e-05,1793251684451192064
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.226898915,694.773101085,671,643,899.773101085,789.773101085,827.773101085,656.226898915,633,658,0.435877024247,-0.0155466126601,0.0599659269054,0.999999994808,-7.35223729669e-05,-4.05966459103e-05,-5.77076427564e-05,1793251684467858688
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.349213708,694.650786292,671,643,899.650786292,790,828,656.349213708,633.349213708,658,0.436761106352,-0.0155423611847,0.0599325685541,0.999999990522,-7.19290178827e-05,-0.000100273352714,-6.1057582544e-05,1793251684484525312
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.923722814,694.076277186,671,643,899.076277186,790,828,656.923722814,633.923722814,658,0.437614373962,-0.0155358856797,0.0599006062188,0.999999983732,-6.31707054284e-05,-0.000156642261545,-6.33180671346e-05,1793251684501192192
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,694.509755159,671,643,899.509755159,790,828,657,634,658,0.438477982075,-0.0155336839358,0.0598858029211,0.999999979222,-6.40496240549e-05,-0.000182178687692,-6.53039575291e-05,1793251684517858560
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.096573514,643,900,789.903426486,828,657,634,658,0.439363707411,-0.0155343685219,0.0598876618038,0.999999979217,-6.8673872131e-05,-0.000180246606724,-6.60423537043e-05,1793251684534525440
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671.678476184,643,900,789.321523816,828,657,634,658,0.440352626811,-0.0155462701776,0.0599600544579,0.999999992521,-8.47055300222e-05,-6.399376281e-05,-6.07227480821e-05,1793251684551192064
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724.742241606,695,672,643,900.257758394,789,828,657,634,658,0.441294271241,-0.0155528876315,0.0600023804835,0.999999993992,-9.29048207951e-05,5.11222256452e-06,-5.79559423131e-05,1793251684567858688
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724.166195265,695,672,643,900.833804735,789,828,657,634,658,0.44217753902,-0.0155529799905,0.0600075793115,0.99999999399,-9.14324650578e-05,1.59998158297e-05,-5.83414130607e-05,1793251684584525312
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,724.417240341,695,672,643,901,789,828,656.582759659,634,658,0.442999878255,-0.0155528423745,0.0599958350728,0.999999993321,-9.85990460339e-05,-4.9478853567e-08,-6.0303234858e-05,1793251684601191936
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747.00362027,725,695,672,643,901,789.00362027,828,656.00362027,634,658,0.443797437367,-0.0155526100963,0.0599773242559,0.999999991705,-0.000109146694455,-2.68777618101e-05,-6.28890789412e-05,1793251684617858816
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.58173495,725,695,672,643,901,789.58173495,828,656.58173495,634,658,0.444583322186,-0.0155521545674,0.0599752954509,0.999999992502,-0.000100328659305,-3.08604841262e-05,-6.30643280118e-05,1793251684634525440
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.839936136,747.839936136,724.839936136,695,672,643,901,789.839936136,828,657,634,658,0.445352002465,-0.0155512670071,0.059966821589,0.999999992359,-9.44742310407e-05,-4.87054286661e-05,-6.31199995089e-05,1793251684651191808
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.261046533,747.261046533,724.261046533,695,672,643,901,789.261046533,828,657,634,658,0.446075665232,-0.0155492489861,0.059941483485,0.999999988094,-9.6374423258e-05,-0.000102822492835,-6.28627822926e-05,1793251684667858432
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.31483678,747,724.31483678,695,672,643,901,789,828.31483678,657,634,658,0.446819046023,-0.0155480324582,0.0599313471568,0.999999986516,-9.32960587408e-05,-0.000119406045591,-6.32996606041e-05,1793251684684525312
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.888250973,747,724.888250973,695,672,643,901,789,828.888250973,657,634,658,0.447578621306,-0.0155474742018,0.0599336961435,0.999999988694,-8.61287745181e-05,-0.000105163087924,-6.43066040203e-05,1793251684701191936
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.525147686,747.474852314,725,694.525147686,672,643,901,789,829,657,634,658,0.448310023773,-0.0155518207668,0.0599627830377,0.999999991382,-0.000100119711983,-5.66377322325e-05,-6.32739845405e-05,1793251684717858816
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.063540673,747.936459327,725,694.063540673,672,643,901.063540673,789,829,656.936459327,634,658,0.449023231076,-0.015556133693,0.0599920931418,0.999999991298,-0.000115844791296,-1.01339566843e-05,-6.23055854655e-05,1793251684734525440
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.643252488,747.356747512,725,694.643252488,672,643,901.643252488,789,829,656.356747512,634,658,0.44964402776,-0.0155505288112,0.0599706406791,0.999999991291,-0.000104052882089,-4.74632789042e-05,-6.58693542956e-05,1793251684751192064
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.778333781,747.221666219,725,694.778333781,672.221666219,643,901.778333781,789,829,656.221666219,634,658.221666219,0.450251876297,-0.0155473392973,0.0599459569123,0.999999988663,-0.000102475815754,-8.56277348372e-05,-6.95679160307e-05,1793251684767858944
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.201997069,747.798002931,725,694.201997069,672.798002931,643,901.201997069,789,829,656.798002931,634,658.798002931,0.450839007472,-0.0155480144222,0.0599161029946,0.999999982599,-0.000117242708621,-0.000125128418261,-7.34821488821e-05,1793251684784526080
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.380532606,747.619467394,725,694,672.619467394,643,901.380532606,789.380532606,829,657,633.619467394,659,0.451419724421,-0.0155493643379,0.0599112163654,0.999999980937,-0.000127576205219,-0.000127106731039,-7.54549094688e-05,1793251684801192960
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768.124505316,747.875494684,725,694,672,643,902,789,829,657,633.124505316,658,0.453083019066,-0.0155510159942,0.0599602912261,0.999999986951,-0.000135352312939,-4.19309690987e-05,-7.75844349839e-05,1793251684851192320
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.699116463,747.300883537,725,694,672,643,902,789,829,657,633.699116463,658,0.453529287963,-0.0155532892845,0.059950809052,0.999999984392,-0.000141923128923,-6.97654980282e-05,-7.87868338097e-05,1793251684867859200
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.725338858,747,725,694,672,643,901.725338858,789,829,657,633.725338858,658,0.453961372647,-0.0155546602154,0.0599353656571,0.999999980307,-0.000152627365145,-9.7757718249e-05,-8.08362329896e-05,1793251684884526080
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+207,3.450000000,POSE1_TO_POSE2_PRESS,769,748,724.028296669,693,672,643,902,788.971703331,829,657,633,658.028296669,0.455190082883,-0.0155603760801,0.0599191647696,0.999999982581,-0.000134168774656,-0.000106058630042,-7.47538023172e-05,1793251684934526464
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,724.607683624,693,672,643,902,788.392316376,829,657,633,658.607683624,0.455564201352,-0.0155618867459,0.0599324888619,0.999999990804,-8.77565275508e-05,-8.4595886334e-05,-5.94435947977e-05,1793251684951192576
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,902,788.185777066,829,657,633,658.814222934,0.455919141595,-0.0155639152152,0.059942826387,0.999999994667,-5.95950235375e-05,-6.81696248351e-05,-4.966436594e-05,1793251684967858944
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,725,693,672,643,902,788.761157739,829,657,633,658.238842261,0.45623386205,-0.0155670295996,0.0599469006111,0.999999994304,-6.97081925627e-05,-6.23056584785e-05,-5.14844678386e-05,1793251684984525568
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.280754707,725,693,672,642,902.280754707,788,829,657,633,658,0.458399801688,-0.0155546535792,0.0597025518615,0.999999896997,-0.000134293110242,-0.000426567503856,-7.75371521219e-05,1793251686189380096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.297208546,747,725,693,672.297208546,642,902,788,829,657,632.702791454,658,0.458323452786,-0.01555079916,0.0596914196757,0.999999890866,-0.000133651168346,-0.000440793497219,-7.81483754345e-05,1793251686206046976
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.870160761,747,725,693,672.870160761,642,902,788,829,657,632.129839239,658,0.458238248592,-0.0155480838539,0.0596836235488,0.999999884211,-0.000135340285048,-0.000455060347101,-7.86244574261e-05,1793251686222713600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.553182669,747,725,692.553182669,672.553182669,642.446817331,902,788,829,657,632.446817331,658,0.458143728935,-0.0155424727714,0.0596829642292,0.999999884554,-0.00013100726834,-0.000455735683454,-7.76847029072e-05,1793251686239380224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.0249552,725,692.0249552,672.0249552,642.9750448,902.0249552,788,829,657,633,658,0.458045352961,-0.0155360220268,0.0596843790181,0.999999886872,-0.00012508598828,-0.00045252005634,-7.63884429543e-05,1793251686256046848
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.19726182,747.80273818,725,692.80273818,672.80273818,642,902.80273818,788,829,657,633,658,0.457788143455,-0.0155226000645,0.0596858317862,0.999999888388,-0.000120328360612,-0.000450497920212,-7.61425727538e-05,1793251686289380096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.779000251,747.220999749,725,692.220999749,672.220999749,642,902.220999749,788,829,657,633,658,0.457635783825,-0.0155136383614,0.0596850718695,0.99999988912,-0.000115848271817,-0.000450182538029,-7.53283237219e-05,1793251686306046976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.64359376,747,724.64359376,692.35640624,672,642,902,788,829,657,633,658.35640624,0.45746523957,-0.0155051393637,0.0596836979585,0.999999889106,-0.00011240126132,-0.000451260778207,-7.42869510096e-05,1793251686322713600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.068841902,747,724.068841902,692.931158098,672,642,902,788,829,657,633,658.931158098,0.457283554829,-0.0154969238329,0.0596819478953,0.999999888631,-0.000109587146486,-0.000453192795027,-7.31064351437e-05,1793251686339380224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.505922185,724.505922185,692.494077815,672,642.505922185,902,788,829,657,632.494077815,658.494077815,0.457075300975,-0.0154856488267,0.0596854960886,0.999999891844,-0.000103342823903,-0.00044772512488,-7.19402664367e-05,1793251686356047104
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.326124036,725,692,672,643,902,788,829,657,632.673875964,658,0.456612295763,-0.0154637419905,0.0597009615346,0.99999990263,-8.7016795972e-05,-0.000427329569937,-6.75081192659e-05,1793251686389380608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747,724.74084439,692,672,642.74084439,901.74084439,788.25915561,829,657,633,658,0.456352757012,-0.0154550777043,0.0597128344036,0.999999909865,-8.18616238163e-05,-0.000411562753596,-6.46840703832e-05,1793251686406047232
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747,724.162511746,692,672,642.162511746,901.162511746,788.837488254,829,657,633,658,0.456076916018,-0.0154485476666,0.0597265907948,0.999999917744,-8.17588554483e-05,-0.000392393615094,-6.20877571693e-05,1793251686422713856
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,724.987174821,692,672,642,901,789,829,656.012825179,633,658.987174821,0.455474814623,-0.0154435139906,0.0597712174274,0.999999941394,-8.23485127574e-05,-0.000327861947762,-5.41950476676e-05,1793251686456047360
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.162516684,747.837483316,724.837483316,692,672.162516684,642,902,788.837483316,829,656,633.837483316,658,0.454732445198,-0.0154462058796,0.0598048842943,0.999999953501,-8.91783412149e-05,-0.000287954080091,-4.6134246403e-05,1793251686489381632
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,769,747.637418151,725,692.637418151,672.637418151,643,901,788.637418151,829,656,633,658.362581849,0.451830979004,-0.0154134461529,0.059767836102,0.999999940416,1.06936085774e-05,-0.000343623880424,-3.12608719413e-05,1793251686589380608
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.046492246,747,724.953507754,693,672,642.953507754,900,789,828,657,633,658,0.449429152287,-0.0154087053915,0.0597714857051,0.999999942333,7.20201170885e-05,-0.000331515743185,-1.56026339234e-05,1793251686656047104
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,769,747,725,693.874725858,672,642.125274142,900,789,828.874725858,656.874725858,633,658,0.448048423018,-0.0154007129709,0.0597303760561,0.999999918182,7.77256536429e-05,-0.000396878162895,-9.11365610893e-06,1793251686689380352
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.014484703,747,724.014484703,693,672.985515297,642.985515297,898,788.985515297,828,656.985515297,633,657,0.444286996944,-0.0153946893324,0.0597647459325,0.999999926026,0.00013880492935,-0.000358398647243,1.52237851825e-05,1793251686772713728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.60079267,747,724.60079267,693,672.39920733,642.39920733,898,788.39920733,828,656.39920733,633,657,0.443506633033,-0.0153945884798,0.0597626440885,0.999999922704,0.000169229288358,-0.000354382054643,1.91358844555e-05,1793251686789380608
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.495412206,747,724,693,671.495412206,643,897,789,827,656.495412206,633,657,0.439216694448,-0.0153880499869,0.0597889124019,0.999999930041,0.000146303047801,-0.000343955710527,1.44384388845e-05,1793251686872713472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.091339889,747,724,693,671,642.908660111,896.908660111,789.091339889,826.908660111,656.091339889,633,657,0.438351765771,-0.0153927246329,0.0598007834971,0.999999946145,7.00958239384e-05,-0.000320577248972,-5.18627505626e-06,1793251686889380096
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.401906368,746,724,693,671,642,894.598093632,789.401906368,826,657,633,657,0.434522039443,-0.01537514913,0.0597241637089,0.999999897845,0.00015849840348,-0.000423262993475,6.07272664031e-06,1793251686956047360
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,769.077768942,746.461115529,724,692,671,643,894,790.461115529,825.538884471,657,633,657,0.427866265581,-0.0153784787596,0.0597769808912,0.999999922593,0.000172864859147,-0.000353114273618,1.5555512905e-05,1793251687072714240
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.623831438,746.376168562,724,692,671,643,894,791.623831438,825,657,633,657,0.425980576351,-0.0153781980706,0.0597470213507,0.999999908596,0.000173486540486,-0.00039057795828,1.25876210975e-05,1793251687106046976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.209869127,724,692,671,643,894,791.790130873,824.790130873,657,633,657,0.42506946991,-0.0153817450411,0.0597711010497,0.999999922333,0.00017190397332,-0.000354317072361,1.55729117838e-05,1793251687122713600
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.790372281,724,692,671,643,894,791.209627719,824.209627719,657,633,657,0.424138339197,-0.0153820163157,0.0598065079304,0.999999933985,0.000176720872721,-0.000316833451374,2.0384516869e-05,1793251687139380224
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.631556474,671,643,893.631556474,791,823.631556474,657,633.368443526,656.631556474,0.423217721547,-0.0153816734602,0.0598303837834,0.999999943054,0.000187188755179,-0.000279829470476,2.3397872058e-05,1793251687156046848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,747,724,691.054859838,671,643,893.054859838,791,823.054859838,657,633.945140162,656.054859838,0.422303046186,-0.0153809834835,0.059847742021,0.999999949959,0.000200850708262,-0.000243096595713,2.53948130045e-05,1793251687172713216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769.51869691,746.48130309,724,691,671,643,893.51869691,791,822.48130309,657,633.48130309,656.51869691,0.421370358039,-0.0153752318857,0.0598317574181,0.999999941573,0.000202617295937,-0.00027430256532,2.36489653813e-05,1793251687189380096
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770,746.09476524,724,691.09476524,671,642.90523476,893.810469521,791,821.90523476,657,633,657,0.420435485808,-0.0153691043745,0.0598048006202,0.999999926691,0.00020271929798,-0.000324176458922,2.08035579061e-05,1793251687206046720
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770,746.685712276,724,691.685712276,671,642.314287724,892.628575448,791,821.314287724,657,633,657,0.419499092937,-0.0153637947462,0.059738747753,0.999999885417,0.000200653396567,-0.000434397433642,1.42611476101e-05,1793251687222713600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769.729313342,746.729313342,724,692,671.270686658,642.270686658,892.270686658,791,821,657,633,657,0.418610300666,-0.0153636564244,0.0597102306508,0.999999869205,0.000196182339374,-0.00047220238589,1.13128088435e-05,1793251687239380480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.151123995,746.151123995,724,692,671.848876005,642.848876005,892.848876005,791,821,657,633,657,0.417775583205,-0.0153693927577,0.0597243545492,0.999999890584,0.000188979003665,-0.000427742025004,1.2447371051e-05,1793251687256047616
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.425867124,746.425867124,724,691.574132876,671.574132876,643,892.574132876,791,821,657,633,657,0.416962755166,-0.0153727810202,0.0597662857548,0.999999915341,0.000190344361266,-0.000364405515659,1.7184106253e-05,1793251687272714240
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.997511649,747,724,691,671.002488351,643,892.002488351,791,821,657,633,657,0.416157795578,-0.0153753047611,0.0598178811597,0.99999993735,0.000194754424645,-0.000294675036906,2.31720196772e-05,1793251687289380352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769.408137103,747,724,691,671.591862897,643,892.591862897,791,821,657,633,657,0.415381749485,-0.0153698993568,0.0598279967649,0.999999936569,0.000202120956074,-0.000292320495238,2.36151413344e-05,1793251687306046976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769.177918944,747,724,691.177918944,671.822081056,643,892.822081056,791,821,657,632.822081056,657,0.414612318186,-0.0153666229977,0.0598354967356,0.999999936598,0.000207852004762,-0.000288116861067,2.43062104914e-05,1793251687322713856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.756502021,747,724,691.756502021,671.243497979,643,892.243497979,791,821,657,632.243497979,657,0.413857782906,-0.0153681411355,0.0598371064367,0.999999938515,0.000209900033535,-0.000279749167108,2.5555644503e-05,1793251687339380736
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,746.666440572,724,692,671.333559428,643,892,791,821,657,632.333559428,657,0.413083473037,-0.0153669294754,0.0598192242293,0.999999929155,0.000212572264838,-0.000309704605922,2.42001107064e-05,1793251687356047616
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,746.090491866,724,692,671.909508134,643,892,791,821,657,632.909508134,657,0.412294793514,-0.0153637341395,0.0597871777405,0.999999908986,0.000215698087801,-0.000367508504772,2.09516119368e-05,1793251687372713984
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,746.49157372,724,692,671.50842628,643,892,791,820.50842628,657,633,657,0.411556030284,-0.0153594114453,0.0597488671355,0.999999885649,0.000217793672344,-0.000425436001472,1.64884286313e-05,1793251687389380608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.925469277,747,724,692,671,643,891.925469277,790.925469277,820,657,633,657,0.410841639292,-0.0153557402142,0.0597186236634,0.999999866,0.000220033749943,-0.000468423186327,1.2809126452e-05,1793251687406047232
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.237033612,746.762966388,724,691.762966388,671,643,891,790.237033612,820.237033612,657,633,657,0.409632772383,-0.0153604474931,0.0597881248857,0.99999991295,0.000226672189798,-0.00034973837519,2.00503271489e-05,1793251687439380736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.818230582,746.181769418,724,691.181769418,671,643,891,790.818230582,820.818230582,657,633,657,0.409057669643,-0.0153634522579,0.0598314900811,0.99999993281,0.000225271704795,-0.000288078151752,2.53528693025e-05,1793251687456047104
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,746.926350524,724,691,671,643,891,790.073649476,821,657,633,657,0.407950705769,-0.0153642386603,0.0598490108971,0.999999939635,0.000225346623965,-0.000263120428975,2.67667767797e-05,1793251687489381376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,746.470321722,724,691,671,643,890.470321722,790,820.470321722,657,633,657,0.407380740127,-0.0153623437009,0.0598321855969,0.999999933924,0.000223002964805,-0.000286072882679,2.4172482746e-05,1793251687506047488
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,670.279623853,643,890,790.720376147,820,657,633,657,0.406339304235,-0.0153592773897,0.0598151453156,0.999999928408,0.000225622462557,-0.000303079692817,2.05160563792e-05,1793251687539379968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,746,724,691.299522013,670.299522013,643,890,790.700477987,820,657,633,657,0.40588122627,-0.015359741469,0.0598173636726,0.999999931015,0.00022326532918,-0.000296164109333,2.02516075787e-05,1793251687556046592
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,746,724,691.873205662,670.873205662,643,890,790.126794338,820,657,633,657,0.405450520397,-0.0153616671129,0.0598229664094,0.999999935803,0.000215229059995,-0.000285724364439,2.0763725721e-05,1793251687572713216
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,746,724,691.550705183,671,643,890,790,820,656.550705183,633,657,0.405031008838,-0.0153632215059,0.0598162064031,0.999999930586,0.000228712872885,-0.00029339000728,2.09730360215e-05,1793251687589379840
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.026644497,643,890,790,820,656.026644497,633,657,0.404615695623,-0.015364473568,0.0598054442958,0.9999999219,0.000247509640874,-0.000307400778514,2.10556042744e-05,1793251687606046464
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.616206142,643,890,790,820,656.616206142,633,657,0.4042219787,-0.0153615636777,0.0597842356805,0.999999908473,0.000249555647924,-0.000346936094157,2.02756131502e-05,1793251687622713344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.798067416,643,889.798067416,790,820.201932584,657,633,657,0.403853985898,-0.0153581822401,0.0597676897803,0.999999897853,0.000251054220864,-0.00037534024969,1.9610902083e-05,1793251687639379968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.219494382,643,889.219494382,790,820.780505618,657,633,657,0.403533973236,-0.0153539212827,0.0597598406819,0.999999894844,0.000251531731473,-0.000382982793662,1.91612091121e-05,1793251687656046592
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,746.357107433,724,691,671,643,889.357107433,790,821,657,633,657,0.40326020796,-0.0153521090559,0.059768601165,0.999999900036,0.000259093765022,-0.000363814342864,2.09395908427e-05,1793251687672713472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,746.932504354,724,691,671,643,889.932504354,790,821,657,633,657,0.403014712346,-0.0153517936671,0.0597875146061,0.999999909117,0.00027098636314,-0.000328257103547,2.40799303948e-05,1793251687689380096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770.519001969,746.480998031,724,691,671,643,889.480998031,790,820.480998031,657,633.519001969,657,0.402790492856,-0.015354393709,0.0598083068474,0.99999991877,0.000271618786604,-0.000296530572243,2.74376987367e-05,1793251687706046720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,771,746,724,691,671,643,889,790,820,657,633.894619407,657,0.402573191085,-0.0153568127893,0.0598267187899,0.999999926695,0.000270739689563,-0.000269041474039,3.04552265589e-05,1793251687722713344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,771,746,724,691,671,643,889,790,820,657,633.315408601,657,0.402374280787,-0.0153566761477,0.0598333053972,0.999999929736,0.000269792510896,-0.000258316479815,3.18129881871e-05,1793251687739379968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770.737265805,746.262734195,724,690.737265805,671,643,889,790,820,657,633,657,0.402180194143,-0.0153554204141,0.0598330267682,0.999999927823,0.000274721261383,-0.000260444965531,3.24109290592e-05,1793251687756046848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770.160399983,746.839600017,724,690.160399983,671,643,889,790,820,657,633,657,0.401991874792,-0.0153528266658,0.0598245398893,0.999999919768,0.000286675420883,-0.000277941396461,3.21004089934e-05,1793251687772713472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746.584775427,724,690.415224573,671,643,889,790,820.415224573,657,633,657,0.401830382836,-0.015352646729,0.0598196977968,0.999999912743,0.000298266837822,-0.000290736763256,3.19801903981e-05,1793251687789380096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,746.009628953,724,690.990371047,671,643,889,790,820.990371047,657,633,657,0.401679223336,-0.015353396461,0.0598162594778,0.999999906009,0.000309718545765,-0.000301721535633,3.19332655732e-05,1793251687806046720
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,746.83652765,724,690.83652765,671,643,889,790,821,657,633,657,0.401461106177,-0.0153662891096,0.0598236645908,0.999999941959,0.000173882978472,-0.000292966725383,4.05590103949e-06,1793251687839379968
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,770.321722454,746,724,690.321722454,671,643,889,790,820.678277546,657,632.678277546,657,0.401297134315,-0.015370733256,0.0598281361907,0.999999945602,0.000167496498065,-0.000284050913559,7.46560246286e-06,1793251687872713216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770.898107819,746,724,690.898107819,671,643,889,790,820.101892181,657,632.101892181,657,0.401229980438,-0.0153662582444,0.0598291015023,0.999999946212,0.000169780819554,-0.00028051781753,7.71280184953e-06,1793251687889380096
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,770.95180195,746.04819805,724,691,671,643,889,790,820.95180195,657,633,657,0.401122339968,-0.0153666441717,0.0598302189089,0.999999945478,0.000171007569724,-0.000282333998882,9.39624523155e-06,1793251687922713344
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820.225030378,657,633,657,0.401049527752,-0.0153667958215,0.0598271071182,0.999999943995,0.000172436619888,-0.000286683974553,9.35386084505e-06,1793251687956046592
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,746.620259353,724,691,671,643,889.379740647,790,820.620259353,657,633,657,0.40100666564,-0.0153674619684,0.0598258055534,0.999999943216,0.000173768217741,-0.000288553971266,1.04277106697e-05,1793251687989380096
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,746.540551191,724,691,671,643,889.459448809,790,820,657,633,657,0.400981471982,-0.0153670548566,0.0598258365465,0.999999942764,0.000175528089112,-0.000289054591838,1.04808627538e-05,1793251688022713088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889.126730198,790.126730198,820,657,633,657,0.400973225864,-0.0153657234074,0.0598253600467,0.999999942276,0.000176531046547,-0.000290136067366,1.0260952364e-05,1793251688039379712
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bfef5e217d29e87cf55368a615cdf28cf9a6e79
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c4f5bdcdb3aaf2a7032c079e541488f7238ae52
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f535aad11f34f8133f7a8c100df075402cf90c1a88623c439d61cb489429f0
+size 26312061
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afeeceff1271c6e61a01b1b84c8166b3f9aafe73
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/franka_data.csv
@@ -0,0 +1,415 @@
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+4,0.066666667,BASELINE,770,746.687413934,724,691.687413934,671,643,889,790.312586066,820,657,633,657,0.400969440349,-0.0153713541271,0.0598374966994,0.999999946706,0.000183782941376,-0.000269566228328,1.20737304955e-05,1793251688619351296
+5,0.083333333,BASELINE,770,746.114215979,724,691.114215979,671,643,889,790.885784021,820,657,633,657,0.400969189557,-0.0153721235934,0.0598369441378,0.99999994601,0.000186940310225,-0.000269969990398,1.21886472917e-05,1793251688636017920
+6,0.100000000,BASELINE,770,746,724,691,671.472388897,643,889,790.527611103,820,657,633,657.472388897,0.400967784691,-0.0153715171889,0.0598359817109,0.999999945355,0.00018815307436,-0.000271558770997,1.20099872819e-05,1793251688652684544
+7,0.116666667,BASELINE,770,746.061192375,724,691,671.938807625,643,889,790,820,657,633,657.938807625,0.400966333954,-0.0153708897745,0.0598351270841,0.999999944897,0.000188355723942,-0.000273110742171,1.1812805093e-05,1793251688669351424
+8,0.133333333,BASELINE,770,746.640365809,724,691,671.359634191,643,889,790,820,657,633,657.359634191,0.400966925914,-0.0153729826958,0.0598360483179,0.999999946027,0.000184104139492,-0.000271854966079,1.20772364907e-05,1793251688686017792
+9,0.150000000,BASELINE,770,746.78232555,724,690.78232555,671,643.21767445,889,790,820,657,633,657,0.400967547719,-0.0153739297839,0.0598367213885,0.999999946611,0.000182365809634,-0.000270871697668,1.22095181552e-05,1793251688702684416
+10,0.166666667,BASELINE,770,746.208071744,724,690.208071744,671,643.791928256,889,790,820,657,633,657,0.400968218414,-0.0153729998464,0.0598369879351,0.999999946321,0.000184744521522,-0.000270334832783,1.21253211636e-05,1793251688719351296
+11,0.183333333,BASELINE,770,746,724,690,671,643.625316305,889,790,820,657,633,657,0.400968223599,-0.015372220693,0.0598368976346,0.999999945985,0.000186008718333,-0.000270716512245,1.19334141487e-05,1793251688736017920
+12,0.200000000,BASELINE,770,746,724,690,671,643.037730019,889,790,820,657,633,657,0.400967850628,-0.0153715272179,0.0598366045667,0.999999945626,0.000186639626142,-0.000271620126486,1.16803041877e-05,1793251688752684544
+13,0.216666667,BASELINE,770,746,724,690,671,643,889,790.541287515,820,657.541287515,633,657,0.400968637523,-0.0153725568983,0.0598369853491,0.999999946341,0.000184413081183,-0.000270496842786,1.19203416425e-05,1793251688769351168
+14,0.233333333,BASELINE,770,746.119891299,724,690.119891299,671,643,889,790.880108701,820,657.880108701,633,657,0.400969368341,-0.0153734526983,0.0598374348568,0.999999946988,0.000182440992245,-0.000269431355194,1.2121575355e-05,1793251688786017792
+15,0.250000000,BASELINE,770,746.699162801,724,690.699162801,671,643,889,790.300837199,820,657.300837199,633,657,0.400969579342,-0.0153733824668,0.0598379705273,0.999999947117,0.000182195165749,-0.000269120231656,1.2044469235e-05,1793251688802684416
+16,0.266666667,BASELINE,770.27603887,747,724,691,671,643,888.72396113,790,820.27603887,657,633,657,0.400970652674,-0.0153739224229,0.0598388964722,0.999999947568,0.000181884223752,-0.000267648778124,1.20876044564e-05,1793251688819351296
+17,0.283333333,BASELINE,770.850326736,747,724,691,671,643,888.149673264,790,820.850326736,657,633,657,0.400972657719,-0.0153751216622,0.059840244093,0.999999948361,0.000181502927066,-0.000264923634306,1.22606556582e-05,1793251688836017920
+18,0.300000000,BASELINE,770.564892173,746.564892173,724,691,671,643,888.435107827,790,820.564892173,657,633,657,0.400970619406,-0.0153737952192,0.0598389722354,0.999999947503,0.000183018854449,-0.000267117579461,1.20541673343e-05,1793251688852684544
+19,0.316666667,BASELINE,770,746,724,691,671,643,889.023236449,790,820.023236449,657,633,657,0.400967310843,-0.01537167392,0.0598368614492,0.999999946102,0.000185150698855,-0.000270883733918,1.1730189126e-05,1793251688869351168
+20,0.333333333,BASELINE,770,746,724,691,671,643,889.602953426,790,820.602953426,657,633,657,0.400967714325,-0.0153718379537,0.0598367723266,0.999999945969,0.00018601711565,-0.000270776673499,1.17964478859e-05,1793251688886017792
+21,0.350000000,BASELINE,770,746.180859501,724,691,670.819140499,643,889.819140499,790,820.819140499,657,633,657.180859501,0.400968203466,-0.0153720571445,0.0598368958843,0.999999945952,0.000186548423433,-0.000270473243466,1.18402525739e-05,1793251688902684416
+22,0.366666667,BASELINE,770,746.75482938,724,691,670.24517062,643,889.24517062,790,820.24517062,657,633,657.75482938,0.400968878792,-0.0153723962229,0.0598374817172,0.999999946186,0.000186351348962,-0.000269742990793,1.18352518066e-05,1793251688919351040
+23,0.383333333,BASELINE,770,747,724,691,670.330804154,643,889,790.330804154,820.330804154,657,633,657.669195846,0.400969235307,-0.0153720686838,0.0598378532546,0.999999946247,0.000186923804673,-0.000269125319591,1.17455913227e-05,1793251688936017664
+24,0.400000000,BASELINE,770,747,724,691,670.908273949,643,889,790.908273949,820.908273949,657,633,657.091726051,0.4009693541,-0.0153712440785,0.0598380650015,0.999999946177,0.000188070064086,-0.000268591595201,1.15928039308e-05,1793251688952684288
+25,0.416666667,BASELINE,770,747,724,691,671,642.503631581,889,790.503631581,820.503631581,657,633,657,0.400969435156,-0.0153720155315,0.0598385007629,0.999999946804,0.000185438061398,-0.00026808949689,1.14991700553e-05,1793251688969351168
+26,0.433333333,BASELINE,770,747,724,691,671,642.084920238,889,790.084920238,820,657,633,657,0.40096942346,-0.0153727716559,0.0598388323562,0.999999947345,0.000182959629485,-0.000267774880875,1.14825796667e-05,1793251688986017792
+27,0.450000000,BASELINE,770,747,724,691,671,642.664450427,889,790.664450427,820,657,633,657,0.400968913045,-0.0153716830599,0.0598383108474,0.999999946668,0.000185531211467,-0.000268517453478,1.1849661256e-05,1793251689002684416
+28,0.466666667,BASELINE,770,746.758246332,724,691,671,643,889,790.758246332,820,657,633,657,0.400968805851,-0.0153711479339,0.0598382063184,0.999999946358,0.000186962666477,-0.000268668388756,1.20733086045e-05,1793251689019351552
+29,0.483333333,BASELINE,770,746.184005875,724,691,671,643,889,790.184005875,820,657,633,657,0.400969253211,-0.0153713740019,0.0598386752671,0.999999946561,0.00018682609071,-0.000268005637919,1.20996890586e-05,1793251689036019200
+30,0.500000000,BASELINE,770,746.390535121,724,691,671,643,889,790.390535121,820,657,633,657,0.400969694862,-0.0153712745149,0.0598393714658,0.999999946539,0.000187868678737,-0.000267357676255,1.21152895354e-05,1793251689052686080
+31,0.516666667,BASELINE,770,746.965217813,724,691,671,643,889,790.965217813,820,657,633,657,0.400970133821,-0.0153710215202,0.059840174819,0.999999946409,0.000189467273481,-0.000266716688093,1.2125806969e-05,1793251689069351936
+32,0.533333333,BASELINE,770,747,724,691,671,643,889,790.444941833,820,657,633,657,0.400968575723,-0.0153721455832,0.0598387045825,0.99999994623,0.00018814077837,-0.000268315489181,1.22557927778e-05,1793251689086018816
+33,0.550000000,BASELINE,770,746.856911973,724,691,671,643,889,790,820.143088027,657,633,657,0.400967767831,-0.0153731509126,0.0598377204776,0.999999946246,0.000186717477737,-0.000269247617199,1.22875676175e-05,1793251689102685696
+34,0.566666667,BASELINE,770,746.277383012,724,691,671,643,889,790,820.722616988,657,633,657,0.400969640611,-0.0153735234921,0.0598386659137,0.999999946876,0.000185573689193,-0.000267706166024,1.19963078802e-05,1793251689119352576
+35,0.583333333,BASELINE,770.298024778,746.298024778,724,691,671,643,889,790,820.701975222,657,632.701975222,657,0.400969502739,-0.0153725514657,0.059838256952,0.999999946651,0.000186506258377,-0.00026790779108,1.17771528544e-05,1793251689136018688
+36,0.600000000,BASELINE,770.869649222,746.869649222,724,691,671,643,889,790,820.130350778,657,632.130350778,657,0.400967519001,-0.0153703450331,0.0598366045945,0.999999945635,0.000189345013835,-0.000269709635506,1.16241930459e-05,1793251689152684544
+37,0.616666667,BASELINE,770.543697187,746.543697187,724,691,671,643,889.456302813,790,820.456302813,657,632.456302813,657.456302813,0.4009685022,-0.0153709211686,0.0598371543137,0.999999946067,0.000188064678041,-0.000269014783332,1.13152160556e-05,1793251689169351168
+38,0.633333333,BASELINE,770,746.046624732,724,690.953375268,671,643,889.953375268,790,820.953375268,657,633,657.953375268,0.400970104888,-0.015372301313,0.0598382485991,0.999999946823,0.000185813089408,-0.000267777806338,1.10553909708e-05,1793251689186018048
+39,0.650000000,BASELINE,770,746.628099984,724,690.371900016,671,643,889.371900016,790,820.371900016,657,633,657.371900016,0.400968760196,-0.0153734755165,0.0598381278357,0.999999946439,0.000186377875153,-0.000268782235691,1.18880878511e-05,1793251689202684672
+40,0.666666667,BASELINE,770,747,724,690.206645049,671,643,889,789.793354951,820,657,633,657,0.40096790915,-0.015374141965,0.0598378146791,0.999999946145,0.000186754328929,-0.000269591807528,1.23780049621e-05,1793251689219351296
+41,0.683333333,BASELINE,770,747,724,690.77999034,671,643,889,789.22000966,820,657,633,657,0.400967934096,-0.0153739073809,0.0598371601128,0.999999946013,0.000186796579753,-0.000270055596527,1.22596450542e-05,1793251689236018432
+42,0.700000000,BASELINE,770,747,724,691,671,643,889.355595998,789.355595998,820.355595998,657,633,657,0.400968185571,-0.0153729000588,0.0598372030131,0.999999945958,0.000187384494314,-0.000269868942579,1.19048653608e-05,1793251689252685312
+43,0.716666667,BASELINE,770,747,724,691,671,643,889.932609085,789.932609085,820.932609085,657,633,657,0.400968578097,-0.0153714115801,0.0598376802012,0.999999945949,0.000188312174441,-0.000269277280724,1.14028754082e-05,1793251689269351936
+44,0.733333333,BASELINE,770,747,724,691,671,643,889.479650636,790,821,657,633,657,0.400968134903,-0.0153721730657,0.05983770728,0.999999945633,0.000188562453687,-0.000270265262871,1.15947940106e-05,1793251689286018304
+45,0.750000000,BASELINE,770,746.892359898,724,691,671,643,889.107640102,790,820.892359898,657.107640102,633,657,0.400967606512,-0.0153730132001,0.0598376474574,0.999999945383,0.000188688616123,-0.000271093701378,1.18212885125e-05,1793251689302684416
+46,0.766666667,BASELINE,770,746.313251571,724,691,671,643,889.686748429,790,820.313251571,657.686748429,633,657,0.400967189004,-0.0153728946306,0.0598374677073,0.9999999456,0.000188663494742,-0.000270308395877,1.17973124007e-05,1793251689319351296
+47,0.783333333,BASELINE,770,746.267652006,724,691,671,643,889.732347994,790,820.267652006,657.732347994,633,657,0.400967404681,-0.0153730960834,0.059837556946,0.999999945901,0.000187970092601,-0.000269677764509,1.18165969018e-05,1793251689336018176
+48,0.800000000,BASELINE,770,746.850670952,724,691,671,643,889.149329048,790,820.850670952,657.149329048,633,657,0.400968366422,-0.0153736746097,0.0598379631269,0.999999946298,0.000186489273762,-0.000269229381284,1.18868541808e-05,1793251689352685056
+49,0.816666667,BASELINE,770,747,724,691,671,643,889,790,820.569063516,657,633,657,0.400967970822,-0.0153729457934,0.059837776894,0.999999946045,0.000188163059922,-0.000268998277089,1.20603695202e-05,1793251689369351680
+50,0.833333333,BASELINE,770,747,724,691,671,643,889,790,820.010246258,657,633,657,0.400967105196,-0.015371810352,0.0598373852994,0.999999945566,0.00019084929378,-0.000268877134147,1.22620866325e-05,1793251689386018560
+51,0.850000000,BASELINE,770,747,724,691,671,643,889,790,820.589130895,657,633,657,0.400966091788,-0.0153730902564,0.0598369170916,0.999999945342,0.000189442467919,-0.000270706564748,1.2055774411e-05,1793251689402685696
+52,0.866666667,BASELINE,770,746.832255664,724,691,671,643,889,790,820.832255664,657.167744336,633.167744336,657,0.400965661834,-0.0153738579605,0.0598367516355,0.999999945264,0.000188398279024,-0.000271731933885,1.18603858874e-05,1793251689419352320
+53,0.883333333,BASELINE,770,746.254305446,724,691,671,643,889,790,820.254305446,657.745694554,633.745694554,657,0.400966658672,-0.0153733731182,0.0598373265355,0.99999994555,0.000188240891047,-0.000270791032399,1.16917104396e-05,1793251689436018432
+54,0.900000000,BASELINE,770,746.32706953,724,691,671,643,889,790.32706953,820.32706953,657.67293047,633.67293047,657,0.400967503265,-0.0153743161026,0.0598376028526,0.999999946116,0.000187003229339,-0.000269555281926,1.1760311696e-05,1793251689452684800
+55,0.916666667,BASELINE,770,746.911135498,724,691,671,643,889,790.911135498,820.911135498,657.088864502,633.088864502,657,0.400968228233,-0.0153763810086,0.0598376445569,0.999999946895,0.000184916737413,-0.000268087852501,1.20153542591e-05,1793251689469351424
+56,0.933333333,BASELINE,770.490404843,747,724,691,671,643,889,790.509595157,821,657,633,657,0.400969434264,-0.0153749509143,0.0598385557993,0.999999946698,0.000187083004504,-0.000267316455358,1.20676150467e-05,1793251689486018304
+57,0.950000000,BASELINE,770.930899952,747,724.069100048,691,671,643,889,790,820.930899952,657,633,657,0.400970408251,-0.0153733778888,0.0598394465036,0.999999946423,0.000189197281662,-0.00026685728557,1.20847541864e-05,1793251689502684928
+58,0.966666667,BASELINE,770.350082505,747,724.649917495,691,671,643,889,790,820.350082505,657,633,657,0.400969024544,-0.0153753909635,0.0598390295679,0.999999946909,0.000185274979527,-0.000267785332327,1.21112818619e-05,1793251689519351808
+59,0.983333333,BASELINE,770,746.771095424,724.771095424,691,671,643,889,790,820,657,633,657.228904576,0.400968387245,-0.0153759215184,0.0598387221177,0.999999947111,0.00018390429687,-0.000267978505719,1.20681351967e-05,1793251689536018688
+60,1.000000000,BASELINE,770,746.194885378,724.194885378,691,671,643,889,790,820,657,633,657.805114622,0.400968882432,-0.0153742027204,0.0598385807841,0.999999946896,0.000186405058301,-0.000267056692635,1.19192751417e-05,1793251689552685312
+61,1.016666667,BASELINE,770,746.380110088,724,690.619889912,671,643,889,790,820,657,633,657.619889912,0.400969478161,-0.0153737146559,0.0598391348759,0.999999946787,0.000187643211233,-0.000266592481674,1.20365613798e-05,1793251689569351936
+62,1.033333333,BASELINE,770,746.954484779,724,690.045515221,671,643,889,790,820,657,633,657.045515221,0.400970125273,-0.0153738555882,0.0598400443819,0.999999946734,0.000188236076911,-0.00026636213958,1.22898682305e-05,1793251689586018304
+63,1.050000000,BASELINE,770,747,724,690.546013574,671,643,889.546013574,790.546013574,820,657,633,657,0.400970804512,-0.0153727073694,0.0598408061316,0.999999947128,0.00018804166299,-0.000265034574986,1.18829281526e-05,1793251689602684928
+64,1.066666667,BASELINE,770,746.864921355,724,691,671,643,889.864921355,790.864921355,820,657,633,657,0.400970990375,-0.015371798071,0.0598409817141,0.999999947265,0.000188209488947,-0.000264412765034,1.15639751184e-05,1793251689619351296
+65,1.083333333,BASELINE,770,746.288723157,724,691,671,643,889.288723157,790.288723157,820,657,633,657,0.400969556018,-0.015372031321,0.0598392846066,0.999999946437,0.000189781529672,-0.000266404078759,1.17179204042e-05,1793251689636017920
+66,1.100000000,BASELINE,770,746.28708292,724,691,671,643,889,790,820.28708292,657,633,657,0.40096838182,-0.015372192488,0.059838515139,0.999999946006,0.000190391715721,-0.000267583545471,1.17209830968e-05,1793251689652684800
+67,1.116666667,BASELINE,770,746.862495138,724,691,671,643,889,790,820.862495138,657,633,657,0.400967468908,-0.0153722812589,0.0598386773387,0.999999945978,0.000190035871083,-0.000267947640395,1.15725081271e-05,1793251689669351424
+68,1.133333333,BASELINE,770.448790791,747,724,691,671,643,889.448790791,790.448790791,821,657,633,657,0.400966891188,-0.0153723305247,0.0598381322984,0.999999945713,0.000189800045769,-0.000269115546473,1.12622447384e-05,1793251689686018816
+69,1.150000000,BASELINE,770.962110327,747,724,691,671,643,890,790.962110327,821,657,633,657,0.400966533766,-0.0153724351119,0.0598374729908,0.999999945447,0.000189522312732,-0.000270309688197,1.09526368185e-05,1793251689702685696
+70,1.166666667,BASELINE,770.38180507,747,724,691,671,643,890,790.38180507,821,657,633,657,0.40096782331,-0.0153735092436,0.0598383570441,0.99999994626,0.000188105134807,-0.000268266132791,1.1379680886e-05,1793251689719352064
+71,1.183333333,BASELINE,770,746.80359403,724,691,671,643,889.80359403,790.19640597,820.80359403,657,633,657,0.400969101754,-0.0153739538808,0.0598392651989,0.999999946872,0.000187365796002,-0.000266483844953,1.17165547977e-05,1793251689736018688
+72,1.200000000,BASELINE,770,746.229411009,724,691,671,643,889.229411009,790.770588991,820.229411009,657,633,657,0.400970358846,-0.0153731877173,0.0598402197118,0.999999947104,0.000187930246558,-0.000265204091844,1.18799910043e-05,1793251689752685056
+73,1.216666667,BASELINE,770,746,724,691,671,643,889,790.654209561,820,657,633,657,0.400969377253,-0.0153740666778,0.059839519589,0.999999946833,0.000187433736509,-0.000266560583615,1.2146867265e-05,1793251689769351680
+74,1.233333333,BASELINE,770,746,724,691,671,643,889,790.078330487,820,657,633,657,0.400966906042,-0.0153760403025,0.0598377184732,0.99999994622,0.000186231264229,-0.00026967123034,1.2482572431e-05,1793251689786018048
+75,1.250000000,BASELINE,770,746,724,691,671,643,889.510217037,790,820,657.510217037,633,657,0.40096872167,-0.0153752856825,0.0598387110467,0.999999946638,0.000187046079472,-0.000267553696016,1.23289032367e-05,1793251689802685184
+76,1.266666667,BASELINE,770.098687855,746,724,691,671,643,889.901312145,790,820,657.901312145,633,657,0.400970384596,-0.0153743767877,0.0598396661641,0.999999947006,0.00018783583524,-0.000265631969047,1.20720324565e-05,1793251689819352576
+77,1.283333333,BASELINE,770.677091007,746,724,691,671,643,889.322908993,790,820,657.322908993,633,657,0.40096802466,-0.0153748058198,0.0598383012802,0.999999946365,0.000186960007112,-0.000268663023752,1.16880093773e-05,1793251689836019200
+78,1.300000000,BASELINE,770.746451781,746.253548219,724,691,671,643,889,790,820,657,633,657,0.400967019855,-0.0153751131092,0.0598376842737,0.999999945921,0.000187318654766,-0.000270064652598,1.16151245077e-05,1793251689852685568
+79,1.316666667,BASELINE,770.172454011,746.827545989,724,691,671,643,889,790,820,657,633,657,0.400967727748,-0.015375266533,0.0598380124799,0.999999945733,0.000189237507539,-0.000269406914404,1.19354749272e-05,1793251689869351680
+80,1.333333333,BASELINE,770,747,724,691,671,643,889,790.402757639,820.402757639,657,633,657,0.400967459214,-0.0153750535289,0.0598378844273,0.99999994571,0.000189167271,-0.000269552138529,1.17246972754e-05,1793251689886018048
+81,1.350000000,BASELINE,770,747,724,691,671,643,889,790.978490672,820.978490672,657,633,657,0.400966771328,-0.0153746831522,0.0598375604218,0.999999945757,0.000188242765276,-0.000270042216947,1.12858120292e-05,1793251689902684416
+82,1.366666667,BASELINE,770,746.428812531,724,690.428812531,671,643,889.571187469,790.428812531,820.428812531,657,633,657,0.400967100923,-0.0153748272576,0.0598380287479,0.999999945632,0.000189626526628,-0.00026951478989,1.18036934538e-05,1793251689919351296
+83,1.383333333,BASELINE,770,746,724,690.160163512,671,643,889.839836488,790,820,657,633,657,0.400967470164,-0.0153749301044,0.0598384334272,0.999999945631,0.000190525845702,-0.000268872247108,1.20747244386e-05,1793251689936017920
+84,1.400000000,BASELINE,770,746,724,690.737727321,671,643,889.262272679,790,820,657,633,657,0.400967839812,-0.0153748733919,0.0598385920995,0.999999945975,0.000189929203202,-0.000268032614824,1.16056722789e-05,1793251689952684800
+85,1.416666667,BASELINE,770,746.312851004,724,691,671,643,889,790,820,657.312851004,633,657,0.400968337627,-0.0153744569987,0.059838802482,0.999999946211,0.000189775067391,-0.000267271188424,1.13829343098e-05,1793251689969351936
+86,1.433333333,BASELINE,770,746.885944852,724,691,671,643,889,790,820,657.885944852,633,657,0.400968942056,-0.0153737414077,0.0598390558793,0.999999946356,0.000189989027604,-0.000266574817074,1.13650910458e-05,1793251689986019072
+87,1.450000000,BASELINE,770,746.529042219,724,691,671,643,889,790,820.470957781,657.529042219,633,657,0.400969860351,-0.0153747687339,0.0598397603268,0.999999946815,0.000189145137804,-0.000265438294842,1.16491678831e-05,1793251690002685184
+88,1.466666667,BASELINE,770,746,724,691,671,643,889,790,820.941631887,657,633,657,0.400970735501,-0.0153760292335,0.0598404774276,0.999999947266,0.000188218620981,-0.000264384817182,1.19644903437e-05,1793251690019351552
+89,1.483333333,BASELINE,770,746,724,691,671,643,889,790,820.359285285,657,633,657,0.400970523244,-0.0153754953761,0.0598403020484,0.999999946958,0.000188909890854,-0.000265058601015,1.18868744459e-05,1793251690036018176
+90,1.500000000,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400970183332,-0.0153754269501,0.0598399989658,0.999999946823,0.000188914144144,-0.000265559568582,1.19909591621e-05,1793251690052684544
+91,1.516666667,BASELINE,770,746,724,691,671,643,889,790,820,657,633,657,0.400969637805,-0.0153761081954,0.0598394901914,0.999999946967,0.000187811818634,-0.000265782180642,1.23877093613e-05,1793251690069351424
+92,1.533333333,BASELINE,770,746,724,691,671,643,889,790,820.370237202,657,633,657,0.400969690937,-0.015375924233,0.0598394413172,0.999999947037,0.000187705950275,-0.000265598682987,1.22639355272e-05,1793251690086017792
+93,1.550000000,BASELINE,770,746,724,691,671,643,889,790,820.94632008,657,633,657,0.400970076913,-0.0153752592298,0.0598396481398,0.999999947066,0.000188154095282,-0.000265189395162,1.18507590951e-05,1793251690102684672
+94,1.566666667,BASELINE,769.469204085,746,724,691,671,643,889,790,820.469204085,657,633,657,0.400970900349,-0.015374872176,0.0598396490883,0.999999947042,0.000188018282221,-0.000265378501667,1.18340507921e-05,1793251690119351808
+95,1.583333333,BASELINE,769.115548997,746.115548997,724,691,671,643,889,790,820.115548997,657,633,657,0.400971367294,-0.0153745827701,0.0598396089972,0.999999946928,0.000188085928207,-0.000265758838013,1.18553551775e-05,1793251690136018944
+96,1.600000000,BASELINE,769.697938021,746.697938021,724,691,671,643,889,790,820.697938021,657,633,657,0.40097021233,-0.0153745724889,0.0598394885675,0.999999946473,0.000189218019471,-0.000266663354343,1.18656431779e-05,1793251690152685568
+97,1.616666667,BASELINE,770,747,724,691,671,643,889,790,820.723241122,657,633,657,0.400969551897,-0.0153746762561,0.0598393828239,0.999999946369,0.000189494807255,-0.000266848276665,1.20463019622e-05,1793251690169352192
+98,1.633333333,BASELINE,770,747,724,691,671,643,889,790,820.148265123,657,633,657,0.400969424338,-0.0153749029144,0.0598392929049,0.999999946644,0.000188849976328,-0.000266257811868,1.24105410708e-05,1793251690186018304
+99,1.650000000,BASELINE,770.434718634,746.565281366,724,690.565281366,671,643,889,790,820.434718634,657,633,657.434718634,0.400969987472,-0.0153744361224,0.0598401137668,0.999999946709,0.000190205197117,-0.000265050140128,1.23390321616e-05,1793251690202684928
+100,1.666666667,BASELINE,770.979635332,746,724,690.020364668,671,643,889,790,820.979635332,657,633,657.979635332,0.400970706262,-0.015373798891,0.0598411594654,0.999999946694,0.000192091857423,-0.000263754341444,1.2120989422e-05,1793251690219351296
+101,1.683333333,BASELINE,770.397303196,746,724,690.602696804,671,643,889,790,820.397303196,657,633,657.397303196,0.400969097843,-0.0153751073178,0.0598396767947,0.999999946615,0.000189466722359,-0.000265944591265,1.20373722772e-05,1793251690236017920
+102,1.700000000,BASELINE,770,746.18217545,724,691,671,643,889,790,820,657,633,657,0.400968502505,-0.0153758485973,0.0598388897315,0.999999946662,0.000187900842703,-0.000266879110789,1.19934480511e-05,1793251690252684800
+103,1.716666667,BASELINE,770,746.75552687,724,691,671,643,889,790,820,657,633,657,0.400970082504,-0.0153753720703,0.0598395963105,0.999999946997,0.000188609448029,-0.000265117264974,1.20347543979e-05,1793251690269352192
+104,1.733333333,BASELINE,770,747,724,691,671,643,889,790.331163189,820,657,633,657,0.400970592204,-0.0153748897468,0.0598398206343,0.999999946954,0.000189450894213,-0.000264685805394,1.18726480617e-05,1793251690286019072
+105,1.750000000,BASELINE,770,747,724,691,671,643,889,790.90849806,820,657,633,657,0.400970306292,-0.0153744031144,0.0598396864715,0.999999946632,0.000190391088335,-0.000265243294359,1.15593339758e-05,1793251690302685440
+106,1.766666667,BASELINE,770,747,724,691,671,643,889,791,820,657,633,657.496706634,0.400971134553,-0.0153745967575,0.0598404053387,0.999999946997,0.000189655529844,-0.000264386020462,1.16817418424e-05,1793251690319351296
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,791,820,657,633,657,0.400969531375,-0.0153731635488,0.0598399829612,0.999999946511,0.000190785203135,-0.00026539918637,1.18966738129e-05,1793251690362372352
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746,724,690.423687202,671,643,889,791,820,657,633,657,0.400966755239,-0.0153755700963,0.0598375191617,0.9999999457,0.000189258230937,-0.00026952596924,1.16974935309e-05,1793251690379038720
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746,724,690.1552608,671,643,889,790.8447392,820,657,633,657,0.400965391048,-0.015376867112,0.0598362676027,0.999999945328,0.000188335258386,-0.000271549685824,1.1599917969e-05,1793251690395704832
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746,724,690.74152424,671,643,889,790.25847576,820,657,633,657,0.4009679464,-0.0153750840778,0.0598383812126,0.999999946212,0.000189088983298,-0.00026773530952,1.17843961868e-05,1793251690412371456
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.323967821,746.323967821,724,691,671,643,889,790.323967821,820,657,633,657,0.400968911144,-0.0153742769105,0.0598393295698,0.999999946557,0.000189678246264,-0.00026602783188,1.17220737203e-05,1793251690429037824
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.903399231,746.903399231,724,691,671,643,889,790.903399231,820,657,633,657,0.400968621621,-0.0153742392593,0.0598393590711,0.999999946485,0.000190137823346,-0.000265981741378,1.14651375045e-05,1793251690445704448
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.519112147,747,724,691,671,643,889,790.519112147,820,657.480887853,633,657,0.400969074832,-0.015374635395,0.0598393243447,0.999999946048,0.000191390465341,-0.000266714183389,1.16734767702e-05,1793251690462371072
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.942050263,724,691,671,643,889,790,820,657.942050263,633.057949737,657,0.400969716445,-0.0153749561961,0.0598393907086,0.999999945598,0.000192628461812,-0.000267500826541,1.19214262136e-05,1793251690479037696
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.365328901,724,691,671,643,889,790,820,657.365328901,633.634671099,657,0.400970714357,-0.0153738256553,0.0598404770782,0.999999945694,0.000192314922165,-0.000267378283939,1.16906327883e-05,1793251690495704320
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.784977646,746,724,691,671,643,889.215022354,790,820,657,633.784977646,657,0.400978963917,-0.0153745363864,0.0598445154359,0.999999947577,0.000190946259739,-0.000261231362856,1.20260161059e-05,1793251690512370944
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.198353259,746,724,691,671,643,889.801646741,790,820,657,633.198353259,657,0.400999745789,-0.015378429207,0.0598536554251,0.999999952353,0.000187754132164,-0.000244673099644,1.33398671445e-05,1793251690529037568
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.38367118,746.38367118,724,691,671,643,889.61632882,790,820,657,633,657,0.401038160292,-0.0153809198499,0.0598684911877,0.999999958957,0.000186788307516,-0.000216736423609,1.48504398339e-05,1793251690545704448
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.96334573,746.96334573,724,691,671,643,889.03665427,790,820,657,633,657,0.401085582654,-0.0153826941725,0.0598862367103,0.999999965645,0.000186959817973,-0.000182986937005,1.64615104213e-05,1793251690562371072
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.401153332133,-0.0153870046839,0.0599050663245,0.999999970264,0.000185849897651,-0.000156847904538,1.81900675661e-05,1793251690579037696
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746.883096147,724,691,671,643,889,790,820,657,633,657,0.401225061793,-0.0153910276425,0.0599225746588,0.999999973863,0.000185484616344,-0.000132207275865,1.97724314057e-05,1793251690595704320
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746.307592988,724,691,671,643,889,790,820,657,633,657,0.401307022666,-0.0153932509936,0.0599346127176,0.999999975833,0.000188379780493,-0.000111429466408,2.07501875119e-05,1793251690612370944
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746,724,690.725727454,671,643,889.274272546,790,820,657,633,657,0.401397158382,-0.015396648202,0.0599436118125,0.999999977524,0.000188346882256,-9.50930713125e-05,2.08692847496e-05,1793251690629037312
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746,724,690.136557184,671,643,889.863442816,790,820,657,633,657,0.401496679792,-0.0154013931388,0.0599491218121,0.99999997918,0.00018495221769,-8.38559529782e-05,2.00025387417e-05,1793251690645704192
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746,724,690.445350251,670.554649749,643,889.554649749,790,820,657,633,657,0.40160394889,-0.0154071634106,0.0599477583666,0.999999979766,0.000181495271376,-8.47013816051e-05,1.88082370301e-05,1793251690662370816
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746,724,690.975203157,670.024796843,643,889.024796843,790,820,657,633,657,0.401714924356,-0.015413297233,0.0599444469856,0.99999998005,0.000178057045059,-8.88201898366e-05,1.7507887347e-05,1793251690679037440
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746,724,690.401721505,670.598278495,643,889.598278495,790,820,657,633,657,0.401856188183,-0.0154206303188,0.0599439201071,0.999999980892,0.000175448829452,-8.47070895235e-05,1.60477421979e-05,1793251690695704064
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746,724,690.172827251,671,643,889.827172749,790,820,657,633,657,0.402007725671,-0.0154287555545,0.0599441116254,0.999999982064,0.000171173828723,-7.97339855212e-05,1.46616756062e-05,1793251690712370944
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746,724,690.749871723,671,643,889.250128277,790,820,657,633,657,0.402183291705,-0.0154387335102,0.0599459833671,0.999999983979,0.000163000465993,-7.27494614471e-05,1.34488679409e-05,1793251690729037568
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.66624237,643,889.33375763,790,820,657,633,657.33375763,0.402380434542,-0.0154478702751,0.0599462641549,0.999999985352,0.000156694743994,-6.78623124992e-05,1.17201541336e-05,1793251690745704192
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746,724,691,670.077121921,643,889.922878079,790,820,657,633,657.922878079,0.402594086123,-0.0154563634337,0.0599453276812,0.999999986344,0.000151817980238,-6.45798950445e-05,9.59671290149e-06,1793251690762370816
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.503248187,746.503248187,724,691,671.006496373,643,890,790.503248187,820.503248187,657,633.503248187,657.496751813,0.402838390405,-0.0154656559383,0.0599483687708,0.999999987947,0.000144927307206,-5.5179471216e-05,7.61866961786e-06,1793251690779037440
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.918449648,746.918449648,724,691,671.918449648,643,890,790.918449648,820.918449648,657,633.918449648,657,0.403090777823,-0.0154749102938,0.0599511643692,0.999999989305,0.000138417769113,-4.68976661185e-05,5.52361002872e-06,1793251690795704064
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.344673435,746.344673435,724,691,671.344673435,643,890,790.344673435,820.344673435,657,633.344673435,657,0.403364085282,-0.015483207645,0.0599488619182,0.999999989446,0.000136039699116,-5.0930015207e-05,2.59006426586e-06,1793251690812370688
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.23520225,724,691,671,643,890,790.23520225,820.23520225,657,633,657,0.403645539987,-0.0154887655637,0.0599419685135,0.999999988902,0.000135478783801,-6.19771200489e-05,-6.01961511812e-07,1793251690829037312
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.824254245,724,691,671,643,890,790.824254245,820.824254245,657,633,657,0.40393925179,-0.0154902021457,0.0599281682546,0.999999987025,0.000137651684774,-8.35775655278e-05,-4.18285706237e-06,1793251690845704192
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,691,670.591814928,643,890,791,820.591814928,657,633,657.408185072,0.404270258359,-0.0154837207446,0.0599142787341,0.999999989429,9.62459997701e-05,-0.000108577064416,-9.45544505271e-06,1793251690862370816
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,691,670.010061735,643,890,791,820.010061735,657,633,657.989938265,0.40461712337,-0.0154738724651,0.0599003512584,0.999999990106,3.63098638305e-05,-0.000135021905066,-1.5447372988e-05,1793251690879037440
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.435857667,724,691,670.564142333,643,890.564142333,791,820,657,633,657.435857667,0.405013966771,-0.0154769238522,0.0598992416433,0.999999989219,4.72376081481e-05,-0.000137740164989,-1.8943199844e-05,1793251690895705088
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,891,790.861390423,820,657,633,657,0.405430991012,-0.0154819293411,0.0599048572519,0.999999989919,5.38444942344e-05,-0.000129575951485,-2.17368467989e-05,1793251690912372480
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,891,790.285674374,820,657,633,657,0.405908881745,-0.0154923811543,0.0599309694991,0.99999999492,4.28924591771e-05,-8.84106279055e-05,-2.24547003324e-05,1793251690929038080
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,891,790.298172149,820.298172149,657,633,657.298172149,0.406407200484,-0.0154990558081,0.0599577785708,0.999999998101,3.66934245983e-05,-4.36872752025e-05,-2.33114222748e-05,1793251690945704960
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,891,790.890026793,820.890026793,657,633,657.890026793,0.406925639697,-0.0155020101772,0.0599852739779,0.999999999076,3.51758220223e-05,4.54053734671e-06,-2.43049217235e-05,1793251690962372608
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.530029631,643,891,791,820.530029631,657,633,658,0.407460250298,-0.0155036250466,0.0599949706729,0.999999999535,-1.56853360414e-06,1.35656604471e-05,-2.72703759907e-05,1793251690979039488
+145,2.416666667,POSE1_TO_POSE2_PRESS,770.04696609,746.04696609,724,691,670.04696609,643,891,791,820,657,633,657.95303391,0.407998975118,-0.0155047270792,0.0599989581707,0.999999998582,-4.20292345332e-05,1.07775812731e-05,-3.0880565378e-05,1793251690995706112
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.621384207,746.621384207,724,691,670.621384207,643,891,791,820,657,633,657.378615793,0.408542458051,-0.0155035028177,0.0599844463608,0.999999998459,-3.39408617799e-05,-2.42027851653e-05,-3.66773653702e-05,1793251691012372736
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.798851361,746.798851361,724,691,671,643,891,791,820.201148639,656.798851361,633,657,0.409106961857,-0.0155032435587,0.0599752122094,0.999999997435,-3.39930120973e-05,-4.68963573652e-05,-4.21384660904e-05,1793251691029039104
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.208748993,746.208748993,724,691,671,643,891,791,820.791251007,656.208748993,633,657,0.409712112917,-0.0155048502898,0.0599761832732,0.999999996608,-4.97861931925e-05,-4.58314051419e-05,-4.69504371914e-05,1793251691045705216
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.374145311,724,691,671,643,891.374145311,790.625854689,820.625854689,656.374145311,633,657.374145311,0.410369588412,-0.0155075973284,0.0599819228758,0.999999996127,-6.59356572369e-05,-2.76652804936e-05,-5.13117691139e-05,1793251691062371840
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746.953093974,724,691,671,643,891.953093974,790.046906026,820.046906026,656.953093974,633,657.953093974,0.411055705753,-0.0155109685598,0.0599902727283,0.999999995079,-8.22801463885e-05,-1.38147378634e-07,-5.542642552e-05,1793251691079038464
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724,691.530137461,671,643,892.530137461,790.530137461,820.530137461,657,633,658,0.411758003418,-0.0155138010868,0.0599853934813,0.999999995536,-7.67565440561e-05,-1.39241178147e-05,-5.33249297438e-05,1793251691095705088
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746.893756144,724,691.893756144,671,643,893,790.893756144,821,657,633,658,0.412452264789,-0.0155137935996,0.0599726989799,0.999999996368,-5.48582782608e-05,-4.36895051675e-05,-4.8432946787e-05,1793251691112371456
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.321026929,724,691.321026929,671,643,893,790.321026929,821,657,633,658,0.413104977665,-0.015501524978,0.0599308109141,0.999999990824,3.04712858785e-05,-0.000127623729787,-3.36949949758e-05,1793251691129038592
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.259837233,746,724,691.259837233,671,643.259837233,893.259837233,790,821.519674466,657,633.259837233,658,0.413813371159,-0.0154944205729,0.0599117002623,0.999999984022,6.68571e-05,-0.00016337908307,-2.81823204802e-05,1793251691145705728
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.851076976,746,724,691.851076976,671,643.851076976,893.851076976,790,822.702153951,657,633.851076976,658,0.414592781111,-0.0154939027291,0.0599216404539,0.999999989095,4.08189179972e-05,-0.00013768598558,-3.44357797671e-05,1793251691162372096
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.566245641,746,724,692,670.566245641,643.566245641,894.433754359,790,823,657,634,658,0.415453017745,-0.015504584389,0.059967223472,0.999999997811,1.86068515967e-05,-5.35354300499e-05,-3.41475965008e-05,1793251691179038464
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746.013415156,724,692,670.013415156,643,895,790.013415156,823.013415156,657,634,658,0.416339433874,-0.0155187738941,0.0600234596769,0.999999998359,-1.99470516972e-06,4.76438939563e-05,-3.17345541418e-05,1793251691195704832
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746.587488155,724,692,670.587488155,643,895,790.587488155,823.587488155,657,634,658,0.417182641239,-0.0155219760592,0.0600233864539,0.999999998708,-9.12647146915e-06,3.79388388103e-05,-3.25662246604e-05,1793251691212371200
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.834472705,747,724,692,670.834472705,643,895.165527295,790.834472705,824,657,633.834472705,658,0.418022567158,-0.0155240081951,0.0600172016621,0.999999999045,-1.40035484934e-05,2.33506823515e-05,-3.41804777332e-05,1793251691229037824
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.246306907,747,724,692,670.246306907,643,895.753693093,790.246306907,824,657,633.246306907,658,0.418854114554,-0.0155230529121,0.0599954122884,0.999999999193,-1.31237588443e-05,-3.70542705718e-06,-3.77928877205e-05,1793251691245704704
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724,692,670,643,896,790.336957452,824.336957452,657,633,658,0.419693934245,-0.0155234477421,0.059967239838,0.999999997947,-1.73627429726e-05,-4.5093013349e-05,-4.20767335548e-05,1793251691262371072
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,692,670,643,896,790.916690334,824.916690334,657,633,658,0.420539714031,-0.0155248153187,0.0599344684274,0.999999993897,-2.52897669366e-05,-9.68063247952e-05,-4.68443438741e-05,1793251691279037696
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.505940954,724,692,670.494059046,643,896.494059046,790.505940954,825,657,633.494059046,658,0.421380157219,-0.0155203807662,0.0598956552509,0.999999983507,-2.15182846333e-05,-0.000173094145272,-5.06028651541e-05,1793251691295704832
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.06979417,746.06979417,724,692.06979417,671,643,897,790,825.06979417,657,634,658,0.422241652133,-0.0155165704124,0.0598671365335,0.999999971692,-1.68498995227e-05,-0.000231272284288,-5.3338727434e-05,1793251691312371712
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.636719268,746.636719268,724,692.636719268,671,643,897,790,825.636719268,657,634,658,0.423259473262,-0.0155241416852,0.0599191653816,0.999999989963,-1.97768505309e-05,-0.000131083356529,-4.99965933637e-05,1793251691329038336
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.7850327,747,724,693.2149673,670.7850327,643,897.2149673,790,825.7850327,656.7850327,634,658,0.424267194718,-0.0155312883096,0.0599724027842,0.999999997909,-2.4999168494e-05,-3.75915920269e-05,-4.63051237709e-05,1793251691345704704
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.186585613,747,724,693.813414387,670.186585613,643,897.813414387,790,825.186585613,656.186585613,634,658,0.425256899555,-0.0155376774058,0.0600277961337,0.999999997564,-3.43161881972e-05,4.39531300478e-05,-4.19904751092e-05,1793251691362371072
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.398115762,694,670.398115762,643,898.398115762,790.398115762,825.796231523,656.398115762,634,658,0.426226929079,-0.0155395994218,0.0600404312572,0.999999995699,-3.88039855405e-05,7.30200607339e-05,-4.19967024895e-05,1793251691379037696
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.97658988,694,670.97658988,643,898.97658988,790.97658988,826.953179761,656.97658988,634,658,0.427188045039,-0.0155394977165,0.0600336956212,0.999999995123,-4.11040001134e-05,7.83129763188e-05,-4.39604163952e-05,1793251691395704320
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.552196034,747,724.447803966,694,671,643,898.447803966,790.447803966,827,657,634,658,0.428119407945,-0.0155380152275,0.0600031320967,0.999999997132,-4.77976852928e-05,3.35673402208e-05,-4.82141039112e-05,1793251691412371200
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.872605451,747,724,694,671,643,898,789.872605451,827,657,633.872605451,658,0.429042326788,-0.0155359758646,0.05996862907,0.999999997025,-5.25626470871e-05,-2.13102556778e-05,-5.22780599063e-05,1793251691429038080
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.298412416,747,724,694,671,643,898,789.298412416,827,657,633.298412416,658,0.429940031558,-0.0155321876754,0.0599238339897,0.999999991782,-4.99132814868e-05,-0.000104321075109,-5.53378602965e-05,1793251691445704960
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724,694,671,643,898,789.284077495,827,657,633.284077495,658,0.430893497771,-0.0155326759148,0.0599174062727,0.999999990776,-5.03004296962e-05,-0.000112827535133,-5.64616496433e-05,1793251691462371328
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724,694,671,643,898,789.875545123,827,657,633.875545123,658,0.431907301395,-0.0155377915253,0.059952494515,0.999999996175,-5.39732815292e-05,-4.07154782311e-05,-5.54905503466e-05,1793251691479037952
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,724.457504666,694,671,643.457504666,898.457504666,790,827,657,633.542495334,658,0.432903469357,-0.0155411086581,0.0599887946043,0.999999996922,-5.53900858587e-05,1.74849269899e-05,-5.2748691644e-05,1793251691495704576
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.036564573,747,725,694,671,643.963435427,899,790,827,657,633.036564573,658,0.433891581148,-0.0155437380914,0.060021701071,0.999999994969,-5.64913983011e-05,6.61323271692e-05,-4.99740259614e-05,1793251691512371200
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.610250152,747,725,694,671,643.389749848,899,790,827,657,633.610250152,658,0.43483038719,-0.0155433058935,0.0600000123681,0.999999996234,-6.17899183605e-05,2.89087884587e-05,-5.36493751932e-05,1793251691529037824
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.815898539,747,725,694,671,643,899,789.815898539,827,656.815898539,634,658,0.435760082335,-0.015542213599,0.0599751027484,0.999999996194,-6.44435565872e-05,-1.49347266866e-05,-5.68855967337e-05,1793251691545704448
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.241695954,747,725,694,671,643,899,789.241695954,827,656.241695954,634,658,0.436670472151,-0.0155397225951,0.0599433681742,0.999999993707,-6.14928330255e-05,-7.28056238701e-05,-5.91913309418e-05,1793251691562371072
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,694.343691302,671,643,899.343691302,789.343691302,827.343691302,656.343691302,634,658,0.437540012586,-0.0155348821652,0.0599095143291,0.999999986813,-5.81103999149e-05,-0.000138208606725,-6.24074226035e-05,1793251691579037696
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,694.937208555,671,643,899.937208555,789.937208555,827.937208555,656.937208555,634,658,0.438379859938,-0.0155283339598,0.0598741200078,0.999999974464,-5.44141612726e-05,-0.000209086587457,-6.62852441914e-05,1793251691595704320
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.513581839,747,725,695,671.513581839,643,900,790,828,657,634,658,0.439326897799,-0.0155335418662,0.0599073023533,0.999999984735,-6.11961073891e-05,-0.000150547783478,-6.41893049136e-05,1793251691612371200
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.911683546,747,724.911683546,695,671.911683546,643,900,790,828,657,634,658,0.44028302976,-0.0155399618276,0.0599499335648,0.999999992802,-6.9437983234e-05,-7.63043985778e-05,-6.12524976863e-05,1793251691629038080
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.334793224,747,724.334793224,695,671.334793224,643,900,790,828,657,634,658,0.441219313323,-0.0155453924372,0.0599999522948,0.99999999523,-7.88981935211e-05,1.12925302563e-07,-5.75738510179e-05,1793251691645704448
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724.247673316,695,671.247673316,643,900,790,828,657,634,658,0.442118339747,-0.0155487972544,0.0600213852939,0.999999994057,-8.6254590989e-05,3.53613430039e-05,-5.65349802669e-05,1793251691662371072
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724.837851091,695,671.837851091,643,900,790,828,657,634,658,0.442965843643,-0.015549400627,0.060003287424,0.999999994044,-9.0701650632e-05,1.36777675032e-05,-5.91466246487e-05,1793251691679037696
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.579576393,747,725,695,672,643,900.420423607,789.579576393,828,657,634,658,0.443791535223,-0.0155500246672,0.0599898870598,0.999999993917,-9.20635588856e-05,-5.18281485457e-06,-6.05285109907e-05,1793251691695704320
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,724.323673017,694,672.676326983,643,901,789.323673017,828,657,634,658,0.447606961767,-0.015545049073,0.059935481976,0.999999989351,-8.18889993856e-05,-0.000102435739774,-6.40219464815e-05,1793251691779038208
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.117858141,725,693.882141859,673,643,902,789,828.117858141,656.117858141,633.117858141,658.117858141,0.45373150697,-0.0155519484249,0.0599497734568,0.999999985302,-0.000133946590492,-7.26631482259e-05,-7.85819139509e-05,1793251691945704448
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+245,4.083333333,POSE1_TO_POSE2_PRESS,768.071918612,747.071918612,725,693,672,642.071918612,902.928081388,788,829,657,633,658.928081388,0.459150032861,-0.0155797116041,0.0598007972099,0.99999994743,-0.000146176417796,-0.000280818827212,-7.00972012515e-05,1793251692662371072
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.646707258,747.646707258,725,693,672,642.646707258,902.353292742,788,829,657,633,658.353292742,0.459150295497,-0.0155802055309,0.0598007844545,0.999999947226,-0.00014742678884,-0.000280982530865,-6.97303804371e-05,1793251692679037696
+247,4.116666667,POSE1_TO_POSE2_PRESS,768.772822476,747.772822476,725,692.772822476,672,642.772822476,902,787.772822476,829.227177524,657,633,658,0.459150316829,-0.0155794079153,0.0598004050867,0.999999947213,-0.000146816280485,-0.000281376543626,-6.96077658387e-05,1793251692695704320
+248,4.133333333,POSE1_TO_POSE2_PRESS,768.183289762,747.183289762,725,692.183289762,672,642.183289762,902,787.183289762,829.816710238,657,633,658,0.459149953276,-0.0155765502499,0.0597994409606,0.999999947499,-0.000143237612007,-0.000282137906571,-6.98746676664e-05,1793251692712371200
+249,4.150000000,HOLD_POSE2,768,748,725,694,672,642,902,787,829,656,633,658,0.45915394853,-0.0155774291969,0.0598025447658,0.999999948961,-0.000141432300065,-0.000277859536446,-6.97772230666e-05,1793251692746287104
+250,4.166666667,HOLD_POSE2,768,747.425078668,725,693.425078668,672,642,902.574921332,787.574921332,829,656.574921332,633,658.574921332,0.459151236707,-0.0155769198296,0.0597998919307,0.999999947874,-0.000142427987517,-0.000281179391723,-7.00330603859e-05,1793251692762954496
+251,4.183333333,HOLD_POSE2,768,747.149748801,724.850251199,693,672.149748801,642,902.850251199,787.850251199,829,657,633,658.850251199,0.459149651379,-0.0155767579175,0.0597982163012,0.99999994709,-0.000143457706015,-0.000283413157495,-7.0123394961e-05,1793251692779621888
+252,4.200000000,HOLD_POSE2,768,747.724310128,724.275689872,693,672.724310128,642,902.275689872,787.275689872,829,657,633,658.275689872,0.459151261731,-0.015577581678,0.0597993128412,0.999999947194,-0.000144583965178,-0.000282565868125,-6.97442257432e-05,1793251692796287744
+253,4.216666667,HOLD_POSE2,768,748,724.30894324,692.69105676,673,642,902,787.30894324,829,657,633,658,0.459152627071,-0.0155776850132,0.0598000043932,0.999999947499,-0.000144189442081,-0.000281705931384,-6.96638433268e-05,1793251692812954112
+254,4.233333333,HOLD_POSE2,768,748,724.902866895,692.097133105,673,642,902,787.902866895,829,657,633,658,0.459153766405,-0.0155771238019,0.0598003223695,0.999999947988,-0.000142392094373,-0.000280834328301,-6.98590726815e-05,1793251692829620736
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+256,4.266666667,HOLD_POSE2,768.942668365,747.942668365,724.057331635,693,672,642,903,787.942668365,829,656.942668365,633,658.942668365,0.45915276993,-0.0155777022301,0.0597991460428,0.999999947554,-0.000143798271075,-0.000281826586315,-6.91976571821e-05,1793251692862953728
+257,4.283333333,HOLD_POSE2,768.367955606,747.367955606,724.632044394,693,672,642,903,787.367955606,829,656.367955606,633,658.367955606,0.459151058044,-0.0155763989273,0.0597978999681,0.999999947061,-0.000142751544447,-0.000284023159154,-6.94983234475e-05,1793251692879620864
+258,4.300000000,HOLD_POSE2,768,747.206102967,725,692.793897033,672,642.206102967,902.793897033,787,829,656.206102967,633,658.206102967,0.45915069216,-0.0155751718079,0.0597977232629,0.999999947088,-0.000141300085037,-0.000284604805186,-6.97055624527e-05,1793251692896288000
+259,4.316666667,HOLD_POSE2,768,747.778997256,725,692.221002744,672,642.778997256,902.221002744,787,829,656.778997256,633,658.778997256,0.459152721687,-0.0155740802688,0.0597994496623,0.999999948039,-0.000139128342697,-0.000282312445113,-6.97465335223e-05,1793251692912954624
+260,4.333333333,HOLD_POSE2,768.366374737,747.633625263,724.633625263,692.366374737,672,642.633625263,902,787,829,657,633,659,0.459153859714,-0.0155738802045,0.0598000960717,0.999999948398,-0.000138830448243,-0.000281169484762,-6.98146081117e-05,1793251692929621248
+261,4.350000000,HOLD_POSE2,768.962848333,747.037151667,724.037151667,692.962848333,672,642.037151667,902,787,829,657,633,659,0.459154437842,-0.0155742400242,0.0598000642018,0.999999948388,-0.000139709409447,-0.000280748395918,-6.98997048644e-05,1793251692946287360
+262,4.366666667,HOLD_POSE2,769,747.536679352,724.536679352,693,672,642.536679352,902.536679352,787,829.536679352,657,633,658.463320648,0.459153284766,-0.0155757245845,0.0597985969623,0.999999947656,-0.000141465783912,-0.000282617316068,-6.93003299241e-05,1793251692962953984
+263,4.383333333,HOLD_POSE2,768.889992821,748,725,693,672,643,903,787.110007179,829.889992821,657,633,658,0.459152548834,-0.0155767498148,0.0597977144867,0.999999947196,-0.000142628158379,-0.000283777766019,-6.88172655024e-05,1793251692979620352
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,672,642,903,787,829,657,633,658,0.459153390162,-0.0155753188903,0.059799710992,0.999999948112,-0.000140466202719,-0.000281643216957,-6.87241100704e-05,1793251693033470976
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.422584463,748,725,693,672,642,903,787,829,657,633,658,0.459152877333,-0.0155744309423,0.0597987526666,0.999999947956,-0.000139588650124,-0.000282611145209,-6.87976722784e-05,1793251693050137856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,642,903,787.154788278,829,657,633,658.154788278,0.459152588089,-0.0155737517145,0.0597979959628,0.999999947785,-0.000139083088047,-0.000283436908213,-6.89096914097e-05,1793251693066804480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,642,903,787.732044344,829,657,633,658.732044344,0.45915290908,-0.0155736421521,0.0597977895497,0.999999947575,-0.000139592809444,-0.000283874656017,-6.9126672067e-05,1793251693083470592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.314748119,748,725,693,672,642,902.685251881,788,829,657,633,658.685251881,0.459153136149,-0.015575089622,0.0597979987023,0.999999947365,-0.000140874202398,-0.000284054631247,-6.88320727128e-05,1793251693100136704
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,747.51732287,725,693,672,642,902.48267713,787.51732287,829,657,633,658,0.459153558361,-0.0155773379823,0.0597988797975,0.999999947343,-0.000143347926986,-0.000283056335689,-6.81484754242e-05,1793251693133469696
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.938559669,747,724.938559669,693,672,642,902.938559669,787,829,656.938559669,633,658,0.459153709904,-0.015576089311,0.0597990980899,0.999999947619,-0.000143248213167,-0.000282080921628,-6.83554400986e-05,1793251693150136576
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.362812828,747,724.362812828,693,672,642,902.362812828,787,829,656.362812828,633,658,0.459152596585,-0.0155745694147,0.0597989628569,0.999999947917,-0.00014031441115,-0.000282459036473,-6.85164806738e-05,1793251693166803200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747,724.21261189,693.21261189,672,642,902.21261189,787.21261189,829,656.425223779,633,658,0.459148290696,-0.0155740374498,0.0597967115562,0.999999947078,-0.000139578868392,-0.000285686139759,-6.88872841434e-05,1793251693183470080
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747,724.78748769,693.78748769,672,642,902.78748769,787.78748769,829,657.574975381,633,658,0.459138545067,-0.0155751887959,0.0597908547424,0.999999944261,-0.000142588883148,-0.000293767560873,-6.96154971759e-05,1793251693200137216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747.371758973,725,693.628241027,672,642,902.628241027,787.628241027,829,657.256482055,633,658,0.459115100475,-0.0155741476719,0.0597793829089,0.99999993848,-0.000142632881674,-0.000312651506534,-7.03261699906e-05,1793251693216803840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.961540401,725,693.038459599,672,642,902.038459599,787.038459599,829,656.076919198,633,658,0.459083621961,-0.0155718207479,0.05976461808,0.999999930468,-0.000140937425047,-0.00033787072136,-7.10265561714e-05,1793251693233470208
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.458253674,725,693,672,642,902.541746326,787,829,656,633,658.541746326,0.459027030182,-0.0155677974999,0.05974200241,0.999999917154,-0.000138056135776,-0.000375909460877,-7.29649923376e-05,1793251693250136576
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747,725,693,672,642,902.879723114,787.120276886,829,656.120276886,633,658.879723114,0.458966537495,-0.0155640079114,0.0597202356015,0.999999903693,-0.00013602548108,-0.000410493843582,-7.48787030884e-05,1793251693266803200
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747,725,693,672,642,902.304998648,787.695001352,829,656.695001352,633,658.304998648,0.458897924993,-0.0155615482735,0.0597037453487,0.999999895758,-0.000137521370818,-0.000428647604459,-7.63726768616e-05,1793251693283469824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747,725,693,672,642,902,787.724432107,829,657,633,658,0.458824591977,-0.0155577049504,0.0596920795529,0.99999988963,-0.0001362904674,-0.000442976691618,-7.70519677177e-05,1793251693300136448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,725,693,672,642,902,787.137259543,829,657,633,658,0.458745921133,-0.0155522969938,0.0596858691228,0.999999885745,-0.000131976180454,-0.000452980940866,-7.68100372371e-05,1793251693316803328
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.446215946,747.446215946,725,693,672,642,902,787.446215946,829,657,633,658,0.458650890314,-0.0155462747007,0.0596832455508,0.999999884808,-0.000128557668435,-0.000456053038408,-7.66320913427e-05,1793251693333470208
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.971828255,748,725,693,672.028171745,642,902,788,829,657,633,658,0.458549710983,-0.0155400558884,0.0596817114767,0.999999884784,-0.000125414847928,-0.000457011485512,-7.64423735067e-05,1793251693350136832
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.397468133,748,725,693,672.602531867,642,902,788,829,657,633,658,0.458426092012,-0.0155336606976,0.0596800847039,0.999999884779,-0.000122318718901,-0.00045799342315,-7.56459651338e-05,1793251693366803456
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.177151354,747.822848646,725,693,672.822848646,642,902,787.822848646,829,657,633,658.177151354,0.458292792856,-0.0155271024652,0.0596786070464,0.999999884316,-0.000119511949119,-0.000459888906498,-7.47483403814e-05,1793251693383470080
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.663166092,747,725,693,672,642,902,787.336833908,829,657,633,658.663166092,0.457970480034,-0.0155111132675,0.0596787377384,0.99999988334,-0.000114082839754,-0.000463669456477,-7.29034280193e-05,1793251693416803072
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.508173065,725,693,672.508173065,642,902,788,829,657,633,658.508173065,0.457580147127,-0.0154889930106,0.0596805854964,0.99999988669,-0.000100989772754,-0.000459732239715,-7.11887229278e-05,1793251693450136576
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.086051344,748,725,693,672.913948656,642,902,788.086051344,829,656.913948656,633,658.913948656,0.457356367617,-0.0154776195901,0.0596789973447,0.999999887694,-9.216363547e-05,-0.000459619918509,-6.97655722269e-05,1793251693466803200
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.661884511,748,725,693,672.338115489,642,902,788.661884511,829,656.338115489,633,658.338115489,0.457105299877,-0.0154672044322,0.0596789113858,0.999999887736,-8.80097880114e-05,-0.000460555436631,-6.83448569617e-05,1793251693483470080
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.757964376,747.757964376,725,692.757964376,672,642.242035624,902,788.757964376,829,656.242035624,633,658,0.456846072842,-0.0154574830422,0.0596832407014,0.999999891039,-8.31686295791e-05,-0.000454520965389,-6.64546234155e-05,1793251693500136960
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,769,747,725,693,673,642.626077318,901,788.373922682,829,657,633.373922682,658.373922682,0.452363249616,-0.0154107775399,0.059755076563,0.999999932309,1.6494790699e-05,-0.000366166409633,-3.2131289508e-05,1793251693683471360
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.123004346,746.876995654,724,691,671,643,890,790.876995654,820.876995654,657,633,657,0.407108972888,-0.0153619720665,0.0598294614098,0.999999935116,0.000218017538948,-0.000285768343779,2.39199695506e-05,1793251694616803584
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.696607948,746.303392052,724,691,671,643,890,790.303392052,820.303392052,657,633,657,0.406603897485,-0.0153611679135,0.0598179135047,0.999999928242,0.000228789370914,-0.000301139300562,2.20658573026e-05,1793251694633470208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,746.270892752,724,691,671,643,890,790,820,657,633,657,0.406131532226,-0.0153623306059,0.0598159307298,0.999999928266,0.000228675576124,-0.00030117649552,2.16433202503e-05,1793251694650137088
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,746.845942372,724,691,671,643,890,790,820,657,633,657,0.405695893765,-0.0153657016613,0.0598246876302,0.999999936011,0.000216339459854,-0.000283997027549,2.28281479301e-05,1793251694666804224
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,746.564343163,724,691,671,643,889.564343163,790.435656837,820.435656837,657,633,657,0.405264838618,-0.015364901423,0.059824010927,0.999999936195,0.000217113823593,-0.000282720228792,2.32600257614e-05,1793251694683471104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,746,723.970316372,691,671,643,889,790.970316372,820.970316372,656.970316372,633,657,0.404837057264,-0.0153625816123,0.0598190796304,0.99999993302,0.000223727671189,-0.00028872261717,2.33646392232e-05,1793251694700137984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,746,723.395642987,691,671,643,889,790.395642987,820.395642987,656.395642987,633,657,0.40443858884,-0.0153603879161,0.0597994151246,0.999999916939,0.000249469652635,-0.000321526324378,2.25194886288e-05,1793251694716804352
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,746.178773829,723.178773829,691,671,643,889,790,820,656.178773829,632.821226171,657,0.404055289654,-0.0153581800229,0.0597799213326,0.99999990197,0.000265166572886,-0.000353945619157,2.16408683468e-05,1793251694733470976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,746.752623572,723.752623572,691,671,643,889,790,820,656.752623572,632.247376428,657,0.403705513329,-0.015355940756,0.0597608048071,0.999999892021,0.000258664705605,-0.000385515389572,2.0688282892e-05,1793251694750137344
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,746.664280934,724,691,671,643,889.671438131,790,820,657,632.335719066,657,0.403410399406,-0.0153545676542,0.0597614753755,0.999999894505,0.000258372056044,-0.000379176924382,2.14219556258e-05,1793251694766803712
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,746.074179659,724,691,671,643,890.851640682,790,820,657,632.925820341,657,0.403156704429,-0.0153538508659,0.0597771390871,0.99999990599,0.000262784275589,-0.000344114503138,2.34333456291e-05,1793251694783470080
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,746.506613081,724,691,671,643,889.986773839,790,820.506613081,657,633,657,0.402916607159,-0.0153549712465,0.0597956883067,0.999999913756,0.000268588221578,-0.000315651017855,2.66885550883e-05,1793251694800137216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820.914503023,657,633,657,0.40268455254,-0.0153562770274,0.0598138368044,0.999999920639,0.000272823839122,-0.000288782412175,2.98999553272e-05,1793251694816803840
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790,820.338889056,657,633,657,0.402487395169,-0.0153571313721,0.0598273098138,0.999999928593,0.000266921807792,-0.000265617485432,3.18350205292e-05,1793251694833470720
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,746.758608951,723.758608951,690.758608951,671,643,889,790,820,657,633,657,0.402295044906,-0.0153568113092,0.0598346489625,0.999999931804,0.000265051506496,-0.000255013230287,3.32811102333e-05,1793251694850137344
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,746.171648965,723.171648965,690.171648965,671,643,889,790,820,657,633,657,0.402109576379,-0.0153548099959,0.05983320704,0.999999928829,0.000268952922069,-0.000262390496546,3.40271956602e-05,1793251694866803200
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746,723.409399959,690.409399959,671,643,889,790.409399959,820,657,633,657,0.401936407522,-0.0153551727157,0.0598281241389,0.99999991913,0.00029196936599,-0.000274454159432,3.41877551253e-05,1793251694883469824
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,746,723.988005813,690.988005813,671,643,889,790.988005813,820,657,633,657,0.40176832215,-0.0153565124958,0.0598215364135,0.999999905688,0.000322886092433,-0.000288454719814,3.41063153821e-05,1793251694900136448
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.434063917,820,657,633,657,0.401639625547,-0.0153581403685,0.0598214175821,0.999999906146,0.000319636706099,-0.000290425426927,3.45322790409e-05,1793251694916803072
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790,820,657,633,656.856734706,0.401519698751,-0.0153594416724,0.0598222042496,0.999999907218,0.00031546314297,-0.00029124014128,3.50106437612e-05,1793251694933469696
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790,820,657,633,656.281176098,0.401423718367,-0.0153597391749,0.0598253100055,0.999999909246,0.000310683259496,-0.000289335118082,3.56147152626e-05,1793251694950136320
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,746,724,691.300276389,671,643,889,790,820,657,633,656.300276389,0.401341765053,-0.0153605430401,0.0598281351452,0.999999912559,0.000304022234702,-0.000284896325546,3.58815768955e-05,1793251694966802944
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,746,724,691.887358417,671,643,889,790,820,657,633,656.887358417,0.401273209528,-0.0153618305519,0.059830692258,0.999999917027,0.000295564458204,-0.000278037431279,3.58263563569e-05,1793251694983469568
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,746,724,691.530926564,671,643,889,790,820,657,633,657,0.401214136137,-0.0153641986515,0.0598321683624,0.999999935201,0.000232443007537,-0.000274151332456,2.02549648061e-05,1793251695000136192
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,746.049215151,724,691,671,643,889,790,820,657,633,657,0.401158423785,-0.0153671770095,0.0598334253564,0.999999950046,0.000161997236162,-0.0002713973665,2.75281414286e-06,1793251695016802816
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,746.626150419,724,691,671,643,889,790,820,657,633,657,0.401114611377,-0.0153739480505,0.0598350849079,0.99999995109,0.000152176818212,-0.000273214853232,4.04851714725e-06,1793251695033469440
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,746.798893964,724,691,671,643,889,790.201106036,820.201106036,657,633,657,0.401076496496,-0.0153762842046,0.0598355116592,0.999999951313,0.000148040494345,-0.00027465721001,4.57174487616e-06,1793251695050136064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,746.227582616,724,691,671,643,889,790.772417384,820.772417384,657,633,657,0.401048869889,-0.0153704564129,0.0598336690148,0.999999950153,0.00015436771493,-0.000275409010104,3.67296423687e-06,1793251695066802688
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,746.356761866,724,691,671,643,889,790.643238134,820.643238134,657,633,657,0.401026635839,-0.0153694325105,0.0598319244923,0.999999949113,0.000158230321023,-0.000276987784587,3.93629478208e-06,1793251695083469568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,746.949735554,724,691,671,643,889,790.050264446,820.050264446,657,633,657,0.401007972199,-0.0153715892606,0.0598302449363,0.999999948161,0.00016046110705,-0.000279114098302,4.96905850082e-06,1793251695100136192
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770.530687232,746.469312768,724,691,671,643,889,790,820,657,633,657,0.400996852495,-0.01537272993,0.0598305305918,0.999999948441,0.000157829339057,-0.000279607758904,5.16889348661e-06,1793251695116803072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770.890292699,746,724,691,671,643,889,790,820,657,633.109707301,657,0.40098763485,-0.0153736767104,0.059831172521,0.999999948923,0.000155457548724,-0.0002792105636,5.26979789691e-06,1793251695133469696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770.314746852,746,724,691,671,643,889,790,820,657,633.685253148,657,0.4009835269,-0.0153741997965,0.059832554394,0.999999949804,0.000156101983704,-0.000275672698255,5.27819175768e-06,1793251695150136320
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.264984046,820,657,633.735015954,657,0.400980767379,-0.0153738410404,0.0598336007219,0.999999950158,0.0001576970524,-0.000273473146219,5.3630751548e-06,1793251695166803200
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.849765776,820,657,633.150234224,657,0.400979635218,-0.0153724180274,0.0598342420954,0.99999994988,0.000160439399534,-0.000272888745653,5.54027043701e-06,1793251695183469824
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.566114285,746,724,690.566114285,671,643,889,791,820,657,633,657,0.400979317613,-0.0153719353302,0.0598355958647,0.999999949951,0.00016263784081,-0.000271319694085,5.67611631152e-06,1793251695200136192
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.035051932,746.017525966,724,690.017525966,671,643,889,790.982474034,820,656.982474034,633,657,0.400979215664,-0.0153718474818,0.0598371220163,0.999999950146,0.000164449738847,-0.000269500311063,5.79842270289e-06,1793251695216802816
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770.186355137,746.593177568,724,690.593177568,671,643,889,790.406822432,820,656.406822432,633,657,0.400977013285,-0.0153739811037,0.0598362944218,0.999999950593,0.0001599402482,-0.000270549823954,5.94480681414e-06,1793251695233469440
+398,6.633333333,POSE2_TO_POSE3_RETREAT,771,747,724,691,671,643,889,790,820,656.168788042,633,657,0.400974891532,-0.015375037648,0.0598353302922,0.99999995048,0.000158298278063,-0.000271928550605,5.97791726754e-06,1793251695250136320
+399,6.650000000,POSE2_TO_POSE3_RETREAT,771,747,724,691,671,643,889,790,820,656.744299373,633,657,0.400972964059,-0.0153734987921,0.0598340371584,0.999999949041,0.000163566083097,-0.000274100573352,5.73807570553e-06,1793251695266802944
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770.67186867,746.67186867,724,691,671,643,889,790,820,656.67186867,633,657,0.400973184849,-0.0153732348771,0.0598343570328,0.99999994882,0.000165834018551,-0.0002735416063,5.86991216635e-06,1793251695283469568
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770.081384091,746.081384091,724,691,671,643,889,790,820,656.081384091,633,657,0.400975123254,-0.015373990325,0.0598359665674,0.999999949585,0.000165703446013,-0.000270799110831,6.29891909605e-06,1793251695300136192
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.499263156,820,656.499263156,633,657,0.400975876508,-0.0153731280657,0.0598375444698,0.999999949993,0.000166333332839,-0.000268898550074,6.38730412705e-06,1793251695316803072
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.922416616,820,657,633,657,0.400976120561,-0.0153721530171,0.0598387140426,0.99999995024,0.000166891030011,-0.000267630511559,6.37200621383e-06,1793251695333469696
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889,790.348919025,820,657,633,657,0.400974320801,-0.015372110022,0.0598373058874,0.999999949842,0.000166210237867,-0.000269545261348,6.04201909236e-06,1793251695350136576
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770.230697859,746.230697859,724,690.769302141,671,643,889,790,820,657,633,657,0.400972879464,-0.015373169352,0.0598363670351,0.999999949711,0.000164809099547,-0.000270888457811,6.00574863733e-06,1793251695366802944
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.819822139,746.819822139,724,690.180177861,671,643,889,790,820,657,633,657,0.400971994992,-0.0153759413223,0.0598361573204,0.999999949997,0.000162288786876,-0.00027134365407,6.42581445966e-06,1793251695383469824
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770.59792546,747,724,690.40207454,671,643,889,790.40207454,820,657,633,657,0.400972838182,-0.0153766778658,0.0598369566714,0.999999950414,0.000161516038309,-0.000270261195486,6.56767451947e-06,1793251695400136448
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770.018700779,747,724,690.981299221,671,643,889,790.981299221,820,657,633,657,0.400974442563,-0.01537651762,0.0598382006071,0.999999950889,0.000161513249685,-0.000268501261067,6.58695979407e-06,1793251695416803072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790.442445312,820,657,633,657,0.400974482288,-0.0153754207011,0.0598383165579,0.999999950912,0.000162587782012,-0.000267766401434,6.51199407453e-06,1793251695433469696
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769.866732009,746.866732009,724,691,671,643,889,790,820.133267991,657,633,657,0.400974453316,-0.0153746928477,0.0598383699092,0.999999950899,0.00016349370056,-0.000267265147502,6.47055160164e-06,1793251695450136320
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769.292484944,746.292484944,724,691,671,643,889,790,820.707515056,657,633,657,0.400974369756,-0.0153752896254,0.0598383406471,0.999999950818,0.000163722748895,-0.000267423721331,6.55044140893e-06,1793251695466802944
+412,6.866666667,POSE2_TO_POSE3_RETREAT,769.287491599,746,723.712508401,691,670.712508401,643,888.712508401,790,821,657,633,657,0.400974356271,-0.0153761262872,0.0598382142464,0.999999950925,0.000162735532572,-0.000267624992875,6.56880693939e-06,1793251695483469568
+413,6.883333333,POSE2_TO_POSE3_RETREAT,769.873415628,746,723.126584372,691,670.126584372,643,888.126584372,790,821,657,633,657,0.400974415528,-0.0153772119622,0.0598379870103,0.999999951224,0.000160485765194,-0.000267870587033,6.52330680941e-06,1793251695500136448
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c22913d263505438684835e9d092a31005543c04
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,415 @@
+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,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
+1,0.016666667,pose1_baseline,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
+2,0.033333333,pose1_baseline,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
+3,0.050000000,pose1_baseline,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
+4,0.066666667,pose1_baseline,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
+5,0.083333333,pose1_baseline,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
+6,0.100000000,pose1_baseline,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483996,1.04963239686
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+365,6.083333333,pose2_to_pose3_retreat,0.588749723484,-0.00999483409391,1.05002078569,0.559321067027,-0.00132242538196,1.04963215902
+366,6.100000000,pose2_to_pose3_retreat,0.588440276116,-0.00999493490118,1.0500207838,0.5590116195,-0.00132252670207,1.04963215772
+367,6.116666667,pose2_to_pose3_retreat,0.588151975538,-0.00999483487068,1.05002100168,0.55872331917,-0.00132242621002,1.04963236717
+368,6.133333333,pose2_to_pose3_retreat,0.587890901728,-0.00999497625532,1.05002087554,0.558462247211,-0.00132256101883,1.04963224764
+369,6.150000000,pose2_to_pose3_retreat,0.587654572545,-0.00999495253809,1.05002083089,0.55822591729,-0.00132253968965,1.04963220557
+370,6.166666667,pose2_to_pose3_retreat,0.58744181351,-0.00999484007553,1.05002088079,0.558013156728,-0.00132243251486,1.04963225316
+371,6.183333333,pose2_to_pose3_retreat,0.58725279183,-0.00999495507741,1.0500207799,0.557824136777,-0.00132254149934,1.04963215564
+372,6.200000000,pose2_to_pose3_retreat,0.587079840171,-0.00999499749086,1.05002068873,0.557651186758,-0.00132257842797,1.04963206263
+373,6.216666667,pose2_to_pose3_retreat,0.586917641335,-0.00999493009518,1.05002085692,0.557488986677,-0.00132251498895,1.0496322369
+374,6.233333333,pose2_to_pose3_retreat,0.586765920709,-0.00999491901973,1.05002109865,0.557337265139,-0.00132250708038,1.04963247706
+375,6.250000000,pose2_to_pose3_retreat,0.586624197718,-0.00999492103325,1.05002126566,0.557195542097,-0.00132250958119,1.04963263706
+376,6.266666667,pose2_to_pose3_retreat,0.58649318612,-0.00999473504056,1.0500212237,0.557064529481,-0.00132232681485,1.0496326002
+377,6.283333333,pose2_to_pose3_retreat,0.5863735219,-0.00999482761309,1.05002083305,0.556944865449,-0.00132241897068,1.04963220461
+378,6.300000000,pose2_to_pose3_retreat,0.586267944063,-0.00999486328292,1.05002100602,0.55683928772,-0.00132245448024,1.04963237307
+379,6.316666667,pose2_to_pose3_retreat,0.586176501248,-0.0099949197712,1.05002104622,0.556747846075,-0.00132250696308,1.04963241437
+380,6.333333333,pose2_to_pose3_retreat,0.586100535699,-0.00999487531652,1.05002102955,0.556671880572,-0.00132246216189,1.04963240209
+381,6.350000000,pose2_to_pose3_retreat,0.58603540603,-0.00999482874127,1.05002098106,0.556606750564,-0.00132241659002,1.04963235679
+382,6.366666667,pose2_to_pose3_retreat,0.58598021637,-0.00999489092894,1.05002090106,0.556551561367,-0.00132247727475,1.04963227529
+383,6.383333333,pose2_to_pose3_retreat,0.585933206199,-0.00999494681079,1.05002093237,0.55650455143,-0.00132253274741,1.04963229792
+384,6.400000000,pose2_to_pose3_retreat,0.585892982755,-0.00999489865155,1.05002087492,0.55646432857,-0.00132248200747,1.0496322538
+385,6.416666667,pose2_to_pose3_retreat,0.585859189818,-0.00999485411864,1.0500208754,0.556430534861,-0.00132244013499,1.04963225336
+386,6.433333333,pose2_to_pose3_retreat,0.585831116852,-0.00999484612118,1.05002093476,0.556402460926,-0.00132243571324,1.04963230634
+387,6.450000000,pose2_to_pose3_retreat,0.58580868856,-0.00999485779969,1.05002098539,0.55638003282,-0.00132244650514,1.04963236267
+388,6.466666667,pose2_to_pose3_retreat,0.585791504197,-0.00999476897237,1.05002090572,0.556362846894,-0.00132236311235,1.04963228008
+389,6.483333333,pose2_to_pose3_retreat,0.58577860576,-0.00999482670777,1.05002106671,0.556349949191,-0.00132241841216,1.04963243981
+390,6.500000000,pose2_to_pose3_retreat,0.585769319849,-0.00999477712727,1.050021137,0.55634066247,-0.00132237154138,1.04963251101
+391,6.516666667,pose2_to_pose3_retreat,0.585762964194,-0.00999472885051,1.0500211465,0.556334306221,-0.00132232530893,1.0496325199
+392,6.533333333,pose2_to_pose3_retreat,0.585759189479,-0.00999487619325,1.05002117945,0.556330534332,-0.00132246342457,1.04963254476
+393,6.550000000,pose2_to_pose3_retreat,0.585756886888,-0.0099949240599,1.05002118471,0.556328232849,-0.00132250759335,1.04963254862
+394,6.566666667,pose2_to_pose3_retreat,0.585755824441,-0.00999489079122,1.05002116759,0.556327170102,-0.00132247516223,1.0496325355
+395,6.583333333,pose2_to_pose3_retreat,0.585755002464,-0.00999486505245,1.05002115435,0.556326347894,-0.00132245007147,1.04963252536
+396,6.600000000,pose2_to_pose3_retreat,0.58575426097,-0.00999484183385,1.0500211424,0.556325606191,-0.00132242743742,1.04963251621
+397,6.616666667,pose2_to_pose3_retreat,0.585753445355,-0.00999485132476,1.05002111974,0.556324790451,-0.00132243729094,1.04963249492
+398,6.633333333,pose2_to_pose3_retreat,0.585752736941,-0.00999491657849,1.05002108456,0.556324082099,-0.00132250240336,1.04963245816
+399,6.650000000,pose2_to_pose3_retreat,0.585752264214,-0.00999496012249,1.05002106109,0.556323609415,-0.00132254585306,1.04963243364
+400,6.666666667,pose2_to_pose3_retreat,0.585752132902,-0.009994972218,1.05002105457,0.556323478114,-0.00132255792238,1.04963242683
+401,6.683333333,pose2_to_pose3_retreat,0.585751990933,-0.0099949852951,1.05002104752,0.556323336157,-0.00132257097115,1.04963241946
+402,6.700000000,pose2_to_pose3_retreat,0.585751834211,-0.00999499973108,1.05002103974,0.55632317945,-0.00132258537588,1.04963241133
+403,6.716666667,pose2_to_pose3_retreat,0.585751798935,-0.00999500298043,1.05002103799,0.556323144177,-0.00132258861819,1.0496324095
+404,6.733333333,pose2_to_pose3_retreat,0.585751543969,-0.00999493085835,1.05002103005,0.556322888046,-0.00132252040966,1.0496324024
+405,6.750000000,pose2_to_pose3_retreat,0.585751298256,-0.00999485890317,1.05002102251,0.556322641181,-0.0013224523276,1.04963239572
+406,6.766666667,pose2_to_pose3_retreat,0.585751162555,-0.00999481916396,1.05002101836,0.556322504843,-0.00132241472743,1.04963239203
+407,6.783333333,pose2_to_pose3_retreat,0.585751149495,-0.00999481533954,1.05002101795,0.556322491722,-0.00132241110887,1.04963239168
+408,6.800000000,pose2_to_pose3_retreat,0.585751056478,-0.00999481218403,1.05002101788,0.556322398753,-0.00132240775139,1.0496323925
+409,6.816666667,pose2_to_pose3_retreat,0.585750938787,-0.0099948299872,1.05002102028,0.55632228156,-0.00132242378931,1.04963239659
+410,6.833333333,pose2_to_pose3_retreat,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483997,1.04963239686
+411,6.850000000,pose2_to_pose3_retreat,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483997,1.04963239686
+412,6.866666667,pose2_to_pose3_retreat,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483997,1.04963239686
+413,6.883333333,pose2_to_pose3_retreat,0.585750931077,-0.0099948311534,1.05002102044,0.556322273883,-0.00132242483997,1.04963239686
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbc67ddcdf44e3dbdf571bee62d8e111e807e040
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84a3e2e947db462644711a4aaf358badeff35a333d00aef07e0d55ede3023d7d
+size 26446740
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..665112b536cb137c64d2032738ed582dea5fa299
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/franka_data.csv
@@ -0,0 +1,417 @@
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+31,0.516666667,BASELINE,770,746.990900903,724,691,671.009099097,643,889,790,821,657,633,657,0.400973416678,-0.0153779230218,0.0598411297342,0.999999950989,0.000168195548673,-0.000263979355534,6.85989685568e-06,1793251696164010240
+32,0.533333333,BASELINE,770,747,724,691,671,643,888.433805074,790,820.433805074,657,633,657,0.400974143359,-0.0153775450419,0.0598410006558,0.999999951313,0.000166885541495,-0.000263590268076,6.54766199488e-06,1793251696180676864
+33,0.550000000,BASELINE,770,747,724,691,671,643,888.144203102,790.144203102,820,657,633,657,0.400974359857,-0.0153772246989,0.0598408565601,0.999999951484,0.000165962428734,-0.000263530306133,6.38468967377e-06,1793251696197343488
+34,0.566666667,BASELINE,770,747,724,691,671,643,888.730782873,790.730782873,820,657,633,657,0.400973048552,-0.0153770834213,0.0598407469516,0.999999951174,0.000166373643256,-0.000264435399521,6.71035970146e-06,1793251696214010112
+35,0.583333333,BASELINE,770,747,724,691,671,643,889,790.686304389,820,657,633,657,0.400972115762,-0.0153774392468,0.0598402302071,0.999999950748,0.000167340816686,-0.000265430925657,6.86222758721e-06,1793251696230676736
+36,0.600000000,BASELINE,770,747,724,691,671,643,889,790.106502311,820,657,633,657,0.400971504064,-0.0153782167624,0.0598393680913,0.999999950221,0.000168779607408,-0.000266503165555,6.86665999452e-06,1793251696247343360
+37,0.616666667,BASELINE,770,747,724,691,671,643,889,790.471474437,820,657,633,657,0.400971902008,-0.0153769647194,0.059839408343,0.999999950149,0.00016953160508,-0.000266301093552,6.74778927693e-06,1793251696264009984
+38,0.633333333,BASELINE,770,747,724,691,671,643.04888779,889.04888779,790.95111221,820.04888779,657,633,657,0.400972613811,-0.0153754885313,0.0598397163805,0.999999950233,0.000169988992475,-0.000265694655996,6.61917465545e-06,1793251696280676864
+39,0.650000000,BASELINE,770,747,724,691,671,643.624656305,889.624656305,790.375343695,820.624656305,657,633,657,0.400974259662,-0.0153765185922,0.059840722083,0.999999950907,0.000168936823791,-0.000263820599144,6.68457233612e-06,1793251696297343488
+40,0.666666667,BASELINE,770,747,724,691,671,643.795352552,889.795352552,790,821,657,633,657,0.400975136663,-0.0153774863143,0.0598413053037,0.99999995143,0.000167576750428,-0.000262703488728,6.73886578049e-06,1793251696314010368
+41,0.683333333,BASELINE,770,747,724,691,671,643.20745356,889.20745356,790,821,657,633,657,0.400974573804,-0.0153783372919,0.0598410973256,0.999999951673,0.000165640051591,-0.000263003942605,6.7723638689e-06,1793251696330676992
+42,0.700000000,BASELINE,770,747,724,691,671,643,889,790,820.625179939,657,633,657,0.400973074965,-0.0153770836255,0.0598402364595,0.999999950808,0.000167997013675,-0.000264795485822,6.65035703814e-06,1793251696347343616
+43,0.716666667,BASELINE,770,747,724,691,671,643,889,790,820.045973803,657,633,657,0.400971065745,-0.0153746823152,0.0598390195793,0.999999949316,0.000172695271273,-0.000267400106895,6.44355474438e-06,1793251696364010240
+44,0.733333333,BASELINE,770,746.470348218,724,691,671,643,889,790.529651782,820,657,633,657,0.400973176745,-0.0153766093672,0.0598407763743,0.999999950679,0.000169294832609,-0.000264450462331,6.90786397448e-06,1793251696380676864
+45,0.750000000,BASELINE,770,746,724,691,670.894963558,643,889,790.894963558,820,657,633,657,0.400975220182,-0.0153786498246,0.0598424462681,0.999999951996,0.000166052784721,-0.000261495452745,7.34359194546e-06,1793251696397343744
+46,0.766666667,BASELINE,770,746,724,691,670.31927535,643,889,790.31927535,820,657,633,657,0.400975369135,-0.0153795262749,0.0598425779629,0.999999952114,0.000166649197013,-0.000260662160149,7.39198398407e-06,1793251696414010368
+47,0.783333333,BASELINE,770,746,724,691,670.263049172,643,889,790,820.263049172,657,633,657,0.400975259908,-0.0153793561859,0.0598422624534,0.999999951874,0.000167520041604,-0.000261028933872,7.30765291194e-06,1793251696430676992
+48,0.800000000,BASELINE,770,746,724,691,670.853637053,643,889,790,820.853637053,657,633,657,0.400974829204,-0.0153778829865,0.0598413901021,0.999999951184,0.000168732598815,-0.000262889983896,7.05806013453e-06,1793251696447343616
+49,0.816666667,BASELINE,770,746,724,690.564355059,671,643,889,790,820.564355059,657,633,657,0.40097488319,-0.0153766783786,0.0598420281375,0.999999951107,0.00017000215851,-0.000262372560355,6.81728352502e-06,1793251696464010240
+50,0.833333333,BASELINE,770,746.014737307,724,690.014737307,671,643,889,790,820,657,633,657,0.400975064456,-0.0153756267982,0.0598430891232,0.999999951222,0.000171196821188,-0.000261158202668,6.58272443956e-06,1793251696480677120
+51,0.850000000,BASELINE,770,746.590458785,724,690.590458785,671,643,889,790,820,657,633,657,0.400974011806,-0.0153770316707,0.0598413069623,0.999999951079,0.000168825573205,-0.000263245033987,6.47426765189e-06,1793251696497343744
+52,0.866666667,BASELINE,770,747,724,691,670.834790693,643,889,790,820,657,633,657,0.400973168814,-0.0153781683575,0.0598402815411,0.999999951022,0.000166971378475,-0.000264641549619,6.5080520341e-06,1793251696514010624
+53,0.883333333,BASELINE,770,747,724,691,670.262433068,643,889,790,820,657,633,657,0.400972842509,-0.0153786441168,0.059841121059,0.999999951196,0.000166391430286,-0.000264336823977,6.89238116131e-06,1793251696530678272
+54,0.900000000,BASELINE,770,746.679139233,724,691,670.320860767,643,889,790,820,657,633,657,0.400973002527,-0.0153782591458,0.0598414320274,0.999999951154,0.000167243646803,-0.000263958819907,6.94620206455e-06,1793251696547345408
+55,0.916666667,BASELINE,770,746.086585037,724,691,670.913414963,643,889,790,820,657,633,657,0.400973574346,-0.0153771453391,0.059841295439,0.999999950924,0.000169308569235,-0.000263518766299,6.72016039702e-06,1793251696564012032
+56,0.933333333,BASELINE,770,746.495283716,724,691,671,643,889,790,820,657,633,657,0.400972900125,-0.015376464846,0.0598410078453,0.999999950766,0.000170449360102,-0.000263381256968,6.69114993205e-06,1793251696580678400
+57,0.950000000,BASELINE,770,747,724,691,671,643,889,790,820,657,633,657,0.400972280554,-0.0153761377733,0.0598408687855,0.99999995067,0.00017127108774,-0.00026321240207,6.72757287784e-06,1793251696597345024
+58,0.966666667,BASELINE,770,747,724,691,671,643,889,790,820,657,633,657,0.400973455952,-0.0153776819721,0.0598418981451,0.999999950903,0.000171014557779,-0.000262486598661,6.97651255296e-06,1793251696614011136
+59,0.983333333,BASELINE,770,746.773123718,724,691,671,643,889,790,820,657,633,657,0.400974103136,-0.0153782853165,0.0598422514696,0.999999951056,0.000170746875896,-0.000262074745693,7.0795028973e-06,1793251696630677248
+60,1.000000000,BASELINE,770,746.184319745,724,691,671,643,889,790,820,657,633,657,0.400973907679,-0.0153773877496,0.0598415263396,0.999999951082,0.00017046140371,-0.000262163726622,6.94966548606e-06,1793251696647343872
+61,1.016666667,BASELINE,770,746.398323754,724,691,671,643,889,790,820.398323754,657,633,657,0.400973501548,-0.0153782287198,0.0598411788503,0.999999951315,0.000167907006722,-0.00026291777415,7.11036783179e-06,1793251696664010496
+62,1.033333333,BASELINE,770,746.978159947,724,691,671,643,889,790,820.978159947,657,633,657,0.400972999414,-0.0153798619253,0.0598410034484,0.999999951631,0.000164318681767,-0.000263974886351,7.40346645719e-06,1793251696680677376
+63,1.050000000,BASELINE,770.555194662,747,724,691,671,643,889,790,820.444805338,657,633,657,0.400971732232,-0.0153789898394,0.0598404493611,0.999999950909,0.000166640540291,-0.000265260802512,7.08377711681e-06,1793251696697344000
+64,1.066666667,BASELINE,770.868178121,746.868178121,724,691.131821879,671,643,889,790,820,657,633,657,0.400970819735,-0.0153778292418,0.0598399336291,0.999999950235,0.000169084032543,-0.000266259458268,6.76007489616e-06,1793251696714010112
+65,1.083333333,BASELINE,770.292553691,746.292553691,724,691.707446309,671,643,889,790,820,657,633,657,0.400971202158,-0.0153760274454,0.059839596928,0.999999949884,0.00017115822728,-0.000266260849017,6.50361119806e-06,1793251696730676736
+66,1.100000000,BASELINE,770,746,724,691.710229256,671,643,888.710229256,790,820,657,633,657,0.400971843749,-0.0153760044957,0.0598397566668,0.999999949945,0.000171683814863,-0.000265691437165,6.47158017739e-06,1793251696747343360
+67,1.116666667,BASELINE,770,746,724,691.120980401,671,643,888.120980401,790,820,657,633,657,0.40097275319,-0.0153778199843,0.0598404294763,0.999999950435,0.000170608916569,-0.000264532100732,6.67150038198e-06,1793251696764009984
+68,1.133333333,BASELINE,770.460631774,746,724,691,671,643,888.460631774,790,820.460631774,657.460631774,633,657,0.400972996321,-0.0153778940378,0.0598407574578,0.999999950673,0.000169776451072,-0.000264166195791,6.84251184056e-06,1793251696780676608
+69,1.150000000,BASELINE,771,746,723.960114844,691,670.960114844,643,888.960114844,790,820.960114844,657.960114844,633,657,0.400973060926,-0.0153775096973,0.0598409778949,0.99999995084,0.000169103622245,-0.000263963023092,6.94355901458e-06,1793251696797343232
+70,1.166666667,BASELINE,771,746,723.386029288,691,670.386029288,643,888.386029288,790,820.386029288,657.386029288,633,657,0.400973040086,-0.0153770117511,0.0598409511477,0.999999950941,0.000169729993377,-0.000263193892569,6.20757466148e-06,1793251696814009856
+71,1.183333333,BASELINE,770.807465153,746,723.192534847,691,670.192534847,643,888.192534847,790,820.192534847,657,633,657,0.400973054053,-0.0153771857454,0.0598410987558,0.999999951063,0.000169598750944,-0.000262819056658,5.97324984104e-06,1793251696830676736
+72,1.200000000,BASELINE,770.219707584,746,723.780292416,691,670.780292416,643,888.780292416,790,820.780292416,657,633,657,0.400973139472,-0.0153787390541,0.0598416042691,0.999999951229,0.000167912329903,-0.000263253602352,6.76869819719e-06,1793251696847343360
+73,1.216666667,BASELINE,770,746,724,691,671,643,889,790,820.636957128,656.636957128,633,657,0.400973300065,-0.0153788034583,0.0598421935531,0.999999951299,0.00016785403888,-0.000263013926452,7.17579208881e-06,1793251696864010752
+74,1.233333333,BASELINE,770,746,724,691,671,643,889,790,820.057195705,656.057195705,633,657,0.400973505534,-0.0153779790604,0.059842832844,0.999999951312,0.000168767660658,-0.000262371773747,7.35105761957e-06,1793251696880678656
+75,1.250000000,BASELINE,770,746.519277308,724,691,671,643,889.519277308,790,820,656.519277308,633,657,0.400971876096,-0.015378356809,0.0598410990236,0.999999950663,0.000168979491394,-0.000264705544233,7.15246959019e-06,1793251696897344768
+76,1.266666667,BASELINE,770,746.905049941,724,691,671,643,889.810099881,790,820,657,633,657,0.400970684426,-0.0153785721675,0.0598396877,0.999999950129,0.000169542204315,-0.000266363923031,6.9029616427e-06,1793251696914010880
+77,1.283333333,BASELINE,770,746.331596308,724,691,671,643,888.663192616,790,820,657,633,657,0.400972711013,-0.0153773060705,0.0598412105809,0.999999950563,0.000172260295574,-0.000262977171208,6.60305331412e-06,1793251696930677504
+78,1.300000000,BASELINE,770,746,724,691,671,643,888.248915378,790.248915378,820,657,633,657,0.400973536221,-0.015376578827,0.0598417944715,0.999999950715,0.000173284150971,-0.000261725620821,6.45452859194e-06,1793251696947344128
+79,1.316666667,BASELINE,770,746,724,691,671,643,888.839103896,790.839103896,820,657,633,657,0.400972714288,-0.0153765903741,0.0598410909679,0.999999950499,0.000171985139652,-0.000263401519004,6.51355699546e-06,1793251696964010752
+80,1.333333333,BASELINE,769.577407522,746,724,691,671,643,889,790.577407522,820,657,633,657,0.400973121319,-0.0153777092566,0.0598411880394,0.999999950761,0.000169967607618,-0.000263716817734,6.56012463047e-06,1793251696980677632
+81,1.350000000,BASELINE,769,746,724,691.003516102,671,643,888.996483898,790,820,657,633,657,0.400973987179,-0.0153792246887,0.0598415836109,0.999999951196,0.000167706423508,-0.000263514590015,6.60196031526e-06,1793251696997344512
+82,1.366666667,BASELINE,769,746,724,691.575720175,671,643,888.424279825,790,820,657,633,657,0.400974565363,-0.0153777523451,0.0598417283802,0.999999951253,0.000169593042587,-0.000262086017247,6.63381097259e-06,1793251697014010624
+83,1.383333333,BASELINE,769.149309898,746.149309898,724,691.701380204,670.850690102,642.850690102,888.149309898,790,820,656.850690102,633,657,0.400974803304,-0.0153772026151,0.0598416782609,0.999999951275,0.000170464418298,-0.000261432563851,6.72833313444e-06,1793251697030676992
+84,1.400000000,BASELINE,769.726874107,746.726874107,724,690.546251786,670.273125893,642.273125893,888.726874107,790,820,656.273125893,633,657,0.400974065354,-0.0153792991472,0.059841069157,0.999999951207,0.000168423848516,-0.000263002326519,7.00261124998e-06,1793251697047343616
+85,1.416666667,BASELINE,770,746.688299007,724,690,670.311700993,642.311700993,889,790,820,656.311700993,633,657,0.400973714455,-0.015379518742,0.0598412019363,0.99999995108,0.00016840787615,-0.00026349101142,7.13481453377e-06,1793251697064010240
+86,1.433333333,BASELINE,770,746.096956467,724,690,670.903043533,642.903043533,889,790,820,656.903043533,633,657,0.400973710798,-0.0153780544482,0.0598420002937,0.999999950902,0.000170208264978,-0.000263009810781,7.1395558219e-06,1793251697080676864
+87,1.450000000,BASELINE,770,746,724,690.484146834,671,643,889,790,820,657,633,657,0.400974801237,-0.0153780790719,0.0598425843335,0.999999951497,0.000169604695157,-0.000261128690241,7.1643363452e-06,1793251697097343488
+88,1.466666667,BASELINE,770,746,724,691,671,643,889,790,820.062249423,657,633,657,0.400975596443,-0.0153783222096,0.0598428357999,0.99999995205,0.0001686194629,-0.000259644769855,7.14830666857e-06,1793251697114010112
+89,1.483333333,BASELINE,770,746,724,691,671,643,889,790,820.632255211,657,633,657,0.4009722333,-0.0153779659459,0.0598407173679,0.99999995105,0.000168366627123,-0.00026364014431,6.76733999532e-06,1793251697130678016
+90,1.500000000,BASELINE,770,746,724,691,671,643,889,790.209910001,820.790089999,657,633,657,0.400970509278,-0.0153776978838,0.059839677352,0.999999950241,0.000169602780573,-0.000265911277731,6.66332752872e-06,1793251697147345408
+91,1.516666667,BASELINE,770,746,724,691,671,643,889,790.80147191,820.19852809,657,633,657,0.400971765455,-0.0153775901872,0.0598405980792,0.999999949791,0.000173546168471,-0.000265047448702,7.06286472424e-06,1793251697164011264
+92,1.533333333,BASELINE,770,746,724,691,671,643,889,790.614599871,820.385400129,657,633,656.614599871,0.400972846295,-0.0153784730349,0.0598414605306,0.999999950261,0.000172528024022,-0.000263932108615,7.21112529259e-06,1793251697180677888
+93,1.550000000,BASELINE,770,746,724,691,671,643,889,790.034527507,820.965472493,657,633,656.034527507,0.40097383857,-0.0153798562237,0.0598422935459,0.99999995119,0.000169003724587,-0.000262689725884,7.23246174995e-06,1793251697197344256
+94,1.566666667,BASELINE,769.458122692,746,724,691,671,643,889,790,820.458122692,657,633,656.541877308,0.400974465553,-0.0153804505591,0.0598425485814,0.999999951846,0.000167656581271,-0.000261048486134,7.25765365192e-06,1793251697214010624
+95,1.583333333,BASELINE,769.117050928,746,724,691,671,643,889,790,820,657,633,657,0.40097479946,-0.0153806357784,0.0598425920028,0.999999952215,0.000166995439597,-0.000260057527504,7.2508388703e-06,1793251697230677248
+96,1.600000000,BASELINE,769.688347544,746,724,691,671,643,889,790,820,657,633,657,0.400974085736,-0.0153794270711,0.0598419561617,0.999999951545,0.00016846176315,-0.000261688112842,7.11886713042e-06,1793251697247343872
+97,1.616666667,BASELINE,770,746,724,691,671,643,889,790.27152519,820,657,633,657,0.400973725067,-0.0153790521194,0.0598415070767,0.999999951099,0.00016926179481,-0.000262877270064,6.99465751262e-06,1793251697264010240
+98,1.633333333,BASELINE,770,746,724,691,671,643,889,790.86896367,820,657,633,657,0.400973788174,-0.0153796779295,0.0598412821563,0.999999950926,0.000169262072284,-0.000263536578412,6.87976482382e-06,1793251697280676864
+99,1.650000000,BASELINE,770,746,724,691,671,643,889,791,820.449516316,657,633.449516316,657,0.400973693243,-0.0153793371257,0.0598411518012,0.99999995107,0.000169050032134,-0.000263127094115,6.86866360894e-06,1793251697297343744
+100,1.666666667,BASELINE,770,746.02529164,724,691,671,643,889,790.97470836,820.97470836,657,633.97470836,657,0.40097358602,-0.0153787886519,0.0598411176249,0.999999951318,0.000168752460512,-0.000262372670835,6.90027374582e-06,1793251697314010368
+101,1.683333333,BASELINE,770,746.60034497,724,691,671,643,889,790.39965503,820.39965503,657,633.39965503,657,0.400974176759,-0.0153796292013,0.059842596564,0.999999951911,0.000167892326203,-0.000260647473102,7.22644038829e-06,1793251697330676992
+102,1.700000000,BASELINE,770,747,724,691,671,643,889,790.180225744,820,657,633,657,0.400973965627,-0.0153801721141,0.0598430589042,0.99999995198,0.000167711827149,-0.000260500362562,7.2693602904e-06,1793251697347343872
+103,1.716666667,BASELINE,770,747,724,691,671,643,889,790.771106046,820,657,633,657,0.400971927392,-0.0153800368447,0.0598412048658,0.999999950849,0.000169079915604,-0.000263949013228,6.66688642166e-06,1793251697364010496
+104,1.733333333,BASELINE,770,747,724,691,670.645379901,643,889,790.645379901,820,657,633,657,0.400971304734,-0.0153791276837,0.0598403217947,0.999999950207,0.00017145258566,-0.000264849990828,6.63034870025e-06,1793251697380676864
+105,1.750000000,BASELINE,770,747,724,691,670.066523673,643,889,790.066523673,820,657,633,657,0.400971577186,-0.0153777291697,0.059840052693,0.999999949873,0.00017446048067,-0.000264140004391,6.95166804917e-06,1793251697397343488
+106,1.766666667,BASELINE,770,747,724,690.48987612,670.51012388,643,889,790,820,657,633,657,0.400972282087,-0.0153772921984,0.0598404172222,0.999999949917,0.00017413906034,-0.00026419357792,6.6421163097e-06,1793251697414010368
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889,790,820,657,633,658,0.40097523196,-0.0153775554982,0.0598420946449,0.999999950856,0.000172643201742,-0.000261609242963,6.6041729469e-06,1793251697457370368
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889.594468165,790,820.594468165,657,633,657.405531835,0.400975488068,-0.0153786801877,0.0598429921341,0.999999951473,0.000170308259843,-0.000260768963947,7.03824110002e-06,1793251697474036480
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889.816617839,790,820.816617839,657,633,657,0.400975618329,-0.0153791506601,0.0598435697977,0.999999951698,0.000169658032016,-0.000260321703838,7.27594998008e-06,1793251697490702848
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,889.239625167,790,820.239625167,657,633,657,0.400975478471,-0.0153782169245,0.0598434609897,0.999999951088,0.000172623865206,-0.000260718017294,7.09219442725e-06,1793251697507369472
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746.335950577,724,691,671,643,889,790,820,656.664049423,633,657,0.400974575033,-0.0153783585414,0.0598429416109,0.999999950896,0.000173021381331,-0.000261190806822,7.07662483822e-06,1793251697524036096
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746.910519872,724,691,671,643,889,790,820,656.089480128,633,657,0.400973129241,-0.015379263959,0.0598421306122,0.999999951004,0.000171594675004,-0.000261717915692,7.18051425769e-06,1793251697540702976
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,656.497904981,633,657,0.400973264909,-0.0153790303747,0.0598426285881,0.999999951136,0.000170632996688,-0.000261849997119,6.92454164488e-06,1793251697557369088
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.400973529251,-0.0153786206385,0.0598430432073,0.99999995113,0.000170112453539,-0.000262217637947,6.63840336069e-06,1793251697574035712
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.400972859651,-0.0153784053707,0.0598415972592,0.99999995031,0.000171627436711,-0.000264351989738,6.55970914771e-06,1793251697590702592
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.400978103577,-0.0153785818682,0.0598434088351,0.999999950881,0.000172593859192,-0.000261536773152,6.95604606803e-06,1793251697607369216
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.40099142184,-0.0153792932823,0.0598496682375,0.999999953293,0.000172811276262,-0.000251963411104,8.00099094614e-06,1793251697624035328
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746.604469908,724,691,671,643,889,790,820,657,633,657,0.401024740058,-0.0153810670913,0.0598628369283,0.99999995913,0.0001722272689,-0.000228026067459,9.09141611021e-06,1793251697640701952
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746.027761684,724,691,671,643,889,790,820,657,633,657,0.401067219539,-0.0153833275453,0.0598791705165,0.999999965775,0.000171276157669,-0.00019750909858,1.02026742448e-05,1793251697657368320
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746,724,691.560795041,671,643,889.560795041,790,820,657,633,657,0.401131990172,-0.0153864306302,0.0598999941084,0.999999971754,0.000170931528456,-0.000164710477711,1.20645676313e-05,1793251697674034944
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,724,691.852742816,671,643,890,790,820,657,633,657,0.401200875442,-0.0153895374854,0.059918847588,0.999999976121,0.000170818139945,-0.000135618140115,1.36657943741e-05,1793251697690701824
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,724,691.274170625,671,643,890,790,820,657,633,657,0.401278510544,-0.0153925305687,0.0599312655403,0.999999978297,0.000171292217493,-0.000117719440441,1.43923420265e-05,1793251697707368960
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746,724,691,670.697746819,643,889.697746819,790,820,657,633,657,0.401366765184,-0.0153975996615,0.0599405512988,0.999999980402,0.00016944809726,-0.000101299821646,1.48903978924e-05,1793251697724035584
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746,724,691,670.123258071,643,889.123258071,790,820,657,633,657,0.401464584702,-0.0154045385895,0.0599470159298,0.999999982471,0.000165516005958,-8.62123931304e-05,1.51826540902e-05,1793251697740702720
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746.461222398,724,691,670.461222398,643,889,790,820,657,633,657,0.401563702895,-0.0154093836096,0.0599454057743,0.999999982576,0.000163681938965,-8.8667949516e-05,1.39603709059e-05,1793251697757369088
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746.952133874,724,691,671,643,889,790,820,657,633,657,0.401665890617,-0.0154139212966,0.0599417387218,0.999999982227,0.000162276048563,-9.5176488573e-05,1.23763976439e-05,1793251697774035712
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746.371787329,724,691,671,643,889,790,820,657,633,657,0.401798278602,-0.0154214029173,0.0599397270854,0.999999982886,0.000159258022772,-9.34635065995e-05,1.13711267457e-05,1793251697790702080
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671.207845965,643,889,790,820,657,633,657,0.401944154442,-0.0154293695959,0.0599387280655,0.999999983865,0.000154724416739,-9.07102354861e-05,1.01268191044e-05,1793251697807368448
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671.786207724,643,889,790,820,657,633,657,0.402114074341,-0.0154382009601,0.0599395341825,0.999999985381,0.000147489067854,-8.61024972032e-05,8.45639365902e-06,1793251697824035328
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671.637906761,643,889,790,820,657,632.637906761,657,0.402311034229,-0.0154478291547,0.0599423193859,0.999999987179,0.000140512374033,-7.65024273267e-05,6.82584405785e-06,1793251697840702208
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671.06347332,643,889,790,820,657,632.06347332,657,0.402523851035,-0.0154579246308,0.0599462651734,0.999999989004,0.000133687361066,-6.39747334402e-05,5.21867845277e-06,1793251697857369600
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.47691749,746,723.47691749,690.47691749,671,642.47691749,889,790,820,657,633.04616502,657,0.402756900757,-0.0154676313912,0.0599508432717,0.999999990558,0.000126730825541,-5.30035057176e-05,3.63124692847e-06,1793251697874035968
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.109604423,746,723.109604423,690.109604423,671,642.109604423,889,790,820,657,633.890395577,657,0.402997067781,-0.0154767705462,0.0599536517277,0.999999991642,0.000120943031164,-4.56719656815e-05,1.74261603188e-06,1793251697890702336
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.689519254,746,723.689519254,690.689519254,671,642.689519254,889,790,820,657,633.310480746,657,0.403256990102,-0.0154836813222,0.0599485296376,0.999999991359,0.000120240386695,-5.31285895745e-05,-1.44897498592e-06,1793251697907368960
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.267604819,724,691,671,643,889.267604819,790,820,657,633,657,0.403533411413,-0.0154882924579,0.0599398924463,0.999999990404,0.000121543504395,-6.63018345806e-05,-4.77727031938e-06,1793251697924035584
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.843582406,724,691,671,643,889.843582406,790,820,657,633,657,0.403828845219,-0.0154902536169,0.0599272046503,0.99999998843,0.000125157949811,-8.60625923116e-05,-8.26309583783e-06,1793251697940702208
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890,790.419259958,820,657,633,657,0.404156103129,-0.0154833711746,0.0599159417595,0.999999990406,8.74860449288e-05,-0.000106573216387,-1.3291206072e-05,1793251697957368576
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890,790.994825642,820,657,633,657,0.404495225484,-0.0154731917193,0.0599052100927,0.999999991118,3.44220356654e-05,-0.00012736339994,-1.88943005791e-05,1793251697974035200
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.416018799,724,691,671,643,890,790.416018799,820,657,633,657,0.404873345281,-0.0154763749469,0.0599022568863,0.999999990527,2.5891742306e-05,-0.000133355907781,-2.21984815209e-05,1793251697990702080
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,890,790,820,657,633,657,0.405273927072,-0.0154810558642,0.0599050079335,0.999999990997,2.15688408964e-05,-0.000130074684958,-2.49335972884e-05,1793251698007368960
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,890,790,820,657,633,657,0.405727593378,-0.0154890418523,0.0599212861665,0.999999993808,2.63783731543e-05,-0.000104848414329,-2.63523919329e-05,1793251698024036352
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,890.650401221,790,820,657,633,657,0.406218166614,-0.0154956229826,0.0599458263527,0.999999997254,2.67364196581e-05,-6.3487977332e-05,-2.73030525911e-05,1793251698040703488
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746,724,691,671,643,891.795972947,790,820,657,633,657,0.40673683828,-0.0155011345523,0.0599766566203,0.999999999281,2.37054132533e-05,-9.84409918887e-06,-2.78973085086e-05,1793251698057369856
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746,724,691.484909692,671,643,891.515090308,790.484909692,820,657,633,657.484909692,0.407249736039,-0.0155026855687,0.0599931334569,0.99999999946,6.74730574879e-06,1.13857832039e-05,-3.00865046216e-05,1793251698074036224
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.073526574,724,691.926473426,671,643,891,790.926473426,820,657,633.073526574,657.926473426,0.407767469334,-0.0155033894957,0.060003345759,0.999999999171,-1.35121828944e-05,1.96731844496e-05,-3.29852245738e-05,1793251698090702848
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746.652722988,724,691.347277012,671,643,891,790.347277012,820,657,633.652722988,657.347277012,0.408327063435,-0.0155041700267,0.0599918652268,0.999999998544,-3.57211576479e-05,-1.27435912883e-05,-3.83866907831e-05,1793251698107369216
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724,691.231312486,671,643,891.231312486,790.462624972,820,657,633.768687514,657,0.408898938421,-0.0155041588475,0.0599811998953,0.999999997057,-4.90172110392e-05,-3.94865074582e-05,-4.38570388932e-05,1793251698124035840
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724,691.80899315,671,643,891.80899315,791.617986301,820,657,633.19100685,657,0.409489202812,-0.0155029621584,0.0599717552492,0.999999995913,-4.8967021519e-05,-5.77333632596e-05,-4.94305307569e-05,1793251698140702208
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.616112294,724,691.616112294,671,643,891.616112294,791.616112294,820.383887706,657,633,657,0.410138482533,-0.0155052821558,0.059977543416,0.999999995403,-6.86589017145e-05,-3.99613938056e-05,-5.36992968524e-05,1793251698157369088
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746.04259402,724,691.04259402,671,643,891.04259402,791.04259402,820.95740598,657,633,657,0.410816914278,-0.0155093393053,0.0599908561973,0.999999993535,-9.8102852045e-05,-4.3970585469e-06,-5.73235620139e-05,1793251698174035968
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746.545689985,724,691.545689985,671,643,891.545689985,791,821,657,633,657.545689985,0.411500997358,-0.0155139583414,0.0599873845466,0.999999998304,-3.88367667908e-05,-1.18015117779e-05,-4.17597307047e-05,1793251698190702848
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746.866886115,724,691.866886115,671,643,892.133113885,791,821,657,633,657.866886115,0.412181413141,-0.015514065984,0.0599753533231,0.999999998701,2.23609046691e-05,-3.63899498759e-05,-2.78310583534e-05,1793251698207369728
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.28633522,724,691.28633522,671,643,892.71366478,791,821,657,633,657.28633522,0.412847977888,-0.0154988579129,0.0599390768987,0.999999991771,6.61292276599e-05,-0.000107151903918,-2.45730243811e-05,1793251698224036096
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.291722697,724,691.291722697,671,643,893,791,821.291722697,657,633.291722697,657.291722697,0.413555883844,-0.0154911917524,0.0599159450668,0.999999985804,7.4066091585e-05,-0.000148883458841,-2.72076890634e-05,1793251698240702464
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746.867354478,724,691.867354478,671,643,893,791,821.867354478,657,633.867354478,657.867354478,0.414304023788,-0.0154908654951,0.0599056057531,0.999999985076,4.71312256788e-05,-0.000162362185035,-3.55772197849e-05,1793251698257368832
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.560090407,747,724.439909593,692,671,643,893.439909593,791,822,657,634,657.560090407,0.415153195648,-0.0155038443959,0.0599489366507,0.999999995947,1.7916826957e-05,-8.05756406584e-05,-3.59523872516e-05,1793251698274035456
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.011984621,746.988015379,724.988015379,692,670.988015379,643,894,791,822.011984621,657,633.988015379,657,0.416031807863,-0.0155204907301,0.0600073854955,0.999999998976,-1.13822575097e-05,2.76555221628e-05,-3.3963990483e-05,1793251698290702080
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.605467228,746.394532772,724.394532772,692,670.394532772,643,894,791,822.605467228,657,633.394532772,657,0.416871018239,-0.0155217758385,0.0600196050863,0.999999998763,-1.16717939813e-05,3.49101453678e-05,-3.34422174855e-05,1793251698307368960
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,724,692,670,643,894.193790939,791,823.193790939,657,633,657,0.417713179664,-0.0155219129537,0.0600208673591,0.999999998863,-1.05329844459e-05,3.15886272714e-05,-3.41312712252e-05,1793251698324035584
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,724,692,670,643,894.771884129,791,823.771884129,657,633,657,0.418561193196,-0.0155197735104,0.0600004004315,0.999999999259,-6.56165553186e-06,7.29381177274e-06,-3.72214869974e-05,1793251698340702464
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,724,692,670.34649154,643,895.34649154,791,824,657,633,657.34649154,0.41940196159,-0.0155206750724,0.0599738444344,0.99999999853,-1.18680623241e-05,-3.31751229368e-05,-4.12217946553e-05,1793251698357369088
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,724,692,670.918826892,643,895.918826892,791,824,657,633,657.918826892,0.420238007556,-0.0155235587673,0.0599433195715,0.999999995137,-2.32217141318e-05,-8.41863767382e-05,-4.58153016474e-05,1793251698374035456
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746.507444978,724.507444978,692.507444978,671,643,896,791,824.507444978,657,633.507444978,658,0.421082874608,-0.0155214499375,0.0599042694262,0.999999985827,-2.64251607327e-05,-0.000158682445152,-4.96816698401e-05,1793251698390701824
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.903280879,747,724.903280879,693,670.903280879,643,896,790.903280879,825,657,634,657.903280879,0.421949769066,-0.0155190328802,0.0598744327366,0.999999975014,-2.69172302036e-05,-0.000215577363968,-5.26612146134e-05,1793251698407368448
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.324156635,747,724.324156635,693,670.324156635,643,896,790.324156635,825,657,634,657.324156635,0.422919257886,-0.0155191938322,0.0598975773481,0.999999984779,-2.06040242828e-05,-0.000165324559385,-5.18169402781e-05,1793251698424035328
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724,693,670,643,896,790,825,656.746071387,633.746071387,657.253928613,0.423910292672,-0.0155234681539,0.0599414008677,0.999999994478,-2.20774473813e-05,-9.03749765783e-05,-4.88865044834e-05,1793251698440702208
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724,693,670,643,896,790,825,656.169307002,633.169307002,657.830692998,0.424928720362,-0.0155329720671,0.0600115148159,0.999999998375,-3.34505116129e-05,1.59732156712e-05,-4.33037970986e-05,1793251698457369344
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.405333665,747,724,693,670.405333665,643,896.405333665,790,825.405333665,656.405333665,633.405333665,657.594666335,0.425906306998,-0.0155360945383,0.0600357970188,0.99999999656,-3.55335437864e-05,6.19155492841e-05,-4.22413757299e-05,1793251698474035712
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.979091849,747,724,693,670.979091849,643,896.979091849,790,825.979091849,656.979091849,633.979091849,657.020908151,0.426866923271,-0.015536565388,0.0600410351799,0.999999995079,-3.3756374989e-05,8.27579935179e-05,-4.30572271042e-05,1793251698490701824
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746.431163423,724,692.431163423,671,643,897.568836577,790,826.568836577,657,633.431163423,657,0.427822525069,-0.0155387571064,0.0600143092461,0.999999996875,-4.59521562447e-05,4.48957568361e-05,-4.60748780104e-05,1793251698507368448
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746.156386274,724,692.312772549,671,643,898,790,827,657,633.156386274,657.156386274,0.428759024259,-0.0155389029301,0.0599817193563,0.999999997317,-5.37023946956e-05,-5.45861203994e-06,-4.95217151441e-05,1793251698524034816
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746.736353014,724,693.472706028,671,643,898,790,827,657,633.736353014,657.736353014,0.429644296634,-0.0155333310637,0.0599365208554,0.999999993899,-4.79803355794e-05,-8.36352018027e-05,-5.39054857439e-05,1793251698540701440
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.686422161,747,724,694,671,643,898,790,827,657,633.686422161,658,0.430590316493,-0.0155325419155,0.0599228290381,0.999999992095,-4.83183769776e-05,-0.00010157580016,-5.61927239964e-05,1793251698557368064
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.111482702,747,724,694,671,643,898,790,827,657,633.111482702,658,0.431586968268,-0.0155357390792,0.0599353974905,0.999999994546,-5.37074061119e-05,-6.93107542908e-05,-5.67325393093e-05,1793251698574034944
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,724.473112666,694,671,643,898.473112666,789.526887334,827,657,633.473112666,658,0.432587780536,-0.0155402283258,0.0599787313938,0.999999996898,-5.78380553931e-05,6.18276369083e-07,-5.34609279248e-05,1793251698590701568
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671.059280447,643,899,789,827.059280447,657,634,658,0.433587302028,-0.0155446996781,0.0600229604984,0.999999994503,-6.1295355457e-05,6.89202979232e-05,-4.98614019266e-05,1793251698607368192
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671.638862693,643,899,789,827.638862693,657,634,658,0.434566709892,-0.0155462860448,0.0600100927854,0.999999995844,-6.14994696154e-05,4.34235447089e-05,-5.14307095734e-05,1793251698624034816
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.781890441,643,899,789.218109559,827.781890441,657,634,658,0.435517567227,-0.0155461565193,0.0599887033437,0.999999996627,-6.20168232379e-05,3.25434191444e-06,-5.37492722595e-05,1793251698640701696
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671.203197938,643,899,789.796802062,827.203197938,657,634,658,0.436421224428,-0.015543190248,0.0599532256128,0.999999994499,-6.30520303147e-05,-6.11716426127e-05,-5.73065180232e-05,1793251698657368320
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.627521495,694.372478505,671,643,899.372478505,789.627521495,827,657,634,658,0.437294834802,-0.0155367591143,0.0599176896585,0.999999988351,-5.88982977199e-05,-0.000126892254355,-6.10599716797e-05,1793251698674034944
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.053477221,694.946522779,671,643,899.946522779,789.053477221,827,657,634,658,0.438152185358,-0.0155284529794,0.0598821221989,0.999999977859,-5.19365837869e-05,-0.000193313446053,-6.49196023772e-05,1793251698690701568
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.533816808,695,671,643,900,789.533816808,827.533816808,657,634,658,0.439077286669,-0.0155319540908,0.0598969585165,0.999999982089,-6.17233600406e-05,-0.000166919842488,-6.44242123189e-05,1793251698707368192
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.121252111,643,900,789.878747889,828,657,634,658,0.440023161329,-0.0155373059331,0.0599264652224,0.999999988587,-7.20867952576e-05,-0.000117113852004,-6.2567783021e-05,1793251698724034816
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671.704044078,643,900,789.295955922,828,657,634,658,0.441021615933,-0.0155450854775,0.0599921045193,0.999999995208,-7.80960603849e-05,-1.44833632504e-05,-5.72335799895e-05,1793251698740701440
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724.717607019,695,672,643,900.282392981,789,828,657,634,658,0.441951021002,-0.0155499402603,0.0600211016602,0.999999994349,-8.42583643853e-05,3.33303839978e-05,-5.56056333157e-05,1793251698757368320
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724.14384248,695,672,643,900.85615752,789,828,657,634,658,0.442809181071,-0.0155517772892,0.0600122916179,0.999999993925,-9.05785733464e-05,2.4584506045e-05,-5.78017827953e-05,1793251698774034944
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.42926214,724.42926214,695,672,643,901,789,828.42926214,656.57073786,634,658,0.443641235563,-0.0155521662027,0.0600003143731,0.999999993827,-9.32647687421e-05,9.31626948824e-06,-5.96797576578e-05,1793251698790701824
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672,643,901,789,828.997769971,656.002230029,634,658,0.444464355365,-0.0155520679305,0.0599872876214,0.999999993592,-9.47318302877e-05,-8.17967355221e-06,-6.14440744499e-05,1793251698807368704
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672,643,901,789,828.402457471,656.597542529,634,658,0.445234177084,-0.0155512574065,0.0599769657531,0.999999992865,-9.53284797983e-05,-3.77677267377e-05,-6.12924782462e-05,1793251698824035328
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.813363628,724.813363628,695,672,643,901,789,828.186636372,656.813363628,634,658,0.446000356492,-0.01554946389,0.0599613625372,0.999999991444,-9.08696213283e-05,-7.14508091124e-05,-6.12373770433e-05,1793251698840701952
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.237247017,724.237247017,695,672,643,901,789,828.762752983,656.237247017,634,658,0.446758935124,-0.0155456190256,0.059934737992,0.999999988777,-7.58607268731e-05,-0.000113679567536,-6.13836454494e-05,1793251698857368320
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,724.338783708,695,672,643,901,789,829,656.338783708,634,658,0.447536060637,-0.0155460322467,0.0599426830021,0.999999990313,-7.87012162272e-05,-9.69125750354e-05,-6.15495085852e-05,1793251698874034944
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,724.914754269,695,672,643,901,789,829,656.914754269,634,658,0.448326171015,-0.0155494266086,0.0599748306062,0.999999992919,-9.40382905791e-05,-3.88418922898e-05,-6.17290901203e-05,1793251698890701824
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.501510949,725,695,672.501510949,643,901,789,828.498489051,657,634,658,0.449024886607,-0.0155509888627,0.0599831729962,0.999999993143,-9.54846902628e-05,-2.7074687637e-05,-6.21609395096e-05,1793251698907368448
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.911193167,747.911193167,725,694.911193167,672.911193167,643,901.088806833,789.088806833,828.088806833,656.911193167,633.911193167,658,0.449700733238,-0.0155515707808,0.0599817260028,0.99999999298,-9.51264652393e-05,-3.14165203975e-05,-6.32793121211e-05,1793251698924035328
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.33127716,747.33127716,725,694.33127716,672.33127716,643,901.66872284,789.66872284,828.66872284,656.33127716,633.33127716,658,0.450337911225,-0.0155484913783,0.0599490114408,0.999999989647,-9.81326251189e-05,-8.03611226036e-05,-6.79518733319e-05,1793251698940701952
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.247020824,747.247020824,725,694,672,643,901.752979176,789.752979176,829,656.247020824,633.247020824,658,0.450970178359,-0.0155461664495,0.0599251281478,0.999999985245,-0.000108373813794,-0.000112202589613,-7.19483908054e-05,1793251698957368320
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.823162967,747.823162967,725,694,672,643,901.176837033,789.176837033,829,656.823162967,633.823162967,658,0.451595902405,-0.0155448467537,0.0599130113107,0.999999981608,-0.00012825468459,-0.000121256474351,-7.50441726294e-05,1793251698974035200
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.60207499,725,694,672,643,901,789,829,657,634,658,0.452205169107,-0.0155475549584,0.0599273377437,0.999999984152,-0.00013113103136,-9.35854124612e-05,-7.57741995079e-05,1793251698990701568
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747.027924092,725,694,672,643,901,789,829,657,634,658,0.452807147529,-0.0155520469672,0.0599533748968,0.999999987922,-0.000126476721153,-4.96502657845e-05,-7.54565234367e-05,1793251699007368448
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768.850142969,747.850142969,725,694.850142969,672,643,902.850142969,789,829,656.149857031,633,658,0.453819507972,-0.0155518785822,0.0599515972646,0.999999986149,-0.000131608198635,-6.65983594147e-05,-7.71061996668e-05,1793251699040701952
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.272938942,747.272938942,725,694.272938942,672,643,902.272938942,789,829,656.727061058,633,658,0.454277005286,-0.0155527216377,0.0599244407515,0.999999979571,-0.000149388646338,-0.000110432114514,-7.96600750938e-05,1793251699057368576
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.303673552,747,724.696326448,694,672,643,901.696326448,789,829,657,633,658,0.454738386645,-0.0155546748678,0.0599127562669,0.999999977306,-0.000153304164825,-0.000124442322523,-7.99934434148e-05,1793251699074035456
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.87975538,747,724.12024462,694,672,643,901.12024462,789,829,657,633,658,0.455203252132,-0.0155576239723,0.0599149508609,0.999999980212,-0.000144782242814,-0.000111699519749,-7.83349210217e-05,1793251699090701824
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747,724.450510731,694.450510731,672,643,901.450510731,788.549489269,829,657,633,658,0.455634743275,-0.0155617105926,0.0599304922922,0.999999988951,-0.000102796008473,-8.72494409297e-05,-6.25973670668e-05,1793251699107368448
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.979116279,747,725,694.979116279,672,643,902,788,829,657,633,658,0.456055232687,-0.0155660241047,0.0599487155672,0.999999995723,-5.41473731194e-05,-6.07627439865e-05,-4.3926979787e-05,1793251699124035072
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.380448246,747,725,694.380448246,672,643,902,788,829,657,633,658,0.456414911824,-0.0155683131925,0.0599437292646,0.999999994755,-6.53999755554e-05,-6.33711222179e-05,-4.68657885517e-05,1793251699140701696
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+210,3.500000000,POSE1_TO_POSE2_PRESS,768.786853598,747.786853598,725,694.786853598,672,643,902,788,829,657,633,658.786853598,0.457016892309,-0.0155733059478,0.059889094488,0.999999983628,-9.12037347498e-05,-0.000146234382877,-5.51495135025e-05,1793251699174035200
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,747.637120143,725,694.637120143,672,643,902,788,829,657,633,658.637120143,0.457281064563,-0.0155751534225,0.0598555723111,0.999999974237,-0.000100146147624,-0.000194786956377,-5.96154337338e-05,1793251699190701824
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,747.061463669,725,694.061463669,672,643,902,788,829,657,633,658.061463669,0.457539675337,-0.0155765638023,0.0598245101512,0.99999996424,-0.000106316517695,-0.000236912982158,-6.39428344003e-05,1793251699207368704
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,671,643,894,790,825,657,633,657,0.431073195465,-0.0153874889396,0.0598011608809,0.999999944178,0.000155345791006,-0.000295439366659,1.50502481338e-05,1793251701239995392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,746.709736152,724,693,671,643,893.709736152,790,825,657,633,657,0.430119597156,-0.0153879362083,0.0598149374727,0.999999948772,0.000159642548297,-0.000276887147233,1.74134781921e-05,1793251701256662272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746.134227092,724,693,671,643,893.134227092,790,825,657,633,657,0.429154313223,-0.0153850455491,0.0598239557039,0.999999949584,0.000163612967926,-0.000271474625041,1.90834367203e-05,1793251701273328640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746,723.549152935,692.549152935,671,643,893.450847065,790,825,657,633,657,0.428155643626,-0.0153803894707,0.059784489239,0.999999926447,0.000168428953231,-0.000344216727356,1.590501942e-05,1793251701289994752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769.03822191,746.03822191,723.03822191,692.03822191,671,643,893.96177809,790.03822191,824.96177809,657,633,657,0.427150614885,-0.0153757390731,0.0597346173566,0.999999891645,0.000173033974592,-0.000432011770846,1.16454642511e-05,1793251701306661120
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769.616986616,746.616986616,723.616986616,692.616986616,671,643,893.383013384,790.616986616,824.383013384,657,633,657,0.426199270463,-0.015378763351,0.0597461571699,0.99999990669,0.000171018126787,-0.000396489834594,1.29525567032e-05,1793251701323327744
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769.804523528,747,724,692.804523528,671,643,893,791,824,657.195476472,633,657,0.425255458376,-0.0153810136087,0.0597650987343,0.999999919983,0.000170554392605,-0.000361551546196,1.50465604393e-05,1793251701339994368
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769.226571351,747,724,692.226571351,671,643,893,791,824,657.773428649,633,657,0.424326384137,-0.0153817493934,0.0597985228108,0.999999931127,0.000173127574919,-0.00032775523663,1.86802609604e-05,1793251701356660992
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746.65133188,724,692.34866812,671,643,893,791,823.65133188,657.65133188,633,657,0.423418700873,-0.015381677039,0.0598238051814,0.999999940661,0.000183304165513,-0.000290875244478,2.16638676956e-05,1793251701373327616
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746.077841605,724,692.922158395,671,643,893,791,823.077841605,657.077841605,633,657,0.422524810624,-0.0153810835942,0.0598438377557,0.999999948275,0.000198383454209,-0.00025200688715,2.42282919451e-05,1793251701389994240
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.508231782,746,724,692.491768218,671.508231782,643,893,791,822.491768218,657,633,657,0.421617045622,-0.0153775490345,0.0598385290332,0.999999945081,0.000199667950081,-0.000263441168813,2.38545826181e-05,1793251701406660608
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,746.095480217,724,692,671.904519783,643,893,791,821.904519783,657,633,657,0.420691225518,-0.015373219805,0.059819121818,0.99999993508,0.000199101103912,-0.000299517155277,2.20782305872e-05,1793251701423327488
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,746.678636784,724,692,671.321363216,643,893,791,821.321363216,657,633,657,0.419684316532,-0.0153671909254,0.0597480324531,0.999999891187,0.000200143817595,-0.000421103210302,1.54945438657e-05,1793251701439994112
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,746.741351751,724,692,671,643,892.741351751,790.741351751,821,657,632.741351751,657,0.418755180944,-0.0153654147254,0.0597120910969,0.999999869146,0.000197665571142,-0.000471691666742,1.19934112031e-05,1793251701456660992
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,746.165201083,724,692,671,643,892.165201083,790.165201083,821,657,632.165201083,657,0.417921515794,-0.0153688588822,0.0597192955154,0.999999887042,0.000190865189491,-0.000435127358,1.22762536827e-05,1793251701473327616
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,746,724,692,671,643,892,790.409255872,821,657,632.409255872,657,0.417123235075,-0.0153712387813,0.0597584646673,0.999999910845,0.000193642618737,-0.000374883480888,1.65924271234e-05,1793251701489994240
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,746,724,692,671,643,892,790.983032006,821,657,632.983032006,657,0.416339178775,-0.0153731908506,0.0598104835957,0.999999933143,0.000200270312632,-0.000305120447397,2.25299936712e-05,1793251701506660864
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.42513264,746.57486736,724,692,671,643,892,791,821,657,633,657,0.415555880802,-0.0153704861735,0.059828790694,0.999999936137,0.00020273522043,-0.000293305237283,2.4426123191e-05,1793251701523327488
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.16246196,747,724,692,671,643,892,791,821,657,633.16246196,657,0.414774458825,-0.0153683670593,0.0598410142506,0.999999938317,0.000204719745055,-0.000284243461722,2.57091231789e-05,1793251701539994368
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769.737878449,747,724,692,671,643,892,791,821,657,633.737878449,657,0.413997746447,-0.0153680970698,0.0598403856447,0.999999939934,0.000205805654363,-0.000277691894127,2.57466862609e-05,1793251701556662016
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,746.686270339,724,692,671,643,891.686270339,790.686270339,821,657,633.686270339,657,0.41322211914,-0.0153668493575,0.0598266748336,0.999999933088,0.000209614442406,-0.000298783184461,2.4793194253e-05,1793251701573328640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,746.110055447,724,692,671,643,891.110055447,790.110055447,821,657,633.110055447,657,0.412447399716,-0.015364783623,0.0598020186576,0.999999917646,0.000215701355295,-0.000343002163583,2.30105255042e-05,1793251701589994752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,746.476373454,723.523626546,691.523626546,671,643,890.523626546,790,820.523626546,657,633,657,0.411707124339,-0.0153597943876,0.0597597820728,0.99999989284,0.000214870365008,-0.000409677199755,1.77472112388e-05,1793251701606661120
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,746.93583725,723.06416275,691.06416275,671.06416275,643,890.06416275,790.06416275,820.06416275,657,633,657,0.410986889959,-0.0153551090214,0.05972146281,0.999999867534,0.000213781016196,-0.000468047287851,1.27222773991e-05,1793251701623327744
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,746.356487031,723.643512969,691.643512969,671.643512969,643,890.643512969,790.643512969,820.643512969,657,633,657,0.410362278402,-0.0153584054869,0.0597479236291,0.999999887828,0.000223731173918,-0.000417164816506,1.62094964473e-05,1793251701639994368
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,746.22166442,724,692,671.77833558,643,891,790.77833558,820.77833558,657,633,657,0.409752527423,-0.0153614934928,0.0597818565068,0.999999909281,0.000227467055265,-0.000359564835824,2.02400098195e-05,1793251701656660992
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,746.797898293,724,692,671.202101707,643,891,790.202101707,820.202101707,657,633,657,0.409166547154,-0.0153642480511,0.05982774152,0.999999932801,0.000221262718078,-0.000291219682396,2.51395643131e-05,1793251701673328640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,746.627418099,724,692,671,643,891,790.372581901,820.372581901,657,633,657,0.408586433698,-0.0153641859014,0.0598460995127,0.999999939426,0.000221485240315,-0.00026714978214,2.69051221677e-05,1793251701689995776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,746.053571872,724,692,671,643,891,790.946428128,820.946428128,657,633,657,0.408009489373,-0.0153626021996,0.0598495877395,0.99999993864,0.000225179475616,-0.000266996842852,2.69777326943e-05,1793251701706662400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,746,724,691.463877825,671,643,889.92775565,791,820.463877825,657,633,657,0.407471782037,-0.0153598552872,0.059837727934,0.999999936092,0.000220450155446,-0.0002803760517,2.4647873003e-05,1793251701723329024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889.12516254,790.87483746,820,657,633,657,0.406945992359,-0.0153583030827,0.059825723215,0.999999932967,0.000218293240251,-0.000293098112793,2.25472708175e-05,1793251701739995392
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,643,889.705884405,790.294115595,820,657,633,657,0.406448874541,-0.015361535252,0.0598189431618,0.999999929104,0.000228656183282,-0.000298356768215,2.21815008882e-05,1793251701756661760
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,746,724,691.282962335,671,643,889.717037665,790,820,657,633,657,0.405975390329,-0.0153643075264,0.0598173320258,0.999999929836,0.000227156550327,-0.000297034205873,2.23154011143e-05,1793251701773328384
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,746,724,691.856300821,671,643,889.143699179,790,820,657,633,657,0.405526158968,-0.0153666078563,0.0598210252368,0.9999999352,0.000213483532693,-0.000288957992772,2.29620632345e-05,1793251701789995520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.560456827,746,723.560456827,691.560456827,671,643,889,790,820,657,633,657,0.405113125571,-0.015364759254,0.0598191282939,0.99999993263,0.000223623520016,-0.000290153790173,2.33011814314e-05,1793251701806661888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.025762804,746,723.025762804,691,671,643,889,790.025762804,820,657,632.974237196,657,0.404712520192,-0.015361544098,0.059814556165,0.999999926771,0.000241552452639,-0.000295904568587,2.34590077019e-05,1793251701823328768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.604783921,746,723.604783921,691,671,643,889,790.604783921,820,657,632.395216079,657,0.404318809826,-0.0153587824417,0.0597926863546,0.999999911663,0.000255708992582,-0.000332876270813,2.19325576819e-05,1793251701839995648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,746,724,691.183661177,671,643,889,790.816338823,820,657,632.183661177,657,0.403942311822,-0.0153561252853,0.0597727503715,0.999999898076,0.000263881153283,-0.000365769029757,2.0663993046e-05,1793251701856662272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,746,724,691.762229029,671,643,889,790.237770971,820,657,632.762229029,657,0.403602823745,-0.0153536928245,0.0597569724902,0.999999890205,0.000259185752267,-0.000389891276152,1.99499315845e-05,1793251701873328128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,746.338240245,724,691.661759755,671,643,889,790,820,657,633,657,0.403315424208,-0.0153535604369,0.0597629793281,0.999999896234,0.000258331101519,-0.000374621708875,2.13520542268e-05,1793251701889994496
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,746.912467777,724,691.087532223,671,643,889,790,820,657,633,657,0.403064366359,-0.0153550327902,0.0597841851741,0.999999910797,0.000260156108152,-0.000331868816744,2.42306200734e-05,1793251701906661120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,746.50183176,724,691,671,643,889,790,820,657,633,657,0.402839784444,-0.0153572943913,0.0598031308766,0.9999999193,0.000261877758622,-0.000303424856977,2.74646914759e-05,1793251701923327488
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,746,723.914952031,691,671,643,889.085047969,790,820,657,633,657,0.402622977185,-0.0153594082877,0.0598204422035,0.999999925974,0.000263041586232,-0.000279155014345,3.053983794e-05,1793251701939994368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,746,723.333235326,691,671,643,889.666764674,790,820,657,633,657,0.402423765084,-0.0153598306615,0.0598305828344,0.999999930493,0.000261056359457,-0.000264232763797,3.23134977442e-05,1793251701956661248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746,723.245649606,691,671,643,889.754350394,790,820,657,633,657,0.402229274762,-0.015358194467,0.0598337803077,0.999999931219,0.000261372184765,-0.000261055807013,3.31243780642e-05,1793251701973327872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,746,723.820736846,691,671,643,889.179263154,790,820,657,633,657,0.402041116773,-0.0153537975521,0.0598276663978,0.999999926978,0.000264773922586,-0.000273630318724,3.26440866755e-05,1793251701989995008
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.393522429,643,889.393522429,790,820.393522429,657,633,657,0.40187423887,-0.0153530214602,0.0598235338126,0.999999916936,0.000290584943539,-0.000283986383973,3.22553462251e-05,1793251702006661888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.965265608,643,889.965265608,790,820.965265608,657,633,657,0.401716998421,-0.015353885188,0.0598202985416,0.999999903152,0.000326544811897,-0.000293337745497,3.19080678787e-05,1793251702023328256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.439969106,643,890,790,820.439969106,657,633,657,0.401599335604,-0.0153560308491,0.0598221213646,0.999999905454,0.000320837138057,-0.000291764482858,3.20783470797e-05,1793251702039994624
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,746,724,691.151257431,671,643,889.848742569,790,820,657,633,657,0.401490540061,-0.0153582935748,0.0598245196491,0.999999908976,0.000311949218709,-0.000289314862443,3.2144999957e-05,1793251702056661248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,746,724,691.728329635,671,643,889.271670365,790,820,657,633,657,0.401399500764,-0.0153606524309,0.059827616933,0.999999912975,0.000301695558658,-0.000286387397342,3.1825686263e-05,1793251702073327872
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,746,724,691.696135466,671,643,888.696135466,790,820,657,633,657,0.401318303182,-0.0153627497902,0.0598274440362,0.999999925435,0.00025867697088,-0.00028587455006,2.21626881951e-05,1793251702089994240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,746,724,691.121968013,671,643,888.121968013,790,820,657,633,657,0.401245860296,-0.0153646145351,0.0598243621479,0.999999941267,0.000186512315244,-0.000287509626316,4.1880086762e-06,1793251702106661120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,746.453315929,724,691,671,643,888.453315929,790,820,657,633,656.546684071,0.401188807683,-0.0153721382834,0.0598271153351,0.999999946453,0.000161175988653,-0.000284800656591,2.00483579857e-06,1793251702123328000
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,746.970222856,724,691,671,643,889,790,820,657,633,656.029777144,0.401136637392,-0.0153805430006,0.0598312266803,0.999999949312,0.000149441118684,-0.000281116676739,3.97901166172e-06,1793251702139994880
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,671,642.789823925,889,790,820,657,633,657,0.40106427711,-0.015373552282,0.0598309059694,0.999999947362,0.000161341082498,-0.000281476204202,4.04305671969e-06,1793251702173327872
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..396388ba0ec4acb1597d9b5313508502ee0dde84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/fem_node.csv
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc7a567f125a8a51b83c7bfc9f3b3a3dc3d2b0c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/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,770,746,724,690,671,643,889,790,819,657,633,657,0.400933909453,-0.0154369815539,0.0499301146006,0.999999974216,4.65503380556e-05,-0.000219673344675,-3.38338234262e-05,1793251703891183360
+1,0.016666667,BASELINE,769.409083351,746,724,690,671,643,888.409083351,790.590916649,819.590916649,657,633,657,0.400933437088,-0.0154364599686,0.0499297605758,0.999999974124,4.84509767838e-05,-0.00021962534654,-3.41817144255e-05,1793251703907849216
+2,0.033333333,BASELINE,769.178188905,746,724,690,671,643,888,790.821811095,820,657,633,657,0.400934247864,-0.0154360051802,0.0499299564569,0.999999974248,4.96548905233e-05,-0.000218759749,-3.43833590022e-05,1793251703924515328
+3,0.050000000,BASELINE,769.757262222,746,724,690,671,643,888,790.242737778,820,657,633,657,0.400937945414,-0.0154357006693,0.0499313895009,0.999999974859,4.92913322535e-05,-0.000216054739197,-3.42559825381e-05,1793251703941181696
+4,0.066666667,BASELINE,770,746.334720759,724,690,671,643,888.334720759,790,820,657,633,657,0.400938387412,-0.0154361149956,0.0499313673953,0.999999974949,4.84666626693e-05,-0.000215849355163,-3.40964264098e-05,1793251703957848064
+5,0.083333333,BASELINE,770,746.911013854,724,690,671,643,888.911013854,790,820,657,633,657,0.400936479833,-0.0154370481159,0.0499302950892,0.999999974664,4.73092030599e-05,-0.000217447983797,-3.39136458059e-05,1793251703974514688
+6,0.100000000,BASELINE,769.504819205,747,724,690,671,643,889,790,820,657,633,657,0.400935619221,-0.0154371539118,0.0499298176175,0.999999974391,4.76110194119e-05,-0.000218652385316,-3.38108249062e-05,1793251703991181568
+7,0.116666667,BASELINE,769.07987599,747,724,690,671,643,889,790,820,657,633,657,0.400934969484,-0.0154371142211,0.0499294165495,0.999999974165,4.79290086651e-05,-0.000219621391225,-3.37475145556e-05,1793251704007848192
+8,0.133333333,BASELINE,769.658887371,747,724,690,671,643,889,790,820,657,633,657,0.400934442787,-0.0154371094584,0.0499288141558,0.999999974232,4.66828875155e-05,-0.000219569289172,-3.38398592021e-05,1793251704024515328
+9,0.150000000,BASELINE,770,747,724,690,671,643,888.762275968,790,820,657,633,657,0.400934150008,-0.0154370783657,0.0499285111645,0.99999997424,4.65931464819e-05,-0.000219545068371,-3.39109481599e-05,1793251704041181952
+10,0.166666667,BASELINE,770,747,724,690,671,643,888.183689878,790,820,657,633,657,0.400934192632,-0.0154370095195,0.049928637473,0.99999997416,4.81614882572e-05,-0.000219560825278,-3.39515595105e-05,1793251704057848576
+11,0.183333333,BASELINE,770,747,724,690,671,643,888.393053933,790,819.606946067,657,633,657.393053933,0.400934842015,-0.0154376639361,0.0499288831691,0.999999974197,4.79139311701e-05,-0.000219485747606,-3.37226683743e-05,1793251704074514944
+12,0.200000000,BASELINE,770,747,724,690,671,643,888.968940842,790,819.031059158,657,633,657.968940842,0.400935773638,-0.0154386547857,0.0499291843995,0.999999974286,4.68216906712e-05,-0.000219368417324,-3.33684154597e-05,1793251704091181568
+13,0.216666667,BASELINE,770,746.44640239,724,690,671,643,888.44640239,790,819.55359761,657,633,657.44640239,0.400935932409,-0.0154377556341,0.0499295458691,0.999999974539,4.69587913979e-05,-0.000218148385479,-3.35791162077e-05,1793251704107848192
+14,0.233333333,BASELINE,770,746.138286639,724,690,671,643,888.138286639,790,820,657,633,657,0.400936070523,-0.015437547266,0.0499299180521,0.99999997478,4.63395932585e-05,-0.000217157420319,-3.3685694653e-05,1793251704124515072
+15,0.250000000,BASELINE,770,746.721471176,724,690,671,643,888.721471176,790,820,657,633,657,0.400936283922,-0.0154399079318,0.0499303136545,0.999999974949,4.30617518254e-05,-0.000217105652406,-3.33536741003e-05,1793251704141181696
+16,0.266666667,BASELINE,770,746.699727558,724,690,671,643,888.699727558,790,820,657,633,657,0.400935977925,-0.0154399005014,0.0499298566938,0.999999974825,4.2890758098e-05,-0.000217706872572,-3.33820299268e-05,1793251704157848832
+17,0.283333333,BASELINE,770,746.124933693,724,690,671,643,888.124933693,790,820,657,633,657,0.400935197075,-0.0154377280598,0.0499286202847,0.999999974433,4.55601725892e-05,-0.000218905081318,-3.37398566889e-05,1793251704174516480
+18,0.300000000,BASELINE,770,746.450828334,724,690,671,643,888,790.450828334,819.549171666,657,633,657,0.400935581635,-0.0154377731758,0.0499290800175,0.999999974603,4.62159706567e-05,-0.000218018879221,-3.3548301385e-05,1793251704191182848
+19,0.316666667,BASELINE,769.972461589,747,724,690,671.027538411,643,888.027538411,791,819.027538411,657,633,657,0.400936153111,-0.0154383928591,0.0499298782629,0.999999974878,4.62772699849e-05,-0.000216790580266,-3.32386155213e-05,1793251704207848960
+20,0.333333333,BASELINE,769.381864723,747,724,690,671.618135277,643,888.618135277,791,819.618135277,657,633,657,0.400933928828,-0.0154381684089,0.0499279666728,0.999999974105,4.56171467398e-05,-0.000220403531856,-3.36331414048e-05,1793251704224515072
+21,0.350000000,BASELINE,769.203329023,747,724,690,671.796670977,643,889,790.796670977,820,657,632.796670977,656.796670977,0.400933687115,-0.0154377283261,0.0499276882137,0.999999973909,4.5392014463e-05,-0.000221294463741,-3.39294722333e-05,1793251704241181696
+22,0.366666667,BASELINE,769.778637976,747,724,690,671.221362024,643,889,790.221362024,820,657,632.221362024,656.221362024,0.400937072411,-0.0154368937549,0.0499303974835,0.999999974775,4.59626757356e-05,-0.00021720560098,-3.40461602453e-05,1793251704257848320
+23,0.383333333,BASELINE,770,746.64508701,724,690,671.35491299,643,889,790,820,657,632.35491299,656.70982598,0.400937409322,-0.0154364385739,0.0499307836831,0.99999997496,4.62631219419e-05,-0.000216295888738,-3.40029167417e-05,1793251704274514944
+24,0.400000000,BASELINE,770,746.068207756,724,690,671.931792244,643,889,790,820,657,632.931792244,657.863584489,0.400935839741,-0.0154362206676,0.0499297170107,0.999999974725,4.63945728991e-05,-0.000217374449807,-3.38596504211e-05,1793251704291181568
+25,0.416666667,BASELINE,770,746.518850775,724,690,671.481149225,643,889,790.518850775,820,657,633,657.481149225,0.40093558843,-0.0154372248966,0.0499290844315,0.999999974549,4.70167936335e-05,-0.000218082528413,-3.36474213604e-05,1793251704307848704
+26,0.433333333,BASELINE,770,747,724,690,671,643,888.89446824,791,819.89446824,657,633,657,0.400935547227,-0.0154381678835,0.049928627248,0.999999974428,4.73918293046e-05,-0.000218574627802,-3.35257031e-05,1793251704324515584
+27,0.450000000,BASELINE,770,747,724,690,671,643,888.315602502,791,819.315602502,657,633,657,0.400935655562,-0.015438101164,0.0499286956795,0.99999997452,4.63630231114e-05,-0.000218320828532,-3.38514221759e-05,1793251704341182208
+28,0.466666667,BASELINE,770,747,724,690,671,643,888.261632978,790.738367022,819.261632978,657,632.738367022,657,0.400936323516,-0.015438026299,0.0499293246058,0.999999974727,4.61011610041e-05,-0.000217423288305,-3.38925163201e-05,1793251704357848576
+29,0.483333333,BASELINE,770,747,724,690,671,643,888.836914055,790.163085945,819.836914055,657,632.163085945,657,0.400937662345,-0.0154379416689,0.0499306254586,0.999999975068,4.67587188168e-05,-0.000215754025318,-3.35923993721e-05,1793251704374515200
+30,0.500000000,BASELINE,770,747,724,690,671,643,889,790,820,657,632.413357008,657,0.400937862876,-0.0154382013985,0.0499305587158,0.999999975145,4.6659043136e-05,-0.000215450338575,-3.33825370967e-05,1793251704391181824
+31,0.516666667,BASELINE,770,747,724,690,671,643,889,790,820,657,632.990259645,657,0.400937613038,-0.0154385973748,0.0499299508808,0.999999975118,4.62597663061e-05,-0.000215686945181,-3.32083842929e-05,1793251704407848448
+32,0.533333333,BASELINE,770.578541772,747,724,690,671,643,889,790,820,657,633,657,0.4009367969,-0.0154371815116,0.0499300507971,0.99999997498,4.67987613246e-05,-0.000216122987009,-3.37831968197e-05,1793251704424515072
+33,0.550000000,BASELINE,770.83536163,747,724,690,671,643,889,790,820,657,632.83536163,657,0.400936310954,-0.0154362974731,0.049929960819,0.999999974863,4.68908021036e-05,-0.000216584909299,-3.41621731285e-05,1793251704441181696
+34,0.566666667,BASELINE,770.255273256,747,724,690,671,643,889,790,820,657,632.255273256,657,0.400936682755,-0.015436833965,0.0499293609879,0.999999974805,4.58143327477e-05,-0.00021710349567,-3.40145167679e-05,1793251704457848320
+35,0.583333333,BASELINE,770,747,724,690,671,643,888.678441491,790,820,657,632.321558509,657,0.400936835521,-0.0154374096607,0.0499294226549,0.999999974877,4.50040663191e-05,-0.000216967913359,-3.38372570622e-05,1793251704474514944
+36,0.600000000,BASELINE,770,747,724,690,671,643,888.104169046,790,820,657,632.895830954,657,0.400936816146,-0.0154380161668,0.0499300041955,0.999999975052,4.44030095702e-05,-0.00021631821769,-3.36367319701e-05,1793251704491181568
+37,0.616666667,BASELINE,770,747,724,690,671,643,888.470615638,790,820,657,633,657,0.400936218493,-0.0154388315896,0.0499296196216,0.999999974896,4.48556035363e-05,-0.000216986463514,-3.33666321914e-05,1793251704507848192
+38,0.633333333,BASELINE,770,747,724,690,671,643,888.952930774,790.047069226,820,657,633,657,0.400935649791,-0.0154395430206,0.0499291190594,0.999999974701,4.55700223827e-05,-0.000217770853048,-3.31213026853e-05,1793251704524514816
+39,0.650000000,BASELINE,770,747,724,690,671,643,888.35838544,790.64161456,820,657,633,657,0.400936908258,-0.0154385064429,0.0499297594181,0.99999997492,4.6614177755e-05,-0.000216509348601,-3.33434016677e-05,1793251704541181696
+40,0.666666667,BASELINE,769.771130607,746.771130607,724,690,671,643,888.228869393,790.771130607,820,657,633,657,0.400937609836,-0.0154379823153,0.049930315694,0.999999975098,4.69712301883e-05,-0.000215594199853,-3.34282659613e-05,1793251704557848320
+41,0.683333333,BASELINE,769.19493954,746.19493954,724,690,671,643,888.80506046,790.19493954,820,657,633,657,0.400937466305,-0.0154382358586,0.0499307443699,0.999999975218,4.6285566712e-05,-0.000215204664678,-3.33048691845e-05,1793251704574514944
+42,0.700000000,BASELINE,769.380971947,746.380971947,724,690,671,643,889,790,820,657,633,657,0.400937437764,-0.0154382299541,0.0499304131205,0.99999997518,4.49309868884e-05,-0.00021562916412,-3.35516274807e-05,1793251704591181568
+43,0.716666667,BASELINE,769.956740463,746.956740463,724,690,671,643,889,790,820,657,633,657,0.400937468018,-0.0154380913902,0.04992969331,0.999999975058,4.32343803045e-05,-0.000216469891465,-3.39876515218e-05,1793251704607848192
+44,0.733333333,BASELINE,770,746.453972766,724,690,671,643,888.453972766,790,820,657.546027234,633,656.453972766,0.40093699081,-0.0154372191506,0.0499297728459,0.999999974895,4.60505365491e-05,-0.000216655003048,-3.3922530388e-05,1793251704624515072
+45,0.750000000,BASELINE,769.86626877,746.13373123,724,690,671,643,888.13373123,790,820,657.86626877,633,656.13373123,0.400936731918,-0.0154371004082,0.0499299555178,0.999999974865,4.76374874598e-05,-0.000216481406922,-3.37104577185e-05,1793251704641181440
+46,0.766666667,BASELINE,769.287487,746.712513,724,690,671,643,888.712513,790,820,657.287487,633,656.712513,0.400937336768,-0.0154396876167,0.0499302653154,0.999999975311,4.39136669526e-05,-0.000215291298058,-3.31448242201e-05,1793251704657848064
+47,0.783333333,BASELINE,769.290087537,747,724,690,671,643,889,790,820,657,633,657,0.400937139712,-0.015440856088,0.0499297713737,0.999999975196,4.34886776099e-05,-0.000215954849885,-3.28712846094e-05,1793251704674514688
+48,0.800000000,BASELINE,769.866470689,747,724,690,671,643,889,790,820,657,633,657,0.400936151233,-0.0154406243677,0.0499284841989,0.999999974527,4.63193978419e-05,-0.000218447831869,-3.28860206718e-05,1793251704691181312
+49,0.816666667,BASELINE,770,746.558554234,724,690,671,643,889,790,820,657,633,657,0.400935908581,-0.0154397226395,0.0499285113884,0.999999974373,4.68983796148e-05,-0.000218988134605,-3.31446729135e-05,1793251704707848192
+50,0.833333333,BASELINE,770,746.016438626,724,690,671.016438626,643,888.983561374,790.016438626,819.983561374,657,633,657,0.400935906038,-0.0154386548686,0.049928919876,0.999999974387,4.67266732308e-05,-0.000218910765321,-3.34663685844e-05,1793251704724514816
+51,0.850000000,BASELINE,770,746.606878523,724,690,671.606878523,643,888.393121477,790.606878523,819.393121477,657,633,657,0.40093643517,-0.0154388433786,0.049928804279,0.999999974748,4.4049825637e-05,-0.000217824267469,-3.34213512569e-05,1793251704741181440
+52,0.866666667,BASELINE,770,746.806649507,724,690,672,643,888.193350493,790.806649507,819.193350493,657,633,656.806649507,0.400936767751,-0.0154386659365,0.0499288251555,0.999999974989,4.31064806475e-05,-0.000216893083153,-3.34950315838e-05,1793251704757848064
+53,0.883333333,BASELINE,770,746.228082955,724,690,672,643,888.771917045,790.228082955,819.771917045,657,633,656.228082955,0.400936708739,-0.0154377594006,0.049929117931,0.999999975002,4.56168277813e-05,-0.000216271333177,-3.38051956284e-05,1793251704774514688
+54,0.900000000,BASELINE,770,746.347767559,724.347767559,690,671.652232441,643,888.652232441,790,820,657,633,656.347767559,0.400937004397,-0.0154379705709,0.0499295434714,0.999999975029,4.6337611069e-05,-0.000216010359791,-3.36725935892e-05,1793251704791181568
+55,0.916666667,BASELINE,770,746.921850544,724.921850544,690,671.078149456,643,888.078149456,790,820,657,633,656.921850544,0.400937530864,-0.0154389091069,0.0499300554108,0.999999975069,4.58938063208e-05,-0.000215984167697,-3.32518542682e-05,1793251704807848192
+56,0.933333333,BASELINE,770,747,724.491716654,690,671.508283346,643,888.508283346,790.508283346,819.491716654,657,633,657,0.400938277522,-0.0154394427244,0.0499301825078,0.999999975204,4.46890498943e-05,-0.000215607119366,-3.32811913835e-05,1793251704824514816
+57,0.950000000,BASELINE,770,747,724,690,671.904769911,643,889,791,819.095230089,657,633,657,0.400938766025,-0.0154398258023,0.0499301662543,0.999999975301,4.36820696672e-05,-0.000215353028718,-3.3358423572e-05,1793251704841181440
+58,0.966666667,BASELINE,770,747,724,690,671.325108647,643,889,791,819.674891353,657,633,657,0.400937764802,-0.0154397676763,0.0499297292747,0.999999975135,4.42911511407e-05,-0.000216005666513,-3.33185123151e-05,1793251704857848064
+59,0.983333333,BASELINE,770,747,724,690,671,643,889,790.746830042,819.746830042,657,633,657,0.400937670363,-0.0154398995097,0.0499296859493,0.999999975239,4.38090211051e-05,-0.000215630026342,-3.32633240303e-05,1793251704874514688
+60,1.000000000,BASELINE,770,747,724,690,671,643,889,790.170317255,819.170317255,657,633,657,0.400938734046,-0.0154402739548,0.0499301453901,0.999999975685,4.19332209962e-05,-0.000213941093369,-3.31886242726e-05,1793251704891181312
+61,1.016666667,BASELINE,770,747,724,690,671,643,888.596387665,790,819,657,633,657,0.40093829303,-0.0154411471636,0.0499299694907,0.999999975599,4.10761772425e-05,-0.000214539571878,-3.29902274935e-05,1793251704907847936
+62,1.033333333,BASELINE,770,747,724,690,671,643,888.023541239,790,819,657,633,657,0.400937221094,-0.0154422295033,0.0499295271941,0.999999975289,4.06462967219e-05,-0.000216097158938,-3.27399647299e-05,1793251704924514560
+63,1.050000000,BASELINE,770,746.432303884,724,690,671,643,888.567696116,790,819.567696116,657,633,657,0.400938380441,-0.0154409637769,0.0499296739198,0.999999975477,4.13836994759e-05,-0.00021499637079,-3.33109770806e-05,1793251704941181184
+64,1.066666667,BASELINE,770.156222274,746.156222274,724,690,671,643,889,790,820,657.156222274,633,657,0.400938764495,-0.0154395430556,0.0499296594224,0.999999975482,4.24771840917e-05,-0.000214685696366,-3.37797275582e-05,1793251704957847808
+65,1.083333333,BASELINE,770.735276986,746.735276986,724,690,671,643,889,790,820,657.735276986,633,657,0.400936791316,-0.0154379751893,0.0499291402334,0.999999974935,4.43990430892e-05,-0.000216821909481,-3.38764310316e-05,1793251704974514688
+66,1.100000000,BASELINE,770.687794698,747,724,690,671,643,889,790,820,657.687794698,633,656.687794698,0.400935750476,-0.0154375144672,0.0499285148596,0.999999974642,4.55159245975e-05,-0.000217946739561,-3.38194807145e-05,1793251704991181312
+67,1.116666667,BASELINE,770.112657215,747,724,690,671,643,889,790,820,657.112657215,633,656.112657215,0.400935494829,-0.0154379861568,0.0499278000595,0.999999974569,4.5954872334e-05,-0.000218219805817,-3.3633126676e-05,1793251705007847936
+68,1.133333333,BASELINE,769.528445493,747,724,690,671,643,889,790,820,657,633,656.471554507,0.40093629633,-0.0154392821749,0.0499282704176,0.9999999749,4.40357649284e-05,-0.000217117754457,-3.34662254853e-05,1793251705024514816
+69,1.150000000,BASELINE,769.057319682,747,724,690,671,643,888.942680318,790.057319682,820,657,633,657,0.40093711013,-0.0154404643974,0.0499288331389,0.999999975218,4.20687421386e-05,-0.000216065391933,-3.33307049115e-05,1793251705041181440
+70,1.166666667,BASELINE,769.637096286,747,724,690,671,643,888.362903714,790.637096286,820,657,633,657,0.400935688848,-0.0154387791345,0.0499276063203,0.999999974558,4.49005824726e-05,-0.000218519113404,-3.34380209703e-05,1793251705057848064
+71,1.183333333,BASELINE,770,747,724,690,671,643,888.215883231,790.784116769,819.784116769,657,633,657,0.400935619996,-0.0154379851122,0.0499274154053,0.999999974446,4.58483358751e-05,-0.000218813375699,-3.35615512718e-05,1793251705074514688
+72,1.200000000,BASELINE,770,747,724,690,671,643,888.793014224,790.206985776,819.206985776,657,633,657,0.400937814231,-0.0154386824452,0.0499289579174,0.999999975261,4.36433567255e-05,-0.000215494111802,-3.37122136603e-05,1793251705091181568
+73,1.216666667,BASELINE,770,746.633992883,724,690,671,643,889,790,819.366007117,657,633,657,0.400937209809,-0.0154385685944,0.0499286952734,0.999999975159,4.35472171746e-05,-0.000215975386728,-3.37576488317e-05,1793251705107848704
+74,1.233333333,BASELINE,770,746.063314056,724,690,671,643,889,790,819.936685944,657,633,657,0.400935040374,-0.0154380011286,0.0499274231832,0.999999974546,4.46303439108e-05,-0.000218581928662,-3.37442407821e-05,1793251705124516096
+75,1.250000000,BASELINE,770,746.512074808,724,690,671,643,889,790,819.487925192,657,633,657,0.400935182838,-0.0154362830137,0.0499273316203,0.999999974312,4.55570687335e-05,-0.000219396014671,-3.41436566491e-05,1793251705141182208
+76,1.266666667,BASELINE,770,747,724,690,671,643,889,790,819.091558249,657,633,657,0.400935517275,-0.0154351426967,0.0499273989945,0.99999997419,4.61100415451e-05,-0.00021978559658,-3.44707148783e-05,1793251705157848320
+77,1.283333333,BASELINE,770,747,724,690,671,643,889,790,819.6904742,657,633,657,0.400935316807,-0.0154379998502,0.0499275307546,0.999999974425,4.47000709605e-05,-0.000219062342107,-3.41113423562e-05,1793251705174514944
+78,1.300000000,BASELINE,770,747,724,690,671,643,889,790.275416366,820,657,633,657,0.40093580068,-0.0154393849114,0.0499278243715,0.999999974701,4.47513652652e-05,-0.00021784556139,-3.37450498599e-05,1793251705191181824
+79,1.316666667,BASELINE,770,747,724,690,671,643,889,790.845412422,820,657,633,657,0.400937016511,-0.0154391954525,0.0499282911072,0.999999975018,4.63655985823e-05,-0.000216100915184,-3.33713559245e-05,1793251705207848704
+80,1.333333333,BASELINE,770,746.578811414,724,690,671,643,889,790.578811414,820,657,633,657,0.40093761327,-0.0154400218821,0.0499294072582,0.999999975441,4.42307160925e-05,-0.000214601865048,-3.32787133385e-05,1793251705224515328
+81,1.350000000,BASELINE,770,746.000884229,724,690,671,643,889,790.000884229,820,657,633,657,0.40093797965,-0.0154412263583,0.0499307650787,0.999999975892,4.070066021e-05,-0.000213194209419,-3.32906594887e-05,1793251705241181952
+82,1.366666667,BASELINE,770,746.594490177,724,690,671,643,888.405509823,790.594490177,820,657,633,657,0.400937899089,-0.0154387110665,0.0499294928966,0.999999975384,4.42023277469e-05,-0.000214816554444,-3.36423912946e-05,1793251705257848320
+83,1.383333333,BASELINE,769.816214052,746.816214052,724,690,671.367571895,643,888,790.816214052,820,657,633,657,0.400938188768,-0.0154378624884,0.0499289835005,0.999999975154,4.62592519009e-05,-0.000215461476085,-3.35826579784e-05,1793251705274514944
+84,1.400000000,BASELINE,769.239956092,746.239956092,724,690,672.520087816,643,888,790.239956092,820,657,633,657,0.40093927055,-0.0154405853229,0.0499301116282,0.999999975545,4.52079399586e-05,-0.000214009210648,-3.26431355257e-05,1793251705291181312
+85,1.416666667,BASELINE,769.334985726,746.334985726,724,690,672.330028547,643,888.334985726,790,820,657,633,657,0.400939695647,-0.015440902067,0.0499303766034,0.999999975732,4.37672073366e-05,-0.000213448551243,-3.2552323434e-05,1793251705307848192
+86,1.433333333,BASELINE,769.908988425,746.908988425,724,690,671.182023151,643,888.908988425,790,820,657,633,657,0.40093965219,-0.0154395020319,0.0499300257072,0.999999975773,4.20486177102e-05,-0.000213524065221,-3.30670780373e-05,1793251705324514816
+87,1.450000000,BASELINE,770,747,724,690,671,643,888.505710699,790,820,656.505710699,633,656.505710699,0.400938025671,-0.015439925452,0.0499292813371,0.999999975309,4.18029890481e-05,-0.000215710369216,-3.32228933242e-05,1793251705341181952
+88,1.466666667,BASELINE,770,746.919156171,724,690,671,643,888.080843829,790,820,656.080843829,633,656.080843829,0.40093649128,-0.0154405743026,0.049928631318,0.999999974851,4.19148732336e-05,-0.000217790172246,-3.33096181507e-05,1793251705357849088
+89,1.483333333,BASELINE,770,746.33801835,724,690,671,643,888.66198165,790,820,656.66198165,633,656.66198165,0.400937373022,-0.0154404918764,0.0499290240111,0.999999975048,4.25215699282e-05,-0.000216749511864,-3.33873427728e-05,1793251705374515456
+90,1.500000000,BASELINE,769.75957446,746.24042554,724,690,671,643,889,790,819.75957446,657,633,657,0.40093802528,-0.0154403513735,0.0499292889872,0.999999975219,4.36009430562e-05,-0.000215764944993,-3.32621353835e-05,1793251705391182080
+91,1.516666667,BASELINE,769.184876093,746.815123907,724,690,671,643,889,790,819.184876093,657,633,657,0.400938358477,-0.0154401301245,0.0499293763935,0.99999997535,4.53374962649e-05,-0.000214858367168,-3.28547838475e-05,1793251705407848192
+92,1.533333333,BASELINE,769.781324203,747,724,690,670.609337899,643,889,790,819.390662101,657,633.390662101,657,0.400937102674,-0.0154402712259,0.0499285864764,0.999999975071,4.40515895366e-05,-0.00021641509636,-3.28938156607e-05,1793251705424514816
+93,1.550000000,BASELINE,770.933197283,747,724,690,670.033401358,643,889,790,819.966598642,657,633.966598642,657,0.400935093277,-0.0154405841746,0.0499273804823,0.999999974585,4.13322586126e-05,-0.000219140067343,-3.31445480969e-05,1793251705441181440
+94,1.566666667,BASELINE,770.442717296,747,724,690,670.557282704,643,889,790.557282704,819.442717296,657,633.442717296,657,0.400936731669,-0.0154407083852,0.0499281714141,0.999999975027,4.20210423055e-05,-0.000216982388051,-3.31574970162e-05,1793251705457848064
+95,1.583333333,BASELINE,770,747,724,690.145766128,671,643,889,790.854233872,819,657,633,657,0.400938188857,-0.0154403255229,0.0499288792687,0.999999975365,4.36387776324e-05,-0.000215088487198,-3.32181449451e-05,1793251705474515200
+96,1.600000000,BASELINE,770,747,724,690.725005539,671,643,889,790.274994461,819,657,633,657,0.400938439348,-0.0154384693026,0.0499289744738,0.999999975232,4.73950320166e-05,-0.000214872916919,-3.34641717264e-05,1793251705491182592
+97,1.616666667,BASELINE,770,747,724,690.697757975,671,643,889,790,819.302242025,657,633,657,0.400937635904,-0.0154371832174,0.0499286177976,0.999999974938,4.87857931835e-05,-0.00021589697667,-3.36450226318e-05,1793251705507849216
+98,1.633333333,BASELINE,770,747,724,690.122331886,671,643,889,790,819.877668114,657,633,657,0.40093587985,-0.015436412454,0.0499278526846,0.999999974505,4.80384826477e-05,-0.000218041486745,-3.37669637442e-05,1793251705524515584
+99,1.650000000,BASELINE,770,746.551035289,724,690,671,643,889,790,820,657,633,657,0.400935985502,-0.015436493163,0.0499276282324,0.999999974564,4.75675085377e-05,-0.000217862531809,-3.38442019714e-05,1793251705541181952
+100,1.666666667,BASELINE,770,746.020039415,724.020039415,690,671,643,889,790,819.979960585,657,633,657,0.400936622999,-0.0154368853269,0.0499276174155,0.999999974765,4.71034074011e-05,-0.000217031149765,-3.3890900317e-05,1793251705557848064
+101,1.683333333,BASELINE,770,746.616816083,724.616816083,690,671,643,889,790,819.383183917,657,633,657,0.400938100851,-0.0154396249179,0.0499295538957,0.999999975228,4.46898629931e-05,-0.000215477104988,-3.3406016399e-05,1793251705574514944
+102,1.700000000,BASELINE,769.793831228,746.793831228,724.793831228,690,671,643,888.793831228,790,819.206168772,657,633,657,0.400939086525,-0.0154412662781,0.0499307083006,0.999999975581,4.30993627149e-05,-0.000214217238186,-3.30260753428e-05,1793251705591181568
+103,1.716666667,BASELINE,769.217797171,746.217797171,724.217797171,690,671,643,888.217797171,790,819.782202829,657,633,657,0.400939189234,-0.0154409374199,0.0499304596678,0.999999975749,4.29853979153e-05,-0.000213485124717,-3.28344010744e-05,1793251705607848192
+104,1.733333333,BASELINE,769.356781769,746.356781769,724,690,671,643,888,790,820,657,633,657,0.400939060096,-0.0154405241527,0.049930389085,0.999999975801,4.28664762922e-05,-0.000213274850186,-3.276344786e-05,1793251705624515328
+105,1.750000000,BASELINE,769.930476097,746.930476097,724,690,671,643,888,790,820,657,633,657,0.400938789999,-0.0154400595675,0.0499304267512,0.999999975784,4.27445410588e-05,-0.000213381837929,-3.27658893883e-05,1793251705641182464
+106,1.766666667,BASELINE,770,747,724,690.506789039,671.506789039,643,888.506789039,790,820,657,633,657,0.400937991614,-0.0154398101327,0.0499294384989,0.99999997548,4.38131800292e-05,-0.00021451591244,-3.32072388891e-05,1793251705657849344
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889,790,820,657,633,657,0.400936137414,-0.0154371250623,0.0499266062218,0.999999974453,4.8803184553e-05,-0.000218175756327,-3.33499949469e-05,1793251705700224256
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724,690.423019533,671,643,889,790,820,657,633,657,0.400937254363,-0.0154382615321,0.0499284643377,0.999999975078,4.56069342481e-05,-0.000215994399923,-3.33196161014e-05,1793251705716890624
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.846401153,790.153598847,820,657,633,657,0.400937844804,-0.0154390864162,0.0499294348834,0.999999975423,4.32879365053e-05,-0.000214878271106,-3.32674208567e-05,1793251705733556992
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.270777504,790.729222496,820,657,633,657,0.400936988626,-0.0154390551943,0.0499279667614,0.999999975032,4.33792578174e-05,-0.000216688937599,-3.31552833493e-05,1793251705750223360
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.312150621,790.687849379,820,657,633,657,0.400937499273,-0.0154398834163,0.0499277433708,0.999999975044,4.29990295303e-05,-0.000216741759629,-3.2942983258e-05,1793251705766889984
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.901566859,790.098433141,820,657,633,657,0.400939223994,-0.0154414750334,0.0499286256044,0.999999975414,4.2199950585e-05,-0.000215233188424,-3.26417144545e-05,1793251705783557120
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,724,690.482281969,671,643,889,790.482281969,819.517718031,657,633,657,0.400945347375,-0.0154416778959,0.0499304080293,0.999999976507,3.99838982296e-05,-0.000210485413336,-3.29199094813e-05,1793251705800223488
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.939215174,747,724,690.939215174,671,643,889,791,819.060784826,657,633,657,0.400953641857,-0.0154417170992,0.0499327984076,0.999999977878,3.79050875187e-05,-0.00020422359782,-3.31771814163e-05,1793251705816889856
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.364666518,747,724,690.364666518,671,643,889,791,819.635333482,657,633,657,0.400972833303,-0.0154427262797,0.049938801932,0.999999980529,3.93873369247e-05,-0.000190653702183,-3.22757027658e-05,1793251705833556480
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.214440211,747,724,690,671.214440211,643,889,790.785559789,819.785559789,657,633,657,0.400996609447,-0.0154435346258,0.0499446371042,0.99999998336,4.04697081162e-05,-0.000175060865509,-3.15491059847e-05,1793251705850223104
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.80146645,747,724,690,671.80146645,643,889,790.19853355,819.19853355,657,633,657,0.40102835142,-0.0154439940257,0.0499501797667,0.99999998652,4.08572979151e-05,-0.000155953206415,-3.11263634152e-05,1793251705866889728
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671.616221271,643,889,790.383778729,819.383778729,657,633,657,0.401067921752,-0.0154457867436,0.0499557570965,0.999999989812,4.00097917583e-05,-0.000133499790763,-3.08567023763e-05,1793251705883556096
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671.036317941,643,889,790.963682059,819.963682059,657,633,657,0.401111492658,-0.0154482608345,0.049961352143,0.99999999281,3.85311075927e-05,-0.000109336572547,-3.0665271403e-05,1793251705900222720
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.459043351,747,724,690,671,643,889,790.459043351,820,657,633,657,0.40116382166,-0.0154515139499,0.049962995452,0.999999994239,3.68709815975e-05,-9.60855233084e-05,-3.04819807216e-05,1793251705916889856
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.117759109,746.882240891,724,690,671,643,889,790.117759109,820,657.117759109,633,657,0.401220258103,-0.0154549679747,0.0499642537313,0.99999999523,3.52553900648e-05,-8.59281689572e-05,-3.02111060006e-05,1793251705933557248
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.693408843,746.306591157,724,690,671,643,889,790.693408843,820,657.693408843,633,657,0.401290390548,-0.0154590008276,0.0499650414922,0.999999995379,3.38601009723e-05,-8.49653707928e-05,-2.95975576005e-05,1793251705950223616
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.274985825,724,690,671,643,889,791,820,657.725014175,633,657,0.401370240947,-0.0154629073112,0.0499668712605,0.999999995724,3.40594693849e-05,-8.09305859499e-05,-2.90193099736e-05,1793251705966889984
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.863316849,724,690,671,643,889,791,820,657.136683151,633,657,0.401461164911,-0.0154666697973,0.0499698883921,0.99999999625,3.60759434371e-05,-7.33952851895e-05,-2.84812874657e-05,1793251705983556352
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,724.445015386,690,671.445015386,643,889,790.554984614,820,657,633,657,0.401569487236,-0.0154745765155,0.0499717421197,0.999999996691,3.16253160745e-05,-6.98272426794e-05,-2.72502155093e-05,1793251706000222720
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724.975459065,690,671.975459065,643,889.024540935,790,820,657,633,657.024540935,0.401684125378,-0.0154836125469,0.0499731327293,0.999999997047,2.53833446792e-05,-6.77799475102e-05,-2.5843463112e-05,1793251706016889600
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724.399657345,690,671.399657345,643,889.600342655,790,820,657,633,657.600342655,0.401822361129,-0.0154898437604,0.0499720291776,0.999999996762,2.28659135689e-05,-7.29236481231e-05,-2.52017650219e-05,1793251706033556224
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671.175044558,643,889.824955442,790,820,657,633,657.824955442,0.401969232617,-0.0154971421736,0.0499696796544,0.999999996342,1.94741747438e-05,-7.95987219533e-05,-2.45298670639e-05,1793251706050222848
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671.747250989,643,889.252749011,790,820,657,633,657.252749011,0.402135697875,-0.0155068619754,0.049964503123,0.99999999559,1.40987031344e-05,-8.97483564156e-05,-2.37894481473e-05,1793251706066889984
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724,690,672,643,889,790,820,657,633,657,0.402321607485,-0.0155184268327,0.0499630209228,0.99999999547,6.01520802502e-06,-9.22849830526e-05,-2.25255773248e-05,1793251706083556864
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,724,690,672,643,889,790,820,657,633,657,0.402522901142,-0.0155314514664,0.0499644616115,0.999999995831,-4.21082806744e-06,-8.87983333318e-05,-2.08475605116e-05,1793251706100223744
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671.495123455,643,889.504876545,790.504876545,820,657,633.504876545,657,0.402770356125,-0.0155433363255,0.0499720585342,0.999999997051,-8.78201280123e-06,-7.40574614369e-05,-1.83517465257e-05,1793251706116889856
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671.080751211,643,890,790.919248789,820,657,634,656.919248789,0.403029741371,-0.0155544746365,0.0499801787798,0.999999998136,-1.18419462838e-05,-5.78044911205e-05,-1.57265768598e-05,1793251706133556224
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671.633709752,643,890,790.366290248,820,657,634,656.366290248,0.403318836052,-0.0155622363803,0.0499860173766,0.999999998953,-1.09713851902e-05,-4.24747418797e-05,-1.30545931334e-05,1793251706150222848
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671.798519154,643,890,790.201480846,820,657,633.798519154,656.201480846,0.403625510018,-0.0155659883165,0.049991622315,0.999999999553,-4.72377074685e-06,-2.7649881806e-05,-1.03323270081e-05,1793251706166889472
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671.201682135,643,890,790.798317865,820,657,633.201682135,656.798317865,0.403966678948,-0.0155618719994,0.0499967687561,0.999999999803,1.20749768163e-05,-1.38157423866e-05,-7.51139431186e-06,1793251706183556352
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,690.392431661,671,643,890,791,820,657,633.392431661,657,0.404323825991,-0.0155575038464,0.050002255333,0.999999999692,2.4233168362e-05,-8.44768782076e-07,-5.32244391279e-06,1793251706200223232
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,690.985155539,671,643,890,791,820,657,633.985155539,657,0.404689128052,-0.0155530071596,0.0500079155106,0.999999999347,3.40228775666e-05,1.16856553478e-05,-3.45604947023e-06,1793251706216890112
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.435575936,724,690.435575936,671,643,890,791,820,657,633.435575936,657,0.405086652868,-0.0155588412725,0.0500045205436,0.999999999794,1.89722073048e-05,7.09244980402e-06,-8.8017744382e-07,1793251706233556480
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746.142234994,724,690,671,643.142234994,890,791,820,657,633,657,0.405487983914,-0.0155631064394,0.0499964962823,0.999999999899,1.2264240534e-05,-7.08907531128e-06,1.30352416707e-06,1793251706250223104
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746.716667009,724,690,671,643.716667009,890,791,820,657,633,657,0.405898365387,-0.0155617978126,0.0499751121925,0.999999998254,3.28454431857e-05,-4.9069196256e-05,2.24019288436e-06,1793251706266889728
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.702812209,747,724,690.297187791,671,643.702812209,890,790.702812209,820.297187791,657,633,657,0.406339381717,-0.0155596023938,0.0499564319184,0.99999999521,5.25056685798e-05,-8.25441693723e-05,3.1055750999e-06,1793251706283556096
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.116365029,747,724,690.883634971,671,643.116365029,890,790.116365029,820.883634971,657,633,657,0.406810215675,-0.0155565438407,0.0499403833246,0.999999991649,7.12694890895e-05,-0.000107740900752,3.90157271389e-06,1793251706300222720
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.466155581,747,724,691,671,643,890,790.466155581,820.533844419,657,633,657,0.407344541295,-0.0155558939914,0.049944310129,0.999999990975,9.28583456035e-05,-9.67797366094e-05,7.74923525036e-06,1793251706316889856
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.952906161,746.952906161,724,691,671,643,890.047093839,791,820,657,633,657,0.407898847738,-0.0155557898568,0.0499546052679,0.999999990552,0.000114853710787,-7.45042280886e-05,1.23909250665e-05,1793251706333556992
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.378797864,746.378797864,724,691,671,643,890.621202136,791,820,657,633,657,0.408500871583,-0.0155551201367,0.0499808313866,0.999999990594,0.000133572378522,-2.57766135238e-05,1.74647186771e-05,1793251706350224128
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.196184238,746.196184238,724,691,671,643,891,791,820,657,633,657,0.409110890991,-0.0155524673992,0.0500008635428,0.999999988175,0.000152025818434,8.90826988689e-06,2.14420803286e-05,1793251706366891008
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.77286102,746.77286102,724,691,671,643,891,791,820,657,633,657,0.409736417481,-0.0155459686679,0.0500088827216,0.999999985151,0.000169964857595,1.63577589244e-05,2.32929498892e-05,1793251706383556608
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724,690.640981368,671.359018632,643,891.359018632,791,820.359018632,657,633,657,0.410354996942,-0.0155372388287,0.0499991526894,0.999999982452,0.000185563435937,-1.12736823747e-05,2.31145837444e-05,1793251706400222976
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,690.048662884,671.951337116,643,891.951337116,791,820.951337116,657,633,657,0.410969062016,-0.0155270591565,0.0499778887477,0.999999977935,0.000199641119529,-6.17016452812e-05,2.16175661617e-05,1793251706416889600
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724,690.529936236,671.470063764,643,892.529936236,791,821,657,633,657.529936236,0.411641533378,-0.0155273897629,0.0499581716763,0.999999977522,0.000190476078024,-9.1561879679e-05,1.70710235988e-05,1793251706433556224
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,893,791,821.106516125,657,633.106516125,658,0.4123383067,-0.0155300064254,0.0499476794379,0.999999978323,0.000180738876155,-0.000102439477845,1.3889304331e-05,1793251706450223104
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,893,791,821.679629951,657,633.679629951,658,0.413118634092,-0.015538516116,0.0499769903827,0.999999983337,0.000177608872796,-3.82276376677e-05,1.78819745404e-05,1793251706466889472
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,893.259277017,791,822.259277017,657,634,658,0.413891178133,-0.015544982119,0.0499915934192,0.999999984272,0.00017590577872,-9.03210374024e-06,2.07528029091e-05,1793251706483556096
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,893.847205494,791,822.847205494,657,634,658,0.414653856346,-0.0155488576085,0.0499875531741,0.99999998397,0.000176011390609,-2.42221386614e-05,2.22016201724e-05,1793251706500222720
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.571275158,747,724,691,671,643.428724842,894,790.571275158,823,657,633.571275158,657.571275158,0.41542132254,-0.0155492356626,0.049963572447,0.999999982294,0.000175865840822,-6.36616726096e-05,2.07688341485e-05,1793251706516889344
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.007985757,747,724,691,671,644,894.007985757,790,823.007985757,657,633,657,0.416191592915,-0.0155483819223,0.049933218166,0.999999978288,0.000175689956455,-0.000110541528237,1.83750492774e-05,1793251706533555968
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.586683926,747,724,691,671,644,894.586683926,790,823.586683926,657,633,657,0.417042117021,-0.0155472642871,0.0499477744913,0.999999980421,0.000179649079864,-8.06143085343e-05,1.96158669586e-05,1793251706550222848
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.835601171,747,724,691,671.164398829,643.835601171,895,790.164398829,824,657,633.164398829,657,0.417893349129,-0.0155471828541,0.0499627074664,0.999999981704,0.000182432410321,-5.3488254326e-05,2.1214268553e-05,1793251706566889472
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.260343643,747,724,691,671.739656357,643.260343643,895,790.739656357,824,657,633.739656357,657,0.418746350598,-0.0155496910546,0.0499785817481,0.99999998255,0.000182277248117,-3.33627580836e-05,2.37063289148e-05,1793251706583556096
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724,691.322948825,671.677051175,643,895.322948825,790.677051175,824,657,633.677051175,657,0.419605851864,-0.0155502800032,0.0499739728367,0.999999982047,0.000183145318624,-4.2210656292e-05,2.41224074328e-05,1793251706600222720
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,691.912883859,671.087116141,643,895.912883859,790.087116141,824,657,633.087116141,657,0.42047072656,-0.01554928228,0.0499524301888,0.99999997984,0.000184859309503,-7.50112567387e-05,2.28222432437e-05,1793251706616889344
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,724,692,671,643,896,790,824.494091281,657,633,657,0.42142328723,-0.015552091422,0.0499772245507,0.999999981713,0.000188400900647,-2.08623522643e-05,2.53784290851e-05,1793251706633555968
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,724.073048815,692,671,643,896.146097631,790,825,657,633.073048815,657.073048815,0.42238266174,-0.0155548330502,0.050005374705,0.999999980484,0.000191896353732,3.76377259169e-05,2.81141823259e-05,1793251706650222592
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724.646947563,692,671,643,897.293895127,790,825,657,633.646947563,657.646947563,0.423284591457,-0.0155525895842,0.0500014894715,0.999999980759,0.00019290445605,2.26833424363e-05,2.75001406928e-05,1793251706666889216
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671.221664748,643,898,790,825.221664748,657,634,657.778335252,0.424199011743,-0.015552861382,0.0499985958749,0.999999981189,0.000191470558193,1.44961224148e-05,2.74193838328e-05,1793251706683556096
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671.797690404,643,898,790,825.797690404,657,634,657.202309596,0.425133400023,-0.0155571541669,0.0499972875427,0.999999982133,0.000186132794889,1.71271208343e-05,2.81911543045e-05,1793251706700222720
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.616554033,692,671.616554033,643,898,790,826,657,633.616554033,657,0.426089199238,-0.0155613369257,0.0500072364559,0.999999982165,0.00018471229095,2.48616520737e-05,3.05360911013e-05,1793251706716889344
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.025531263,692,671.025531263,643,898,790,826,657,633.025531263,657,0.427056589115,-0.0155654601221,0.0500232794298,0.999999981617,0.000185412378604,3.53589584083e-05,3.37326545847e-05,1793251706733555968
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,692.552541212,671.552541212,643,898,789.447458788,826,657,633.552541212,657.552541212,0.427941813248,-0.0155590219939,0.0499879721136,0.999999981204,0.000188217019697,-3.43612531419e-05,3.14050108134e-05,1793251706750222592
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,693,672,643,898,789,826.129232962,657,634,658,0.428846680006,-0.0155527691523,0.0499596077998,0.999999977544,0.000191930878964,-8.49710513279e-05,2.92390501075e-05,1793251706766889472
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,693,672,643,898,789,826.703185353,657,634,658,0.429831907226,-0.0155487948058,0.0499631140515,0.999999978259,0.000198446585088,-5.73544924689e-05,2.84877574553e-05,1793251706783556096
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724.286347734,693,672,643.286347734,898.286347734,789,827,657,633.713652266,658,0.430783965735,-0.0155459700476,0.0499608137469,0.999999977302,0.000204206875183,-5.38376131573e-05,2.82180599296e-05,1793251706800222464
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724.879373981,693,672,643.879373981,898.879373981,789,827,657,633.120626019,658,0.431700500482,-0.015544376499,0.0499522946182,0.999999974823,0.000209158114109,-7.61314998836e-05,2.84641509896e-05,1793251706816889344
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,693,672,644,899,789.460908617,827,657.460908617,633.460908617,658,0.432662448799,-0.0155450086415,0.049947368828,0.999999974832,0.000208683985165,-7.7401658626e-05,2.82304079835e-05,1793251706833555968
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,724.96093558,693,672,644,899,789.96093558,827,658,633.96093558,658,0.433634004591,-0.015546176156,0.0499455570103,0.99999997563,0.00020709145437,-7.1151453573e-05,2.81317135832e-05,1793251706850222848
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,724.388845269,693,672,644,899,789.388845269,827,658,633.388845269,658,0.434578423345,-0.0155468940501,0.0499737149461,0.999999977001,0.000209141402546,-3.55374383608e-05,3.15475473416e-05,1793251706866889472
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+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.752332825,693,672,643.247667175,899,789,827.752332825,657.247667175,633.752332825,658,0.436341986139,-0.0155401620049,0.0499546608786,0.999999970339,0.000219172093653,-0.000101479897411,3.14312154998e-05,1793251706900222720
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.661137797,693.338862203,672,643,899.338862203,789.338862203,828,657,634,658,0.437245621596,-0.0155389463469,0.0499498134114,0.999999969601,0.000221378004946,-0.000104067780073,3.09941067365e-05,1793251706916889344
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+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.517889928,693.482110072,672,643,900,789.482110072,828,657,633.482110072,658,0.439107195773,-0.015543042691,0.0499732016966,0.999999974307,0.00022040419592,-4.12198477907e-05,3.33127398273e-05,1793251706950222592
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768.364740769,747,725,693,673,643,901.635259231,790,828.635259231,657,634,658.635259231,0.449680079153,-0.0155454149459,0.0499490547895,0.999999973671,0.000222426396824,-4.53320376595e-05,3.36155175938e-05,1793251707183555840
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+198,3.300000000,POSE1_TO_POSE2_PRESS,768.784169324,747.784169324,725,693.784169324,673,643,902,789.215830676,829,657,633.215830676,658.215830676,0.450888274893,-0.0155470561438,0.0499921866287,0.999999974189,0.000223912551553,3.69700277846e-06,3.83525687792e-05,1793251707216889344
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.631299201,725,694,673,643,902,789,829,657,633,658,0.451412311395,-0.0155460085202,0.0499953086658,0.999999973846,0.000225280047148,-6.28602057849e-06,3.89539945386e-05,1793251707233555712
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+243,4.050000000,POSE1_TO_POSE2_PRESS,768,747.913815378,725,693,673,643,902,789.913815378,829.913815378,657,633.913815378,658,0.457757423898,-0.0155403227954,0.0498743077771,0.999999961972,0.00019918789328,-0.000189236639797,2.38692289176e-05,1793251707966889472
+244,4.066666667,POSE1_TO_POSE2_PRESS,768.494145192,748,725,693,673,643,902.494145192,789.011709617,830,657,633.505854808,658,0.457757276213,-0.0155401125345,0.049873692592,0.999999961702,0.000199652338191,-0.000190132329297,2.41733853729e-05,1793251707983556096
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,693,673,643,902.927643207,788.072356793,829.927643207,657,633,658.072356793,0.457757313544,-0.0155398684352,0.049873291929,0.99999996144,0.000200399252306,-0.000190668122353,2.46063615513e-05,1793251708000222720
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,693,673,643,902.352611568,788.647388432,829.352611568,657,633,658.647388432,0.457760422164,-0.0155398274513,0.0498756816502,0.999999961865,0.000201766928867,-0.000186897091866,2.50793030062e-05,1793251708016889344
+247,4.116666667,HOLD_POSE2,768,748,725,693,674,643,903,789,829,657,633,658,0.457758842104,-0.0155395551997,0.049873908111,0.999999961913,0.000198783434199,-0.00018991777876,2.42922190063e-05,1793251708056120320
+248,4.133333333,HOLD_POSE2,768.594412023,748,725,693,673.405587977,643,902.405587977,789,829,657,633,658,0.457758313425,-0.0155392734375,0.049873317342,0.999999961825,0.000198713069214,-0.000190485088505,2.40324384725e-05,1793251708072786944
+249,4.150000000,HOLD_POSE2,769,748,725,693,673,643,902.183139858,789,829,657,633,658.183139858,0.457758097122,-0.0155389691699,0.0498730822367,0.999999961748,0.000198813605007,-0.000190789212851,2.40123027706e-05,1793251708089453312
+250,4.166666667,HOLD_POSE2,769,748,725,693,673,643,902.759658348,789,829,657,633,658.759658348,0.457758551796,-0.0155386165611,0.0498736110859,0.999999961693,0.000199281230261,-0.000190528023375,2.45069165528e-05,1793251708106120192
+251,4.183333333,HOLD_POSE2,769,748,725.336123947,693,673,643,902.663876053,789,829,657,633,658.663876053,0.457758406027,-0.0155389057045,0.0498734917518,0.99999996184,0.000198344018603,-0.000190727707452,2.45348114943e-05,1793251708122786816
+252,4.200000000,HOLD_POSE2,769,748,725.912551699,693,673,643,902.087448301,789,829,657,633,658.087448301,0.457757830988,-0.0155396536534,0.0498729090146,0.99999996213,0.000196402452251,-0.000191256882107,2.4229036895e-05,1793251708139453440
+253,4.216666667,HOLD_POSE2,769,747.500473338,725.500473338,693,673,643,902.499526662,789,829,657,633,658,0.457758442855,-0.0155408252335,0.0498731580719,0.999999961921,0.000197912203421,-0.000190705314619,2.49133446087e-05,1793251708156120064
+254,4.233333333,HOLD_POSE2,768.913081886,747,725,693,673,643,903,789,829,657,633,658,0.457759081673,-0.0155413866752,0.0498733714508,0.9999999616,0.000199910354345,-0.000190226709289,2.54760267849e-05,1793251708172786944
+255,4.250000000,HOLD_POSE2,768.334012547,747,725,693,673,643,903,789,829,657,633,658,0.457758671198,-0.0155380643873,0.0498725405137,0.999999961178,0.000201179048289,-0.000191255620729,2.4347452955e-05,1793251708189453568
+256,4.266666667,HOLD_POSE2,768.243690678,747.243690678,725,693,673,643,903,789,829,657,633,658,0.45775884129,-0.0155370565206,0.0498724188682,0.999999961265,0.000200734894107,-0.000191324802226,2.38717724536e-05,1793251708206119936
+257,4.283333333,HOLD_POSE2,768.819531843,747.819531843,725,693,673,643,903,789,829,657,633,658,0.457759802694,-0.0155392032109,0.0498732639875,0.999999962045,0.000197956127181,-0.000190085871366,2.42859858976e-05,1793251708222786816
+258,4.300000000,HOLD_POSE2,769,748,725,693.401196998,673,643,902.598803002,789,829,657,633,658.401196998,0.457759437736,-0.0155392181869,0.0498729704819,0.999999961987,0.00019782313007,-0.00019053893499,2.42373056048e-05,1793251708239453696
+259,4.316666667,HOLD_POSE2,769,748,725,693.985520567,673,643,902.014479433,789,829,657,633,658.985520567,0.457758467359,-0.015538260141,0.0498721572504,0.999999961546,0.000198897795669,-0.000191764310234,2.39773372709e-05,1793251708256120320
+260,4.333333333,HOLD_POSE2,768.434289557,747.434289557,725,694,673,643,902.565710443,789,829,657,633,659,0.457758641344,-0.0155390414854,0.0498722803727,0.999999961715,0.000197555109987,-0.000192209701929,2.44239005376e-05,1793251708272786944
+261,4.350000000,HOLD_POSE2,768.145072759,747.145072759,725,694,673,643,902.854927241,789,829,657,633,658.854927241,0.457758897992,-0.0155393072313,0.0498724035325,0.999999961804,0.000196996499689,-0.000192301644358,2.45933090738e-05,1793251708289453568
+262,4.366666667,HOLD_POSE2,768.722282983,747.722282983,725,694,673,643,902.277717017,789,829,657,633,658.277717017,0.457759314257,-0.0155379054791,0.0498724559323,0.999999961606,0.000198956430692,-0.000191399781065,2.38836627638e-05,1793251708306120192
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,748,726,694,673,643,903,789,830,657,633,658,0.457759353936,-0.0155378668112,0.049873139279,0.999999961797,0.000197694707055,-0.000191710533942,2.38734550453e-05,1793251708343099136
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,748,725.412096286,693.412096286,673,643,903,789,829.412096286,657,633,658,0.457758451452,-0.0155382010456,0.0498725581122,0.999999961881,0.000196326424799,-0.000192713490505,2.35690181511e-05,1793251708359766784
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.826214986,748,725.173785014,693,673,643,902.826214986,789,829,657,633,658,0.457758622082,-0.0155382747534,0.0498722800247,0.999999962056,0.000195497088804,-0.000192680473785,2.3325414661e-05,1793251708376434432
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.245074152,748,725.754925848,693,673,643,902.245074152,789,829,657,633,658,0.457761308117,-0.0155377377816,0.0498727123613,0.999999962444,0.000195931054191,-0.000190219113555,2.3224405921e-05,1793251708393100800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.331716601,748,725.668283399,693,673,643,902.331716601,789,829,657,633,658,0.45776135858,-0.0155373008947,0.0498725383494,0.999999962278,0.000196852472321,-0.00019013358109,2.32899387756e-05,1793251708409766912
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.905335055,748,725.094664945,693,673,643,902.905335055,789,829,657,633,658,0.457759487069,-0.015536936994,0.0498719221625,0.999999961707,0.000198129361695,-0.000191780603413,2.34769208493e-05,1793251708426432768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,747.519493308,725,693,673,643,902.519493308,789,829,657,633,658,0.457759525413,-0.0155368976231,0.0498721232087,0.999999961595,0.000198772815977,-0.00019167631696,2.36493315621e-05,1793251708443099392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.942265427,747.057734573,725,693,673,643,902,789,829,657,633,658,0.457759836857,-0.0155369783746,0.0498723808168,0.999999961619,0.000199015531004,-0.00019128331533,2.38005397017e-05,1793251708459766016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.348805996,747.651194004,725,693,673,643,902,789,829,657,633,658,0.457759179737,-0.015537578563,0.0498716644537,0.99999996205,0.000196701472769,-0.000191423214378,2.37817310785e-05,1793251708476432384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,673,643,902.238375065,789,829,657,633,658,0.457754267536,-0.0155375134515,0.049869155182,0.999999961556,0.000195712594621,-0.000195043838422,2.32959308379e-05,1793251708493098752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,673,643,902.816604913,789,829,657,633,658,0.457743288803,-0.0155364998122,0.0498640897343,0.999999959694,0.000196613045112,-0.000203626982491,2.2144333885e-05,1793251708509765632
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.392301959,748,725,693.392301959,673,643,903,789.392301959,829,657,633,658.392301959,0.457718650968,-0.0155351308724,0.0498520725009,0.999999955301,0.000197559301861,-0.000223429868649,2.11321393269e-05,1793251708526432256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.966822605,748,725,693.966822605,673,643,903,789.966822605,829,657,633,658.966822605,0.457687668672,-0.0155335969005,0.0498368262614,0.999999949228,0.000198526834948,-0.000248444166276,2.01846950893e-05,1793251708543099136
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,693.4589359,673,643,902.4589359,790,829,657,633,658.4589359,0.457631063513,-0.0155305047336,0.0498153036273,0.99999993955,0.000198317778647,-0.000285026676484,1.81648288312e-05,1793251708559765760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.880804769,748,725,693,673.119195231,643,902.119195231,789.880804769,829,657,633,658,0.457569673505,-0.0155267043366,0.0497935191934,0.999999928917,0.000198935019677,-0.0003198966608,1.60096816692e-05,1793251708576432384
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.287121645,748,725,693,673.712878355,643,902.712878355,789.287121645,829,657,633,658,0.457495487336,-0.015520464795,0.0497722238401,0.999999919721,0.000203128606945,-0.000345127206002,1.35776512554e-05,1793251708593099008
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.29755583,747.70244417,725,693,674,643,903,789,829.29755583,657,633.29755583,658,0.457415256916,-0.0155150415536,0.0497569317182,0.999999911951,0.000206179170831,-0.000365306144658,1.17903148033e-05,1793251708609765632
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.873798693,747.126201307,725,693,674,643,903,789,829.873798693,657,633.873798693,658,0.457329365532,-0.0155103828488,0.0497472621483,0.999999905792,0.000208159193251,-0.000380753810988,1.06067907249e-05,1793251708626432512
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.551327633,747,725,693,673.551327633,643,903,789,829.551327633,657,633.551327633,658,0.4572305312,-0.0155040773962,0.0497444265706,0.999999903397,0.000210372166235,-0.000385824089624,9.49440613026e-06,1793251708643099136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747,725,693,673,643,903,789,829,657,633,658,0.457127465895,-0.0154973249229,0.0497436648493,0.99999990219,0.000212710478938,-0.000387689202857,8.45777055838e-06,1793251708659765760
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747,725,693,673,643,903,789,829,657,633,658,0.457010083219,-0.0154909238471,0.0497466511141,0.999999903366,0.000216477340032,-0.000382529489321,8.74934309969e-06,1793251708676432384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.199480931,725,693,673,643,902.800519069,789,829,657,633,658,0.456881813184,-0.0154836469186,0.0497495174567,0.999999904108,0.000220395822836,-0.000378330851317,8.71198981903e-06,1793251708693099008
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.777558055,725,693,673,643,902.222441945,789,829,657,633,658,0.456732879975,-0.0154747077041,0.0497521561975,0.999999904073,0.000224602069079,-0.000375956245602,8.05036598711e-06,1793251708709765632
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747.645614446,725,693.354385554,673,643,902.354385554,789.354385554,829,657,633,658,0.456557102351,-0.0154652452548,0.0497508218728,0.999999901059,0.000228047462367,-0.000381870774412,7.19683152152e-06,1793251708726432512
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747.069568503,725,693.930431497,673,643,902.930431497,789.930431497,829,657,633,658,0.45636453412,-0.0154554555327,0.049747002483,0.999999896084,0.00023101695921,-0.000392969974746,6.22326109964e-06,1793251708743099136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.515792515,725,694,673,643,903,789.484207485,829,657,633,658,0.456149913378,-0.0154439995257,0.0497462586505,0.999999894906,0.000235086147951,-0.000393572021921,4.7522380394e-06,1793251708759765760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747.898895302,725,693.898895302,673,643,902.898895302,789,829,657.101104698,633.101104698,658,0.455925166506,-0.0154322761942,0.0497455941929,0.99999989374,0.000239520015245,-0.000393876400848,3.25891226742e-06,1793251708776432384
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.31986202,725,693.31986202,673,643,902.31986202,789,829,657.68013798,633.68013798,658,0.455666871331,-0.0154203711142,0.0497433079918,0.999999890159,0.000244963715587,-0.000399589464977,1.98315469261e-06,1793251708793099008
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.259120119,725,693,673,643,902,789,829,657.740879881,634,658,0.45539958158,-0.015411106697,0.0497457470847,0.999999891943,0.000245019491927,-0.000395069241158,4.27689855524e-07,1793251708809765888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.838039105,725,693,673,643,902,789,829,657.161960895,634,658,0.455121190987,-0.0154051013133,0.0497540180043,0.999999900164,0.000238425641476,-0.000377919376662,-1.47298185305e-06,1793251708826432512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747.585329846,725,693.414670154,673,643,902,789,829,657,633.585329846,658,0.454803530902,-0.0154041177899,0.049755883901,0.999999904727,0.000227034893403,-0.000372817395065,-3.04954006776e-06,1793251708843099136
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747.009587526,725,693.990412474,673,643,902,789,829,657,633.009587526,658,0.4544706172,-0.01540508493,0.049755261866,0.9999999078,0.000213780865248,-0.000372395226438,-4.50020139577e-06,1793251708859766016
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747,725,693.419649781,673,643,902,789,829,657,633.580350219,658,0.454107960828,-0.0154108295784,0.0497657422932,0.999999917788,0.000196242032384,-0.000354819657706,-4.09534918677e-06,1793251708876432640
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,725,693.167260232,673,643,902,789,829,657,633.832739768,658,0.453733545146,-0.0154126665094,0.0497796407283,0.999999927591,0.000182482202669,-0.000333917441791,-4.06086657354e-06,1793251708893099008
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,673,643,901.354517963,789.354517963,829,657,633.354517963,658,0.450803300975,-0.0153820451276,0.0497657972689,0.999999926447,0.000116872315393,-0.000364716104432,-2.06959682667e-05,1793251708993100800
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,693,673,643,901,789,829,657,633.802039786,658,0.449681659998,-0.015384456814,0.0497792936675,0.999999944352,7.74677607033e-05,-0.000323534270749,-2.49046020138e-05,1793251709026434304
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747.622115014,725,693,673,643,900.622115014,789,829,657,633.622115014,658,0.449094201864,-0.0153849686948,0.0497993286857,0.99999995656,6.02133314055e-05,-0.000287337342434,-2.62847852761e-05,1793251709043100416
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747.047250515,725,693,673,643,900.047250515,789,829,657,633.047250515,658,0.448491378973,-0.0153842206248,0.0498193293322,0.999999966504,4.44601987594e-05,-0.00025343568154,-2.80281723053e-05,1793251709059766528
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.540191533,747.540191533,725,693,673,643,900,789,828.459808467,657,633,658,0.447798942756,-0.0153813483287,0.0498050126755,0.99999996079,5.68353684203e-05,-0.000272230990648,-3.28784983534e-05,1793251709076432640
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.284080904,747.715919096,725,692.715919096,672.284080904,643,900,789,828,657,634,657.715919096,0.445583399803,-0.0153695955,0.049731684599,0.999999919148,7.29167883606e-05,-0.000392301475823,-4.98705390195e-05,1793251709126432768
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.860048652,747.139951348,725,692.139951348,672.860048652,643,900,789,828,657,634,657.139951348,0.444846770526,-0.0153731518773,0.0497394188068,0.999999924207,4.00850238929e-05,-0.00038371171552,-5.23885112249e-05,1793251709143099904
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.56691372,747.43308628,725,692.43308628,672.56691372,643,900,789.43308628,828,657,633.56691372,657,0.444092430403,-0.0153732507632,0.0497606701975,0.999999934361,2.07144888784e-05,-0.000357825948505,-5.29987157842e-05,1793251709159766784
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,725,692,672,643,897.504940615,789.504940615,827,657,633,657,0.438238761279,-0.0153615062141,0.0497935418434,0.999999949302,-3.8984756618e-06,-0.000312982532466,-5.84978176575e-05,1793251709276432896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724.926535454,692,672,643,896.926535454,789.073464546,826.926535454,657,633,657,0.437312836731,-0.0153574560706,0.0497661216002,0.999999932617,2.27344085033e-05,-0.000362720991614,-5.17990083324e-05,1793251709293099776
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,691.750950508,672,642.750950508,895.750950508,790,825.750950508,657,633,657,0.435457523796,-0.0153472003582,0.049786101849,0.999999937677,3.91162870285e-05,-0.000347353184304,-4.96238072491e-05,1793251709326433024
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724,691.174937692,672,642.174937692,895.174937692,790,825.174937692,657,633,657,0.434498912115,-0.0153424448182,0.0497716511153,0.999999923991,4.04167957524e-05,-0.000383981127689,-5.42470068518e-05,1793251709343099392
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.307968068,747,724,691.307968068,672,643,894.692031932,790.692031932,825,657,633,656.692031932,0.428854385512,-0.015346068272,0.0497668446494,0.999999927458,6.72070425707e-06,-0.000375968806358,-6.07085655108e-05,1793251709443099904
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.296696868,643,890.406606265,790.703303132,820,657,633,657,0.405408490072,-0.0153586564534,0.0497631040556,0.999999910524,-6.83165672641e-05,-0.000411576063653,-6.99257680107e-05,1793251709959766272
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.87349555,643,889.253008899,790.12650445,820,657,633,657,0.404977996476,-0.0153587647051,0.0497622442052,0.999999909189,-7.05926067133e-05,-0.000414393997506,-7.01198098315e-05,1793251709976432384
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.552886116,672,643,889.447113884,790,820,657,633,657,0.404610806701,-0.0153595767631,0.0497795173861,0.999999922165,-7.16318076625e-05,-0.000381819900829,-6.89344421982e-05,1793251709993099264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.97950744,643,889.97950744,790,820.02049256,657,633,657,0.404262727413,-0.0153607590487,0.0498019194033,0.999999937388,-7.24914548504e-05,-0.000339769073651,-6.72816139726e-05,1793251710009766144
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.387907181,643,889.387907181,790,820.612092819,657,633,657,0.403951604603,-0.015366748802,0.0498252854525,0.999999946675,-7.8030881101e-05,-0.000310711099889,-6.34011328768e-05,1793251710026433280
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.199345349,643,889,790,820.800654651,657,633,657,0.403645842064,-0.0153709568415,0.0498425393734,0.999999952931,-8.13509000579e-05,-0.000289522752885,-6.08013560565e-05,1793251710043100160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.778318125,643,889,790,820.221681875,657,633,657,0.403350287503,-0.0153717718367,0.0498481535341,0.99999995479,-8.04443444096e-05,-0.000283321095743,-6.06405153828e-05,1793251710059766784
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.930921969,672,643,889,790.930921969,820,657,633,657,0.402788726652,-0.0153714199221,0.049835233441,0.999999946079,-7.74294416543e-05,-0.00031310933521,-6.17175082662e-05,1793251710093099264
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.497809025,643,889,790.497809025,820.502190975,657,633,657,0.402543489319,-0.0153714680851,0.049826062605,0.999999940965,-7.48041424813e-05,-0.000329651903072,-6.16701669934e-05,1793251710109765632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.076450371,643,889,790,820.923549629,657,632.923549629,657,0.402308500427,-0.0153714015362,0.0498173816811,0.999999936107,-7.10832583864e-05,-0.000344924469918,-6.131748124e-05,1793251710126432256
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.675241426,643,889,790,820.324758574,657,632.324758574,657,0.402113678071,-0.0153701238299,0.049811910098,0.999999933494,-6.07857807901e-05,-0.000354637625902,-5.95786229692e-05,1793251710143098880
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724.2631655,690.7368345,672,643,889,790,820,657,632.2631655,657,0.401941379562,-0.015369044794,0.0498100748867,0.999999933572,-5.52461863802e-05,-0.000355449493846,-5.88092349753e-05,1793251710159765760
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747,724.579721426,690.420278574,671.579721426,643,889,790,820,657.420278574,633,657,0.401666805406,-0.015369878041,0.04981547901,0.999999939527,-5.80481108414e-05,-0.000337761854543,-5.91045246344e-05,1793251710193100032
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.994939499,671.005060501,643,889,790.005060501,820,657.994939499,633,657,0.401544594381,-0.015372533363,0.0498185998584,0.999999941751,-6.17885704205e-05,-0.000330480456268,-5.88426951248e-05,1793251710209766656
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.414117937,671.585882063,643,889,790.585882063,820,657.414117937,633,657,0.401450230115,-0.0153742493474,0.0498231620384,0.999999944854,-6.75928051267e-05,-0.000319745268779,-5.90353998259e-05,1793251710226433024
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.254842785,643,889,790.254842785,820,657.745157215,633,657,0.40128547447,-0.0153800625245,0.0498305657101,0.999999948655,-7.7336589132e-05,-0.000305420548974,-5.85508756724e-05,1793251710259766016
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.066472855,747,724,690,671,643,888.933527145,790.066472855,820,657,633,657,0.401079585249,-0.0153841682914,0.0498311694312,0.999999949383,-8.46282596699e-05,-0.000300968417036,-5.90727997204e-05,1793251710326433280
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.225357682,671,643,888.225357682,790.774642318,820,657,633,657,0.401026726432,-0.0153875514068,0.0498328356176,0.999999950227,-8.92301529755e-05,-0.000296912782895,-5.85385587476e-05,1793251710359766528
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,746.620849452,724,690.620849452,671.379150548,643,889,790.379150548,820,657,633,657,0.400995744254,-0.0153873211572,0.0498342078138,0.99999995118,-8.45497895449e-05,-0.000295115606237,-5.82880767679e-05,1793251710393099520
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,746.541043988,724,690,671.458956012,643,889,790.458956012,820,657.541043988,633,657,0.400984231981,-0.0153885555401,0.0498375244785,0.999999953109,-8.51878653344e-05,-0.000288502844658,-5.73660202208e-05,1793251710426432512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.127606156,671,643,889,790.127606156,820,657.872393844,633,656.872393844,0.400980750556,-0.015388556525,0.0498386140964,0.999999953875,-8.52373550579e-05,-0.000285851503271,-5.72133997784e-05,1793251710443099392
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.708225856,671,643,889,790.708225856,820,657.291774144,633,656.291774144,0.400980666556,-0.015388092953,0.0498405673367,0.999999954783,-8.57112133515e-05,-0.000282465036846,-5.74565496844e-05,1793251710459766528
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,888.713267006,790.713267006,820,657,633,656.286732994,0.400980419207,-0.0153880675059,0.0498418955961,0.999999955582,-8.42473050249e-05,-0.000280106455892,-5.72686844758e-05,1793251710476433408
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,888.13689378,790.13689378,820,657,633,656.86310622,0.400980006852,-0.0153884846256,0.0498425925379,0.999999956268,-8.08259827666e-05,-0.000278786181916,-5.66454340409e-05,1793251710493100544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.565109602,671.434890398,643,888.434890398,790,820,657,633,656.565109602,0.400979693067,-0.0153889753156,0.0498432541941,0.999999956578,-8.16775780018e-05,-0.000277452332052,-5.64989604016e-05,1793251710509766656
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.99452203,643,889,790,820,657,633,656.00547797,0.400979397803,-0.0153894714973,0.0498438924974,0.999999956764,-8.38081006153e-05,-0.000276144740128,-5.65011430921e-05,1793251710526432768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.398844462,643,889,790,820,657,633,656.601155538,0.40097779002,-0.0153880903322,0.0498431989472,0.9999999565,-8.03310780602e-05,-0.000278121794245,-5.65189235384e-05,1793251710543099392
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.191192342,671.191192342,643,889,790,820,657,633,657,0.400976985269,-0.0153877772737,0.0498431341489,0.999999956454,-7.90935144353e-05,-0.000278660828225,-5.64252128184e-05,1793251710559766016
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.769799186,671.769799186,643,889,790,820,657,633,657,0.400977807708,-0.0153896285275,0.0498443433955,0.999999956865,-8.23937837442e-05,-0.000276285990916,-5.61055866968e-05,1793251710576432896
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.654646647,747,724,690.654646647,671.654646647,643,889,790,820.345353353,657,633,657,0.400978265657,-0.0153905109802,0.0498446404402,0.999999957004,-8.35101131407e-05,-0.000275470613517,-5.59747026733e-05,1793251710593099776
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.081109486,747,724,690.081109486,671.081109486,643,889,790,820.918890514,657,633,657,0.400978482779,-0.0153907533211,0.0498443347696,0.999999956973,-8.3183457354e-05,-0.000275685611332,-5.5968525403e-05,1793251710609766400
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.505579325,747,724,690,671,643,889,790.505579325,820.494420675,657,633,657,0.400978133676,-0.0153898505512,0.0498446475711,0.999999957124,-8.13070561923e-05,-0.000275639007806,-5.62587508884e-05,1793251710626432768
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.092946265,671.092946265,643,889,790.907053735,820,657,633.092946265,656.907053735,0.400977799382,-0.0153890711124,0.0498450694822,0.999999957325,-7.97122350574e-05,-0.000275327535982,-5.64796011339e-05,1793251710643099392
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.672521758,671.672521758,643,889,790.327478242,820,657,633.672521758,656.327478242,0.400978030922,-0.0153899248998,0.0498455292928,0.999999957654,-8.09281138475e-05,-0.00027385491849,-5.60816205192e-05,1793251710659765760
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.748866971,747,724,690.748866971,671.748866971,643,889,790.251133029,820,657,633.748866971,656.251133029,0.400977820781,-0.0153908433937,0.0498453198303,0.999999957668,-8.18610911425e-05,-0.00027358245252,-5.5815715129e-05,1793251710676432384
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.171508161,747,724,690.171508161,671.171508161,643,889,790.828491839,820,657,633.171508161,656.828491839,0.40097703689,-0.0153918459424,0.0498442409715,0.999999957274,-8.24265750841e-05,-0.000274869002175,-5.57213774916e-05,1793251710693099008
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.402849806,747,724,690.402849806,671,643,889.402849806,790.597150194,820,657,633,657,0.400976798516,-0.0153920999887,0.049844697655,0.999999957216,-8.34282692247e-05,-0.000274806189779,-5.55886911856e-05,1793251710709765888
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.975939614,747,724,690.975939614,671,643,889.975939614,790.024060386,820,657,633,657,0.400976790671,-0.0153920377259,0.0498458032422,0.999999957298,-8.46143010774e-05,-0.000274173151392,-5.54397991496e-05,1793251710726432512
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.434256672,671.565743328,643,889.434256672,790.565743328,820,657.565743328,633,657,0.400978755359,-0.0153924360436,0.0498464878011,0.999999958082,-8.37708022984e-05,-0.00027154380068,-5.55224124596e-05,1793251710743098880
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,672,643,888.846764054,790.846764054,820,657.846764054,633,657,0.400980074029,-0.0153923587009,0.0498470110175,0.999999958665,-8.2586367483e-05,-0.000269725646107,-5.56523122473e-05,1793251710759765504
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,672,643,888.267728655,790.267728655,820,657.267728655,633,657,0.400979357395,-0.0153909035458,0.0498471371784,0.999999958623,-8.07017099433e-05,-0.000270404674025,-5.58854166824e-05,1793251710776432384
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1c9406de2af792786b4b41154a58ae4c062eb18
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_01/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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+374,6.233333333,pose2_to_pose3_retreat,0.586255575421,-0.00999497444048,1.04002102115,0.556826920591,-0.00132256018886,1.03963239524
+375,6.250000000,pose2_to_pose3_retreat,0.586170845651,-0.00999468830073,1.04002105617,0.556742187496,-0.0013222856021,1.03963242476
+376,6.266666667,pose2_to_pose3_retreat,0.58609632033,-0.00999488068136,1.0400209594,0.556667666137,-0.00132246449284,1.03963232892
+377,6.283333333,pose2_to_pose3_retreat,0.58603112607,-0.00999493548687,1.04002092296,0.556602471843,-0.00132251935126,1.03963229377
+378,6.300000000,pose2_to_pose3_retreat,0.585975297666,-0.00999489316248,1.04002097189,0.556546641702,-0.00132248297972,1.03963234141
+379,6.316666667,pose2_to_pose3_retreat,0.585927127648,-0.00999482675818,1.0400210809,0.556498470642,-0.00132242021906,1.03963244791
+380,6.333333333,pose2_to_pose3_retreat,0.585886556868,-0.00999481130838,1.04002116621,0.556457901372,-0.00132239948041,1.03963253686
+381,6.350000000,pose2_to_pose3_retreat,0.585853132269,-0.0099948664572,1.04002092869,0.556424476551,-0.00132245492166,1.03963230965
+382,6.366666667,pose2_to_pose3_retreat,0.585825738096,-0.00999489054052,1.04002073359,0.556397082533,-0.00132247863751,1.03963211106
+383,6.383333333,pose2_to_pose3_retreat,0.585804187991,-0.00999486941162,1.04002076765,0.556375532659,-0.00132245680537,1.03963214332
+384,6.400000000,pose2_to_pose3_retreat,0.585787289217,-0.00999480327393,1.04002095939,0.556358632795,-0.00132239424153,1.03963233788
+385,6.416666667,pose2_to_pose3_retreat,0.585774811477,-0.00999473743221,1.04002109675,0.556346152426,-0.00132233724777,1.03963247685
+386,6.433333333,pose2_to_pose3_retreat,0.585765852383,-0.00999491037627,1.04002094412,0.556337196301,-0.0013225005424,1.03963231469
+387,6.450000000,pose2_to_pose3_retreat,0.585759900541,-0.00999488230298,1.04002102412,0.556331244396,-0.00132247285051,1.03963239104
+388,6.466666667,pose2_to_pose3_retreat,0.58575662435,-0.00999476931228,1.04002106281,0.5563279669,-0.00132236428749,1.03963242974
+389,6.483333333,pose2_to_pose3_retreat,0.58575481861,-0.00999463185045,1.04002105965,0.556326159481,-0.0013222324516,1.03963242818
+390,6.500000000,pose2_to_pose3_retreat,0.585753793931,-0.0099945829181,1.04002105116,0.55632513423,-0.00132218544093,1.03963242015
+391,6.516666667,pose2_to_pose3_retreat,0.585753331969,-0.00999465804129,1.04002102494,0.556324673282,-0.0013222571823,1.03963239263
+392,6.533333333,pose2_to_pose3_retreat,0.585753194289,-0.00999468043059,1.04002101713,0.556324535904,-0.0013222785637,1.03963238443
+393,6.550000000,pose2_to_pose3_retreat,0.585752901521,-0.0099947280399,1.04002100051,0.556324243778,-0.00132232402978,1.03963236699
+394,6.566666667,pose2_to_pose3_retreat,0.585752552021,-0.00999478487472,1.04002098068,0.556323895046,-0.00132237830606,1.03963234617
+395,6.583333333,pose2_to_pose3_retreat,0.585752328197,-0.00999482127257,1.04002096798,0.556323671713,-0.00132241306539,1.03963233283
+396,6.600000000,pose2_to_pose3_retreat,0.585752182918,-0.00999484489751,1.04002095973,0.556323526753,-0.00132243562681,1.03963232418
+397,6.616666667,pose2_to_pose3_retreat,0.585752089788,-0.009994860042,1.04002095445,0.556323433828,-0.00132245008954,1.03963231863
+398,6.633333333,pose2_to_pose3_retreat,0.585752054812,-0.00999486572982,1.04002095246,0.556323398928,-0.00132245552131,1.03963231655
+399,6.650000000,pose2_to_pose3_retreat,0.585751974123,-0.00999487247356,1.04002095195,0.556323318327,-0.00132246195485,1.03963231625
+400,6.666666667,pose2_to_pose3_retreat,0.585751953008,-0.00999487119285,1.04002095375,0.556323297194,-0.0013224607269,1.03963231832
+401,6.683333333,pose2_to_pose3_retreat,0.585751910926,-0.00999486864034,1.04002095735,0.556323255074,-0.00132245827955,1.03963232245
+402,6.700000000,pose2_to_pose3_retreat,0.585751774155,-0.00999486034444,1.04002096905,0.556323118179,-0.00132245032541,1.03963233588
+403,6.716666667,pose2_to_pose3_retreat,0.585751647859,-0.00999485268386,1.04002097984,0.556322991769,-0.00132244298042,1.03963234827
+404,6.733333333,pose2_to_pose3_retreat,0.585751552442,-0.0099948468963,1.040020988,0.556322896265,-0.00132243743129,1.03963235764
+405,6.750000000,pose2_to_pose3_retreat,0.585751483915,-0.00999484273979,1.04002099386,0.556322827677,-0.00132243344601,1.03963236436
+406,6.766666667,pose2_to_pose3_retreat,0.585751270774,-0.00999482981161,1.04002101209,0.556322614343,-0.00132242105043,1.03963238529
+407,6.783333333,pose2_to_pose3_retreat,0.585751082341,-0.00999482445006,1.04002102992,0.55632242562,-0.00132241663025,1.03963240409
+408,6.800000000,pose2_to_pose3_retreat,0.58575097087,-0.00999484319055,1.04002104667,0.556322313544,-0.00132243762669,1.03963241631
+409,6.816666667,pose2_to_pose3_retreat,0.585750809772,-0.00999492053359,1.04002102789,0.556322153999,-0.0013225094802,1.0396324025
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..672bd6d1a352b6368e6f5263299996021227cb32
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf9bfe7a05ca9a598e45382381ee2ff5cb4adbbe57414b5d40a38f379b6b79d
+size 26157244
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7443fd91960a75a54ca569b3ecb42228bdd53d07
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
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+0,0.000000000,BASELINE,770,747,725,690,672,643,889,791,821,657,633,657,0.400978586147,-0.0153908040927,0.0498477379653,0.999999958895,-8.01968916836e-05,-0.000269535608553,-5.59420895206e-05,1793251710928192000
+1,0.016666667,BASELINE,770,747,724.407982195,690,671.407982195,643,889,791,820.407982195,657,633,657,0.400979203336,-0.0153917476294,0.0498479964031,0.999999958893,-8.20654811702e-05,-0.000268983879135,-5.59195057261e-05,1793251710944858624
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+3,0.050000000,BASELINE,770,747,724,690,671,643,889,790.241029155,820,657,633,657,0.400978619147,-0.0153925918741,0.0498481010996,0.999999958894,-8.14052821782e-05,-0.000269318779256,-5.52493745687e-05,1793251710978192128
+4,0.066666667,BASELINE,770,746.662588256,724,690,671,643,888.662588256,790,820,657,633,656.662588256,0.400978688597,-0.0153933349176,0.0498483269072,0.999999959021,-8.07288965598e-05,-0.000269136107513,-5.48242365373e-05,1793251710994858752
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+12,0.200000000,BASELINE,770,747,725,690,671,643,889,790,820,657,633,657,0.400976298548,-0.0153923377743,0.0498475981225,0.99999995847,-8.18983453225e-05,-0.000270769932066,-5.51048081544e-05,1793251711128192000
+13,0.216666667,BASELINE,770,747,724.455325291,690,671,643,889,790,820,657.544674709,633,657,0.400977788787,-0.0153926030411,0.0498482508123,0.999999959047,-8.19958112033e-05,-0.000268569940141,-5.52607041919e-05,1793251711144858880
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+16,0.266666667,BASELINE,770.301171773,747,724.301171773,690,671.602343546,643,889.698828227,790,820,657,633,657,0.400977909213,-0.0153928988435,0.0498471424513,0.999999958953,-8.10817907407e-05,-0.000269206284055,-5.52074553009e-05,1793251711194859008
+17,0.283333333,BASELINE,770.877093173,747,724.877093173,690,672.754186347,643,889.122906827,790,820,657,633,657,0.400977829151,-0.0153936857325,0.0498468435377,0.999999958664,-8.12363944016e-05,-0.000270225542333,-5.52274795949e-05,1793251711211525632
+18,0.300000000,BASELINE,770.548757857,747,724.548757857,690.451242143,672.548757857,643,889,790,820,657.451242143,633,657.451242143,0.400977731852,-0.0153946091293,0.0498474321015,0.999999958795,-8.24131359668e-05,-0.000269467227374,-5.48312205926e-05,1793251711228192000
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+22,0.366666667,BASELINE,770,747,724,690,671.217832306,643,889,791,820,657,633,657,0.400976983293,-0.0153948788838,0.0498473908914,0.999999958805,-8.10106227324e-05,-0.000269900725519,-5.45984549847e-05,1793251711294859264
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+27,0.450000000,BASELINE,770,747,724,690.32299746,671,643,889,790.32299746,820,657,633,657,0.400976746793,-0.0153942798347,0.0498473298955,0.999999958736,-7.97929336397e-05,-0.000270501265905,-5.4683907294e-05,1793251711378192384
+28,0.466666667,BASELINE,770,747,724,690.262786881,671,643,889,790,820,657,633,657,0.400976798741,-0.0153930560551,0.0498476559263,0.999999958893,-7.86187538109e-05,-0.00027022718965,-5.48589542354e-05,1793251711394859264
+29,0.483333333,BASELINE,770,747,724,690.841309794,671,643,889,790,820,657,633,657,0.400976369352,-0.0153919828241,0.0498478136118,0.999999959043,-7.85332017809e-05,-0.000269658007014,-5.50590964539e-05,1793251711411526400
+30,0.500000000,BASELINE,770,747,724.422940928,690.577059072,671,643,889,790,820,657,633,657,0.400977486544,-0.015392330706,0.0498482985547,0.999999959599,-7.6681533609e-05,-0.000268190415649,-5.47259271506e-05,1793251711428192768
+31,0.516666667,BASELINE,770,747,724.994386059,690,671,643,889,790.005613941,820,657,633,657,0.400979181341,-0.0153932146363,0.049848905383,0.999999960294,-7.42262856029e-05,-0.000266392425093,-5.42011658478e-05,1793251711444858880
+32,0.533333333,BASELINE,770,747,724.425064754,690,671,643,889,790.574935246,820,657,633,657,0.400980175463,-0.0153939871048,0.0498493301866,0.999999960198,-7.81958460749e-05,-0.000265516743619,-5.46796631864e-05,1793251711461525504
+33,0.550000000,BASELINE,770,747,724,690,671.149283583,643,889,790.850716417,820,657.149283583,633,657,0.400980400086,-0.0153940618698,0.0498493530088,0.999999960021,-8.05623380345e-05,-0.000265383724564,-5.51257884517e-05,1793251711478192128
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+38,0.633333333,BASELINE,770,747,724,691,671,643.952071847,889,790,820,657.952071847,633,657,0.40098004033,-0.0153958988998,0.0498492753031,0.999999959838,-8.16859999084e-05,-0.000265815978563,-5.47031929243e-05,1793251711561525760
+39,0.650000000,BASELINE,770,747,724,691,671,643.375361567,889,790,820,657.375361567,633,657,0.4009793526,-0.0153946851407,0.0498486950302,0.999999959734,-8.1156968399e-05,-0.000266352366215,-5.47864702699e-05,1793251711578192384
+40,0.666666667,BASELINE,770,747,724,691,671,643,889,790.207814246,820,657,633,657,0.400978935683,-0.0153939097655,0.0498484912085,0.999999959726,-8.02105000524e-05,-0.000266669953534,-5.47825542752e-05,1793251711594858752
+41,0.683333333,BASELINE,770,747,724,691,671,643,889,790.803043304,820,657,633,657,0.400979023625,-0.0153939516412,0.0498489891809,0.999999959896,-7.84858309313e-05,-0.000266579645353,-5.46160893058e-05,1793251711611525632
+42,0.700000000,BASELINE,770,747,724,690.615827415,671.384172585,643,889,790.615827415,820,657,633,657,0.40097877899,-0.0153936804189,0.0498492444148,0.999999959897,-7.84473551348e-05,-0.000266575463916,-5.46792644384e-05,1793251711628192512
+43,0.716666667,BASELINE,770,747,724,690.04167088,671.95832912,643,889,790.04167088,820,657,633,657,0.400978369886,-0.015393254361,0.0498493796078,0.999999959814,-7.92427485406e-05,-0.000266613874535,-5.48560029463e-05,1793251711644859904
+44,0.733333333,BASELINE,770,747,724,690,671.454650151,643,889.545349849,790.545349849,820.545349849,657,633.545349849,657,0.400977747195,-0.0153925807104,0.0498482530077,0.99999995956,-7.78026242731e-05,-0.000267922330441,-5.51695430309e-05,1793251711661526528
+45,0.750000000,BASELINE,770,747,724,690,671,643,889.868739975,790.868739975,820.868739975,657,633.868739975,657,0.400977236784,-0.0153923392534,0.0498475142287,0.999999959376,-7.69396985529e-05,-0.000268828938641,-5.53140658485e-05,1793251711678192640
+46,0.766666667,BASELINE,770,747,724,690,671,643,889.29004717,790.29004717,820.29004717,657,633.29004717,657,0.400977166089,-0.0153936370854,0.0498484340308,0.999999959485,-7.86406452944e-05,-0.000268026950872,-5.48459576344e-05,1793251711694859008
+47,0.783333333,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400977565014,-0.0153938295332,0.049848917862,0.999999959612,-7.90273581718e-05,-0.000267466855543,-5.46999682344e-05,1793251711711525632
+48,0.800000000,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400978435842,-0.0153929112293,0.0498489636054,0.99999995976,-7.80934557315e-05,-0.000267149827138,-5.48776617369e-05,1793251711728192512
+49,0.816666667,BASELINE,770,747,724,690,671.441023149,643,889,790.441023149,820.441023149,657.441023149,633.441023149,657,0.400978726899,-0.0153933938857,0.0498494697097,0.999999960063,-7.83040651467e-05,-0.000266007403015,-5.46154418356e-05,1793251711744859136
+50,0.833333333,BASELINE,770,747,724,690,671.984419569,643,889,790.984419569,820.984419569,657.984419569,633.968839139,657,0.400978854896,-0.0153942660913,0.0498500798376,0.999999960393,-7.88344037712e-05,-0.00026468156574,-5.42447034954e-05,1793251711761525504
+51,0.850000000,BASELINE,770,747,724,690,671.395664746,643,889,790.395664746,820.395664746,657.395664746,632.791329493,657,0.400979423495,-0.0153939091626,0.0498494037537,0.999999960107,-7.84153304204e-05,-0.000265775649698,-5.47677223228e-05,1793251711778192640
+52,0.866666667,BASELINE,770,747,724,690,671,643,889,790,820,657,632.190393606,657,0.40097992263,-0.0153934618703,0.0498490827676,0.999999960066,-7.81486065863e-05,-0.000265953922688,-5.50420597982e-05,1793251711794859776
+53,0.883333333,BASELINE,770,747,724,690,671,643,889,790,820,657,632.770926529,657,0.400980279421,-0.0153928294122,0.0498494894197,0.999999960525,-7.81940651979e-05,-0.000264255589171,-5.48068193457e-05,1793251711811526400
+54,0.900000000,BASELINE,770,747,724,690,671,643,889.348251572,790,820,657,633,657.348251572,0.40097973585,-0.0153929433144,0.0498493835771,0.999999960383,-7.8842512723e-05,-0.000264609952306,-5.47631754672e-05,1793251711828192768
+55,0.916666667,BASELINE,770,747,724,690,671,643,889.923485766,790,820,657,633,657.923485766,0.400978605441,-0.0153935436777,0.0498489437018,0.999999959847,-7.98839749978e-05,-0.000266302217492,-5.48444099799e-05,1793251711844859136
+56,0.933333333,BASELINE,770,747,724,690,671.5072609,643,889.4927391,790,820,657,633,656.985478201,0.400978550171,-0.0153944351231,0.0498492344579,0.999999959787,-8.0018997631e-05,-0.000266517910376,-5.46885847971e-05,1793251711861525760
+57,0.950000000,BASELINE,770,747,724,690,671.908128329,643,889,790,820,657,633,656.091871671,0.400978676984,-0.0153949352348,0.0498494697117,0.999999959828,-7.97339469842e-05,-0.000266469329135,-5.45978082483e-05,1793251711878192640
+58,0.966666667,BASELINE,770,747,724,690,671.326050787,643,889,790,820,657,633,656.673949213,0.400978895223,-0.015393108995,0.0498488107088,0.99999996001,-7.79495126821e-05,-0.000266219394314,-5.50481779703e-05,1793251711894859264
+59,0.983333333,BASELINE,770,746.746035423,724,690.253964577,671.253964577,643,889,790,820,657,633,657,0.400979111867,-0.0153919241116,0.0498487967,0.999999960284,-7.63083614564e-05,-0.000265619370266,-5.52798528019e-05,1793251711911525632
+60,1.000000000,BASELINE,770,746.168646171,724,690.831353829,671.831353829,643,889,790,820,657,633,657,0.400979326482,-0.0153915559971,0.0498496040932,0.999999960674,-7.48496814291e-05,-0.000264573506466,-5.52330190742e-05,1793251711928192512
+61,1.016666667,BASELINE,769.593385569,746.406614431,724,690.593385569,671.593385569,643,889,790,820,657,633,657,0.400978976668,-0.0153920727861,0.0498499489535,0.999999960615,-7.48115673238e-05,-0.000264842784763,-5.50622588296e-05,1793251711944859392
+62,1.033333333,BASELINE,769.019003278,746.980996722,724,690.019003278,671.019003278,643,889,790,820,657,633,657,0.400978393974,-0.0153929546836,0.0498501029741,0.999999960371,-7.53595744276e-05,-0.0002656546867,-5.48403668886e-05,1793251711961526272
+63,1.050000000,BASELINE,769.569635927,746.430364073,724,690.569635927,671,643,888.430364073,790,819.430364073,657,633,657,0.400979038863,-0.015392391271,0.049849673743,0.999999960302,-7.57387022207e-05,-0.000265766876574,-5.50241656153e-05,1793251711978192384
+64,1.066666667,BASELINE,770,746.156049465,724,690.843950535,671,643,888.156049465,790.156049465,819.31209893,657,633,656.843950535,0.400979423465,-0.0153924626854,0.0498494646649,0.999999960233,-7.63319953609e-05,-0.000265849316743,-5.50516984945e-05,1793251711994859008
+65,1.083333333,BASELINE,770,746.735107416,724,690.264892584,671,643,888.735107416,790.735107416,820.470214833,657,633,656.264892584,0.40097898864,-0.0153943890025,0.0498499064605,0.999999960148,-7.75214976131e-05,-0.000265916013467,-5.46180074783e-05,1793251712011525632
+66,1.100000000,BASELINE,770,747,724,690,671,643,889,790.686589856,820.686589856,657,633,656.313410144,0.400978396647,-0.0153951304918,0.0498498487676,0.999999959995,-7.86568889993e-05,-0.000266168287118,-5.45728111302e-05,1793251712028192000
+67,1.116666667,BASELINE,770,747,724,690,671,643,889,790.108923933,820.108923933,657,633,656.891076067,0.400977672136,-0.0153948729785,0.0498493699245,0.999999959784,-7.97466560555e-05,-0.000266577032328,-5.485517906e-05,1793251712044858624
+68,1.133333333,BASELINE,769.534821965,747,724,690,671.465178035,643,889,790.465178035,820.465178035,657,633,657,0.400978856642,-0.0153953991848,0.0498498903589,0.999999960045,-8.05929457947e-05,-0.000265417512183,-5.44825185054e-05,1793251712061525504
+69,1.150000000,BASELINE,769.079210903,747,724,690,672,643,889,790.960394548,820.960394548,657,633,657,0.400980411183,-0.0153960117079,0.049850606609,0.9999999604,-8.12475375354e-05,-0.000263976211358,-5.40008019859e-05,1793251712078192640
+70,1.166666667,BASELINE,770.260155712,747,724,690,672,643,889,790.369922144,820.369922144,657,633,657,0.4009809424,-0.0153952917586,0.0498508166942,0.999999960569,-8.00227630711e-05,-0.000263684410786,-5.4119341212e-05,1793251712094859264
+71,1.183333333,BASELINE,770.783747634,747,724,690.216252366,671.783747634,643,889,790,820,657,633,657,0.400981261237,-0.0153943805215,0.0498509406408,0.999999960711,-7.84743899848e-05,-0.00026357402259,-5.42930557627e-05,1793251712111525888
+72,1.200000000,BASELINE,770.204781756,747,724,690.795218244,671.204781756,643,889,790,820,657,633,657,0.400981223854,-0.0153931484433,0.0498509201101,0.999999960808,-7.6383254582e-05,-0.000263767911805,-5.45593142256e-05,1793251712128192256
+73,1.216666667,BASELINE,770,747,724,691,671,643,889,790,820,657,633,657,0.400981087816,-0.0153930454137,0.0498507983502,0.999999960851,-7.53441642425e-05,-0.000263904850877,-5.45481611992e-05,1793251712144858624
+74,1.233333333,BASELINE,770,747,724,691,671,643,889,790,820,657,633,657,0.400980897787,-0.0153935602846,0.0498506211902,0.999999960867,-7.48808322859e-05,-0.000264010622532,-5.43851877063e-05,1793251712161525248
+75,1.250000000,BASELINE,770,747,724,691,671,643,888.478953354,790.521046646,820,657.521046646,633,657,0.400979070736,-0.0153957710462,0.0498500448378,0.999999960146,-7.92507016186e-05,-0.000265506961466,-5.41640458298e-05,1793251712178192128
+76,1.266666667,BASELINE,769.90341348,747,724,690.90341348,671,643,888.09658652,790.90341348,820,658,633,657,0.400977592076,-0.0153971931654,0.0498495114889,0.999999959527,-8.26865217775e-05,-0.000266803123343,-5.40835612544e-05,1793251712194859008
+77,1.283333333,BASELINE,769.311060801,747,724,690.311060801,671,643,888.688939199,790.311060801,820,658,633,657,0.400978727619,-0.0153937116239,0.049849400284,0.999999959913,-7.88893978716e-05,-0.000266370191975,-5.47544013255e-05,1793251712211526144
+78,1.300000000,BASELINE,769.274934685,747,724,690,671,643,889,790,820,657.725065315,633,657,0.400979463522,-0.015393222515,0.0498496860434,0.999999960198,-7.74910699205e-05,-0.000265690376638,-5.48429837145e-05,1793251712228192768
+79,1.316666667,BASELINE,769.853900161,747,724,690,671,643,889,790,820,657.146099839,633,657,0.40097975749,-0.0153960425256,0.0498504107776,0.999999960383,-7.87454007336e-05,-0.000264737549842,-5.42876885371e-05,1793251712244859136
+80,1.333333333,BASELINE,770,747,724.430905353,690,671,643,889,790,820,657,633,657,0.400979525729,-0.0153959539814,0.0498503117498,0.999999960402,-7.95433692174e-05,-0.000264458933382,-5.41413286463e-05,1793251712261525760
+81,1.350000000,BASELINE,770,747,724.992634989,690,671,643,889,790.007365011,820,657,633,657,0.400979131148,-0.0153949025286,0.0498499383183,0.999999960363,-8.01892383548e-05,-0.000264412237895,-5.41346680854e-05,1793251712278192128
+82,1.366666667,BASELINE,770,747,724.407064648,690,671,643,889,790.592935352,820,657,633,657,0.40097988455,-0.0153953254654,0.049849849925,0.999999960213,-8.09867039668e-05,-0.000264708069895,-5.42596175034e-05,1793251712294859008
+83,1.383333333,BASELINE,770,747,724,690.177483073,671,643,889,790.822516927,820,657,633,657,0.400979867181,-0.0153953463099,0.0498496919899,0.999999960067,-8.07230312736e-05,-0.000265312195903,-5.43956653506e-05,1793251712311525632
+84,1.400000000,BASELINE,770,747,724,690.759698924,671,643,889,790.240301076,820,657,633,657,0.400978092147,-0.0153944502225,0.0498493754713,0.999999959924,-7.80395366713e-05,-0.000266619356286,-5.45570221033e-05,1793251712328192256
+85,1.416666667,BASELINE,769.662506843,747,724,690.662506843,671.337493157,643,889,790,820,657,633,657,0.400978506494,-0.0153939701102,0.0498499974479,0.999999960257,-7.68890567443e-05,-0.00026572718967,-5.44305694328e-05,1793251712344858880
+86,1.433333333,BASELINE,769.087820202,747,724,690.087820202,671.912179798,643,889,790,820,657,633,657,0.400980459559,-0.0153937823493,0.049851279008,0.999999960926,-7.68159946525e-05,-0.000263289314498,-5.41018414812e-05,1793251712361525504
+87,1.450000000,BASELINE,769.48760799,746.51239201,724,690.48760799,671.51239201,643.48760799,889,790,820,657,633,657,0.400979561032,-0.0153945698402,0.0498505900543,0.999999960703,-7.78197369404e-05,-0.000263845808668,-5.40626211493e-05,1793251712378192384
+88,1.466666667,BASELINE,770,746.064895695,724,690.935104305,671,643.935104305,889,790,820,657,633.064895695,657,0.400978405941,-0.0153954096026,0.0498497385397,0.999999960409,-7.86984007209e-05,-0.000264696948643,-5.40756114903e-05,1793251712394859264
+89,1.483333333,BASELINE,770,746.656181548,724,690.343818452,671,643.343818452,889,790,820,657,633.656181548,657,0.400979341971,-0.0153952464568,0.0498504515148,0.999999960843,-7.69870305211e-05,-0.000263556970306,-5.40885186429e-05,1793251712411525632
+90,1.500000000,BASELINE,770.242115803,747,724,690,671,643,888.757884197,790,820,657,633.757884197,657,0.400979990881,-0.0153945420301,0.0498507978879,0.999999961168,-7.51460449253e-05,-0.000262834135424,-5.41742744781e-05,1793251712428192000
+91,1.516666667,BASELINE,770.820614773,747,724,690,671,643,888.179385227,790,820,657,633.179385227,657,0.400980240879,-0.0153930855758,0.0498506349229,0.999999961346,-7.31249785479e-05,-0.000262690858167,-5.43612425027e-05,1793251712444858624
+92,1.533333333,BASELINE,770.603976654,747,724,690,671,643,888.396023346,790,820,657,633,657,0.400979069584,-0.0153940849264,0.0498500365195,0.999999960769,-7.44125825951e-05,-0.000264540383966,-5.42481288104e-05,1793251712461525248
+93,1.550000000,BASELINE,770.029957038,747,724,690,671,643,888.970042962,790,820,657,633,657,0.400977259476,-0.0153961880607,0.0498492424045,0.999999959842,-7.71872982701e-05,-0.000267285593083,-5.40001406958e-05,1793251712478192128
+94,1.566666667,BASELINE,770.557510233,747,724,690,671,643.557510233,888.442489767,790,820,657,633,657,0.400977562485,-0.0153955980119,0.0498490155833,0.999999959888,-7.67954238981e-05,-0.000267183050551,-5.4219218816e-05,1793251712494859008
+95,1.583333333,BASELINE,770.856535929,747,724,690,671,643.856535929,888.143464071,790,820.143464071,657.143464071,633,657,0.400977951187,-0.0153951294254,0.049849000207,0.999999960014,-7.68821600863e-05,-0.000266649053658,-5.44092041321e-05,1793251712511525888
+96,1.600000000,BASELINE,770.277426133,747,724,690,671,643.277426133,888.722573867,790,820.722573867,657.722573867,633,657,0.400978246789,-0.0153954799779,0.0498495320556,0.999999960215,-7.89517128538e-05,-0.00026528104271,-5.44327515428e-05,1793251712528193024
+97,1.616666667,BASELINE,770,747,724,690,671,643,888.698933652,790.301066348,820.698933652,658,633,657,0.400978422958,-0.0153954382575,0.0498498000573,0.999999960253,-7.94737748541e-05,-0.000264998223416,-5.43468422992e-05,1793251712544859648
+98,1.633333333,BASELINE,770,747,724,690,671,643,888.121008886,790.878991114,820.121008886,658,633,657,0.400978489296,-0.0153950358059,0.0498498254271,0.999999960145,-7.85727754999e-05,-0.000265713338542,-5.41602775125e-05,1793251712561525760
+99,1.650000000,BASELINE,770,747,724,690.454925503,671,643,888,790.545074497,820,657.545074497,633,657,0.400979198872,-0.0153939849103,0.0498503840509,0.999999960447,-7.69229784271e-05,-0.000265037471721,-5.42660164066e-05,1793251712578192128
+100,1.666666667,BASELINE,770,747,724,690.969049351,671.030950649,643,888.030950649,790.030950649,820,657,633,657,0.400979974392,-0.015392929024,0.0498510051785,0.999999960814,-7.5293036966e-05,-0.000264081794784,-5.44375801348e-05,1793251712594858752
+101,1.683333333,BASELINE,770,747,724,690.381920762,671.618079238,643,888.618079238,790.618079238,820,657,633,657,0.400978873692,-0.0153948694667,0.0498502116764,0.999999960473,-7.75835017552e-05,-0.000264717802003,-5.44009020497e-05,1793251712611525632
+102,1.700000000,BASELINE,770,747,724,690,671.797535326,643,889,790.595070652,820,657,633,657,0.400978753726,-0.0153957814276,0.0498499417053,0.999999960431,-7.81449663208e-05,-0.000264723643588,-5.43303459762e-05,1793251712628192512
+103,1.716666667,BASELINE,770,747,724,690,671.218255348,643,889,789.436510696,820,657,633,657,0.400980459044,-0.0153947792385,0.0498506460993,0.999999960951,-7.54885174413e-05,-0.00026355665801,-5.4196738194e-05,1793251712644859392
+104,1.733333333,BASELINE,770,747,724,690,671,643,889,789.359136838,820,657,633,657,0.400980493487,-0.015394217522,0.0498509433944,0.99999996101,-7.46289936419e-05,-0.000263571960004,-5.42308746448e-05,1793251712661526016
+105,1.750000000,BASELINE,770,747,724,690,671,643,889,789.935387825,820,657,633,657,0.40097951781,-0.0153939220908,0.0498509945801,0.999999960793,-7.48557905067e-05,-0.000264302007167,-5.43664199126e-05,1793251712678192640
+106,1.766666667,BASELINE,770,747,724.507792957,690,671,643,889,790,820,657,633,657,0.40097856857,-0.0153938239353,0.0498502292056,0.999999960489,-7.60598337914e-05,-0.000265067013874,-5.45484398401e-05,1793251712694859264
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,672,643,889,790,820,657,633,657,0.400979246482,-0.015394459948,0.049850141137,0.999999960353,-7.9707206144e-05,-0.000264457259629,-5.48065973669e-05,1793251712737326592
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671.419953275,643,889,790,820,657,633,657,0.400980186747,-0.0153942643775,0.0498505569317,0.999999960846,-7.79073733637e-05,-0.000263143076334,-5.47254871188e-05,1793251712753992192
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.400980532246,-0.0153944337779,0.0498507125542,0.999999961105,-7.70123722943e-05,-0.000262444783839,-5.46102834217e-05,1793251712770658304
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.400979317571,-0.0153955605617,0.0498501856986,0.99999996076,-7.84909042636e-05,-0.000263362081431,-5.44056465681e-05,1793251712787325696
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.400978689496,-0.0153959331724,0.0498500264146,0.999999960483,-7.90248730836e-05,-0.000264262821288,-5.43502082222e-05,1793251712803992320
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.400978573055,-0.0153956479933,0.0498501877265,0.999999960267,-7.87349937449e-05,-0.000265149119431,-5.44249008411e-05,1793251712820658176
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.400978122423,-0.0153956907027,0.0498499379882,0.999999960028,-7.97290374436e-05,-0.000265759671084,-5.43961845431e-05,1793251712837324800
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,819.935178572,657,633,657,0.40097801965,-0.0153959436093,0.0498498266983,0.999999959918,-8.07849851656e-05,-0.000265876561352,-5.42994394901e-05,1793251712853991168
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,819.360008096,657,633,657,0.400981425268,-0.0153970962979,0.0498517520892,0.999999960881,-7.93714199059e-05,-0.0002627418279,-5.39052458067e-05,1793251712870657792
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,690.215474499,671,643,888.784525501,790,819.215474499,657,633,656.784525501,0.400988381247,-0.015397476981,0.0498546087042,0.999999962282,-7.80746921712e-05,-0.000257830567272,-5.35201994411e-05,1793251712887324416
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,690.791479272,671,643,888.208520728,790,819.791479272,657,633,656.208520728,0.401001277664,-0.0153965659506,0.0498590234362,0.999999964388,-7.6973456224e-05,-0.000249946835354,-5.31504583351e-05,1793251712903991040
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,690.623710153,671,643,888.376289847,790,820,657,633,656.376289847,0.401032207917,-0.015397456729,0.0498692419928,0.999999969658,-7.68405679452e-05,-0.000228160824033,-5.21781902131e-05,1793251712920657664
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724,690.033902865,671,643,888.966097135,790,820,657,633,656.966097135,0.401073371078,-0.0153993699043,0.0498827538033,0.999999976024,-7.72571472094e-05,-0.000198486267498,-5.08640312458e-05,1793251712937324288
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,724,690.545242923,671,643,889,790,820,657.545242923,633,657,0.401140858516,-0.015404854867,0.0499023942946,0.999999983054,-8.10123319906e-05,-0.000157972580232,-4.87200437389e-05,1793251712953990912
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,724,690.877336852,671,643,889,790,820,657.877336852,632.877336852,657,0.401211006713,-0.015410367078,0.0499201524291,0.999999987735,-8.40193542607e-05,-0.000123723032662,-4.65088607245e-05,1793251712970658048
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,724,690.303868544,671,643,889,790,820,657.303868544,632.303868544,657,0.401285033396,-0.0154151788665,0.0499296189739,0.999999988929,-8.35284698009e-05,-0.0001149245478,-4.4236718158e-05,1793251712987325952
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,632.271061465,657,0.401367341433,-0.0154197855123,0.0499362469434,0.999999989984,-8.34900314495e-05,-0.000106021083951,-4.2665836494e-05,1793251713003992576
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,632.847638936,657,0.40145898346,-0.0154241609395,0.0499396755267,0.999999990894,-8.39615495257e-05,-9.69992977998e-05,-4.1885352932e-05,1793251713020658432
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,724.434743581,690,671,643.434743581,889,790,820,657,633,657,0.401566165716,-0.0154308221405,0.0499426723564,0.999999991016,-8.67931145112e-05,-9.36230302095e-05,-4.08599529545e-05,1793251713037324800
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724.97489669,690,671,643.97489669,889,790,820,657,633,656.97489669,0.401679819265,-0.0154382617155,0.0499452852077,0.99999999084,-9.03026356784e-05,-9.26403903086e-05,-3.97867194651e-05,1793251713053991680
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724.396134309,690,671,643.396134309,889,790,820,657,633,656.396134309,0.401813099399,-0.0154447621406,0.0499428493891,0.999999990187,-9.00699279834e-05,-9.97297384042e-05,-3.95985699131e-05,1793251713070658048
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643.181739235,889,790,820,657,633,656.181739235,0.401956498685,-0.0154528356767,0.0499408082396,0.999999989524,-9.1466792456e-05,-0.000105194890747,-3.89847657721e-05,1793251713087324672
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643.757684752,889,790,820,657,633,656.757684752,0.402121847168,-0.0154643214096,0.0499396231577,0.999999988913,-9.63983234462e-05,-0.000107137037546,-3.7447684348e-05,1793251713103991552
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.658205864,747,724,690,671,643.658205864,889,790,820,657,633,657,0.402309934699,-0.0154756655362,0.0499416064726,0.999999988808,-9.99344474106e-05,-0.000105473639141,-3.56632422658e-05,1793251713120658176
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.06816701,747,724,690,671,643.06816701,889,790,820,657,633,657,0.402514537593,-0.0154869068156,0.0499458909905,0.999999989064,-0.00010245708925,-0.000101191537297,-3.3699142242e-05,1793251713137324544
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.512244983,747,724,690.512244983,671,643,889,790,820,657,633,657,0.402754614915,-0.0154989450552,0.0499512787221,0.999999989926,-0.000102641762601,-9.28967285029e-05,-3.13558413183e-05,1793251713153991168
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,690.909486885,671,643.090513115,889.090513115,790.090513115,820,657,633,657,0.403006363455,-0.015510512514,0.0499573867174,0.999999991008,-0.000101903635746,-8.22594966544e-05,-2.88693927087e-05,1793251713170657536
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,690.335948816,671,643.664051184,889.664051184,790.664051184,820,657,633,657,0.403295668069,-0.015519012119,0.0499665694129,0.999999992959,-9.7870665905e-05,-6.19189628407e-05,-2.58833575842e-05,1793251713187324416
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,690.243722371,671,643.756277629,890,790.756277629,820,657.243722371,633,657,0.403596706744,-0.0155212561528,0.0499736584945,0.999999995106,-8.46967892481e-05,-4.55802650727e-05,-2.31569052265e-05,1793251713203992832
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,690.832065689,671,643.167934311,890,790.167934311,820,657.832065689,633,657,0.403914337245,-0.0155146548724,0.0499777872267,0.999999997458,-5.85977637793e-05,-3.49001238981e-05,-2.07975004329e-05,1793251713220664576
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724.412569429,691.412569429,671,643,890,790.412569429,820,657.587430571,633,657,0.40427067552,-0.0155065187315,0.0499819067886,0.999999999011,-3.05888342805e-05,-2.60985143418e-05,-1.89821339147e-05,1793251713237329664
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724.9899416,691.9899416,671,643,890,790.9899416,820,657.0100584,633,657,0.404642475785,-0.0154977694836,0.0499860226872,0.999999999684,-1.81698550909e-06,-1.80472930589e-05,-1.73840860153e-05,1793251713253992192
+139,2.316666667,POSE1_TO_POSE2_PRESS,770.568008063,747,724.431991937,690.863983875,671,643.568008063,889.431991937,791,820.568008063,657,633,657,0.40503769359,-0.0155083289068,0.0499819025111,0.999999999621,4.91244899785e-06,-2.31554452221e-05,-1.40740034866e-05,1793251713270658816
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.854558636,746.854558636,724.145441364,690,671,644,889.145441364,791,820.854558636,657,633,657,0.405436486064,-0.0155167402554,0.0499740276692,0.999999999156,1.43498672722e-05,-3.68172894184e-05,-1.12716031571e-05,1793251713287325184
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.279034153,746.279034153,724.720965847,690,671,644,889.720965847,791,820.279034153,657,633,657,0.405844621329,-0.015517787223,0.0499554817537,0.999999996588,3.29506921754e-05,-7.50832343298e-05,-1.00602250186e-05,1793251713303991552
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746.303154383,724.696845617,690.303154383,671.303154383,643.696845617,890,790.696845617,820,657,633,657,0.406280286722,-0.0155166425543,0.0499398106537,0.999999993075,5.54401124159e-05,-0.000103456104614,-8.51390085236e-06,1793251713320658176
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746.891614688,724.108385312,690.891614688,671.891614688,643.108385312,890,790.108385312,820,657,633,657,0.406741861433,-0.015513435284,0.0499268451099,0.999999989144,8.15891859686e-05,-0.000122518367533,-6.65235074118e-06,1793251713337325056
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671.527555463,643,890.472444537,790,820.472444537,657,633,657,0.407276052676,-0.0155138444004,0.0499277836878,0.999999987559,0.000105958306103,-0.000116804587031,-3.35122425442e-06,1793251713353992192
+145,2.416666667,POSE1_TO_POSE2_PRESS,770.051313598,747,724.051313598,691,671,643,891,790.051313598,820.948686402,657,633.051313598,657,0.407831524094,-0.0155153480389,0.0499339683893,0.999999986353,0.000130005729498,-0.000101939975265,5.70658841109e-07,1793251713370659328
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.627746667,747,724.627746667,691,671,643,891,790.627746667,820.372253333,657,633.627746667,657,0.408436994119,-0.015519697212,0.0499617154093,0.999999986695,0.000154873477425,-5.0672557407e-05,7.51908256007e-06,1793251713387325952
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.795781487,747,724.795781487,691,671,643.204218513,891,791.204218513,820.204218513,657,633.795781487,657,0.409050002996,-0.015524098867,0.0499846493825,0.999999983745,0.000179393397407,-1.15465966571e-05,1.39846348272e-05,1793251713403992576
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.21923898,747,724.21923898,691,671,643.78076102,891,791.78076102,820.78076102,657,633.21923898,657,0.409676756407,-0.0155285962052,0.0499988083769,0.999999979132,0.000203279168921,5.44348424576e-06,1.9569832503e-05,1793251713420658944
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724.36458973,691.36458973,671,643.63541027,891,791.63541027,820.63541027,657,633,657,0.410284371461,-0.0155307075046,0.0499927692948,0.99999997481,0.000222721419037,-1.53000839274e-05,2.32508802627e-05,1793251713437325056
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724.952889181,691.952889181,671,643.047110819,891,791.047110819,820.047110819,657,633,657,0.410880243327,-0.015531354747,0.0499743368129,0.999999969251,0.000239437154139,-5.91967572632e-05,2.57635546422e-05,1793251713453991168
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724.466831984,691.466831984,671,643,891.533168016,791,820,657,633,657,0.411556768859,-0.015528314679,0.0499494217595,0.999999979195,0.000175459757091,-0.000100555484568,2.66854629086e-05,1793251713470657792
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,892.111614481,791,820.111614481,657,633,657.111614481,0.412259903386,-0.0155265374862,0.0499347033617,0.999999986348,0.000109998536362,-0.000120764724382,2.49061032767e-05,1793251713487324416
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,892.685364799,791,820.685364799,657,633,657.685364799,0.413044141321,-0.0155313182028,0.0499645403787,0.99999999617,6.74778549089e-05,-5.43199976697e-05,1.25155992153e-05,1793251713503991296
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.739829391,747,724.260170609,691,671,643,893.260170609,791,821.260170609,657,633,657.739829391,0.413813956439,-0.015539183764,0.0499797618007,0.999999998297,5.22545788945e-05,-2.4818223449e-05,7.72462392599e-06,1793251713520657920
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.163741853,747,724.836258147,691,671,643,893.836258147,791,821.836258147,657,633,657.163741853,0.414566258491,-0.0155507951548,0.0499772359725,0.999999996657,7.01776721989e-05,-4.01750974839e-05,1.21615140806e-05,1793251713537324800
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.422734635,747,725,691,671.845469269,643,894,791,822.422734635,657.422734635,633,657,0.415320734484,-0.0155527284799,0.0499563091782,0.999999992401,9.62889060797e-05,-7.5742462561e-05,1.37998258814e-05,1793251713553991680
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,725,691,672.973760414,643.013119793,894.013119793,791,823.013119793,657.986880207,633,657.013119793,0.41607872683,-0.0155508319241,0.0499290391604,0.999999985096,0.000125489020001,-0.000117697213196,1.43945764349e-05,1793251713570658048
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,725,691,671.811752198,643.594123901,894.594123901,791,823.594123901,657.405876099,633,657.594123901,0.416951558763,-0.0155495095094,0.0499434855261,0.999999985001,0.000147650361285,-8.87446325006e-05,1.79218587129e-05,1793251713587324672
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,725,691.172517671,671,644,895,791,824,657,633.172517671,657.827482329,0.417820128947,-0.015548769088,0.0499588627417,0.999999985669,0.00015668216716,-6.06144369329e-05,2.0923163068e-05,1793251713603991296
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,725,691.744861695,671,644,895,791,824,657,633.744861695,657.255138305,0.418678822064,-0.0155493774927,0.049976397291,0.99999999,0.000135285006498,-3.43902001835e-05,2.27054626446e-05,1793251713620657920
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+162,2.700000000,POSE1_TO_POSE2_PRESS,770,747,724.080667001,692,671,644,895,790.080667001,824.919332999,657.919332999,634,657,0.420350203039,-0.0155479159693,0.049952485825,0.999999987175,0.000137222350022,-7.98389893246e-05,2.11359255465e-05,1793251713653991168
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,724.498547453,692,671,643.501452547,895.997094906,790,825,657.501452547,634,657,0.421300451663,-0.015553097816,0.0499727897632,0.99999998871,0.00014563347974,-2.86485352983e-05,2.3436152847e-05,1793251713670658304
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724.924503953,692,671,643,897,790,825.075496047,657.075496047,633.924503953,657.075496047,0.422264790787,-0.0155580409262,0.0499958659734,0.999999987472,0.000153855380492,2.66143462257e-05,2.59879983602e-05,1793251713687325440
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,724.349703512,692,671,643,897,790,825.650296488,657.650296488,633.349703512,657.650296488,0.423195788311,-0.0155548290557,0.0499947525539,0.999999986752,0.000159752650205,1.69545463484e-05,2.62131510334e-05,1793251713703991808
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,724,692.230655826,671,643.230655826,897,790,826.230655826,657.769344174,633.230655826,657.769344174,0.42412035478,-0.0155535513077,0.0499912308298,0.999999986765,0.000160341910622,8.26924508835e-06,2.63262833931e-05,1793251713720658176
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,724,692.819651379,671,643.819651379,897,790,826.819651379,657.180348621,633.819651379,657.180348621,0.425034930305,-0.0155552783521,0.049983967638,0.999999987998,0.000152684813538,1.09789314074e-06,2.62653845091e-05,1793251713737324800
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+169,2.816666667,POSE1_TO_POSE2_PRESS,770,747,724.981094247,692.018905753,671,643.018905753,897,789.018905753,826.018905753,657,634,657,0.426934293281,-0.0155656254187,0.0500128008889,0.999999986912,0.000157333465796,2.06511182358e-05,3.15443150998e-05,1793251713770658048
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+172,2.866666667,POSE1_TO_POSE2_PRESS,769.292854734,747,724.707145266,693,671.707145266,644,898,790,826.707145266,657.707145266,634,657.292854734,0.429749612493,-0.0155518800963,0.0499504622313,0.999999982122,0.00016901319095,-8.005347549e-05,2.7968984477e-05,1793251713820658432
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671.711460697,643.711460697,898.288539303,789.711460697,827,657.711460697,634,657.288539303,0.430717816536,-0.0155510399899,0.0499504552517,0.999999982521,0.00017071810696,-7.08714427334e-05,2.81297724645e-05,1793251713837325312
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+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,725,693.189768713,671.810231287,643,899.189768713,789,827,657,633.189768713,657.189768713,0.435440921903,-0.0155454774905,0.0499773222866,0.999999979328,0.000196633873275,-4.02291487096e-05,3.25764727002e-05,1793251713920657920
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,725,693.766925548,671.233074452,643,899.766925548,789,827,657,633.766925548,657.766925548,0.43632752852,-0.0155400490491,0.0499476466542,0.99999997385,0.000196534723725,-0.000112708730605,3.11633456828e-05,1793251713937324544
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.64810072,693.64810072,671.35189928,643.35189928,900,789,827.35189928,657,634,658,0.437246817116,-0.0155378370541,0.0499442953827,0.99999997325,0.000200583654912,-0.000111044578242,3.05774035877e-05,1793251713953991424
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.057832015,693.057832015,671.942167985,643.942167985,900,789,827.942167985,657,634,658,0.438188243767,-0.0155378038148,0.0499587757004,0.999999976267,0.000207442411797,-5.91569619944e-05,3.05517798525e-05,1793251713970658304
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.520832809,724.520832809,693.520832809,672,644,900.520832809,789,828.520832809,657,634,658,0.43908771431,-0.0155385938168,0.049970822514,0.999999975617,0.000214458141072,-4.1741403924e-05,3.21050741365e-05,1793251713987324928
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.902287802,747.902287802,725,694,672,643.902287802,901,789.097712198,829,657,634,658.097712198,0.439975688467,-0.0155403731334,0.0499783572231,0.999999975011,0.000218424153101,-3.37153363928e-05,3.36512564371e-05,1793251714003991296
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.327969441,747.327969441,725,694,672,643.327969441,901,789.672030559,829,657,634,658.672030559,0.44082981553,-0.0155465418298,0.0499651727217,0.99999997648,0.000207431539653,-5.32246770177e-05,3.43262395418e-05,1793251714020657920
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.252921205,747,725,693.747078795,672,643.252921205,901,790,828.747078795,657,634,658.747078795,0.44169216218,-0.0155512162603,0.0499672911143,0.999999978507,0.000199136072494,-4.5386452219e-05,3.56449964618e-05,1793251714037324544
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+188,3.133333333,POSE1_TO_POSE2_PRESS,769.003849372,748,725,694,672.996150628,643.003849372,901,789.003849372,829,657,634,658,0.444158248418,-0.0155443170019,0.0499845609883,0.99999997812,0.000204582401573,-2.88355987518e-05,3.27916508409e-05,1793251714087324672
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.579101971,748,725,694,672.420898029,643.579101971,901,789.579101971,829,657,634,658,0.444899618416,-0.0155428628065,0.0499525946327,0.999999976162,0.000204974299953,-6.90178067611e-05,2.99715077843e-05,1793251714103991296
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.690733213,747.845366607,725,694,672.154633393,644,901,789.845366607,828.845366607,657,634,658,0.445654461225,-0.0155431255456,0.0499347362005,0.999999975571,0.000202293250702,-8.43523631252e-05,2.86246819685e-05,1793251714120657664
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.538149506,747.269074753,725,694,672.730925247,644,901,789.269074753,828.269074753,657,634,658,0.446446042224,-0.0155480700674,0.0499553476227,0.999999980715,0.000191232806397,-3.19316894278e-05,3.12953363276e-05,1793251714137324544
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.314136715,747.314136715,725,693.685863285,673,643.685863285,901.314136715,789.314136715,828.314136715,657,634,658,0.447183276331,-0.0155485270894,0.0499605565334,0.999999981147,0.000190766142898,-1.59327779542e-05,3.25507487086e-05,1793251714153991424
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725.358080062,694,673,643,902,789.641919938,829,657,634,658,0.449828356844,-0.0155431215857,0.0499484868466,0.99999997254,0.000227008279596,-4.61597983435e-05,3.54483751067e-05,1793251714220657664
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673,643.788490274,902,789.211509726,829,657,633.211509726,658.788490274,0.451053296428,-0.0155457867891,0.049990079283,0.999999969185,0.000244518558013,3.39360794146e-07,4.28962112465e-05,1793251714253991424
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.627541849,725,694,673,643.627541849,902,789.372458151,829,657,633.372458151,659,0.451591690019,-0.0155436046789,0.0499866621646,0.999999966443,0.000254188295025,-2.321079397e-05,4.43189933671e-05,1793251714270658304
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.232874574,747.883562713,725,694,673,642.883562713,903,789.883562713,829,656.883562713,633,658,0.458101192803,-0.0155274821934,0.0498054262062,0.999999939187,0.00018301348507,-0.000296434760202,1.60554452118e-05,1793251715613423872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.421817688,747.289091156,725,694,673,642.289091156,903,789.289091156,829,656.289091156,633,658,0.458034176375,-0.0155245631022,0.0497853898821,0.999999932353,0.000182152157123,-0.000319250440977,1.39157813427e-05,1793251715630090240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.704418302,747,725,694,673,642.295581698,902.704418302,789,829,656.295581698,633,658,0.457960054045,-0.0155197389523,0.0497694940635,0.999999925305,0.000183967946106,-0.000339700076199,1.22167274596e-05,1793251715646756864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.129021514,747,725,694,673,642.870978486,902.129021514,789,829,656.870978486,633,658,0.457879204852,-0.0155131113614,0.0497575178933,0.999999918159,0.000188318052126,-0.000357909871654,1.09347811366e-05,1793251715663423488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.446816717,747.446816717,725,694,673,643,902.446816717,789,829.446816717,657,633,658.446816717,0.457787509556,-0.0155083725735,0.0497521959138,0.999999915429,0.000189923224257,-0.000364653592526,9.91575507917e-06,1793251715680090368
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.976684041,748,725,694,673,643,902.976684041,789,829.976684041,657,633,658.976684041,0.457691535359,-0.0155040587268,0.0497488383312,0.99999991397,0.000190806324048,-0.000368200599472,8.98302930053e-06,1793251715696756736
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.387232761,748,725,694,673,643,902.387232761,789,829.387232761,657,633,658.387232761,0.457567785736,-0.015496806788,0.0497464775218,0.999999911097,0.000193421407745,-0.00037459992907,8.30052141765e-06,1793251715713423616
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747.801437992,725,693.801437992,672.801437992,643,902.198562008,789,829,657,633,658,0.457435258463,-0.0154892251981,0.0497448874576,0.999999908385,0.000196431091632,-0.000380246977446,7.588775937e-06,1793251715730090496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.222645227,725,693.222645227,672.222645227,643,902.777354773,789,829,657,633,658,0.457285922686,-0.015481012353,0.0497447733102,0.999999906035,0.000200196403816,-0.000384453465247,6.82104281603e-06,1793251715746757632
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.35478978,747.35478978,725,693,672.35478978,643,903,789,829,657,633,658,0.457118137744,-0.0154705463291,0.0497445089881,0.999999903665,0.00020533961162,-0.000387907753273,5.813529563e-06,1793251715763424256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.931376042,747.931376042,725,693,672.931376042,643,903,789,829,657,633,658,0.456938819308,-0.0154586717317,0.0497441507843,0.999999901258,0.00021134420988,-0.000390891804747,4.65611792086e-06,1793251715780091136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.495438443,748,725,693.504561557,673,643,903,789,829,657,633,658,0.456737751727,-0.0154490757771,0.0497462160076,0.999999901278,0.000213834665847,-0.000389489978269,4.03911992654e-06,1793251715796757248
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,902.919999441,789,829.080000559,657,633,658,0.45652681413,-0.0154394276752,0.0497479678491,0.999999901106,0.000216195544771,-0.000388633631444,3.35487594937e-06,1793251715813423616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,902.327169515,789,829.672830485,657,633,658,0.45627144148,-0.0154274719551,0.0497456120952,0.999999897588,0.000220769085022,-0.00039507220907,1.77155835394e-06,1793251715830089984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.748438593,725,694,673,643,902,789,829.748438593,657,633,657.748438593,0.456006770875,-0.0154177617088,0.0497450171853,0.999999896311,0.000221843583084,-0.000397697684638,3.15339025781e-07,1793251715846756864
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.187071091,725,694,673,643,902,789,829.187071091,657,633,657.187071091,0.455730649547,-0.0154108168378,0.0497465908124,0.999999897844,0.000218608896071,-0.000395627200027,-9.84354537209e-07,1793251715863424000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747.395927652,725,693.604072348,673,642.604072348,902,789,829,657,633,657.395927652,0.455417357133,-0.0154071183981,0.049746272441,0.999999899891,0.00021125089174,-0.000394438329982,-2.94141964491e-06,1793251715880090624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747.98973754,725,693.01026246,673,642.01026246,902,789,829,657,633,657.98973754,0.455085486845,-0.0154050425054,0.0497450084604,0.999999902122,0.00020183207853,-0.000393690085576,-5.22703502011e-06,1793251715896757248
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.422417722,725,693.577582278,673,642.577582278,902,789.577582278,829,657,633.577582278,658,0.454738878374,-0.0154084842734,0.0497489002642,0.999999908255,0.000188421848967,-0.000384652451123,-5.45932161286e-06,1793251715913423616
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,901.837016816,789.837016816,829,657,634,658,0.454376770533,-0.0154102632941,0.0497556224166,0.999999915665,0.00017537314768,-0.000371316330666,-6.12733955651e-06,1793251715930090240
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,901.257592241,789.257592241,829,657,634,658,0.453975722278,-0.0154075458601,0.0497693447689,0.999999926281,0.000163427551188,-0.000347369554563,-8.00096950605e-06,1793251715946756864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,901.320235386,789.320235386,829,657,634,658,0.453557178103,-0.0154029053515,0.0497875789444,0.999999936274,0.000155470764184,-0.000321245487504,-9.07946182095e-06,1793251715963423232
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,901.896784888,789.896784888,829,657,634,658,0.453124630276,-0.0153967256272,0.0498094243523,0.999999945563,0.000150706590493,-0.000293378729663,-9.52153185065e-06,1793251715980089856
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,902,789.528025437,829,656.528025437,633.528025437,658,0.452632609317,-0.015392725288,0.0498151630767,0.999999946469,0.000140481016032,-0.000295315497478,-1.07530528352e-05,1793251715996756992
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,901.951885213,789,829,656.048114787,633,658,0.452123227792,-0.0153890850871,0.0498155108098,0.999999944938,0.000128838659434,-0.000305565504378,-1.24356207316e-05,1793251716013423616
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747,725,694,673,643,901.361694668,789,829,656.638305332,633,658,0.451564365683,-0.0153841481594,0.0497946917044,0.999999936745,0.000114651560926,-0.00033625590205,-1.72603563486e-05,1793251716030090496
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,725,693.196439167,672.196439167,643,901,789,828.196439167,657,633,658,0.450388957197,-0.0153792981344,0.0497576164117,0.999999928969,8.0173834013e-05,-0.000367293391058,-2.701059453e-05,1793251716063424000
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,725,693.379481911,672,643,901,789,828.379481911,657,633,658,0.449802204578,-0.0153805187687,0.0497694761426,0.999999940884,6.15970389993e-05,-0.000337030966852,-2.91093189401e-05,1793251716080090368
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,725,693.953676167,672,643,901,789,828.953676167,657,633,658,0.449222478392,-0.0153830405671,0.049796415605,0.999999957528,4.3025546873e-05,-0.000286717421541,-2.97720524742e-05,1793251716096756736
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,725,693.471471585,672,643,901,789,828.471471585,657,633,658,0.448578704212,-0.0153822010681,0.0498086475561,0.999999963496,2.39827795484e-05,-0.00026723973356,-3.18696308823e-05,1793251716113423360
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747.106640716,725,693,672.106640716,643,900.893359284,789.106640716,828.106640716,657,633.106640716,657.893359284,0.447915948327,-0.0153807411955,0.0498132202659,0.999999965453,7.01931003236e-06,-0.000260464174994,-3.46784266549e-05,1793251716130089984
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747.699348954,725,693,672.699348954,643,900.300651046,789.699348954,828.699348954,657,633.699348954,657.300651046,0.447192292821,-0.0153777981561,0.0497887650914,0.999999954418,-2.78225114084e-07,-0.000299250745728,-4.0155019121e-05,1793251716146756608
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,748,725,693,673,643,900,789.715636329,828.715636329,657,633.715636329,657.284363671,0.446433976512,-0.0153735683757,0.0497605285618,0.999999939208,2.4544471852e-05,-0.000344763528663,-4.60397155791e-05,1793251716163423744
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,673,643,900,789.138541446,828.138541446,657,633.138541446,657.861458554,0.445639979399,-0.0153680139908,0.0497283994058,0.999999916348,8.24325536234e-05,-0.000397200449479,-5.23445252031e-05,1793251716180090624
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747.563189326,725,693,673,643,899.563189326,789,827.563189326,657,633,657.563189326,0.444881440981,-0.0153689053895,0.0497398995439,0.999999921814,7.20754922279e-05,-0.00038504591612,-5.40085107718e-05,1793251716196757248
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747.011907397,725,693,672.988092603,643,899,789.011907397,827.011907397,657.011907397,633,657,0.444132972203,-0.0153716658196,0.0497647147098,0.99999993531,4.03463177028e-05,-0.000353280816365,-5.42742169351e-05,1793251716213423616
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747.60132067,725,693,672.39867933,643,899,789.60132067,827.60132067,657.60132067,633,657,0.443329601593,-0.0153663157885,0.0497668463011,0.999999933359,1.76818202354e-05,-0.00036003557663,-5.78273586011e-05,1793251716230090240
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747.812680564,725,693,672,643,898.812680564,790,827.812680564,657.812680564,633,657,0.442518564337,-0.0153627268752,0.0497676436799,0.99999993228,-4.33575137816e-06,-0.000362851201157,-6.13125216545e-05,1793251716246756864
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747.233818962,725,693,672,643,898.233818962,790,827.233818962,657.233818962,633,657,0.441691502019,-0.0153628191174,0.049765652237,0.999999933718,-2.50010927487e-05,-0.000357433095146,-6.46555930689e-05,1793251716263423488
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.343799095,747,725,693,672.343799095,642.656200905,898,790,827,657,633,657,0.440854831102,-0.0153641409653,0.0497865660621,0.999999946403,-4.21103595406e-05,-0.000317851693887,-6.62626988299e-05,1793251716280090112
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.920574438,747,725,693,672.920574438,642.079425562,898,790,827,657,633,657,0.440011648929,-0.0153662960583,0.0498230016947,0.999999963619,-5.68098432394e-05,-0.00025511945615,-6.66934231273e-05,1793251716296756736
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.508145838,747,724.508145838,692.508145838,672.508145838,642.491854162,897.508145838,790,827,657,633,657,0.4391225414,-0.0153643503536,0.0498150746383,0.999999959538,-5.16661027519e-05,-0.000270670182938,-7.06566731708e-05,1793251716313423616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,692,672,643,897,790,827,657,633,657,0.438222897915,-0.015361866628,0.0497993807874,0.9999999509,-4.70495960982e-05,-0.000300545633137,-7.52271116329e-05,1793251716330090752
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724,692,672,643,897,790,827,657,633,657,0.437297121435,-0.0153603367865,0.049778118884,0.999999934536,-7.2601656659e-05,-0.000345301687251,-8.01489496111e-05,1793251716346757376
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,692,672,643,896.752861955,790,827,657,633,657,0.436369522153,-0.0153606092147,0.0497752979953,0.999999932061,-5.23401993526e-05,-0.000357994276582,-7.05545088527e-05,1793251716363424256
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724,692,672,643,896.173741595,790,827,657,633,657,0.435439474158,-0.0153633026445,0.0497972490514,0.99999994504,2.94628829484e-05,-0.000327615787935,-4.1460246815e-05,1793251716380090880
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.4035775,747,724,692.4035775,672,643,895.5964225,790.4035775,826.5964225,657,633,657,0.434471864012,-0.0153483606063,0.0497837423303,0.999999935705,7.41143145312e-05,-0.000348681248631,-3.89596977573e-05,1793251716396757248
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.980124554,747,724,692.980124554,672,643,895.019875446,790.980124554,826.019875446,657,633,657,0.433488155135,-0.0153258601709,0.0497550387353,0.999999916815,0.000102842890022,-0.000391795108194,-4.78569678945e-05,1793251716413423616
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,747,724,692,671.374778765,643,894,791,824.625221235,657.625221235,633,657,0.425894875731,-0.0153444509842,0.0497622896014,0.999999922216,-9.00975582652e-06,-0.0003893358252,-6.24831337572e-05,1793251716546756608
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,691.789905792,671.210094208,643,894,791,824.789905792,657.789905792,632.789905792,657,0.424980422966,-0.015345388188,0.049765041178,0.999999928748,-2.20623550099e-05,-0.00037135504691,-6.41364859646e-05,1793251716563423232
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.207338116,671.792661884,643,894,791,824.207338116,657.207338116,632.207338116,657,0.424105749676,-0.0153519905386,0.0498027769768,0.999999953549,-3.06003377791e-05,-0.000296866330224,-6.19291870535e-05,1793251716580089856
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769.36902236,747,724,691.36902236,672,643,894,791,823.63097764,657,632.36902236,657,0.423206394155,-0.0153559115914,0.0498228576353,0.999999964326,-2.40582764534e-05,-0.000259098759008,-6.03023743615e-05,1793251716596756736
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769.94195293,747,724,691.94195293,672,643,894,791,823.05804707,657,632.94195293,657,0.422293400191,-0.0153583510571,0.049833182709,0.999999969027,-9.18353589872e-06,-0.000241621949666,-5.89963172795e-05,1793251716613423616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.481963356,672,643,893.481963356,791,821.963926713,657.518036644,633,657,0.421331876322,-0.0153585762166,0.0498060502454,0.999999955257,-2.23328533089e-05,-0.000291940574694,-6.12991208057e-05,1793251716630090752
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,893,791,821,657.902990845,633,657,0.420382710837,-0.015358678338,0.0497830875365,0.999999940435,-3.71684759091e-05,-0.000337269612161,-6.32322162994e-05,1793251716646757376
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,893,791,821,657.311094767,633,657,0.419524501915,-0.0153594262973,0.0498029394865,0.999999946527,-4.44892693297e-05,-0.000318153483916,-6.12037101296e-05,1793251716663423744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769.726158093,747,724,691,672,643,893,791,821,657,633,657,0.418647052243,-0.0153548695305,0.0498003553826,0.999999941713,-3.37107666966e-05,-0.000334151027761,-6.14817708596e-05,1793251716680090368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.148931656,747,724,691,672,643,893,791,821,657,633,657,0.417748286148,-0.015344435753,0.0497729147761,0.999999922248,-2.88037856971e-06,-0.000389050378459,-6.43152355935e-05,1793251716696756736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643,893,791,821,657,633,657,0.416920239024,-0.0153460885361,0.0497702926466,0.999999923467,-1.17226219948e-05,-0.000385562551929,-6.53484933323e-05,1793251716713423104
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.003641499,747,724,691,672,643,892.996358501,791,820.996358501,657.003641499,633,657,0.416117018535,-0.0153519483511,0.0497764138856,0.999999931859,-3.43223624189e-05,-0.000361636756097,-6.57407135679e-05,1793251716730089984
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.59092506,747,724,691,672,643,892.40907494,791,820.40907494,657.59092506,633,657,0.415351538708,-0.0153584735548,0.0498006779315,0.999999946721,-5.08420717068e-05,-0.000316090283513,-6.372102206e-05,1793251716746757632
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,747,724.175465239,691,671.824534761,643,892,791,820.175465239,657.824534761,633,657,0.414575949167,-0.0153620812995,0.0498118903578,0.999999952778,-5.73089234464e-05,-0.000295271023621,-6.30458392532e-05,1793251716763425024
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,747,724.753708147,691,671.246291853,643,892,791,820.753708147,657.246291853,633,657,0.413777152787,-0.0153589920649,0.049793143004,0.999999942179,-4.06996038981e-05,-0.000331212679601,-6.54569546293e-05,1793251716780091648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769.668700166,747,724.668700166,691,671.331299834,643,892,791,820.668700166,657,633,657,0.413012986405,-0.0153575262675,0.0497786188855,0.999999933869,-3.36798790227e-05,-0.000355844092485,-6.70957594128e-05,1793251716796757760
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.09159169,747,724.09159169,691,671.90840831,643,892,791,820.09159169,657,633,657,0.412274513875,-0.0153572649831,0.0497672282069,0.999999927883,-3.37751760944e-05,-0.0003720838436,-6.81615465445e-05,1793251716813423872
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.48400128,747,724,691,672,643,891.51599872,791.48400128,820,657,633,657,0.411596575879,-0.0153591862108,0.0497910043283,0.99999993907,-4.43727393092e-05,-0.000339984032625,-6.55836994189e-05,1793251716830090240
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,891,791.939117723,820,657,633,657,0.410928091709,-0.0153609355916,0.0498172388669,0.999999949918,-5.54285425896e-05,-0.000305219918117,-6.2706218564e-05,1793251716846756864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,891,791.348543145,820,657,633,657,0.410242503808,-0.0153576077285,0.0498071434827,0.999999943247,-5.32339241164e-05,-0.000326614751226,-6.32020943173e-05,1793251716863423488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,891,791,820,657,633,657,0.409584966536,-0.0153553791037,0.0497957204305,0.999999936417,-5.45489041015e-05,-0.00034648377241,-6.43343358311e-05,1793251716880090112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,891,791,820,657,633,657,0.408967824298,-0.0153547334634,0.0497823854395,0.999999929637,-6.09179646257e-05,-0.000364155510258,-6.63829908956e-05,1793251716896756992
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.608947148,747,724,691,671.608947148,643,891,791,820,657,633,657,0.408411009398,-0.0153579225076,0.0497939113272,0.999999936958,-6.59891464823e-05,-0.000342761388569,-6.51415664244e-05,1793251716913424128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.035296419,747,724,691,671.035296419,643,891,791,820,657,633,657,0.407882363639,-0.015362902116,0.0498170457305,0.999999949631,-7.04542984898e-05,-0.000303125889773,-6.2363875196e-05,1793251716930091008
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.530076334,747,724,691,671.530076334,643,890.469923666,790.469923666,820,657,632.469923666,657,0.407370297816,-0.0153660799367,0.0498271584557,0.999999952642,-7.50489905881e-05,-0.000292240847921,-6.06525514458e-05,1793251716946757376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.898498046,672,643,890,790,820,657,632.101501954,657,0.406853765878,-0.0153679692458,0.0498300049573,0.999999951877,-8.00321711673e-05,-0.000293686548316,-5.99036109779e-05,1793251716963424000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.294414451,672,643,890,790,820,657,632.705585549,657,0.406309737604,-0.015364063481,0.0498011004198,0.99999993405,-8.68968805921e-05,-0.000346853883578,-6.35736809139e-05,1793251716980090368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,672,643,890,790.296410259,820.296410259,657,633,657,0.405805623415,-0.0153623410695,0.0497793499588,0.999999919199,-9.48390266394e-05,-0.000384950076023,-6.64953730792e-05,1793251716996756992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,672,643,890,790.8746292,820.8746292,657,633,657,0.405339457118,-0.0153626944566,0.0497644011564,0.999999908727,-0.000103805533016,-0.000408717548294,-6.8705553474e-05,1793251717013423616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.449468802,672,643,889.550531198,791,820.550531198,657,633,657,0.404940260422,-0.0153629123286,0.0497701512953,0.99999991179,-0.000111964973844,-0.000398957755109,-6.86745613235e-05,1793251717030090240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.976028897,643,889,790.976028897,820,657,633,657,0.404561843489,-0.0153632134796,0.0497822538497,0.999999918715,-0.000119889950172,-0.00037891401294,-6.79684447626e-05,1793251717046756608
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.387434625,643,889,790.387434625,820,657,633,657,0.404236170701,-0.0153663599111,0.0498090053887,0.999999933485,-0.000127555154428,-0.000335270224317,-6.59749238571e-05,1793251717063423232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.197257998,643,889,790,820,657.197257998,633,657,0.403918226339,-0.0153695226973,0.0498326643636,0.999999945965,-0.000121301490939,-0.000298717446092,-6.42177701734e-05,1793251717080089856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.77443596,643,889,790,820,657.77443596,633,657,0.403615167005,-0.0153727169825,0.0498503670401,0.999999956089,-8.82400128868e-05,-0.000275821997682,-6.2915861394e-05,1793251717096756480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.647232661,671.647232661,643,889,790,820,657.647232661,633,657,0.403318052489,-0.0153754665612,0.0498532922992,0.999999957524,-6.5069344356e-05,-0.000277027908848,-6.30391107524e-05,1793251717113423104
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.068161296,671.068161296,643,889,790,820,657.068161296,633,657,0.403024751608,-0.0153779308562,0.0498467376883,0.999999953655,-4.8243732857e-05,-0.000293695098183,-6.40766142117e-05,1793251717130089728
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.50731795,671.50731795,643,889,790,820,657,633,657,0.402763804432,-0.0153768723244,0.0498357086838,0.999999947101,-5.07277906885e-05,-0.000314516192,-6.5610789783e-05,1793251717146756352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.915680548,671.915680548,643,889,790,820,657,633,657,0.402512696997,-0.015375543895,0.0498247473858,0.999999940478,-5.3236496345e-05,-0.000334361527069,-6.64215258632e-05,1793251717163423232
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.326699689,671.326699689,643,889,790,820,657,633,657,0.402294647519,-0.0153754130153,0.0498177640418,0.999999937698,-4.04742807734e-05,-0.000345050023595,-6.25058117592e-05,1793251717180089856
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.256318974,643,889,790,820,657,633,657,0.402095210149,-0.0153739208917,0.0498115570026,0.999999935616,-2.25265333625e-05,-0.000353387663292,-5.81204828038e-05,1793251717196756480
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.83191104,643,889,790,820,657,633,657,0.401918956193,-0.0153707331908,0.0498063169356,0.999999934218,1.88035581692e-06,-0.000358797055034,-5.31501978226e-05,1793251717213423360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.409867917,672,643,889,790,820,657,633,657,0.401773806452,-0.0153689307559,0.0498072142565,0.999999936455,4.53086656119e-06,-0.00035261318971,-5.22783688722e-05,1793251717230089984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.98880023,672,643,889,790,820,657,633,657,0.40164148674,-0.0153676997225,0.0498106431584,0.999999940227,-1.7928045411e-06,-0.000341647278835,-5.30970919622e-05,1793251717246756352
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724.560425739,690.439574261,671.439574261,643,889,790,820,657,633,657,0.401539593036,-0.015370664695,0.0498179558247,0.999999944292,-1.15422223839e-05,-0.000329311939678,-5.3265782694e-05,1793251717263422976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,724.861991025,690.138008975,671,643,889,790,820,657.138008975,633,657,0.401442601993,-0.0153731628656,0.0498250643118,0.999999948186,-2.01914202685e-05,-0.000316797256969,-5.34773640565e-05,1793251717280089856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,747,724.264073715,690.735926285,671,643,889,790,820,657.735926285,633,657,0.401359948647,-0.0153738295951,0.0498312370619,0.999999952098,-2.4948977191e-05,-0.000303774949252,-5.3874609487e-05,1793251717296756480
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.67895872,671,643,889,790.32104128,820,658,633,657,0.4012854574,-0.0153765871745,0.0498343147642,0.999999953744,-3.16670636916e-05,-0.000297597085254,-5.42663945449e-05,1793251717313423360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.103970427,671,643,889,790.896029573,820,658,633,657,0.401217422448,-0.0153809986381,0.0498349442521,0.999999953654,-3.99359501226e-05,-0.000296833246498,-5.46538604366e-05,1793251717330089984
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,888.528297529,791,820,657.528297529,633,657,0.401162268298,-0.0153834707729,0.0498326656924,0.99999995233,-4.40468625521e-05,-0.000300639452318,-5.49157583851e-05,1793251717346756608
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,888.048736885,790.951263115,820,657,633,657,0.401111743931,-0.0153854829768,0.049830112529,0.999999951002,-4.72139501882e-05,-0.000304513085611,-5.51280423954e-05,1793251717363423232
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,888.639226339,790.360773661,820,657,633,657,0.401081078365,-0.015387141121,0.0498316422879,0.999999952849,-5.00918969439e-05,-0.000297922868388,-5.50969267555e-05,1793251717380089856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,746.774584666,724,690.225415334,671.225415334,643,888.774584666,790,820,657,633,657,0.401052961891,-0.0153875431357,0.0498332626992,0.999999954129,-5.13540691878e-05,-0.000293361169136,-5.51802049957e-05,1793251717396756480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,746.19514967,724,690.80485033,671.80485033,643,888.19514967,790,820,657,633,657,0.401028848823,-0.0153859723717,0.049835025482,0.999999954581,-5.0078632414e-05,-0.000291985301687,-5.54431413063e-05,1793251717413423104
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,746.381157878,724,690.618842122,671.618842122,643,888.381157878,790,820,657,633,657,0.401014337939,-0.0153858465281,0.0498372545416,0.999999955674,-5.10967154618e-05,-0.000288048060492,-5.54077614542e-05,1793251717430089728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,746.955877211,724,690.044122789,671.044122789,643,888.955877211,790,820,657,633,657,0.401004703284,-0.0153864544512,0.049839720388,0.999999957065,-5.32795049919e-05,-0.000282810089998,-5.52208892211e-05,1793251717446756352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.528029076,671,643,889,790,820,657,633,657,0.400999328386,-0.0153866658434,0.0498415579276,0.999999958211,-5.1922063093e-05,-0.00027910245299,-5.4632223832e-05,1793251717463423232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790.103934756,820,657.103934756,633,657,0.400994506091,-0.0153871149335,0.0498430361348,0.999999959149,-5.0765878586e-05,-0.000276042589842,-5.40809991914e-05,1793251717480090368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,671,643,889,790.698570943,820,657.698570943,633,657,0.400990620372,-0.0153888419328,0.0498430645213,0.999999959266,-5.19497901054e-05,-0.000275440211283,-5.38642874066e-05,1793251717496756992
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.716072377,671,643,889,790.716072377,820,657.716072377,633,657,0.400987048634,-0.0153904625456,0.0498429883043,0.999999959133,-5.40239495682e-05,-0.000275553993319,-5.37198395675e-05,1793251717513423616
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.140255345,671,643,889,790.140255345,820,657.140255345,633,657,0.400983799681,-0.015391973789,0.0498428045503,0.999999958736,-5.70133211028e-05,-0.000276404018171,-5.36496820446e-05,1793251717530090240
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc70f5287e7d115d712818e9113eaddf025aeb4a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
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+337,5.616666667,pose2_to_pose3_retreat,0.601745676765,-0.00999480696524,1.04002080756,0.572317019978,-0.00132239915087,1.03963218609
+338,5.633333333,pose2_to_pose3_retreat,0.601055408637,-0.00999489926244,1.04002093878,0.57162675213,-0.00132249051348,1.03963231695
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+341,5.683333333,pose2_to_pose3_retreat,0.599018932837,-0.00999497077942,1.0400209237,0.569590276943,-0.00132256001903,1.03963230023
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+343,5.716666667,pose2_to_pose3_retreat,0.597747538091,-0.00999489894411,1.04002093765,0.568318881585,-0.0013224904432,1.03963231004
+344,5.733333333,pose2_to_pose3_retreat,0.597134238357,-0.00999487797391,1.04002103655,0.56770558128,-0.00132247183809,1.03963239947
+345,5.750000000,pose2_to_pose3_retreat,0.596535955079,-0.00999483170562,1.04002104296,0.567107297492,-0.00132242695009,1.03963241367
+346,5.766666667,pose2_to_pose3_retreat,0.595947379592,-0.00999483805045,1.04002100828,0.56651872253,-0.00132243112029,1.03963238766
+347,5.783333333,pose2_to_pose3_retreat,0.595368760883,-0.00999495667432,1.04002104123,0.565940105754,-0.00132254367357,1.03963240977
+348,5.800000000,pose2_to_pose3_retreat,0.594803125981,-0.00999493098572,1.04002092422,0.565374470932,-0.00132251752992,1.03963229682
+349,5.816666667,pose2_to_pose3_retreat,0.594253777833,-0.00999478405072,1.0400211249,0.564825120884,-0.00132237724885,1.03963249287
+350,5.833333333,pose2_to_pose3_retreat,0.593721524774,-0.00999482022236,1.04002093821,0.564292867877,-0.00132241301823,1.03963231115
+351,5.850000000,pose2_to_pose3_retreat,0.593205357532,-0.00999496707638,1.0400209397,0.563776702272,-0.0013225542316,1.03963231462
+352,5.866666667,pose2_to_pose3_retreat,0.592707520873,-0.00999505999133,1.04002110227,0.563278867188,-0.00132264204398,1.03963247178
+353,5.883333333,pose2_to_pose3_retreat,0.592228009051,-0.00999496251172,1.04002093434,0.562799355132,-0.00132254557271,1.03963229903
+354,5.900000000,pose2_to_pose3_retreat,0.591769421903,-0.00999491695383,1.04002072649,0.562340767115,-0.00132250188768,1.03963211525
+355,5.916666667,pose2_to_pose3_retreat,0.591337183646,-0.0099948675756,1.04002083696,0.561908526921,-0.00132245934265,1.03963221982
+356,5.933333333,pose2_to_pose3_retreat,0.590926263075,-0.00999485447251,1.04002089069,0.56149760641,-0.00132244621526,1.03963226958
+357,5.950000000,pose2_to_pose3_retreat,0.590526370262,-0.00999488451571,1.04002088762,0.561097714652,-0.00132247267275,1.03963226666
+358,5.966666667,pose2_to_pose3_retreat,0.59013442793,-0.00999493293964,1.04002089164,0.560705772708,-0.00132251982072,1.03963226978
+359,5.983333333,pose2_to_pose3_retreat,0.589752065572,-0.00999490555622,1.04002094106,0.560323409129,-0.00132249709491,1.03963230774
+360,6.000000000,pose2_to_pose3_retreat,0.589386691981,-0.00999491498316,1.04002100154,0.55995803516,-0.00132250738696,1.03963237755
+361,6.016666667,pose2_to_pose3_retreat,0.589042185844,-0.00999490938681,1.0400209226,0.559613529892,-0.00132249882842,1.03963229888
+362,6.033333333,pose2_to_pose3_retreat,0.588730665488,-0.00999497255965,1.04002086929,0.559302010218,-0.00132255944188,1.03963225112
+363,6.050000000,pose2_to_pose3_retreat,0.588447189468,-0.00999497873067,1.04002089267,0.559018534265,-0.00132256557561,1.03963227019
+364,6.066666667,pose2_to_pose3_retreat,0.588188234045,-0.00999491263039,1.0400209317,0.558759578354,-0.00132250169787,1.03963229658
+365,6.083333333,pose2_to_pose3_retreat,0.587944651728,-0.00999492217149,1.04002079944,0.558515995222,-0.00132251369244,1.03963217137
+366,6.100000000,pose2_to_pose3_retreat,0.58771402135,-0.0099948101642,1.04002096936,0.558285363613,-0.00132240580508,1.03963234262
+367,6.116666667,pose2_to_pose3_retreat,0.587493235899,-0.00999479603858,1.04002118791,0.558064578677,-0.00132239013809,1.03963255652
+368,6.133333333,pose2_to_pose3_retreat,0.587282604991,-0.0099949015535,1.04002116058,0.557853949137,-0.00132249113876,1.03963252637
+369,6.150000000,pose2_to_pose3_retreat,0.587084849751,-0.00999498677002,1.04002103628,0.557656194354,-0.00132257470447,1.03963240428
+370,6.166666667,pose2_to_pose3_retreat,0.586901840008,-0.00999485739701,1.04002123257,0.557473183059,-0.0013224505181,1.03963260244
+371,6.183333333,pose2_to_pose3_retreat,0.586736351935,-0.00999472505073,1.04002093578,0.557307693493,-0.00132232323434,1.03963230575
+372,6.200000000,pose2_to_pose3_retreat,0.586588527404,-0.00999494637807,1.04002112462,0.557159872986,-0.00132253076429,1.03963249769
+373,6.216666667,pose2_to_pose3_retreat,0.58645856857,-0.00999485180618,1.04002095216,0.557029911292,-0.00132244573727,1.0396323289
+374,6.233333333,pose2_to_pose3_retreat,0.586346065023,-0.00999483315712,1.04002098133,0.556917408443,-0.00132242485277,1.03963235518
+375,6.250000000,pose2_to_pose3_retreat,0.586248942783,-0.00999487114419,1.04002100867,0.556820288153,-0.00132245602705,1.03963238717
+376,6.266666667,pose2_to_pose3_retreat,0.586165911812,-0.00999488684133,1.04002096605,0.556737258073,-0.00132246850207,1.0396323493
+377,6.283333333,pose2_to_pose3_retreat,0.586093647235,-0.00999480765033,1.0400209565,0.556664992442,-0.00132239374058,1.03963232054
+378,6.300000000,pose2_to_pose3_retreat,0.586030917198,-0.00999482390794,1.04002099485,0.556602261525,-0.00132241244133,1.03963237098
+379,6.316666667,pose2_to_pose3_retreat,0.585975331435,-0.00999493573758,1.04002088319,0.556546675691,-0.00132252446895,1.03963226026
+380,6.333333333,pose2_to_pose3_retreat,0.585926773795,-0.0099949346756,1.04002088439,0.556498117585,-0.00132252508761,1.03963225918
+381,6.350000000,pose2_to_pose3_retreat,0.58588599352,-0.00999481644616,1.04002101064,0.556457336564,-0.00132240939082,1.03963238542
+382,6.366666667,pose2_to_pose3_retreat,0.585852168359,-0.00999486008069,1.04002090848,0.556423512267,-0.00132245008987,1.03963228327
+383,6.383333333,pose2_to_pose3_retreat,0.585824977004,-0.00999488582958,1.04002063347,0.556396321407,-0.00132247348451,1.03963202326
+384,6.400000000,pose2_to_pose3_retreat,0.585803897713,-0.00999489700372,1.04002091923,0.556375241745,-0.00132248663169,1.03963229316
+385,6.416666667,pose2_to_pose3_retreat,0.585788758309,-0.00999486351338,1.04002109474,0.556360102553,-0.00132245255308,1.03963246573
+386,6.433333333,pose2_to_pose3_retreat,0.585777305437,-0.0099948310709,1.04002108815,0.556348650115,-0.00132241839515,1.03963246461
+387,6.450000000,pose2_to_pose3_retreat,0.585769390798,-0.00999491195394,1.04002088716,0.556340734873,-0.00132250170617,1.03963225508
+388,6.466666667,pose2_to_pose3_retreat,0.585764257515,-0.00999491304218,1.04002088588,0.556335601626,-0.00132250253514,1.03963225689
+389,6.483333333,pose2_to_pose3_retreat,0.585760620022,-0.00999488116871,1.04002096701,0.55633196443,-0.0013224693125,1.03963234567
+390,6.500000000,pose2_to_pose3_retreat,0.585757949783,-0.00999489965954,1.04002101252,0.556329294318,-0.00132248736844,1.03963239122
+391,6.516666667,pose2_to_pose3_retreat,0.585755901808,-0.00999495298703,1.0400210343,0.556327246357,-0.00132254088153,1.03963240782
+392,6.533333333,pose2_to_pose3_retreat,0.5857543856,-0.00999494458061,1.04002104432,0.556325729979,-0.00132253315128,1.03963241566
+393,6.550000000,pose2_to_pose3_retreat,0.585753584316,-0.00999483687669,1.04002103645,0.556324928216,-0.00132242696645,1.03963241022
+394,6.566666667,pose2_to_pose3_retreat,0.585753379313,-0.00999480932136,1.04002103444,0.55632472309,-0.00132239979977,1.03963240883
+395,6.583333333,pose2_to_pose3_retreat,0.58575300133,-0.0099947585151,1.04002103072,0.556324344881,-0.0013223497101,1.03963240626
+396,6.600000000,pose2_to_pose3_retreat,0.585752486318,-0.00999468929011,1.04002102567,0.556323829561,-0.00132228146148,1.03963240277
+397,6.616666667,pose2_to_pose3_retreat,0.585752095986,-0.0099946834061,1.04002103312,0.556323438772,-0.00132227721591,1.03963240826
+398,6.633333333,pose2_to_pose3_retreat,0.585751961253,-0.00999469585049,1.0400210392,0.556323303811,-0.00132229050503,1.03963241268
+399,6.650000000,pose2_to_pose3_retreat,0.585751885316,-0.00999470286429,1.04002104262,0.556323227746,-0.00132229799493,1.03963241517
+400,6.666666667,pose2_to_pose3_retreat,0.585751680504,-0.00999472178131,1.04002105187,0.556323022589,-0.00132231819606,1.0396324219
+401,6.683333333,pose2_to_pose3_retreat,0.585751493181,-0.009994739083,1.04002106032,0.556322834951,-0.00132233667221,1.03963242805
+402,6.700000000,pose2_to_pose3_retreat,0.5857513875,-0.00999474884402,1.04002106509,0.556322729091,-0.00132234709583,1.03963243152
+403,6.716666667,pose2_to_pose3_retreat,0.585751354801,-0.00999475186427,1.04002106656,0.556322696337,-0.00132235032109,1.03963243259
+404,6.733333333,pose2_to_pose3_retreat,0.58575118525,-0.00999478365006,1.04002105199,0.556322526871,-0.00132238187521,1.03963241677
+405,6.750000000,pose2_to_pose3_retreat,0.585751171566,-0.00999478963973,1.0400210461,0.556322513272,-0.00132238757125,1.03963241095
+406,6.766666667,pose2_to_pose3_retreat,0.585751074162,-0.00999483227504,1.04002100414,0.556322416477,-0.00132242811642,1.03963236953
+407,6.783333333,pose2_to_pose3_retreat,0.585751032308,-0.00999485059518,1.04002098611,0.556322374885,-0.00132244553844,1.03963235174
+408,6.800000000,pose2_to_pose3_retreat,0.585750976115,-0.00999487519149,1.04002096191,0.556322319044,-0.00132246892895,1.03963232784
+409,6.816666667,pose2_to_pose3_retreat,0.585750874946,-0.00999490676391,1.04002098202,0.556322218626,-0.00132249776524,1.0396323521
+410,6.833333333,pose2_to_pose3_retreat,0.58575087058,-0.00999490768624,1.04002098509,0.556322214297,-0.00132249854993,1.03963235547
+411,6.850000000,pose2_to_pose3_retreat,0.585750809772,-0.00999492053359,1.04002102789,0.556322153999,-0.00132250948019,1.0396324025
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58b0f74b8c7b1298c37a218e35258cb4ceda1999
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ef908ef0235a31f81b0ea15fbdaefc03e5f97074b24ed745220199476c3151d
+size 26269527
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77130a6b356c0b21933d3d0317136c70d90607f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+10,0.166666667,BASELINE,770,747,724,690.184510946,671.815489054,643,888.184510946,790,820,657,633,656.815489054,0.400982900551,-0.0153932447173,0.0498492585036,0.999999962168,-5.41295707418e-05,-0.000264376704474,-5.32848529725e-05,1793251718160675840
+11,0.183333333,BASELINE,770,746.610188711,724,690.389811289,671.610188711,643,888.389811289,790,820,657,633,657,0.400984284094,-0.0153943798265,0.0498502574397,0.999999962583,-5.50481535557e-05,-0.000262681086969,-5.29381308331e-05,1793251718177342464
+12,0.200000000,BASELINE,770,746.037685622,724,690.962314378,671.037685622,643,888.962314378,790,820,657,633,657,0.40098626652,-0.0153958125928,0.0498514076355,0.999999963196,-5.54168188404e-05,-0.000260373370726,-5.23723261163e-05,1793251718194009088
+13,0.216666667,BASELINE,770.550903759,746.550903759,724,690.449096241,671,643,889,790,820.550903759,657,633,657,0.400985800363,-0.015394866864,0.0498518193833,0.999999963316,-5.34088946441e-05,-0.000260289169411,-5.25926968489e-05,1793251718210675968
+14,0.233333333,BASELINE,770.861019929,747,724,690,671.138980071,643,889,790.138980071,820.861019929,657.138980071,633,657,0.40098568247,-0.0153941464576,0.0498521002647,0.999999963407,-5.1751396008e-05,-0.000260241686349,-5.27403767782e-05,1793251718227342848
+15,0.250000000,BASELINE,770.278201883,747,724,690,671.721798117,643,889,790.721798117,820.278201883,657.721798117,633,657,0.400987227781,-0.0153946808606,0.0498521293929,0.999999963533,-5.17477996793e-05,-0.000259811104979,-5.24790023002e-05,1793251718244009472
+16,0.266666667,BASELINE,770,747,724,690,671.699644132,643,889,791,820,657.699644132,633,657,0.400986219725,-0.0153948529007,0.049851390446,0.999999963187,-5.21137451797e-05,-0.000261064508588,-5.24840067822e-05,1793251718260676096
+17,0.283333333,BASELINE,770,747,724,690,671.124977286,643,889,791,820,657.124977286,633,657,0.400982879714,-0.0153946939995,0.0498499500264,0.999999962405,-5.28171882655e-05,-0.000263855873069,-5.27322916031e-05,1793251718277342976
+18,0.300000000,BASELINE,770,747,724.4503025,690,671,643,889,790.5496975,820,657,633,657,0.400983427432,-0.0153937245861,0.0498505677018,0.999999962667,-5.23522565175e-05,-0.000262960352892,-5.26919133775e-05,1793251718294009600
+19,0.316666667,BASELINE,770,747,724.973712238,690,671.026287762,643,889,790,820,657,633,657,0.400984946638,-0.0153927311692,0.0498516671317,0.999999963172,-5.17727397554e-05,-0.000261178441276,-5.25561808222e-05,1793251718310676224
+20,0.333333333,BASELINE,770,747,724.386304335,690,671.613695665,643,889,790,820,657,633,657,0.400984139524,-0.0153960335619,0.0498508405917,0.99999996268,-5.56784803289e-05,-0.000262347814966,-5.20975071793e-05,1793251718327342848
+21,0.350000000,BASELINE,770.19856573,747,724,690,672,643,888.80143427,790.19856573,820,657.19856573,633,657,0.400983919409,-0.0153970093933,0.0498506236966,0.99999996254,-5.70681280652e-05,-0.000262589125711,-5.2057212873e-05,1793251718344009472
+22,0.366666667,BASELINE,770.77856074,747,724,690,672,643,888.22143926,790.77856074,820,657.77856074,633,657,0.400984826876,-0.0153935160817,0.0498515778821,0.999999963094,-5.36245572744e-05,-0.000261047699797,-5.28205926914e-05,1793251718360676864
+23,0.383333333,BASELINE,770.644204117,747,724,690,671.644204117,643,888.355795883,790.644204117,820.355795883,658,633,657,0.400984939468,-0.0153931228876,0.049851859606,0.999999963235,-5.24912911881e-05,-0.000260722496437,-5.29049345936e-05,1793251718377343488
+24,0.400000000,BASELINE,770.068673374,747,724,690,671.068673374,643,888.931326626,790.068673374,820.931326626,658,633,657,0.400984561156,-0.0153946442849,0.0498517260265,0.999999963126,-5.27848385738e-05,-0.000261148415984,-5.25699116821e-05,1793251718394010112
+25,0.416666667,BASELINE,770,747,724,690,671.507322492,643,889,790,821,658,633,657,0.400984242525,-0.0153944566986,0.0498513391455,0.999999962999,-5.20539791807e-05,-0.000261777170779,-5.25789447502e-05,1793251718410676480
+26,0.433333333,BASELINE,770,747,724,689.914378592,671.914378592,643,889,790,820.914378592,658,633,657,0.400984122792,-0.0153941813435,0.0498510629638,0.999999962932,-5.15052560596e-05,-0.000262143056477,-5.25724412749e-05,1793251718427342848
+27,0.450000000,BASELINE,770,747,724,689.322843705,671.322843705,643,889,790,820.322843705,658,633,657,0.400985130508,-0.0153947555387,0.0498516436581,0.999999963234,-5.28528300309e-05,-0.00026079333808,-5.21986975202e-05,1793251718444009472
+28,0.466666667,BASELINE,770.261843989,746.738156011,724,689.261843989,671,643,889,790,820,657.738156011,633,657,0.400985936892,-0.0153950668488,0.0498520151404,0.999999963449,-5.30522511048e-05,-0.000259971020355,-5.19794957183e-05,1793251718460676352
+29,0.483333333,BASELINE,770.838304458,746.161695542,724,689.838304458,671,643,889,790,820,657.161695542,633,657,0.400986501368,-0.0153950622914,0.0498521352457,0.999999963562,-5.18721184786e-05,-0.000259782396623,-5.19459825444e-05,1793251718477342720
+30,0.500000000,BASELINE,770.586616222,746.413383778,724.413383778,690,671,643,889,790,820,657,633,657,0.400985843183,-0.0153948389464,0.0498521664157,0.999999963412,-5.22626006189e-05,-0.00026023215742,-5.21888723835e-05,1793251718494009600
+31,0.516666667,BASELINE,770.012075355,746.987924645,724.987924645,690,671,643,889,790,820,657,633,657,0.400984708345,-0.0153945303073,0.0498521629144,0.999999963159,-5.32653847659e-05,-0.00026093079154,-5.25395175531e-05,1793251718510676992
+32,0.533333333,BASELINE,770,747,724.421881746,690,671,643,889,790,820,657,633,657,0.400984804451,-0.0153943559811,0.0498523345821,0.999999963282,-5.21676797786e-05,-0.000260748751444,-5.22049272657e-05,1793251718527343360
+33,0.550000000,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400985119885,-0.0153938109657,0.0498524144867,0.999999963462,-5.10307039409e-05,-0.000260302375956,-5.20978922134e-05,1793251718544009728
+34,0.566666667,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400985917874,-0.0153923314383,0.0498522554335,0.999999963768,-4.99082966717e-05,-0.000259242048034,-5.2596899158e-05,1793251718560676096
+35,0.583333333,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400985498992,-0.0153931887201,0.0498518923813,0.999999963609,-5.23514317855e-05,-0.000259352774733,-5.2705048058e-05,1793251718577342464
+36,0.600000000,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400984124876,-0.0153958803794,0.0498513691913,0.999999963063,-5.75934905198e-05,-0.000260382770312,-5.25063764085e-05,1793251718594009344
+37,0.616666667,BASELINE,770,747,724,690.471793469,671.471793469,643,889,790,820,657,633,657,0.400984827672,-0.0153962542602,0.0498516831253,0.999999963332,-5.53363115218e-05,-0.000259888335378,-5.22672483618e-05,1793251718610675712
+38,0.633333333,BASELINE,770,747,724,690.952072002,671.952072002,643,889,790,820,657.047927998,633.047927998,657,0.400985902742,-0.0153960263272,0.0498521932233,0.999999963744,-5.18391137621e-05,-0.000259064863135,-5.20557173445e-05,1793251718627342592
+39,0.650000000,BASELINE,770,747,724,690.360821164,671.360821164,643,889,790,820,657.639178836,633.639178836,657,0.400986057508,-0.0153947127426,0.0498528551491,0.999999963883,-5.28458581904e-05,-0.000258284408631,-5.225716456e-05,1793251718644009728
+40,0.666666667,BASELINE,770,746.775040469,724.224959531,690,671.224959531,643,889,790,820,657.775040469,633.775040469,657,0.400986034641,-0.01539453338,0.0498531067716,0.999999963907,-5.38837880961e-05,-0.00025796598661,-5.23026486912e-05,1793251718660676864
+41,0.683333333,BASELINE,770,746.197825303,724.802174697,690,671.802174697,643,889,790,820,657.197825303,633.197825303,657,0.400985733628,-0.015396130053,0.0498527159159,0.999999963754,-5.49705501031e-05,-0.00025837104386,-5.21039161043e-05,1793251718677343232
+42,0.700000000,BASELINE,770,746.379084995,724.620915005,690,671.620915005,643,889,790.379084995,820,657,633,657,0.400986180688,-0.0153961276858,0.0498526052758,0.999999963837,-5.39186681723e-05,-0.00025827097051,-5.20954504185e-05,1793251718694009600
+43,0.716666667,BASELINE,770,746.955836307,724.044163693,690,671.044163693,643,889,790.955836307,820,657,633,657,0.400987017816,-0.015395291531,0.0498526407487,0.999999964041,-5.17516329439e-05,-0.000257907506861,-5.21861956227e-05,1793251718710675968
+44,0.733333333,BASELINE,770,747,724,690,671,643,889,790.458452398,820.541547602,657,633,657,0.400985956704,-0.0153953946902,0.049852462424,0.99999996367,-5.245109974e-05,-0.000259230339528,-5.20504448695e-05,1793251718727342592
+45,0.750000000,BASELINE,770,747,724,690,671.126488539,643,889,790,820.873511461,657,633,657,0.400985053851,-0.0153951510934,0.0498523868223,0.99999996345,-5.25464730792e-05,-0.000260064428367,-5.20087007461e-05,1793251718744009472
+46,0.766666667,BASELINE,770,747,724,690,671.706009137,643,889,790,820.293990863,657,633,657,0.400985281595,-0.0153933865794,0.0498527426313,0.999999963948,-4.96268791815e-05,-0.000258647204283,-5.23709199511e-05,1793251718760677120
+47,0.783333333,BASELINE,770,747,724,690,671.716178348,643,889,790.283821652,820,657,633,657,0.400985401882,-0.0153934895693,0.0498526398731,0.999999964102,-4.898085649e-05,-0.000258155192257,-5.24728532528e-05,1793251718777344000
+48,0.800000000,BASELINE,770,747,724,690,671.14012446,643,889,790.85987554,820,657,633,657,0.400985411528,-0.0153955154031,0.0498520649588,0.999999963907,-5.06757781493e-05,-0.000258615809241,-5.23067875558e-05,1793251718794010112
+49,0.816666667,BASELINE,770,747,724,690,671,643.436155536,889,790.563844464,820,657,633,657,0.400985427729,-0.0153954686728,0.0498521720302,0.999999963812,-5.17432575894e-05,-0.000258781749762,-5.22595630694e-05,1793251718810676736
+50,0.833333333,BASELINE,770,747,724,690,671,643.987227014,889.012772986,790.012772986,820,657,633,657,0.400985446433,-0.0153948046083,0.049852491835,0.999999963751,-5.25960307491e-05,-0.000258849755263,-5.22356711693e-05,1793251718827342848
+51,0.850000000,BASELINE,770,747,724,690,671,643.398672532,889.601327468,790.601327468,820,657,633,657,0.400985483034,-0.0153963433925,0.0498525194015,0.999999963793,-5.28617882841e-05,-0.000258772848951,-5.15415791548e-05,1793251718844009216
+52,0.866666667,BASELINE,770,747,724,690,671.187948011,643,889.812051989,790.812051989,820,657,633,657,0.400985620314,-0.0153974729527,0.0498525889114,0.999999963826,-5.40005000002e-05,-0.000258460177974,-5.12769837456e-05,1793251718860675840
+53,0.883333333,BASELINE,770,747,724,690,671.770508057,643,889.229491943,790.229491943,820,657,633,657,0.400985968979,-0.015397743314,0.0498527464845,0.999999963837,-5.69720495329e-05,-0.000257652500036,-5.19141512014e-05,1793251718877342720
+54,0.900000000,BASELINE,770,746.652405344,724,690,671.652405344,643,889,790.347594656,820,657,633,657,0.400986204122,-0.0153971627068,0.049852711708,0.99999996387,-5.65618371091e-05,-0.000257587648528,-5.20504556133e-05,1793251718894009088
+55,0.916666667,BASELINE,770,746.078876472,724,690,671.078876472,643,889,790.921123528,820,657,633,657,0.400986365476,-0.0153960289758,0.0498525519053,0.999999963916,-5.39535017793e-05,-0.000258005629291,-5.18612023518e-05,1793251718910675712
+56,0.933333333,BASELINE,770.495719156,746.495719156,724,690.495719156,671,643,888.504280844,790.504280844,820,657,633,657,0.400985951969,-0.0153958111172,0.0498522965742,0.999999963796,-5.4498797153e-05,-0.000258305087258,-5.21234485406e-05,1793251718927342592
+57,0.950000000,BASELINE,770.927250443,747,724,690.927250443,671,643,888.072749557,790,820,657,633,657,0.400985458264,-0.0153957322734,0.0498520719637,0.999999963668,-5.52507113656e-05,-0.000258584581455,-5.23981235485e-05,1793251718944009472
+58,0.966666667,BASELINE,770.334017864,747,724,690.334017864,671,643,888.665982136,790,820,657,633,657,0.400985046611,-0.0153956031424,0.0498521761247,0.99999996368,-5.38830907092e-05,-0.000258856460907,-5.22466325006e-05,1793251718960676352
+59,0.983333333,BASELINE,770,747,724,690,671,643,889,790,820.252578223,657.252578223,633,657,0.400984952028,-0.0153950551866,0.0498520193619,0.999999963672,-5.24507137051e-05,-0.00025916787165,-5.23249327315e-05,1793251718977342720
+60,1.000000000,BASELINE,770,747,724,690,671,643,889,790,820.830622767,657.830622767,633,657,0.400985266016,-0.0153939675431,0.049851526379,0.999999963636,-5.09348930161e-05,-0.000259530221519,-5.26993365452e-05,1793251718994009088
+61,1.016666667,BASELINE,770,747,724,690,671,643,888.596028677,790,820.596028677,657.596028677,633,657,0.400984916702,-0.0153939782925,0.0498513956373,0.999999963523,-5.21982686231e-05,-0.000259708322762,-5.27288214679e-05,1793251719010675712
+62,1.033333333,BASELINE,770,747,724,690,671,643,888.024626465,790,820.024626465,657.024626465,633,657,0.400984292476,-0.0153944442842,0.049851415031,0.999999963374,-5.46135164434e-05,-0.000259810059873,-5.26153504869e-05,1793251719027342336
+63,1.050000000,BASELINE,770,747,724,690,671,643,888.562818793,790,820,657,633,657,0.400985355356,-0.0153960855505,0.0498522214426,0.99999996369,-5.4771599381e-05,-0.000258637577426,-5.22107344336e-05,1793251719044008960
+64,1.066666667,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400985810798,-0.015397314696,0.0498526797171,0.999999963862,-5.46472322823e-05,-0.000258068397646,-5.18672837744e-05,1793251719060675840
+65,1.083333333,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400984287388,-0.015397197278,0.0498520273262,0.999999963556,-5.39993924023e-05,-0.000259412251337,-5.17389059595e-05,1793251719077342976
+66,1.100000000,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400984159166,-0.0153964242085,0.049852109337,0.999999963565,-5.38087363379e-05,-0.00025937801402,-5.19320535789e-05,1793251719094009600
+67,1.116666667,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400985234233,-0.015395085668,0.0498528247376,0.999999963846,-5.401238156e-05,-0.000258155232788,-5.24025029758e-05,1793251719110676224
+68,1.133333333,BASELINE,770,747,724,690.461528857,671,643,889,790.461528857,820,657,632.538471143,657,0.400985630095,-0.0153946332581,0.0498528288298,0.99999996395,-5.26276376693e-05,-0.000257994878291,-5.26192922313e-05,1793251719127342848
+69,1.150000000,BASELINE,770,747,724,690.961131348,671,643,889,790.961131348,820,657,632.038868652,657,0.400985752312,-0.015394437519,0.0498526175278,0.999999963983,-5.09858489448e-05,-0.000258171175117,-5.27466402894e-05,1793251719144009728
+70,1.166666667,BASELINE,770,747,724,690.371102041,671,643,889,790.371102041,820,657,632.628897959,657,0.400984392269,-0.0153947527354,0.0498518633331,0.999999963669,-5.13072656314e-05,-0.00025937010846,-5.25013017374e-05,1793251719160676096
+71,1.183333333,BASELINE,770,747,724,690,671,643,889,790.215016629,820,657,633,657,0.400983992661,-0.0153950419729,0.0498518216263,0.999999963584,-5.23949432587e-05,-0.000259513561343,-5.23459744402e-05,1793251719177342464
+72,1.200000000,BASELINE,770,747,724,690,671,643,889,790.794506499,820,657,633,657,0.400985221081,-0.0153952871736,0.049852987653,0.999999963882,-5.47815047017e-05,-0.000257867876597,-5.23432245755e-05,1793251719194009088
+73,1.216666667,BASELINE,770,747,724,690,671,643,889,790.630071454,820,657,633,657,0.400986307014,-0.0153957868925,0.0498536066447,0.99999996413,-5.54832210419e-05,-0.000256777455199,-5.22244798858e-05,1793251719210675968
+74,1.233333333,BASELINE,770,747,724,690,671,643,889,790.056884518,820,657,633,657,0.400987314656,-0.0153964264573,0.0498539250662,0.999999964353,-5.52591938633e-05,-0.000255992125071,-5.20420014794e-05,1793251719227342848
+75,1.250000000,BASELINE,769.481341634,746.481341634,724,690,671,643,889,790,820,657,632.481341634,657,0.4009862206,-0.0153971081766,0.0498534524406,0.999999964065,-5.56693583894e-05,-0.000257060865654,-5.18679447761e-05,1793251719244009472
+76,1.266666667,BASELINE,769.097160819,746.097160819,724,690,671,643,888.902839181,790.097160819,820,657,632.097160819,657,0.400984962907,-0.0153976824605,0.049852865324,0.999999963756,-5.56892467548e-05,-0.000258280942902,-5.17429113831e-05,1793251719260676352
+77,1.283333333,BASELINE,769.689421575,746.689421575,724,690,671,643,888.310578425,790.689421575,820,657,632.689421575,657,0.400984051328,-0.0153976856222,0.0498521389116,0.999999963631,-5.33643637336e-05,-0.000259231261189,-5.18629566887e-05,1793251719277342976
+78,1.300000000,BASELINE,770,746.725853717,724,690,671,643,888,790.725853717,820,657,633,657,0.400984169835,-0.0153976053636,0.0498520893793,0.999999963655,-5.23068783312e-05,-0.000259349068065,-5.18818945313e-05,1793251719294009344
+79,1.316666667,BASELINE,770,746.149438171,724,690,671,643,888,790.149438171,820,657,633,657,0.400985424097,-0.015397433127,0.0498527861641,0.999999963849,-5.26468052214e-05,-0.000258548961249,-5.17893529111e-05,1793251719310675712
+80,1.333333333,BASELINE,770,746.425262894,724,690,671.425262894,643,888,790,820,657,633,657,0.400984903395,-0.0153964281671,0.0498522251047,0.99999996371,-5.23505633952e-05,-0.000259116359161,-5.19524674501e-05,1793251719327342336
+81,1.350000000,BASELINE,770,746.999363953,724,690,671.999363953,643,888,790,820,657,633,657,0.400983761471,-0.0153951317616,0.0498512238112,0.999999963452,-5.18316683014e-05,-0.00026016237129,-5.22050593242e-05,1793251719344008960
+82,1.366666667,BASELINE,770,747,724,690,671.410361934,643,888.589638066,790.589638066,820.589638066,657.589638066,633,657,0.400985210556,-0.0153953234558,0.0498519131378,0.999999963839,-5.06767215115e-05,-0.000258977837597,-5.18059798344e-05,1793251719360676096
+83,1.383333333,BASELINE,770,746.823474689,724,690.176525311,671,643,889,790.823474689,820.823474689,657.823474689,633,657,0.400986209919,-0.0153955422385,0.0498527059615,0.99999996416,-5.04336818111e-05,-0.000257831782137,-5.15676272083e-05,1793251719377343232
+84,1.400000000,BASELINE,770,746.244352578,724,690.755647422,671,643,889,790.244352578,820.244352578,657.244352578,633,657,0.400986177059,-0.0153958190369,0.049853730552,0.99999996433,-5.22720141842e-05,-0.000256779125071,-5.16974886277e-05,1793251719394010112
+85,1.416666667,BASELINE,769.668079459,746.331920541,724,690.668079459,671,643,889,790,820,657,633,657,0.400985951676,-0.0153962321721,0.0498538942918,0.999999964347,-5.2468298933e-05,-0.000256676381176,-5.16744439855e-05,1793251719410676736
+86,1.433333333,BASELINE,769.093885889,746.906114111,724,690.093885889,671,643,889,790,820,657,633,657,0.400985585769,-0.0153967448212,0.0498534296858,0.999999964254,-5.146603211e-05,-0.000257266991059,-5.15397912549e-05,1793251719427343104
+87,1.450000000,BASELINE,769.482448867,746.517551133,724,690,671.482448867,643,889,790,820,657,633,657,0.400985477877,-0.0153963706657,0.049852938112,0.999999964127,-5.07837858354e-05,-0.00025788551924,-5.16035283569e-05,1793251719444009472
+88,1.466666667,BASELINE,770,746.060521196,724,690,671.939478804,643,889,790,820,657,633,657,0.400985554988,-0.0153959008791,0.0498526525819,0.999999964053,-5.03556083625e-05,-0.00025823786481,-5.16884276837e-05,1793251719460676096
+89,1.483333333,BASELINE,770,746.65012468,724,690,671.34987532,643,889,790,820,657,633,657,0.400986808495,-0.0153961104657,0.0498542143885,0.999999964513,-5.16016677144e-05,-0.000256215508292,-5.16193166156e-05,1793251719477342464
+90,1.500000000,BASELINE,770,747,724,690,671,643,889,790,820,657,633.236982389,657,0.400987325244,-0.0153958421715,0.0498550698099,0.999999964757,-5.21953008174e-05,-0.000255140796262,-5.16225694514e-05,1793251719494009088
+91,1.516666667,BASELINE,770,747,724,690,671,643,889,790,820,657,633.819832679,657,0.400986766721,-0.0153948764262,0.0498548942855,0.999999964691,-5.18367394362e-05,-0.000255449139971,-5.17314350005e-05,1793251719510675712
+92,1.533333333,BASELINE,770,747,724,690,671,643,889,790,820,657,633.605002219,657,0.400985817574,-0.0153947845683,0.0498536950071,0.999999964329,-5.11999046955e-05,-0.000256943715845,-5.19748682426e-05,1793251719527343104
+93,1.550000000,BASELINE,770,747,724,690,671,643,889,790,820,657,633.033275555,657,0.400984693656,-0.0153950837029,0.0498520376833,0.999999963829,-5.04385655774e-05,-0.000258969032667,-5.22785094226e-05,1793251719544009984
+94,1.566666667,BASELINE,770,747,724,690.552546753,671,643,889,790,820,657,633,657,0.400985046208,-0.0153956196066,0.0498525837186,0.999999964057,-5.1051806242e-05,-0.000258007835433,-5.20754672972e-05,1793251719560676352
+95,1.583333333,BASELINE,770,747,724,690.861708646,671,643,889,790,820,657,632.861708646,657,0.400985289545,-0.0153961985122,0.0498530188593,0.999999964205,-5.15888913605e-05,-0.000257362026896,-5.18904983511e-05,1793251719577342976
+96,1.600000000,BASELINE,770,747,724,690.279012899,671,643,889,790,820,657,632.279012899,657,0.400984888703,-0.0153968685856,0.049852660066,0.999999963958,-5.1608267063e-05,-0.000258322829955,-5.18642315662e-05,1793251719594009344
+97,1.616666667,BASELINE,770,747,724,690,671,643,889,790,820,657,632.300219441,657,0.40098532105,-0.0153970560238,0.0498527661406,0.999999964004,-5.16191074719e-05,-0.000258159905315,-5.17835391191e-05,1793251719610675968
+98,1.633333333,BASELINE,770,747,724,690,671,643,889,790,820,657,632.87626969,657,0.400986518902,-0.0153968000339,0.0498532993192,0.999999964318,-5.16221059594e-05,-0.000256964540084,-5.16528423355e-05,1793251719627342592
+99,1.650000000,BASELINE,770,747,724,690,671.459716583,643,889,790,820,657,633,657,0.400985007299,-0.0153969190545,0.0498527511346,0.999999963921,-5.27437987411e-05,-0.000258271752693,-5.16812278617e-05,1793251719644009472
+100,1.666666667,BASELINE,770,747,724.044672813,690,671.955327187,643,889,790,820,657,633,657,0.400983004717,-0.0153970581779,0.0498519865782,0.999999963387,-5.39473678191e-05,-0.000260071515126,-5.17614296497e-05,1793251719660676352
+101,1.683333333,BASELINE,770,747,724.623483574,690,671.376516426,643,889,790,820,657,633,657,0.400983993475,-0.0153962111197,0.049852171748,0.999999963585,-5.24709930348e-05,-0.000259575354646,-5.19408709745e-05,1793251719677343232
+102,1.700000000,BASELINE,770,747,724.79747485,690,671,643,889,790,820,657,633,657,0.400984866691,-0.0153954880443,0.049852331705,0.999999963782,-5.1460063087e-05,-0.000258988062217,-5.20939448597e-05,1793251719694009856
+103,1.716666667,BASELINE,770,747,724.218003738,690,671,643,889,790,820,657,633,657,0.400985524854,-0.0153949957296,0.049852444735,0.999999963979,-5.13154333771e-05,-0.000258231152293,-5.21979428454e-05,1793251719710676224
+104,1.733333333,BASELINE,770,746.641029256,724,690,671,643,889,790,820,657,633,657,0.400985529055,-0.0153948019895,0.0498525492343,0.99999996408,-5.16599396831e-05,-0.00025778027841,-5.21652008278e-05,1793251719727342848
+105,1.750000000,BASELINE,770,746.065560455,724,690,671,643,889,790,820,657,633,657,0.400985138845,-0.0153947883218,0.0498526485888,0.999999964121,-5.22994477236e-05,-0.000257513977179,-5.2049989857e-05,1793251719744009472
+106,1.766666667,BASELINE,770,746.510848486,724,690,671,643,888.489151514,790,819.489151514,657,633,657,0.400985309655,-0.0153954492612,0.0498532528774,0.999999964184,-5.25905010831e-05,-0.000257216089058,-5.20252404476e-05,1793251719760676096
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.400984361783,-0.0153958789062,0.0498518569839,0.999999963569,-5.32798176383e-05,-0.000259488697695,-5.1845808521e-05,1793251719803157248
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.421769631,790,820,657,633,657,0.400985620756,-0.0153974224152,0.0498530354168,0.999999964025,-5.44535612011e-05,-0.000257540232024,-5.154802317e-05,1793251719819823616
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657,633.154821418,657,0.400986457822,-0.0153986426634,0.049853936131,0.999999964332,-5.54812552999e-05,-0.000256157179244,-5.1385425412e-05,1793251719836490240
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657,633.726993491,657,0.40098615756,-0.0153989915006,0.0498540882016,0.999999964251,-5.61152454774e-05,-0.000256298304306,-5.15872515262e-05,1793251719853156864
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657,633.690901009,657,0.400986479601,-0.0153983917258,0.0498542745497,0.999999964378,-5.48480898872e-05,-0.000256048001419,-5.1723008151e-05,1793251719869823232
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657,633.099730696,657,0.40098736953,-0.0153969262858,0.0498544921782,0.99999996469,-5.1846025006e-05,-0.000255440497101,-5.17984724015e-05,1793251719886489344
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746.518464222,724,690,671,643,888.481535778,790,820,657,633,657,0.400986584963,-0.0153966285654,0.0498534933308,0.999999964415,-5.14681297863e-05,-0.000256602420642,-5.17413249082e-05,1793251719903155712
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.060271714,724,690,671,643,888.939728286,790,820,657,633,657,0.400985639495,-0.0153964606693,0.049852461956,0.999999964072,-5.13436211516e-05,-0.000257970518898,-5.16830561107e-05,1793251719919822336
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.634566961,724,690,671,643,888.365433039,790,820,657,633,657,0.400986219885,-0.0153953789711,0.0498532585579,0.999999964173,-4.88383872767e-05,-0.00025803457177,-5.18447388385e-05,1793251719936488960
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657.207256521,633,657,0.400991678578,-0.0153955226761,0.0498552678001,0.999999965021,-4.85726577725e-05,-0.000254796310175,-5.17536881488e-05,1793251719953155584
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657.777136651,633,657,0.401005672529,-0.0153978103915,0.0498593987221,0.999999967121,-5.22252475139e-05,-0.000245780198053,-5.12204457823e-05,1793251719969822208
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.363607653,790,820,657.636392347,633,656.636392347,0.401037838949,-0.0154006038408,0.0498706498134,0.999999972544,-5.42659883203e-05,-0.000222452415851,-4.98226451324e-05,1793251719986489088
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.960733809,790,820,657.039266191,633,656.039266191,0.401081676212,-0.0154037220862,0.0498864736672,0.999999979289,-5.52715571955e-05,-0.00018993329749,-4.78696020701e-05,1793251720003155968
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,724.542479053,690,671,643,889,790,820,657,633,656.542479053,0.401148299997,-0.0154073161042,0.0499043128338,0.999999985604,-5.51963633318e-05,-0.00015375200366,-4.58940639334e-05,1793251720019822592
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.878427516,747,724.878427516,690,671,643,889,790,820,657,633,657,0.401218185784,-0.0154109533883,0.0499204971295,0.99999998991,-5.53581476222e-05,-0.000123194122885,-4.40306536523e-05,1793251720036488960
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.30516411,747,724.30516411,690,671,643,889,790,820,657,633,657,0.401294232186,-0.0154146270018,0.0499300058779,0.999999990933,-5.66830393835e-05,-0.00011448720564,-4.25897261488e-05,1793251720053155584
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.269112346,747,724.269112346,690,671,643,889,790,820,657,633,657,0.401377799906,-0.0154199085694,0.0499363778762,0.999999991745,-5.86492883526e-05,-0.000106663474149,-4.11467688308e-05,1793251720069822208
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.844541872,747,724.844541872,690,671,643,889,790,820,657,633,657,0.401469928764,-0.0154270203908,0.0499391794674,0.999999992346,-6.1345562212e-05,-9.98450295406e-05,-3.9701501164e-05,1793251720086489088
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,724.566487991,690.433512009,671,643,889,790.433512009,820,657,633,657,0.401579590306,-0.0154338627053,0.0499414932747,0.999999992608,-6.26433010553e-05,-9.68149442502e-05,-3.85620926285e-05,1793251720103156224
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,888.973321315,790.973321315,820,657,633,657,0.401696675726,-0.0154406187752,0.0499434619946,0.999999992725,-6.34579102881e-05,-9.54653343948e-05,-3.75460294353e-05,1793251720119823616
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,888.396960939,790.396960939,820,657,633,657,0.401833003402,-0.0154476533484,0.0499420408271,0.999999992229,-6.49845277358e-05,-9.9846925901e-05,-3.67386289923e-05,1793251720136489984
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,888.357045686,790,820,657,633,657,0.401978943881,-0.0154558264972,0.0499406854663,0.999999991661,-6.69634940564e-05,-0.000104453477341,-3.58239868115e-05,1793251720153156352
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,889.504133784,790,820,657,633,657,0.402146154792,-0.0154665189949,0.0499394757177,0.999999990951,-6.99433819318e-05,-0.000109557801725,-3.4672048715e-05,1793251720169822464
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.66420538,724,690.66420538,671,643,889.66420538,790,820,657,633,657,0.402330706522,-0.0154765450051,0.0499396043786,0.999999990721,-7.21869844786e-05,-0.000110599702089,-3.3382250711e-05,1793251720186489088
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.072723332,724,690.072723332,671,643,889.072723332,790,820,657,633,657,0.402528462261,-0.0154860635264,0.0499407521576,0.999999990869,-7.38699503012e-05,-0.000108548311186,-3.19874805489e-05,1793251720203155712
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746.507117116,724,690,671,643,889,790,820,657,633,657,0.40277986469,-0.0154974287292,0.0499484766367,0.999999992446,-7.22358003718e-05,-9.50771047992e-05,-2.9172979968e-05,1793251720219822336
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.403043448067,-0.0155085332066,0.0499572387231,0.999999994085,-6.95267843148e-05,-7.94662963146e-05,-2.61005123469e-05,1793251720236489216
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790,820,657,633,657,0.403333952165,-0.0155166361815,0.0499666687972,0.999999995895,-6.32949747562e-05,-6.07437379625e-05,-2.26875823234e-05,1793251720253156352
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.239804198,790,820,657,633,656.760195802,0.40363758737,-0.0155170756184,0.0499750359937,0.999999997702,-4.81275472409e-05,-4.34239961941e-05,-1.98539820188e-05,1793251720269822976
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.828102182,790,820,657,633,656.171897818,0.403960305247,-0.0155063780716,0.0499818585703,0.999999999245,-1.99744953938e-05,-2.81428889922e-05,-1.78622888026e-05,1793251720286489600
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,690.410107173,671,643,889.589892827,790,820,657,633,656.410107173,0.404314516055,-0.0155023975527,0.0499856521771,0.999999999699,8.48023956269e-07,-1.86976881937e-05,-1.58517935866e-05,1793251720303156224
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,690.989514284,671,643,889.010485716,790,820,657,633,656.989514284,0.404681727728,-0.0155011899494,0.0499881953681,0.999999999663,1.86443611972e-05,-1.16616594776e-05,-1.38335366014e-05,1793251720319822592
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,724,690.433745514,671,643,889,790,820,657,633,657,0.405083059801,-0.0155101131744,0.0499802686775,0.999999999172,2.99350317616e-05,-2.52331165917e-05,-1.11101134746e-05,1793251720336489216
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.142892962,747,724,690.142892962,671,643,889.142892962,790,820,657,633,657,0.405486897692,-0.015517224619,0.0499693326441,0.999999998016,4.26998140232e-05,-4.5468912255e-05,-8.79541904774e-06,1793251720353155584
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.719371809,747,724,690.719371809,671,643,889.719371809,790,820,657,633,657,0.405896430807,-0.0155182719315,0.0499498507756,0.999999994558,6.03013837115e-05,-8.47740923555e-05,-7.7603839182e-06,1793251720369822208
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.6982179,747,724,691,671,643,890,790.3017821,820.3017821,657,633.3017821,657,0.406332571237,-0.0155174559474,0.0499338680155,0.999999990276,8.15558545783e-05,-0.000112940777219,-6.3428688879e-06,1793251720386489088
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.110181288,747,724,691,671,643,890,790.889818712,820.889818712,657,633.889818712,657,0.406793950002,-0.0155148725391,0.0499212043221,0.999999985822,0.000106275276059,-0.000130542080269,-4.56255357197e-06,1793251720403156224
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,690.529078033,671,643,890,790.529078033,820.529078033,657,633.529078033,657,0.40732573764,-0.0155145355506,0.049924869305,0.999999983863,0.000133066679968,-0.000120688945573,-8.59606171861e-07,1793251720419823104
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,690.049944455,671,643.049944455,890,790,820,657,633,657,0.407880116808,-0.0155150741453,0.0499340770858,0.999999982004,0.000160253181769,-0.000101482857235,3.51788847767e-06,1793251720436489472
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,690.623909017,671,643.623909017,890,790,820,657,633,657,0.408501194726,-0.015519364866,0.049961937864,0.999999981264,0.000186572549566,-5.05628526798e-05,1.03215397654e-05,1793251720453156096
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724,690.801231457,671,643.801231457,890.198768543,790.198768543,820,657,633,657,0.409122577219,-0.0155231298732,0.0499837894604,0.999999977039,0.000213208567514,-1.37979172506e-05,1.65387575328e-05,1793251720469822720
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724,690.22467094,671,643.22467094,890.77532906,790.77532906,820,657,633,657,0.409744538569,-0.0155258956759,0.0499942196269,0.999999970851,0.000240446429919,-3.93699836505e-06,2.16413625662e-05,1793251720486489088
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724,690.360502458,671,643,891,790.639497542,820,657,633,657.360502458,0.410355864237,-0.0155279977159,0.0499888895136,0.999999963869,0.000266562142658,-2.35011539183e-05,2.5564908544e-05,1793251720503155456
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,690.951174899,671,643,891,790.048825101,820,657,633,657.951174899,0.410960399318,-0.0155296759633,0.049973496935,0.999999955054,0.000291961395164,-6.18523354159e-05,2.8735660524e-05,1793251720519822080
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,891.530924936,790,820.530924936,657,633,657.469075064,0.411626487483,-0.0155287770915,0.0499488532677,0.999999945156,0.000314019304893,-0.000100859879266,3.01137214282e-05,1793251720536489472
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,892,790,821,657,633.108870502,657,0.412324845982,-0.0155287437898,0.0499346912442,0.999999945052,0.000307779127165,-0.000118816763615,3.24220873235e-05,1793251720553156608
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,892,790,821,657,633.68330816,657,0.41313748462,-0.0155334050138,0.0499689170556,0.999999981614,0.000181814265915,-4.65009634078e-05,3.93995384939e-05,1793251720569823488
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,724,691.25844974,671,643,892.25844974,790.25844974,821.25844974,657,634,657,0.413921450515,-0.0155364445884,0.0499850462262,0.999999991277,0.000123778516477,-1.54693713704e-05,4.34289168465e-05,1793251720586490112
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724,691.834456304,671,643,892.834456304,790.834456304,821.834456304,657,634,657,0.41467018636,-0.0155374916452,0.0499789400848,0.99999998729,0.000149207155666,-3.51636177569e-05,4.38360040723e-05,1793251720603156736
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,724,691.578733062,671,643,893.421266938,791,822.421266938,657,633.578733062,657,0.4154236642,-0.0155422813874,0.0499558421693,0.99999999178,0.000102644984941,-7.22860782087e-05,2.60397388261e-05,1793251720619823104
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,724.012143016,691.012143016,671,643,894,791,823,657,633,657,0.416181277268,-0.0155485888963,0.0499269689107,0.999999992994,2.93136677653e-05,-0.000114677294343,1.58078572553e-06,1793251720636489472
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,724.589433472,691.589433472,671,643,894,791,823,657,633,657,0.417042340716,-0.0155552829491,0.0499482483566,0.999999995252,6.141846352e-05,-7.51466457648e-05,8.71853392601e-06,1793251720653156352
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,725,691.83367802,671,643,894.16632198,790.83367802,823,657,633,657,0.41791073356,-0.0155587399015,0.0499683226612,0.999999994688,9.36584843087e-05,-4.02639005981e-05,1.52077308079e-05,1793251720669822976
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,725,691.257779366,671,643,894.742220634,790.257779366,823,657,633,657,0.418797175379,-0.0155542253228,0.0499854292403,0.999999991689,0.000126231502234,-1.68268662093e-05,2.00998353641e-05,1793251720686489856
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.675395216,747,725,691.324604784,671,643,895.324604784,790,823.324604784,657,633,657.324604784,0.419656052294,-0.0155505996483,0.0499809330399,0.999999989086,0.000144030585464,-2.44924003441e-05,2.19848408023e-05,1793251720703156480
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.087755749,747,725,691.912244251,671,643,895.912244251,790,823.912244251,657,633,657.912244251,0.420492592692,-0.0155476942737,0.0499589316123,0.999999986896,0.000149858009791,-5.73610585389e-05,2.1433124784e-05,1793251720719823104
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746.507045458,725,692,671,643,896,790,824.492954542,657,633.492954542,657.507045458,0.421441802517,-0.0155518442266,0.049982480168,0.999999987803,0.000154215718487,-4.66174474542e-06,2.42652226608e-05,1793251720736489472
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.071958488,746.071958488,725,692,671,643,896,790,825,657,634,657,0.422402546305,-0.0155563808697,0.0500089334205,0.999999985879,0.000157576855355,5.17175450675e-05,2.71284882305e-05,1793251720753156096
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.647533395,746.647533395,725,692,671,643,896,790,825,657,634,657,0.423305582355,-0.0155549553877,0.0499997512775,0.999999987116,0.000155769030057,2.87196964763e-05,2.6052399288e-05,1793251720769822976
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,724.776315461,692.223684539,671,643,896.223684539,790,825.223684539,657,634,657.223684539,0.42423322917,-0.0155550180506,0.0499924656197,0.999999987859,0.000153091605564,1.35999878697e-05,2.57096009868e-05,1793251720786489600
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,724.199253887,692.800746113,671,643,896.800746113,790,825.800746113,657,634,657.800746113,0.42519975623,-0.0155574316859,0.0499881760292,0.999999988482,0.0001490403873,1.09261683772e-05,2.65252557532e-05,1793251720803155968
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,747,724,693,671,643,897,790,826,657,633.61498888,658,0.426140875867,-0.0155605575229,0.0499958234292,0.999999987403,0.000155662770633,1.15442968207e-05,2.88167060105e-05,1793251720819823104
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,747,724,693,671,643,897,790,826,657,633.026924854,658,0.427068595701,-0.0155640589713,0.0500097663376,0.999999985297,0.000167914357377,1.38985820194e-05,3.18864832501e-05,1793251720836489984
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.445381868,747,724,692.445381868,671,643.554618132,897.554618132,790,826,657,633.554618132,658,0.427968494687,-0.0155567280783,0.0499761624346,0.999999982301,0.000178729678419,-5.08838297551e-05,2.94031803452e-05,1793251720853156608
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.128193958,692.128193958,671,643.871806042,898,789.871806042,826.128193958,657,634,658,0.428888623899,-0.0155507528363,0.0499507202011,0.999999978295,0.000183424673662,-9.49270431031e-05,2.74461779466e-05,1793251720869822976
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.676675054,692.676675054,671,643.323324946,898,789.323324946,826.676675054,657,634,658,0.429879454923,-0.0155509261862,0.0499595158841,0.999999983621,0.000168279968936,-6.04148712908e-05,2.80882306471e-05,1793251720886489344
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643.247904466,898.247904466,789,827,657,634,658,0.430862190264,-0.0155501670783,0.0499595215171,0.999999984539,0.000166045322771,-5.07046031317e-05,2.79150041517e-05,1793251720903155712
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643.851800479,898.851800479,789,827,657,634,658,0.431833300094,-0.015548068958,0.0499469046114,0.999999980087,0.000182349560425,-7.66099451492e-05,2.65710342865e-05,1793251720919822336
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643.552087402,899,789,827.447912598,657,633.552087402,658,0.432788887766,-0.015545730362,0.0499456038382,0.999999977717,0.000196411919196,-7.25097636407e-05,2.70471363198e-05,1793251720936488704
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,899,789,828,657,633.040301585,658,0.433740358613,-0.0155434487944,0.049949825651,0.999999976363,0.000207903919016,-5.702357598e-05,2.82509621031e-05,1793251720953155584
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,899,789,828,657,633.616833975,658,0.434704218737,-0.0155429665903,0.0499785614962,0.999999980321,0.000194897036544,-1.9879485921e-05,3.1261777919e-05,1793251720969822464
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.196276503,747,725,693.196276503,671.196276503,643.196276503,899.196276503,789.196276503,827.803723497,657,633.803723497,658,0.435636187965,-0.0155415161471,0.0499865187829,0.999999981545,0.000188085206219,-2.16773933088e-05,3.26082468848e-05,1793251720986489600
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.781485734,747,725,693.781485734,671.781485734,643.781485734,899.781485734,789.781485734,827.218514266,657,633.218514266,658,0.436504963791,-0.0155381470849,0.0499533022139,0.999999975735,0.000193549211123,-0.000100641011879,3.06567211663e-05,1793251721003156224
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.273621803,747,725,694,672,644,900,789.636810901,827.363189099,657,633.363189099,658,0.437437576296,-0.0155409074662,0.0499534366471,0.999999975421,0.000199323962595,-9.1978030045e-05,3.10972041026e-05,1793251721019822592
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.114393447,747,725,694,672,644,900,789.057196724,827.942803276,657,633.942803276,658,0.438408229146,-0.015547320395,0.0499734450083,0.999999977902,0.000205283888111,-3.10981844962e-05,3.29630896776e-05,1793251721036489216
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.521289931,747,725,693.478710069,672,643.478710069,900,789,828,657,634,658,0.439313270777,-0.0155466559405,0.0499775294806,0.999999976595,0.000212025159723,-2.71695994265e-05,3.34366502841e-05,1793251721053155840
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,693,672,643,900,789,828,657,634,658,0.440205452486,-0.0155459477198,0.0499788497726,0.999999975999,0.000214415582231,-2.96767422735e-05,3.38850601522e-05,1793251721069822464
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,693,672,643,900,789,828,657,634,658,0.441070365628,-0.0155487515253,0.0499752665859,0.999999979731,0.00019549461662,-3.31467305433e-05,3.49449292209e-05,1793251721086489088
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,725,693.25460183,672,643,900.25460183,789,828,657,634,658,0.441940327726,-0.0155512181018,0.0499824964804,0.999999981563,0.000187805902198,-1.77525370121e-05,3.58747050708e-05,1793251721103155968
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,725,693.842348808,672,643,900.842348808,789,828,657,634,658,0.442816896287,-0.0155532434158,0.0500038752346,0.999999980103,0.000194814530443,2.23253390128e-05,3.6634254519e-05,1793251721119822592
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.423790499,725,694,672,643,901,789,828,657,634,658,0.44361570942,-0.0155515191391,0.049994971287,0.999999979153,0.00020108056827,-4.02312391077e-07,3.55016136858e-05,1793251721136489472
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.997099297,747.997099297,725,694,672,643,901.002900703,789,828,657,634,658,0.444386049436,-0.0155484196303,0.0499749557649,0.999999976954,0.000206984444307,-4.59969914501e-05,3.36745298767e-05,1793251721153156096
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.422001168,747.422001168,725,694,672,643,901.577998832,789,828,657,634,658,0.445161912291,-0.0155451577443,0.0499526760824,0.999999978588,0.000195141441648,-6.11579161976e-05,3.16773542048e-05,1793251721169822720
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.15260597,747,725,694,672.15260597,643,901.84739403,789,828,657,634,658,0.445939533697,-0.0155440435999,0.0499425773066,0.99999998048,0.000186042369559,-5.89128455706e-05,3.09327697011e-05,1793251721186489088
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,725,694,673,643,901.309590442,789,828,657,634,658,0.447455325144,-0.0155480019834,0.0499649705671,0.999999980744,0.000193164051214,-5.7606486355e-06,3.41488440453e-05,1793251721219822080
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,725,694,673,643,901.902922984,789,828,657,634,658,0.448143604595,-0.0155419729018,0.0499413765583,0.999999976106,0.00021116324119,-4.61780235138e-05,3.2640394525e-05,1793251721236488960
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673,643.638075066,901.638075066,789,828.638075066,657,633.638075066,658,0.450134867633,-0.0155441541684,0.0499557736828,0.999999970401,0.000236993087107,-3.92803284349e-05,3.86035307996e-05,1793251721286489600
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+256,4.266666667,HOLD_POSE2,768.78197647,748,725,692.21802353,673,642.78197647,903,789,829,657,633,658.21802353,0.458737839916,-0.0155419520539,0.0498680286303,0.999999964597,0.000174467086039,-0.000199905876612,2.0138966706e-05,1793251722308352768
+257,4.283333333,HOLD_POSE2,768.205479498,748,725,692.794520502,673,642.205479498,903,789,829,657,633,658.794520502,0.458739584378,-0.015541142086,0.0498690195299,0.99999996485,0.000173869180464,-0.000199175691339,1.9986049041e-05,1793251722325019392
+258,4.300000000,HOLD_POSE2,768.3688751,747.6311249,725,692.6311249,673,642,903,789,829,657,633,659,0.458739850624,-0.0155412828883,0.0498690011843,0.999999964819,0.000173738602203,-0.000199429383684,2.01202610535e-05,1793251722341685760
+259,4.316666667,HOLD_POSE2,768.942043244,747.057956756,725,692.057956756,673,642,903,789,829,657,633,659,0.458739298193,-0.0155419502529,0.0498684238916,0.999999964631,0.000173866842442,-0.000200227974099,2.04134932628e-05,1793251722358352128
+260,4.333333333,HOLD_POSE2,769,747.532128254,725,692.532128254,673,642.532128254,903,788.467871746,829,657,633,658.467871746,0.458737665226,-0.0155411544306,0.0498671245193,0.999999963928,0.000176200107803,-0.000201682850705,2.05542329042e-05,1793251722375018752
+261,4.350000000,HOLD_POSE2,769,747.878407403,725,693,673,642.878407403,903,788.121592597,829,657,633,658,0.458736109927,-0.0155405917233,0.0498660297323,0.999999963381,0.000177565885293,-0.000203187891658,2.05880765891e-05,1793251722391685376
+262,4.366666667,HOLD_POSE2,769,747.298456169,725,693,673,642.298456169,903,788.701543831,829,657,633,658,0.458735305606,-0.0155415282363,0.0498660123526,0.999999963664,0.00017434955536,-0.000204603735844,2.02836269597e-05,1793251722408351744
+263,4.383333333,HOLD_POSE2,768.721500212,747,725,692.721500212,673,642,902.721500212,788.721500212,829,657,633,658,0.458735781116,-0.0155424444078,0.0498667624633,0.999999964063,0.000173188595906,-0.00020363182853,2.03271863152e-05,1793251722425018368
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,643,903,789,829,657,633,658,0.458738223587,-0.0155416944765,0.0498667933589,0.999999964516,0.000173148256609,-0.00020140272658,2.06269521429e-05,1793251722474358016
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,643,902.418986149,789,829,657,633,658.581013851,0.458738083995,-0.0155426807391,0.0498665161046,0.999999964721,0.000171276090256,-0.000201986863322,2.05813456778e-05,1793251722491023872
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.838932719,748,725,692.838932719,673.838932719,642.838932719,902,789,829,657,633,658.838932719,0.458737935072,-0.0155427047182,0.0498661571572,0.999999964662,0.000171063187686,-0.000202478975308,2.04069042191e-05,1793251722507689728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.261362705,748,725,692.261362705,673.261362705,642.261362705,902,789,829,657,633,658.261362705,0.45873776202,-0.0155402403353,0.0498655869597,0.999999963914,0.00017514096307,-0.000202733121259,1.98993092607e-05,1793251722524356352
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.313652235,748,725,692.313652235,673,642.313652235,902.313652235,789,829,657,633,658,0.458737936682,-0.0155392749882,0.0498663224332,0.999999963685,0.000177162645588,-0.000202115158419,1.98348385368e-05,1793251722541022976
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.886555233,748,725,692.886555233,673,642.886555233,902.886555233,789,829,657,633,658,0.458738398748,-0.0155395486766,0.0498681371152,0.999999963891,0.000177484854424,-0.000200776349852,2.01366343088e-05,1793251722557689344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.526727929,748,725,693,673,642.526727929,903,789,829,657,633,658,0.45873733111,-0.0155397486948,0.049866786843,0.999999963795,0.000176307229425,-0.000202267044098,2.03640495076e-05,1793251722574356224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747.937769546,725,693,673,642,903,789,829.062230454,657,633,658,0.458735518147,-0.0155399815375,0.0498646805694,0.999999963577,0.000174822339373,-0.00020460236646,2.0513445683e-05,1793251722591022848
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747.358525137,725,693,673,642,903,789,829.641474863,657,633,658,0.458730650923,-0.01554063821,0.0498627857941,0.999999963019,0.000173861344364,-0.000208150631405,2.01672355045e-05,1793251722607689984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747.2190874,725,693,673,642.2190874,903,789,829.7809126,657,633,658,0.458720300233,-0.0155403087208,0.0498580265005,0.999999961504,0.000173300286486,-0.000215825886718,1.94592296974e-05,1793251722624356608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.794049153,725,693,673,642.794049153,903,789,829.205950847,657,633,658,0.458701042483,-0.015538377361,0.0498486142303,0.999999958306,0.000173388866073,-0.000230204813436,1.81635416331e-05,1793251722641023232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747.624952859,725,692.624952859,673,643,902.624952859,789,829,657,633,658,0.458666264605,-0.0155367605975,0.0498328108718,0.999999951919,0.000174388609896,-0.000255865711037,1.68152352706e-05,1793251722657689600
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.040585898,725,692.040585898,673,643,902.040585898,789,829,657,633,658,0.458622824693,-0.0155353194151,0.0498134405435,0.99999994299,0.00017589688896,-0.000287823258568,1.54375616584e-05,1793251722674355968
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.276532406,748,725,693,673,642,902.723467594,789,829,657.723467594,633,658,0.458322763595,-0.0155166850994,0.0497468292913,0.999999914306,0.000177454510401,-0.000373968037191,6.75085996442e-06,1793251722741023232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.850819065,748,725,693,673,642,902.149180935,789,829,657.149180935,633,658,0.458232811198,-0.015511192408,0.0497432565986,0.999999912139,0.000181411277323,-0.000377846868046,6.53746537658e-06,1793251722757689856
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.8127968,747.8127968,725,693,673,643,902.8127968,789,829,657,633,658.8127968,0.457721985992,-0.0154809450991,0.0497443641568,0.999999909806,0.000196209394261,-0.000376662145101,3.91992971652e-06,1793251722824356864
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.239390385,747.239390385,725,693,673,643,902.239390385,789,829,657,633,658.239390385,0.457550245179,-0.0154703616115,0.0497438850431,0.999999907091,0.000202294114601,-0.000380637564192,3.08737684251e-06,1793251722841022976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.335619023,725,693,673,642.664380977,902,789.335619023,829,657,633,658,0.457354163553,-0.015458522784,0.0497419167019,0.999999902871,0.000208160314854,-0.000388487185365,2.00269822896e-06,1793251722857689600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747.911777358,725,693,673,642.088222642,902,789.911777358,829,657,633,658,0.457140636766,-0.015445784249,0.0497388810262,0.999999897484,0.000213869901615,-0.000399113460933,7.37320140702e-07,1793251722874356480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.49795252,747.50204748,725,692.50204748,673,642.49795252,902,789.50204748,829,657,633,658,0.456910103693,-0.0154373350576,0.0497396519668,0.999999896794,0.000215597025258,-0.000399911620179,2.31449062045e-07,1793251722891023360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.08523955,725,692,673,642.91476045,902,789,829,657,633,658,0.456670621078,-0.015429483166,0.0497414584516,0.999999897021,0.000216293782033,-0.000398966559505,-3.45127277836e-07,1793251722907689984
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.668441841,725,692,673,642.331558159,902,789,829,657,633,658,0.45639681901,-0.015420589964,0.049745293707,0.999999897558,0.000215177756201,-0.000398218846821,-2.13699951985e-06,1793251722924356608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.753092452,748,725,692.246907548,673,642.246907548,902,789,829,657,633,658,0.45610039465,-0.0154137307888,0.0497469524196,0.999999899076,0.000210580235976,-0.000396845843038,-4.1349591757e-06,1793251722941023488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.18086755,748,725,692.81913245,673,642.81913245,902,789,829,657,633,658,0.455774163913,-0.0154095515817,0.0497457433902,0.999999901825,0.000201395612018,-0.000394648976059,-6.4044527978e-06,1793251722957690112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.403475173,748,725,692.596524827,673.403475173,643,902,789,829,657,633.403475173,658,0.455430195441,-0.0154092546314,0.0497422981857,0.999999902874,0.000190219328397,-0.000397493501279,-8.18705293967e-06,1793251722974356480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.993418183,748,725,692.006581817,673.993418183,643,902,789,829,657,633.993418183,658,0.455078029406,-0.0154107518833,0.049737819523,0.999999903018,0.000178122590675,-0.000402667928244,-9.7446330393e-06,1793251722991023104
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,673.894056074,643,902,790,828.105943926,657,634,658,0.452955600885,-0.0153922775077,0.0498128367581,0.999999949318,0.000134062601966,-0.000288424162944,-1.42252534301e-05,1793251723074357504
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.632316996,747,725,693,673.632316996,643,900.632316996,789,828,657,634,658,0.451253349512,-0.0153826429828,0.0497784087716,0.999999930839,8.62733352266e-05,-0.000360961213073,-2.41935112333e-05,1793251723124357888
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,725,692.407145392,672.407145392,643,899,789.407145392,827.592854608,657,633,657.592854608,0.442665482892,-0.0153612879083,0.0497615891452,0.999999928485,2.85577114346e-05,-0.000371605097943,-6.42186927531e-05,1793251723324356096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.169910223,747,725,692.169910223,672,643,898.830089777,789,827.830089777,657,633,657.830089777,0.44182537079,-0.0153603170897,0.0497559044315,0.999999925933,-6.22669773266e-07,-0.000378874967246,-6.77278620772e-05,1793251723341022464
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,747,724.676991926,692.676991926,672,643,898,789.323008074,827,657,633,657,0.440144220888,-0.0153647767983,0.0498011031656,0.999999952953,-5.80263854672e-05,-0.000292708305318,-7.10594166854e-05,1793251723374355968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,747,724.100375063,692.100375063,672,643,898,789.899624937,827,657,633,657,0.439247516825,-0.0153627854761,0.0498186749688,0.999999958098,-7.52071512565e-05,-0.000269768492582,-7.33001110096e-05,1793251723391022848
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,746.442359838,724,692,672,643,894.557640162,790.442359838,825,657,633,657,0.43177572221,-0.0153439136256,0.0497945871873,0.999999945782,3.63215740968e-05,-0.000323321403264,-5.0785584444e-05,1793251723524356096
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,746,724.712798132,692,672,643,894.287201868,790.712798132,824.287201868,657,633,657,0.429836024094,-0.0153502759703,0.049776348236,0.999999933409,-1.57173027502e-05,-0.000359887546897,-5.84440040828e-05,1793251723557689344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.71325227,746.28674773,724.71325227,691.71325227,671.71325227,643,894,791,824,657,633,657,0.428863274429,-0.0153498867312,0.0497620743252,0.999999924965,-9.24757575696e-06,-0.000382488268482,-6.07269793343e-05,1793251723574356224
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,892,791,820,657.171727714,633,657,0.416944668013,-0.0153513347575,0.0497575627047,0.99999991581,-1.52067852098e-05,-0.000404959143339,-6.44687850367e-05,1793251723791023104
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,746.067854984,724,691,672,643,890.932145016,790.932145016,820,657,633,657,0.410263222114,-0.0153632951954,0.0498159720172,0.999999948714,-6.11699556453e-05,-0.00030843040664,-6.08314396592e-05,1793251723941024000
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,724.101472658,690.898527342,671,643,889,790,820,657.898527342,633,657,0.400992351877,-0.0153937572255,0.0498529913848,0.99999996541,-1.97236918385e-05,-0.000257907304004,-4.77046225871e-05,1793251724741022720
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,747,724.078608913,690.921391087,671,643,889,790,820,657,633,657,0.400991837952,-0.0153939397257,0.0498529077061,0.999999965255,-2.17802892155e-05,-0.000258295231911,-4.79509405048e-05,1793251724774356224
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,724.658007645,690.341992355,671,643,889,790,820,657,633,657,0.4009908064,-0.0153939818336,0.0498524839959,0.999999965012,-2.1975848901e-05,-0.000259181234355,-4.81462224684e-05,1793251724791023360
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,747,724.608246944,690,671.608246944,643,889,790,820,657,633,657,0.400990052856,-0.0153936876638,0.0498529879532,0.999999964885,-2.3651102711e-05,-0.000259520818384,-4.81645999449e-05,1793251724841024000
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,769.283927481,746.283927481,724.716072519,690,671.283927481,643,889,790,820.283927481,657.716072519,633,657,0.40099132898,-0.0153945928704,0.0498541962808,0.999999965841,-2.18768490783e-05,-0.000256039107258,-4.77766614159e-05,1793251724907689472
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0586047b1518d33348d77592a7bb9c04024b282d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.585754928938,-0.00999486573389,1.04002093757,0.556326273042,-0.00132245494413,1.03963231545
+393,6.550000000,pose2_to_pose3_retreat,0.585754200467,-0.00999487273794,1.0400210069,0.55632554474,-0.00132246143638,1.03963238335
+394,6.566666667,pose2_to_pose3_retreat,0.58575377596,-0.00999487681947,1.0400210473,0.556325120331,-0.00132246521966,1.03963242293
+395,6.583333333,pose2_to_pose3_retreat,0.585753437287,-0.00999488007572,1.04002107953,0.556324781737,-0.00132246823797,1.0396324545
+396,6.600000000,pose2_to_pose3_retreat,0.585753156899,-0.00999488277158,1.04002110621,0.556324501415,-0.00132247073683,1.03963248063
+397,6.616666667,pose2_to_pose3_retreat,0.585752932721,-0.009994884927,1.04002112755,0.556324277288,-0.00132247273475,1.03963250153
+398,6.633333333,pose2_to_pose3_retreat,0.585752833638,-0.00999488587965,1.04002113698,0.556324178228,-0.00132247361779,1.03963251077
+399,6.650000000,pose2_to_pose3_retreat,0.585752755154,-0.00999488663425,1.04002114445,0.556324099763,-0.00132247431725,1.03963251808
+400,6.666666667,pose2_to_pose3_retreat,0.585752620319,-0.00999488712368,1.04002114678,0.556323964881,-0.00132247497735,1.03963252007
+401,6.683333333,pose2_to_pose3_retreat,0.585752503871,-0.00999488568965,1.04002112464,0.556323848217,-0.0013224743014,1.03963249745
+402,6.700000000,pose2_to_pose3_retreat,0.585752491473,-0.00999488553698,1.04002112228,0.556323835796,-0.00132247422943,1.03963249504
+403,6.716666667,pose2_to_pose3_retreat,0.585752362178,-0.00999488394474,1.0400210977,0.55632370626,-0.0013224734789,1.03963246992
+404,6.733333333,pose2_to_pose3_retreat,0.585752070839,-0.00999488035699,1.0400210423,0.556323414379,-0.00132247178773,1.03963241331
+405,6.750000000,pose2_to_pose3_retreat,0.58575186291,-0.00999487779639,1.04002100276,0.556323206062,-0.00132247058074,1.03963237291
+406,6.766666667,pose2_to_pose3_retreat,0.585751839876,-0.00999487751274,1.04002099838,0.556323182986,-0.00132247044704,1.03963236843
+407,6.783333333,pose2_to_pose3_retreat,0.585751755373,-0.00999487647211,1.04002098232,0.556323098326,-0.00132246995651,1.03963235201
+408,6.800000000,pose2_to_pose3_retreat,0.585751676541,-0.00999487550131,1.04002096733,0.556323019347,-0.0013224694989,1.0396323367
+409,6.816666667,pose2_to_pose3_retreat,0.585751481372,-0.00999487309786,1.04002093022,0.556322823815,-0.00132246836599,1.03963229877
+410,6.833333333,pose2_to_pose3_retreat,0.585751266224,-0.00999485287915,1.04002091883,0.556322608479,-0.00132244868245,1.03963228972
+411,6.850000000,pose2_to_pose3_retreat,0.585751192639,-0.00999484557336,1.0400209156,0.556322534833,-0.00132244154047,1.03963228735
+412,6.866666667,pose2_to_pose3_retreat,0.585750966455,-0.00999482311714,1.04002090565,0.556322308466,-0.00132241958774,1.03963228008
+413,6.883333333,pose2_to_pose3_retreat,0.585750809772,-0.00999492053359,1.04002102789,0.556322153999,-0.00132250948021,1.0396324025
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7aac7337264fafcc8c6168db8f9cdf8a39e7248b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a288505dac2f3da205ebb87e2c495d6a6166967348605a6cc8885e197ca4d15
+size 26345830
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f55beca339ae4534955932d42f6562c81b7c5408
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
+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,770,747,725,690,671,643,888,790,820,657,633,657,0.400991694092,-0.0153948285199,0.0498546423585,0.999999966503,-2.21504562719e-05,-0.000253351514104,-4.81235133072e-05,1793251725060186880
+1,0.016666667,BASELINE,770,747,724.403461759,690.596538241,671,643,888.596538241,790,820,657,633,657,0.400990865155,-0.0153939401917,0.0498546082849,0.999999966102,-2.40586693987e-05,-0.000254690176022,-4.84817859929e-05,1793251725076853504
+2,0.033333333,BASELINE,770,747,724,690.812472067,671,643,889,790,820,657,633,657,0.400990137641,-0.0153933277197,0.0498544253818,0.99999996578,-2.48417474371e-05,-0.000255852009131,-4.861299557e-05,1793251725093520128
+3,0.050000000,BASELINE,770,747,724,690.233076779,671,643,889,790,820,657,633,657,0.400989622065,-0.0153932916898,0.0498539314773,0.999999965631,-2.32736896267e-05,-0.000256644332535,-4.82697232598e-05,1793251725110186496
+4,0.066666667,BASELINE,770,747,724,690.34322122,671,643,889,790,820,657,633,657,0.400989640664,-0.0153940521459,0.0498538076204,0.999999965621,-2.25003850641e-05,-0.000256781085419,-4.81080590399e-05,1793251725126853120
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+6,0.100000000,BASELINE,770,747,724,690.497156488,671,643,889,790,820,657,633,657,0.400990845545,-0.0153951048947,0.0498547947653,0.999999966223,-2.23356248122e-05,-0.000254463763478,-4.80005357715e-05,1793251725160186368
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+8,0.133333333,BASELINE,769.328373764,747,724.671626236,690,671,643,888.328373764,790.671626236,820,657,633,657,0.400991185826,-0.0153945447799,0.0498548397274,0.999999966288,-2.16661179082e-05,-0.000254273281129,-4.79532766835e-05,1793251725193519872
+9,0.150000000,BASELINE,769.250401366,747,724.749598634,690,671,643,888.250401366,790.749598634,820,657,633,657,0.400991016579,-0.0153949632333,0.0498546438916,0.999999966083,-2.21571613849e-05,-0.000255063772795,-4.78138501688e-05,1793251725210186496
+10,0.166666667,BASELINE,769.824662988,747,724.175337012,690,671,643,888.824662988,790.175337012,820,657,633,657,0.400991103172,-0.0153960740539,0.0498550799597,0.999999966092,-2.41536785237e-05,-0.000254907312266,-4.74778944442e-05,1793251725226853120
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+12,0.200000000,BASELINE,770.976705873,746.023294127,724,690,671,643,889,790,820,657,632.023294127,657,0.400989104495,-0.0153954252127,0.0498546762732,0.999999965945,-2.51008238428e-05,-0.000255320995303,-4.78648712919e-05,1793251725260186368
+13,0.216666667,BASELINE,770.432881776,746.567118224,724,690,671,643,889,790,820,657,632.567118224,657,0.400991170225,-0.0153978347268,0.0498558683588,0.999999966345,-2.79206270715e-05,-0.000253531066915,-4.7461437795e-05,1793251725276853248
+14,0.233333333,BASELINE,770,747,724,690.154538562,671,643,889,790,820,657,633,657,0.400992693528,-0.0153990238187,0.0498565870743,0.999999966601,-2.89711016966e-05,-0.00025244348953,-4.72297255019e-05,1793251725293519872
+15,0.250000000,BASELINE,770,747,724,690.732145206,671,643,889,790,820,657,633,657,0.400992355886,-0.0153965267956,0.0498558358984,0.999999966425,-2.48756467306e-05,-0.000253516474193,-4.75479498134e-05,1793251725310186240
+16,0.266666667,BASELINE,770.308562085,747,724,690.691437915,671,643,889,790,820,657,633,657,0.400991631078,-0.0153957504845,0.0498550954216,0.999999966178,-2.41667254351e-05,-0.000254514492156,-4.77812062467e-05,1793251725326853632
+17,0.283333333,BASELINE,770.883950092,747,724,690.116049908,671,643,889,790,820,657,633,657,0.400990571472,-0.0153964621418,0.049854364197,0.999999965876,-2.63862749141e-05,-0.000255447683364,-4.79409875532e-05,1793251725343521536
+18,0.300000000,BASELINE,770.543705165,747,724,690,671,643,889,790.456294835,820.456294835,657,633,657,0.400990082276,-0.0153960386114,0.0498542084954,0.999999965769,-2.53122573214e-05,-0.000256002792175,-4.77915382782e-05,1793251725360188416
+19,0.316666667,BASELINE,770,747,724.02902313,690.02902313,671,643,889,790.97097687,820.97097687,657,633,656.97097687,0.400989775882,-0.0153953568322,0.0498542084629,0.999999965728,-2.3541765898e-05,-0.000256369525764,-4.75872061463e-05,1793251725376855040
+20,0.333333333,BASELINE,770,747,724.624233099,690.624233099,671,643,889,790.375766901,820.375766901,657,633,656.375766901,0.400990224258,-0.0153952320438,0.0498544086888,0.999999966064,-2.44172104725e-05,-0.000254924847447,-4.78363012253e-05,1793251725393521664
+21,0.350000000,BASELINE,770,747,724.786645577,691,671,643,888.786645577,790,820,657,633,656.213354423,0.4009905892,-0.0153949683596,0.0498546655009,0.999999966331,-2.43924776798e-05,-0.000253851992761,-4.7988006585e-05,1793251725410188032
+22,0.366666667,BASELINE,770,747,724.207950301,691,671,643,888.207950301,790,820,657,633,656.792049699,0.400990811273,-0.0153944668349,0.0498550192091,0.999999966479,-2.28263117121e-05,-0.000253415836359,-4.79729450786e-05,1793251725426854400
+23,0.383333333,BASELINE,770,746.632791418,724,690.632791418,671.367208582,643,888.367208582,790,820,657,633,657,0.40098991611,-0.015394902694,0.0498543493391,0.999999966123,-2.33270592751e-05,-0.000254797119918,-4.78335185764e-05,1793251725443520768
+24,0.400000000,BASELINE,770,746.059616039,724,690.059616039,671.940383961,643,888.940383961,790,820,657,633,657,0.40098839429,-0.0153958643303,0.0498531053456,0.999999965478,-2.49871356935e-05,-0.00025719780305,-4.76243359149e-05,1793251725460187136
+25,0.416666667,BASELINE,770,746,724,690,671.47263272,643,889,790,820,657,633,657,0.400988758918,-0.0153965806691,0.0498540530168,0.999999965835,-2.58819579572e-05,-0.000255743316859,-4.74951835682e-05,1793251725476853760
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+27,0.450000000,BASELINE,770,746.696431592,724,690,671.696431592,643,889,790,820,657.696431592,633,657,0.400988519457,-0.0153955331404,0.0498547162757,0.999999966076,-2.59195077175e-05,-0.000254722178183,-4.78929234269e-05,1793251725510186752
+28,0.466666667,BASELINE,770,746.725016126,724,690,672,643,889,790,820,658,633.274983874,657,0.400988119693,-0.0153946985019,0.0498543401533,0.999999965982,-2.48992925393e-05,-0.000255136741266,-4.81868680163e-05,1793251725526853888
+29,0.483333333,BASELINE,770,746.150020905,724,690,672,643,889,790,820,658,633.849979095,657,0.400987929185,-0.0153944114801,0.049853828948,0.999999965908,-2.33216820724e-05,-0.000255542248716,-4.8351261992e-05,1793251725543520768
+30,0.500000000,BASELINE,770,746.422926337,724,690,671.577073663,643,889,790,820,657.577073663,633.577073663,656.577073663,0.400990418398,-0.0153947758962,0.0498550220635,0.99999996655,-2.20507298692e-05,-0.000253176056212,-4.81183437469e-05,1793251725560187136
+31,0.516666667,BASELINE,770,746.995150605,724,690,671.004849395,643,889,790,820,657.004849395,633.004849395,656.004849395,0.400993853583,-0.0153953702774,0.0498568168243,0.999999967434,-2.08880316451e-05,-0.000249831421269,-4.77451696473e-05,1793251725576853504
+32,0.533333333,BASELINE,770,746.41059805,724,690,671,643,889,790,820,657,633,656.58940195,0.400993602462,-0.0153958596831,0.0498571231208,0.999999967416,-2.26452436321e-05,-0.000249722170883,-4.78969527626e-05,1793251725593520384
+33,0.550000000,BASELINE,770,746,724,690,671,643,889,790,820,657,633,657,0.400993014242,-0.015396298146,0.0498571808909,0.999999967303,-2.41600497188e-05,-0.000250033981079,-4.78810808533e-05,1793251725610186752
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+36,0.600000000,BASELINE,770,746.905663578,724,690,671,643,889,790,820,657,633,657,0.40099072245,-0.0153952623483,0.0498554362232,0.999999966556,-2.42805395856e-05,-0.000252937092667,-4.8173082484e-05,1793251725660186880
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+39,0.650000000,BASELINE,770,747,724,690.340362704,671,643,888,790.659637296,820,657,633,657,0.400990987981,-0.0153957496994,0.0498558008638,0.999999966662,-2.53138980879e-05,-0.000252464983292,-4.79190867047e-05,1793251725710186752
+40,0.666666667,BASELINE,770,747,724,690,671.237776234,643,888,791,820,657,633,657,0.400991255026,-0.0153957158697,0.0498565886463,0.999999966893,-2.51803399929e-05,-0.000251581053581,-4.78286840477e-05,1793251725726853120
+41,0.683333333,BASELINE,770,747,724,690,671.814702162,643,888,791,820,657,633,657,0.40099211652,-0.015394158079,0.0498578682452,0.999999967364,-2.27999261281e-05,-0.000249889208797,-4.80281667003e-05,1793251725743519744
+42,0.700000000,BASELINE,770,747,724,690,671.611063785,643,888.388936215,790.611063785,820.388936215,657,633,657,0.400992511308,-0.0153947107606,0.0498581157892,0.999999967475,-2.35865974142e-05,-0.000249424949734,-4.77568738163e-05,1793251725760186624
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+46,0.766666667,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400989410038,-0.0153959348185,0.0498546690239,0.999999966227,-2.39512600848e-05,-0.000254294964949,-4.80342873292e-05,1793251725826853632
+47,0.783333333,BASELINE,770,747,724,690,671,643,889,790,820,657,632.705034498,657,0.400989884052,-0.0153963956368,0.0498548228532,0.999999966302,-2.42861459568e-05,-0.000253990150334,-4.79169266719e-05,1793251725843520512
+48,0.800000000,BASELINE,770,747,724,690,671,643,889,790,820,657,632.128907352,657,0.400990947821,-0.0153953773444,0.0498552914,0.99999996662,-2.36273896812e-05,-0.000252816154899,-4.78085507849e-05,1793251725860186880
+49,0.816666667,BASELINE,770,747,724,690,671,643.445986459,889,790,820,657,632.445986459,657,0.400991309312,-0.0153958024751,0.049855680821,0.999999966869,-2.41329306484e-05,-0.000251756218617,-4.79362037025e-05,1793251725876853248
+50,0.833333333,BASELINE,770,747,724,690,671.021227961,643.978772039,889.021227961,790,820,657,633,657,0.400991480182,-0.0153965743555,0.0498560295866,0.999999967086,-2.49227996192e-05,-0.000250783455067,-4.81192853518e-05,1793251725893520128
+51,0.850000000,BASELINE,770,747,724,690,671.615451241,643.384548759,889.615451241,790,820,657,633,657,0.400991969697,-0.0153954755275,0.049855896589,0.999999966984,-2.43287411355e-05,-0.000251276277213,-4.79621381808e-05,1793251725910186752
+52,0.866666667,BASELINE,770.203221789,747,724,690,671.796778211,643,889.796778211,790,820,657,633,656.796778211,0.400992331858,-0.0153949486401,0.0498558133591,0.999999966903,-2.40835774935e-05,-0.000251610805909,-4.80113475443e-05,1793251725926853376
+53,0.883333333,BASELINE,770.779157817,747,724,690,671.220842183,643,889.220842183,790,820,657,633,656.220842183,0.400992460448,-0.0153954707074,0.0498558214043,0.999999966862,-2.44782964338e-05,-0.000251655020119,-4.84390203653e-05,1793251725943520256
+54,0.900000000,BASELINE,771,747,724,690,671,643,889,790,820,657,633,656.352356197,0.400991834568,-0.0153959330281,0.0498555879232,0.9999999668,-2.52769351602e-05,-0.000251866786833,-4.82118444549e-05,1793251725960186880
+55,0.916666667,BASELINE,771,747,724,690,671,643,889,790,820,657,633,656.923851943,0.400990739464,-0.0153963581909,0.0498552042305,0.999999966724,-2.63267821655e-05,-0.000252182758837,-4.75774009519e-05,1793251725976853760
+56,0.933333333,BASELINE,770.484984764,747,724,690,671,643,888.484984764,790,820,657,633,656.484984764,0.400990869237,-0.0153972360045,0.0498556990745,0.999999966857,-2.69640458881e-05,-0.000251576795138,-4.76183024632e-05,1793251725993520128
+57,0.950000000,BASELINE,770,747,724,690,671,643,888.105759527,790,819.894240473,657,633,656.105759527,0.40099113476,-0.0153978184779,0.0498561499642,0.99999996699,-2.71803188552e-05,-0.000250996122035,-4.77630023778e-05,1793251726010186752
+58,0.966666667,BASELINE,770,747,724,690,671,643,888.681215234,790,819.318784766,657,633,656.681215234,0.400991166913,-0.0153967802583,0.0498558058464,0.999999966979,-2.58085807499e-05,-0.000251157198185,-4.79076133797e-05,1793251726026853632
+59,0.983333333,BASELINE,770,747,724,690,671,643,889,790,819.256973054,657,633,657,0.400991424089,-0.0153966975551,0.0498558760728,0.999999966994,-2.56019499768e-05,-0.000251130359968,-4.78465114545e-05,1793251726043520000
+60,1.000000000,BASELINE,770,747,724,690,671,643,889,790,819.833106176,657,633,657,0.400991960745,-0.0153978016014,0.0498564609139,0.999999967042,-2.68423802114e-05,-0.000250870132468,-4.75299144662e-05,1793251726060186624
+61,1.016666667,BASELINE,770,747,724,690.418774963,671,643,889,790,820,657,633,657,0.400990829985,-0.0153982319827,0.0498558768635,0.999999966645,-2.81719020454e-05,-0.000252331136042,-4.73883725172e-05,1793251726076853248
+62,1.033333333,BASELINE,769.991822894,747,724,690.991822894,671,643,888.991822894,790,820,657,633,657,0.400989046611,-0.0153983779561,0.0498548303439,0.999999966071,-2.94898726547e-05,-0.000254457672618,-4.7322601422e-05,1793251726093520128
+63,1.050000000,BASELINE,769.413260042,747,724,690.413260042,671,643,888.413260042,790,820,657,633,657,0.400989173169,-0.0153978488951,0.0498547758597,0.999999966222,-2.74677427576e-05,-0.000254044445889,-4.75624100827e-05,1793251726110187264
+64,1.066666667,BASELINE,769.331090616,747,724,690,671,643,888.165545308,790,820,657.165545308,633,657,0.400989738392,-0.0153972819601,0.0498550510264,0.999999966456,-2.56567950069e-05,-0.000253279596007,-4.77480394065e-05,1793251726126854144
+65,1.083333333,BASELINE,770.489913754,747,724,690,671,643,888.744956877,790,820,657.744956877,633,657,0.400991400288,-0.0153966203394,0.0498561503263,0.9999999669,-2.43738065582e-05,-0.000251635681917,-4.77982193956e-05,1793251726143520768
+66,1.100000000,BASELINE,770.679051614,747,724,690,671.320948386,643,888.679051614,790,820,658,633,657,0.400991702985,-0.0153955002328,0.0498563091334,0.999999966973,-2.32169500734e-05,-0.00025142030131,-4.79871212768e-05,1793251726160187392
+67,1.116666667,BASELINE,770.105749243,747,724,690,671.894250757,643,888.105749243,790,820,658,633,657,0.400990936976,-0.0153940196296,0.0498557284536,0.999999966754,-2.21592681744e-05,-0.00025232814225,-4.82850968383e-05,1793251726176854016
+68,1.133333333,BASELINE,770,747,724,690,671.52010508,643,888.47989492,790,820,657.52010508,633,657,0.400991374155,-0.0153961951501,0.0498563569266,0.999999966921,-2.40807691288e-05,-0.000251590224471,-4.77538737649e-05,1793251726193520640
+69,1.150000000,BASELINE,770,747,724,690,671,643.067224047,888.932775953,790,820,657,633,657,0.400991964172,-0.0153986736208,0.0498570660579,0.999999967136,-2.63278465911e-05,-0.000250615572145,-4.71795664292e-05,1793251726210187520
+70,1.166666667,BASELINE,770,747,724,690,671,643.646130963,888.353869037,790,820,657,633,657,0.400991646165,-0.0153971637866,0.0498563074966,0.999999967108,-2.59242359748e-05,-0.000250672265398,-4.77048355093e-05,1793251726226854144
+71,1.183333333,BASELINE,770,747,724,690.224138903,671,643.775861097,888,790,820,657,633,657,0.400991369212,-0.0153968521533,0.0498560494118,0.999999967049,-2.59152625168e-05,-0.000250887576926,-4.78037920767e-05,1793251726243520768
+72,1.200000000,BASELINE,770,747,724,690.800733304,671,643.199266696,888,790,820,657,633,657,0.400991156817,-0.0153984246753,0.0498565783198,0.999999966944,-2.65268507754e-05,-0.000251352313635,-4.7232377865e-05,1793251726260187904
+73,1.216666667,BASELINE,770,747,724,690.623205133,671,643,888,790,820,657,633,657,0.400991468465,-0.0153974332528,0.0498563404481,0.999999967022,-2.52654559582e-05,-0.000251118995581,-4.75000169728e-05,1793251726276854272
+74,1.233333333,BASELINE,770,747,724,690.047424997,671,643,888,790,820,657,633,657,0.400992056859,-0.0153950878119,0.0498556976401,0.999999967194,-2.30149392323e-05,-0.000250517034959,-4.82107599532e-05,1793251726293520640
+75,1.250000000,BASELINE,770,747,724,690,671,643,888.539547613,790,820,657,633,657,0.400990580111,-0.0153971432242,0.0498553775242,0.999999966691,-2.65745523732e-05,-0.000252231659449,-4.78657717883e-05,1793251726310186752
+76,1.266666667,BASELINE,770,747,724,690,671,643,889,790,820,657.126312918,633,657,0.400989456251,-0.0153987489993,0.0498552685997,0.999999966292,-2.9272063106e-05,-0.000253574035703,-4.75353787453e-05,1793251726326853120
+77,1.283333333,BASELINE,770,747,724,690,671,643,889,790,820,657.708702274,633,657,0.400990275863,-0.0153973049836,0.0498558176391,0.999999966544,-2.69737622412e-05,-0.000252821548191,-4.75998404667e-05,1793251726343520000
+78,1.300000000,BASELINE,770,747,724,690,671,643,888.712473712,790,820,658,633,657,0.400991842308,-0.0153968439613,0.0498570248593,0.999999967057,-2.56483795896e-05,-0.000250940066105,-4.75187625449e-05,1793251726360186624
+79,1.316666667,BASELINE,770,747,724,690,671,643,888.137217598,790,820,658,633,657,0.400994156115,-0.0153973666281,0.0498588907261,0.999999967827,-2.52966040085e-05,-0.000247928790286,-4.72920419494e-05,1793251726376853248
+80,1.333333333,BASELINE,770,746.562387357,724,690.437612643,671.437612643,643,888,790,820,657.562387357,633,657,0.400992543788,-0.0153969025616,0.0498579308373,0.999999967584,-2.59615586902e-05,-0.000248793516433,-4.75347562254e-05,1793251726393520384
+81,1.350000000,BASELINE,770,746.012596814,724,690.987403186,671.987403186,643,888,790,820,657,633,657,0.400989805931,-0.0153961492669,0.0498561394025,0.999999967041,-2.68711773438e-05,-0.000250797704821,-4.79139780692e-05,1793251726410187264
+82,1.366666667,BASELINE,770,746.600706466,724,690.399293534,671.399293534,643,888,790,820,657,633,657,0.400991835605,-0.0153963037972,0.0498567984127,0.999999967462,-2.44076398459e-05,-0.000249388443268,-4.78114234125e-05,1793251726426853888
+83,1.383333333,BASELINE,770,747,724,690,671,643,888.372833466,790,820,657,633,656.813583267,0.400993106148,-0.0153960950675,0.0498572684927,0.999999967733,-2.33111894784e-05,-0.00024840304435,-4.78274431607e-05,1793251726443520512
+84,1.400000000,BASELINE,770,747,724,690,671,643,889.53410616,790,820,657,633,656.23294692,0.400992771343,-0.0153951181435,0.0498573390377,0.999999967698,-2.51057482334e-05,-0.000248313996924,-4.80942148233e-05,1793251726460186880
+85,1.416666667,BASELINE,769.656494926,747,724,690.343505074,671,643,890,790,820,657,633,656.343505074,0.40099275106,-0.0153956675054,0.0498574463957,0.99999996767,-2.62850916875e-05,-0.000248310058552,-4.80665116588e-05,1793251726476853504
+86,1.433333333,BASELINE,769.082846423,747,724,690.917153577,671,643,890,790,820,657,633,656.917153577,0.400992941501,-0.0153972394569,0.0498575784179,0.999999967648,-2.70522496846e-05,-0.000248363142024,-4.78415146055e-05,1793251726493520128
+87,1.450000000,BASELINE,769.504716396,747,724,691,671.504716396,643,889.495283604,790,820,657,633,657,0.400991274473,-0.0153976519523,0.0498568625884,0.999999967315,-2.64538807262e-05,-0.000249799992113,-4.7652197832e-05,1793251726510186752
+88,1.466666667,BASELINE,770,747,724,690.907102257,671.907102257,643,888.907102257,790,820,657,633,657,0.400989873681,-0.0153974573717,0.0498563083663,0.999999967068,-2.55541014097e-05,-0.000250892394277,-4.75894777307e-05,1793251726526853632
+89,1.483333333,BASELINE,770,747,724,690.3279767,671.3279767,643,888.3279767,790,820,657,633,657,0.400991507428,-0.0153951097169,0.0498573490682,0.999999967555,-2.42831673804e-05,-0.000248959407167,-4.81578428171e-05,1793251726543520512
+90,1.500000000,BASELINE,770,747,724,690,671,643,888.250387924,790,820,657,633,657,0.400992080901,-0.0153944076291,0.0498573704124,0.999999967615,-2.4296309091e-05,-0.000248662630487,-4.84360163635e-05,1793251726560187648
+91,1.516666667,BASELINE,770,747,724,690,671,643,888.827758795,790,820,657,633,657,0.400991269756,-0.0153958544964,0.0498560605717,0.999999967118,-2.59863323681e-05,-0.000250502590026,-4.83352271604e-05,1793251726576854272
+92,1.533333333,BASELINE,770,747,724.400236473,690,671,643,889,790,820,657,633,656.599763527,0.400992006048,-0.0153961288264,0.0498570227745,0.99999996739,-2.53168248414e-05,-0.000249554005846,-4.79848605415e-05,1793251726593520640
+93,1.550000000,BASELINE,770,747,724.970633856,690,671,643,889,790,820,657,633,656.029366144,0.400993400234,-0.0153959046513,0.0498589509386,0.999999967983,-2.36441607386e-05,-0.000247419869859,-4.75283858427e-05,1793251726610187264
+94,1.566666667,BASELINE,770,747,724.437155045,690,671,643,889,790,820,657,633.562844955,656.562844955,0.400992900822,-0.0153961073554,0.0498574879537,0.999999967653,-2.48831615359e-05,-0.000248578712613,-4.77899985114e-05,1793251726626853632
+95,1.583333333,BASELINE,770,747,724.152448337,690,671,643,888.847551663,790,820,657,633.847551663,657,0.400992514116,-0.0153965554309,0.0498563768912,0.999999967364,-2.60349587625e-05,-0.000249594673536,-4.79287875495e-05,1793251726643520256
+96,1.600000000,BASELINE,770,747,724.731442715,690,671,643,888.268557285,790,820,657,633.268557285,657,0.400992730335,-0.015397625219,0.0498567655062,0.999999967338,-2.65005729438e-05,-0.000249710755665,-4.7614864807e-05,1793251726660186880
+97,1.616666667,BASELINE,770,747,724.69110323,690,671.30889677,643,888,790,820,657,633,657,0.400992594963,-0.015397244175,0.0498570456449,0.999999967388,-2.58593234139e-05,-0.000249560182616,-4.76883811541e-05,1793251726676853760
+98,1.633333333,BASELINE,770,747,724.114981734,690,671.885018266,643,888,790,820,657,633,657,0.400992155432,-0.0153956080249,0.0498572319415,0.999999967504,-2.42605327616e-05,-0.000249178927778,-4.80970687301e-05,1793251726693520640
+99,1.650000000,BASELINE,770,747,724,690,672,643,888,790,820,657,633.468903747,657,0.400992398347,-0.0153955245653,0.0498576014708,0.999999967735,-2.46173546358e-05,-0.000248241827563,-4.79477284704e-05,1793251726710187264
+100,1.666666667,BASELINE,770,747,724,690,671.945585909,643,888,790,820,657,633.945585909,656.945585909,0.400992603494,-0.0153959335211,0.0498578204767,0.9999999679,-2.53815158741e-05,-0.000247555028792,-4.76648908643e-05,1793251726726854144
+101,1.683333333,BASELINE,770,747,724,690,671.363093988,643,888,790,820,657,633.363093988,656.363093988,0.400990790732,-0.0153973640393,0.0498561352931,0.999999967142,-2.53665960801e-05,-0.000250642400295,-4.74368145065e-05,1793251726743520512
+102,1.700000000,BASELINE,770,747,724,690,671.216425808,643,888.216425808,790.216425808,820,657,633,656.216425808,0.400990595967,-0.0153986288152,0.0498558209406,0.999999966924,-2.59430169807e-05,-0.000251497843235,-4.72025647872e-05,1793251726760186880
+103,1.716666667,BASELINE,770,747,724,690,671.791026813,643,888.791026813,790.791026813,820,657,633,656.791026813,0.40099307892,-0.0153996192948,0.0498577752535,0.999999967604,-2.74980807294e-05,-0.000248659542243,-4.69580984487e-05,1793251726776853248
+104,1.733333333,BASELINE,770,746.633579286,724,690,671.633579286,643,889,790.633579286,820,657,633,657,0.400993280282,-0.0153987590307,0.0498577952104,0.999999967671,-2.72683722395e-05,-0.000248386162623,-4.71018816539e-05,1793251726793520128
+105,1.750000000,BASELINE,770,746.057732152,724,690,671.057732152,643,889,790.057732152,820,657,633,657,0.40099217761,-0.0153968409808,0.0498567095934,0.99999996739,-2.60185838499e-05,-0.000249578754167,-4.74675674431e-05,1793251726810186752
+106,1.766666667,BASELINE,770,746.530637801,724,690,671,643,889,790.530637801,820,657,633,657,0.400991237354,-0.0153965640371,0.0498564022002,0.999999967157,-2.73213088364e-05,-0.000250286675549,-4.79280757355e-05,1793251726826854400
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657,633,657,0.400993394852,-0.0153964143742,0.0498582952408,0.999999967833,-2.49953722102e-05,-0.000247868519065,-4.76446823218e-05,1793251726868908288
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.574659965,790,820,657,633,657,0.400992352804,-0.0153965260255,0.0498578613358,0.999999967649,-2.57046566536e-05,-0.000248493712264,-4.78860578075e-05,1793251726885574656
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724.151942699,690,671,643,888.848057301,790,820,657,633,656.848057301,0.40099189383,-0.0153967152779,0.0498576761715,0.999999967589,-2.62195067362e-05,-0.00024866329558,-4.79597226553e-05,1793251726902241024
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724.736696566,690,671,643,888.263303434,790,820,657,633,656.263303434,0.400993095751,-0.0153971255784,0.0498581995488,0.99999996789,-2.61805076478e-05,-0.00024753506712,-4.75556611696e-05,1793251726918906880
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.319902451,747,724.680097549,690,671,643,888.319902451,790,820,657,633,656.319902451,0.400992105669,-0.0153973224808,0.0498577412635,0.999999967479,-2.72575024072e-05,-0.000249071003733,-4.7571472653e-05,1793251726935572992
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.901840332,747,724.098159668,690,671,643,888.901840332,790,820,657,633,656.901840332,0.400989320093,-0.0153973445867,0.0498564788879,0.999999966472,-2.92486193553e-05,-0.000252789185778,-4.7931206483e-05,1793251726952239616
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.039689271,747,724,690,671,643,889,790,820,657,632.519844636,657,0.400988947497,-0.0153975830891,0.0498565266,0.999999966561,-2.97350132616e-05,-0.000252341130768,-4.8136928079e-05,1793251726968906752
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.057293913,747,724,690,671,643,888.942706087,790,820,657,632.057293913,657,0.40098920087,-0.0153977321956,0.049856789746,0.999999966867,-2.96241236173e-05,-0.000251109747454,-4.82858509104e-05,1793251726985573632
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.63045816,747,724,690,671,643,888.36954184,790,820,657,632.63045816,657,0.400990682102,-0.0153966810492,0.0498565992213,0.999999967117,-2.68843394834e-05,-0.000250436701273,-4.82047292832e-05,1793251727002240256
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.419230365,790,820,657,633,657,0.400993123722,-0.0153967167522,0.0498571528666,0.99999996745,-2.58812563981e-05,-0.000249266625553,-4.79192617318e-05,1793251727018906880
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.599296124,790,820,657,633,657,0.400997308294,-0.0153987249113,0.0498590570602,0.999999967938,-2.80300054781e-05,-0.000247194521579,-4.72629393461e-05,1793251727035573248
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724.382377575,690,671,643,889.617622425,790,820,657,633.382377575,657,0.401018406398,-0.0153992177334,0.04986628253,0.999999971432,-2.72565581416e-05,-0.00023287592381,-4.6504253045e-05,1793251727052239616
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724.961352162,690,671,643,889.038647838,790,820,657,633.961352162,657,0.401048200487,-0.0153989314548,0.0498762439004,0.999999976117,-2.49806821821e-05,-0.000212260868427,-4.56929369081e-05,1793251727068906240
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.464113825,724.464113825,690,671.535886175,643,888.464113825,790,820,657,633.464113825,657,0.401106891853,-0.0154024541191,0.0498945528747,0.999999983677,-2.56820965635e-05,-0.000173482354135,-4.34773864228e-05,1793251727085572864
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746.110561949,724.110561949,690,671.889438051,643,888,790,820,657,633,657,0.401169904181,-0.0154065856006,0.049912297999,0.999999989278,-2.68679409073e-05,-0.000137938096321,-4.11828416342e-05,1793251727102239744
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746.687174324,724.687174324,690,671.312825676,643,888,790,820,657,633,657,0.401242417926,-0.0154121350037,0.0499251494859,0.999999991433,-2.91981264403e-05,-0.000121503540345,-3.89786977356e-05,1793251727118906624
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,724.730063213,690,671.269936787,643,888,790,820,657,633,657,0.401321026332,-0.0154176382434,0.0499352747493,0.999999993114,-3.09632665996e-05,-0.000106860715303,-3.73476141443e-05,1793251727135573504
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,724.14000737,690,671.85999263,643,888,790,820,657,633,657,0.401406862415,-0.0154230867375,0.0499421669734,0.999999994374,-3.20583171792e-05,-9.43427117529e-05,-3.63961250749e-05,1793251727152240128
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671.558203075,643,888.441796925,790,820,657,633,657,0.401505993311,-0.0154281530843,0.0499439397498,0.999999994707,-3.24707020615e-05,-9.08455252349e-05,-3.57530513596e-05,1793251727168906496
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.020916313,820,657,633,657,0.401610241284,-0.0154331788686,0.0499441419493,0.999999994767,-3.27573892685e-05,-9.03011066086e-05,-3.51903024773e-05,1793251727185573120
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.596907137,820,657,633,657,0.401740526654,-0.015440283131,0.0499449293749,0.999999994406,-3.5344260543e-05,-9.36430539868e-05,-3.42129964968e-05,1793251727202239744
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.827664396,790.827664396,820,657,633,657,0.401876753132,-0.0154482664971,0.0499440893232,0.99999999388,-3.78745469613e-05,-9.85047309292e-05,-3.32136295199e-05,1793251727218906368
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.25354708,790.25354708,820,657,633,657,0.40202683064,-0.015458299397,0.0499394549849,0.999999992957,-4.02729115814e-05,-0.000106909491534,-3.2162829866e-05,1793251727235572736
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.331694732,747,724,690,671,643,888.331694732,790,820,657,633,657,0.402198969665,-0.0154688706393,0.0499393295872,0.99999999285,-4.29940084199e-05,-0.000107216992227,-3.09323303479e-05,1793251727252239616
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.925735253,747,724,690,671,643,888.925735253,790,820,657,633,657,0.40238855772,-0.0154798676712,0.0499427704245,0.999999993394,-4.5970362626e-05,-0.000101120165269,-2.95597015297e-05,1793251727268906752
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.496841758,747,724,690,671,643,889,790,820,657,633,657,0.402610309916,-0.0154905383228,0.0499469705466,0.999999993972,-4.68026394085e-05,-9.55395831178e-05,-2.71583161707e-05,1793251727285573376
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724.078182907,690,671,643,889,790.078182907,820,657,633,657,0.402843571191,-0.0155010719556,0.0499515396537,0.999999994622,-4.69717195115e-05,-8.91313115243e-05,-2.45870741728e-05,1793251727302239744
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724.653055119,690,671,643,889,790.653055119,820,657,633,657,0.403120753543,-0.015511031379,0.0499577636936,0.99999999579,-4.4873735297e-05,-7.69962048932e-05,-2.18705429548e-05,1793251727318906112
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724.765432918,690,671,643,889,791,820,657,633,657,0.403409393323,-0.0155156813028,0.0499641920783,0.999999997128,-3.56624527919e-05,-6.41018300208e-05,-1.90387372817e-05,1793251727335572992
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724.173814138,690,671,643,889,791,820,657,633,657,0.403715473272,-0.0155122492488,0.0499709315108,0.999999998497,-1.5623499234e-05,-5.00517181847e-05,-1.60314640949e-05,1793251727352239616
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.591750204,724,690.408249796,671,643,889,790.591750204,820,657,633,656.591750204,0.404057560244,-0.0155051498013,0.0499790027782,0.999999999272,1.09348129875e-05,-3.38163361531e-05,-1.38946292212e-05,1793251727368906240
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.01366127,724,690.98633873,671,643,889,790.01366127,820,657,633,656.01366127,0.404414626766,-0.0154965246534,0.0499876281124,0.999999998979,4.02052932394e-05,-1.66718433835e-05,-1.21199121491e-05,1793251727385572864
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.558448908,724.558448908,691,671,643,889,790,820.558448908,657,633,656.558448908,0.404799727979,-0.0155056682089,0.0499891225114,0.999999998735,4.82224265209e-05,-1.13841616235e-05,-8.62580978727e-06,1793251727402239744
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,724.865627549,691,671,643,889.134372451,790,820.865627549,657,633,657,0.405187313239,-0.0155140477896,0.0499853014928,0.99999999823,5.68307741719e-05,-1.66651708658e-05,-5.65007260602e-06,1793251727418906624
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,724.27630306,691,671,643,889.72369694,790,820.27630306,657,633,657,0.405581011405,-0.015518384628,0.0499640681442,0.999999995986,6.91824950084e-05,-5.67575252703e-05,-4.57029315372e-06,1793251727435573248
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890.308366183,790.308366183,820,657,633,657,0.406005307258,-0.0155174294705,0.0499455022285,0.999999991888,9.03966400744e-05,-8.96650782989e-05,-3.54407213092e-06,1793251727452239872
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890.88892632,790.88892632,820,657,633,657,0.406456611647,-0.0155118030837,0.049929290846,0.99999998611,0.000119433623237,-0.000116230632044,-2.56512686041e-06,1793251727468906240
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,690.534243791,671,643,890.534243791,791,820,657,633,657,0.406951031368,-0.0155107993202,0.0499243539185,0.999999981482,0.000146492067859,-0.000124803087909,2.51833379628e-07,1793251727485573120
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746.958499794,724,690.041500206,671,643,890,790.958499794,820.041500206,657,633,657,0.407461698959,-0.0155112470877,0.0499238506902,0.999999977182,0.000172888907568,-0.000125423856962,3.6890502825e-06,1793251727502240000
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,746.385360604,724,690.614639396,671,643,890,790.385360604,820.614639396,657,633,657,0.408049837363,-0.0155162795519,0.0499459750154,0.999999977491,0.000196806789099,-7.87125838599e-05,9.5014545956e-06,1793251727518906624
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746.193903305,724,690.806096695,671,643,890,790,820.806096695,657,633,657,0.408651652199,-0.0155210598937,0.0499683405253,0.99999997479,0.000221099323042,-3.59884720741e-05,1.55101880405e-05,1793251727535573504
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.78573637,724,690.21426363,671,643,890,790,820.21426363,657,633,657,0.409281533869,-0.0155253228279,0.0499912009952,0.999999969461,0.000246160720616,-1.44684460264e-06,2.19218292282e-05,1793251727552240384
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724,690.369456054,671,643.369456054,890.369456054,790.369456054,820,657,633,657,0.409900401766,-0.0155283726988,0.0499940720374,0.999999962957,0.000270909587845,-3.11504870659e-06,2.61580476995e-05,1793251727568907264
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,690.948571524,671,643.948571524,890.948571524,790.948571524,820,657,633,657,0.410513019532,-0.0155307341788,0.0499855994517,0.999999955599,0.000295481099021,-2.5331657722e-05,2.91597541481e-05,1793251727585574144
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643.473133249,891,791,820,657,633,657,0.411144615078,-0.0155286232983,0.0499585622319,0.999999943225,0.000324976347294,-8.37187256543e-05,3.05358044967e-05,1793251727602240256
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643.104542219,891.104542219,791,820.104542219,657,633,657,0.411799851706,-0.0155266526577,0.0499374919145,0.999999937054,0.000329998697365,-0.000126289923774,3.23095954986e-05,1793251727618906624
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643.679786975,891.679786975,791,820.679786975,657,633,657,0.41255320464,-0.0155272759914,0.0499514341034,0.999999971196,0.000222670924028,-8.1777806116e-05,3.65875816086e-05,1793251727635573760
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671.26035201,643.73964799,892.26035201,791,821,657.26035201,633.26035201,657,0.413318599732,-0.0155288765109,0.0499676779691,0.999999986194,0.000154311373524,-4.56225692436e-05,4.14666130014e-05,1793251727652240384
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671.847597166,643.152402834,892.847597166,791,821,657.847597166,633.847597166,657,0.414099114836,-0.0155317039666,0.0499868117793,0.999999989595,0.000134879587367,-1.99600714696e-05,4.71003067214e-05,1793251727668906752
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671.569808283,643,893,790.569808283,821.430191717,657.569808283,633.569808283,657.430191717,0.414860343466,-0.0155388288291,0.0499697540207,0.999999996549,6.01833662218e-05,-5.04206771903e-05,2.71704123112e-05,1793251727685573632
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671.011047876,643,893.011047876,790.011047876,822.011047876,657,633,658,0.415616083777,-0.0155474901784,0.0499405742645,0.999999994551,-3.15043794937e-05,-9.95165977043e-05,-1.06173871456e-06,1793251727702240512
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671.586366421,643,893.586366421,790.586366421,822.586366421,657,633,658,0.416436751687,-0.0155577010965,0.0499401172298,0.999999995403,-1.76326143559e-06,-9.57694542027e-05,4.27400134548e-06,1793251727718907392
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,724,691,671.83870155,643,894,791,823,657,633,657.83870155,0.417272564713,-0.0155634648368,0.0499475089464,0.999999996283,3.28555195696e-05,-7.91030538215e-05,9.89053480978e-06,1793251727735574016
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,724,691,671.26475837,643,894,791,823,657,633,657.26475837,0.418147122962,-0.0155578515019,0.0499749798757,0.99999999624,7.99526698689e-05,-2.93857265764e-05,1.62254128424e-05,1793251727752240128
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,747,724,691.317783295,671,643,894.317783295,791,823.317783295,657,633,657,0.419003532905,-0.0155515568602,0.0499793779684,0.999999992319,0.000119157098989,-2.74668788475e-05,2.02326534743e-05,1793251727768906496
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,747,724,691.907687906,671,643,894.907687906,791,823.907687906,657,633,657,0.419844402208,-0.0155446788084,0.049964018537,0.999999986051,0.000151602902134,-6.64783952734e-05,2.22467123913e-05,1793251727785573120
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,724,691.510143389,671,643,895.489856611,790.510143389,824,657,633,657,0.420767465631,-0.0155464043556,0.0499682129282,0.99999998574,0.00016200283983,-4.17581927021e-05,2.30374558753e-05,1793251727802239744
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.930230032,747,724,691.069769968,671,643.069769968,895.930230032,790,824.069769968,657.069769968,633,657,0.421705266733,-0.015549669346,0.0499772069046,0.99999998579,0.000166785002199,-6.22425385995e-06,2.3728130062e-05,1793251727818906624
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.356244439,747,724,691.643755561,671,643.643755561,895.356244439,790,824.643755561,657.643755561,633,657,0.422639376146,-0.0155525247575,0.0499946707925,0.999999986553,0.000160525415968,2.20133897736e-05,2.53357229184e-05,1793251727835573248
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.218133542,747,724,692,671,643.781866458,895.436267084,790,825,657.781866458,633.218133542,657,0.423569137179,-0.0155547485125,0.0500000225493,0.999999987595,0.000152465546568,2.96433475252e-05,2.61848756912e-05,1793251727852240128
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.793153595,747,724,692,671,643.206846405,896.58630719,790,825,657.206846405,633.793153595,657,0.424491784011,-0.0155559388197,0.0499855577497,0.999999989656,0.00014146024765,3.55724282072e-06,2.57931510924e-05,1793251727868907008
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,747,724.380685678,692.380685678,671,643,897,790,825.380685678,657,634,657,0.425451905224,-0.0155588575544,0.0499916797264,0.999999988807,0.000146828052804,8.34237486162e-06,2.7513127538e-05,1793251727885573632
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,747,724.975247202,692.975247202,671,643,897,790,825.975247202,657,634,657,0.426433080143,-0.0155627473498,0.0500093677136,0.999999986049,0.000161394553714,3.04715071434e-05,3.04194944388e-05,1793251727902240512
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,747,724.447954406,692.447954406,671,643,897,790,826,657,633.447954406,657,0.427340676422,-0.0155598773714,0.0499910209175,0.999999983859,0.000175326295948,-2.44177108266e-05,3.07572129899e-05,1793251727918906880
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+228,3.800000000,POSE1_TO_POSE2_PRESS,769,747.799784948,725,693,673,643,902.799784948,788,829,657,633,658,0.459107631141,-0.0155581000882,0.049856934229,0.999999960572,0.000170429410109,-0.00022217543289,2.11535825331e-05,1793251728885574400
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,747.210606638,725,693,673,643,902.210606638,788,829,657,633,658,0.459133198896,-0.0155569979895,0.0498563322765,0.999999960332,0.000169441159416,-0.000223987745426,2.13343371569e-05,1793251728902241024
+230,3.833333333,POSE1_TO_POSE2_PRESS,769,747.372501397,725,693,673,642.627498603,902.372501397,788.372501397,829,657,633,658,0.459152559323,-0.0155556596915,0.0498559650938,0.999999960012,0.00017115496467,-0.000224130897381,2.11659887249e-05,1793251728918907136
+231,3.850000000,POSE1_TO_POSE2_PRESS,769,747.952232404,725,693,673,642.047767596,902.952232404,788.952232404,829,657,633,658,0.459168466494,-0.0155541899914,0.0498557285181,0.999999959639,0.000174371975053,-0.000223345463509,2.08034276193e-05,1793251728935573248
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,748,725,693,673,642,902.471512908,789,829,657,633,658,0.459178649284,-0.0155540478324,0.0498552291244,0.999999959427,0.000175036384719,-0.000223755823873,2.10333735107e-05,1793251728952239872
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.895782711,747.895782711,725,693,673,642.104217289,902.104217289,788.895782711,829.104217289,657,633,658,0.459187249403,-0.0155539186398,0.0498546246696,0.999999959251,0.000175163808688,-0.000224427986836,2.11572163277e-05,1793251728968906752
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+235,3.916666667,POSE1_TO_POSE2_PRESS,768,747,725,693,673,642.739543887,902.739543887,788,829.739543887,657,633,658,0.459193740338,-0.01555277721,0.0498527803581,0.999999958989,0.000173320923794,-0.000227095225526,2.02398327414e-05,1793251729002240000
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768.988824393,747.988824393,725,693,673,642.011175607,902.022351215,788.011175607,829,657,632.988824393,658,0.459196124155,-0.0155489403983,0.0498503365562,0.999999957285,0.000177145454468,-0.000231589709357,2.03762159585e-05,1793251729052240896
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.413197722,747.413197722,725,693,673,642.586802278,903.173604557,788.586802278,829,657,632.413197722,658,0.459196120861,-0.0155504015364,0.0498494600676,0.99999995717,0.000176438126504,-0.000232571132389,2.09963327578e-05,1793251729068907264
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,747.1654807,725,693,673,642.8345193,903.6690386,789,829,657,632.1654807,658,0.459196238248,-0.0155510278287,0.0498489002045,0.999999957042,0.000176036769823,-0.000233407107972,2.11825520672e-05,1793251729085573632
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.751922335,725,693,673,642.248077665,902.49615533,789,829,657,632.751922335,658,0.459196662628,-0.015549530384,0.0498491457943,0.999999956885,0.000176413763522,-0.000233873084492,2.0264993718e-05,1793251729102240000
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,747.665833059,725,693,673,642.334166941,902,789,829,657,633,658,0.459197795314,-0.0155482333878,0.04984936132,0.999999956983,0.000176899699439,-0.000233132572108,1.9744885836e-05,1793251729118906368
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,747.086665608,725,693,673,642.913334392,902,789,829,657,633,658,0.459199447309,-0.015547083354,0.0498495548035,0.999999957265,0.000177465508288,-0.000231507500635,1.95161759623e-05,1793251729135572992
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,747,725,693,673,642.507712764,902,788.507712764,828.507712764,657,633,658,0.459198852547,-0.015547334272,0.0498492371808,0.999999956864,0.000177406714569,-0.000233288235937,1.9354042762e-05,1793251729152239616
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,747,725,693,673.070655634,642,902.070655634,788,828.070655634,657,633,658,0.459198028568,-0.0155478347887,0.049848804534,0.99999995644,0.000177104982834,-0.000235332832461,1.92834631058e-05,1793251729168906240
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,747,725,693,673.645125606,642,902.645125606,788,828.645125606,657,633,658,0.459198389305,-0.0155483572188,0.0498481930195,0.999999956733,0.000175854696651,-0.000234985416807,1.97821735611e-05,1793251729185573632
+247,4.116666667,POSE1_TO_POSE2_PRESS,768,747,725,693,673.775316986,642,902.775316986,788,829,657,633,658,0.459198902892,-0.0155485367299,0.0498480735654,0.999999956991,0.000175205242823,-0.00023434236002,2.01059191003e-05,1793251729202240768
+248,4.133333333,POSE1_TO_POSE2_PRESS,768,747,725,693,673.187538004,642,902.187538004,788,829,657,633,658,0.459199663491,-0.0155481620715,0.049848749299,0.999999957196,0.000175526755855,-0.000233221536292,2.01469150136e-05,1793251729218907136
+249,4.150000000,HOLD_POSE2,768,748,725,693,673,642,902,788,828,657,633,658,0.459198816066,-0.0155473158552,0.0498487659161,0.999999956922,0.000175809448476,-0.000234233716717,1.95381559093e-05,1793251729252988928
+250,4.166666667,HOLD_POSE2,768,747.423166347,725,693,673,642,902,788.576833653,828,657,633,658,0.459199525053,-0.0155485491778,0.049848842717,0.999999956995,0.000175069017428,-0.000234426031807,2.0135557124e-05,1793251729269654784
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+252,4.200000000,HOLD_POSE2,768.727924085,747,724.272075915,693,673,642,902.727924085,788.272075915,828.727924085,656.272075915,633,658,0.459199283629,-0.0155480717645,0.0498480252409,0.999999956924,0.000173599951957,-0.000235827555538,2.00270625164e-05,1793251729302987776
+253,4.216666667,HOLD_POSE2,769,747,724.310561553,693,673,642,903,788,829,656.310561553,633,658.310561553,0.459198938087,-0.0155471909511,0.04984740992,0.9999999567,0.000173893968163,-0.00023658423074,1.97067869224e-05,1793251729319654656
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+255,4.250000000,HOLD_POSE2,769,747,725,692.518627381,673,642,902.518627381,788.481372619,828.518627381,657,633,658.518627381,0.459199318441,-0.0155450313659,0.0498467794686,0.999999956261,0.000176156778321,-0.000236795703528,1.93519859796e-05,1793251729352988160
+256,4.266666667,HOLD_POSE2,768.939627846,747,725,692.060372154,673,642,902,788.939627846,828.060372154,657,633,658,0.459199745782,-0.0155438578424,0.0498466762829,0.999999956204,0.000176901322074,-0.00023649133672,1.92396464295e-05,1793251729369654784
+257,4.283333333,HOLD_POSE2,768.363934859,747,725,692.636065141,673,642,902,788.363934859,828.636065141,657,633,658,0.459198524096,-0.0155465480653,0.0498455845873,0.999999956137,0.000175352236112,-0.000237929260779,1.91697624727e-05,1793251729386321152
+258,4.300000000,HOLD_POSE2,768,747,725,693,673,642,902.211071177,788.211071177,829,657,633,658.211071177,0.459197895986,-0.0155473283427,0.0498450973733,0.99999995617,0.000174108119089,-0.000238717486816,1.90037060888e-05,1793251729402987776
+259,4.316666667,HOLD_POSE2,768,747,725,693,673,642,902.78489654,788.78489654,829,657,633,658.78489654,0.459198288016,-0.015544826122,0.0498456490424,0.999999956379,0.000173388132335,-0.000238389119338,1.86723644713e-05,1793251729419654656
+260,4.333333333,HOLD_POSE2,768,747,725,692.630097909,673,642,902.630097909,788.630097909,829,657,633,658.630097909,0.459199427386,-0.0155444665875,0.0498463071887,0.99999995655,0.000173491046554,-0.000237584412612,1.88499568897e-05,1793251729436321280
+261,4.350000000,HOLD_POSE2,768,747,725,692.03838823,673,642,902.03838823,788.03838823,829,657,633,658.03838823,0.459201014891,-0.0155453918902,0.0498470291831,0.999999956695,0.000174087403927,-0.000236494074434,1.93327257902e-05,1793251729452987392
+262,4.366666667,HOLD_POSE2,768,747,725,692,673,642,902.542954887,788,829,657,632.457045113,658,0.459201650065,-0.01554446762,0.0498470779284,0.999999956398,0.000175891002564,-0.000236449499261,1.89096920536e-05,1793251729469654784
+263,4.383333333,HOLD_POSE2,768.122108817,747,725,692,673,642,902.877891183,788,829,657,632.122108817,658,0.459201954143,-0.0155438164762,0.0498471291834,0.999999956162,0.000177220032394,-0.000236479066069,1.86217487549e-05,1793251729486321920
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,724,693,673,642,902,789,828,657,633,658,0.459203613195,-0.0155443240714,0.0498488495454,0.999999957138,0.000176707556332,-0.000232597454744,1.99416328526e-05,1793251729540221696
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.41769019,747.58230981,724.58230981,693,673.58230981,642,902.58230981,788.41769019,828,657,633,658,0.459202958721,-0.0155442820196,0.0498486019077,0.999999956888,0.000176601416935,-0.000233776415662,1.96227970314e-05,1793251729556889600
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.162141323,748,725,692.837858677,673.837858677,642,903,788,828.162141323,657,633,658,0.459202573953,-0.0155443477224,0.0498485634677,0.999999956727,0.000176640038614,-0.000234450358876,1.94039701301e-05,1793251729573556992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.73568476,748,725,692.26431524,673.26431524,642,903,788,828.73568476,657,633,658,0.459202873512,-0.0155446868318,0.0498490558262,0.999999956797,0.000177045963387,-0.000233842918009,1.94388963712e-05,1793251729590223104
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.693559117,747.693559117,724.693559117,692,673,642,903,788,829,657,633,658,0.459202534626,-0.0155446367965,0.049848640196,0.999999956626,0.000177200264703,-0.000234459673736,1.94284454113e-05,1793251729606889472
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747.467804854,724,692.467804854,673,642,903,788.467804854,828.532195146,657,633,658,0.459201062176,-0.0155442309829,0.0498470626027,0.999999956384,0.000176250812811,-0.00023620310865,1.94059488759e-05,1793251729640222464
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.217541607,747.217541607,725,692.782458393,673.782458393,642,902,788.217541607,828.782458393,657,632.782458393,658.217541607,0.459196024538,-0.0155440988279,0.0498446788945,0.99999995548,0.000176309300814,-0.000239952768621,1.94194276647e-05,1793251729690221568
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.623851059,725,692,673,642,902,788.623851059,828.376148941,657,632.376148941,658.623851059,0.45917241047,-0.0155428363631,0.0498331445011,0.999999950936,0.000176311956241,-0.000258280860152,1.82632545963e-05,1793251729723555328
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,724.027325971,692,673,642,902,788.972674029,829,657,632.027325971,658,0.458647905661,-0.0155119774145,0.0497280495506,0.999999903659,0.000184858633821,-0.000398094370937,5.46094593274e-06,1793251729856888064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,724.604678286,692,673,642,902,788.395321714,829,657,632.604678286,658,0.458538370366,-0.0155034799218,0.0497339815906,0.999999906462,0.000189731546117,-0.000388653709851,5.10856637305e-06,1793251729873554944
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,725,692.181385256,673,642,902,788.181385256,829,657,633,658,0.458417851603,-0.0154953878253,0.0497394359895,0.999999908532,0.000194036539729,-0.000381132715965,4.8295372798e-06,1793251729890221824
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,725,692.756690635,673,642,902,788.756690635,829,657,633,658,0.458273479705,-0.0154881761417,0.0497438530791,0.999999909204,0.00019710816569,-0.000377780725619,4.70980577123e-06,1793251729906888704
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747,725,693,673.339472378,642,902,789,829,657,633,658,0.458114939765,-0.0154798709421,0.0497460974653,0.999999909498,0.000200547161914,-0.000375187845818,4.30375206959e-06,1793251729923555584
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747,725,693,673.927733373,642,902,789,829,657,633,658,0.457946016497,-0.0154707643383,0.0497467495461,0.999999909512,0.000204255392553,-0.000373151293885,3.68786183485e-06,1793251729940222208
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,725,693,673.491899437,642,902,788.491899437,829,657,633,658,0.457738492407,-0.0154580726377,0.0497436490094,0.999999905698,0.000211780081282,-0.000379140614045,2.23595342765e-06,1793251729956888576
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.087269448,725,693,673,642,901.912730552,788.087269448,828.912730552,657,633,658.087269448,0.457519065577,-0.0154455048386,0.0497405239726,0.999999901479,0.00021865580771,-0.000386304088233,7.90535439305e-07,1793251729973555200
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.665916324,725,693,673,642,901.334083676,788.665916324,828.334083676,657,633,658.665916324,0.457263059187,-0.0154364618072,0.049740220223,0.999999898529,0.000218867921933,-0.000393749688485,4.09288957183e-08,1793251729990221824
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.242720641,747.757279359,725,692.757279359,673,642.242720641,901.242720641,788.757279359,828.242720641,657,633,658.757279359,0.456993183109,-0.0154269850522,0.0497411253075,0.999999897332,0.000219104561106,-0.000396645490545,-1.29752107296e-06,1793251730006888704
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.817007913,747.182992087,725,692.182992087,673,642.817007913,901.817007913,788.182992087,828.817007913,657,633,658.182992087,0.456704360467,-0.0154169158129,0.0497436817103,0.999999898579,0.00021937470239,-0.000393326076008,-3.44035594332e-06,1793251730023555072
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747.400611573,724.599388427,692.400611573,673.400611573,642.599388427,902,788.400611573,829,657,633,658,0.456398047132,-0.0154131783138,0.0497473117509,0.999999902207,0.000211250551539,-0.000388502897236,-4.95152646639e-06,1793251730040221952
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.988572094,724.011427906,692.988572094,673.988572094,642.011427906,902,788.988572094,829,657,633,658,0.456083554153,-0.0154124018998,0.0497514438861,0.999999906805,0.000199200748208,-0.000382976472099,-6.16729445199e-06,1793251730056888832
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.146779442,747,724.146779442,693,673,642.853220558,901,789,828.853220558,657,633,658,0.455335807207,-0.0154118825344,0.0497436885064,0.999999906731,0.000174183170622,-0.000395088920093,-1.00980392745e-05,1793251730090222592
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.723378351,747,724.723378351,693,673,642.276621649,901,789,828.276621649,657,633,658,0.454933535978,-0.0154082793639,0.0497452859292,0.999999912001,0.000164780162057,-0.000385610547621,-1.22647182475e-05,1793251730106888704
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747,725,692.126544299,673,642.873455701,901.873455701,788.126544299,828,657,633,658,0.454059827377,-0.0153958137201,0.0497613070201,0.999999922919,0.000148996572774,-0.000362927105124,-1.56715264713e-05,1793251730140221696
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.53998882,747,725,692,673.46001118,643,901.53998882,788.46001118,828,657,633.46001118,658,0.453601026889,-0.0153928772888,0.0497817776895,0.999999934748,0.000138602672103,-0.000333216862077,-1.61376246309e-05,1793251730156888832
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.049104404,747,725,692.049104404,673.950895596,643,900.950895596,789,828,657,633.950895596,658,0.453132538526,-0.0153910581597,0.0498041001552,0.999999946479,0.000127047222963,-0.000301051616818,-1.64010810862e-05,1793251730173556224
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.628963085,747,725,692.628963085,673.371036915,643,900.371036915,789,828,657,633.371036915,658,0.45259302034,-0.0153887179616,0.0498145753629,0.999999949569,0.00011203202374,-0.000296635976081,-1.78054735125e-05,1793251730190223616
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.792836493,747,725,693,673.207163507,643,900,789,828,657,633.207163507,658,0.452025071001,-0.0153854454343,0.0498130808086,0.999999948109,9.65752699958e-05,-0.000306646980999,-2.05599918842e-05,1793251730206890240
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.217582519,747,725,693,673.782417481,643,900,789,828,657,633.782417481,658,0.4514066049,-0.0153805163338,0.0497903182446,0.999999937861,8.0333958005e-05,-0.000342291413524,-2.57134292436e-05,1793251730223556608
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,724.635674014,692.635674014,673.635674014,643,900,789,828,657,633.635674014,658,0.450783613949,-0.0153781592525,0.0497705755555,0.999999932283,6.10362517102e-05,-0.000361628679843,-3.05657635698e-05,1793251730240223232
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,724.049717377,692.049717377,673.049717377,643,900,789,828,657,633.049717377,658,0.450157870417,-0.0153773668094,0.0497526699494,0.999999929747,3.98792477914e-05,-0.000371045796427,-3.52349275177e-05,1793251730256890112
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,724,692.532917671,673,643,900,789,828,657,633.532917671,657.467082329,0.449528940817,-0.0153773415467,0.0497762412317,0.999999946652,2.09289952087e-05,-0.000323935966884,-3.63744598734e-05,1793251730273556480
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724.114298583,693,673,643,899.885701417,789,827.885701417,656.885701417,633.885701417,657,0.448889564673,-0.0153777389216,0.0498013277326,0.999999961067,8.60458228725e-07,-0.00027653415481,-3.73283702688e-05,1793251730290222592
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,724.69184454,693,673,643,899.30815546,789,827.30815546,656.30815546,633.30815546,657,0.448209046514,-0.0153795609455,0.0498169695876,0.999999967895,-2.45696636077e-05,-0.000249190078354,-3.88562912448e-05,1793251730306888704
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,724.732833142,693,673,642.732833142,899,789,827,656.267166858,633,657.267166858,0.447484226842,-0.0153784908458,0.0498110131608,0.99999996459,-5.0360296083e-05,-0.000257794170149,-4.273989846e-05,1793251730323555584
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,724.160054365,693,673,642.160054365,899,789,827,656.839945635,633,657.839945635,0.446708730622,-0.0153741124489,0.0497803504817,0.999999948569,-7.65633195453e-05,-0.000307519334006,-4.93181730971e-05,1793251730340222976
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724,692.573782464,673,642,898.573782464,788.573782464,827,657,633,657.573782464,0.445907335884,-0.015370054971,0.0497521819858,0.999999932166,-8.44443223126e-05,-0.000354291616443,-5.49071648565e-05,1793251730356889856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724,692.017359962,673,642.017359962,898.017359962,788.034719923,827,657,633,657,0.44509639691,-0.0153662487125,0.0497266984859,0.999999915837,-8.20385460706e-05,-0.000397490535538,-5.99733313943e-05,1793251730373556480
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724,692.596779763,673,642.596779763,898.596779763,789.193559527,827,657,633,657,0.444301618786,-0.0153665467599,0.0497568302522,0.999999932347,2.337419787e-05,-0.000362071031795,-6.053325279e-05,1793251730390222592
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724.174475795,692.825524205,672.825524205,643,898.825524205,789.825524205,827,656.825524205,633,657,0.443489224013,-0.0153664133469,0.0497740077021,0.999999934557,8.71755073764e-05,-0.000345601857074,-6.20135330335e-05,1793251730406888960
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724.748227065,692.251772935,672.251772935,643,898.251772935,789.251772935,827,656.251772935,633,657,0.442636514833,-0.0153652925678,0.0497615401162,0.999999926916,5.57519959711e-05,-0.000372499176087,-6.55999905467e-05,1793251730423555328
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,725,691.670419849,672.329580151,642.670419849,897.670419849,789,827,656,633,657,0.441795359174,-0.0153650918697,0.0497660353851,0.999999932521,2.24125361991e-05,-0.000360218264839,-6.85404095936e-05,1793251730440221696
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,725,691.083122505,672.916877495,642.083122505,897.083122505,789,827,656,633,657,0.4409632379,-0.0153656106346,0.0497837948614,0.999999947064,-1.2425109534e-05,-0.000317301697686,-7.09756546873e-05,1793251730456888320
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,725,691.497692673,672.502307327,642,897,789.497692673,826.502307327,656.497692673,633,657,0.440101747795,-0.0153671853751,0.0498118764275,0.999999959208,-4.37963822279e-05,-0.000272910714136,-7.20141467631e-05,1793251730473555456
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724.92273941,691.92273941,672,642.07726059,896.92273941,790,826,657,633,657,0.439223401144,-0.0153683370234,0.0498332191244,0.999999965418,-7.28227224507e-05,-0.00024176697361,-7.35496176904e-05,1793251730490222080
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724.344329961,691.344329961,672,642.655670039,896.344329961,790,826,657,633,657,0.438267122793,-0.0153656150176,0.0497998117075,0.999999948294,-9.03456946703e-05,-0.000298127926392,-7.98024382492e-05,1793251730506888960
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,724,691.232458261,672,643,895.767541739,790,826,657,633,657,0.437324849468,-0.0153639468276,0.0497819269553,0.999999938247,-8.66250737967e-05,-0.000331245946039,-7.92376334322e-05,1793251730523555840
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,724,691.806861748,672,643,895.193138252,790,826,657,633,657,0.436403177344,-0.0153638287961,0.0497868759795,0.999999941803,-5.16552103016e-05,-0.000330173707808,-6.86441285221e-05,1793251730540222464
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.390427501,747,724,692,672,642.609572499,894.609572499,790,825.609572499,657,633,656.609572499,0.435430587901,-0.0153545399442,0.0497794538362,0.999999935912,8.97186512615e-06,-0.000353687921608,-5.47776899313e-05,1793251730556889088
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.978634566,747,724,692,672,642.021365434,894.021365434,790,825.021365434,657,633,656.021365434,0.434432205237,-0.0153406054132,0.0497657648078,0.999999919902,8.25961584868e-05,-0.000389656936896,-3.92532757725e-05,1793251730573555456
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,672,642,894,790,825,657,633,656.539288763,0.433497798886,-0.0153362567163,0.0497642975494,0.999999924883,8.26590360781e-05,-0.000376060330373,-4.45036006244e-05,1793251730590221824
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.894500835,672,642.105499165,894,790.105499165,824.894500835,657,633,657,0.43256815593,-0.0153348952345,0.0497692429087,0.999999932828,7.28287915075e-05,-0.000355786978677,-4.95481243953e-05,1793251730606888704
+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,747,724,691.297571257,672,642.702428743,894,790.702428743,824.297571257,657,633,657,0.431649468952,-0.0153457655999,0.0498019133322,0.999999949285,2.98305038918e-05,-0.000313114870059,-4.99864690418e-05,1793251730623555584
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,746,724,691.449532146,671,643,894,790.449532146,823.550467854,657,632.449532146,657,0.428736410513,-0.0153519594685,0.0497733180326,0.999999935593,-8.50386950323e-07,-0.000353995737397,-5.91654517348e-05,1793251730673555712
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.352559161,671.647440839,643,893,791,821.647440839,657,632.352559161,657,0.424026947311,-0.0153547676756,0.0498024621998,0.999999957914,-2.7189010584e-05,-0.000282436883341,-6.05231366453e-05,1793251730756888320
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746.900410539,724,690.900410539,672.099589461,643,892.099589461,790.099589461,820.099589461,657,633,657,0.421226005594,-0.0153614817827,0.0498049557174,0.999999954904,-1.92030193799e-05,-0.000293703377555,-5.96858736031e-05,1793251730806889216
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746.322502645,724,690.322502645,672.677497355,643,892.677497355,790.677497355,820.677497355,657,633,657,0.420317439339,-0.0153620468565,0.0497983328767,0.999999948965,-3.84070767011e-05,-0.000311188111245,-6.12998178611e-05,1793251730823556352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746.254514823,724,690.254514823,672.745485177,643,892.745485177,791,820.745485177,657,633,656.745485177,0.419413152453,-0.0153596668673,0.0497941558283,0.999999942713,-4.50277318747e-05,-0.000329760913095,-6.16733172897e-05,1793251730840222976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746.8304079,724,690.8304079,672.1695921,643,892.1695921,791,820.1695921,657,633,656.1695921,0.418514269236,-0.0153535681195,0.0497930671054,0.999999936384,-3.57592057041e-05,-0.000349707627583,-6.04804952961e-05,1793251730856889344
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643,891.585817403,790.585817403,820,657,633,656.414182597,0.417662797832,-0.0153518172336,0.0497788394807,0.999999929115,-2.02203022628e-05,-0.000370857345345,-6.18524596394e-05,1793251730873555968
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.001232986,746.998767014,724,690.998767014,672,643,891,790.001232986,820,657,633,656.998767014,0.416831185123,-0.0153518957079,0.0497592254913,0.99999992096,-2.15087048755e-06,-0.000392355755159,-6.42863689217e-05,1793251730890221824
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769.581620066,746.418379934,724,690.418379934,672,643,891,790.581620066,820,657,633,656.418379934,0.416031904428,-0.015358804114,0.0497855881086,0.999999939322,-2.48343747569e-05,-0.000341776470526,-6.26759561944e-05,1793251730906888960
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,746,723.263690444,690,672,643,891,790.263690444,820.736309556,657,633,656,0.41446715555,-0.0153657054503,0.0498102504871,0.999999953478,-5.53252587685e-05,-0.000293668244486,-6.11668643437e-05,1793251730940222720
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,746,723.311042605,690.311042605,672,643,891.311042605,790.311042605,820.688957395,657,633,656.311042605,0.413687044071,-0.0153645378977,0.0497980809894,0.999999946629,-5.57989452376e-05,-0.000315744663396,-6.27247387149e-05,1793251730956889344
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,746,723.885017193,690.885017193,672,643,891.885017193,790.885017193,820.114982807,657,633,656.885017193,0.412900791686,-0.01536111367,0.0497718848449,0.9999999304,-4.73290966029e-05,-0.000364180114447,-6.58296351031e-05,1793251730973555712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,746,724,691,672,642.525703237,891.051406475,790.525703237,820,657,632.525703237,657,0.412200619238,-0.0153637867264,0.0497803615473,0.99999993518,-4.98248043303e-05,-0.000350620691183,-6.49764748339e-05,1793251730990222080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,746.065793615,724,691,672,642.065793615,890,790,820,657,632.065793615,657,0.411520982049,-0.0153674559702,0.0497975017831,0.999999944557,-5.47576248578e-05,-0.000322361946676,-6.30052077546e-05,1793251731006888704
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,746.644681857,724,691,672,642.644681857,890,790,820,657,632.644681857,657,0.410833321892,-0.0153669822088,0.049814467176,0.999999951381,-5.72737753279e-05,-0.000300584726386,-6.00468992936e-05,1793251731023555328
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,746.778586157,724,690.778586157,671.778586157,643,890.221413843,790.221413843,820,657,632.778586157,657,0.410157050442,-0.0153658618678,0.0498157808245,0.999999949672,-6.08197923187e-05,-0.000305717195399,-5.91095280639e-05,1793251731040221952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,746.205281143,724,690.205281143,671.205281143,643,890.794718857,790.794718857,820,657,632.205281143,657,0.409498879031,-0.0153637139233,0.049792219285,0.999999933415,-6.60025672651e-05,-0.000353617010529,-6.13840157117e-05,1793251731056888576
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,746,724,690.378012069,671,643,890.621987931,790.621987931,820,657,632.378012069,657,0.408911870657,-0.0153641997695,0.0497896215054,0.999999933438,-7.21483616528e-05,-0.000352202188021,-6.22214365127e-05,1793251731073555712
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,746,724,690.966876684,671,643,890.033123316,790.033123316,820,657,632.966876684,657,0.408364556477,-0.0153661547259,0.0497987171653,0.9999999427,-7.88313221897e-05,-0.000323280002538,-6.22572714798e-05,1793251731090223616
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,746,724,691,671.546814387,642.453185613,889.453185613,790.546814387,820.546814387,657,633,656.453185613,0.407827475277,-0.0153690408151,0.0498165901212,0.999999949126,-8.18985612917e-05,-0.000302377155172,-6.00659294161e-05,1793251731106889728
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,746.701615017,724,690.298384983,672,642.701615017,889,790.298384983,820.298384983,657,633,656.701615017,0.406762271739,-0.0153713272016,0.0498224889333,0.999999947947,-8.65220956808e-05,-0.000304974571435,-6.00919152828e-05,1793251731140222208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.723349242,643,889,790.276650758,820,657,633,657,0.40624797723,-0.0153697329457,0.0498059622909,0.999999938116,-8.75310434749e-05,-0.000334994401436,-6.23231710861e-05,1793251731156888576
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.149470309,643,889,790.850529691,820,657,633,657,0.405750681705,-0.01536643855,0.0497791694463,0.999999921502,-8.75128540006e-05,-0.000380881995801,-6.53250602794e-05,1793251731173554944
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.436886603,643,889,791,820,657,633.436886603,657,0.405310685472,-0.0153654056497,0.0497697649271,0.999999914609,-9.38004563219e-05,-0.000396868888477,-6.6918622247e-05,1793251731190221824
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,889,790,820,657,633,657,0.404206122642,-0.0153740717897,0.0498132038562,0.999999937982,-0.000126569595053,-0.000322227319256,-6.46919129667e-05,1793251731240222720
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,889,790,820,657,633,657,0.403889990617,-0.0153790343263,0.0498430799632,0.999999948274,-0.000140466386476,-0.000282611356033,-6.20684731502e-05,1793251731256889088
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.506676736,746.506676736,724,690,671,643,889,790,820,657,632.493323264,657,0.403013234026,-0.0153802968163,0.0498477016525,0.99999994369,-0.000163654574416,-0.000285971198226,-6.37003181792e-05,1793251731306888192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.086431237,746,724,690,671,643,889,790,820,657,633,656.913568763,0.402742643206,-0.0153813070989,0.0498344056174,0.999999934856,-0.000171884339813,-0.000310488650119,-6.58873922954e-05,1793251731323555072
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.664599023,746,724,690,671,643,889,790,820,657,633,656.335400977,0.402498791866,-0.0153823891361,0.0498216831527,0.999999926008,-0.000181336975827,-0.000332405033048,-6.78863002532e-05,1793251731340221696
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,746.811986335,724,690,671.811986335,643,889,790,820,657,633,656.811986335,0.40207536937,-0.0153813350548,0.0498079708604,0.999999915665,-0.00019010164802,-0.000357248675787,-7.00276034813e-05,1793251731373555200
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,690.396798261,671.603201739,643,888.603201739,790,820,657,633,657,0.401913891388,-0.015382180213,0.0498093974502,0.999999917366,-0.000191791527799,-0.000351661516862,-6.94202007985e-05,1793251731390222336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.987951331,671.012048669,643,888.012048669,790,820,657,633,657,0.401770586309,-0.0153840194865,0.0498137070444,0.999999921505,-0.000193177268822,-0.00033915343343,-6.81766330409e-05,1793251731406889216
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,770.722914221,747,724,690.722914221,671,643.277085779,888.722914221,790.277085779,820,657,633,657,0.401447845482,-0.015371620105,0.0498317626078,0.999999951003,-7.81223660312e-05,-0.000299961998123,-4.37542514254e-05,1793251731456888576
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770.701996917,747,724,690.701996917,671,643,888.701996917,790,820,657,632.701996917,657,0.401361909081,-0.0153745890277,0.0498360726352,0.999999952131,-8.67264580734e-05,-0.000293751487347,-4.38831824226e-05,1793251731473555456
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770.127041135,747,724,690.127041135,671,643,888.127041135,790,820,657,632.127041135,657,0.401281977465,-0.0153813647744,0.0498371692402,0.999999950988,-9.81593409511e-05,-0.000294089011165,-4.35826393546e-05,1793251731490222080
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,746.537984623,724,690,671.462015377,643,888.462015377,790,820,657,632.462015377,657,0.401219931981,-0.0153844611629,0.0498380915143,0.999999950889,-0.000104095394278,-0.000292308570844,-4.40720704011e-05,1793251731506889216
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,746.053516418,724,690,671.946483582,643,889,790.053516418,820,657,632.946483582,657,0.401164580761,-0.015386448584,0.049838895539,0.999999951124,-0.000108530989593,-0.000289775580477,-4.47589688182e-05,1793251731523556352
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,889,790.794114485,820,657,632.205885515,657,0.401089033494,-0.0153894078486,0.0498394130884,0.999999951976,-0.00011782792465,-0.000283006428675,-4.55273124204e-05,1793251731556889344
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,889,790.218517171,820,657,632.781482829,657,0.401059247852,-0.0153914893208,0.0498402544729,0.999999951746,-0.000120825516191,-0.000282522197504,-4.57142429889e-05,1793251731573555456
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,888.634067133,790,820,657,633,657,0.401038486653,-0.0153908336952,0.0498416055736,0.999999952546,-0.000120463661187,-0.000279776605245,-4.60669243849e-05,1793251731590221568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671,643,888.044199643,790,820,657,633,657,0.401023248012,-0.0153885030873,0.0498432685978,0.99999995396,-0.000118045974349,-0.00027564716069,-4.65210379005e-05,1793251731606888192
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,746.464385091,724,690,671,643,888,790,820,657,633,657,0.401012879829,-0.0153888140784,0.0498443065716,0.99999995436,-0.000118927055847,-0.000273827183595,-4.64187927674e-05,1793251731623555328
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..521bcf86e2995e5ab3648d6fc601be7cf6244379
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
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+343,5.716666667,pose2_to_pose3_retreat,0.600010896856,-0.00999475048309,1.04002090864,0.57058223905,-0.0013223459804,1.03963229036
+344,5.733333333,pose2_to_pose3_retreat,0.599329186858,-0.00999489049871,1.04002102784,0.569900531826,-0.00132247686022,1.0396324033
+345,5.750000000,pose2_to_pose3_retreat,0.598664518702,-0.00999476932527,1.04002101725,0.569235862143,-0.00132236081244,1.03963239392
+346,5.766666667,pose2_to_pose3_retreat,0.598017194891,-0.00999487271476,1.04002103164,0.568588537991,-0.00132246545416,1.03963240619
+347,5.783333333,pose2_to_pose3_retreat,0.597389516761,-0.00999494473701,1.0400211226,0.567960861056,-0.00132253369902,1.03963249096
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+349,5.816666667,pose2_to_pose3_retreat,0.59616340041,-0.00999473538859,1.0400209539,0.566734743447,-0.00132232811858,1.03963233335
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+351,5.850000000,pose2_to_pose3_retreat,0.594992654062,-0.00999476219638,1.04002098193,0.565563995731,-0.00132235958744,1.03963236103
+352,5.866666667,pose2_to_pose3_retreat,0.594429236371,-0.00999488524337,1.04002085237,0.565000580038,-0.0013224760373,1.03963222731
+353,5.883333333,pose2_to_pose3_retreat,0.593882033466,-0.00999484841749,1.0400209462,0.564453376793,-0.00132244060756,1.03963231569
+354,5.900000000,pose2_to_pose3_retreat,0.593354723662,-0.00999485146737,1.04002105708,0.563926067113,-0.00132244327098,1.03963242586
+355,5.916666667,pose2_to_pose3_retreat,0.59284494159,-0.00999493946012,1.04002103215,0.563416286809,-0.00132252504541,1.03963240583
+356,5.933333333,pose2_to_pose3_retreat,0.592355700619,-0.00999485395478,1.04002099026,0.562927045737,-0.00132243972571,1.03963236739
+357,5.950000000,pose2_to_pose3_retreat,0.591889913194,-0.00999485131599,1.04002080844,0.562461256312,-0.00132244391188,1.03963218475
+358,5.966666667,pose2_to_pose3_retreat,0.591446079955,-0.00999488576539,1.0400208942,0.562017422501,-0.00132248057672,1.03963226439
+359,5.983333333,pose2_to_pose3_retreat,0.591022097004,-0.00999485582177,1.04002099475,0.561593439592,-0.00132245054332,1.03963236381
+360,6.000000000,pose2_to_pose3_retreat,0.590609434316,-0.0099948415046,1.04002096871,0.561180777181,-0.00132243489958,1.03963234634
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+362,6.033333333,pose2_to_pose3_retreat,0.589815021762,-0.00999471180397,1.04002099922,0.56038636447,-0.00132230556226,1.03963238067
+363,6.050000000,pose2_to_pose3_retreat,0.589443804926,-0.00999478560245,1.04002097662,0.560015148794,-0.00132237524372,1.03963236207
+364,6.066666667,pose2_to_pose3_retreat,0.589100737659,-0.00999496933512,1.04002115858,0.559672082787,-0.0013225555156,1.03963252585
+365,6.083333333,pose2_to_pose3_retreat,0.588784825666,-0.00999488972984,1.04002109731,0.559356168482,-0.00132248367985,1.03963246634
+366,6.100000000,pose2_to_pose3_retreat,0.588496991484,-0.00999487537346,1.04002103319,0.559068334255,-0.00132246927602,1.03963240672
+367,6.116666667,pose2_to_pose3_retreat,0.58823036362,-0.00999487598989,1.04002101433,0.55880170701,-0.00132246768302,1.03963239024
+368,6.133333333,pose2_to_pose3_retreat,0.587982723174,-0.00999475177368,1.04002100764,0.558554064747,-0.00132234958123,1.03963238469
+369,6.150000000,pose2_to_pose3_retreat,0.58774608612,-0.0099947655953,1.04002103378,0.55831742893,-0.00132235934843,1.03963240766
+370,6.166666667,pose2_to_pose3_retreat,0.58752011137,-0.00999480633149,1.0400209443,0.558091455267,-0.00132239638003,1.0396323186
+371,6.183333333,pose2_to_pose3_retreat,0.587305404903,-0.00999487849464,1.04002087912,0.557876749005,-0.00132246755061,1.03963226005
+372,6.200000000,pose2_to_pose3_retreat,0.58710306314,-0.00999491673051,1.04002082981,0.557674406423,-0.00132250864982,1.03963220889
+373,6.216666667,pose2_to_pose3_retreat,0.586915632533,-0.00999488181134,1.04002089687,0.557486975208,-0.0013224762394,1.03963226597
+374,6.233333333,pose2_to_pose3_retreat,0.58674625363,-0.00999484502347,1.04002103404,0.557317596559,-0.00132243874287,1.03963239983
+375,6.250000000,pose2_to_pose3_retreat,0.58659671127,-0.00999489879007,1.04002095008,0.557168054104,-0.00132249269194,1.03963231897
+376,6.266666667,pose2_to_pose3_retreat,0.586466616001,-0.00999492700604,1.04002106168,0.557037960141,-0.00132251653637,1.03963242925
+377,6.283333333,pose2_to_pose3_retreat,0.586354095724,-0.00999478971542,1.04002081929,0.556925438048,-0.00132238497694,1.03963219646
+378,6.300000000,pose2_to_pose3_retreat,0.586258065108,-0.00999472031943,1.0400211429,0.556829406754,-0.00132231843462,1.0396325078
+379,6.316666667,pose2_to_pose3_retreat,0.586173684372,-0.00999483380624,1.04002117621,0.55674502692,-0.00132242921888,1.03963253339
+380,6.333333333,pose2_to_pose3_retreat,0.586099060671,-0.00999495982936,1.04002093025,0.55667040447,-0.00132255079919,1.03963229216
+381,6.350000000,pose2_to_pose3_retreat,0.586033201569,-0.00999484592907,1.04002077408,0.556604545141,-0.00132243699547,1.03963215085
+382,6.366666667,pose2_to_pose3_retreat,0.585976204621,-0.00999482249537,1.04002080178,0.55654754695,-0.00132241798751,1.03963217387
+383,6.383333333,pose2_to_pose3_retreat,0.585927423388,-0.00999480897568,1.04002104141,0.556498767067,-0.00132239974048,1.0396324167
+384,6.400000000,pose2_to_pose3_retreat,0.58588629606,-0.00999484234736,1.04002107341,0.55645764011,-0.00132243183608,1.03963244908
+385,6.416666667,pose2_to_pose3_retreat,0.585852962517,-0.0099948432925,1.04002108957,0.556424305484,-0.00132243666858,1.03963246055
+386,6.433333333,pose2_to_pose3_retreat,0.585826074648,-0.00999484892322,1.04002108374,0.556397417047,-0.0013224444255,1.03963245027
+387,6.450000000,pose2_to_pose3_retreat,0.585805253666,-0.00999503743866,1.04002069317,0.556376599398,-0.00132262136182,1.03963206568
+388,6.466666667,pose2_to_pose3_retreat,0.585788901737,-0.00999496880488,1.04002078335,0.556360246441,-0.00132255626586,1.03963215472
+389,6.483333333,pose2_to_pose3_retreat,0.58577666369,-0.00999490244443,1.04002093893,0.556348008338,-0.00132249006765,1.03963231101
+390,6.500000000,pose2_to_pose3_retreat,0.585768147912,-0.00999482422406,1.04002106389,0.556339491583,-0.00132241506401,1.03963243814
+391,6.516666667,pose2_to_pose3_retreat,0.585762274262,-0.00999473340322,1.04002113898,0.556333615735,-0.00132233157513,1.03963251617
+392,6.533333333,pose2_to_pose3_retreat,0.585758654695,-0.00999482643513,1.04002117832,0.556329997828,-0.00132241939465,1.0396325461
+393,6.550000000,pose2_to_pose3_retreat,0.585756125825,-0.00999489282083,1.04002119469,0.556327470252,-0.00132248167691,1.03963255597
+394,6.566666667,pose2_to_pose3_retreat,0.585754468342,-0.0099948388943,1.04002110849,0.55632581263,-0.001322428016,1.03963247449
+395,6.583333333,pose2_to_pose3_retreat,0.585753576847,-0.00999480988933,1.04002106213,0.55632492106,-0.00132239915391,1.03963243067
+396,6.600000000,pose2_to_pose3_retreat,0.585753121499,-0.00999479507447,1.04002103845,0.556324465672,-0.00132238441202,1.03963240828
+397,6.616666667,pose2_to_pose3_retreat,0.58575269452,-0.00999477825935,1.04002100538,0.556324038182,-0.00132236927785,1.03963237647
+398,6.633333333,pose2_to_pose3_retreat,0.585752474907,-0.00999476911217,1.04002098652,0.556323818224,-0.00132236127021,1.03963235827
+399,6.650000000,pose2_to_pose3_retreat,0.585752423208,-0.00999476695886,1.04002098208,0.556323766444,-0.00132235938516,1.03963235398
+400,6.666666667,pose2_to_pose3_retreat,0.585752356929,-0.00999476419825,1.04002097639,0.556323700061,-0.00132235696846,1.03963234848
+401,6.683333333,pose2_to_pose3_retreat,0.585752258253,-0.00999476008827,1.04002096791,0.55632360123,-0.00132235337049,1.0396323403
+402,6.700000000,pose2_to_pose3_retreat,0.585752098851,-0.00999475344896,1.04002095422,0.556323441578,-0.00132234755829,1.03963232709
+403,6.716666667,pose2_to_pose3_retreat,0.58575187794,-0.00999474424775,1.04002093525,0.556323220321,-0.00132233950335,1.03963230878
+404,6.733333333,pose2_to_pose3_retreat,0.585751853959,-0.0099947432489,1.04002093319,0.556323196302,-0.00132233862894,1.03963230679
+405,6.750000000,pose2_to_pose3_retreat,0.585751836038,-0.00999474250247,1.04002093165,0.556323178353,-0.00132233797549,1.0396323053
+406,6.766666667,pose2_to_pose3_retreat,0.585751746998,-0.00999473879387,1.040020924,0.556323089174,-0.0013223347289,1.03963229792
+407,6.783333333,pose2_to_pose3_retreat,0.585751627603,-0.0099947338209,1.04002091374,0.556322969592,-0.00132233037546,1.03963228802
+408,6.800000000,pose2_to_pose3_retreat,0.585751502552,-0.00999472871393,1.04002090851,0.556322844329,-0.00132232596089,1.0396322834
+409,6.816666667,pose2_to_pose3_retreat,0.585751259906,-0.009994719568,1.04002093978,0.556322601151,-0.00132231848586,1.0396323176
+410,6.833333333,pose2_to_pose3_retreat,0.585751024528,-0.00999471069601,1.04002097011,0.556322365258,-0.00132231123472,1.03963235078
+411,6.850000000,pose2_to_pose3_retreat,0.58575096609,-0.00999470849333,1.04002097764,0.556322306692,-0.00132230943446,1.03963235902
+412,6.866666667,pose2_to_pose3_retreat,0.585750887746,-0.00999470554038,1.04002098774,0.556322228177,-0.00132230702099,1.03963237006
+413,6.883333333,pose2_to_pose3_retreat,0.585750890674,-0.00999474711762,1.04002100787,0.556322231674,-0.00132234684661,1.03963238615
+414,6.900000000,pose2_to_pose3_retreat,0.585750809772,-0.00999492053359,1.04002102789,0.556322153999,-0.00132250948021,1.0396324025
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae3771c39728e9d6ae1be5c7480e3c9a6ee7354a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3560e2705ce2c2d97356dd78e58f5539567ab8ef89d4ecb13d2a40c7a3461b4
+size 26471835
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad1e29dd747153f1c8476092004df077bb23fd79
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+11,0.183333333,BASELINE,770,747,724,690,671.366712571,642.366712571,888,790,820,657,632.366712571,656.366712571,0.40099390007,-0.0153946427519,0.049857153118,0.999999959726,-0.000124869915225,-0.000250631516487,-4.62569178842e-05,1793251732337320960
+12,0.200000000,BASELINE,770,747,724,690,671.961733368,642.961733368,888,790,820,657,632.961733368,656.961733368,0.400994421178,-0.015393951924,0.0498575473505,0.999999960112,-0.000123888512625,-0.000249578021962,-4.6243631734e-05,1793251732353987840
+13,0.216666667,BASELINE,770,746.458685973,724,690,671.458685973,643,888,789.458685973,820,657,633,657,0.400993664562,-0.0153954917852,0.0498574594608,0.999999959894,-0.000123882395266,-0.00025054678105,-4.57354966351e-05,1793251732370654464
+14,0.233333333,BASELINE,770,746.119087513,724,690,671.119087513,643,888.119087513,789.119087513,820,657,633,657,0.400992921192,-0.0153966121632,0.0498573449521,0.999999959646,-0.000124185989907,-0.000251449337944,-4.53744961752e-05,1793251732387321088
+15,0.250000000,BASELINE,770,746.69400591,724,690,671.69400591,643,888.69400591,789.69400591,820,657,633,657,0.40099256467,-0.0153955400285,0.0498572553918,0.999999959448,-0.000125418486322,-0.000251566470865,-4.57068691249e-05,1793251732403987968
+16,0.266666667,BASELINE,770,747,724,690,672,643,889,790,820,657.269269467,633,657,0.400992088923,-0.0153947679523,0.0498569458044,0.999999959369,-0.000125778488291,-0.000251652172543,-4.59593773305e-05,1793251732420654848
+17,0.283333333,BASELINE,770,747,724,690,672,643,889,790,820,657.844925727,633,657,0.400991477515,-0.0153943372962,0.0498563858605,0.999999959429,-0.000125145727141,-0.000251702110346,-4.61210118528e-05,1793251732437321216
+18,0.300000000,BASELINE,770,747,724,690,671.565208131,643,889,790,820,657.565208131,633,657,0.400991369818,-0.0153941043508,0.0498562589743,0.999999959265,-0.000126295007231,-0.000251773019134,-4.61435734695e-05,1793251732453987840
+19,0.316666667,BASELINE,770,747,724,690,671,643,888.97125024,790,820,657,633,657,0.400991492939,-0.0153939879883,0.0498563345666,0.999999959051,-0.000127952336975,-0.000251793559099,-4.61124133806e-05,1793251732470654720
+20,0.333333333,BASELINE,770,747,724,690,671,643,888.398987968,790,820,657,633,657,0.400992468497,-0.0153946974728,0.0498572193696,0.999999959473,-0.0001267925839,-0.000250715701054,-4.60350563729e-05,1793251732487321088
+21,0.350000000,BASELINE,770,747,724,690,671,643,888,790,820,657,633,657,0.400993303927,-0.0153952082142,0.0498577988882,0.999999959801,-0.000126080649545,-0.000249774367468,-4.59765387589e-05,1793251732503987968
+22,0.366666667,BASELINE,770,747,724,690,671,643,888,790,820,657,633,657,0.40099381669,-0.0153952613219,0.0498576754473,0.999999959918,-0.000126399879474,-0.000249147400355,-4.59614014482e-05,1793251732520655104
+23,0.383333333,BASELINE,770,747,724,690,671,643,888,790,820,657.334560958,633,657,0.400993638133,-0.0153954168686,0.0498573847632,0.999999959834,-0.000126335981039,-0.000249527725828,-4.59132710865e-05,1793251732537321984
+24,0.400000000,BASELINE,770,747,724,690,671,643,888,790,820,657.924158303,633,657,0.400992932582,-0.0153956505046,0.0498569665893,0.999999959595,-0.000125980023233,-0.000250675912089,-4.58399900646e-05,1793251732553988352
+25,0.416666667,BASELINE,770,747,724,690,671,643,888.505768909,790,820,657.494231091,633,656.494231091,0.400992574632,-0.0153962899571,0.0498563594532,0.999999959374,-0.000126227985847,-0.000251420196144,-4.58995862459e-05,1793251732570654720
+26,0.433333333,BASELINE,770,746.9152463,724,690,671,643,888.9152463,790,820,657,633,656,0.400992481234,-0.0153967540993,0.0498560110355,0.999999959284,-0.000126418766936,-0.000251667812028,-4.59738980269e-05,1793251732587321344
+27,0.450000000,BASELINE,770,746.344556496,724,690,671,643,888.344556496,790,820,657,633,656,0.400993610429,-0.0153958696179,0.0498573059172,0.999999959929,-0.000125770543514,-0.000249409636657,-4.60201155616e-05,1793251732603987712
+28,0.466666667,BASELINE,770,746,724,690,671.229248758,643,888,790,820,657,633,656.229248758,0.400993771069,-0.0153954266705,0.0498577266032,0.999999960105,-0.000125532463688,-0.000248797863287,-4.61690113043e-05,1793251732620654336
+29,0.483333333,BASELINE,770,746,724,690,671.80780095,643,888,790,820,657,633,656.80780095,0.400992455934,-0.0153956564831,0.0498568152882,0.999999959568,-0.000125919314512,-0.000250694691962,-4.64743565315e-05,1793251732637321216
+30,0.500000000,BASELINE,770,746.395065955,724,690,671.604934045,643,888,790,820,657.395065955,633,657,0.400991639181,-0.0153970523123,0.0498561937462,0.999999959156,-0.000127131896696,-0.000251786176202,-4.61506453281e-05,1793251732653987840
+31,0.516666667,BASELINE,770,746.986665304,724,690,671.013334696,643,888,790,820,657.986665304,633,657,0.40099107036,-0.0153990281996,0.0498557163575,0.999999958803,-0.000128755255308,-0.000252477025824,-4.55139975199e-05,1793251732670654464
+32,0.533333333,BASELINE,770,747,724.55973986,690,671.55973986,643,888.55973986,790,820,656.880520281,633,657,0.400991820639,-0.0153974665758,0.0498565086801,0.999999959203,-0.000127785740815,-0.00025136183998,-4.56202451509e-05,1793251732687321088
+33,0.550000000,BASELINE,770.134186012,746.865813988,724.865813988,690,671.865813988,643,888.865813988,790,820,656.134186012,633,657,0.400992431346,-0.0153961657392,0.0498572568868,0.999999959545,-0.000127045920407,-0.000250342563856,-4.57938402351e-05,1793251732703987456
+34,0.566666667,BASELINE,770.714613961,746.285386039,724.285386039,690,671.285386039,643,888.285386039,790,820,656.714613961,633,657,0.400992476738,-0.0153960034429,0.049857761014,0.999999959642,-0.00012726879745,-0.000249780739051,-4.61344322954e-05,1793251732720654080
+35,0.583333333,BASELINE,770.700918314,746.299081686,724,689.700918314,671.299081686,643,888,790,820,657,633,657,0.400992592363,-0.0153961081042,0.0498579470439,0.999999959736,-0.000126908539236,-0.000249587746344,-4.61384154547e-05,1793251732737320704
+36,0.600000000,BASELINE,770.112542954,746.887457046,724,689.112542954,671.887457046,643,888,790,820,657,633,657,0.400992775922,-0.0153964709864,0.0498578253868,0.999999959826,-0.000125984229993,-0.000249751514943,-4.58168059146e-05,1793251732753987328
+37,0.616666667,BASELINE,770,747,724,689.468636799,672,643,888,790,820,657,633,657,0.400992753803,-0.015396716914,0.0498580393025,0.999999959849,-0.000126614682333,-0.000249365992753,-4.56772490454e-05,1793251732770654208
+38,0.633333333,BASELINE,770,747,724,690,671.952591457,643,888,790,820,657,633,657,0.400992767676,-0.0153968450726,0.0498583447808,0.999999959877,-0.00012742475256,-0.000248857511673,-4.55917707358e-05,1793251732787320832
+39,0.650000000,BASELINE,770,747,724,690,671.381617442,643,888,790,820,657,633,657,0.400993716269,-0.0153959781156,0.0498587849218,0.999999960143,-0.000126157379797,-0.000248425875532,-4.56279918488e-05,1793251732803988224
+40,0.666666667,BASELINE,770,746.80974574,724,689.80974574,671,643,888,790,820,657,633,657,0.400994172286,-0.0153949342458,0.0498588815678,0.999999960314,-0.000125050793881,-0.000248247405872,-4.5904033036e-05,1793251732820655360
+41,0.683333333,BASELINE,770,746.236064934,724,689.236064934,671,643,888,790,820,657,633,657,0.400993635595,-0.015393533837,0.0498582859554,0.999999960294,-0.000124268247807,-0.000248579152146,-4.66633926136e-05,1793251732837321728
+42,0.700000000,BASELINE,770,746.351556714,724,689.351556714,671,643,888.351556714,790,820,657,633,657,0.400993463651,-0.0153940207198,0.0498582614485,0.999999960233,-0.000124767424883,-0.000248608552708,-4.64860332921e-05,1793251732853988608
+43,0.716666667,BASELINE,770,746.948925936,724,689.948925936,671,643,888.948925936,790,820,657,633,657,0.400993546743,-0.0153958272187,0.0498586362652,0.999999960141,-0.000126162797597,-0.00024842654965,-4.56537092855e-05,1793251732870655488
+44,0.733333333,BASELINE,770,747,724,690,671,643,889,790,820,657,633,657,0.400994183196,-0.0153959676261,0.0498589402771,0.999999960221,-0.000126852076732,-0.000247729825818,-4.57871335497e-05,1793251732887322112
+45,0.750000000,BASELINE,770,747,724,690,671,643,888.892288413,790,820,657,633,657,0.400994562086,-0.0153957852233,0.0498591027932,0.999999960281,-0.000127150333558,-0.000247293248522,-4.60066503079e-05,1793251732903988480
+46,0.766666667,BASELINE,770,747,724,690,671,643,888.316328189,790,820,657,633,657,0.400993596379,-0.015394876637,0.0498586789697,0.999999960189,-0.000126035699038,-0.000248196790767,-4.62079218105e-05,1793251732920654848
+47,0.783333333,BASELINE,770,747,724,690,671,643,888,790,820,657,633,657,0.400993050085,-0.0153958502628,0.0498583072102,0.999999959934,-0.000126981460984,-0.000248775334623,-4.60176402058e-05,1793251732937321216
+48,0.800000000,BASELINE,770,747,724,690,671,643,888,790,820,657,633,657,0.400993014791,-0.0153991171219,0.0498579988839,0.999999959475,-0.000130437551049,-0.000248957909833,-4.53503014922e-05,1793251732953987584
+49,0.816666667,BASELINE,769.567927695,747,724,690,671.432072305,643,888,790,820,657,633,657,0.400992622108,-0.0153989659466,0.0498578348572,0.999999959404,-0.000130113119656,-0.000249399647451,-4.54203019464e-05,1793251732970654720
+50,0.833333333,BASELINE,769.011494499,747,724,690,671.988505501,643,888,790,820,657,633,657,0.400992130531,-0.0153977021898,0.0498577321706,0.999999959464,-0.000128562538763,-0.000249906743191,-4.57298491323e-05,1793251732987321856
+51,0.850000000,BASELINE,769.590043694,747,724,690,671.409956306,643,888,790,820,657,633,657,0.400992773624,-0.0153990635784,0.0498582275681,0.99999995943,-0.00013013368931,-0.000249277470094,-4.54504257226e-05,1793251733003988224
+52,0.866666667,BASELINE,770,747,724,690,671,643,888,790,820,657,633,657,0.400993024694,-0.0153995649184,0.0498583926939,0.999999959405,-0.000130798903423,-0.00024904387822,-4.53691518775e-05,1793251733020654848
+53,0.883333333,BASELINE,770,747,724,690,671,643,888,790,820,657,633,657,0.400992322511,-0.0153979749345,0.0498577547196,0.999999959405,-0.000129261211219,-0.000249772438467,-4.57697053528e-05,1793251733037321216
+54,0.900000000,BASELINE,770,747,724,690,671,643,888.324723896,790,820,657,633,657,0.40099146817,-0.0153969173591,0.0498574141928,0.999999959488,-0.000127310182017,-0.000250385653101,-4.60804133019e-05,1793251733053987840
+55,0.916666667,BASELINE,770,747,724,690,671,643,888.913182062,790,820,657,633,657,0.400990490251,-0.0153962921953,0.0498573152471,0.999999959635,-0.000125023448826,-0.000250905186292,-4.6318150488e-05,1793251733070654464
+56,0.933333333,BASELINE,770,747,724,690,671,643,888.506302414,790,820,657,633,657,0.400990325988,-0.0153960096694,0.0498567770591,0.999999959485,-0.000124952702898,-0.000251523231705,-4.63988110063e-05,1793251733087321344
+57,0.950000000,BASELINE,770,747,724,690,671.07271502,643,888,790,820,657,633,657,0.400990488837,-0.0153959963029,0.0498563563946,0.999999959308,-0.000125596829765,-0.000251905027885,-4.64118869953e-05,1793251733103987712
+58,0.966666667,BASELINE,770,747,724,690,671.650873921,643,888,790,820,657,633,657,0.400991946632,-0.015397441677,0.0498572810476,0.999999959292,-0.000128544220217,-0.000250526139286,-4.61441446065e-05,1793251733120654592
+59,0.983333333,BASELINE,770,747,724.226806356,690.226806356,672,643,888,790,820,657,633,657,0.400993206643,-0.0153982389892,0.0498581759705,0.999999959515,-0.000130162906231,-0.000248840279934,-4.588179017e-05,1793251733137321472
+60,1.000000000,BASELINE,770,747,724.799344963,690.799344963,672,643,888,790,820,657,633,657,0.40099416516,-0.0153980484286,0.0498590255743,0.999999960114,-0.000129756182173,-0.000246686489533,-4.56276488182e-05,1793251733153988352
+61,1.016666667,BASELINE,770.383960075,747,724.616039925,690.616039925,671.616039925,643,888.383960075,790,820,657,633,657,0.400994765576,-0.015397667858,0.0498595321976,0.999999960447,-0.000128375696122,-0.000246055953346,-4.56230692732e-05,1793251733170654720
+62,1.033333333,BASELINE,770.975091199,747,724.024908801,690.024908801,671.024908801,643,888.975091199,790,820,657,633,657,0.400995172774,-0.0153971847649,0.0498598537608,0.999999960637,-0.000126469803139,-0.000246247310491,-4.57531443208e-05,1793251733187321088
+63,1.050000000,BASELINE,770.445147301,747,724,690,671,643,889,790.554852699,820,657,633,657,0.40099473178,-0.015397560065,0.0498591469522,0.999999960536,-0.000126643927355,-0.000246556621836,-4.58152786804e-05,1793251733203987712
+64,1.066666667,BASELINE,770,747,724.132870296,690,671,643,888.867129704,790.867129704,820,657,633,657,0.400994450337,-0.0153977828864,0.049858702682,0.999999960443,-0.000126942930752,-0.000246777396612,-4.5826474297e-05,1793251733220654336
+65,1.083333333,BASELINE,770,747,724.706759683,690,671,643,888.293240317,790.293240317,820,657,633,657,0.400994822318,-0.0153973742677,0.049859279978,0.99999996042,-0.000127352717159,-0.000246687080457,-4.56785158774e-05,1793251733237320960
+66,1.100000000,BASELINE,770,747,724.711010158,690,671,643.288989842,888.288989842,790.288989842,820,657,633,657,0.400994527786,-0.0153968477405,0.0498591252822,0.999999960308,-0.000127126922166,-0.000247248363633,-4.57359428015e-05,1793251733253987840
+67,1.116666667,BASELINE,770,747,724.120065056,690,671,643.879934944,888.879934944,790.879934944,820,657,633,657,0.400993536838,-0.0153961980148,0.0498582057539,0.9999999601,-0.000126237030634,-0.000248490479897,-4.60079696131e-05,1793251733270654720
+68,1.133333333,BASELINE,770,747,724,690,671,643.540930628,888.540930628,790.540930628,820,657,633,657,0.400994760348,-0.0153961347141,0.0498588838867,0.999999960481,-0.000126380363532,-0.000246891053723,-4.59359060925e-05,1793251733287321344
+69,1.150000000,BASELINE,770,747,724,690,671,643,888,790,820.035141265,657,633,657,0.400996320729,-0.0153961804463,0.0498598689669,0.999999960947,-0.000126741086301,-0.000244838747761,-4.57846302706e-05,1793251733303987968
+70,1.166666667,BASELINE,770,747,724,690,671,643,888,790,820.610427838,657,633,657,0.400994380118,-0.0153956037593,0.0498593104529,0.99999996047,-0.000126393806749,-0.000246961999864,-4.5764372766e-05,1793251733320654336
+71,1.183333333,BASELINE,770,747,724,690,671,643,888.18463778,790,820.81536222,657,633,657,0.400993194072,-0.0153954519441,0.0498587986072,0.999999960182,-0.000126207465589,-0.000248220218564,-4.5762260736e-05,1793251733337320960
+72,1.200000000,BASELINE,770,747,724,690,671,643,888.756589389,790,820.243410611,657,633,657,0.400993590874,-0.0153961913804,0.0498583846569,0.999999960299,-0.000126358724094,-0.000247663861047,-4.57982123814e-05,1793251733353987584
+73,1.216666667,BASELINE,770,746.656954695,724,690.343045305,671.343045305,643,889.343045305,790,820,657,633,657,0.40099391879,-0.0153962681281,0.0498588165083,0.999999960661,-0.000125081335585,-0.000246893398112,-4.55621670671e-05,1793251733370654208
+74,1.233333333,BASELINE,770,746.05975281,724,690.94024719,671.94024719,643,889.94024719,790,820,657,633,657,0.400994195669,-0.0153958539007,0.0498598750002,0.999999961199,-0.000122745486184,-0.000245964308058,-4.51246037125e-05,1793251733387321088
+75,1.250000000,BASELINE,770,746.517060266,724,690.482939734,672,643,889.482939734,790,820,657,633,657,0.400994897035,-0.0153957123064,0.0498597685921,0.999999961048,-0.00012476710849,-0.00024548365425,-4.5544339974e-05,1793251733403987968
+76,1.266666667,BASELINE,770,747,724,690,672,643,889,790,820,657,633,657,0.400995319252,-0.0153957356337,0.0498594461035,0.999999960757,-0.000126976982262,-0.000245454767675,-4.59904975486e-05,1793251733420654592
+77,1.283333333,BASELINE,770,747,724,690,672,643,889,790,820,657,633,657,0.400994021035,-0.0153964686136,0.0498586672338,0.999999960155,-0.000127625290594,-0.000247544710734,-4.60734639066e-05,1793251733437321216
+78,1.300000000,BASELINE,770,747,724,690,672,643,889,790,820,657,633,656.750805049,0.400993456867,-0.0153965762007,0.0498582386493,0.999999959967,-0.000127597715221,-0.000248313138737,-4.61044234193e-05,1793251733453987584
+79,1.316666667,BASELINE,770,747,724,690,672,643,889,790,820,657,633,656.159342437,0.400993900909,-0.0153958248147,0.0498582911794,0.99999996035,-0.000126641817881,-0.000247266474156,-4.60639518586e-05,1793251733470654208
+80,1.333333333,BASELINE,769.577285546,747,724,690,671.577285546,643,889,790,820,657,633.422714454,656.422714454,0.400992318968,-0.0153957081719,0.0498574167611,0.999999960044,-0.000126175912513,-0.000248712850265,-4.61900982753e-05,1793251733487320832
+81,1.350000000,BASELINE,769.002586253,747,724.001293126,690,671,643,889,790,820,657,633.998706874,657,0.400990003566,-0.015395825426,0.0498562091861,0.999999959484,-0.000125889704051,-0.000251063501619,-4.63764391928e-05,1793251733503987712
+82,1.366666667,BASELINE,770.150929586,747,724.575464793,690,671,643,889,790,820,657,633.424535207,657,0.400993718093,-0.0153958710304,0.0498588344428,0.999999960663,-0.000125166908568,-0.000246758746274,-4.60111471805e-05,1793251733520654336
+83,1.383333333,BASELINE,770.85001741,746.85001741,724.85001741,690,671,643,888.85001741,789.85001741,820,657,633,657,0.400995943626,-0.0153961168888,0.049860526503,0.999999961329,-0.000125182433291,-0.000244087435298,-4.5737958971e-05,1793251733537320960
+84,1.400000000,BASELINE,770.274517471,746.274517471,724.274517471,690,671,643,888.274517471,789.274517471,820,657,633,657,0.400993944715,-0.0153969308899,0.0498595709811,0.999999960582,-0.000127292654682,-0.000246050387345,-4.57260794483e-05,1793251733553987840
+85,1.416666667,BASELINE,770,746.309547649,724,690,671,643,888,789.309547649,820,657,633,657,0.400993705843,-0.0153973813664,0.049859469934,0.99999996042,-0.000128184222201,-0.000246241066979,-4.5772507658e-05,1793251733570654464
+86,1.433333333,BASELINE,770,746.901424788,724,690,671,643,888,789.901424788,820,657,633,657,0.400995072253,-0.0153975002825,0.0498601482288,0.999999960793,-0.000127964290512,-0.000244815307894,-4.58721166712e-05,1793251733587321344
+87,1.450000000,BASELINE,770,746.517189711,724,690,671.482810289,643,888.482810289,790,820,657,633,657,0.40099374131,-0.0153963694696,0.0498591789717,0.999999960547,-0.000126812556708,-0.000246374548712,-4.60935139295e-05,1793251733603987968
+88,1.466666667,BASELINE,770,746.061700042,724,690,671.938299958,643,888.938299958,790,820,657,633,657,0.40099213364,-0.0153951825254,0.0498579834335,0.999999960218,-0.000125513306523,-0.000248324414067,-4.63189691246e-05,1793251733620654336
+89,1.483333333,BASELINE,770,746.637264836,724,690,671.362735164,643,888.362735164,790,820,657,633,657,0.400992710323,-0.0153956079562,0.0498576452639,0.999999960279,-0.000124536226422,-0.000248559787546,-4.63755346379e-05,1793251733637320960
+90,1.500000000,BASELINE,770,747,724,690.208185851,671,643,888.208185851,790,820,657,633,657,0.400993566325,-0.0153962007577,0.0498581183953,0.999999960507,-0.000124205468483,-0.000247849811557,-4.61542672217e-05,1793251733653987584
+91,1.516666667,BASELINE,770,747,724,690.771192206,671,643,888.771192206,790,820,657,633,657,0.400994898382,-0.0153970788167,0.0498599742634,0.999999961015,-0.00012497626656,-0.00024552863395,-4.54594766482e-05,1793251733670654208
+92,1.533333333,BASELINE,770,746.641620911,724,690.641620911,671.358379089,643,888.641620911,790,820,657,633,657,0.400994591171,-0.0153969729301,0.0498604028929,0.999999961168,-0.000124397529657,-0.000245210202596,-4.54099744683e-05,1793251733687321088
+93,1.550000000,BASELINE,770,746.03787886,724,690.03787886,671.96212114,643,888.03787886,790,820,657,633,657,0.400993161639,-0.0153961933887,0.0498598543689,0.999999961077,-0.000122894838534,-0.000246262944073,-4.58022666106e-05,1793251733703987968
+94,1.566666667,BASELINE,770,746.536283197,724,690.536283197,671.463716803,643,888.536283197,790,820,657,633,657,0.400993816356,-0.0153967941741,0.0498594672126,0.999999960779,-0.000125549417229,-0.00024614005158,-4.57635163182e-05,1793251733720654848
+95,1.583333333,BASELINE,770,746.889432058,724,691,671,643,889,790,820,657,633,657,0.400994508827,-0.0153971748452,0.0498592039768,0.999999960586,-0.000127571022273,-0.000245891666406,-4.57342943477e-05,1793251733737321472
+96,1.600000000,BASELINE,770,746.30615723,724,691,671,643,889,790,820,657,633,657,0.400994766224,-0.0153962194408,0.0498594243514,0.999999960927,-0.000125696748469,-0.000245443216933,-4.5869166672e-05,1793251733753988096
+97,1.616666667,BASELINE,770,746.278195035,724,690.721804965,671,643,889,790,820,657,633,657,0.400994567393,-0.0153957945299,0.0498593247814,0.999999960878,-0.000125402771418,-0.000245770309558,-4.59967365585e-05,1793251733770654464
+98,1.633333333,BASELINE,770,746.863737609,724,690.136262391,671,643,889,790,820,657,633,657,0.400993864527,-0.015395955704,0.0498588717394,0.999999960397,-0.000126854693058,-0.000246954214605,-4.61162387648e-05,1793251733787321088
+99,1.650000000,BASELINE,770,747,724,690,671.444411164,643,888.555588836,790,820,657,633,657,0.400993924286,-0.0153963888439,0.0498588505949,0.999999960459,-0.000126523631164,-0.000246903759124,-4.59681780065e-05,1793251733803987712
+100,1.666666667,BASELINE,770,747,724.023490167,690,671.976509833,643,888,790,820,657,633,657,0.400994222232,-0.0153969348791,0.0498589579458,0.99999996067,-0.000125748071796,-0.000246485585333,-4.57391041502e-05,1793251733820654592
+101,1.683333333,BASELINE,770,747,724.599796513,690,671.400203487,643,888,790,820,657,633,657,0.400994682324,-0.0153981965938,0.0498590065779,0.999999960556,-0.000127237993,-0.000246223946305,-4.55132354184e-05,1793251733837321216
+102,1.700000000,BASELINE,770,747,724.823710892,690,671.176289108,643,888,790,820,657,633,657,0.400995223396,-0.0153986115408,0.0498593274527,0.999999960616,-0.000127813946487,-0.000245681199489,-4.55180880464e-05,1793251733853987840
+103,1.716666667,BASELINE,770,747,724.246795115,690,671.753204885,643,888,790,820,657,633,657,0.400995948497,-0.0153971021613,0.0498602670142,0.999999961072,-0.000126312858002,-0.000244499619844,-4.6047267652e-05,1793251733870654976
+104,1.733333333,BASELINE,770,747,724,690,671.661488031,643,888.677023938,790,820,657,632.661488031,657,0.400995701269,-0.0153968533724,0.0498602437276,0.999999961015,-0.000126490989625,-0.000244646398193,-4.6033948832e-05,1793251733887321600
+105,1.750000000,BASELINE,770,747,724,690,671.069907623,643,889.860184753,790,820,657,632.069907623,657,0.400994727136,-0.0153975469894,0.0498595006247,0.999999960572,-0.000127924490621,-0.000245786244652,-4.56150632274e-05,1793251733903988224
+106,1.766666667,BASELINE,770,747,724,690,671.509808961,643,888.980382078,790,820,657,632.509808961,657,0.400995214644,-0.0153993328907,0.0498597307059,0.999999960688,-0.000128214791022,-0.000245182434671,-4.54994450358e-05,1793251733920655104
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888,790,820,657,633,657,0.400996247945,-0.015398774135,0.0498617852584,0.999999961482,-0.000126254253631,-0.000242976325842,-4.53713519027e-05,1793251733963922432
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724,690.590503764,671,643,888.590503764,790,820,657,633,657,0.400993399037,-0.0153974146384,0.0498595499443,0.999999960961,-0.000124085842808,-0.00024615732252,-4.56951571365e-05,1793251733980589056
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724,690.822511712,671,642.822511712,888.822511712,790,820,657,633,657,0.400992169453,-0.0153968024489,0.0498583359329,0.99999996067,-0.000123192566649,-0.0002477622297,-4.58086817006e-05,1793251733997255936
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,690.24348871,671,642.24348871,888.24348871,790,820,657,633,657,0.400994603295,-0.0153978809043,0.0498594324312,0.999999960923,-0.000125184048494,-0.000245801523944,-4.5446484862e-05,1793251734013922560
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746.665013015,724,690,671,642.334986985,888,790,820,657,633,657,0.400994548963,-0.0153979679279,0.0498591617624,0.999999960891,-0.000125436409756,-0.000245787744745,-4.5528601412e-05,1793251734030588928
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746.086934523,724,690,671,642.913065477,888,790,820,657,633,657,0.400992689026,-0.0153973354949,0.0498578989753,0.999999960653,-0.000124426735465,-0.000247186800593,-4.59331448737e-05,1793251734047255296
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.512020895,746.487979105,724,690,671,643,888,790,820,657,633,656.512020895,0.400992941035,-0.0153981746315,0.049858517097,0.999999960418,-0.000126264014802,-0.000247232166748,-4.58004706411e-05,1793251734063921920
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.0638995,746.9361005,724,690,671,643,888,790,820,657,633,656.0638995,0.400993619114,-0.0153989909757,0.0498594423758,0.999999960274,-0.00012808994395,-0.000246905682383,-4.5641757123e-05,1793251734080588544
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.652691477,746.347308523,724,690,671,643,888,790,820,657,633,656.652691477,0.40099472636,-0.0153974804714,0.0498601559583,0.999999960908,-0.000125683245065,-0.000245492918179,-4.60502479823e-05,1793251734097255168
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746,724,690,671.237604828,643,888,790,820,657,633,657,0.400995682,-0.0153966109043,0.0498603272235,0.999999961153,-0.000123919804292,-0.000245375446662,-4.61486991422e-05,1793251734113921792
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746,724,690,671.816939777,643,888,790,820,657,633,657,0.400996419593,-0.0153966631518,0.0498597185121,0.999999960842,-0.000123081516109,-0.000247120902594,-4.58012422227e-05,1793251734130588416
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746.380747991,724,690,671.619252009,643,888.380747991,790.380747991,820,657,633,657,0.401014523051,-0.0153976311787,0.0498658139368,0.999999963931,-0.000122727308107,-0.000234629721762,-4.49943297601e-05,1793251734147255296
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746.937383635,724,690,671.062616365,643,888.937383635,790.937383635,820,657,633,657,0.401040648722,-0.0153990222524,0.0498750063568,0.999999968285,-0.000122596722258,-0.000215561884821,-4.39751704148e-05,1793251734163921920
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.4608052,724,690,671.5391948,643,889,790.4608052,820,657,633,657,0.401092721655,-0.0154035360675,0.0498913287079,0.999999974769,-0.000126979331623,-0.000180488129197,-4.19713782441e-05,1793251734180588800
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746,724,690,671.860029235,643,889,790,820,657,633,657,0.401151489133,-0.0154078005807,0.0499075548868,0.999999979786,-0.000130038101893,-0.000148056794103,-3.9955628894e-05,1793251734197255424
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,724,690,671.280486208,643,889,790,820,657,633,657,0.401220952264,-0.0154100391677,0.0499206409807,0.999999982696,-0.000127142938857,-0.000130295005415,-3.82942605784e-05,1793251734213921792
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.703331556,746.296668444,724,690,671,643,888.703331556,790,820,657,633,657,0.401298720403,-0.0154144888316,0.0499315357699,0.999999984661,-0.000127726124432,-0.000114085544837,-3.67244034377e-05,1793251734230588416
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.128417002,746.871582998,724,690,671,643,888.128417002,790,820,657,633,657,0.401384277824,-0.0154210122702,0.0499403753282,0.99999998579,-0.000131571662465,-9.93320179329e-05,-3.52403749695e-05,1793251734247255040
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.446233863,747,724,690,671,643,888.446233863,790,820,657,633,657,0.401482884733,-0.0154272940514,0.0499439186894,0.999999986131,-0.000134066156797,-9.275499425e-05,-3.40817140122e-05,1793251734263921664
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724,690.021445313,671,643,889,790,820,657,633,657,0.401586018205,-0.0154335457178,0.0499458998947,0.999999986242,-0.000136140571435,-8.88366968388e-05,-3.3019793148e-05,1793251734280588288
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724,690.613593555,671,643,889,790,820,657,633,657,0.401709733584,-0.0154408455873,0.0499468453987,0.999999985718,-0.000137376535527,-9.30905501059e-05,-3.20419993085e-05,1793251734297255168
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,690.798789897,671,643,888.798789897,790,820,657,633,657,0.401841319362,-0.0154486928309,0.0499458147854,0.99999998501,-0.000138974870109,-9.84771503431e-05,-3.11014642715e-05,1793251734313921792
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,690.219684447,671,643,888.219684447,790,820,657,633,657,0.401987686625,-0.015457568104,0.0499410727998,0.99999998395,-0.00014125377734,-0.000105991177109,-3.02309055923e-05,1793251734330588416
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.356054033,790,820,657,633,656.643945967,0.40215747794,-0.0154661440813,0.0499402200184,0.999999983723,-0.000142554844872,-0.000106585625454,-2.9537525462e-05,1793251734347255296
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,888.929734617,790,820,657,633,656.070265383,0.402341586465,-0.0154745371245,0.0499417443871,0.99999998402,-0.000143258239628,-0.000102950705246,-2.89524399252e-05,1793251734363921664
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.502992667,820,657,633,656.502992667,0.402556534544,-0.0154865974727,0.0499446406796,0.999999984169,-0.00014444567621,-0.000100491935654,-2.64402812657e-05,1793251734380588288
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.921051694,820,657,633,657,0.402782162647,-0.015498770714,0.0499481166902,0.999999984481,-0.000145260354324,-9.68213802219e-05,-2.37329795886e-05,1793251734397255168
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.327114394,820,657,633,657,0.403049379109,-0.0155083413699,0.0499541251626,0.999999985972,-0.000143202775902,-8.41753424712e-05,-2.15072968183e-05,1793251734413921792
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.260076211,820,657,633,657,0.403336884549,-0.015513859173,0.0499617680235,0.999999988464,-0.000134421625369,-6.82760576299e-05,-1.84924766643e-05,1793251734430588672
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,790.838995599,820,657,633,657,0.403649263461,-0.0155144083378,0.04997141458,0.999999991833,-0.000117397640681,-4.83884208984e-05,-1.45102053288e-05,1793251734447255296
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,791,820,657,633,657,0.403979576475,-0.0155066859892,0.0499779713191,0.999999995121,-9.03323547938e-05,-3.7856773037e-05,-1.28425649696e-05,1793251734463921920
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889,791,820,657,633,657,0.404316798709,-0.0154957769878,0.0499833376863,0.999999997685,-5.9398594564e-05,-3.09295793846e-05,-1.20666508888e-05,1793251734480588544
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.437650412,724,690,671,643,889.562349588,791,820,657,633,657,0.404704638708,-0.0155027335758,0.0499865688239,0.999999998589,-4.86727488172e-05,-1.94521525233e-05,-8.6617095413e-06,1793251734497255168
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746,724,690.14176501,671,643,889.85823499,790.85823499,820,657,633,657,0.405094731882,-0.0155099511106,0.0499842723217,0.999999999093,-3.76020849505e-05,-1.91696618591e-05,-5.62272393987e-06,1793251734513922048
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746,724,690.73630324,671,643,889.26369676,790.26369676,820,657,633,657,0.40548847638,-0.0155167509016,0.0499644710165,0.999999998194,-2.4014933322e-05,-5.4960548533e-05,-3.93665504004e-06,1793251734530588416
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746.320087979,724,690.679912021,671,643,889,790,820,657,633.320087979,657,0.405903686311,-0.0155175734263,0.0499443316842,0.999999995779,-4.28935389753e-06,-9.17409174167e-05,-2.83614380208e-06,1793251734547255040
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746.895301724,724,690.104698276,671,643,889,790,820,657,633.895301724,657,0.406336005284,-0.0155136317783,0.0499239229258,0.99999999143,2.03288540272e-05,-0.000129309955773,-2.20235046297e-06,1793251734563921920
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,889.470272549,790.470272549,820,657,633.529727451,657,0.40681650894,-0.0155113877457,0.0499155816761,0.99999998828,4.70872269144e-05,-0.000145677582602,8.1861488059e-08,1793251734580588288
+145,2.416666667,POSE1_TO_POSE2_PRESS,770.046676576,747,724,690.046676576,671,643,890,791,820,657.046676576,633,657,0.407316173062,-0.0155100662601,0.0499122848238,0.999999985645,7.39180537057e-05,-0.00015243693369,3.01227667592e-06,1793251734597255168
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.640515281,747,724,690.640515281,671,643,890,791,820,657.640515281,633,657,0.407914757083,-0.0155151311045,0.0499366429756,0.99999999016,9.60157210124e-05,-0.000101866953041,9.21271960138e-06,1793251734613921792
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.772960882,747,724,691,671,643,890.227039118,790.772960882,820.227039118,657.772960882,633,657,0.408519864878,-0.0155198016521,0.0499602742774,0.999999991217,0.000118840205435,-5.66331956258e-05,1.53441117395e-05,1793251734630588416
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.197657644,747,724,691,671,643,890.802342356,790.197657644,820.802342356,657.197657644,633,657,0.409134979707,-0.0155238673723,0.049982790634,0.999999989387,0.000142779581758,-1.9584881616e-05,2.13695838394e-05,1793251734647255296
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724,690.621688314,671,643,890.621688314,790.378311686,820.621688314,657,633,657,0.40975498495,-0.0155272328345,0.0499916875017,0.999999985641,0.000167233664363,-7.5829197607e-06,2.63203492287e-05,1793251734663922176
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,690.045370375,671,643,890.045370375,790.954629625,820.045370375,657,633,657,0.41037754979,-0.0155302317853,0.0499934560032,0.999999981067,0.00019195714067,-8.69008189513e-06,3.07086188564e-05,1793251734680588544
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,724,690,671,643,890.526313841,790.473686159,820,657,633,657,0.410980480708,-0.0155273496165,0.0499609155831,0.99999997162,0.000222539643691,-7.91551861143e-05,3.11469603443e-05,1793251734697255168
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.898189275,747,724,690.101810725,671,643,891.101810725,790,820.101810725,657,633,657.101810725,0.41160762503,-0.0155244905063,0.0499321989033,0.999999957835,0.000253526294138,-0.000137970728614,3.19072385326e-05,1793251734713921792
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.302267113,747,724,690.697732887,671,643,891.697732887,790,820.697732887,657,633,657.697732887,0.412360425041,-0.015524182308,0.0499362682496,0.999999952802,0.000284044524079,-0.000111484245154,3.58680556117e-05,1793251734730588416
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.283107036,747,724,691,671,643,892.283107036,790,821,657,633,657.716892964,0.413128878362,-0.0155272300151,0.0499510875976,0.999999948842,0.000307587622908,-7.75655923052e-05,4.1109694795e-05,1793251734747255040
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.8576239,747,724,691,671,643,892.8576239,790,821,657,633,657.1423761,0.413913444155,-0.0155337320475,0.0499769722174,0.999999945744,0.00032395103184,-3.59968006967e-05,4.76697197236e-05,1793251734763921664
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,724,690.566327353,671,643,893,790,821.433672647,657,633,657,0.414672016145,-0.015541230337,0.0499666406944,0.999999983858,0.000168009529624,-5.7627058383e-05,2.71138754524e-05,1793251734780588288
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,724,690.010495944,671,643,893.010495944,790.010495944,822,657,633,657.010495944,0.415422816182,-0.0155490421196,0.0499445317901,0.999999994222,-4.0393350635e-05,-9.9603515805e-05,-1.79268350104e-06,1793251734797255168
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,724,690.6022655,671,643,893.6022655,790.6022655,822,657,633,657.6022655,0.416217488413,-0.0155560375778,0.0499309869424,0.999999993307,-1.02496241967e-05,-0.000115230164033,1.59148537568e-06,1793251734813921792
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.810624797,747,724,691,671,643,894,790.810624797,822.189375203,657,633,657.810624797,0.417046380543,-0.0155597185959,0.0499318890105,0.999999993809,2.56460720742e-05,-0.000108095007223,6.36657623381e-06,1793251734830588160
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.233066927,747,724,691,671,643,894,790.233066927,822.766933073,657,633,657.233066927,0.417945416825,-0.0155566056505,0.0499624044721,0.999999995739,7.3332196007e-05,-5.43025360799e-05,1.3992788854e-05,1793251734847255040
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,894.344213004,790.344213004,823.344213004,657,633,657,0.41880823408,-0.0155521193994,0.0499702448792,0.999999992315,0.000112259353002,-4.90506703071e-05,1.90104283693e-05,1793251734863921920
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,724,691,671,643,894.921304869,790.921304869,823.921304869,657,633,657,0.419646547153,-0.0155467040325,0.0499627443746,0.999999986265,0.000145260589489,-7.66391724938e-05,2.22632256754e-05,1793251734880588800
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.50642893,747,724,691,671,643,895.50642893,790.49357107,824,657,633.50642893,657,0.420529778864,-0.0155484393646,0.0499608859662,0.999999985314,0.000157090593027,-6.45824096322e-05,2.28993016303e-05,1793251734897255168
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724,691.091503652,670.908496348,643,896,790,824,657,633.908496348,657,0.421431112791,-0.0155512500158,0.0499635431148,0.999999985458,0.00016352534691,-4.24059559124e-05,2.3359626031e-05,1793251734913921792
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,724,691.669571934,670.330428066,643,896,790,824,657,633.330428066,657,0.422390989841,-0.0155537748447,0.0499854743105,0.999999987037,0.00015904667707,2.94934599272e-07,2.50824141928e-05,1793251734930588416
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,724,692,670.246667061,643,896.246667061,790,824.246667061,657,633.246667061,657.246667061,0.423343511181,-0.0155553745846,0.0499928113696,0.999999988277,0.00015029506937,1.32833889133e-05,2.609034661e-05,1793251734947255040
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,724,692,670.822463783,643,896.822463783,790,824.822463783,657,633.822463783,657.822463783,0.424286217879,-0.0155557399719,0.0499806753688,0.999999990342,0.000135842049072,-1.33736713027e-05,2.61444420623e-05,1793251734963921920
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.60049638,747,724,691.60049638,670.60049638,643,897,789.60049638,825.39950362,657,634,658,0.425246674438,-0.0155606593986,0.0499866168695,0.999999989747,0.000140302702194,-6.31476638936e-06,2.79528613746e-05,1793251734980588544
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.022902422,747,724,691.022902422,670.022902422,643,897,789.022902422,825.977097578,657,634,658,0.426215043456,-0.0155676089206,0.050000616942,0.999999987675,0.000153194675196,1.57740104692e-05,3.054332147e-05,1793251734997254912
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,691.55127229,670.55127229,643,897.55127229,789.55127229,826,657,634,657.44872771,0.427128864605,-0.0155632278198,0.0499903825547,0.999999984303,0.000172287990803,-2.71653541168e-05,3.12040447227e-05,1793251735013921536
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.129866123,692.129866123,671,643,898,789.870133877,826.129866123,657,634,657.129866123,0.428045298591,-0.0155579332509,0.0499747035643,0.999999980687,0.000180932961133,-7.02006846512e-05,3.09880017749e-05,1793251735030588416
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.724790626,692.724790626,671,643,898,789.275209374,826.724790626,657,634,657.724790626,0.428979154533,-0.0155510428087,0.0499431103552,0.999999982768,0.000151244868898,-0.00010396481631,2.79175314217e-05,1793251735047254784
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.307942801,747,725,692.692057199,671,643,898,789.307942801,826.692057199,657,633.692057199,658,0.429956974685,-0.0155484394615,0.0499368458029,0.999999983481,0.000147413689623,-0.000102846688664,2.70267826835e-05,1793251735063921408
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.880961376,747,725,692.119038624,671,643,898,789.880961376,826.119038624,657,633.119038624,658,0.430972638984,-0.0155495264267,0.0499523840461,0.999999983286,0.000165840026044,-7.17020677344e-05,2.80123286523e-05,1793251735080588032
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.542504924,747,725,692.457495076,671,643,898.457495076,790,826.457495076,657,633.457495076,658,0.431936183578,-0.0155498910645,0.0499446193078,0.999999979652,0.000182277611549,-8.18965259624e-05,2.76370488744e-05,1793251735097254912
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,899,789.964219836,827,657,634,658,0.432886630366,-0.0155499486881,0.0499327964988,0.999999975095,0.000197743794441,-9.9855440061e-05,2.71166312394e-05,1793251735113921536
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,899,789.373057015,827,657,634,658,0.433845901339,-0.0155481807322,0.0499528286191,0.999999975833,0.000206226111319,-7.00821672376e-05,2.98820203348e-05,1793251735130588416
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.786295635,693,671.213704365,643.213704365,899,789,827,657,634,657.786295635,0.434797001115,-0.0155454558406,0.0499666662485,0.999999976837,0.000205323558094,-5.60231050855e-05,3.20898887581e-05,1793251735147255040
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.207062566,693,671.792937434,643.792937434,899,789,827,657,634,657.207062566,0.435734124695,-0.0155410941668,0.0499699085702,0.999999979333,0.000188368739928,-6.88422682649e-05,3.33441514502e-05,1793251735163921664
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.369363457,747,724,693.369363457,672,643.630636543,899,789,827,657,634,657.369363457,0.436676636614,-0.0155396578482,0.0499586792693,0.999999977092,0.000191377997414,-9.01013561067e-05,3.27336493678e-05,1793251735180588544
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.944227703,747,724,693.944227703,672,643.055772297,899,789,827,657,634,657.944227703,0.437622146357,-0.0155398490944,0.0499393984683,0.999999971668,0.000205494562756,-0.000116056119275,3.10856578992e-05,1793251735197255168
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.484153741,747,724.515846259,694,672,643,899,789,827,657,634,658,0.438571823377,-0.0155425672804,0.0499583389885,0.999999973875,0.000213357653028,-7.53077902652e-05,3.25279840104e-05,1793251735213921536
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,694,672,643,899.090823266,789,827.090823266,657,633.909176734,658,0.439510053823,-0.0155453948251,0.0499758731644,0.999999975314,0.000216230757975,-3.81553615002e-05,3.40717170877e-05,1793251735230588160
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,694,672,643,899.686403136,789,827.686403136,657,633.313596864,658,0.440382180764,-0.0155473212607,0.0499627688985,0.999999978528,0.000195105728767,-6.08169223993e-05,3.43337468491e-05,1793251735247254784
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,725,694,672,643,900,789,828,657,633.273175587,658,0.441269836218,-0.0155510104069,0.0499638731564,0.999999980557,0.000185351685188,-5.74283614136e-05,3.51110384425e-05,1793251735263921408
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,725,694,672,643,900,789,828,657,633.850153158,658,0.442174761067,-0.0155566598855,0.0499807788922,0.999999981303,0.000188243458192,-2.50691329562e-05,3.64613591393e-05,1793251735280588032
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,725,694,672.424952717,643,900.424952717,789,828.424952717,657,633.575047283,657.575047283,0.443045851069,-0.0155555885653,0.0499894677013,0.999999982146,0.000185148074851,-1.18323788761e-05,3.59010132576e-05,1793251735297254912
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,725,694,672.998988228,643,900.998988228,789,828.998988228,657,633.001011772,657.001011772,0.443905071133,-0.015552159441,0.0499952738326,0.999999983194,0.000179952265164,-5.30420831842e-06,3.46703634778e-05,1793251735313921792
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.589774209,725,694,672.410225791,643,901,789,828.410225791,657,633,657.589774209,0.444661832493,-0.015545824798,0.0499564356001,0.999999979232,0.000188688225541,-6.98700336597e-05,3.24163053139e-05,1793251735330588672
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.822987393,748,725,694,672,643,900.822987393,789,828,657,633.177012607,658,0.445441530074,-0.0155429256421,0.0499343433645,0.999999975502,0.000195489877485,-9.89909215605e-05,3.13186253352e-05,1793251735347255296
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+257,4.283333333,HOLD_POSE2,769,747.649236621,725,693.350763379,672.649236621,642.649236621,902.649236621,788,829,657,633,658,0.459681087411,-0.0155503577682,0.0498410755551,0.999999954772,0.00016677942931,-0.000249410606802,2.08602854429e-05,1793251736481138176
+258,4.300000000,HOLD_POSE2,769,747.763353816,725,693.236646184,673,643,903,788,829,657,632.763353816,658,0.459681806177,-0.0155500015849,0.0498410721951,0.99999995468,0.000167707857834,-0.000249142962267,2.10382029706e-05,1793251736497804800
+259,4.316666667,HOLD_POSE2,769,747.184431618,725,693.815568382,673,643,903,788,829,657,632.184431618,658,0.459683198603,-0.015550194243,0.0498419301444,0.999999955071,0.000167432740486,-0.000247746310384,2.11171316603e-05,1793251736514471424
+260,4.333333333,HOLD_POSE2,769,747,725,693.608674623,673,643,902.608674623,788.391325377,829,657,632.391325377,658,0.459682872849,-0.0155486598031,0.0498415733569,0.999999954617,0.000169120179866,-0.000248455088758,2.08383780331e-05,1793251736531138304
+261,4.350000000,HOLD_POSE2,769,747,725,693.034397369,673,643,902.034397369,788.965602631,829,657,632.965602631,658,0.459681743815,-0.0155463179127,0.0498406486575,0.99999995376,0.000171725150919,-0.000250148194731,2.03924012905e-05,1793251736547805184
+262,4.366666667,HOLD_POSE2,769,747,725,693.552374066,672.447625934,643,902,788.447625934,829,657,633,658.552374066,0.459683438991,-0.0155476656466,0.0498424251588,0.999999954583,0.000170654574337,-0.000247556025349,2.06856059056e-05,1793251736564471552
+263,4.383333333,HOLD_POSE2,769,747.138062486,725,693.861937514,672,643,902,788.138062486,829,657,633,658.861937514,0.459684775632,-0.015548999138,0.0498437088936,0.999999955262,0.00016929423937,-0.000245715955303,2.09693648704e-05,1793251736581137664
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+265,4.416666667,HOLD_POSE2,769,747.703863687,725,693,672,643,902,788.703863687,829,657,633,658,0.459684452501,-0.0155489694583,0.0498427324149,0.999999955195,0.000167390430165,-0.00024729625738,2.08775254443e-05,1793251736614471168
+266,4.433333333,HOLD_POSE2,769,747.126685001,725,693,672,643,902,788.126685001,829,657,633,658,0.459684940667,-0.0155473582454,0.0498432721621,0.999999955348,0.000168137388454,-0.00024620609965,2.04003085048e-05,1793251736631137792
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,725,693,672,642,903,788,829,657,632,658,0.459686522007,-0.015548412449,0.0498442163027,0.999999955312,0.000170316761112,-0.000244837445985,2.05512458673e-05,1793251736663876608
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,725,693.59145495,672,642.59145495,902.40854505,788,829,657.59145495,632.59145495,658,0.459684978792,-0.0155498378802,0.0498430680039,0.999999955342,0.000167842572283,-0.000246381099847,2.10072058509e-05,1793251736680542976
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.820926616,747.179073384,725,694,672.179073384,642.820926616,902,788,829,657.820926616,633,658,0.459683721776,-0.0155500439505,0.0498418723985,0.999999955151,0.00016641721778,-0.000248122988198,2.09221331983e-05,1793251736697209344
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.335263712,747.664736288,725,694,673,642.335263712,902.335263712,788.335263712,829,657,633,658,0.459683357596,-0.0155470119571,0.049840977736,0.999999954443,0.000168129020667,-0.000249919087562,1.96922630538e-05,1793251736730542336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.911035634,747.088964366,725,694,673,642.911035634,902.911035634,788.911035634,829,657,633,658,0.459684236265,-0.0155479343068,0.0498426095215,0.999999954859,0.000168835413804,-0.000247684568506,2.0729496502e-05,1793251736747208960
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.918543632,673,643,902,788,829,657,633,658,0.459682519415,-0.0155478814514,0.0498422075039,0.99999995427,0.000171301848756,-0.000248364755245,2.07500552966e-05,1793251736780542464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.339111718,673,643,902,788,829,657,633,658,0.459679097336,-0.0155477973193,0.0498394340466,0.999999953774,0.000169998495099,-0.000251281803501,2.02379514281e-05,1793251736797209088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,693,673,642.760168366,902,788.239831634,829,657.239831634,633,658.239831634,0.459670910295,-0.0155476739628,0.0498349461768,0.999999952401,0.000168821345183,-0.000257509441779,1.96585721959e-05,1793251736813875712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,673,642.181914464,902,788.818085536,829,657.818085536,633,658.818085536,0.4596559995,-0.0155474952574,0.0498280391291,0.999999949716,0.000167822279279,-0.000268408596087,1.89842619042e-05,1793251736830542336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.393906814,673,642.393906814,902,788.606093186,829,657.606093186,633,658.606093186,0.459622228119,-0.0155458700505,0.049812379373,0.999999942482,0.000168670983018,-0.000293721496616,1.77086827247e-05,1793251736847208960
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,672.142631409,643,902,788.857368591,829,657,633,658,0.459453868488,-0.0155327211379,0.0497503637537,0.999999913291,0.00017502599989,-0.000377693668458,1.14770514508e-05,1793251736897209088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,672.721830963,643,902,788.278169037,829,657,633,658,0.45937900617,-0.0155289401879,0.0497340353657,0.999999904584,0.000175438952345,-0.000399951006501,9.57802441844e-06,1793251736913876480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,902.299688979,788.299688979,829,657,633,658,0.459300060938,-0.0155244349445,0.0497247608414,0.999999899896,0.000176692052195,-0.00041099853928,8.2515052522e-06,1793251736930543104
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,902.876307303,788.876307303,829,657,633,658,0.459217342871,-0.0155192604137,0.0497220044819,0.999999899258,0.000178721495173,-0.00041168758506,7.45401542894e-06,1793251736947209216
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.027276151,747.972723849,724.972723849,694,673,643,902,788,829,657,633,658.972723849,0.459009603076,-0.0155052453175,0.049720829211,0.999999898024,0.000186199678524,-0.000411397000124,5.83185460289e-06,1793251736980542208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.61685813,747.38314187,724.38314187,694,673,643,902,788,829,657,633,658.38314187,0.458877992672,-0.0154991930949,0.0497215351265,0.999999898699,0.000186563244856,-0.000409595412533,5.33501078298e-06,1793251736997208832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.797066582,747,724.202933418,694,673,643,902.202933418,788.202933418,829,657,633,658,0.458737827385,-0.0154914312536,0.0497228955335,0.999999899459,0.000189016576764,-0.000406610868884,4.71032993369e-06,1793251737013875456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.217499594,747,724.782500406,694,673,643,902.782500406,788.782500406,829,657,633,658,0.458581784705,-0.0154804964521,0.0497254706419,0.999999900339,0.000195348401762,-0.000401430822244,3.84839045004e-06,1793251737030542080
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.35951085,747,725,694,673,642.64048915,902.64048915,789,829,657,633,658,0.458407132318,-0.0154704353863,0.0497305278484,0.99999990121,0.000200985950891,-0.000396449166996,3.5009705222e-06,1793251737047208704
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.934985593,747,725,694,673,642.065014407,902.065014407,789,829,657,633,658,0.458221300768,-0.0154608991866,0.0497370760912,0.999999902063,0.000206206438056,-0.000391586688113,3.46263060161e-06,1793251737063875584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747.520229019,725,694,673,642,902,789.520229019,829,657.520229019,633,658,0.458001423394,-0.0154503222303,0.0497418437205,0.999999903968,0.000209772614935,-0.000384774109589,2.86451818281e-06,1793251737080542464
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.894691782,748,725,694,673.105308218,642.105308218,902,789.894691782,829,657.894691782,633,658,0.457769250614,-0.0154401041876,0.0497455701667,0.999999905553,0.000212110614262,-0.000379341498962,1.99994148977e-06,1793251737097209344
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.315944239,748,725,694,673.684055761,642.684055761,902,789.315944239,829,657.315944239,633,658,0.457501295266,-0.0154320956626,0.0497456352919,0.999999905308,0.000209874291047,-0.000381229498274,2.57932556225e-07,1793251737113875968
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.73731814,725,694,673.73731814,643,902,789,829,657,633,658,0.457212644361,-0.0154253860992,0.049746059542,0.999999905158,0.000205641314375,-0.000383919386126,-1.33279842126e-06,1793251737130542336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.158838078,725,694,673.158838078,643,902,789,829,657,633,658,0.456899113109,-0.0154202381583,0.049746915535,0.999999905088,0.000199007945313,-0.000387573310577,-2.7416617432e-06,1793251737147208960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.417355187,747,725,694,673,643,902.417355187,789,829,657,633.417355187,658,0.456562031387,-0.0154180476507,0.049747050123,0.999999906492,0.000189130787258,-0.00038887297117,-4.7472618564e-06,1793251737163875584
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,902,789,828.684115539,657,633.315884461,658,0.454546396654,-0.0153994272736,0.0497496660948,0.999999918264,0.000146717140656,-0.000376425568765,-1.58359217282e-05,1793251737247208960
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,902,789,828.105431193,657,633.894568807,658,0.45408097437,-0.0153954784769,0.0497601985408,0.999999924048,0.000135466500462,-0.000365053091353,-1.702428147e-05,1793251737263875840
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.549118554,725,693.549118554,673,643,901.549118554,789,828.450881446,657,633.549118554,658,0.453593862788,-0.0153925303936,0.0497799530407,0.999999936475,0.000123181230016,-0.000334018458149,-1.75567755445e-05,1793251737280542464
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747.581926966,725,693,673,643,899,789,828,657,633,657,0.445598911209,-0.0153699871692,0.0497487527172,0.99999993048,-7.22474029616e-05,-0.000361272374945,-5.74599288012e-05,1793251737480542720
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747.018007896,724.981992104,693,672.981992104,643,899,789.018007896,828,657,633,657,0.444795307308,-0.0153693895107,0.049740166478,0.999999926393,-1.92917718504e-05,-0.000378337069715,-6.08526872819e-05,1793251737497209856
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747.807663735,724.192336265,693,672.192336265,643,898.807663735,789.807663735,827.807663735,657,633,657,0.44315558167,-0.015365928944,0.049773512529,0.999999933641,9.00464084985e-05,-0.000347173806557,-6.3878032385e-05,1793251737530543360
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747.228200334,724.771799666,693,672.771799666,643,898.228200334,789.228200334,827.228200334,657,633,657,0.442258697548,-0.0153629504658,0.0497573573104,0.999999925532,5.71533217582e-05,-0.000375367289476,-6.90586929885e-05,1793251737547209472
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,725,693,672.077698682,643,897.077698682,789,827,657,633,657,0.440580137389,-0.0153724572852,0.0498021891869,0.999999956262,-2.03655323419e-05,-0.000286161634046,-7.19269103914e-05,1793251737580542208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724.491766913,693,672,643,897,789.508233087,826.491766913,657,633,657,0.439714070517,-0.0153693017305,0.0498191259681,0.999999961524,-4.92097004958e-05,-0.000262791854916,-7.39662825093e-05,1793251737597209088
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.016269167,747,724,692,672,643,894.032538334,790,825.016269167,657,632.983730833,656,0.433940685747,-0.0153317937539,0.0497578647928,0.999999912208,0.000105295257119,-0.000403516158419,-4.0875404462e-05,1793251737697209088
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,746.104110776,724,691.895889224,672,643,894,790.104110776,825,656.104110776,632.895889224,657,0.432155774749,-0.0153406949738,0.0497829250493,0.999999940192,5.44816944524e-05,-0.00033808614336,-4.84257115875e-05,1793251737730542336
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746.540364669,724,691,671.459635331,643,893.459635331,791,824.080729338,657,632.540364669,657,0.428202660653,-0.0153489882575,0.0497720843878,0.999999931134,1.64809846532e-06,-0.000366477226233,-5.85108367869e-05,1793251737797209088
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,643,892.303825113,791,820.303825113,657,632.696174887,657,0.419854555795,-0.0153611693356,0.0498011415451,0.999999948074,-4.40784763937e-05,-0.000313594733179,-5.97324370289e-05,1793251737947208960
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746.57543769,724,691,672,643,892.57543769,791,820,657,633,656.57543769,0.417191583403,-0.015352378527,0.0497769458561,0.999999927668,-1.95090695929e-05,-0.000374733809917,-6.21103999633e-05,1793251737997209088
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.592980264,746.592980264,724,691,671.407019736,643,892,791,820,657,633,656,0.415604624337,-0.0153633408015,0.0498013200179,0.999999949009,-3.23661183215e-05,-0.000311809177632,-6.09027806479e-05,1793251738030542592
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,769.239831831,747,724,691,671,643,891.239831831,791,820,657,633,656.760168169,0.41405366146,-0.0153649075203,0.0498076886944,0.999999951692,-5.53115880342e-05,-0.000299643451542,-6.13993637447e-05,1793251738063875840
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.335402835,746.664597165,724,691,671.335402835,643,891,791,820,657,633,657,0.413277628195,-0.0153622842852,0.0497912734642,0.999999942669,-5.44528369947e-05,-0.000328152169131,-6.3352833595e-05,1793251738080542720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.908348097,746.091651903,724,691,671.908348097,643,891,791,820,657,633,657,0.41250984174,-0.0153596161716,0.0497706609057,0.999999930945,-4.88350252421e-05,-0.000362525276534,-6.55766925476e-05,1793251738097209600
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,690,671.018316599,643,888.981683401,790,820,657,633,657,0.400991995184,-0.0153934066477,0.0498524780079,0.999999962614,-8.64504610399e-05,-0.000255186888334,-4.66701548337e-05,1793251739047208704
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0527730c1a7412589ea4c3277ae41d59d5947fb8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.585766593548,-0.00999478334976,1.04002097733,0.556337935722,-0.00132237917987,1.0396323536
+393,6.550000000,pose2_to_pose3_retreat,0.585761700135,-0.00999480104119,1.04002093291,0.556333042694,-0.00132239559831,1.03963230846
+394,6.566666667,pose2_to_pose3_retreat,0.585758499957,-0.00999482881714,1.04002099825,0.556329843218,-0.0013224209624,1.03963237443
+395,6.583333333,pose2_to_pose3_retreat,0.585756482659,-0.00999484189033,1.04002102689,0.556327826134,-0.00132243335445,1.03963240208
+396,6.600000000,pose2_to_pose3_retreat,0.585755380962,-0.00999484452765,1.04002102978,0.556326724321,-0.00132243647155,1.03963240303
+397,6.616666667,pose2_to_pose3_retreat,0.585754570362,-0.00999484646811,1.04002103192,0.556325913636,-0.00132243876503,1.03963240373
+398,6.633333333,pose2_to_pose3_retreat,0.585753945789,-0.00999484796325,1.04002103356,0.556325288999,-0.00132244053217,1.03963240427
+399,6.650000000,pose2_to_pose3_retreat,0.585753410451,-0.00999485621278,1.04002103994,0.556324753696,-0.00132244873663,1.03963240895
+400,6.666666667,pose2_to_pose3_retreat,0.585753082082,-0.00999487304433,1.04002105226,0.556324425504,-0.00132246507054,1.03963241896
+401,6.683333333,pose2_to_pose3_retreat,0.585752933889,-0.00999488064043,1.04002105782,0.556324277391,-0.00132247244206,1.03963242347
+402,6.700000000,pose2_to_pose3_retreat,0.585752868421,-0.00999488399618,1.04002106028,0.556324211958,-0.0013224756986,1.03963242547
+403,6.716666667,pose2_to_pose3_retreat,0.585752593569,-0.00999489808451,1.04002107059,0.556323937256,-0.0013224893704,1.03963243384
+404,6.733333333,pose2_to_pose3_retreat,0.58575242851,-0.00999490654515,1.04002107678,0.556323772285,-0.0013224975809,1.03963243887
+405,6.750000000,pose2_to_pose3_retreat,0.585752311173,-0.00999491255956,1.04002108118,0.556323655012,-0.0013225034175,1.03963244245
+406,6.766666667,pose2_to_pose3_retreat,0.585752121236,-0.00999492229539,1.04002108831,0.556323465177,-0.00132251286548,1.03963244823
+407,6.783333333,pose2_to_pose3_retreat,0.585752056252,-0.00999492562631,1.04002109074,0.556323400228,-0.00132251609792,1.03963245021
+408,6.800000000,pose2_to_pose3_retreat,0.58575166879,-0.00999488490171,1.04002107886,0.556323012402,-0.00132247647077,1.03963244138
+409,6.816666667,pose2_to_pose3_retreat,0.585751614614,-0.00999487245238,1.04002107426,0.556322958112,-0.00132246436272,1.03963243784
+410,6.833333333,pose2_to_pose3_retreat,0.585751451632,-0.00999483499956,1.0400210604,0.556322794785,-0.00132242793662,1.0396324272
+411,6.850000000,pose2_to_pose3_retreat,0.585751278672,-0.009994795254,1.04002104569,0.556322621459,-0.00132238928063,1.03963241591
+412,6.866666667,pose2_to_pose3_retreat,0.585751008588,-0.00999473318962,1.04002102273,0.556322350804,-0.00132232891766,1.03963239827
+413,6.883333333,pose2_to_pose3_retreat,0.585750931841,-0.00999481071414,1.04002104196,0.556322274185,-0.00132240622612,1.03963241263
+414,6.900000000,pose2_to_pose3_retreat,0.585750888991,-0.00999487461411,1.04002104387,0.556322232073,-0.00132246763315,1.03963241423
+415,6.916666667,pose2_to_pose3_retreat,0.585750865936,-0.00999488797791,1.04002103922,0.556322209351,-0.00132247981177,1.03963241081
+416,6.933333333,pose2_to_pose3_retreat,0.585750809772,-0.00999492053359,1.04002102789,0.556322153999,-0.00132250948018,1.0396324025
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a279edab9a391f3d7dca9bc5ac66d429cf9f47b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99eed9a351588d66a719276bb2feaa9501ca29fd10ee3f5b9d621656dc803147
+size 26164907
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7ccb0567248b56a1e04fd7ba230f81aa403f910
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
+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,770,747,726,692,670,643,891,791,821,657,633,657,0.401009170567,-0.0154941808947,0.0698363592302,0.999999981582,6.59043533682e-05,-0.000180032309524,9.05383916407e-06,1793251740684748288
+1,0.016666667,BASELINE,770.573781566,747,725.426218434,691.426218434,670.573781566,643,891,791,820.426218434,657,633,657,0.401006989048,-0.0154950996246,0.0698356697386,0.999999981435,6.3103598214e-05,-0.000181835192011,9.15699368787e-06,1793251740701415424
+2,0.033333333,BASELINE,770.848397602,747,725,691,671,643,891,791,820,657,633,657,0.401005530655,-0.0154956018894,0.0698353621829,0.999999981308,6.1983835246e-05,-0.000182910959693,9.29676090371e-06,1793251740718082560
+3,0.050000000,BASELINE,770.258909697,747,725,691,671,643,891,791,820,657,633,657,0.401006160924,-0.0154949012447,0.0698361578033,0.999999981254,6.57194177595e-05,-0.000181886543108,9.54227955312e-06,1793251740734748928
+4,0.066666667,BASELINE,770.325918357,747,725,691,671,643,891,790.674081643,820,657,633,657,0.401006715906,-0.0154947010016,0.0698366429472,0.999999981336,6.66867510448e-05,-0.000181073928554,9.61299522334e-06,1793251740751415296
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+6,0.100000000,BASELINE,770.515690628,747,725,691,671,643,891,790.484309372,820.484309372,657,633,657,0.401007243224,-0.0154952172151,0.0698369356282,0.999999981595,6.4820501628e-05,-0.000180331023728,9.43143948863e-06,1793251740784748288
+7,0.116666667,BASELINE,770,747,725,691.060594611,671,643,891,791,820.939405389,657,633,657,0.401007250274,-0.0154955320473,0.0698370129589,0.999999981638,6.43214529303e-05,-0.000180278401224,9.33485894444e-06,1793251740801414912
+8,0.133333333,BASELINE,770,747,725,691.635413455,671,643,891,791,820.364586545,657,633,657,0.401007801887,-0.0154955499491,0.0698376251048,0.999999981736,6.43705071529e-05,-0.000179706402821,9.47709251737e-06,1793251740818081536
+9,0.150000000,BASELINE,770,747,725,692,671,643,891,791,820,657,633,657,0.401007942263,-0.0154957019781,0.0698379552787,0.999999981821,6.3949771121e-05,-0.00017938891908,9.42892434731e-06,1793251740834748160
+10,0.166666667,BASELINE,770,747,725,692,671,643,891,791,820,657,633,657,0.401007369466,-0.0154960866116,0.0698377964541,0.99999998188,6.2714321171e-05,-0.000179512816706,9.05055997909e-06,1793251740851414784
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+12,0.200000000,BASELINE,770,747,725,691.03472366,671,643,891,791.96527634,820,657,633,657,0.401005654679,-0.0154955450517,0.0698370043033,0.999999981659,6.20920560408e-05,-0.000180943789861,9.28063636273e-06,1793251740884748288
+13,0.216666667,BASELINE,770,747,725,691,671,643,891,791.460202292,820,657,633,657,0.401005637628,-0.0154955202769,0.0698370343725,0.999999981596,6.31991611086e-05,-0.000180920216042,9.06824954095e-06,1793251740901414656
+14,0.233333333,BASELINE,770,747,725.117426676,691,671,643,891,791,820.117426676,657,633,657,0.401005569068,-0.0154951842386,0.06983704616,0.999999981458,6.47682577174e-05,-0.000181132053547,8.9038417718e-06,1793251740918081536
+15,0.250000000,BASELINE,770,747,725.708104728,691,671,643,891,791,820.708104728,657,633,657,0.401005061573,-0.0154934972734,0.0698368622814,0.999999981,6.78794202364e-05,-0.000182513257621,9.04216241096e-06,1793251740934748160
+16,0.266666667,BASELINE,770,747,725.706992833,691,671,643,891,791,821,657,633,657,0.401005609539,-0.0154934260894,0.0698371314743,0.999999981058,6.79617066867e-05,-0.000182162906011,9.07670247575e-06,1793251740951415040
+17,0.283333333,BASELINE,770,747,725.127732902,691,671,643,891,791,821,657,633,657,0.401007188636,-0.0154949334398,0.0698378432946,0.99999998162,6.50849385484e-05,-0.000180120914462,9.0098543082e-06,1793251740968081664
+18,0.300000000,BASELINE,770.448813717,747,725,691,671,643,891,790.551186283,820.551186283,657,633,657,0.401007271296,-0.0154940275746,0.0698378357659,0.999999981542,6.6315852143e-05,-0.000180106309009,8.94080372537e-06,1793251740984748544
+19,0.316666667,BASELINE,770.975607145,747,725,691.024392855,671,643,890.975607145,790.024392855,820.024392855,657,633,657,0.401006945422,-0.0154925200504,0.0698376429056,0.999999981301,6.85188381122e-05,-0.000180625101958,8.87076109624e-06,1793251741001415168
+20,0.333333333,BASELINE,770.4045083,747,725,691.5954917,671,643,890.4045083,790.5954917,820.5954917,657,633,657,0.401006951099,-0.015492828342,0.0698378571807,0.999999981509,6.64644823215e-05,-0.000180244463056,8.79244814888e-06,1793251741018082816
+21,0.350000000,BASELINE,770.173291944,747,725.173291944,691.826708056,671,643,890.173291944,791,820.826708056,657,633,657.173291944,0.401007214156,-0.0154934516089,0.069838218173,0.999999981738,6.46860222732e-05,-0.000179609781829,8.8925240587e-06,1793251741034749696
+22,0.366666667,BASELINE,770.767364163,747,725.767364163,691.232635837,671,643,890.767364163,791,820.232635837,657,633,657.767364163,0.401008102172,-0.0154948396857,0.0698389354179,0.999999982029,6.35774810662e-05,-0.000178358245676,9.42575636702e-06,1793251741051415808
+23,0.383333333,BASELINE,771,747,725.647686412,691,671,643,891,791,820.352313588,657,633,657.647686412,0.401008085475,-0.015495176561,0.069839041638,0.999999982033,6.38786960084e-05,-0.000178228212189,9.35776185996e-06,1793251741068081920
+24,0.400000000,BASELINE,771,747,725.068608749,691,671,643,891,791,820.931391251,657,633,657.068608749,0.401007486465,-0.0154948368383,0.0698387545766,0.999999981854,6.50872901196e-05,-0.0001788200256,8.9027921444e-06,1793251741084748544
+25,0.416666667,BASELINE,771,747,725,691,670.494227095,643,891,791,821,657,633,657,0.401008122137,-0.0154937159947,0.069838500253,0.999999981807,6.60111433857e-05,-0.000178743891748,8.87347575875e-06,1793251741101415168
+26,0.433333333,BASELINE,770.920343171,747,725,691,670,643,891,791,820.920343171,657,633,657,0.401008576603,-0.0154927559446,0.069838226091,0.999999981732,6.67325873122e-05,-0.000178894685106,8.91614021726e-06,1793251741118081536
+27,0.450000000,BASELINE,770.345629763,747,725,691,670,643,891,791,820.345629763,657,633,657,0.401006873575,-0.0154934476735,0.0698378012901,0.999999981369,6.64339283172e-05,-0.000181013736546,9.05060819025e-06,1793251741134748160
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+29,0.483333333,BASELINE,770.829095294,747,725,691.829095294,670.829095294,643,891,791,820,657,633,657.829095294,0.401008994289,-0.0154928958564,0.0698393860991,0.999999981847,6.81366990202e-05,-0.000177714762941,9.03437187151e-06,1793251741168082176
+30,0.500000000,BASELINE,770.589002227,746.589002227,725,692,670.589002227,643,891,791.410997773,820.410997773,657,633,657.589002227,0.401008616997,-0.0154923920814,0.0698387890009,0.999999981743,6.87800017241e-05,-0.000178054761641,8.94559833339e-06,1793251741184749056
+31,0.516666667,BASELINE,770.011514844,746.011514844,725,692,670.011514844,643,891,791.988485156,820.988485156,657,633,657.011514844,0.401007175991,-0.0154919645495,0.0698374170143,0.999999981396,6.91386917247e-05,-0.000179857099227,8.84898885831e-06,1793251741201415936
+32,0.533333333,BASELINE,770,746.5616035,725,691.4383965,670.5616035,642.4383965,891,791.4383965,820.4383965,657,632.4383965,657,0.401006929682,-0.0154925716401,0.0698382753549,0.999999981505,6.8583133943e-05,-0.000179465611774,8.90063590929e-06,1793251741218082304
+33,0.550000000,BASELINE,770,747,725,691,670.861138796,642.138861204,891,791,820,657,632.138861204,657,0.401006946091,-0.0154932098467,0.0698389099121,0.99999998161,6.81034651928e-05,-0.000179056221175,8.97740132531e-06,1793251741234748416
+34,0.566666667,BASELINE,770,747,725,691,670.270113035,642.729886965,891,791,820,657,632.729886965,657,0.401007738824,-0.0154938808314,0.0698386680215,0.999999981678,6.79314768481e-05,-0.000178733872199,9.12613617832e-06,1793251741251415040
+35,0.583333333,BASELINE,770,747,725,691.3144868,670.3144868,643,890.6855132,790.6855132,820.3144868,657,633,657,0.401008284219,-0.0154938307532,0.0698388040111,0.999999981794,6.76243529807e-05,-0.000178201657309,9.16584263719e-06,1793251741268081664
+36,0.600000000,BASELINE,770,747,725,691.893677981,670.893677981,643,890.106322019,790.106322019,820.893677981,657,633,657,0.40100862143,-0.0154931737546,0.0698392580634,0.999999981948,6.72034851632e-05,-0.000177492797684,9.11377962149e-06,1793251741284748288
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+39,0.650000000,BASELINE,770,747,725,691,671,643,891.633140959,791,820,657,633.633140959,657,0.401008321856,-0.0154925824888,0.0698400684423,0.999999981885,6.72195875447e-05,-0.000177862906844,8.69001966933e-06,1793251741334748928
+40,0.666666667,BASELINE,769.782903591,747,725,691.217096409,671,643,891.782903591,790.782903591,820,657,633.782903591,657,0.401007893247,-0.0154932537565,0.0698398861943,0.9999999819,6.69097197724e-05,-0.000177891799694,8.81829695114e-06,1793251741351415552
+41,0.683333333,BASELINE,769.203029047,747,725,691.796970953,671,643,891.203029047,790.203029047,820,657,633.203029047,657,0.401005673669,-0.0154942395829,0.0698378115102,0.999999981311,6.57810953529e-05,-0.000181592774842,8.67879598748e-06,1793251741368081920
+42,0.700000000,BASELINE,769.376191454,746.623808546,725,691.623808546,670.623808546,643,891,790.376191454,820,657,633,657,0.401004919876,-0.0154943301378,0.0698371863432,0.999999981052,6.60313816588e-05,-0.00018292180693,8.68134207588e-06,1793251741384748288
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+44,0.733333333,BASELINE,770,746.529642989,725,691,670.529642989,643,891,791,820,657,633.529642989,657,0.401006931547,-0.0154928109416,0.0698384472902,0.999999981223,6.87905319017e-05,-0.000180955874887,8.78458511158e-06,1793251741418081792
+45,0.750000000,BASELINE,770,746.893749689,725,691.106250311,670.893749689,643,891,791,820,657,633.893749689,657,0.401008747956,-0.015491880387,0.0698393379838,0.999999981488,7.01532006392e-05,-0.000178954488643,8.81146277991e-06,1793251741434748160
+46,0.766666667,BASELINE,770,746.306344152,725,691.693655848,670.306344152,643,891,791,820,657,633.306344152,657,0.401009103338,-0.0154921217135,0.0698388955304,0.999999981744,6.93949958463e-05,-0.000177812383952,8.87154090861e-06,1793251741451415296
+47,0.783333333,BASELINE,770,746.277202756,725,692,670.277202756,643,891,791,820,657,633,657,0.401007819931,-0.0154927303734,0.0698382513587,0.999999981616,6.80214453436e-05,-0.000179059666246,8.84988020026e-06,1793251741468082176
+48,0.800000000,BASELINE,770,746.856544009,725,692,670.856544009,643,891,791,820,657,633,657,0.401004750317,-0.0154937394104,0.0698373873231,0.999999981057,6.59771956893e-05,-0.000182911272387,8.73912785546e-06,1793251741484749056
+49,0.816666667,BASELINE,770,746.565799723,725,691.565799723,670.565799723,643,891,791,820.434200277,657,633,657,0.401005296866,-0.0154936547697,0.0698379292614,0.999999981141,6.65655633266e-05,-0.000182235900815,8.72799632056e-06,1793251741501415424
+50,0.833333333,BASELINE,770,746.010916224,725,691.010916224,670.010916224,643,891,791,820.989083776,657,633,657,0.401006989824,-0.0154931984917,0.0698389140097,0.999999981429,6.79883019949e-05,-0.000180122128861,8.7474866214e-06,1793251741518082304
+51,0.850000000,BASELINE,770,746.568321447,725,691.568321447,670.568321447,643,891,791,820.431678553,657,633,657,0.401006493962,-0.0154921568626,0.0698389017333,0.999999981358,6.78060306097e-05,-0.000180586141399,8.65860363117e-06,1793251741534748416
+52,0.866666667,BASELINE,770,747,725,692,671,643,891,791,820,657,633,657,0.401006396626,-0.0154918312212,0.0698389765606,0.99999998132,6.76976274268e-05,-0.000180834488012,8.71753048792e-06,1793251741551415040
+53,0.883333333,BASELINE,770,747,725,692,671,643,891,791,820,657,633,657,0.401007667616,-0.0154939639011,0.0698393504562,0.999999981394,6.78428483764e-05,-0.000180342352512,9.28395775659e-06,1793251741568081408
+54,0.900000000,BASELINE,770,747,725,692,671,643,891,791,820,657,633,657,0.401007906821,-0.0154945872267,0.0698393590086,0.999999981573,6.72332548609e-05,-0.000179578335501,9.27236827952e-06,1793251741584748288
+55,0.916666667,BASELINE,770,747,725,692,671,643,891,791,820,657,633,657,0.401007409164,-0.0154941326283,0.0698391066467,0.999999981825,6.60846012531e-05,-0.000178620150969,8.84798097027e-06,1793251741601415168
+56,0.933333333,BASELINE,770,747,725,691.505281781,671,643,891,791,820.494718219,657,633,657,0.401008129043,-0.0154928854001,0.0698399411318,0.999999981828,6.77662195429e-05,-0.000177977433619,8.75325644572e-06,1793251741618082048
+57,0.950000000,BASELINE,770,747.069288472,725,691.069288472,671,643,891,791,820.930711528,657,633,657,0.40100883684,-0.0154918155123,0.0698407485068,0.999999981798,6.92896888662e-05,-0.00017755794082,8.71816339229e-06,1793251741634748672
+58,0.966666667,BASELINE,770,747.643814901,725,691.643814901,671,643,891,791,820.356185099,657,633,657,0.401008023432,-0.0154929717244,0.0698400789247,0.99999998185,6.63285895657e-05,-0.000178394836829,8.72986122728e-06,1793251741651415040
+59,0.983333333,BASELINE,770,747.773980521,725,692,671,643,891,790.773980521,820.226019479,657,633,657,0.401006998521,-0.0154937859917,0.0698393153692,0.999999981746,6.46737011613e-05,-0.000179583972415,8.70704766389e-06,1793251741668081664
+60,1.000000000,BASELINE,770,747.179250313,725,692,671,643,891,790.179250313,820.820749687,657,633,657,0.401005628583,-0.015494042437,0.0698383985126,0.999999981397,6.51496638962e-05,-0.000181347724583,8.62793487167e-06,1793251741684748032
+61,1.016666667,BASELINE,770,747,725.402390266,692,671,643,891,790,820.597609734,657,633,657,0.401005946304,-0.0154937177672,0.0698382743419,0.999999981304,6.6120113685e-05,-0.000181517600127,8.40572097625e-06,1793251741701414656
+62,1.033333333,BASELINE,770,747,725.978383558,692,671,643,891,790,820.021616442,657,633,657,0.401006992132,-0.0154931423873,0.0698384921592,0.999999981322,6.73038997407e-05,-0.00018099983019,8.12176905015e-06,1793251741718081536
+63,1.050000000,BASELINE,770,747,725.448041065,692,671,643,891,790.551958935,820.551958935,657,633,657,0.401006742038,-0.0154925661345,0.0698392688044,0.999999981497,6.70077963065e-05,-0.000180134527436,8.24611744691e-06,1793251741734748672
+64,1.066666667,BASELINE,770.125139644,747,725,692,671,643,891,791,820.874860356,657,633,657,0.401006646619,-0.0154921581249,0.0698398094169,0.999999981632,6.67170106875e-05,-0.000179480694713,8.42256103478e-06,1793251741751415808
+65,1.083333333,BASELINE,770.697247419,747,725,692,671,643,891,791,820.302752581,657,633,657,0.401007284143,-0.0154923511609,0.0698394291499,0.999999981607,6.66513247386e-05,-0.000179630582395,8.72821146358e-06,1793251741768081664
+66,1.100000000,BASELINE,770.717471343,747,725,691.717471343,671,643,891,791,820,657,633,657,0.401007563252,-0.0154926656699,0.0698393740375,0.999999981575,6.70683980218e-05,-0.000179647855967,8.83596628675e-06,1793251741784748032
+67,1.116666667,BASELINE,770.117383303,747,725,691.117383303,671,643,891,791,820,657,633,657,0.401007439505,-0.0154931167133,0.0698396843957,0.999999981535,6.80280878561e-05,-0.000179516072595,8.72128840852e-06,1793251741801414656
+68,1.133333333,BASELINE,770,747,725,691.461306948,671,643,891,791,820,657,633.461306948,657,0.401006682881,-0.015491662971,0.0698389347991,0.999999981149,7.0043782567e-05,-0.000180898624088,8.4717055065e-06,1793251741818081280
+69,1.150000000,BASELINE,770,747,725,691.965135597,671,643,891,790.965135597,820,657,633.965135597,657,0.401005828404,-0.0154900141779,0.0698380250447,0.999999980727,7.19673867213e-05,-0.00018247990813,8.23241914806e-06,1793251741834748160
+70,1.166666667,BASELINE,770,747,725,691.390484509,671,643,891,790.390484509,820,657,633.390484509,657,0.401005841695,-0.0154925170343,0.0698386263816,0.999999981157,6.84893441462e-05,-0.000181436591585,8.66046602352e-06,1793251741851414784
+71,1.183333333,BASELINE,770,746.809886896,725.190113104,691,671,643,891,790.190113104,820.190113104,657,633,657,0.401005750355,-0.0154940877333,0.0698389634345,0.999999981418,6.59427362143e-05,-0.000180935473343,8.86410221973e-06,1793251741868081408
+72,1.200000000,BASELINE,770,746.216680879,725.783319121,691,671,643,891,790.783319121,820.783319121,657,633,657,0.40100543717,-0.0154936819988,0.0698387401313,0.99999998134,6.53710293849e-05,-0.000181583966839,8.59192514027e-06,1793251741884748032
+73,1.216666667,BASELINE,770,746.367448099,725.632551901,691,670.632551901,643,891,791,821,657,633,657,0.401006751287,-0.0154931428077,0.0698393217827,0.999999981475,6.65756804441e-05,-0.00018039067159,8.82331163625e-06,1793251741901414656
+74,1.233333333,BASELINE,770,746.946353431,725.053646569,691,670.053646569,643,891,791,821,657,633,657,0.401009001876,-0.0154925268156,0.0698403666653,0.999999981723,6.88025812837e-05,-0.000178137472722,9.34448645113e-06,1793251741918081280
+75,1.250000000,BASELINE,770,747,725.519840587,691.519840587,670.519840587,643,891,791,820.480159413,657,633,657,0.401008387766,-0.0154927766917,0.0698399847506,0.999999981751,6.63890021178e-05,-0.000178914681228,8.91990704836e-06,1793251741934748160
+76,1.266666667,BASELINE,770,747,726,691.904585629,671,643,891,791,820.095414371,657,633.095414371,657.095414371,0.401007617855,-0.0154928901699,0.0698395164979,0.999999981723,6.43882532333e-05,-0.000179823877188,8.47127371436e-06,1793251741951414528
+77,1.283333333,BASELINE,770,747,726,691.31534835,671,643,891,791,820.68465165,657,633.68465165,657.68465165,0.401007555862,-0.0154918400159,0.0698393556012,0.999999981555,6.69770844164e-05,-0.000179814312891,8.39807224449e-06,1793251741968081152
+78,1.300000000,BASELINE,770.269217549,747,725.730782451,691.269217549,670.730782451,643,890.730782451,791,820.730782451,657,633.730782451,657.730782451,0.401007453506,-0.0154914875183,0.0698392522455,0.999999981435,6.83376143366e-05,-0.000179974941041,8.30221582618e-06,1793251741984748032
+79,1.316666667,BASELINE,770.848404906,747,725.151595094,691.848404906,670.151595094,643,890.151595094,791,820.151595094,657,633.151595094,657.151595094,0.401007304678,-0.0154919382836,0.0698392151412,0.999999981375,6.82839112108e-05,-0.000180331524177,8.18027511777e-06,1793251742001414656
+80,1.333333333,BASELINE,770.575035685,747,725,691.575035685,670,643,890.424964315,791.424964315,820.424964315,657,633,657,0.401007605467,-0.0154921056518,0.0698397464196,0.999999981406,6.95236636424e-05,-0.000179674615626,8.41438009219e-06,1793251742018081280
+81,1.350000000,BASELINE,770,747,725,691.00059116,670,643,890.99940884,791.998817681,820.99940884,657,633,657,0.401008063845,-0.0154921730909,0.0698404774906,0.999999981466,7.1219026439e-05,-0.00017866065058,8.77454577855e-06,1793251742034747904
+82,1.366666667,BASELINE,770,747,725,691.575325001,670,643,890.424674999,790.849349998,820.424674999,657,633,657,0.401006760634,-0.015492769001,0.0698395405822,0.999999981336,7.00386054596e-05,-0.000179840380265,8.97070540952e-06,1793251742051415552
+83,1.383333333,BASELINE,770,747,725,691.845719781,670.154280219,643,890.154280219,790.154280219,820,657,633.154280219,657,0.401005895293,-0.0154927940012,0.0698389719987,0.999999981262,6.92323761428e-05,-0.000180556200858,9.04079096423e-06,1793251742068082944
+84,1.400000000,BASELINE,770,747,725,691.254817693,670.745182307,643,890.745182307,790.745182307,820,657,633.745182307,657,0.401006269148,-0.0154912032933,0.0698394457957,0.999999981355,6.94851304279e-05,-0.000179959132378,8.75407969533e-06,1793251742084748800
+85,1.416666667,BASELINE,770.328659471,747,725,691,671,643,891,791,820.328659471,657,633.671340529,657,0.401005934455,-0.015491544028,0.0698391802698,0.999999981323,6.89244632758e-05,-0.000180352767177,8.68095114213e-06,1793251742101415168
+86,1.433333333,BASELINE,770.906507054,747,725,691,671,643,891,791,820.906507054,657,633.093492946,657,0.401005062544,-0.0154933491736,0.0698383541926,0.999999981196,6.77470636826e-05,-0.00018149754872,8.76976004758e-06,1793251742118081536
+87,1.450000000,BASELINE,770.039447569,747,725,691,671,643,891,791,820.519723785,657,633,657,0.401005901854,-0.015493156424,0.0698389303336,0.999999981321,6.80185124201e-05,-0.000180703115369,8.86722500039e-06,1793251742134747904
+88,1.466666667,BASELINE,769.103873438,747,725,691.051936719,671,643,891,790.948063281,820,657,633,657,0.401007006803,-0.0154925460649,0.0698397201666,0.999999981475,6.85985875314e-05,-0.00017962240754,8.93910607798e-06,1793251742151414528
+89,1.483333333,BASELINE,770.221404197,747,725,691.610702099,671,643,891,790.389297901,820,657,633,657,0.401007480668,-0.0154916237823,0.0698399540317,0.999999981457,6.94612833877e-05,-0.000179400884573,8.74501981855e-06,1793251742168081408
+90,1.500000000,BASELINE,770.813971082,747,725,691.813971082,670.813971082,643,891,790.186028918,820,657,633,657.186028918,0.401007409751,-0.015491329178,0.0698398689323,0.999999981371,7.02199335909e-05,-0.000179588629059,8.69108683951e-06,1793251742184748288
+91,1.516666667,BASELINE,770.200599678,747,725,691.200599678,670.200599678,643,891,790.799400322,820,657,633,657.799400322,0.401006087369,-0.0154924764658,0.0698390511129,0.999999981129,7.07395717607e-05,-0.000180716535848,8.95911163218e-06,1793251742201414912
+92,1.533333333,BASELINE,770,747,725.38824769,691.38824769,670.38824769,643.38824769,891,791.38824769,820,657,633,657.61175231,0.401006963292,-0.0154928928826,0.0698395533511,0.999999981312,7.02952085698e-05,-0.000179870738687,9.05113418825e-06,1793251742218081792
+93,1.550000000,BASELINE,770,747,725.965176867,691.965176867,670.965176867,643.965176867,891,791.965176867,820,657,633,657.034823133,0.401008907552,-0.0154929541091,0.0698406971138,0.999999981698,6.93823578708e-05,-0.000178065756531,9.05762280448e-06,1793251742234748416
+94,1.566666667,BASELINE,770.539036094,747,725.460963906,692,671,643.460963906,891,791.460963906,820.539036094,657,633,657,0.401007472399,-0.0154909611824,0.0698397962054,0.999999981301,7.22096515398e-05,-0.000179189000912,8.69349668274e-06,1793251742251415296
+95,1.583333333,BASELINE,770.883956139,747,725,691.883956139,670.883956139,643,891,791,820.883956139,657,633,657,0.401006351492,-0.0154896374004,0.0698391368635,0.999999981018,7.40775757763e-05,-0.000180014088448,8.43690354038e-06,1793251742268081920
+96,1.600000000,BASELINE,770.293263245,747,725,691.293263245,670.293263245,643,891,791,820.293263245,657,633,657,0.401007403851,-0.0154915903089,0.0698400028165,0.999999981445,7.10387316978e-05,-0.000178850262637,8.7175247019e-06,1793251742284748544
+97,1.616666667,BASELINE,770,747,725,691,670.293036171,643,891,791,820,657,633,657.293036171,0.401008066281,-0.0154925006204,0.0698407012272,0.999999981684,6.90408054288e-05,-0.000178297722323,8.71952208544e-06,1793251742301415168
+98,1.633333333,BASELINE,770,747,725,691,670.875003618,643,891,791,820,657,633,657.875003618,0.401008344244,-0.0154923829398,0.0698412344423,0.999999981744,6.80692158147e-05,-0.000178347904596,8.4467986791e-06,1793251742318081792
+99,1.650000000,BASELINE,770,747,725.451332596,691,671,643,891,791,820,657,633,657.548667404,0.401007441902,-0.0154929954407,0.0698402363991,0.999999981614,6.77427912004e-05,-0.00017919369308,8.50555444968e-06,1793251742334748672
+100,1.666666667,BASELINE,770,747,725.973863456,691,671,643,891,791,820,657,633,657,0.401006305065,-0.0154937462132,0.0698389272367,0.999999981449,6.75903843809e-05,-0.000180163208471,8.66166078946e-06,1793251742351415296
+101,1.683333333,BASELINE,770,747,725.398696453,691,671,643,891,791,820,657,633,657,0.401007024257,-0.0154932060143,0.0698398810642,0.99999998164,6.73863920632e-05,-0.000179160298353,8.9580947637e-06,1793251742368081920
+102,1.700000000,BASELINE,770,747,725,691,671,643,891,791,820,657,633,657,0.401007320872,-0.0154927367176,0.0698405427717,0.999999981753,6.73588952268e-05,-0.000178531592416,9.11573465067e-06,1793251742384748544
+103,1.716666667,BASELINE,770,747,725,691,671,643,891,791,820,657,633,657,0.401006662768,-0.015492427609,0.0698405444985,0.999999981691,6.77301511211e-05,-0.000178748318624,8.95979979858e-06,1793251742401415168
+104,1.733333333,BASELINE,770,747,725.35509011,691.35509011,670.64490989,643,890.64490989,791,820,657,633,657,0.401006386356,-0.0154920973168,0.0698399345476,0.999999981517,6.81530343244e-05,-0.000179568060924,8.74266752332e-06,1793251742418081536
+105,1.750000000,BASELINE,770,747,725.930801167,691.930801167,670.069198833,643,890.069198833,791,820,657,633,657,0.401006347093,-0.0154917538629,0.0698389445553,0.999999981273,6.86079941142e-05,-0.000180762463023,8.48751267725e-06,1793251742434748416
+106,1.766666667,BASELINE,770,747,725.493474285,691.493474285,670.506525715,643,890,791,820,657,633,657,0.401005669837,-0.0154912349587,0.0698386971864,0.999999981121,7.01659272648e-05,-0.000181003418618,8.47847034348e-06,1793251742451415040
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670,643,890,790,820,657,632,657,0.401006835462,-0.0154912578348,0.0698396436034,0.999999981256,7.06984694929e-05,-0.000180043077532,8.59860121058e-06,1793251742494708480
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670.594522939,643,890.594522939,790,820,657,632.594522939,657,0.401006261109,-0.0154918792888,0.069839709528,0.999999981463,6.77271605395e-05,-0.000180050447505,8.23993286413e-06,1793251742511375104
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,725,691.182617551,671,643,891,790.182617551,820.182617551,657,633,657,0.4010063993,-0.0154922510584,0.0698400044216,0.999999981619,6.67072488695e-05,-0.000179569502103,8.14767761213e-06,1793251742528041984
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,725,691.756924409,671,643,891,790.756924409,820.756924409,657,633,657,0.4010080658,-0.0154920872899,0.0698407904223,0.999999981672,6.98728130309e-05,-0.000178041187986,8.62684141184e-06,1793251742544708608
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725,691.668853447,671,643,891,790.668853447,821,657,633,657,0.401007734943,-0.0154918216487,0.0698403540153,0.999999981459,7.12282930447e-05,-0.000178695419534,8.69913620643e-06,1793251742561374976
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725,691.094693505,671,643,891,790.094693505,821,657,633,657,0.401005938317,-0.0154914812476,0.0698390205388,0.999999981054,7.12554344672e-05,-0.000180951322136,8.47284832104e-06,1793251742578041088
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746.521620942,725,691,671,643,891,790.478379058,820.521620942,657,633,657,0.401005884075,-0.0154902890189,0.0698393608673,0.999999981069,7.22184174939e-05,-0.00018048522549,8.50572524222e-06,1793251742594707456
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.053417074,725,691,671,643,891,790.946582926,820,657,633,657,0.401006224087,-0.0154892503544,0.0698400463519,0.999999981143,7.31731937712e-05,-0.000179682032321,8.60813983089e-06,1793251742611373824
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.650650909,725,691,671,643,891,790.349349091,820,657,633,657,0.401007074535,-0.0154914877825,0.0698408803037,0.999999980991,7.21627794391e-05,-0.000180919963682,8.89740085697e-06,1793251742628041216
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,725,691.238414162,671,643,891,790.238414162,820,657,633,657,0.401007875614,-0.0154932067884,0.0698415526386,0.999999980544,7.0714917588e-05,-0.000183924438637,9.11018376255e-06,1793251742644708096
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,725,691.81283028,671,643,891,790.81283028,820,657,633,657,0.401008607117,-0.0154941951709,0.0698419972035,0.999999979661,6.86505520841e-05,-0.000189418539504,9.21518446382e-06,1793251742661374720
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,725.389622398,692,671,643,891,791,820,657,633.389622398,657,0.401023431616,-0.0154946295253,0.0698483272048,0.999999980077,6.81849857496e-05,-0.000187361800282,9.59964766142e-06,1793251742678041088
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,725.96756297,692,671,643,891,791,820,657,633.96756297,657,0.401045067754,-0.0154947960986,0.0698575018442,0.999999981104,6.84921749653e-05,-0.000181655475595,1.01191848981e-05,1793251742694707456
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,725.441636866,692,671,643,891,791,820,657,633.441636866,657,0.401090371905,-0.0154961500478,0.0698706647389,0.999999983493,6.88606652556e-05,-0.000167787277653,1.08922569467e-05,1793251742711373824
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,891,790.853933446,820.146066554,657,633,657,0.401142471609,-0.0154981196639,0.0698841095648,0.999999985953,6.89047577835e-05,-0.000152356802248,1.15422357163e-05,1793251742728040448
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,891,790.277604287,820.722395713,657,633,657,0.401210443114,-0.0155016948501,0.0698976862988,0.999999988675,6.79825471764e-05,-0.000133753988469,1.17852152809e-05,1793251742744707328
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,691.701310731,670.701310731,643,891,790.298689269,820.701310731,657,633,657,0.401283993863,-0.0155054971148,0.0699064618811,0.999999990107,6.654872745e-05,-0.000123396047801,1.14215802033e-05,1793251742761373952
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,691.125050295,670.125050295,643,891,790.874949705,820.125050295,657,633,657,0.401362729386,-0.0155095104029,0.0699107757645,0.999999990572,6.46394707597e-05,-0.000120700047595,1.04942196916e-05,1793251742778040576
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670.458235482,643,891,791,820,657,633,657.458235482,0.401458615617,-0.0155118651273,0.0699129721261,0.999999990743,6.75918278284e-05,-0.000117758350677,8.82595838212e-06,1793251742794707456
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,725,691,670.956715572,643,891,791,820,657,633,657.956715572,0.401561532293,-0.0155138085648,0.0699146085121,0.999999990809,7.14982390574e-05,-0.000114993708882,6.86709219191e-06,1793251742811374848
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670.373958126,643,891,791,820,657,633,657.373958126,0.40169283105,-0.0155163549151,0.0699165799582,0.999999990862,7.05026026248e-05,-0.00011528446182,3.84548674948e-06,1793251742828041216
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.20661236,747,725.20661236,691.20661236,670,643,891.20661236,791,820.20661236,657,633,657,0.401833841561,-0.0155175863563,0.0699189346134,0.999999990936,7.17905942719e-05,-0.000113897526948,7.44362362122e-07,1793251742844707328
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.783265951,747,725.783265951,691.783265951,670,643,891.783265951,791,820.783265951,657,633,657,0.40199224574,-0.0155164628046,0.0699219755932,0.999999991024,7.71685472874e-05,-0.000109505865393,-2.49917955193e-06,1793251742861373696
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.641481587,747,726,692,670.358518413,643,891.641481587,791,821,657,633,657.358518413,0.402167407985,-0.0155176886122,0.0699233512165,0.999999991058,7.71155528376e-05,-0.000109079614266,-6.27252089228e-06,1793251742878040320
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.067072794,747,726,692,670.932927206,643,891.067072794,791,821,657,633,657.932927206,0.402352661514,-0.0155203291423,0.0699237240062,0.999999991059,7.37921848556e-05,-0.000111041228817,-1.03648938564e-05,1793251742894706944
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.521165298,747.521165298,725.478834702,691.478834702,670.478834702,643,891,791,820.478834702,657,633.521165298,657.478834702,0.402567818921,-0.0155217660105,0.0699254688835,0.999999991691,6.52519256426e-05,-0.000110197312491,-1.47545290536e-05,1793251742911374080
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.890868774,747.890868774,725,691.109131226,670.109131226,643,891,791,820,657,633.890868774,657.109131226,0.402797997004,-0.0155216838454,0.0699285436169,0.999999992776,5.29077450049e-05,-0.000106201204095,-1.92246881041e-05,1793251742928041216
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.311944887,747.311944887,725,691.688055113,670.688055113,643,891,791,820,657,633.311944887,657.688055113,0.403075817739,-0.0155157475171,0.0699365622808,0.999999995275,2.71573465087e-05,-9.02321058772e-05,-2.3872311541e-05,1793251742944707840
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.264340476,747,725.264340476,692,671,643,891.264340476,791.264340476,820,657,633,658,0.40336693488,-0.0155124459754,0.0699454493648,0.999999996663,1.53694625043e-05,-7.52152529074e-05,-2.79296831057e-05,1793251742961374464
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.837542886,747,725.837542886,692,671,643,891.837542886,791.837542886,820,657,633,658,0.403673587851,-0.0155122229837,0.0699553511318,0.999999997433,1.98957265e-05,-6.13110277995e-05,-3.12973895567e-05,1793251742978041344
+137,2.283333333,POSE1_TO_POSE2_PRESS,770.578063033,747,725.578063033,692,671,643,891.578063033,791.578063033,820,657,633.421936967,658,0.403990062934,-0.0155151315211,0.0699546544487,0.99999999705,2.42003972221e-05,-6.57008250225e-05,-3.15958685258e-05,1793251742994707712
+138,2.300000000,POSE1_TO_POSE2_PRESS,770.010577537,747,725.010577537,691.989422463,670.989422463,643,891,791,820,657,633.989422463,658,0.40431177336,-0.0155192513379,0.0699500177835,0.999999996187,2.79930176849e-05,-7.68092887912e-05,-3.07149713158e-05,1793251743011373568
+139,2.316666667,POSE1_TO_POSE2_PRESS,770.589545492,747,725.589545492,691.410454508,670.410454508,643,891,791,820,657,633.410454508,658,0.404706055346,-0.0155219043725,0.0699589168215,0.999999997649,8.97991812791e-06,-6.01393237245e-05,-3.16910794735e-05,1793251743028040192
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.832149562,747,725.832149562,691.167850438,670.167850438,643,891,791,820,657,633,658,0.405108926124,-0.0155233482344,0.0699648137201,0.999999998228,-3.50300936459e-06,-4.94073001939e-05,-3.30322288809e-05,1793251743044706816
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.255459616,747,725.255459616,691.744540384,670.744540384,643,891,791,820,657,633,658,0.40553271688,-0.015521846869,0.0699633981959,0.999999997966,-8.01529213824e-08,-5.31385425647e-05,-3.52625226341e-05,1793251743061373952
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725.32070732,692,671,643,891,791,820.32070732,657,633,658,0.405966480394,-0.0155204406662,0.069956236903,0.99999999715,3.05636941001e-06,-6.56270078891e-05,-3.71929286489e-05,1793251743078040576
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725.896458392,692,671,643,891,791,820.896458392,657,633,658,0.406408174828,-0.0155191101415,0.0699445062651,0.999999995607,5.96518378563e-06,-8.50796894447e-05,-3.88848479952e-05,1793251743094707200
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747.469349044,725.530650956,692.469349044,671,643,891.938698088,791,821,657,633,658,0.40689624717,-0.015516928616,0.069932539365,0.999999994121,4.61819024442e-06,-0.000100010061987,-4.16557430695e-05,1793251743111373824
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747.956522421,725.043477579,693,671,643,893,791,821,657,633,658,0.407399879113,-0.0155150529591,0.0699220718031,0.999999992819,2.12284450387e-06,-0.000111249883081,-4.45008952381e-05,1793251743128040192
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747.3586094,725.6413906,693,671,643,893,791,821,657,633,658,0.407972249642,-0.015519457357,0.0699313847485,0.999999995092,-3.11651253044e-06,-8.80722211066e-05,-4.52759770027e-05,1793251743144706816
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725.769957449,693,671,643,893,791,821,657,633.230042551,657.769957449,0.408566896212,-0.0155226071627,0.0699420988482,0.999999996985,-4.68367947679e-06,-6.28392169869e-05,-4.53882493382e-05,1793251743161373696
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,725.195183743,693,671,643,893,791,821,657,633.804816257,657.195183743,0.409194924596,-0.015523876894,0.0699549126524,0.999999998413,-7.47871469564e-07,-3.4526173365e-05,-4.45072660026e-05,1793251743178040064
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.619100661,747,725,693,671,643,893,791,821,657,634,657.380899339,0.409813750616,-0.0155310430203,0.0699541168313,0.999999998428,-1.04380075938e-05,-3.40085280089e-05,-4.33404764134e-05,1793251743194706688
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.042344319,747,725,693,671,643,893,791,821,657,634,657.957655681,0.410427844797,-0.0155412410506,0.0699463229918,0.999999997607,-2.71345528742e-05,-4.77831723886e-05,-4.20267263504e-05,1793251743211373312
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.548212964,747,725,693.548212964,670.451787036,643,893,791,821,657,633.451787036,657.451787036,0.411056606302,-0.0155499286765,0.0699446460792,0.999999996581,-4.26863506453e-05,-5.67703506472e-05,-4.23382893024e-05,1793251743228040192
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725.136438457,693.863561543,670.136438457,643,893,791,821.136438457,657,633,657,0.411722995651,-0.0155573630008,0.0699514621393,0.999999996403,-5.45233928408e-05,-4.96245989347e-05,-4.19402607353e-05,1793251743244706816
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725.713599409,693.286400591,670.713599409,643,893,791,821.713599409,657,633,657,0.412507176014,-0.015561135499,0.069984146538,0.999999997717,-5.46540485919e-05,8.40829585989e-06,-3.88341233218e-05,1793251743261373440
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725.711258267,693.288741733,671,643,893.288741733,791,822,657,633,657,0.413288815718,-0.0155615622407,0.070009841575,0.999999996742,-5.22610528014e-05,4.9027187463e-05,-3.71587611663e-05,1793251743278040064
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725.138104235,693.861895765,671,643,893.861895765,791,822,657,633,657,0.414067952949,-0.0155586933931,0.0700286520534,0.999999995569,-4.73822455786e-05,7.24931907979e-05,-3.6892720735e-05,1793251743294706688
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,894,791,822.437355146,657,633,657,0.414789958425,-0.015551302423,0.0699915717839,0.999999998112,-4.54161269071e-05,4.28184932451e-06,-4.11669668921e-05,1793251743311373312
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.986027531,747,725,694.013972469,670.986027531,643,894.013972469,791,823,657,633.013972469,657,0.415496029775,-0.0155426708348,0.0699374832725,0.999999993734,-4.43329129767e-05,-9.15093958762e-05,-4.68310124112e-05,1793251743328040192
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.391709788,747,725,694.608290212,670.391709788,643,894.608290212,791,823,657,633.608290212,657,0.416293564606,-0.0155421346073,0.0699138803197,0.999999990175,-4.15171788582e-05,-0.000124060665653,-5.03564382206e-05,1793251743344706816
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725.195787889,694.804212111,670.195787889,643,895,790.804212111,823.195787889,657,633.804212111,657,0.417118187599,-0.0155436168267,0.0699098759551,0.999999989723,-4.14875887892e-05,-0.00012698687378,-5.20293807949e-05,1793251743361373184
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725.770100036,694.229899964,670.770100036,643,895,790.229899964,823.770100036,657,633.229899964,657,0.417995181133,-0.0155490013868,0.0699437622966,0.999999995009,-4.68445583633e-05,-7.26378084301e-05,-5.01208460313e-05,1793251743378039808
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,726,694,670.655675145,643,895.344324855,790.344324855,824,657,633.344324855,657,0.41889790076,-0.0155531255501,0.0699748026978,0.999999997046,-5.42091771487e-05,-2.57174281616e-05,-4.80310358279e-05,1793251743394706688
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,726,694,670.081508641,643,895.918491359,790.918491359,824,657,633.918491359,657,0.419817792878,-0.0155564083807,0.0700039433927,0.999999996839,-6.29139295925e-05,1.6244198877e-05,-4.58202218113e-05,1793251743411373568
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.508476061,747,726,694.508476061,670,643,896.508476061,791,824.508476061,657,634,657.508476061,0.420730206551,-0.0155605137564,0.0700277971859,0.999999995396,-6.8233958912e-05,5.10890224355e-05,-4.40579216553e-05,1793251743428040192
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,726,695,670.098756386,643,897.098756386,791,825,657,634,657.901243614,0.421632654164,-0.0155633714559,0.070040638216,0.999999994012,-7.31126628317e-05,6.88243482242e-05,-4.35096265349e-05,1793251743444706816
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,726,695,670.677747727,643,897.677747727,791,825,657,634,657.322252273,0.422492654963,-0.0155595001547,0.0700041796213,0.999999995696,-7.85684173117e-05,9.08492259233e-06,-4.85039786518e-05,1793251743461373440
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,726,695,671,643,897.746212501,791.253787499,825.253787499,657,634,657,0.423339828867,-0.015553013381,0.0699448951731,0.999999992014,-7.88405267908e-05,-8.16194412102e-05,-5.56303612178e-05,1793251743478040064
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,726,695,671,643,897.173877385,791.826122615,825.826122615,657,634,657,0.424170902895,-0.0155432437321,0.0698569602889,0.999999972923,-7.26062568825e-05,-0.000211190215751,-6.5432814408e-05,1793251743494706688
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.599233453,747,725.599233453,695.400766547,670.599233453,643,897,791.599233453,826,657,633.599233453,657.400766547,0.425129619452,-0.0155443503167,0.0698602046554,0.9999999751,-7.63303192451e-05,-0.000199299589481,-6.52236131944e-05,1793251743511373568
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.023582044,747,725.023582044,695.976417956,670.023582044,643,897,791.023582044,826,657,633.023582044,657.976417956,0.426144036083,-0.0155502030281,0.0699032374546,0.999999986702,-8.43999581637e-05,-0.000125678609783,-6.06455667285e-05,1793251743528040448
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725,696,670,643,897.568921236,790.431078764,826,657,633,658,0.427130400045,-0.0155549706678,0.0699633814904,0.999999993727,-8.44601827554e-05,-4.78272224389e-05,-5.59107759973e-05,1793251743544707072
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,696,670.157670257,643,898.157670257,790,826.157670257,657,633.157670257,657.842329743,0.428120824341,-0.0155591053001,0.0700184155601,0.999999994549,-8.62064443316e-05,2.8085162895e-05,-5.17838055199e-05,1793251743561373696
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,696,670.734524359,643,898.734524359,790,826.734524359,657,633.734524359,657.265475641,0.429125229216,-0.0155616802378,0.0700579209867,0.999999989591,-9.33448079504e-05,9.83620677336e-05,-4.92905939303e-05,1793251743578040320
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671.310599148,643,899,790.310599148,827,657,634,657.310599148,0.430072905686,-0.0155605424428,0.0700531996271,0.99999999015,-9.3666527718e-05,9.15202305301e-05,-5.05062724172e-05,1793251743594706944
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671.886009478,643,899,790.886009478,827,657,634,657.886009478,0.430972216498,-0.0155562392393,0.0700107713123,0.999999994427,-8.81765005024e-05,1.89283532873e-05,-5.48840831794e-05,1793251743611373568
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671.527248305,643,899,790.527248305,827,657,634,657.527248305,0.431825520626,-0.0155499520295,0.0699348619139,0.999999988847,-8.14311459866e-05,-0.000109635207097,-6.04637116851e-05,1793251743628040192
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.06118876,725,696,671,643,899,790,827,657,634,657,0.432686070621,-0.0155441290806,0.0698652215051,0.999999969389,-7.63709637134e-05,-0.00022606320419,-6.54612191893e-05,1793251743644707072
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.640276061,725,696,671,643,899,790,827,657,634,657,0.433704146833,-0.0155463840924,0.0699186491333,0.999999986592,-8.81988466053e-05,-0.000122741837247,-6.30187368669e-05,1793251743661373696
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.782173377,725,696,671,643,899,790,827,657,634,657.217826623,0.434702681757,-0.0155499410047,0.0699702975551,0.99999999322,-9.51940654498e-05,-3.00093518988e-05,-5.99723085894e-05,1793251743678040320
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.20714275,725,696,671,643,899,790,827,657,634,657.79285725,0.435669171968,-0.0155556328449,0.0700190283453,0.999999992964,-9.42644203896e-05,4.53589215359e-05,-5.59354969939e-05,1793251743694706944
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,696.375644061,671,643,899.375644061,790,827.375644061,657,634,658,0.436617985272,-0.015560478749,0.0700373228471,0.999999990122,-0.000101963102396,8.00348428153e-05,-5.4347623003e-05,1793251743711373824
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,696.962798029,671,643,899.962798029,790,827.962798029,657,634,658,0.43755684537,-0.0155648483406,0.0700384799085,0.999999987764,-0.000114520045007,9.17985497e-05,-5.41386466153e-05,1793251743728040448
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.542400392,724.457599608,696.457599608,671,643,899.457599608,790,827.457599608,657,633.457599608,658,0.438395748889,-0.0155606547511,0.0699883392552,0.999999991746,-0.000112473607751,2.16881125114e-05,-5.82082340409e-05,1793251743744706816
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.878651029,724.121348971,696.121348971,671,643,899.121348971,789.878651029,827.121348971,657,633.121348971,658,0.439216567159,-0.0155551554221,0.0699322863695,0.999999990261,-0.000108212956471,-6.18435336404e-05,-6.27946645744e-05,1793251743761373696
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747.300240892,724.699759108,696.699759108,671,643,899.699759108,789.300240892,827.699759108,657,633.699759108,658,0.439994735025,-0.0155469198204,0.0698670351054,0.999999977414,-9.93332341389e-05,-0.000175065619271,-6.82376584502e-05,1793251743778040320
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.72387074,747.27612926,725,697,671,643.27612926,900,789,828,657,634,658,0.440839231965,-0.0155459984149,0.0698604512412,0.999999975528,-9.84152825259e-05,-0.000185868375112,-6.86452434228e-05,1793251743794706944
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.149702475,747.850297525,725,697,671,643.850297525,900,789,828,657,634,658,0.441755320873,-0.0155529715584,0.069917189803,0.99999998864,-0.000106090836938,-8.61252333812e-05,-6.36178799553e-05,1793251743811373824
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.435026465,748,725,696.564973535,671.435026465,643.564973535,900.435026465,789.435026465,828,657,633.564973535,658,0.442646276418,-0.0155592600958,0.0699795552823,0.999999991947,-0.000112458727822,7.23395398244e-06,-5.83738740037e-05,1793251743828040448
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.976805584,747.976805584,725,696.023194416,671.976805584,643.023194416,901,789.976805584,828.023194416,657,633.023194416,658,0.443524445216,-0.0155651210248,0.0700411044492,0.999999987176,-0.000118342766317,9.38078594312e-05,-5.33293800144e-05,1793251743844707072
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.39551024,747.39551024,725,696.60448976,671.39551024,643.60448976,901,789.39551024,828.60448976,657,633.60448976,658,0.444308227199,-0.0155665026227,0.070035260088,0.999999988302,-0.000123681569014,7.12908513871e-05,-5.49240144326e-05,1793251743861373696
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.184113327,725,697,671.184113327,643.815886673,901,789.184113327,829,657,634,658,0.445072784056,-0.0155674618545,0.0700203406148,0.999999989319,-0.000127540273278,4.29214147262e-05,-5.70298396035e-05,1793251743878040576
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.760178026,725,697,671.760178026,643.239821974,901,789.760178026,829,657,634,658,0.445796413474,-0.0155675219287,0.0699861015039,0.999999989961,-0.000128248057189,2.09297666395e-06,-6.02239182609e-05,1793251743894707200
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.665398206,725,697,672,643.334601794,901,789.665398206,829,656.665398206,634,658,0.446480728835,-0.0155661432339,0.0699558742801,0.999999989311,-0.00012592363501,-4.17894542864e-05,-6.14402217842e-05,1793251743911373568
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.092144851,725,697,672,643.907855149,901,789.092144851,829,656.092144851,634,658,0.447137003775,-0.0155637383508,0.0699285084989,0.999999986892,-0.000121436520405,-8.78501142436e-05,-6.12458956791e-05,1793251743928040192
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.337061483,725,696.662938517,671.662938517,643.662938517,900.662938517,789.337061483,829,656.662938517,634,658,0.449130528993,-0.015563135272,0.0699344489964,0.999999987793,-0.000111882267302,-9.07969608884e-05,-6.04419380489e-05,1793251743978040320
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.241760266,725,696.758239734,672,643.758239734,901,789,829,657,634,658,0.449797904312,-0.0155668813944,0.0699723286132,0.999999991567,-0.000112801064105,-2.80562743038e-05,-5.7914309141e-05,1793251743994707200
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.818961654,725,696.181038346,672,643.181038346,901,789,829,657,634,658,0.45043064687,-0.0155718089795,0.070009321121,0.9999999909,-0.000119393205131,3.04286331669e-05,-5.49549700257e-05,1793251744011373824
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.391651797,748,725,696,672.391651797,643.391651797,901,789,829,657,633.608348203,658,0.450973674711,-0.0155731209418,0.0700031594836,0.999999990365,-0.000125779051438,1.93694536374e-05,-5.54538806053e-05,1793251744028040448
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.962280443,748,725,696,672.962280443,643.962280443,901,789,829,657,633.037719557,658,0.451475704817,-0.0155727806389,0.069977277289,0.999999989348,-0.000132070625788,-2.34699441783e-05,-5.75331401765e-05,1793251744044707328
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,748,724.92299851,696,672,643,901.92299851,787.07700149,829,657,633.92299851,658,0.457561126333,-0.0156169442505,0.0698395445009,0.999999952004,-0.000172716066141,-0.000250178071821,-5.97683491405e-05,1793251744478040320
+227,3.783333333,POSE1_TO_POSE2_PRESS,768,748,724.346128201,696,672,643,901.346128201,787.653871799,829,657,633.346128201,658,0.457587757865,-0.0156144321392,0.0698359883861,0.999999951948,-0.000167925147305,-0.000253509900854,-6.03141305368e-05,1793251744494706944
+228,3.800000000,POSE1_TO_POSE2_PRESS,768,748,724.230014675,696,672,643,901.230014675,787.769985325,829,657,633,658,0.457610731332,-0.0156126362853,0.0698326788795,0.99999995153,-0.000165092857282,-0.000256904151176,-6.06983201155e-05,1793251744511373568
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768.038582763,748,725,696,672,643,901,787.038582763,829,656.961417237,633.038582763,658,0.457663229031,-0.0156098597637,0.0698230197529,0.99999994786,-0.000163785982175,-0.000271977277047,-5.90054299754e-05,1793251744678040576
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.617981838,748,725,696,672,643,901,787.617981838,829,656.382018162,633.617981838,658,0.457666392826,-0.0156099682521,0.0698249963503,0.999999948638,-0.000163687966349,-0.000269246458704,-5.86188441431e-05,1793251744694707456
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768.2282401,748,725,695.2282401,672,643,901.7717599,787.2282401,829,656.7717599,634,658,0.457668459192,-0.0156091804536,0.0698258500691,0.999999948928,-0.000162785677305,-0.000268794071887,-5.82589006244e-05,1793251744728040704
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,725,695.346431511,672,643,902,787,829,656.653568489,633.653568489,658,0.457669107538,-0.0156083642712,0.0698257389749,0.999999948931,-0.000162655874341,-0.000268818540458,-5.84658779245e-05,1793251744744707072
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.799749577,643,901,787,829,656.799749577,633,658,0.456702062195,-0.0155572729791,0.0697232826898,0.999999902907,-0.00013868519214,-0.000414950999443,-5.26113054084e-05,1793251745515714560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.2183224,643,901,787,829,656.2183224,633,658,0.456531432588,-0.0155468602613,0.0697267005566,0.999999904757,-0.000130355742934,-0.000413524308094,-4.99195719499e-05,1793251745532381440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.358240227,643,901,787,829,656.358240227,633.358240227,658,0.456342557845,-0.0155366369775,0.0697276314855,0.999999905026,-0.000121637681694,-0.000415864601503,-4.69939687432e-05,1793251745549048064
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.931878023,643,901,787,829,656.931878023,633.931878023,658,0.45614271291,-0.015526527593,0.0697270671041,0.999999904289,-0.000112685960549,-0.000420469853571,-4.39277474118e-05,1793251745565714688
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901,787.504709344,829,656.495290656,633.495290656,658,0.455910436263,-0.0155181172606,0.0697266795358,0.999999903632,-0.000105985262505,-0.00042416649393,-3.9822923187e-05,1793251745582381312
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.673204844,748,725,696,672,643,901,788,829.673204844,656.673204844,633.673204844,658,0.455400256636,-0.0154964142306,0.0697274337348,0.999999904992,-8.37462891213e-05,-0.000426593537791,-3.19541411138e-05,1793251745615714304
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.985757705,748,725,696,672,643,901,788.014242295,829,657,633,658.014242295,0.454103337179,-0.0154626290358,0.0697193293774,0.999999910567,4.14013969756e-05,-0.000420660390826,-1.40599811394e-05,1793251745682381312
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901,788,829,656.264119811,633.264119811,658,0.45294112924,-0.0154756876954,0.0697673905007,0.99999994189,2.48935779895e-05,-0.000339911319398,7.84479780422e-06,1793251745732381440
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,900.108010143,788,829,656,633.891989857,658,0.451967558012,-0.0154647577041,0.0697515164261,0.999999930474,6.076642733e-05,-0.000367529506364,1.67571614629e-05,1793251745765714432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.52048067,748,724.52048067,696,672,643,900,788,829,656.47951933,634,658,0.451439815945,-0.0154559670841,0.0697424102443,0.999999923665,5.78508475161e-05,-0.00038632935259,8.58129602347e-06,1793251745782381056
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,748,724.648497734,696,672,643,900,788,829,657,633.351502266,658,0.450336937601,-0.0154480400476,0.0697442744647,0.999999920524,5.01825662971e-05,-0.000395492124254,4.48860704267e-06,1793251745815714304
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724.600234575,695.399765425,671,643,899,789,828,656.600234575,633,657.399765425,0.441846888469,-0.015382987929,0.0698179368476,0.999999950723,0.00013963838112,-0.000280744128888,1.54517099677e-05,1793251746015714304
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724.234534694,695.765465306,671,643,899,789,828,657,633,657,0.44019849664,-0.0153873042551,0.0698325401285,0.999999959895,0.000140890168057,-0.000245213236596,1.52083482825e-05,1793251746049047552
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.341673246,747,724,695.658326754,671,643,898.658326754,789.341673246,827.658326754,657,633,657,0.439294087938,-0.0153851635905,0.0698079813493,0.99999994912,0.000141921753963,-0.00028538908217,1.30737349143e-05,1793251746065714176
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.917234219,747,724,695.082765781,671,643,898.082765781,789.917234219,827.082765781,657,633,657,0.438338326779,-0.0153807014212,0.0697627133225,0.999999921448,0.000142123368745,-0.000369854878508,1.06031133645e-05,1793251746082380800
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,643,897,790,826.909307983,656.090692017,633,657,0.436475389326,-0.0153754816238,0.0696757416176,0.999999869564,0.000155761846696,-0.00048640757093,4.3213098646e-06,1793251746115714048
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,643,897,790,826.330055809,656.669944191,633,657,0.435596068271,-0.0153791810828,0.0697240193701,0.999999902854,0.000152992416087,-0.000413293770417,8.55477716752e-06,1793251746132380928
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,747,724,694,671.327758806,642.672241194,892,791,821,657,633,657,0.418119803217,-0.0153826567616,0.0698641365182,0.999999956606,0.000187170511619,-0.000226097504738,2.52196064717e-05,1793251746449048064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.75405248,747,724.24594752,693.75405248,671,643,892,791,821,657,633,657,0.417293951133,-0.0153818933292,0.0698793154226,0.999999959248,0.000197043393757,-0.000204754373709,2.74454137372e-05,1793251746465714688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.157207837,747,724.842792163,693.157207837,671,643,892,791,821,657,633,657,0.416436213996,-0.0153775847247,0.0698425413646,0.999999944215,0.000204323768704,-0.000263090308592,2.45963709034e-05,1793251746482381056
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.422270131,747,724.577729869,693,671,643,891.577729869,791,821,657,633,657,0.415604181616,-0.015374052965,0.0698095704653,0.999999931124,0.000210072542697,-0.000305275340393,2.06896795757e-05,1793251746499047680
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.995538072,747,724.004461928,693,671,643,891.004461928,791,821,657,633,657,0.414781340824,-0.0153707989935,0.0697779595186,0.99999991832,0.000215273638418,-0.000341685042949,1.64047879099e-05,1793251746515714304
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,747,724.589605145,693,671.589605145,643,891,791,821,657,633,657,0.413928878836,-0.0153633686803,0.0697460873385,0.999999889636,0.000223662448353,-0.000412898328997,1.47521784926e-05,1793251746532380928
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746.822074088,724.822074088,693,671.822074088,643,891.177925912,791,821,657,633,657,0.413133666043,-0.01535937789,0.0697351990049,0.999999877261,0.000226284339584,-0.000440526446947,1.44525992524e-05,1793251746549047808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746.246945515,724.246945515,693,671.246945515,643,891.753054485,791,821,657,633,657,0.412466775184,-0.0153631386411,0.0697711596791,0.99999990799,0.000215976314225,-0.000370245368954,1.71274347923e-05,1793251746565715456
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,746,724,693,671.329791956,643,891.670208044,791,821,656.670208044,633,657,0.411825927093,-0.0153681244675,0.0698192307196,0.999999936497,0.000212924808747,-0.000285026163843,2.07033602186e-05,1793251746582382336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,746,724,693,671.90774003,643,891.09225997,791,821,656.09225997,633,657,0.411204675253,-0.015374032117,0.0698764143559,0.999999958726,0.000215333562821,-0.000188566579528,2.49573218369e-05,1793251746599048704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.494280649,746.494280649,724.494280649,693,671.505719351,643,891,791,821,656.494280649,633,657,0.410548740693,-0.0153746221807,0.0698741831461,0.99999995751,0.000214756178297,-0.000195595559007,2.45334141223e-05,1793251746615715072
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,747,725,693,671,643,890.918823615,791,821,657,633,657,0.409883202732,-0.0153736588338,0.0698565636634,0.999999950552,0.000214250399249,-0.000229067692908,2.28155197019e-05,1793251746632381696
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,747,725,693,671,643,890.339760815,791,821,657,633,657,0.409199171575,-0.0153693632371,0.0698137850585,0.999999929884,0.000217662898919,-0.000304153360379,1.86112005454e-05,1793251746649048320
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,746.761640861,725,693,671,643,890,791,821,657,633,657,0.40855715238,-0.0153659208309,0.0697804383165,0.999999911456,0.000220181240921,-0.00035830640206,1.49977380349e-05,1793251746665714688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,746.18485961,725,693,671,643,890,791,821,657,633,657,0.407974781795,-0.0153636897844,0.0697604829294,0.999999902165,0.000221430059598,-0.000382739313989,1.22231737802e-05,1793251746682381056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,746,724.609973886,692.609973886,671,643,890,791,821,656.609973886,633,657,0.407442001595,-0.0153623581739,0.0697686060756,0.999999906381,0.000226548333594,-0.000368445169222,1.27596532549e-05,1793251746699048448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,746,724.035982184,692.035982184,671,643,890,791,821,656.035982184,633,657,0.406932611893,-0.0153614508047,0.0697899731636,0.999999916221,0.000233491733076,-0.000335884439802,1.4857869203e-05,1793251746715716352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,746.553446711,724,692,671,643,890,791,820.446553289,656,633,657,0.406455249647,-0.0153603585027,0.0698017414416,0.999999920729,0.000230571617742,-0.000324237031627,1.57587573456e-05,1793251746732383232
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,746.279372512,724,692,671,643,889.279372512,791,820,656,633,657,0.405509034206,-0.0153592044076,0.0697994473832,0.999999916812,0.000225327263011,-0.000339678493132,1.48932246027e-05,1793251746765716480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,746.298803561,724.298803561,692,671,643,889.298803561,791,820.298803561,656.298803561,633,657,0.405086175249,-0.015359224001,0.069800728076,0.999999916513,0.000228877151729,-0.000338191228407,1.47002132545e-05,1793251746782382336
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724.550084405,692,671,643,889.550084405,790.550084405,821,657,633,657.449915595,0.404371956942,-0.0153610606759,0.0698272892539,0.999999931812,0.000232773658743,-0.000286236238111,1.6167737581e-05,1793251746815714304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,724.023918417,692,671,643,889.023918417,790.023918417,821,657,633,657.976081583,0.404046506571,-0.0153628987492,0.0698442730257,0.999999942729,0.000224596084396,-0.000252611486108,1.68863592299e-05,1793251746832380928
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724.615024656,692,671,643,889.615024656,790.615024656,821,657,633,657.384975344,0.403731625599,-0.0153629764271,0.0698466168852,0.999999943387,0.000226215040658,-0.000248490251648,1.74747579262e-05,1793251746849047808
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,890,791,821,657,633,657,0.403418808997,-0.015362007406,0.0698421707947,0.999999940869,0.000228982680946,-0.000256005003471,1.70475848834e-05,1793251746865714688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,890,791,821,657,633,657,0.403109847904,-0.0153590835433,0.0698250436213,0.999999931854,0.000233895632288,-0.000285251418151,1.47237042766e-05,1793251746882381312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,890,790.642714461,820.642714461,657,633.357285539,657,0.402839206422,-0.0153570504902,0.0698151070808,0.999999926144,0.000237528920664,-0.000301851925859,1.33350345826e-05,1793251746899047936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,890,790.068002935,820.068002935,657,633.931997065,657,0.402591884295,-0.0153555595385,0.0698095463959,0.999999922745,0.000240383471146,-0.000310756774334,1.25154869331e-05,1793251746915714304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,890,790,820,657,633.482086918,657.517913082,0.402384519499,-0.0153554683466,0.0698078987059,0.999999921841,0.000241704079114,-0.000312621790451,1.28477224666e-05,1793251746932380928
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770.103783032,746.896216968,725,692,671,643,890,790.103783032,820.103783032,657,633.103783032,657.896216968,0.402185932777,-0.0153551209345,0.0698062933827,0.99999992088,0.000242537655925,-0.000315028920265,1.31198754206e-05,1793251746949047552
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770.6825602,746.3174398,725,692,671,643,890,790.6825602,820.6825602,657,633.6825602,657.3174398,0.402002978473,-0.0153527410791,0.0698024784837,0.999999918054,0.000242084383173,-0.000324241274923,1.24095824053e-05,1793251746965714432
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,770.160074886,746.839925114,725,692,671,643,889.160074886,790.160074886,821,657,633.160074886,657,0.401688607437,-0.0153491070601,0.0697980784473,0.99999991534,0.000243716776385,-0.000331357112189,1.11852368855e-05,1793251746999049216
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,790.415071773,821,657,633,657,0.401565785624,-0.0153486765477,0.0697973525564,0.999999915997,0.000241831144582,-0.000330770010518,1.0684129979e-05,1793251747015716096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,790.988879908,821,657,633,657,0.401452381903,-0.0153486949422,0.0697969570628,0.999999917195,0.000238728807681,-0.000329414805599,1.02113194736e-05,1793251747032382208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,746.422290603,724.422290603,692,671,643,889,790.422290603,820.422290603,657,633,657,0.401367379368,-0.0153479424703,0.0697975965798,0.999999916904,0.00024290751015,-0.000327271887585,8.9500089719e-06,1793251747049048320
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,746.164727382,724.164727382,692,671,643,889,790.164727382,820.164727382,657,633,657,0.401286844871,-0.0153476914095,0.0697986602345,0.999999916598,0.000247031751544,-0.000325136022312,8.07778724471e-06,1793251747065714432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,746.746408639,724.746408639,692,671,643,889,790.746408639,820.746408639,657,633,657,0.401216199086,-0.0153487480685,0.0698007456822,0.999999916369,0.000250653928051,-0.000323057412262,8.22986011078e-06,1793251747082381056
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,820.676247691,657,633,657,0.401155785964,-0.0153479996669,0.0698010188561,0.999999915525,0.000253504341067,-0.000323453850888,7.95715968907e-06,1793251747099047680
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,820.102256622,657,633,657,0.401103281996,-0.0153458560748,0.0697998912644,0.999999914206,0.000255758233199,-0.000325763335456,7.3561381012e-06,1793251747115714304
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,820.473891504,657,633,657,0.401067125033,-0.0153455296338,0.0697989744485,0.999999914792,0.000254702729221,-0.000324788191576,7.45240706013e-06,1793251747132381184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,820.948216238,657,633,657,0.401035449322,-0.0153456296755,0.0697984128582,0.999999915723,0.00025328475478,-0.000323018985684,7.69889980191e-06,1793251747149048064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,820.357026367,657,633,657,0.401013541741,-0.0153460691265,0.0698010755569,0.999999915986,0.000255563583432,-0.000320394980639,7.93574666279e-06,1793251747165714688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,725,691.770941989,671,643,889.229058011,790.770941989,820,657,633,657.229058011,0.400995527113,-0.015346742837,0.0698034200673,0.999999916885,0.000255523414714,-0.00031760397443,8.03687040054e-06,1793251747182381312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,725,691.192641934,671,643,889.807358066,790.192641934,820,657,633,657.807358066,0.400983448025,-0.0153477737199,0.0698052794396,0.999999918756,0.00025194749794,-0.000314558343675,7.93105868052e-06,1793251747199047680
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,725,691.382341941,671,643,889.617658059,790.382341941,820.382341941,657,633.382341941,657.617658059,0.400974656546,-0.015347790708,0.0698058566188,0.999999918996,0.000252845439973,-0.000313072850627,7.96191303753e-06,1793251747215714560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,725,691.955669319,671,643,889.044330681,790.955669319,820.955669319,657,633.955669319,657.044330681,0.400967507277,-0.0153473012407,0.0698057933238,0.999999918419,0.000255978140538,-0.000312366669453,8.0610341179e-06,1793251747232381440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,821,657,633.456298098,657,0.400963679847,-0.0153481011114,0.069806080983,0.999999919137,0.00025382242528,-0.000311829572459,7.87764176571e-06,1793251747249048064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,821,657,633,657,0.400960610585,-0.0153488276807,0.0698065209205,0.999999919878,0.000251723905794,-0.000311157250675,7.72643647658e-06,1793251747265714944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,791,821,657,633,657,0.400959187819,-0.0153489319178,0.0698073824997,0.999999920342,0.00025134249968,-0.000309972257366,7.76693141061e-06,1793251747282381312
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747,724.712580468,691.712580468,671,643,889,791,821,657,633,657,0.400957917647,-0.0153493192681,0.0698078076018,0.99999992065,0.000250643242795,-0.000309548095562,7.59896865425e-06,1793251747299047936
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747,724.13735765,691.13735765,671,643,889,791,821,657,633,657,0.400956800274,-0.0153499901098,0.0698077956442,0.999999920803,0.000249625710704,-0.000309885780959,7.22226988573e-06,1793251747315714816
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,746.561215701,724.438784299,691.438784299,671,643,889.438784299,791,821,657,633,657,0.400956700676,-0.0153497725687,0.0698083165959,0.999999920499,0.000252004913174,-0.000308937712901,7.27899136036e-06,1793251747332381440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,746.01554634,725,692,670.98445366,643,889.98445366,791,821,657,633,657,0.400956891258,-0.0153493220113,0.0698089741839,0.999999920065,0.00025530857526,-0.000307623726294,7.47469161241e-06,1793251747349047808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,746.604547368,725,692,670.395452632,643,889.395452632,791,821,657,633,657,0.400956008645,-0.0153505559938,0.0698085053732,0.999999920525,0.000253407852439,-0.000307690055051,7.78162423118e-06,1793251747365714432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,670.190009755,643,889,791,821,657,633,657,0.400955447104,-0.0153518943546,0.0698084597956,0.999999921195,0.000250958973431,-0.000307518991471,7.90942127337e-06,1793251747382380800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,670.768242056,643,889,791,821,657,633,657,0.400955541569,-0.015353445978,0.0698092789558,0.999999922287,0.00024739011735,-0.000306862894594,7.67121356519e-06,1793251747399047680
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac78040691144c5fd74324113988f7dc35961195
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+342,5.700000000,pose2_to_pose3_retreat,0.598639503784,-0.00999504942175,1.06002084322,0.569210849157,-0.00132263460703,1.05963221427
+343,5.716666667,pose2_to_pose3_retreat,0.598019726035,-0.00999485136997,1.06002102359,0.56859106864,-0.00132244608759,1.0596323915
+344,5.733333333,pose2_to_pose3_retreat,0.597395035881,-0.00999487461318,1.06002078717,0.567966378988,-0.00132246727817,1.0596321629
+345,5.750000000,pose2_to_pose3_retreat,0.596763124955,-0.00999482981411,1.060020763,0.567334467828,-0.00132242318838,1.05963214057
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+347,5.783333333,pose2_to_pose3_retreat,0.595537331266,-0.00999488883236,1.06002103536,0.56610867499,-0.00132247970353,1.0596324043
+348,5.800000000,pose2_to_pose3_retreat,0.594967693743,-0.00999483210014,1.06002102741,0.565539037237,-0.00132242367493,1.05963239805
+349,5.816666667,pose2_to_pose3_retreat,0.594428538679,-0.00999489131246,1.06002100441,0.564999881166,-0.00132248618134,1.0596323778
+350,5.833333333,pose2_to_pose3_retreat,0.593918982706,-0.00999491763736,1.06002091703,0.564490327868,-0.00132250356401,1.05963228739
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+352,5.866666667,pose2_to_pose3_retreat,0.59293656546,-0.00999490545648,1.06002080713,0.563507909299,-0.00132249545588,1.05963218672
+353,5.883333333,pose2_to_pose3_retreat,0.592444018469,-0.00999486521036,1.06002083696,0.563015362179,-0.00132245558264,1.05963221803
+354,5.900000000,pose2_to_pose3_retreat,0.591957319141,-0.00999492007352,1.06002104802,0.562528663325,-0.00132250889017,1.05963242798
+355,5.916666667,pose2_to_pose3_retreat,0.591489348247,-0.00999476314066,1.06002075891,0.562060689327,-0.00132236264131,1.05963213551
+356,5.933333333,pose2_to_pose3_retreat,0.591044899093,-0.00999483258747,1.06002097468,0.56161624303,-0.00132242243492,1.05963235034
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+360,6.000000000,pose2_to_pose3_retreat,0.589518000176,-0.00999480309286,1.06002113022,0.560089343276,-0.00132239599373,1.05963250108
+361,6.016666667,pose2_to_pose3_retreat,0.589183311105,-0.00999493408422,1.06002101784,0.559754654164,-0.00132252698538,1.05963239178
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+363,6.050000000,pose2_to_pose3_retreat,0.588579063917,-0.00999483845118,1.06002090096,0.559150407064,-0.0013224311415,1.05963227295
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+365,6.083333333,pose2_to_pose3_retreat,0.588061223932,-0.00999481668192,1.06002094398,0.558632565735,-0.0013224139695,1.05963231526
+366,6.100000000,pose2_to_pose3_retreat,0.587821063574,-0.00999480295149,1.06002123525,0.558392406083,-0.00132239780041,1.05963260743
+367,6.116666667,pose2_to_pose3_retreat,0.587590870079,-0.00999481654734,1.06002094403,0.558162212473,-0.00132241135051,1.05963232603
+368,6.133333333,pose2_to_pose3_retreat,0.587372565588,-0.00999482136623,1.06002079256,0.557943908823,-0.00132241344381,1.0596321717
+369,6.150000000,pose2_to_pose3_retreat,0.58717050357,-0.00999484786197,1.06002080905,0.557741847167,-0.0013224388297,1.05963218558
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+372,6.200000000,pose2_to_pose3_retreat,0.586670091069,-0.00999482783594,1.06002100341,0.557241433501,-0.00132242279576,1.0596323791
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+375,6.250000000,pose2_to_pose3_retreat,0.586303475599,-0.0099947926454,1.06002098792,0.556874819279,-0.00132238328159,1.05963236568
+376,6.266666667,pose2_to_pose3_retreat,0.586208929498,-0.00999484214876,1.0600209425,0.55678027389,-0.00132243029265,1.05963232221
+377,6.283333333,pose2_to_pose3_retreat,0.586127366814,-0.00999487495399,1.06002091584,0.556698710391,-0.00132246593138,1.0596322943
+378,6.300000000,pose2_to_pose3_retreat,0.586057356209,-0.00999488121792,1.0600210866,0.556628699933,-0.00132247156414,1.05963246796
+379,6.316666667,pose2_to_pose3_retreat,0.585996824318,-0.00999489823008,1.06002101475,0.556568170016,-0.00132248196431,1.05963239418
+380,6.333333333,pose2_to_pose3_retreat,0.5859454862,-0.00999488309432,1.06002099114,0.55651683116,-0.00132246939364,1.05963236911
+381,6.350000000,pose2_to_pose3_retreat,0.585901496054,-0.00999485090436,1.06002094436,0.556472840008,-0.00132244069355,1.0596323206
+382,6.366666667,pose2_to_pose3_retreat,0.585864812143,-0.00999481499863,1.0600209216,0.556436155614,-0.00132240652894,1.05963229552
+383,6.383333333,pose2_to_pose3_retreat,0.585835387982,-0.00999478604055,1.06002102328,0.556406730881,-0.00132237958033,1.05963239574
+384,6.400000000,pose2_to_pose3_retreat,0.585812343036,-0.00999480081584,1.06002095661,0.556383687661,-0.00132238791226,1.05963234217
+385,6.416666667,pose2_to_pose3_retreat,0.585795373158,-0.00999486088068,1.0600209858,0.556366717753,-0.00132244833143,1.05963236565
+386,6.433333333,pose2_to_pose3_retreat,0.585782428223,-0.00999488422554,1.0600210179,0.556353772091,-0.0013224744429,1.05963239111
+387,6.450000000,pose2_to_pose3_retreat,0.585773016186,-0.00999486436487,1.06002103266,0.556344359072,-0.00132245807362,1.05963240233
+388,6.466666667,pose2_to_pose3_retreat,0.585766253101,-0.00999474264537,1.06002100101,0.556337594383,-0.00132234153345,1.05963237661
+389,6.483333333,pose2_to_pose3_retreat,0.585761600074,-0.00999471862357,1.06002099769,0.556332941529,-0.00132231690488,1.05963237367
+390,6.500000000,pose2_to_pose3_retreat,0.585758508285,-0.00999481443892,1.06002103041,0.556329852193,-0.00132240470371,1.05963239961
+391,6.516666667,pose2_to_pose3_retreat,0.585756386957,-0.00999483749211,1.06002105478,0.556327731701,-0.00132242500695,1.05963242202
+392,6.533333333,pose2_to_pose3_retreat,0.585755063656,-0.00999473089204,1.06002107544,0.556326406525,-0.00132232448623,1.05963244905
+393,6.550000000,pose2_to_pose3_retreat,0.585754201086,-0.00999466140666,1.0600210889,0.556325542732,-0.00132225896357,1.05963246667
+394,6.566666667,pose2_to_pose3_retreat,0.585753741406,-0.00999462437664,1.06002109608,0.556325082401,-0.00132222404535,1.05963247606
+395,6.583333333,pose2_to_pose3_retreat,0.585753348485,-0.00999459272445,1.06002110221,0.556324688923,-0.00132219419826,1.05963248409
+396,6.600000000,pose2_to_pose3_retreat,0.585753066381,-0.00999460870814,1.06002109677,0.556324406996,-0.0013222095751,1.05963247877
+397,6.616666667,pose2_to_pose3_retreat,0.585752933999,-0.00999463666778,1.06002108901,0.556324275002,-0.00132223624421,1.05963247041
+398,6.633333333,pose2_to_pose3_retreat,0.585752906677,-0.00999464243827,1.06002108741,0.55632424776,-0.00132224174836,1.05963246869
+399,6.650000000,pose2_to_pose3_retreat,0.585752656996,-0.00999469517188,1.06002107278,0.556323998811,-0.00132229204798,1.05963245292
+400,6.666666667,pose2_to_pose3_retreat,0.585752429519,-0.0099947432159,1.06002105945,0.556323772002,-0.00132233787446,1.05963243856
+401,6.683333333,pose2_to_pose3_retreat,0.585752299751,-0.00999477062336,1.06002105185,0.556323642614,-0.00132236401689,1.05963243037
+402,6.700000000,pose2_to_pose3_retreat,0.585752258461,-0.0099947793439,1.06002104943,0.556323601446,-0.00132237233492,1.05963242777
+403,6.716666667,pose2_to_pose3_retreat,0.585752115997,-0.00999480943283,1.06002104108,0.5563234594,-0.00132240103505,1.05963241877
+404,6.733333333,pose2_to_pose3_retreat,0.585751754132,-0.00999488586021,1.06002101988,0.556323098596,-0.00132247393482,1.05963239593
+405,6.750000000,pose2_to_pose3_retreat,0.585751513824,-0.00999493337931,1.06002100682,0.556322858928,-0.00132251933014,1.05963238171
+406,6.766666667,pose2_to_pose3_retreat,0.585751455138,-0.00999492657831,1.06002100944,0.556322800038,-0.00132251325565,1.05963238362
+407,6.783333333,pose2_to_pose3_retreat,0.585751382799,-0.00999491819519,1.06002101267,0.556322727447,-0.00132250576804,1.05963238597
+408,6.800000000,pose2_to_pose3_retreat,0.585751225337,-0.00999489994717,1.06002101969,0.556322569435,-0.00132248946934,1.0596323911
+409,6.816666667,pose2_to_pose3_retreat,0.585751083423,-0.00999488350109,1.06002102603,0.556322427026,-0.0013224747801,1.05963239572
+410,6.833333333,pose2_to_pose3_retreat,0.585750932993,-0.00999491348299,1.06002117547,0.556322277333,-0.00132250239533,1.05963254222
+411,6.850000000,pose2_to_pose3_retreat,0.58575083953,-0.00999494066593,1.06002129407,0.556322184555,-0.00132252734492,1.0596326588
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06d212361745b108826b0c1883a1cdbc14072294
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16208e116478fc6d82c0f7dffee27e43d29be73a1710abed1f135fde521921b6
+size 26232890
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e38b83899f7d59628901d8b92879b80e327b7101
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+14,0.233333333,BASELINE,769,747,725,691.877201012,671,643,889,791,821,657,633,657,0.400956965798,-0.0153550271534,0.0698147205043,0.999999925473,0.000245711521145,-0.000297709404914,7.04155436593e-06,1793251747984056320
+15,0.250000000,BASELINE,769,747,725,691.287509542,671,643,889,791,821,657,633,657,0.400957763023,-0.0153553208756,0.0698157430323,0.999999925683,0.000246170206709,-0.000296618059275,7.20589542577e-06,1793251748000723200
+16,0.266666667,BASELINE,769.296556781,747,725,691.296556781,671,643,889,791,820.703443219,657,633,657,0.400958088578,-0.0153556512556,0.0698157357217,0.999999925698,0.000246029326369,-0.000296683469934,7.18082566616e-06,1793251748017390080
+17,0.283333333,BASELINE,769.875271051,747,725,691.875271051,671,643,889,791,820.124728949,657,633,657,0.400957965363,-0.0153560165135,0.0698147485762,0.999999925528,0.000245317991974,-0.000297849470743,6.97554190474e-06,1793251748034056960
+18,0.300000000,BASELINE,769.549361199,747,725,692,671,643,889,790.549361199,820.450638801,657,633,657,0.400957615328,-0.0153564136435,0.0698141541809,0.999999925695,0.000244498668546,-0.000297959013364,7.1252663368e-06,1793251748050723584
+19,0.316666667,BASELINE,769.025621221,747,725,692,670.974378779,643,889,790.025621221,821,657,633,657,0.400957207644,-0.015356773853,0.069813683238,0.999999925906,0.000243800174253,-0.00029781916099,7.3594290964e-06,1793251748067389952
+20,0.333333333,BASELINE,769.612299634,747,725,692,670.387700366,643,889,790.612299634,821,657,633,657,0.400956902187,-0.0153561338175,0.0698135527529,0.999999925044,0.00024639731278,-0.000298574038387,7.3067826832e-06,1793251748084056576
+21,0.350000000,BASELINE,770,747,725,692,670.197972557,643,889,790.802027443,820.802027443,657,633,657,0.400956491094,-0.0153558410533,0.0698133261483,0.999999924745,0.000246845599036,-0.0002992097341,7.14240404396e-06,1793251748100723200
+22,0.366666667,BASELINE,770,747,725,692,670.781686258,643,889,790.218313742,820.218313742,657,633,657,0.400955874174,-0.0153562249325,0.0698129122591,0.999999925543,0.000243106937325,-0.000299613209263,6.76031989934e-06,1793251748117389568
+23,0.383333333,BASELINE,770,747,725,692,671,643,889.360099878,790,820.360099878,657,633,657,0.400955708883,-0.0153565968724,0.0698129562929,0.999999925383,0.000242953413254,-0.000300270107695,6.78951571753e-06,1793251748134056448
+24,0.400000000,BASELINE,770,747,725,692,671,643,889.935346937,790,820.935346937,657,633,657,0.400955813425,-0.0153569616789,0.0698132739197,0.999999924653,0.000244941884167,-0.000301078417777,7.06443700625e-06,1793251748150723072
+25,0.416666667,BASELINE,770,747,725,692,671,643,890,790,820.490799487,657,633,657,0.400956331162,-0.0153570505443,0.0698142543723,0.999999925203,0.000244572817312,-0.000299542889714,7.2217709399e-06,1793251748167390208
+26,0.433333333,BASELINE,770,747,725,691.914414845,671,643,889.914414845,790.085585155,820.085585155,657,633.085585155,657,0.400957005736,-0.0153567170033,0.0698152178944,0.999999925709,0.000244597015485,-0.000297826566848,7.29585402899e-06,1793251748184057344
+27,0.450000000,BASELINE,770,747,725,691.321996122,671,643,889.321996122,790.678003878,820.678003878,657,633.678003878,657,0.40095829925,-0.0153540888976,0.0698155841287,0.999999925001,0.000248717944799,-0.000296797131072,6.96510143334e-06,1793251748200723712
+28,0.466666667,BASELINE,770,747,725,691.263087945,671,643,889.263087945,791,820.736912055,657,633.736912055,657,0.400957418387,-0.0153535248063,0.0698146666612,0.999999924448,0.000249518041121,-0.000297988770582,6.85372823761e-06,1793251748217390336
+29,0.483333333,BASELINE,770,747,725,691.839438494,671,643,889.839438494,791,820.160561506,657,633.160561506,657,0.400953948462,-0.0153554183671,0.0698122206714,0.999999924079,0.000246363973525,-0.000301825076488,7.0035732728e-06,1793251748234056704
+30,0.500000000,BASELINE,770,746.585452261,725,692,671,643,889.585452261,790.585452261,820,656.585452261,633,657,0.400955194968,-0.0153557499667,0.069813186774,0.999999924773,0.000245033008845,-0.000300603033872,7.09354255271e-06,1793251748250723072
+31,0.516666667,BASELINE,770,746.010822372,725,692,671,643,889.010822372,790.010822372,820,656.010822372,633,657,0.400958262777,-0.0153554783977,0.0698154704934,0.999999925876,0.000244406055395,-0.000297427654487,7.16039015044e-06,1793251748267389696
+32,0.533333333,BASELINE,770,746.578213981,725,692,671,643,889.578213981,790,820.578213981,656.578213981,633,657,0.40095808027,-0.0153577088827,0.0698151400862,0.999999926434,0.000241732877392,-0.000297732809035,7.21070132252e-06,1793251748284056320
+33,0.550000000,BASELINE,770,747,725,692,671,643,889.835255571,790.164744429,820.835255571,657,633,657,0.400958083805,-0.0153586148327,0.0698150362789,0.999999926704,0.000240674484867,-0.000297686019677,7.15166508275e-06,1793251748300723200
+34,0.566666667,BASELINE,770,747,725,692,671,643,889.255730621,790.744269379,820.255730621,657,633,657,0.400958712827,-0.0153560650536,0.0698156293231,0.999999926281,0.000243780562236,-0.000296584926276,6.81812172429e-06,1793251748317390080
+35,0.583333333,BASELINE,770,747,725,692,671,643,889.320123149,790.679876851,820,657,633.320123149,657,0.400958643079,-0.0153564478541,0.0698157176956,0.999999926727,0.000242412911407,-0.000296205531351,6.71759643792e-06,1793251748334056704
+36,0.600000000,BASELINE,770,747,725,692,671,643,889.893077506,790.106922494,820,657,633.893077506,657,0.400958021447,-0.0153591467868,0.0698154074817,0.999999927846,0.000237511939097,-0.000296396129127,6.80110729313e-06,1793251748350723072
+37,0.616666667,BASELINE,770,747,725,692,671,643,889.532297373,790.467702627,820.467702627,657,634,657,0.400957728022,-0.0153569979475,0.0698154879189,0.99999992714,0.000240469220913,-0.000296394226672,6.69166436578e-06,1793251748367389440
+38,0.633333333,BASELINE,770,747,725,692,671.044069326,643,889,791,820.955930674,657,634,657,0.400957562307,-0.0153540222376,0.0698156434922,0.999999926062,0.000244940933857,-0.000296374401269,6.54869049613e-06,1793251748384056320
+39,0.650000000,BASELINE,770,747,725,692,671.637364054,643,889,791,820.362635946,657,634,657,0.400958049768,-0.0153546029233,0.0698156184596,0.999999925756,0.000245817123886,-0.000296681632514,6.53955129265e-06,1793251748400722944
+40,0.666666667,BASELINE,769.774915857,747,725,692,671.774915857,643,889.225084143,791,820.225084143,657,633.774915857,657,0.40095834745,-0.0153548951439,0.0698157237733,0.999999925599,0.000246419212274,-0.000296706687274,6.63696160178e-06,1793251748417389568
+41,0.683333333,BASELINE,769.195960109,747,725,692,671.195960109,643,889.804039891,791,820.804039891,657,633.195960109,657,0.400958346764,-0.0153547338469,0.0698160340143,0.999999925679,0.000246590364934,-0.000296288111275,6.90188636346e-06,1793251748434056192
+42,0.700000000,BASELINE,769.380319069,747,725,692,671,643,889.619680931,791,821,656.619680931,633,657,0.40095812681,-0.0153550823701,0.0698161053285,0.999999926055,0.000245376778754,-0.000296024996823,7.0185185592e-06,1793251748450723328
+43,0.716666667,BASELINE,769.955228759,747,725,692,671,643,889.044771241,791,821,656.044771241,633,657,0.400957794668,-0.0153556917431,0.0698160543955,0.999999926579,0.000243454689593,-0.000295841424437,7.05927671098e-06,1793251748467390464
+44,0.733333333,BASELINE,770,746.459049197,725,691.459049197,670.459049197,643,889.540950803,791,820.459049197,656.540950803,633,657,0.400957771851,-0.0153554411404,0.0698153850404,0.99999992637,0.000243543212239,-0.000296477564504,6.9606134537e-06,1793251748484056832
+45,0.750000000,BASELINE,769.874102487,746.125897513,725,691,670.125897513,643,890,791,820.125897513,657,633,657,0.400957978864,-0.0153551741956,0.0698150539171,0.999999926114,0.000244169568168,-0.000296824024828,6.91509684243e-06,1793251748500723200
+46,0.766666667,BASELINE,769.295230919,746.704769081,725,691,670.704769081,643,890,791,820.704769081,657,633,657,0.400958918807,-0.0153551097604,0.0698161276481,0.999999925915,0.000246120092079,-0.000295879155723,7.10316355065e-06,1793251748517390080
+47,0.783333333,BASELINE,769.282741265,746.717258735,725,691,671,643,889.717258735,790.717258735,821,657,633,657,0.400958363629,-0.0153551549901,0.0698157597122,0.999999925492,0.000246829902529,-0.000296718104051,7.00736330828e-06,1793251748534056448
+48,0.800000000,BASELINE,769.859777386,746.140222614,725,691,671,643,889.140222614,790.140222614,821,657,633,657,0.400956252235,-0.0153553143658,0.0698138911992,0.999999924835,0.00024624830077,-0.000299413761407,6.61609654962e-06,1793251748550722816
+49,0.816666667,BASELINE,770,746.437496079,725,691,671,643,889,790,821,657,633,657,0.400956673422,-0.0153559157953,0.0698142998478,0.999999925631,0.000243899061178,-0.00029867448347,6.66047926544e-06,1793251748567389952
+50,0.833333333,BASELINE,770,747,725,691.015192959,671,643,889,790,820.984807041,657,633,657,0.400957849509,-0.0153566635015,0.0698153998577,0.999999926843,0.000241085677023,-0.000296891688878,6.84901999715e-06,1793251748584057088
+51,0.850000000,BASELINE,770,747,725,691.58411025,671,643,889,790,820.41588975,657,633,657,0.40095690843,-0.0153575705524,0.0698150552828,0.9999999265,0.000242036782008,-0.000297264337179,7.19461006226e-06,1793251748600723712
+52,0.866666667,BASELINE,770,747,725,692,670.838917363,643,889,790.161082637,820.161082637,657,633,657,0.400956236699,-0.0153577750585,0.069814698405,0.999999926032,0.000243388838436,-0.000297729425097,7.40646161913e-06,1793251748617390336
+53,0.883333333,BASELINE,770,747,725,692,670.24005332,643,889,790.75994668,820.75994668,657,633,657,0.400956296988,-0.0153560702273,0.0698143080907,0.999999925222,0.00024583057828,-0.000298445740232,7.25484609535e-06,1793251748634056704
+54,0.900000000,BASELINE,770,746.654625474,725,692,670.345374526,643,889,791,821,657,633,657,0.400957313595,-0.0153558996249,0.0698149714821,0.999999925655,0.000245725663783,-0.000297084590658,7.05037514514e-06,1793251748650723072
+55,0.916666667,BASELINE,770,746.078186803,725,692,670.921813197,643,889,791,821,657,633,657,0.400958970001,-0.0153567554599,0.0698163398287,0.999999926913,0.000243916974109,-0.000294333565508,6.81054260643e-06,1793251748667389440
+56,0.933333333,BASELINE,770,746.50695968,725,692,671,643,889.50695968,790.49304032,820.49304032,657,633,657,0.400959683863,-0.0153573684627,0.0698170055617,0.999999927453,0.000242878901884,-0.000293356879401,6.82293518722e-06,1793251748684056320
+57,0.950000000,BASELINE,770,747,725,692,671,643,890,790.092274654,820,657,633,657,0.400960113601,-0.0153578309586,0.0698174130564,0.999999927825,0.000241854070248,-0.000292933284961,6.85858191144e-06,1793251748700723200
+58,0.966666667,BASELINE,770,747,725,692,671,643,890,790.671270541,820,657,633,657,0.400959824827,-0.0153577005722,0.0698170399871,0.999999927908,0.000240261225186,-0.000293958431778,6.80811601209e-06,1793251748717389568
+59,0.983333333,BASELINE,770,747,725,692,671,643,890,791,820.249725239,657,633,657.249725239,0.400958992972,-0.0153576368836,0.0698163623501,0.999999927646,0.000240015874692,-0.000295051221208,6.73451292591e-06,1793251748734056192
+60,1.000000000,BASELINE,770,747,725,692,671,643,890,791,820.827469158,657,633,657.827469158,0.40095744777,-0.0153576608037,0.0698152846577,0.99999992693,0.000241540482788,-0.000296232860593,6.63051871376e-06,1793251748750723072
+61,1.016666667,BASELINE,770,747,725,692,671,643,889.59650843,791,820.59650843,656.59650843,633,657.59650843,0.400956477929,-0.0153579423711,0.0698147492444,0.999999926754,0.000240510901402,-0.000297664389364,6.49840238689e-06,1793251748767389696
+62,1.033333333,BASELINE,770,747,725,692,671,643,889.021219033,791,820.021219033,656.021219033,633,657.021219033,0.400955753065,-0.015358333639,0.0698144447215,0.999999926803,0.000238393802268,-0.000299202315464,6.35431228882e-06,1793251748784056320
+63,1.050000000,BASELINE,770,746.433599932,725,692,671,643,889,791,820.566400068,656.566400068,633,657,0.400956749668,-0.0153571389735,0.0698151738369,0.999999926529,0.00024178512232,-0.000297393980566,6.30292762173e-06,1793251748800722944
+64,1.066666667,BASELINE,770,746.152018978,725,692,671,643,889,791,820.847981022,657,633,657,0.400957537088,-0.0153563602084,0.0698157263742,0.999999926396,0.000243897070106,-0.000296112137347,6.33679955377e-06,1793251748817389568
+65,1.083333333,BASELINE,770,746.730698808,725,692,671,643,889,791,820.269301192,657,633,657,0.400957552378,-0.0153569191849,0.0698156722225,0.999999926732,0.000241826225141,-0.000296667632021,6.59999072947e-06,1793251748834056192
+66,1.100000000,BASELINE,770,746.712652212,725,691.712652212,671,643,889,791,820,657,633,657,0.400957415973,-0.0153576560383,0.0698154751153,0.999999926926,0.00024097934164,-0.000296702266495,6.75457106722e-06,1793251748850722816
+67,1.116666667,BASELINE,770,746.175180196,725,691.175180196,671,643,889,791,820,657,633,657,0.400957147523,-0.0153585477263,0.0698151535713,0.999999926997,0.000241197865502,-0.000296283513928,6.81461020027e-06,1793251748867389440
+68,1.133333333,BASELINE,770,746.416753604,725,691.416753604,671,643,889,790.583246396,820,657,633.416753604,657,0.400957232922,-0.0153580768384,0.0698151195008,0.99999992688,0.000241428373225,-0.000296492467812,6.74428947981e-06,1793251748884056064
+69,1.150000000,BASELINE,770,747,725,692,671,643,889,790.033461348,820,657,633.966538652,657,0.400957443284,-0.0153569740758,0.0698151851479,0.999999926663,0.000241720898277,-0.000296987783149,6.59622098566e-06,1793251748900722688
+70,1.166666667,BASELINE,770,747,725,692,671,643,889,790.624185563,820,657,633.375814437,657,0.400956885309,-0.0153563205754,0.0698145965359,0.999999926305,0.000242949752283,-0.00029719738988,6.20309963507e-06,1793251748917389568
+71,1.183333333,BASELINE,770,747,724.789715007,692,671,643,889.210284993,791,820.210284993,657,633,657,0.400956896614,-0.0153566574059,0.0698144546872,0.99999992645,0.000242487343806,-0.000297090828063,6.15168094879e-06,1793251748934056192
+72,1.200000000,BASELINE,770,747,724.21170288,692,671,643,889.78829712,791,820.78829712,657,633,657,0.400957903425,-0.0153587260362,0.069815094097,0.999999927465,0.000239067410607,-0.000296431379682,6.69780052026e-06,1793251748950722816
+73,1.216666667,BASELINE,770,747,724.369713562,691.630286438,671,643,889.630286438,791,821,657,633,657,0.400957740659,-0.0153584701521,0.0698150066534,0.999999927411,0.000239410655387,-0.000296338536604,6.55981938346e-06,1793251748967389440
+74,1.233333333,BASELINE,770,747,724.953097439,691.046902561,671,643,889.046902561,791,821,657,633,657,0.400956901955,-0.0153568708503,0.0698144991361,0.999999926739,0.000241928771707,-0.000296573154462,6.02647264012e-06,1793251748984056064
+75,1.250000000,BASELINE,770,747,725,691,670.465026068,643,889.534973932,791,821,657,633,656.465026068,0.400957008897,-0.015357268464,0.0698147696302,0.999999926634,0.000242788391288,-0.000296222854491,6.17244740729e-06,1793251749000722944
+76,1.266666667,BASELINE,770,746.883736936,725,691.116263064,670.116263064,643,890,790.883736936,820.883736936,657,633,656.116263064,0.400957358815,-0.0153576482082,0.0698152333069,0.999999926623,0.000243479722871,-0.000295687403829,6.37214176708e-06,1793251749017389824
+77,1.283333333,BASELINE,770,746.304262917,725,691.695737083,670.695737083,643,890,790.304262917,820.304262917,657,633,656.695737083,0.400958347399,-0.0153572611906,0.0698161956577,0.999999926792,0.000244078256049,-0.000294618021573,6.5492421189e-06,1793251749034056448
+78,1.300000000,BASELINE,770,746.273461458,725,692,671,643,889.726538542,790.273461458,820.273461458,657,633,657,0.400958952078,-0.0153571475691,0.0698168398967,0.999999927261,0.00024303992946,-0.000293883525094,6.52565099412e-06,1793251749050723328
+79,1.316666667,BASELINE,770,746.849251456,725,692,671,643,889.150748544,790.849251456,820.849251456,657,633,657,0.400959132328,-0.0153573362039,0.0698171324437,0.999999928057,0.000240191953218,-0.000293519265606,6.2801830293e-06,1793251749067390208
+80,1.333333333,BASELINE,770,747,724.574885749,692,670.574885749,643,889,790.574885749,820.574885749,657,633,657,0.400958410388,-0.0153567802857,0.0698159315844,0.999999927273,0.000241780097008,-0.000294886101031,6.23473184429e-06,1793251749084056576
+81,1.350000000,BASELINE,770,747,724.001022506,692,670.001022506,643,889,790.001022506,820.001022506,657,633,657,0.400957369342,-0.0153559644138,0.0698142052784,0.999999925921,0.000244931813991,-0.000296862904816,6.26021732405e-06,1793251749100722944
+82,1.366666667,BASELINE,770,747,724.58816354,692,670.58816354,643,889,790.58816354,820.58816354,657,633,657,0.400956828525,-0.0153575076224,0.0698148960282,0.999999926611,0.000242479601479,-0.000296549401189,6.28406292886e-06,1793251749117389568
+83,1.383333333,BASELINE,770,747,725,692,671,643,889,791.172568629,821,657,633,657,0.400956569169,-0.0153587540159,0.0698154249184,0.999999927167,0.0002405076935,-0.000296279345192,6.35445379698e-06,1793251749134056192
+84,1.400000000,BASELINE,770,747,725,692,671,643,889,791.75054638,821,657,633,657,0.400956971039,-0.015359303113,0.0698155735581,0.999999927418,0.000239664146778,-0.000296111359046,6.5341917426e-06,1793251749150722816
+85,1.416666667,BASELINE,770,747,725,692,671,643,889,791.671839682,820.671839682,657,633,657,0.400957246286,-0.0153595690502,0.0698156809469,0.999999927583,0.000239367585427,-0.000295792089923,6.67209407047e-06,1793251749167389696
+86,1.433333333,BASELINE,770,747,725,692,671,643,889,791.094502026,820.094502026,657,633,657,0.400957425386,-0.0153596199796,0.0698157570131,0.999999927682,0.000239486358799,-0.000295357949244,6.77822993913e-06,1793251749184056576
+87,1.450000000,BASELINE,770,747,725,691.519741479,671,643,889.480258521,791,820,657,633,657,0.400957601175,-0.0153582826085,0.0698157365832,0.999999927204,0.000241442379279,-0.000295388066048,6.61492999905e-06,1793251749200722944
+88,1.466666667,BASELINE,770,747,725,691.056193905,671,643,890,791,820,657,633,657.056193905,0.400957820082,-0.0153568708113,0.0698157572151,0.999999926721,0.000243403090229,-0.000295416422915,6.42140831902e-06,1793251749217389568
+89,1.483333333,BASELINE,770,747,725,691.648139112,671,643,890,791,820,657,633,657.648139112,0.40095845625,-0.0153573400313,0.0698163493932,0.999999927319,0.000241980183971,-0.000294561687798,6.4425253766e-06,1793251749234056448
+90,1.500000000,BASELINE,770,747,725,692,671,643,889.765501213,791,820.234498787,657,633,657.765501213,0.400958659099,-0.0153574763855,0.069816508111,0.999999927555,0.000241158613354,-0.000294432925411,6.4217566587e-06,1793251749250723072
+91,1.516666667,BASELINE,770,747,725,692,671,643,889.187327591,791,820.812672409,657,633,657.187327591,0.400958226889,-0.0153571249008,0.0698160315613,0.999999927266,0.000241218343491,-0.000295368128345,6.33960132282e-06,1793251749267389696
+92,1.533333333,BASELINE,770,747,725,691.611536044,670.611536044,643,889,791,821,657,633,657,0.400957648661,-0.0153577043908,0.0698156972789,0.999999927436,0.00024005202732,-0.000295740987599,6.27776890455e-06,1793251749284056064
+93,1.550000000,BASELINE,770,747,725,691.036886144,670.036886144,643,889,791,821,657,633,657,0.400957000448,-0.0153587300853,0.0698154311835,0.999999927826,0.000238298082407,-0.000295844322602,6.2256770006e-06,1793251749300722688
+94,1.566666667,BASELINE,770,747,725,691.535979692,670.535979692,643,889.535979692,791,820.464020308,657,633,657,0.400957132335,-0.015358006553,0.0698156979665,0.999999927216,0.000240740246659,-0.000295928408886,6.27862967743e-06,1793251749317389568
+95,1.583333333,BASELINE,770,746.886854347,725,692,671,643,890,791.113145653,820,657,633,657,0.400957632859,-0.0153573805121,0.0698161752941,0.999999926813,0.000242857418053,-0.000295555309463,6.36508075027e-06,1793251749334056448
+96,1.600000000,BASELINE,770,746.290813394,725,692,671,643,890,791.709186606,820,657,633,657,0.400959478321,-0.0153576826297,0.0698173952099,0.999999927616,0.000242359168037,-0.000293236618219,6.56374884462e-06,1793251749350723072
+97,1.616666667,BASELINE,770,746.29496247,725,692,671.29496247,643,889.70503753,791.70503753,820,657,633,657,0.400959768286,-0.015357830512,0.0698175435326,0.999999927668,0.000242375579678,-0.000293044565086,6.61786454859e-06,1793251749367389696
+98,1.633333333,BASELINE,770,746.870957972,725,692,671.870957972,643,889.129042028,791.129042028,820,657,633,657,0.400958576212,-0.0153578314425,0.0698166708676,0.999999927006,0.000242882348396,-0.000294878720907,6.53425425625e-06,1793251749384056064
+99,1.650000000,BASELINE,770,746.555485977,725,692,671.555485977,643,889.444514023,791,820.444514023,657,633,657.444514023,0.400957502945,-0.0153577818195,0.0698161208827,0.999999926716,0.000242960710996,-0.000295794544539,6.62828234269e-06,1793251749400722944
+100,1.666666667,BASELINE,770,746.018023694,725,691.981976306,671,643,890,790.981976306,820.981976306,657,633,657.981976306,0.400956507675,-0.0153576828003,0.069815691543,0.999999926548,0.000242907687372,-0.000296403658098,6.75181250138e-06,1793251749417389824
+101,1.683333333,BASELINE,770,746.612578961,725,691.387421039,671,643,890,790.387421039,820.387421039,657,633,657.387421039,0.400956910069,-0.0153564705952,0.0698161413068,0.999999926837,0.00024260838975,-0.000295682923909,6.17850512956e-06,1793251749434056192
+102,1.700000000,BASELINE,770,747,725.201321609,691.201321609,671,643,890,790.201321609,820,657,633,657,0.400957127381,-0.0153560832881,0.0698162096369,0.999999926913,0.000242689734341,-0.000295364804229,5.99712617848e-06,1793251749450722816
+103,1.716666667,BASELINE,770,747,725.779192348,691.779192348,671,643,890,790.779192348,820,657,633,657,0.400956998519,-0.0153572388588,0.0698155645387,0.999999926588,0.000243483026856,-0.000295799729193,6.54880474466e-06,1793251749467389440
+104,1.733333333,BASELINE,770,747,725.644761049,692,671,643,890,791,820,657,633,657,0.400957647773,-0.0153579145501,0.0698160287001,0.999999926794,0.000243295002161,-0.000295253170705,6.72945063027e-06,1793251749484056320
+105,1.750000000,BASELINE,770,747,725.069842434,692,671,643,890,791,820,657,633,657,0.400958778214,-0.0153582934842,0.0698171788271,0.999999927327,0.000242500131267,-0.00029409966318,6.68065006779e-06,1793251749500722944
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,746,725,692,671,643,889,791,820,657,632,657,0.400959085614,-0.0153566155315,0.069817572233,0.999999926989,0.000244243794006,-0.000293805164941,6.76050608122e-06,1793251749533009408
+107,1.783333333,POSE1_TO_POSE2_PRESS,769.378934507,746.621065493,725,691.378934507,670.378934507,643,889.621065493,791,820,657,632.621065493,656.378934507,0.400957115491,-0.0153562963032,0.0698161750095,0.999999926337,0.000243896081963,-0.000296309551982,6.41877659108e-06,1793251749549676544
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.224479595,746.775520405,725,691.224479595,670.224479595,643,889.775520405,791,820.224479595,656.775520405,633,656.224479595,0.400956452826,-0.0153565254035,0.0698154770758,0.999999926362,0.00024301212197,-0.000296955744197,6.23926981981e-06,1793251749566343168
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.800269394,746.199730606,725,691.800269394,670.800269394,643,889.199730606,791,820.800269394,656.199730606,633,656.800269394,0.400957836331,-0.015357612637,0.0698158735295,0.999999927448,0.000241288934744,-0.000294693864882,6.31364129007e-06,1793251749583009792
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746.37224265,725,692,671,643,889.37224265,791,821,656.37224265,633,657,0.400958198653,-0.015357607331,0.0698164249869,0.999999927494,0.000241996883828,-0.000293952729869,6.35475015048e-06,1793251749599676416
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746.94218885,725,692,671,643,889.94218885,791,821,656.94218885,633,657,0.40095801861,-0.0153570217612,0.069817058769,0.999999926989,0.000243996045289,-0.00029401928467,6.37819274479e-06,1793251749616343296
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725,691.464587601,671,643,890,791,821,657,633,657,0.400957708147,-0.0153582273674,0.0698163819024,0.999999927402,0.000241603270662,-0.000294586671442,6.51560380792e-06,1793251749633009920
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,725,691.128287715,671,643,889.871712285,790.871712285,820.871712285,657,633,657,0.40095725055,-0.0153592853559,0.0698157615286,0.999999927746,0.000239472072664,-0.000295156335962,6.63762069077e-06,1793251749649676288
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,725,691.710630472,671,643,889.289369528,790.289369528,820.289369528,657,633,657,0.400956324293,-0.0153591052436,0.0698158647473,0.999999927503,0.000240021400705,-0.000295533964282,6.65961824392e-06,1793251749666342912
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.289069267,790.289069267,820.289069267,657,633,657,0.400958379273,-0.0153589027265,0.069816956647,0.999999927762,0.000240481634031,-0.000294277482398,6.80129614707e-06,1793251749683009792
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.863652086,790.863652086,820.863652086,657,633,657,0.400963378818,-0.0153586780802,0.0698190250663,0.999999928511,0.000240853868523,-0.000291406990753,7.06118226357e-06,1793251749699676416
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,791.43507566,820.56492434,657,633,657,0.400978837775,-0.0153586387613,0.069825676526,0.999999931345,0.000241361431536,-0.000281071003664,7.39400799563e-06,1793251749716343040
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746.994235108,725,692,671,643,890,791.988470216,820.005764892,657,633,657,0.40099782497,-0.0153587015061,0.0698338532847,0.999999934746,0.000241878382546,-0.000268219583606,7.76324986883e-06,1793251749733009664
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746.398092269,725,692,671,643,890,790.796184538,820.601907731,657,633,657,0.401044872693,-0.0153633114984,0.0698522072945,0.999999943621,0.000239044838084,-0.000235634501113,9.53779479209e-06,1793251749749676288
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.190635482,725,692,671,643,889.809364518,790.190635482,820.809364518,657,633,657,0.401096671638,-0.0153666846565,0.0698693417849,0.999999950104,0.000237583854744,-0.000207922021304,1.07275594243e-05,1793251749766342912
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,746.764458613,725,692,671,643,889.235541387,790.764458613,820.235541387,657,633,657,0.401158020806,-0.0153675717118,0.0698840249787,0.999999953359,0.000238881793489,-0.000190003731391,1.07418843217e-05,1793251749783009536
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,791,820.33881948,657,633.33881948,657,0.401228907346,-0.0153700587023,0.0698944585526,0.999999955885,0.00023908350006,-0.000175956346368,1.03863708072e-05,1793251749799676416
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,791,820.913554734,657,633.913554734,657,0.401306434634,-0.0153736597078,0.0699019331686,0.999999957959,0.000238521913794,-0.000164604225165,9.77334342491e-06,1793251749816343040
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.49061354,791,820.50938646,657,633.50938646,657,0.401399390759,-0.0153789353531,0.0699057212955,0.99999995912,0.000237631640886,-0.00015879745392,8.6169997117e-06,1793251749833009664
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,725,691.929931819,671,643,890,791,820.070068181,657,633,657.070068181,0.401497194518,-0.0153843143989,0.0699086487819,0.999999960119,0.00023639292985,-0.00015436783507,7.19574278458e-06,1793251749849676288
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,725,691.335629752,671,643,890,791,820.664370248,657,633,657.664370248,0.401610830919,-0.0153882489222,0.0699100200856,0.999999961161,0.000232982646679,-0.000152896669855,4.51211504484e-06,1793251749866342912
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,725,691,670.749711707,643,890,790.749711707,820.749711707,657,633,657.749711707,0.401737199387,-0.0153933593862,0.0699107493543,0.999999962163,0.000229121008668,-0.000152234793553,1.68825871508e-06,1793251749883009536
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,725,691,670.174672052,643,890,790.174672052,820.174672052,657,633,657.174672052,0.401880087822,-0.0153999956437,0.0699106455766,0.999999963113,0.000224673733866,-0.000152622977169,-1.3175452903e-06,1793251749899676160
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,725,691.399975589,670.399975589,643,890,790.399975589,820.399975589,657,633,657,0.402049957931,-0.015406776393,0.0699124523666,0.99999996501,0.000218322692188,-0.000149301834143,-4.8399533284e-06,1793251749916342784
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,725,691.974452253,670.974452253,643,890,790.974452253,820.974452253,657,633,657,0.402231599598,-0.0154136201816,0.0699150926977,0.999999967253,0.000211141076012,-0.000144362388665,-8.58774527697e-06,1793251749933009408
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.434322598,725,692,671,643,890,791,820.434322598,657,633,657,0.402437709329,-0.0154221270628,0.0699176014537,0.999999969817,0.000202243805858,-0.000138897979142,-1.31000685491e-05,1793251749949676032
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746.154143799,725,692,671,643,890,790.845856201,820,657,633,657,0.40265704893,-0.0154311090291,0.0699213323763,0.999999973252,0.000189766822408,-0.00013104281153,-1.767515795e-05,1793251749966342912
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.732864514,725,692,671,643,890,790.267135486,820,657,633,657,0.402909692558,-0.0154411863835,0.069928446528,0.999999978892,0.000167649735529,-0.000116669785476,-2.23251245881e-05,1793251749983009536
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.309102835,747,725,692,671,643,890,790,820,657,633.309102835,657,0.403185469685,-0.0154505985297,0.0699368486995,0.999999986978,0.000123422321858,-0.000100447467997,-2.68743769454e-05,1793251749999676160
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.883212858,747,725,692,671,643,890,790,820,657,633.883212858,657,0.403481080144,-0.0154594403636,0.0699463551453,0.99999999428,6.02387726708e-05,-8.26396738118e-05,-3.13372822524e-05,1793251750016343040
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.542895084,747,725,692,671,643,890,790.457104916,820.457104916,657,633.542895084,657.457104916,0.403801438034,-0.0154691944364,0.0699483938814,0.999999995173,4.1987696257e-05,-8.10362384906e-05,-3.63968661915e-05,1793251750033009408
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,791,820.968007862,657,633,657.968007862,0.404130143996,-0.0154787848792,0.0699487908464,0.99999999503,3.72504021522e-05,-8.30373633983e-05,-4.0718049325e-05,1793251750049676032
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,791,820.374682755,657,633,657.374682755,0.404494438317,-0.0154814167782,0.0699538421908,0.999999994372,6.82949102775e-05,-7.56765207999e-05,-2.94097183192e-05,1793251750066342912
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,791,820.21265891,656.78734109,633,657,0.404872569863,-0.0154796572376,0.0699583596765,0.999999993846,8.37489978399e-05,-6.8621541943e-05,-2.41959262477e-05,1793251750083009792
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,791,820.789746819,656.210253181,633,657,0.405274413927,-0.0154703721815,0.0699619622993,0.999999995012,7.24861140034e-05,-6.20907160681e-05,-2.9426215636e-05,1793251750099676416
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890.366188603,791,821,656.366188603,633,657,0.405698746958,-0.0154788074574,0.0699590987246,0.999999995876,5.57024042598e-05,-6.46553503143e-05,-3.10593015101e-05,1793251750116342784
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890.942260112,791,821,656.942260112,633,657,0.406135969696,-0.0154973992332,0.0699525290154,0.999999996268,3.57544033148e-05,-7.24330942633e-05,-3.06306319396e-05,1793251750133009408
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,891,791,820.470999822,657,633,657,0.406599038755,-0.0155158569623,0.0699347221361,0.99999999424,1.05455654737e-05,-0.000101729192931,-3.25528056709e-05,1793251750149676288
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,725,692.115837076,671,643,891,791,820.115837076,657,633,657.115837076,0.407082849244,-0.0155299905543,0.0699200476718,0.999999991615,-8.97030892544e-06,-0.000124520784105,-3.4423545854e-05,1793251750166342912
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,692.698277083,671,643,891,791,820.698277083,657,633,657.698277083,0.407638610787,-0.0155267662577,0.0699230331308,0.99999999317,-3.19378138782e-06,-0.000111456047384,-3.50322549361e-05,1793251750183009792
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,891.276166791,791,821,657,633,658,0.408218550326,-0.015523555927,0.0699329434429,0.999999995599,-6.00274113342e-07,-8.67201952989e-05,-3.57956549378e-05,1793251750199676672
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,891.849165671,791,821,657,633,658,0.408824477045,-0.0155203606074,0.0699502967879,0.999999998102,-1.42796981333e-06,-4.94398901405e-05,-3.67253211656e-05,1793251750216343808
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.57551078,725,693,671,643,892,791.42448922,821,657,633,657.57551078,0.409429113302,-0.0155194031219,0.0699511204729,0.999999998279,-2.83485756947e-06,-4.45423209141e-05,-3.80898681017e-05,1793251750233010688
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746.000661391,725,693,671,643,892,791.999338609,821,657,633.000661391,657,0.410033343822,-0.0155192492265,0.0699460393294,0.999999997894,-4.45303483832e-06,-5.1217841421e-05,-3.96095731465e-05,1793251750249677824
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746.59298744,725,693,671,643,892,791.40701256,821,657,633.59298744,657,0.410687083487,-0.0155227084974,0.0699418713095,0.999999997271,-9.96366754283e-06,-6.06905742912e-05,-4.0932893631e-05,1793251750266343680
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746.81915705,725,693.18084295,671.18084295,643,891.81915705,791.18084295,820.81915705,657,633.81915705,657,0.411364836981,-0.0155260546688,0.0699455708976,0.999999997476,-1.36744736421e-05,-5.60195032312e-05,-4.15148374966e-05,1793251750283009536
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746.241120465,725,693.758879535,671.758879535,643,891.241120465,791.758879535,820.241120465,657,633.241120465,657,0.41209533306,-0.0155291524341,0.0699665504736,0.999999998885,-1.34322375903e-05,-2.02837480073e-05,-4.0468461817e-05,1793251750299676160
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.334238731,725.334238731,694,671.665761269,643,891.668477462,791.665761269,820.334238731,657,633,657,0.412842600864,-0.0155311787703,0.0699926460093,0.999999998871,-1.84675355689e-05,1.97721819707e-05,-3.90674059358e-05,1793251750316342784
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,746.907681862,725.907681862,694,671.092318138,643,892.815363725,791.092318138,820.907681862,657,633,657,0.413601871752,-0.0155324383179,0.0700224028824,0.999999996949,-2.72798026087e-05,6.29199320591e-05,-3.74125161795e-05,1793251750333009408
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725.516725494,694,671,643,893,791,821.483274506,657,633.483274506,657.483274506,0.414334923746,-0.015527663256,0.0700065751692,0.99999999852,-2.52761454672e-05,2.78401142433e-05,-3.93228692556e-05,1793251750349676800
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746.938974707,725,694,671,643.061025293,893.061025293,790.938974707,822.061025293,657,634,657.938974707,0.415066755217,-0.0155220928775,0.0699788674828,0.999999998545,-2.1140843802e-05,-2.5817668797e-05,-4.23900839643e-05,1793251750366343680
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746.346006777,725,694,671,643.653993223,893.653993223,790.346006777,822.653993223,657,634,657.346006777,0.415831801033,-0.0155196832153,0.069923848311,0.999999992521,-1.65148927848e-05,-0.000110574079504,-4.95782675209e-05,1793251750383010048
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746.240000628,725,694,671,643.759999372,894.240000628,790.240000628,823,657,634,657,0.416638767603,-0.015521009284,0.0699008111193,0.999999987639,-1.97855224276e-05,-0.000146508161928,-5.35350779755e-05,1793251750399676416
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746.816255904,725,694,671,643.183744096,894.816255904,790.816255904,823,657,634,657,0.417504467509,-0.015527569326,0.0699225825196,0.999999991513,-3.41197149795e-05,-0.000114039357314,-5.29645492626e-05,1793251750416343040
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.607937641,747,725,694,670.607937641,643,895,791,823.392062359,656.607937641,633.607937641,657.392062359,0.418378633122,-0.0155318598004,0.0699507172022,0.999999995256,-4.23917645608e-05,-7.1694110661e-05,-5.0504934557e-05,1793251750433009408
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.032341307,747,725,694,670.032341307,643,895,791,823.967658693,656.032341307,633.032341307,657.967658693,0.419256761716,-0.0155350878344,0.0699818306921,0.999999997439,-4.78259763341e-05,-2.47254608238e-05,-4.71609924517e-05,1793251750449676032
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.553078327,747,725,694.553078327,670.553078327,643,895.553078327,791,824,656.553078327,633.553078327,657.446921673,0.420183644933,-0.0155366599528,0.070007040286,0.999999997608,-4.90177310265e-05,1.68634320322e-05,-4.58016459877e-05,1793251750466342656
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,725.138266149,695,670.861733851,643,896,791,824.138266149,657,634,657,0.421107829684,-0.0155386360838,0.0700245001965,0.999999996477,-5.40393273933e-05,4.52749219173e-05,-4.55553964702e-05,1793251750483009536
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,725.720829773,695,670.279170227,643,896,791,824.720829773,657,634,657,0.422014016435,-0.0155422272228,0.0700181870671,0.999999995695,-7.21791201205e-05,3.23719407066e-05,-4.85062666697e-05,1793251750499676672
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.700911833,747,725.700911833,695,670.299088167,643,896.299088167,791,825,656.700911833,634,657.299088167,0.422868704613,-0.0155389810917,0.0699683666481,0.99999999463,-7.37331204403e-05,-4.86635731983e-05,-5.41852453109e-05,1793251750516343296
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.12661487,747,725.12661487,695,670.87338513,643,896.87338513,791,825,656.12661487,634,657.87338513,0.423676005997,-0.0155294435827,0.0698785125859,0.999999977746,-6.00255484178e-05,-0.000192391880554,-6.23745181767e-05,1793251750533009920
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,695,670.552390537,643,896.552390537,790.552390537,825.447609463,656,634,658,0.424590255159,-0.0155286948404,0.0698568806744,0.999999972698,-6.01015533516e-05,-0.000216099294582,-6.55226526443e-05,1793251750549676288
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,695.022394287,670,643,896.022394287,790.022394287,825.977605713,656.022394287,634,658,0.42553773108,-0.0155306156187,0.0698573840709,0.999999975275,-6.38626461468e-05,-0.00020223808602,-6.68654333731e-05,1793251750566342656
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,695.611893868,670,643,896.611893868,790.611893868,825.388106132,656.611893868,634,658,0.426560659082,-0.0155371922499,0.0699298193889,0.999999991681,-6.22240496626e-05,-9.66055967774e-05,-5.85952738191e-05,1793251750583009536
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725,695.801459889,670.198540111,643,897,791,825.198540111,657,634,658,0.4275791891,-0.0155420637256,0.0699917676403,0.999999996463,-6.50965054089e-05,-7.02119478385e-06,-5.27996721209e-05,1793251750599676416
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,695.220312362,670.779687638,643,897,791,825.779687638,657,634,658,0.428589243687,-0.0155436491893,0.0700335062209,0.999999994388,-7.66622284375e-05,5.1636868227e-05,-5.17728018591e-05,1793251750616343040
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,695.357025129,671,643,897.357025129,790.642974871,826,657,634,658,0.429566703984,-0.015545387394,0.0700474594227,0.999999992724,-8.02934140609e-05,7.37940364012e-05,-5.15724089035e-05,1793251750633009408
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,695.932036333,671,643,897.932036333,790.067963667,826,657,634,658,0.4305242634,-0.0155472188564,0.0700444479187,0.999999992814,-7.90800701344e-05,7.36651329677e-05,-5.18766319311e-05,1793251750649676288
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,696,670.497048526,643.502951474,898,790,826.502951474,657,634,658,0.431350797197,-0.0155397924173,0.0699637556928,0.999999993593,-7.09961269024e-05,-6.61544772386e-05,-5.82869773524e-05,1793251750666343168
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,696,670.07694595,643.92305405,898,789.92305405,827,657,634,658,0.432185311666,-0.0155327009811,0.069885972684,0.999999975902,-6.47872359299e-05,-0.000199539240701,-6.46793137132e-05,1793251750683010048
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,696,670.675538247,643.324461753,898,789.324461753,827,657,634,658,0.433192992256,-0.0155362932797,0.0698985005723,0.999999981675,-7.75333489472e-05,-0.000162363265258,-6.54009571703e-05,1793251750699676416
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,724.736510371,696.263489629,671,643,898,789.263489629,827,657,634,658,0.434196718313,-0.0155401487034,0.0699351774603,0.999999990029,-8.42004970024e-05,-9.4113978063e-05,-6.32030857863e-05,1793251750716343040
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.161153534,696.838846466,671,643,898,789.838846466,827,657,634,658,0.435195763903,-0.0155443155632,0.0700004371867,0.999999994784,-8.36725628713e-05,1.09137906303e-05,-5.75496665234e-05,1793251750733009408
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.585267966,747,724.414732034,696.585267966,671,643,898.414732034,790,827,656.585267966,634,658,0.436162506898,-0.0155484765531,0.070029807501,0.999999992736,-8.81930320466e-05,6.10051755246e-05,-5.50243424224e-05,1793251750749676032
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.009176719,747,724.990823281,696.009176719,671,643,898.990823281,790,827,656.009176719,634,658,0.437116681907,-0.015552635259,0.0700452143678,0.99999999005,-9.4677676634e-05,8.97225321932e-05,-5.37160623825e-05,1793251750766342656
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.580708933,747,725,696,671,643,899,789.419291067,827,656,633.419291067,658,0.437978468555,-0.0155504256837,0.0700117311521,0.999999992265,-9.67650136992e-05,5.30939973242e-05,-5.7330131045e-05,1793251750783009536
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.832634008,747.167365992,725,696.167365992,671.167365992,643,899,789.167365992,827.167365992,656,633.167365992,658,0.438818849588,-0.0155470914883,0.0699628199609,0.999999993219,-9.74994106467e-05,-1.58178053943e-05,-6.16950946709e-05,1793251750799676672
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.254450011,747.745549989,725,696.745549989,671.745549989,643,899,789.745549989,827.745549989,656,633.745549989,658,0.439610359036,-0.0155412498224,0.0698779816832,0.999999980166,-9.50875864676e-05,-0.000161376001104,-6.77076306747e-05,1793251750816343296
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747.678145739,725,697,672,643,899,790,828,656.321854261,634,658,0.440457370982,-0.0155392477802,0.0698520668843,0.999999972742,-9.27428808997e-05,-0.000202673698477,-6.95570993582e-05,1793251750833009408
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.103318932,725,697,672,643,899,790,828,656.896681068,634,658,0.441348007009,-0.0155402636241,0.0698724650465,0.999999980462,-9.04509306651e-05,-0.000162024227296,-6.81344609893e-05,1793251750849676032
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.482891898,747.482891898,725,697,672,643,899,789.517108102,828,657,634,658,0.44224381107,-0.0155469198186,0.0699430492287,0.999999991906,-9.62631397009e-05,-5.5017175112e-05,-6.24105456221e-05,1793251750866342656
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,748,725,697,672,643,899.07044313,789,828,656.92955687,634,658,0.443132993211,-0.0155543891754,0.070017197932,0.999999991542,-0.000103944484261,5.41682393899e-05,-5.63616258152e-05,1793251750883009536
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,748,725,697,672,643,899.649658506,789,828,656.350341494,634,658,0.44396616935,-0.0155588050427,0.0700376659521,0.999999989451,-0.000112299801111,7.40680954841e-05,-5.47726580384e-05,1793251750899676160
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.772468739,748,725,697,672,643.227531261,900,789,828,656.227531261,634,658,0.444773280117,-0.0155619503233,0.0700373594313,0.999999989115,-0.000119097836746,6.73551009747e-05,-5.52115853749e-05,1793251750916342784
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.19665107,748,725,697,672,643.80334893,900,789,828,656.80334893,634,658,0.445540492255,-0.0155631506932,0.0700052529306,0.999999990448,-0.000123512113693,1.99053152338e-05,-5.87546498508e-05,1793251750933009920
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.623007386,900.376992614,789,828,656.623007386,634,658,0.446254283651,-0.0155616476713,0.0699732764751,0.999999990486,-0.000121434224304,-2.58412357857e-05,-6.01203797601e-05,1793251750949676800
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.050491253,900.949508747,789,828,656.050491253,634,658,0.446940368857,-0.0155587425617,0.069941367468,0.999999988952,-0.000115989236195,-7.07044179488e-05,-6.03568561998e-05,1793251750966343424
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.459370742,725,697,672,643,900.459370742,789,828,656,634,658,0.44757900416,-0.015556233856,0.0699139571866,0.999999983828,-0.000110326412773,-0.000127822720488,-6.19187404842e-05,1793251750983010048
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.130341043,725.130341043,697,672,643.130341043,900,789,828,656,634,658.130341043,0.448229492928,-0.0155551653434,0.0698986600963,0.999999979276,-0.000105596078016,-0.000162327175617,-6.28282448613e-05,1793251750999676672
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747.709017598,725.709017598,697,672,643.709017598,900,789,828,656,634,658.709017598,0.448936540534,-0.0155589187973,0.0699235321775,0.999999986104,-0.000104145708686,-0.000114969307876,-6.10527941766e-05,1793251751016344064
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725.713563765,696.713563765,672,643.713563765,900.286436235,789,828.286436235,656.286436235,634,658.713563765,0.449634768624,-0.0155630163382,0.0699592105437,0.999999990991,-0.000107666784718,-5.4405323772e-05,-5.8872353495e-05,1793251751033010688
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,748,725.137417459,696.137417459,672,643.137417459,900.862582541,789,828.862582541,656.862582541,634,658.137417459,0.450324076351,-0.0155674618986,0.0700058187044,0.999999991473,-0.000116216127305,1.95157138529e-05,-5.62822939292e-05,1793251751049676800
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.436052878,747.563947122,725,696,672,643.436052878,901,789,829,657,634,658,0.450898912348,-0.01556783589,0.0700034227221,0.999999991721,-0.000114812100347,1.32337281504e-05,-5.65693282147e-05,1793251751066343680
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.991007394,747,725,696,672,644,900.991007394,789,829,656.991007394,634,658,0.451437040472,-0.0155669672848,0.0699853214137,0.999999992051,-0.000110527246478,-1.85457053231e-05,-5.77762425123e-05,1793251751083010560
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.398100554,747,725,696,672,644,900.398100554,789,829,656.398100554,634,658,0.451919755588,-0.0155682212817,0.0699440793834,0.999999987998,-0.000121614614856,-7.47704797509e-05,-6.01989811832e-05,1793251751099677440
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768.766752503,747.766752503,725,696.766752503,672,643.233247497,900.766752503,789,829,656,633.233247497,658,0.452860640085,-0.0155730683834,0.0698814312888,0.999999977353,-0.000123839395608,-0.000160338633484,-6.51886517931e-05,1793251751133010176
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+204,3.400000000,POSE1_TO_POSE2_PRESS,768.077986487,748,725,696.077986487,672,643,901,789,829,656.922013513,633.922013513,658,0.453787152464,-0.0155783860395,0.0698736767718,0.999999975258,-0.000126341936185,-0.000170513482439,-6.66786058969e-05,1793251751166343424
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+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788.907584708,829,656.907584708,634,658,0.454575235206,-0.0155871931951,0.0698886586457,0.99999997351,-0.000156981639737,-0.000155841014523,-6.36345599134e-05,1793251751199676160
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788.328190643,829,656.328190643,634,658,0.454913300733,-0.0155903965882,0.0698808432926,0.999999969786,-0.000157763705027,-0.000177211786739,-6.43048593412e-05,1793251751216343040
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788,829,656,634,658,0.455231131437,-0.0155923344445,0.0698667893447,0.999999964086,-0.000157496480698,-0.000206642489192,-6.57468519567e-05,1793251751233009920
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788,829,656,634,658,0.455522525855,-0.0155926189102,0.069844584839,0.999999955122,-0.00015585838719,-0.000246603274578,-6.81970411255e-05,1793251751249676288
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788,829,656,634,658,0.455819682781,-0.0155934999402,0.0698414108196,0.999999954629,-0.000155771806312,-0.000248293301043,-6.94757293373e-05,1793251751266342912
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788,829,656,634,658,0.456119298425,-0.0155946355067,0.0698463565519,0.999999958013,-0.000156347210543,-0.000233654313903,-7.02545724723e-05,1793251751283009536
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788,829,656.567478943,634,658,0.456368401004,-0.0155981175007,0.0698583713861,0.999999963196,-0.000147913215198,-0.000218359552448,-6.36254633581e-05,1793251751299675904
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643.152842082,901.152842082,787.847157918,829,656.847157918,634,658,0.456604758045,-0.0156001654984,0.0698672556903,0.999999966663,-0.000142735478793,-0.000207281602092,-5.77540576133e-05,1793251751316342784
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643.729332215,901.729332215,787.270667785,829,656.270667785,634,658,0.456810989366,-0.0155979970841,0.0698667347407,0.999999965998,-0.000147511324003,-0.000207959353753,-5.47457985903e-05,1793251751333009408
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643.692476574,902,787,829,656,633.692476574,658,0.457000070561,-0.0155975625056,0.069864631377,0.999999964719,-0.00015068354432,-0.000211899584834,-5.43654147064e-05,1793251751349676288
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,902,787,829.053559336,656.053559336,633,658.053559336,0.457455280776,-0.0156065692706,0.0698478853144,0.999999957187,-0.000159473849042,-0.000238178983303,-5.88632366703e-05,1793251751399676672
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+221,3.683333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,902,787,830,657,633,659,0.457758040488,-0.0156097196606,0.0698346516139,0.999999951766,-0.000161183885915,-0.000258069874923,-6.23578131449e-05,1793251751449676288
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,748,725,695.345703107,671.654296893,642.654296893,902,787,829,657,633,658,0.458122124811,-0.0156052567182,0.0697921230354,0.999999933683,-0.000161132912411,-0.000320710700404,-6.17568972289e-05,1793251751733009664
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+256,4.266666667,HOLD_POSE2,768,748,725,695.636135853,671.636135853,643,901.636135853,787.363864147,830,656.363864147,633.636135853,658,0.458127458961,-0.0156038167859,0.0697903465566,0.99999993376,-0.000159790988112,-0.000321494305929,-5.9900174788e-05,1793251752048347136
+257,4.283333333,HOLD_POSE2,767.787982881,748,725,696,671.787982881,643,902,787,829.787982881,656,633.787982881,658,0.458127276612,-0.0156041131441,0.0697902404129,0.999999933656,-0.000160162174665,-0.000321668021989,-5.97183721659e-05,1793251752065013504
+258,4.300000000,HOLD_POSE2,767.213738096,748,725,696,671.213738096,643,902,787,829.213738096,656,633.213738096,658,0.458127744678,-0.0156051473154,0.0697904881553,0.999999933595,-0.000161516270836,-0.00032123037452,-5.94499233215e-05,1793251752081680384
+259,4.316666667,HOLD_POSE2,767,748,725,696,671.358602677,642.641397323,902,787,829,656,633,658,0.458126995887,-0.01560544145,0.0697896756633,0.999999933173,-0.000162031736592,-0.000322240296833,-5.96759086815e-05,1793251752098347008
+260,4.333333333,HOLD_POSE2,767,748,725,696,671.929814649,642.070185351,902,787,829,656,633,658,0.458125525643,-0.0156052968297,0.0697882345768,0.999999932535,-0.000162049993075,-0.000324108458076,-6.01950354647e-05,1793251752115013632
+261,4.350000000,HOLD_POSE2,768.051020192,748,724.474489904,696,672,642.525510096,902,787,829,656,633,658,0.458126731402,-0.0156044177872,0.0697889354008,0.999999933152,-0.000160487275235,-0.000322979014572,-6.01986996636e-05,1793251752131680256
+262,4.366666667,HOLD_POSE2,768.880843256,748,724.119156744,696,671.880843256,642.880843256,902,787,829,656,633,658,0.458128019006,-0.0156039436575,0.0697896999289,0.999999933745,-0.000159319961599,-0.000321757343657,-5.99909023557e-05,1793251752148346880
+263,4.383333333,HOLD_POSE2,768.308053319,748,724.691946681,696,671.308053319,642.308053319,902,787,829,656,633,658,0.458128191081,-0.0156054027099,0.0697895646986,0.999999933592,-0.000160501096937,-0.000321783183526,-5.92529612911e-05,1793251752165013504
+264,4.400000000,HOLD_POSE2,767.732503392,748,725,696,671,642.267496608,901.732503392,787,829,656,633,658,0.458128392002,-0.0156050749416,0.0697896679644,0.999999933733,-0.000159973302992,-0.000321677620388,-5.88719918552e-05,1793251752181680128
+265,4.416666667,HOLD_POSE2,767.153741915,748,725,696,671,642.846258085,901.153741915,787,829,656,633,658,0.45812862649,-0.01560266799,0.0697900487492,0.999999934214,-0.000157456961714,-0.000321419153852,-5.89064024096e-05,1793251752198346496
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,671,643,901,787,829,657,633,658,0.458129091258,-0.0156018075417,0.0697901954569,0.999999934525,-0.000156079540272,-0.000321021406758,-5.94511666391e-05,1793251752231763968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,724.4047921,695.4047921,671,643,901.5952079,786.4047921,829,656.4047921,633.5952079,658,0.458130835936,-0.0156022957733,0.0697911291486,0.999999934983,-0.000156889469602,-0.00031917987249,-5.95370501133e-05,1793251752248430848
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,724.176318967,695.176318967,671,642.823681033,901.823681033,786,829,656.176318967,633.823681033,658,0.458131424024,-0.0156024205274,0.0697913490195,0.999999935117,-0.000157163437011,-0.00031861741711,-5.95751613327e-05,1793251752265097728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,724.727462628,695.727462628,671,642.272537372,901.272537372,786,829,656.727462628,633.272537372,658,0.458129553397,-0.0156017725894,0.0697900514265,0.999999934567,-0.00015629803898,-0.000320774069616,-5.9511716728e-05,1793251752281764352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,671,642,901.302618727,786.302618727,829,656.697381273,633,658,0.458128779039,-0.0156015272019,0.0697897657594,0.999999934617,-0.000155016978638,-0.000321293919482,-5.9217515451e-05,1793251752298430720
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,671,642,901.90126416,786.90126416,829,656.09873584,633,658,0.458129077071,-0.0156016755961,0.0697904699751,0.999999935254,-0.000153329310517,-0.000320212621464,-5.86975841366e-05,1793251752315097088
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,724.502273934,696,671,642,902,787,829,656,633,658,0.458128914769,-0.0156011643165,0.0697901148715,0.999999934949,-0.000154612012609,-0.000320522539927,-5.88447736366e-05,1793251752331763712
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,724.091032227,696,671,642.091032227,901.908967773,787,829,656.091032227,633,658,0.458128143149,-0.0156007267075,0.0697894076168,0.99999993445,-0.000156129659391,-0.000321295326289,-5.91054527438e-05,1793251752348430592
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,724.66974278,696,671,642.66974278,901.33025722,787,829,656.66974278,633,658,0.458124594361,-0.0156013817592,0.0697879346694,0.999999933924,-0.000155763041087,-0.000323075762036,-5.92682466807e-05,1793251752365097472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.246503077,642.753496923,901,787,829,656.753496923,633,658.246503077,0.4581139847,-0.0156017069542,0.0697825201647,0.999999931206,-0.000155970303592,-0.000331230208149,-5.95668084622e-05,1793251752381764352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.820670945,642.179329055,901,787,829,656.179329055,633,658.820670945,0.458093989358,-0.0156015936864,0.069771866336,0.99999992538,-0.000156940398508,-0.000347857322274,-6.00458399447e-05,1793251752398431232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.595546654,672,642.404453346,901,787,829,656.404453346,633,658.595546654,0.458056936701,-0.0156002622565,0.0697557571658,0.999999915767,-0.000156678821609,-0.000374426440161,-6.10050696592e-05,1793251752415097856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.007397447,672,642.992602553,901,787,829,656.992602553,633,658.007397447,0.458012136899,-0.0155983775579,0.0697371702708,0.999999903701,-0.000155857840195,-0.000405511049009,-6.21823972775e-05,1793251752431764736
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.571954942,671.428045058,643,901.571954942,787,829.571954942,657,633,658,0.457955748673,-0.0155925992493,0.0697206984232,0.999999897613,-0.000151831474079,-0.000421547234949,-6.34007413917e-05,1793251752448431104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,671,643,902,787,829.850154078,657,633,658,0.457895439896,-0.0155872159134,0.0697064816214,0.999999891547,-0.000149037702643,-0.000436507490962,-6.44526002971e-05,1793251752465097472
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,671,643,902,787,829.276083095,657,633,658,0.457824449629,-0.0155830911825,0.0696985727484,0.999999885874,-0.00014984908916,-0.000448964379745,-6.50316482742e-05,1793251752481764096
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,696.299004242,671.299004242,643,901.700995758,787,829,656.700995758,633,658,0.457745450149,-0.0155784273495,0.0696950974776,0.999999884375,-0.00014722629159,-0.000453262466249,-6.42465609384e-05,1793251752498430720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.875033188,671.875033188,643,901.124966812,787,829,656.124966812,633,658,0.457659030211,-0.0155732640434,0.0696957298992,0.999999886815,-0.00014142175373,-0.000450001496097,-6.21976146396e-05,1793251752515097088
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.631748592,747.631748592,725,696,672,643,902,787,829.368251408,657,633,658,0.457318322626,-0.0155588285398,0.0697109155656,0.99999989669,-0.000132171980657,-0.000431407536357,-5.51142819037e-05,1793251752565097984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.579969507,748,724.789984754,696,672,643,901.789984754,787,829.210015246,657,633,658,0.457170247655,-0.0155508405443,0.069714007001,0.99999989862,-0.000127838167376,-0.000428510462545,-5.2879818918e-05,1793251752581764352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.426220862,748,724.213110431,696,672,643,901.213110431,787,829.786889569,657,633,658,0.456998423211,-0.0155444498747,0.0697134627133,0.999999898328,-0.000126335818139,-0.000429970976561,-5.00810230266e-05,1793251752598430976
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,724.521445157,696,672,643,901.478554843,787,829,656,633,658,0.456370589243,-0.0155174625713,0.0697202308192,0.999999901974,-0.000102200609968,-0.000429085181108,-3.86314555262e-05,1793251752648430336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901,787,829,656.112462135,633,658,0.456127032451,-0.0155062698748,0.0697216308711,0.99999990229,-9.11931804551e-05,-0.000431140856556,-3.4943770434e-05,1793251752665097216
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901,787,829,656.691373092,633,658,0.455855336981,-0.015496935157,0.06972328383,0.999999904151,-8.10995244067e-05,-0.000429173754985,-3.0523633992e-05,1793251752681764352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901.268271341,787,829,657,633,658,0.455563026523,-0.0154895781358,0.0697244942467,0.999999905551,-7.25510128027e-05,-0.000427744693398,-2.58668136135e-05,1793251752698431232
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901.84287132,787,829,657,633,658,0.455247176626,-0.0154844793702,0.0697251993415,0.999999906484,-6.576684232e-05,-0.000426929998945,-2.0939733295e-05,1793251752715097856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901.573025021,787.426974979,829,656.573025021,633.426974979,658,0.454895660708,-0.0154773764675,0.0697180167603,0.999999904906,-2.26132407191e-05,-0.000435224159153,-1.60335452929e-05,1793251752731764224
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,900.985560307,788,829,656.014439693,633.985560307,658,0.454530490149,-0.0154697890525,0.0697083994357,0.999999899961,3.27365219753e-05,-0.000445963636969,-1.11111963393e-05,1793251752748430592
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747.708309833,725,695.291690167,672,643,898.708309833,788.291690167,828,657,634,657.291690167,0.445352041819,-0.0154433375389,0.0697258417328,0.999999908282,6.64555119492e-05,-0.000422818542971,1.56002443389e-05,1793251753015098112
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747.134629051,725,695.865370949,672,643,898.134629051,788.865370949,828,657,634,657.865370949,0.444614991149,-0.0154420047777,0.0697282300135,0.999999915064,5.98075906913e-05,-0.000407451302285,1.67050577138e-05,1793251753031764736
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724.548350311,696,671.548350311,643,898,789,827.548350311,657,634,657.548350311,0.443843555621,-0.0154418498711,0.0697580177595,0.999999935045,6.46006679466e-05,-0.000353991829724,2.06556169818e-05,1793251753048431616
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724,695.95895254,671.04104746,643,898,789,827.04104746,657,634,657,0.443058173294,-0.0154420879454,0.0697947796442,0.999999954173,7.27211472421e-05,-0.000292782100091,2.5377425658e-05,1793251753065098240
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724,695.379315831,671.620684169,643,898,789,827.620684169,657,634,657,0.442228136911,-0.0154427433832,0.0698128108418,0.999999956423,7.84690785862e-05,-0.000283140900469,2.87692991628e-05,1793251753081764352
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,672,643,898,789,827.240502489,656.240502489,633.240502489,657,0.440580491495,-0.0154413300655,0.069832889351,0.999999965416,8.87082199512e-05,-0.000245782781557,2.98363075428e-05,1793251753115098112
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,695.336583555,671.663416445,642.663416445,897.663416445,789,827,656.336583555,633,657,0.439693751782,-0.0154387950563,0.0698206536201,0.999999960298,9.293740037e-05,-0.000264435294698,2.89900550703e-05,1793251753131764992
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,696,671,642.51360529,897,789,827,656.48639471,633,657.51360529,0.437779059352,-0.0154318279282,0.0697285161043,0.999999908716,0.000103881476172,-0.00041380300499,2.33163200879e-05,1793251753165097728
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,724.296109452,694,671.703890548,643,892,791,821,657,633.703890548,657,0.418384253785,-0.0154269056645,0.0698488998912,0.999999957486,0.000147885102095,-0.000248958623295,3.43196676021e-05,1793251753515097088
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747,725,691.076105973,670.076105973,643,889.076105973,791,820.076105973,656.923894027,633,657,0.400957664617,-0.0153985105174,0.0698123040558,0.999999934647,0.000197547697975,-0.000302356540405,1.61486933269e-05,1793251754498430720
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.260094543,746.260094543,725,692,671,643,889,790.260094543,821,657,633,657,0.400955497888,-0.0153992268518,0.0698118233719,0.999999934557,0.000197254734908,-0.00030284427086,1.61951030663e-05,1793251754565097216
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f160b582ea398a6ef8233c4d5d4bde5ae8c1a469
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,414 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.585845154403,-0.00999487908692,1.06002100358,0.556416498447,-0.00132246860602,1.059632379
+385,6.416666667,pose2_to_pose3_retreat,0.585820336986,-0.00999494671782,1.06002130786,0.556391681477,-0.00132253498402,1.05963267736
+386,6.433333333,pose2_to_pose3_retreat,0.585801144234,-0.00999490342249,1.06002125889,0.556372488989,-0.0013224908502,1.0596326272
+387,6.450000000,pose2_to_pose3_retreat,0.585786175026,-0.00999485668725,1.06002111888,0.556357519937,-0.00132244363375,1.0596324861
+388,6.466666667,pose2_to_pose3_retreat,0.585775143754,-0.00999486534463,1.06002104826,0.556346488747,-0.00132245214652,1.05963241253
+389,6.483333333,pose2_to_pose3_retreat,0.585767071158,-0.00999494210317,1.0600210123,0.556338415625,-0.00132253025366,1.05963238635
+390,6.500000000,pose2_to_pose3_retreat,0.585761487607,-0.00999494237856,1.06002100131,0.556332831311,-0.00132253302027,1.0596323775
+391,6.516666667,pose2_to_pose3_retreat,0.58575811745,-0.00999491896929,1.06002100087,0.556329460516,-0.00132251181031,1.0596323763
+392,6.533333333,pose2_to_pose3_retreat,0.585756097514,-0.00999486872196,1.0600209539,0.556327440098,-0.0013224631961,1.0596323294
+393,6.550000000,pose2_to_pose3_retreat,0.585754743964,-0.0099948297477,1.06002091558,0.55632608621,-0.0013224253623,1.05963229121
+394,6.566666667,pose2_to_pose3_retreat,0.585753706558,-0.00999480546043,1.06002088812,0.556325048616,-0.00132240171146,1.05963226384
+395,6.583333333,pose2_to_pose3_retreat,0.58575305843,-0.00999482863344,1.06002088409,0.556324400852,-0.00132242365006,1.05963225984
+396,6.600000000,pose2_to_pose3_retreat,0.585752569909,-0.0099948460999,1.06002088106,0.556323912605,-0.00132244018608,1.05963225682
+397,6.616666667,pose2_to_pose3_retreat,0.585752282225,-0.00999485638568,1.06002087927,0.556323625082,-0.00132244992395,1.05963225504
+398,6.633333333,pose2_to_pose3_retreat,0.585752188989,-0.00999485971922,1.06002087869,0.556323531899,-0.00132245307991,1.05963225446
+399,6.650000000,pose2_to_pose3_retreat,0.585752186197,-0.00999485981906,1.06002087867,0.556323529108,-0.00132245317443,1.05963225444
+400,6.666666667,pose2_to_pose3_retreat,0.585752102735,-0.00999486280314,1.06002087815,0.556323445693,-0.00132245599955,1.05963225393
+401,6.683333333,pose2_to_pose3_retreat,0.585752009571,-0.00999486613409,1.06002087757,0.556323352581,-0.00132245915306,1.05963225335
+402,6.700000000,pose2_to_pose3_retreat,0.585751805483,-0.00999487685137,1.06002094822,0.556323148661,-0.00132246935684,1.05963232275
+403,6.716666667,pose2_to_pose3_retreat,0.585751653787,-0.00999488706944,1.06002104809,0.556322997125,-0.00132247911106,1.05963242086
+404,6.733333333,pose2_to_pose3_retreat,0.585751501105,-0.00999489735393,1.0600211486,0.556322844604,-0.00132248892869,1.05963251961
+405,6.750000000,pose2_to_pose3_retreat,0.585751334681,-0.00999490856404,1.06002125817,0.556322678355,-0.00132249962992,1.05963262724
+406,6.766666667,pose2_to_pose3_retreat,0.585751198244,-0.00999491775429,1.06002134799,0.556322542062,-0.00132250840298,1.05963271548
+407,6.783333333,pose2_to_pose3_retreat,0.585751075807,-0.00999492428293,1.0600213927,0.556322419846,-0.00132251423805,1.05963275897
+408,6.800000000,pose2_to_pose3_retreat,0.58575105845,-0.00999492455732,1.06002138544,0.556322402555,-0.00132251429317,1.0596327516
+409,6.816666667,pose2_to_pose3_retreat,0.585750975462,-0.00999492586921,1.06002135072,0.556322319883,-0.00132251455672,1.05963271639
+410,6.833333333,pose2_to_pose3_retreat,0.585750941517,-0.00999492640582,1.06002133652,0.556322286066,-0.00132251466452,1.05963270199
+411,6.850000000,pose2_to_pose3_retreat,0.585750866484,-0.00999492759195,1.06002130512,0.556322211319,-0.00132251490281,1.05963267016
+412,6.866666667,pose2_to_pose3_retreat,0.58575083953,-0.00999494066593,1.06002129407,0.556322184555,-0.00132252734491,1.0596326588
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e04044135756e0edc39b30b69f77e4245acd1c5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5185810ff4f274d09c0583625ec63f1932352c073f0bbf9df60514fab5660c
+size 26302840
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56c7e8a9a1dca4de4eac74a4522e3013ef7489f6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
+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,770,747,725,692,671,643,889,790,821,657,634,658,0.400958497263,-0.0154027535376,0.069815309386,0.999999936805,0.000194766577036,-0.000296972904916,1.61958473562e-05,1793251754815992064
+1,0.016666667,BASELINE,770,746.420209379,725,692.579790621,671,643,889.579790621,790,821,657,634,657.420209379,0.400958886087,-0.0154001633173,0.0698155368806,0.999999936522,0.000197240421104,-0.000296309699823,1.59206279957e-05,1793251754832658432
+2,0.033333333,BASELINE,770,746.158253118,725,692.841746882,671,643,889.841746882,790,821,656.841746882,633.841746882,657,0.400958636075,-0.015398768539,0.0698155053268,0.999999936296,0.00019849683306,-0.00029624122083,1.57791594254e-05,1793251754849324800
+3,0.050000000,BASELINE,770,746.73321852,725,692.26678148,671,643,889.26678148,790,821,656.26678148,633.26678148,657,0.400956703881,-0.0154005215991,0.0698147916467,0.999999936233,0.000196547501973,-0.000297738775118,1.59898835244e-05,1793251754865991680
+4,0.066666667,BASELINE,770,747,725,692,671,643,889.309889588,790.309889588,821,656.309889588,633,657,0.400956800207,-0.0154009326024,0.0698153049014,0.999999936531,0.000195847205533,-0.000297199850334,1.59646997459e-05,1793251754882658304
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+7,0.116666667,BASELINE,770,746.061700479,725,691.938299521,671,643,889,790.938299521,820.938299521,657,633,657,0.400956657562,-0.0153989248448,0.0698158643024,0.999999935802,0.000200252989554,-0.000296707953314,1.60891235935e-05,1793251754932658176
+8,0.133333333,BASELINE,770,746.640380972,725,691.359619028,671,643,889,790.359619028,820.359619028,657,633,657,0.400955779606,-0.0153989479198,0.0698151373051,0.999999936373,0.000196089338689,-0.000297593207191,1.55590737841e-05,1793251754949324800
+9,0.150000000,BASELINE,770,747,725,691.218402973,671,643,889,790.218402973,820.218402973,657,633,657,0.400955698307,-0.0153988202337,0.0698151854642,0.99999993656,0.000195224729146,-0.000297544001569,1.5324855058e-05,1793251754965990912
+10,0.166666667,BASELINE,770,747,725,691.795343914,671,643,889,790.795343914,820.795343914,657,633,657,0.400956924825,-0.0153984450529,0.0698165061473,0.999999936127,0.00019977594174,-0.000295960754435,1.55762830475e-05,1793251754982657280
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+12,0.200000000,BASELINE,770.94127568,747,725,692,671,643,889,790.05872432,821,657,633,657,0.400955744149,-0.0153973384251,0.069815321611,0.999999935268,0.000201113196321,-0.000297933767307,1.59162313834e-05,1793251755015990784
+13,0.216666667,BASELINE,770.468196496,747,725,692,671,643,889,790,820.468196496,657,633.531803504,657,0.400957084449,-0.0153988096179,0.0698159048851,0.999999936352,0.000197594934832,-0.000296652220852,1.57892756639e-05,1793251755032658176
+14,0.233333333,BASELINE,770,746.878443519,724.878443519,692,671,643,889,790.121556481,820,657,633.878443519,657,0.400958309191,-0.0154002644248,0.0698164765238,0.999999937402,0.000194295037278,-0.000295296758084,1.56614461122e-05,1793251755049325056
+15,0.250000000,BASELINE,770,746.299532823,724.299532823,692,671,643,889,790.700467177,820,657,633.299532823,657,0.400958099659,-0.0154007697482,0.0698163209533,0.999999937727,0.000193258404649,-0.000294877754883,1.56505625782e-05,1793251755065991680
+16,0.266666667,BASELINE,770,746.276587519,724.276587519,692,670.723412481,643,888.723412481,790.723412481,820.276587519,657,633.276587519,657,0.400958396362,-0.01540060869,0.0698166509955,0.999999937683,0.000194182077283,-0.000294409111508,1.58041530754e-05,1793251755082658048
+17,0.283333333,BASELINE,770,746.849716171,724.849716171,692,670.150283829,643,888.150283829,790.150283829,820.849716171,657,633.849716171,657,0.400959235821,-0.0153997331759,0.0698175016835,0.99999993724,0.000197207475836,-0.000293887246836,1.61340831111e-05,1793251755099323904
+18,0.300000000,BASELINE,770,747,725,692,670.846178911,643,888.423089455,790.423089455,820.576910545,657,633.576910545,657,0.400958223772,-0.0153996430815,0.0698169742896,0.999999936864,0.000197450674771,-0.000295004914798,1.60343297256e-05,1793251755115990272
+19,0.316666667,BASELINE,770,747,725,692,671.993099347,643,888.996549673,790.996549673,820.003450327,657,633.003450327,657,0.400956553678,-0.0153998321342,0.0698159571098,0.999999936512,0.000196705048528,-0.000296705291155,1.57818620007e-05,1793251755132656896
+20,0.333333333,BASELINE,769.40605062,747,725,691.40605062,671.40605062,643,889,791,820,657,633,657,0.400958205005,-0.0153997215192,0.0698167043675,0.999999936964,0.000197507367152,-0.000294635708353,1.58967329837e-05,1793251755149323776
+21,0.350000000,BASELINE,769.372215312,747,725,691.186107656,671,643,889.186107656,790.813892344,820,657,633,657,0.400958538813,-0.0154000764927,0.069816804952,0.999999937047,0.000197755887809,-0.000294182004083,1.59737723785e-05,1793251755165991168
+22,0.366666667,BASELINE,770.533688949,747,725,691.766844474,671,643,889.766844474,790.233155526,820,657,633,657,0.400956036273,-0.0154014225624,0.0698155116614,0.999999936341,0.000196810247654,-0.000297203053449,1.59658774728e-05,1793251755182658304
+23,0.383333333,BASELINE,770.659325842,747,725,692,671,643,890,790,820,657,633,657,0.400955093594,-0.015401094434,0.0698149994073,0.99999993618,0.000195915164608,-0.000298342079312,1.58083428559e-05,1793251755199324928
+24,0.400000000,BASELINE,770.090129368,747,725,692,671,643,890,790,820,657,633,657,0.400955197261,-0.015399643263,0.069815011068,0.999999936389,0.000195053994894,-0.000298218654654,1.55504307587e-05,1793251755215991296
+25,0.416666667,BASELINE,769.503699157,746.503699157,725,692,670.503699157,643,889.503699157,790,820,657,633,657,0.400956632498,-0.0153999097602,0.0698159323046,0.999999936987,0.000194615200685,-0.000296493894163,1.55647000033e-05,1793251755232657408
+26,0.433333333,BASELINE,769.084653407,746.084653407,725,692,670.084653407,643,889,790.084653407,820,657,633,657,0.400957767387,-0.0154004430069,0.0698167221382,0.99999993746,0.000194349262337,-0.000295067304056,1.56253192738e-05,1793251755249324032
+27,0.450000000,BASELINE,769.665273087,746.665273087,725,692,670.665273087,643,889,790.665273087,820,657,633,657,0.40095567489,-0.0154006457939,0.0698157395359,0.999999936787,0.000194630488691,-0.000297152692405,1.56574832901e-05,1793251755265990656
+28,0.466666667,BASELINE,770,747,725,692,671,643,889,790.756535411,820.243464589,657,633.243464589,657,0.400955546672,-0.0154012985844,0.0698156918125,0.999999936784,0.000194394980673,-0.000297311550423,1.57656455671e-05,1793251755282657280
+29,0.483333333,BASELINE,770,747,725,692,671,643,889,790.181649353,820.818350647,657,633.818350647,657,0.400958092372,-0.0154025639519,0.0698169167132,0.999999937692,0.000193456056727,-0.000294847876983,1.59772621284e-05,1793251755299323904
+30,0.500000000,BASELINE,769.608407595,747,725,692,671,643,889,790.391592405,820.608407595,657,633.608407595,657,0.400958535211,-0.0154026183524,0.0698174247347,0.999999937918,0.000193934219666,-0.000293767216242,1.59314936729e-05,1793251755315990784
+31,0.516666667,BASELINE,769.035925409,747,725,692,671,643,889,790.964074591,820.035925409,657,633.035925409,657,0.400958006668,-0.0154021133662,0.0698176016054,0.99999993783,0.000195066983006,-0.000293325415926,1.57668303648e-05,1793251755332657920
+32,0.533333333,BASELINE,769.558702823,747,725,692,671,643,889,790.441297177,820.558702823,657,633,657,0.400957791242,-0.0154013592836,0.0698171009946,0.999999937267,0.000195949463654,-0.000294658637205,1.56946445532e-05,1793251755349324544
+33,0.550000000,BASELINE,770,747,725,691.850535199,671,642.850535199,889.149464801,790.149464801,820.850535199,657,633,657,0.400957177445,-0.0154007879379,0.0698165110963,0.99999993675,0.000196384934548,-0.000296118794982,1.56958274915e-05,1793251755365991168
+34,0.566666667,BASELINE,770,747,725,691.275020813,671,642.275020813,889.724979187,790.724979187,820.275020813,657,633,657,0.400955368324,-0.0154007850256,0.069815795986,0.999999936462,0.000195593971588,-0.00029760201049,1.58884982039e-05,1793251755382657792
+35,0.583333333,BASELINE,770,747,725,691,671,642.301031859,889.698968141,791,820.301031859,657,633,657,0.400956113894,-0.0154009394105,0.0698161515644,0.999999936901,0.000195160690639,-0.00029640530534,1.59488435823e-05,1793251755399324160
+36,0.600000000,BASELINE,770,747,725,691,671,642.877577253,889.122422747,791,820.877577253,657,633,657,0.400959197595,-0.0154012377586,0.0698174870696,0.999999937998,0.000195054771075,-0.000292755855282,1.58880808034e-05,1793251755415990784
+37,0.616666667,BASELINE,770,747,725,691.461200739,671,643,889,791,821,657,633,657.461200739,0.400958926813,-0.0154009556148,0.0698171565065,0.99999993798,0.000194514618972,-0.000293182390227,1.57668020603e-05,1793251755432657152
+38,0.633333333,BASELINE,770,746.953654643,725,692.046345357,671,643,889,791,821,657,633,657.953654643,0.40095779752,-0.0154005692206,0.0698164320226,0.999999937667,0.000193912928531,-0.00029465109543,1.56231005403e-05,1793251755449324032
+39,0.650000000,BASELINE,770,746.372971322,725,692.627028678,671,643,889,791,821,657,633,657.372971322,0.400957196199,-0.0154007851145,0.0698163441866,0.999999937422,0.000193951382327,-0.000295466805969,1.54089672152e-05,1793251755465991424
+40,0.666666667,BASELINE,770,746.206183971,725,692.793816029,671,643,889.206183971,790.793816029,821,657,633,657,0.400956553544,-0.015401375433,0.0698160741254,0.999999937208,0.000193941161528,-0.000296195758773,1.54261186445e-05,1793251755482658560
+41,0.683333333,BASELINE,770,746.782595475,725,692.217404525,671,643,889.782595475,790.217404525,821,657,633,657,0.400955836668,-0.0154026380746,0.0698154768574,0.999999937051,0.000193843539778,-0.000296768927825,1.58585690237e-05,1793251755499324928
+42,0.700000000,BASELINE,770,747,725,692,671,643,889.636159867,790.363840133,821,657,633,657,0.400956432187,-0.0154029707592,0.0698163527278,0.999999937533,0.000192784879969,-0.000295821422038,1.60654281484e-05,1793251755515991296
+43,0.716666667,BASELINE,770,747,725,692,671,643,889.051988408,790.948011592,821,657,633,657,0.400957822457,-0.0154027402878,0.0698181206895,0.999999938398,0.000191144242614,-0.000293953038427,1.61356755546e-05,1793251755532657408
+44,0.733333333,BASELINE,769.469142582,746.469142582,725,692,671,643,889.530857418,790.469142582,821,657,633,657,0.400956293313,-0.0154014120136,0.0698168635384,0.999999937204,0.000194335894926,-0.000295940582603,1.56354527466e-05,1793251755549324032
+45,0.750000000,BASELINE,769.112636568,746.112636568,724.887363432,692,670.887363432,643,889.887363432,790,821,657,633,657,0.400954919983,-0.0154004131689,0.0698156739853,0.999999936161,0.000196920351376,-0.000297775351915,1.51791576756e-05,1793251755565990656
+46,0.766666667,BASELINE,769.690544336,746.690544336,724.309455664,692,670.309455664,643,889.309455664,790,821,657,633,657,0.400955368335,-0.0154012181016,0.0698159843754,0.999999936634,0.000195046687204,-0.000297423079258,1.51345163032e-05,1793251755582657280
+47,0.783333333,BASELINE,770,747,724.266477011,692,670.266477011,643,889,790.266477011,821,657,633.266477011,657,0.400956114027,-0.015401031719,0.0698162967262,0.999999936824,0.000195437737431,-0.000296516190262,1.52834882082e-05,1793251755599324416
+48,0.800000000,BASELINE,770,747,724.840132992,692,670.840132992,643,889,790.840132992,821,657,633.840132992,657,0.400957202477,-0.0153997026065,0.0698166113374,0.999999936685,0.000198439416494,-0.000294969972242,1.56556460652e-05,1793251755615991552
+49,0.816666667,BASELINE,770,747,725,692,671,643,889,791,821,657,633.574401855,657,0.400956532471,-0.0154001377871,0.0698163685909,0.999999936731,0.000197464779483,-0.000295461692659,1.57384112624e-05,1793251755632658432
+50,0.833333333,BASELINE,770,747,725,692,671,643,889,790.984664298,821,657,633.015335702,657,0.400955244458,-0.0154012073184,0.0698159341333,0.999999936846,0.000195052601346,-0.000296674137764,1.57043161676e-05,1793251755649324544
+51,0.850000000,BASELINE,770,747,725,692,671,643,889,790.405587943,821,657,633.594412057,657,0.40095621241,-0.0154005387558,0.0698163680754,0.999999936978,0.000196268819059,-0.000295437227566,1.54844472433e-05,1793251755665991168
+52,0.866666667,BASELINE,769.827349315,747,725,692.172650685,671,643,889,790,821,656.827349315,633.827349315,657,0.400957210197,-0.0154001180264,0.0698169024817,0.999999937263,0.000196832259753,-0.000294100341222,1.53667405976e-05,1793251755682657536
+53,0.883333333,BASELINE,769.251069193,747,725,692.748930807,671,643,889,790,821,656.251069193,633.251069193,657,0.400958277736,-0.0154002766913,0.0698176717572,0.999999937911,0.000195869613053,-0.000292529726859,1.54878728849e-05,1793251755699324160
+54,0.900000000,BASELINE,769.328891127,747,725,692.671108873,671,643,889,790.328891127,821,656.328891127,633,657,0.400958618533,-0.0154012052248,0.0698181492779,0.999999938429,0.000194054609422,-0.000291959388827,1.5631862879e-05,1793251755715990784
+55,0.916666667,BASELINE,769.911692605,747,725,692.088307395,671,643,889,790.911692605,821,656.911692605,633,657,0.40095839827,-0.0154027281119,0.0698184015581,0.999999938844,0.000191581569697,-0.00029216128366,1.57934994621e-05,1793251755732657664
+56,0.933333333,BASELINE,770,747,725,692,671,643,889.493955537,790.506044463,820.506044463,657,633,657,0.40095724507,-0.0154029224363,0.069817111694,0.999999938051,0.000192985706547,-0.000293946368744,1.57892088135e-05,1793251755749324800
+57,0.950000000,BASELINE,770,746.924300892,724.924300892,692,671,643,889.924300892,790,820,657,633,657,0.400956165301,-0.0154029732264,0.0698158495132,0.999999937292,0.000194362441214,-0.000295620224944,1.57483770609e-05,1793251755765991936
+58,0.966666667,BASELINE,770,746.345370852,724.345370852,692,671,643,889.345370852,790,820,657,633,657,0.400956681242,-0.0154036470611,0.0698166021512,0.999999938229,0.000190954147421,-0.000294675140753,1.56616118082e-05,1793251755782658560
+59,0.983333333,BASELINE,770,746.223428105,724,691.776571895,671,643,889,790,820,657,633,657,0.400957192631,-0.0154032896506,0.0698170753166,0.999999938573,0.000190271846617,-0.000293952342334,1.55570900467e-05,1793251755799324928
+60,1.000000000,BASELINE,770,746.777246013,724,691.222753987,671,643,889,790,820,657,633,657,0.400957697289,-0.0154014073071,0.0698171352176,0.999999938048,0.000193620552433,-0.000293558244375,1.54263111932e-05,1793251755815991296
+61,1.016666667,BASELINE,770,747,724,691,671,643,889,790,820.365629234,657,633,657,0.400958111247,-0.01540063845,0.0698174304557,0.999999937681,0.000196256052805,-0.000293053475186,1.55448012055e-05,1793251755832657664
+62,1.033333333,BASELINE,770,747,724,691,671,643,889,790,820.977269443,657,633,657,0.400958464179,-0.0154006187942,0.0698178840387,0.99999993742,0.000198411677876,-0.000292474241688,1.5831009971e-05,1793251755849324032
+63,1.050000000,BASELINE,769.442203278,747,724.557796722,691.557796722,671,643,889,790.557796722,821,657,633.557796722,657,0.400957793436,-0.0154015123823,0.0698175971381,0.999999937824,0.000195346398405,-0.000293168367548,1.55995545408e-05,1793251755865990912
+64,1.066666667,BASELINE,769.136686902,747,725,692,671,643,889.136686902,790.863313098,821,656.863313098,634,657,0.400957515621,-0.0154024796241,0.0698175506416,0.999999938241,0.000192751393608,-0.000293474572203,1.54095761004e-05,1793251755882657536
+65,1.083333333,BASELINE,769.714170328,747,725,692,671,643,889.714170328,790.285829672,821,656.285829672,634,657,0.400958632366,-0.0154035707155,0.0698183715853,0.999999938647,0.000192322818286,-0.00029237128616,1.54177901277e-05,1793251755899324416
+66,1.100000000,BASELINE,770,747,725,692,671,643,889.7095529,790,821,656.2904471,633.7095529,657,0.400958794713,-0.015403296339,0.0698183031912,0.999999938299,0.000194117004106,-0.000292366430793,1.55615012602e-05,1793251755915991296
+67,1.116666667,BASELINE,770,747,725,692,671,643,889.134458719,790,821,656.865541281,633.134458719,657,0.400958021721,-0.0154016837618,0.069817363219,0.999999937202,0.000198089564145,-0.000293438071287,1.58380037174e-05,1793251755932658432
+68,1.133333333,BASELINE,770,746.548567711,725,692,671.451432289,643,889,790.451432289,820.548567711,657,633,657,0.40095853952,-0.0154009470642,0.0698181428941,0.999999937862,0.000196343273523,-0.000292370934756,1.56068433839e-05,1793251755949324800
+69,1.150000000,BASELINE,770,746.039949711,725,692,671.960050289,643,889.039949711,791,820.039949711,657,633,657,0.400959456466,-0.0154005530359,0.0698193771568,0.999999938949,0.000193175974888,-0.000290777256656,1.526747993e-05,1793251755965990912
+70,1.166666667,BASELINE,770,746.619441998,725,692,671.380558002,643,889.619441998,791,820.619441998,657,633,657,0.400960444519,-0.0154011772858,0.0698196638949,0.999999938679,0.000194385607927,-0.00029088663567,1.55589447343e-05,1793251755982657536
+71,1.183333333,BASELINE,770,746.802650491,725,692,671,643,890,790.802650491,820.802650491,657,633,657,0.40096002491,-0.0154011718908,0.0698191478644,0.999999938104,0.000195940827872,-0.000291811032845,1.56787512337e-05,1793251755999324160
+72,1.200000000,BASELINE,770,746.227774531,725,692,671,643,890,790.227774531,820.227774531,657,633,657,0.400956912465,-0.0153999619954,0.0698170961505,0.999999936943,0.000198157150243,-0.000294294546731,1.54701781961e-05,1793251756015990784
+73,1.216666667,BASELINE,769.645754651,746.354245349,725,692,670.645754651,643,889.645754651,790.354245349,820.354245349,657,633,657,0.4009562527,-0.0154013710123,0.0698166764189,0.999999937388,0.000195415811985,-0.000294611900265,1.55337153109e-05,1793251756032657664
+74,1.233333333,BASELINE,769.059046829,746.940953171,725,692,670.059046829,643,889.059046829,790.940953171,820.940953171,657,633,657,0.40095720243,-0.0154044986088,0.0698173276247,0.999999938862,0.000189421163279,-0.000293507778409,1.57758162466e-05,1793251756049324544
+75,1.250000000,BASELINE,769.521083044,746.478916956,725,692,670.521083044,643,889,790.478916956,821,657,633,657,0.400957868228,-0.0154035040021,0.0698181818957,0.99999993888,0.000191047711315,-0.000292403927005,1.55221626323e-05,1793251756065991168
+76,1.266666667,BASELINE,770,746.100234752,725,692,671,643,889,790,820.899765248,657,633,657,0.400958512205,-0.015402479582,0.0698189770891,0.999999938815,0.000193012446142,-0.000291345182522,1.53098284465e-05,1793251756082658048
+77,1.283333333,BASELINE,770,746.678232612,725,692,671,643,889,790,820.321767388,657,633,657,0.400959203618,-0.0154035117543,0.0698193823821,0.999999939151,0.000192524142534,-0.000290501293337,1.55588659689e-05,1793251756099324160
+78,1.300000000,BASELINE,770,746.745046779,725,692,671,643,889,790,820,657,633.254953221,657,0.400959060483,-0.0154036106398,0.0698190446388,0.999999938908,0.000193311300261,-0.000290807134648,1.56714795322e-05,1793251756115990784
+79,1.316666667,BASELINE,770,746.169930154,725,692,671,643,889,790,820,657,633.830069846,657,0.400957869342,-0.0154025375286,0.0698177738104,0.999999937934,0.000195700148099,-0.000292556776685,1.56127755341e-05,1793251756132657152
+80,1.333333333,BASELINE,770,746.414206228,725,692,671,643,889,790.414206228,820,657,633.585793772,657,0.400958139662,-0.0154029099353,0.0698179583296,0.999999938204,0.000194744791084,-0.000292260574168,1.58114241678e-05,1793251756149323776
+81,1.350000000,BASELINE,770,747,725,692,671,643,889,790.997905839,820,656.997905839,633,657,0.400959009307,-0.0154038824342,0.0698187439404,0.999999938985,0.000192398019518,-0.0002911227512,1.61149078075e-05,1793251756165990656
+82,1.366666667,BASELINE,770,747,725,692,671,643,889,790.418636954,820,656.418636954,633,657,0.400956132589,-0.0154031626626,0.0698169765347,0.999999937868,0.000193111492145,-0.000294499815069,1.55652349155e-05,1793251756182657536
+83,1.383333333,BASELINE,770,747,725,692,671,643,889,790,820,656.160458353,633,657,0.40095427384,-0.0154025458071,0.0698158292281,0.999999937077,0.000193746754263,-0.000296776575275,1.52260196398e-05,1793251756199324672
+84,1.400000000,BASELINE,770,747,725,692,671,643,889,790,820,656.739101412,633,657,0.400955068105,-0.0154021971701,0.0698162980163,0.999999937165,0.000194178185215,-0.000296185737533,1.54352964516e-05,1793251756215991808
+85,1.416666667,BASELINE,770,747,725,692,671,643,889,790,820.314868502,657,633,657,0.400955932353,-0.0154026021335,0.0698167457663,0.999999937671,0.000193219879895,-0.000295105218478,1.54017392268e-05,1793251756232658432
+86,1.433333333,BASELINE,770,747,725,692,671,643,889,790,820.888274114,657,633,657,0.400956854062,-0.0154036258749,0.069817176242,0.999999938514,0.000191120468352,-0.000293622624334,1.51687920548e-05,1793251756249324288
+87,1.450000000,BASELINE,770,747,725,692,671,643,889,790,821,656.525457935,633,657,0.400956749102,-0.0154045337194,0.0698171313877,0.999999938727,0.000190176260712,-0.000293501498968,1.533043053e-05,1793251756265990656
+88,1.466666667,BASELINE,770,746.937095993,725,692,671,643,889,790.062904007,821,656.062904007,633,657,0.400956530832,-0.0154051272806,0.0698170852105,0.999999938733,0.000189882510258,-0.000293662204345,1.5553114414e-05,1793251756282657280
+89,1.483333333,BASELINE,770,746.35710776,725,692,671,643,889,790.64289224,821,656.64289224,633,657,0.400957423455,-0.0154033679173,0.0698179737235,0.999999938274,0.000192637630888,-0.000293431274943,1.54926630109e-05,1793251756299323904
+90,1.500000000,BASELINE,770,746.220836176,725,691.779163824,670.779163824,643,889,790.779163824,820.779163824,657,633,657,0.400958086537,-0.0154026118511,0.0698185167269,0.999999937982,0.000194835038573,-0.000292967323803,1.56759131525e-05,1793251756315990528
+91,1.516666667,BASELINE,770,746.795504601,725,691.204495399,670.204495399,643,889,790.204495399,820.204495399,657,633,657,0.400958381838,-0.0154034633068,0.0698185061415,0.999999937963,0.000196138856774,-0.000292130016257,1.62496313269e-05,1793251756332657408
+92,1.533333333,BASELINE,769.63029139,747,725,691.36970861,670.36970861,643,889,790,820.36970861,657,633,657,0.400957804682,-0.0154027832841,0.0698179675411,0.999999937685,0.000196605550717,-0.000292775161678,1.60724737425e-05,1793251756349324288
+93,1.550000000,BASELINE,769.056343886,747,725,691.943656114,670.943656114,643,889,790,820.943656114,657,633,657,0.400956745554,-0.0154012572237,0.0698171372482,0.999999937264,0.000196609790491,-0.000294239261585,1.54805083596e-05,1793251756365991424
+94,1.566666667,BASELINE,769.53728219,747,724.46271781,692,671,643,889,790,821,657,633,657,0.400958582724,-0.0154022757136,0.06981857277,0.999999938875,0.000192896037706,-0.000291202589143,1.55457549186e-05,1793251756382657536
+95,1.583333333,BASELINE,770,747,724.128714839,692,671,643,889,790,820.871285161,657,633,657,0.40095999338,-0.0154033041191,0.0698196868734,0.999999940054,0.000190138779523,-0.000288955490091,1.56061959711e-05,1793251756399324160
+96,1.600000000,BASELINE,770,747,724.705069648,692,671,643,889,790,820.294930352,657,633,657,0.400958824264,-0.0154034037107,0.0698188253836,0.999999939041,0.000192115515677,-0.000291158212143,1.54011218871e-05,1793251756415990784
+97,1.616666667,BASELINE,770,746.720648582,725,691.720648582,671,643,889,790.279351418,820,657,633,657,0.400958218013,-0.0154029080941,0.0698184962837,0.99999993849,0.000193756242011,-0.000291959522975,1.54010631159e-05,1793251756432657408
+98,1.633333333,BASELINE,770,746.148539374,725,691.148539374,671,643,889,790.851460626,820,657,633,657,0.400958201638,-0.0154017887045,0.0698187251235,0.999999938431,0.000195044832937,-0.000291292167237,1.56158585735e-05,1793251756449324032
+99,1.650000000,BASELINE,770,746.438790878,725,691,671,643,889.438790878,791,820.438790878,657,633.438790878,657,0.400959012265,-0.0154018806943,0.069819034164,0.999999938678,0.000194560164333,-0.000290776185719,1.55082678776e-05,1793251756465990656
+100,1.666666667,BASELINE,770,747,724.969328701,691.030671299,671,643,889.969328701,790.969328701,821,657,633.969328701,657,0.400959986972,-0.015402305303,0.0698193317176,0.999999938987,0.000193566577876,-0.000290387603079,1.52900199394e-05,1793251756482658048
+101,1.683333333,BASELINE,770,747,724.391498687,691.608501313,671,643,889.391498687,790.391498687,821,657,633.391498687,657,0.400958715051,-0.0154010852389,0.069818922615,0.999999938519,0.000194587719553,-0.000291324745309,1.51145613211e-05,1793251756499324928
+102,1.700000000,BASELINE,770,746.814508233,724.185491767,692,671,643,889,790.185491767,821,657,633,657,0.400958139487,-0.0154007214401,0.0698186069906,0.999999938268,0.000195004450777,-0.000291900520244,1.51852259042e-05,1793251756515991296
+103,1.716666667,BASELINE,770,746.239281841,724.760718159,692,671,643,889,790.760718159,821,657,633,657,0.400959027031,-0.0154021567303,0.0698184877718,0.999999938479,0.000194151261998,-0.000291717030384,1.57730171465e-05,1793251756532657408
+104,1.733333333,BASELINE,770,746.343541458,725,692,671,643,889,790.656458542,821,657,633,657,0.400958703467,-0.0154029238665,0.0698181373474,0.999999938412,0.00019379528082,-0.000292180266137,1.57985066285e-05,1793251756549324032
+105,1.750000000,BASELINE,770,746.931775837,725,692,671,643,889,790.068224163,821,657,633,657,0.400957517273,-0.0154032150995,0.0698176222431,0.999999938148,0.000193793443653,-0.000293104142574,1.54234877129e-05,1793251756565990656
+106,1.766666667,BASELINE,770,747,725,692.51229469,671,643,889,790,820.48770531,657,633,657,0.400956599082,-0.0154019663541,0.069817790276,0.99999993786,0.000194914283653,-0.000293353963812,1.52598685937e-05,1793251756582657536
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,790,821,657,633,657,0.400961756337,-0.0154027109083,0.0698209071522,0.999999939393,0.000195600565748,-0.000287578338707,1.59105239769e-05,1793251756625623552
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.577248968,747,725,692,671,643,889.422751032,790,821,657,633,657,0.400960419415,-0.0154032548236,0.0698197025128,0.999999939271,0.000192842783529,-0.000289873690369,1.55930227762e-05,1793251756642289408
+109,1.816666667,POSE1_TO_POSE2_PRESS,770.842580108,747,725,692,671,643,889,790.157419892,821,657,633,657.157419892,0.400959218189,-0.0154033009967,0.0698188576581,0.999999938988,0.000191777701038,-0.000291561115469,1.54251293669e-05,1793251756658955776
+110,1.833333333,POSE1_TO_POSE2_PRESS,770.254413736,747,725,692,671,643,889,790.745586264,821,657,633,657.745586264,0.400958388272,-0.0154019852026,0.0698189972784,0.999999938287,0.000195344335336,-0.000291585077688,1.56666061961e-05,1793251756675622400
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.328547626,791,820.671452374,657,633,657.671452374,0.400958110829,-0.0154017647433,0.0698190556636,0.99999993821,0.000195825909963,-0.000291531113374,1.55752818349e-05,1793251756692288768
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.907541266,791,820.092458734,657,633,657.092458734,0.400958254527,-0.0154023792383,0.0698190521248,0.999999938612,0.000193955798247,-0.000291417747047,1.523026903e-05,1793251756708955136
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,725,691.51651723,671.48348277,643,890,790.51651723,820,657,633,657,0.400958697996,-0.0154032426502,0.0698197466177,0.99999993914,0.000192202339815,-0.000290762401028,1.53695078731e-05,1793251756725622016
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724.941199895,691.058800105,671.941199895,643,889.941199895,790.058800105,820,657,633,657,0.40095943138,-0.015403939305,0.0698205548428,0.999999939616,0.000190806319343,-0.000290033483305,1.55577181965e-05,1793251756742288896
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724.36627013,691.63372987,671.36627013,643,889.36627013,790.63372987,820,657,633,657,0.400962209512,-0.0154027570052,0.069821197008,0.999999939459,0.000192353195873,-0.000289562836109,1.53680191147e-05,1793251756758955264
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724.214573988,692,671,643,889,791,820.214573988,657,633,657,0.400970807042,-0.0154023439187,0.0698247803254,0.999999940819,0.000193485849751,-0.000284044265436,1.56100806754e-05,1793251756775621888
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724.805799783,692,671,643,889,791,820.805799783,657,633,657,0.400989619635,-0.0154032810684,0.0698335263854,0.999999944706,0.000193891398948,-0.00026966483738,1.6610032008e-05,1793251756792288768
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.612515597,747,725,692,670.612515597,643,889,791,820.612515597,656.612515597,633,657,0.401026758942,-0.0154063057058,0.0698474683456,0.999999951289,0.000193013050956,-0.000244644877713,1.77930846513e-05,1793251756808955904
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.035497876,747,725,692,670.035497876,643,889,791,820.035497876,656.035497876,633,657,0.401072862541,-0.0154103514126,0.0698639518183,0.999999958493,0.000191506700052,-0.00021442022898,1.90656991678e-05,1793251756825623552
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.54040753,747,725,692,670.54040753,643,889.54040753,790.45959247,820.54040753,656.54040753,633.54040753,657,0.401130656698,-0.0154111405186,0.0698777156523,0.999999961305,0.000193364300627,-0.000199055153548,1.94036026805e-05,1793251756842289664
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.881319255,790,820.881319255,657,633.881319255,657,0.401192460137,-0.0154125599528,0.0698899451704,0.999999963812,0.000194063880204,-0.00018530193663,1.94537262688e-05,1793251756858955520
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.293395673,790,820.293395673,657,633.293395673,657,0.401267085599,-0.0154173156474,0.0698968131584,0.999999966757,0.000189312971939,-0.000174070382529,1.86082791976e-05,1793251756875622400
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,790,820,657,633,657,0.401351136992,-0.0154211482817,0.0699014262832,0.999999968452,0.000187224555765,-0.000166561079408,1.73494141111e-05,1793251756892289024
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,790,820,657,633,657,0.401444578074,-0.0154240614042,0.0699037932128,0.999999968999,0.000187788396417,-0.000162759718299,1.56787203879e-05,1793251756908955648
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746.553131178,725,692,671,643,889,790,820,657,633,657,0.401557473916,-0.0154289588037,0.0699073183955,0.999999970081,0.000187324134302,-0.00015671055095,1.37743142508e-05,1793251756925623040
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746,725,692,671,643,889.023401336,790.023401336,820,657,633,657,0.401676917249,-0.0154344690057,0.0699109703848,0.999999971278,0.000186261616864,-0.000150372445996,1.17444986458e-05,1793251756942289920
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,746,725,692,671,643,889.598204359,790.598204359,820,657,633,657,0.401817550461,-0.015440844384,0.0699096868338,0.999999972455,0.000178135632197,-0.000152603109698,8.35847752018e-06,1793251756958956032
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746.177679203,725,692,671,643,889.822320797,790.822320797,820,657,633,657,0.40197077759,-0.015447682178,0.0699105866828,0.999999974092,0.000170257445848,-0.000151012170673,4.90556901097e-06,1793251756975622400
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.76800389,725,692,671,643,889.23199611,790.23199611,820,657,633,657,0.402153253045,-0.0154555938944,0.0699165573006,0.999999976845,0.000162954752061,-0.000140545870124,1.29732047096e-06,1793251756992289024
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,790.351475913,820,657,633,657,0.402350642709,-0.0154640362101,0.0699194969314,0.999999978867,0.000155151449743,-0.000134861965066,-2.64134764931e-06,1793251757008955392
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,790.930511307,820,657,633,657,0.402557688442,-0.0154728220579,0.0699204741811,0.999999980421,0.000147024032836,-0.000132274371964,-6.79394289983e-06,1793251757025622016
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,791,820.50652109,657,633,657,0.402800698597,-0.0154813639176,0.0699246575347,0.999999983229,0.000134654156317,-0.000123594577027,-1.16147332581e-05,1793251757042288640
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,791,820.916589396,657,633,657,0.403054108093,-0.0154899158878,0.0699299504237,0.999999987323,0.000111141449767,-0.000112819127044,-1.65223032412e-05,1793251757058955520
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,791,820.331933457,657,633,657,0.403340537651,-0.0154987285716,0.0699392834613,0.99999999502,2.41441063955e-05,-9.44427797406e-05,-2.1403767441e-05,1793251757075623424
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.251181065,791,820.251181065,657,633,657,0.403646619867,-0.0155085805672,0.0699464660604,0.999999995948,-2.55993464156e-05,-8.21935458606e-05,-2.63197113513e-05,1793251757092290304
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.832271008,791,820.832271008,657,633,657,0.403978514466,-0.0155197976261,0.0699508242074,0.999999996121,-2.64123970739e-05,-7.79918515973e-05,-3.12809418525e-05,1793251757108956160
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.589191161,725,692.410808839,671,643,890,791,821,657,633.410808839,657.410808839,0.404330696183,-0.0155233951509,0.0699530242149,0.999999995869,-3.30270940644e-05,-7.65214137488e-05,-3.62714823062e-05,1793251757125622528
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.011688911,725,692.988311089,671,643,890,791,821,657,633.988311089,657.988311089,0.404691109772,-0.015523900906,0.0699543485167,0.999999995366,-4.19959181185e-05,-7.61592346421e-05,-4.12739157004e-05,1793251757142289152
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.563625976,725,692.436374024,671.563625976,643,890,791,821,657,634,657.436374024,0.405095794633,-0.0155074428456,0.069957398132,0.999999997073,1.56863833863e-05,-6.90379747375e-05,-2.90274722926e-05,1793251757158955520
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671.858034194,643,890.141965806,791,820.858034194,657,634,657,0.405505224376,-0.0154945848719,0.0699583524421,0.999999995952,5.77157373601e-05,-6.57844715136e-05,-2.09304096343e-05,1793251757175622400
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671.270048927,643,890.729951073,791,820.270048927,657,634,657,0.405926687848,-0.0154941384512,0.0699526118708,0.999999995745,4.62416904192e-05,-7.51211419041e-05,-2.69891393209e-05,1793251757192289024
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.685586642,747,725,692,671,643.314413358,891,791,820,657,633.685586642,657,0.406380673222,-0.0155008442783,0.0699402561288,0.999999994554,3.07636428611e-05,-9.45776884703e-05,-3.16302056798e-05,1793251757208955392
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.104116644,747,725,692,671,643.895883356,891,791,820,657,633.104116644,657,0.406862282121,-0.0155136250864,0.0699222815878,0.999999991795,1.18846731379e-05,-0.000122629863569,-3.50671368106e-05,1793251757225622272
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.47215554,747,725,692.47215554,671,643.52784446,891,791,820.47215554,657,633,657,0.407395352456,-0.0155191065621,0.0699202934769,0.999999992319,-1.36696995737e-06,-0.000118372205559,-3.6718018779e-05,1793251757242289152
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671.047266068,643.047266068,891,791.047266068,821,657,633.047266068,657,0.40794498073,-0.015522269132,0.0699231615644,0.999999993699,-1.15304059296e-05,-0.000105054477617,-3.78373952703e-05,1793251757258955776
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671.622065102,643.622065102,891,791.622065102,821,657,633.622065102,657,0.408554136925,-0.0155173195936,0.0699413129885,0.999999996902,-9.25404739742e-07,-6.92709462003e-05,-3.73725224166e-05,1793251757275622144
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,693,671.798337488,643.798337488,891,792,821,657,634,657,0.409157186326,-0.0155134461881,0.0699518001753,0.999999998191,5.52885355115e-06,-4.64130616311e-05,-3.78466801326e-05,1793251757292289024
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671.209528308,643.209528308,891,792,821,657,634,657,0.409748512016,-0.0155116387161,0.0699475737489,0.999999998017,4.01461838901e-06,-4.83695141772e-05,-4.01235654542e-05,1793251757308955904
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,891,791.625314118,821,657,634,657.374685882,0.410386684627,-0.0155143391475,0.0699423555655,0.999999997446,1.87358020986e-08,-5.81408196091e-05,-4.15699212361e-05,1793251757325623040
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,891,791.043638383,821,657,634,657.956361617,0.41105073713,-0.0155195299057,0.0699365895003,0.999999996472,-5.34809733645e-06,-7.22293285941e-05,-4.25574627774e-05,1793251757342290432
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746.470329681,725.529670319,693.529670319,671,643,891.529670319,791,821,657,634,658,0.41176955091,-0.0155218550586,0.0699572015314,0.999999998446,-1.01159935266e-05,-3.52438744323e-05,-4.19844539095e-05,1793251757358956800
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,746.102443042,725.897556958,694,671,643,892.102443042,791,821,657,634,657.897556958,0.412499997854,-0.0155240789411,0.0699811605525,0.999999999021,-1.53893558777e-05,6.09099957936e-06,-4.10452283779e-05,1793251757375623424
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,746.675871396,725.324128604,694,671,643,892.675871396,791,821,657,634,657.324128604,0.413263508488,-0.015526905785,0.0700106713283,0.9999999978,-2.32099522506e-05,4.83774773743e-05,-3.90042240958e-05,1793251757392289792
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,893,791,821.259371038,657,633.740628962,657.259371038,0.414009486814,-0.0155260404424,0.0700179348729,0.99999999749,-2.56534059777e-05,5.32654065184e-05,-3.90429441712e-05,1793251757408955904
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,893,791,821.855965012,657,633.144034988,657.855965012,0.414732670501,-0.0155203746802,0.0699962735399,0.999999998859,-2.11057339649e-05,9.52937632929e-06,-4.17856310744e-05,1793251757425622272
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.561832335,747,725,694,671,643,893.438167665,791,822.438167665,657,633.438167665,658,0.415490197723,-0.015516028411,0.0699473434526,0.999999996262,-1.22323752162e-05,-7.13055439468e-05,-4.73442485818e-05,1793251757442288896
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.0156705,747,725,694.0156705,671,643.0156705,894.0156705,791,823.0156705,657,634,657.9843295,0.416261129926,-0.015512399919,0.0698918388684,0.999999985662,-2.65251282376e-06,-0.000160601332974,-5.36207398732e-05,1793251757458955520
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.5889218,747,725,694.5889218,671,643.5889218,894.5889218,791,823.5889218,657,634,657.4110782,0.417120111699,-0.0155193684913,0.0699112074148,0.999999989866,-1.6920226321e-05,-0.000130823085194,-5.3551412224e-05,1793251757475622144
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,725,694.833096093,671,643.833096093,895,791,824,657,634,657,0.417980693097,-0.0155253783874,0.0699334805651,0.9999999935,-3.06953033664e-05,-9.63873078072e-05,-5.2603204325e-05,1793251757492289024
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,725,694.243122316,671,643.243122316,895,791,824,657,634,657,0.41884532919,-0.0155289582204,0.0699631163363,0.999999996587,-4.32216392282e-05,-5.01455747472e-05,-4.94272010933e-05,1793251757508956672
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.659580385,747,725.340419615,694.340419615,670.659580385,643,895,791,824,657,633.659580385,657,0.419751615075,-0.0155322242682,0.0699928813464,0.999999997683,-4.90020964098e-05,-2.64803098392e-06,-4.71786065694e-05,1793251757525623552
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.080546821,747,725.919453179,694.919453179,670.080546821,643,895,791,824,657,633.080546821,657,0.420687094955,-0.0155352703712,0.0700227369441,0.999999996663,-5.00540924119e-05,4.57297595857e-05,-4.55800706126e-05,1793251757542289920
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.497226573,746.502773427,725.502773427,694.502773427,670.497226573,643,895.994453147,791,824.497226573,657,633.497226573,657.497226573,0.421614195362,-0.015535767294,0.0700224853826,0.999999996193,-5.96216725598e-05,4.21777303795e-05,-4.77557164868e-05,1793251757558956032
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746.074206447,725,694.074206447,671,643,896.925793553,791,825,656.925793553,634,658,0.422524226565,-0.0155351176463,0.0700067374661,0.999999996286,-6.80519346419e-05,1.35665151141e-05,-5.11146250863e-05,1793251757575621888
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746.647220806,725,694.647220806,671,643,896.352779194,791,825,656.352779194,634,658,0.423328621244,-0.0155295296442,0.0699195253279,0.999999988448,-5.95881275467e-05,-0.000127086759618,-5.83280028718e-05,1793251757592288768
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.772568583,747,725,695.227431417,670.772568583,643,896,791,825.227431417,656.227431417,634,658,0.424181232403,-0.0155261779923,0.0698607937505,0.999999973145,-5.58743062674e-05,-0.000215554984891,-6.42206851731e-05,1793251757608955648
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.180830711,747,725,695.819169289,670.180830711,643,896,791,825.819169289,656.819169289,634,658,0.425111078289,-0.0155264085924,0.0698476831748,0.999999971607,-5.97691547145e-05,-0.000220431660679,-6.79978405432e-05,1793251757625622016
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,695.599187567,670.400812433,643,896,790.599187567,826,657,634,657.599187567,0.426099814924,-0.0155309186478,0.0698919034196,0.999999984465,-6.1591914809e-05,-0.000152424890102,-6.35912504453e-05,1793251757642288896
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,695.021986913,670.978013087,643,896,790.021986913,826,657,634,657.021986913,0.427114467952,-0.015537311992,0.0699613536246,0.999999995132,-6.25027962983e-05,-5.23438098563e-05,-5.558318371e-05,1793251757658956032
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,896.553741848,790,826,656.446258152,634,657.553741848,0.428151290633,-0.0155409525061,0.0700080307074,0.999999995892,-7.08833368122e-05,1.70329222072e-05,-5.38648434249e-05,1793251757675622656
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747.132309373,725,695.132309373,670.867690627,643,897.132309373,790,826.132309373,656.132309373,634,658,0.429168429563,-0.0155437639783,0.0700431645112,0.99999999315,-7.71530430996e-05,7.04145830481e-05,-5.28105324689e-05,1793251757692289024
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.720866896,725,695.720866896,670.279133104,643,897.720866896,790,826.720866896,656.720866896,634,658,0.430114664678,-0.0155440925477,0.0700416029563,0.999999993111,-7.51238330347e-05,7.2832641859e-05,-5.31871161215e-05,1793251757708955392
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.695424456,725,696,670.304575544,643,898,790,827,657,634,658,0.430997353166,-0.0155397075304,0.0699911982371,0.999999995866,-6.97377951092e-05,-1.15234674887e-05,-5.72043492502e-05,1793251757725621760
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.116090031,725,696,670.883909969,643,898,790,827,657,634,658,0.431822715921,-0.0155310703666,0.0698967318937,0.999999980874,-6.1323547287e-05,-0.00017415892017,-6.45058264633e-05,1793251757742288384
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,898.459561116,790,827,656.540438884,634,658,0.432769464973,-0.0155306981685,0.0698831348381,0.999999977955,-6.59360683544e-05,-0.000187908757964,-6.65740039417e-05,1793251757758955264
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,696.034471088,671.034471088,643,899,790,827,656,634,658,0.43375010055,-0.0155327960766,0.0698934234634,0.999999982343,-7.37809748724e-05,-0.000159346046787,-6.69290286983e-05,1793251757775621888
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,696.612246731,671.612246731,643,899,790,827,656,634,658,0.434785376752,-0.0155411809275,0.0699607622302,0.999999993503,-8.11191385128e-05,-5.19539182966e-05,-6.09531554448e-05,1793251757792289536
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,725,696.806469986,671.806469986,643,899,790,827,656.193530014,634,658,0.435793216903,-0.0155474872641,0.0700141597447,0.999999994074,-8.67304022833e-05,3.39356116847e-05,-5.63672632232e-05,1793251757808956672
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,725,696.218029023,671.218029023,643,899,790,827,656.781970977,634,658,0.436745072148,-0.0155495522549,0.070039109213,0.99999999168,-8.88178141253e-05,7.59476687086e-05,-5.46177203847e-05,1793251757825623296
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,899,790,827.364245351,657,634,658,0.437653398572,-0.0155493226098,0.070025798949,0.999999991777,-9.26366346302e-05,6.84294425938e-05,-5.6400346596e-05,1793251757842289408
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,899,790,827.942889962,657,634,658,0.438536103343,-0.015547742314,0.0699899685381,0.999999992929,-9.74745832401e-05,3.17570847923e-05,-6.02620506989e-05,1793251757858955520
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,696.518532252,671.518532252,643,899,790,828,656.481467748,634,658,0.439323418438,-0.0155408522059,0.0699097795776,0.999999988009,-9.40428000133e-05,-0.000103754461025,-6.61243722753e-05,1793251757875621888
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.904222002,747,725,697.095777998,672,643,899,789.904222002,828,656.095777998,634,658,0.440121186168,-0.0155349231312,0.0698416275551,0.999999969164,-9.04128444053e-05,-0.000220118031075,-7.10263255959e-05,1793251757892288768
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.317063173,747,725,697.682936827,672,643,899,789.317063173,828,656.682936827,634,658,0.441026170155,-0.0155369076091,0.0698601506531,0.999999976779,-9.04121274067e-05,-0.000182716689615,-6.9877250685e-05,1793251757908955392
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.266279789,747,725,697.733720211,672,643,899.266279789,789.266279789,828,657,634,658,0.441943138245,-0.0155404420179,0.0699077897619,0.999999987904,-9.14702493168e-05,-0.000107110795685,-6.59700372552e-05,1793251757925622272
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.845143295,747,725,697.154856705,672,643,899.845143295,789.845143295,828,657,634,658,0.442874174314,-0.0155457958779,0.0699896079218,0.999999993784,-9.377133291e-05,1.33431157448e-05,-5.8825066504e-05,1793251757942289664
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.424308565,725,697,671.575691435,643.424308565,900,789.575691435,828,657,634,657.575691435,0.443731724675,-0.0155496666952,0.0700210314288,0.99999999196,-9.97531800001e-05,5.40477818708e-05,-5.66319284487e-05,1793251757958956288
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.996445371,747.996445371,725,697,671.003554629,643.996445371,900,789.003554629,828,657,634,657.003554629,0.444562019582,-0.0155529865888,0.0700338056723,0.999999990553,-0.000107056436357,6.53165546562e-05,-5.6267462844e-05,1793251757975622912
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.421931973,747.421931973,725,697,671.578068027,643.421931973,900,789.578068027,828,657,634,657.578068027,0.445325349204,-0.0155548152951,0.070007384839,0.999999991766,-0.000110683289594,2.68403876335e-05,-5.91400479392e-05,1793251757992289024
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.156118295,900.156118295,789.843881705,828.156118295,656.843881705,634,658,0.44607217584,-0.0155561486387,0.0699785636327,0.999999991632,-0.000112867747932,-1.50989998774e-05,-6.13970877433e-05,1793251758008955392
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.743949166,900.743949166,789.256050834,828.743949166,656.256050834,634,658,0.446773367082,-0.0155561121604,0.0699431046893,0.999999989695,-0.000111063565095,-6.66152098086e-05,-6.19519662106e-05,1793251758025622016
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,724.671979604,697,672,643.671979604,901,789,829,656,634,658.328020396,0.447455205817,-0.0155541588193,0.0699123798854,0.999999984866,-0.000108138918742,-0.000120784860954,-6.31340790063e-05,1793251758042288896
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,724.090809907,697,672,643.090809907,901,789,829,656,634,658.909190093,0.448122109238,-0.0155507261421,0.0698853086496,0.999999976791,-0.00010434955617,-0.000177002298547,-6.48002589552e-05,1793251758058955520
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,724.486392924,697,672,643,901,789,828.513607076,656.486392924,634,658.513607076,0.448829719228,-0.0155530011669,0.0699061902782,0.999999983118,-0.000100813813881,-0.000140012888676,-6.32238055762e-05,1793251758075622400
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,725,696.937356413,672,643.062643587,900.937356413,789,828.062643587,657,634,658,0.449541346545,-0.0155564983945,0.0699377118209,0.999999989814,-9.80489083681e-05,-8.38836131366e-05,-6.10043643463e-05,1793251758092289280
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,725,696.36288317,672,643.63711683,900.36288317,789,828.63711683,657,634,658,0.45022420442,-0.0155613453192,0.0699836094126,0.999999993095,-0.000101198376542,-1.24031401624e-05,-5.84378131783e-05,1793251758108956416
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.216788902,724.783211098,696,672,644,900.216788902,789,828.783211098,657,634,658,0.450860220216,-0.0155647045933,0.0700037916004,0.999999992705,-0.000104655629296,1.79674352741e-05,-5.75702900486e-05,1793251758125623040
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.805377056,724.194622944,696,672,644,900.805377056,789,828.194622944,657,634,658,0.45141590042,-0.0155655125029,0.0699798711204,0.999999992076,-0.000108640741816,-2.21666626991e-05,-5.96166498748e-05,1793251758142289408
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.612746727,748,724.387253273,696.387253273,672,643.612746727,901,789,828.387253273,656.612746727,634,658,0.451939137738,-0.0155655844611,0.0699435742914,0.999999988928,-0.000113811832732,-7.3386036363e-05,-6.16817255087e-05,1793251758158956288
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,724.138815781,695.138815781,671.138815781,643,901.861184219,787,829.138815781,656.861184219,633.861184219,658,0.458161164407,-0.0155757040962,0.0696653622615,0.999999863289,-0.000154097914406,-0.000495319454732,-6.58393621181e-05,1793251759579936000
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,724,695.443013608,671.443013608,643,902,787,829,656.556986392,633.556986392,658,0.458064971051,-0.0155716891226,0.0696669052734,0.999999865946,-0.000149023984569,-0.00049175617496,-6.38372030593e-05,1793251759596602368
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,724.022418004,696,671.977581996,643,901.977581996,787,829,656.022418004,633,658,0.457963971948,-0.0155679965769,0.0696696544897,0.999999869616,-0.000142805518173,-0.000486416032607,-6.14305948029e-05,1793251759613268224
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.827004311,671,643,901,787,829,656.827004311,633,658,0.457707450316,-0.0155550226239,0.0696845319944,0.999999878704,-0.00013814020247,-0.000469457538037,-5.58459447701e-05,1793251759646601216
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.254400654,671,643,901,787,829,656.254400654,633,658,0.457558759633,-0.0155484546138,0.0696945690902,0.999999884744,-0.000132447494048,-0.000458494282305,-5.24588016466e-05,1793251759663268096
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.329201295,671.329201295,643,901.329201295,787,829,656.329201295,633,658,0.457389028739,-0.0155401064959,0.0697050545988,0.999999891648,-0.000125791990989,-0.000445540092846,-4.87273518952e-05,1793251759679934976
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.92159635,671.92159635,643,901.92159635,787,829,656.92159635,633,658,0.457202476351,-0.0155303351955,0.0697158986107,0.999999899117,-0.000118366740814,-0.000430994166814,-4.47206314212e-05,1793251759696602112
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.498753733,643,901.498753733,787,829,657,633,658,0.4569786946,-0.0155213162269,0.0697182303251,0.99999990148,-0.00010991291708,-0.000428145628719,-4.06167136011e-05,1793251759713268480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.92113688,671.07886312,643,901,787,829,656.92113688,633,658,0.456744549231,-0.0155121916902,0.0697197678858,0.999999903099,-0.000101324636601,-0.000426851607467,-3.65016457742e-05,1793251759729934592
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.344081599,671.655918401,643,901,787,829,656.344081599,633,658,0.456480809727,-0.0155016752989,0.0697244912118,0.999999905229,-9.28781139946e-05,-0.000424105967961,-3.24098003821e-05,1793251759746601216
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,672,643,901,787,829,656,633,658,0.456203760458,-0.015492511571,0.0697272747865,0.99999990672,-8.29396092806e-05,-0.0004229630228,-2.7991991612e-05,1793251759763268608
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,672,643,901,787.983150663,829,656,633.983150663,658,0.455217348997,-0.0154770948776,0.0697277982593,0.999999910216,9.82505619216e-06,-0.000423440850072,-1.30044591936e-05,1793251759813268224
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.862960691,725,696,671.137039309,643,900.862960691,787.137039309,829,656,633.862960691,657.137039309,0.454422727695,-0.0154748168772,0.0697144281293,0.999999905116,1.78536355799e-05,-0.000435250517822,-2.64207186547e-06,1793251759846601984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747.286856247,725,696,671.713143753,643,900.286856247,787.713143753,829,656,633.286856247,657.713143753,0.454019469955,-0.0154765275877,0.0697235104164,0.999999915562,2.34236124405e-05,-0.000410264926161,3.18186579587e-06,1793251759863268608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.622711589,747.377288411,725,695.377288411,672,643,900,788,828.377288411,656.377288411,633.622711589,658,0.451553580502,-0.0154568771571,0.0697612464977,0.999999936606,3.82268059399e-05,-0.000353946510103,6.90004617928e-06,1793251759946601728
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724.105249292,695,672,643,899.894750708,788.105249292,828.894750708,656.105249292,633.105249292,658,0.447758521277,-0.015444638391,0.0698098989704,0.9999999525,8.64002459569e-05,-0.000295230492761,1.93315417107e-05,1793251760046601984
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,695.914617093,671,643,898,789,827,656.914617093,633.914617093,657,0.439763324972,-0.0154351024634,0.0698427104094,0.999999968662,9.58756636245e-05,-0.000229433922253,2.90601238073e-05,1793251760213267712
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724,695.506511911,671,642.506511911,897.506511911,789,827,657,633.506511911,657,0.438786221375,-0.0154300967989,0.069789901902,0.999999943064,0.000104665311623,-0.00031971401645,2.64661045846e-05,1793251760229934336
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642,897,789,827,656.928395198,633,657,0.437795245234,-0.0154250229108,0.0697305585103,0.999999905019,0.000112842216469,-0.000420328603553,2.35057750339e-05,1793251760246600960
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.482942433,747,724,694,671,643,892.517057567,790.482942433,821,656.517057567,633,657,0.420792201963,-0.0153609943298,0.069688474568,0.999999845727,0.000202889343583,-0.000517026021372,8.16800136729e-06,1793251760546601216
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,769.750199992,747,724,693.750199992,671.249800008,643,892,790.249800008,821,656,633,656.249800008,0.418350454019,-0.0153717366823,0.0698534994828,0.999999948583,0.000206952800266,-0.000243857091433,2.32110638783e-05,1793251760596601088
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.163034136,747,724,693.163034136,671.836965864,643,892,790.836965864,821,656,633,656.836965864,0.417524493214,-0.0153718576386,0.0698763726147,0.99999995344,0.000214881388974,-0.000215077416543,2.62382528254e-05,1793251760613267968
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,747,724,693.003201821,671,643,891.996798179,791,821,656.996798179,633,657,0.415809051627,-0.015364469093,0.0698168307175,0.999999932763,0.000223127964199,-0.000290200199731,2.1734162296e-05,1793251760646600960
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,747,724,694,671.15118069,643,891,791,821,656,633,657,0.414163613614,-0.0153580857697,0.0697672454791,0.999999903192,0.000228074448176,-0.000375972191387,1.55832157375e-05,1793251760679934208
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,694,671.728165891,643,891,791,821,656,633,657,0.413357672927,-0.01535125307,0.0697417772822,0.999999879183,0.000241951018262,-0.000427664258399,1.40317249879e-05,1793251760696601088
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.687363287,747,724,694,671.687363287,643,891,791,821,656.312636713,633,657,0.41263971815,-0.0153500400226,0.0697604299639,0.999999892805,0.000244560863471,-0.000392853054477,1.56849680002e-05,1793251760713267968
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,724,693.516150119,671.967699761,643,891,791.483849881,821,657,633,657,0.411362756944,-0.0153596475661,0.0698572795958,0.999999950445,0.000229432377941,-0.000214378758134,2.26324194579e-05,1793251760746601216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.061399291,746.938600709,724,693,672.877201418,643,891,791.877201418,821.061399291,657,633,657,0.410721885664,-0.0153651479306,0.0698865692365,0.99999996079,0.000223058484253,-0.000167552373729,2.431904088e-05,1793251760763267840
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,746.210736867,724,693,671,643,891,790.210736867,821.789263133,657,633,657,0.409381222792,-0.01536239853,0.0698359609606,0.99999993589,0.000233322981454,-0.000270853983845,2.04385260357e-05,1793251760796601088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,746.786470835,724,693,671,643,891,790.786470835,821.213529165,657,633,657,0.408725262095,-0.0153567104338,0.0697869166023,0.999999909305,0.000238296892715,-0.000352659229396,1.5383014507e-05,1793251760813267712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,747,724,693,671,643,891,790.627537595,820.627537595,657,633,657.372462405,0.408130648857,-0.0153537586458,0.0697675071865,0.999999900028,0.000238396886877,-0.000378093730366,1.24758673748e-05,1793251760829934592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,747,724,693,671,643,891,790.035498844,820.035498844,657,633,657.964501156,0.407572201491,-0.0153524199827,0.0697655683411,0.999999903622,0.000235623580333,-0.00037029620938,1.08352368928e-05,1793251760846601472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,724.540950833,692.459049167,671.540950833,643,890.459049167,790.540950833,820.540950833,657,633,657.459049167,0.407070535682,-0.0153542887704,0.0697883104864,0.999999915065,0.000234348218228,-0.000338781099153,1.33742066487e-05,1793251760863267840
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.308168424,747,724.308168424,692,671.308168424,643,890,790.308168424,821,657,633,657,0.406099866441,-0.0153526348428,0.0698102377108,0.999999920555,0.000239449859364,-0.000318292390544,1.56212229728e-05,1793251760896601344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.274310055,747,724,692.274310055,671,643,889.725689945,790,821,657,633,657,0.40563891139,-0.0153522920364,0.0698081461309,0.999999916789,0.000244046311248,-0.00032653197847,1.55228643514e-05,1793251760913268224
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,671,643,889.823721132,790,820.176278868,656.823721132,633,657,0.403820659867,-0.0153503340423,0.0698519959995,0.999999942396,0.000240636086802,-0.000238840063071,1.60711158723e-05,1793251760996601088
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,671,643,889.252448327,790,820.747551673,656.252448327,633,657,0.40350765801,-0.0153484430122,0.0698457609885,0.999999938177,0.000244690403254,-0.000252037620238,1.58310377462e-05,1793251761013267968
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,746.074006457,724,692,671,643,889.925993543,790,821,656.925993543,633,657,0.40291865104,-0.0153404521533,0.0698232371482,0.999999922967,0.000265891094244,-0.000288445766094,1.29032690056e-05,1793251761046601216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,746,724,692,671,643,889.495197087,790,820.495197087,657,633,657,0.402675320104,-0.0153379845593,0.0698190326078,0.999999919709,0.000268716797696,-0.00029699880573,1.28503899521e-05,1793251761063267840
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,746,724,692,671,643,889,790,820.656407458,657,633,657,0.402238788586,-0.0153382026727,0.0698089276206,0.999999914647,0.000266841566107,-0.000315122953171,1.41052774055e-05,1793251761096601344
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,746,724,692,671,643,889,790,821,657,633,657,0.401881489329,-0.015345538688,0.0697996958858,0.999999911896,0.00025813120882,-0.000330649260655,1.57092845267e-05,1793251761129934592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746.394420362,724.394420362,692,671,643,889.394420362,790,820.605579638,656.605579638,633,657,0.401736106638,-0.0153485733269,0.0697999093364,0.999999912817,0.000255095853989,-0.000330170830046,1.66930363066e-05,1793251761146601472
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,790,820.950754152,656.049245848,633,657,0.40108170614,-0.0153445035219,0.0698022034899,0.999999915841,0.000257808988761,-0.000319110651039,4.59315125115e-06,1793251761279934720
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..380cb707f807c8a66c4c767dc096f6776f02eb15
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eed6b0eb51a420d7c5bcd3dcd5dd1ef1762e84d3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724bf61d664e6622475f0a3d1dca39ee5dd00f1952e41a9ce5550b1ca8568fee
+size 26487591
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67988a7fda741871495c22c46ebb191b44c26c5a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+6,0.100000000,BASELINE,770,746.476529045,724.523470955,692,671,643,889,790,820,657,633,657,0.400963988309,-0.0153489368324,0.0698192587342,0.99999992581,0.00025245739343,-0.000290886159509,5.54015089101e-06,1793251761982848512
+7,0.116666667,BASELINE,770,746.104443625,725,692,671,643,889,790,820,657,633,657,0.40096446808,-0.0153505445501,0.0698193768787,0.999999926382,0.000250412085326,-0.000290685633557,5.64473287367e-06,1793251761999514880
+8,0.133333333,BASELINE,770,746.680252049,725,692,671,643,889,790,820,657,633,657,0.400965806899,-0.0153488448222,0.0698202207053,0.999999925932,0.000253597396321,-0.000289463977141,5.87685884329e-06,1793251762016181760
+9,0.150000000,BASELINE,770,746.745162675,725,692,671,643,889,790,820,657,633,657,0.400966163378,-0.0153476333219,0.0698206207942,0.999999925494,0.000255901414856,-0.000288947167333,5.95052203849e-06,1793251762032848384
+10,0.166666667,BASELINE,770,746.172104814,725,692,671,643,889,790,820,657,633,657,0.400965293189,-0.0153470314814,0.0698204667788,0.999999925081,0.000257104945381,-0.00028931051388,5.82630953523e-06,1793251762049515008
+11,0.183333333,BASELINE,769.585281177,746,725,691.585281177,671,643,889.414718823,790.414718823,820.414718823,657,633,657,0.400965478815,-0.0153476634273,0.0698208989667,0.999999925406,0.000256440843196,-0.000288778061485,5.80505667839e-06,1793251762066181888
+12,0.200000000,BASELINE,769.007264266,746.007264266,725,691.007264266,671,643,889.985471468,790.992735734,820.992735734,657,633,657,0.400966100288,-0.0153488017299,0.0698215617207,0.999999926033,0.000254993644362,-0.000287885744447,5.82512477736e-06,1793251762082848256
+13,0.216666667,BASELINE,769.585116872,746.585116872,725,691.585116872,671,643,888.829766255,790.414883128,820.414883128,657,633,657,0.400965358883,-0.0153481151499,0.0698205706191,0.99999992573,0.000255004665873,-0.000288929426736,5.61949709486e-06,1793251762099515136
+14,0.233333333,BASELINE,770,747,725,692,671,643,888.160683957,790.160683957,820,657,633,657,0.400964925442,-0.0153477934258,0.0698198786156,0.999999925547,0.00025487544344,-0.00028967908744,5.46479043044e-06,1793251762116181760
+15,0.250000000,BASELINE,770,747,725,692,671,643,888.730432745,790.730432745,820,657,633,657,0.400965276005,-0.0153484005414,0.0698199480478,0.999999925671,0.000254389191811,-0.000289680236247,5.4397170599e-06,1793251762132848384
+16,0.266666667,BASELINE,770,747,725,692,671,643,889,791,820,656.687224992,633,657,0.40096499185,-0.0153484006287,0.0698199929816,0.999999925831,0.000253590056446,-0.000289829331697,5.33201507662e-06,1793251762149515008
+17,0.283333333,BASELINE,770,747,725,692,671,643,889,791,820,656.093573644,633,657,0.400964137709,-0.0153478555961,0.0698200159155,0.999999926024,0.000252509947135,-0.000290111285307,5.15011144306e-06,1793251762166181632
+18,0.300000000,BASELINE,770,747,725,692,671,643,889,790.512424261,820,656.487575739,633,657,0.400964350109,-0.01534786991,0.0698201447369,0.999999926013,0.000252873381792,-0.000289828284899,5.29654992617e-06,1793251762182848256
+19,0.316666667,BASELINE,770,747,725,692.065891139,671,643,889,790.065891139,820,657,633.065891139,657,0.400964852167,-0.0153479867472,0.0698204299698,0.999999925996,0.000253560835687,-0.000289282942686,5.47363359127e-06,1793251762199515136
+20,0.333333333,BASELINE,770,747,725,692.640388501,671,643,889,790.640388501,820,657,633.640388501,657,0.40096604961,-0.0153480870614,0.0698217695876,0.999999926222,0.000254664382936,-0.000287528601922,5.41302490427e-06,1793251762216181760
+21,0.350000000,BASELINE,770,747,725,692.780234026,671,643,889.219765974,791,820,657,633.780234026,657,0.400966382682,-0.0153480936397,0.0698222084869,0.999999926266,0.000255035521137,-0.000287048542069,5.35127518307e-06,1793251762232848640
+22,0.366666667,BASELINE,770,747,725,692.192689748,671,643,889.807310252,791,820,657,633.192689748,657,0.40096526923,-0.0153479433509,0.0698211400337,0.999999926008,0.000254180972867,-0.00028870099119,5.28761594754e-06,1793251762249515264
+23,0.383333333,BASELINE,770,747,725,692,671,643,889.610880435,791,820,656.610880435,633,657,0.40096483601,-0.0153485126247,0.0698206121765,0.999999925989,0.000253686924084,-0.000289200926751,5.34109805004e-06,1793251762266181888
+24,0.400000000,BASELINE,770,747,725,692,671,643,889.031869744,791,820,656.031869744,633,657,0.400964734744,-0.0153494330465,0.069820348131,0.999999926087,0.000253368799699,-0.000289138433537,5.45174535435e-06,1793251762282848256
+25,0.416666667,BASELINE,770.546232165,747,725,692,671,643,889.546232165,791,820.546232165,656.546232165,633,657,0.400964849773,-0.0153493522903,0.0698205973617,0.999999926067,0.000253659718699,-0.0002889492309,5.48572946671e-06,1793251762299515136
+26,0.433333333,BASELINE,770.75223733,746.876118665,724.876118665,692,671,643,889.876118665,791,820.876118665,657,633,656.876118665,0.400965090085,-0.0153491507075,0.0698209073101,0.999999926016,0.000254309360168,-0.00028855624215,5.4762973895e-06,1793251762316181760
+27,0.450000000,BASELINE,769.599858154,746.299929077,724.299929077,692,671,643,889.299929077,791,820.299929077,657,633,656.299929077,0.400965741829,-0.0153487208912,0.0698213297887,0.99999992587,0.000256139222346,-0.000287446148862,5.32465070675e-06,1793251762332848384
+28,0.466666667,BASELINE,769,746.27643036,724,692,671,643,889,791,820.27643036,656.72356964,633.27643036,656.27643036,0.400965522954,-0.0153486380344,0.0698213649462,0.999999925763,0.000256414007243,-0.00028757207524,5.31090305333e-06,1793251762349515264
+29,0.483333333,BASELINE,769,746.852974164,724,692,671,643,889,791,820.852974164,656.147025836,633.852974164,656.852974164,0.40096435887,-0.0153489318627,0.069820979599,0.999999925701,0.000255000484002,-0.000289039916941,5.44686889364e-06,1793251762366181888
+30,0.500000000,BASELINE,769.439053602,747,724.439053602,692,670.560946398,643,889.439053602,791,821,656.439053602,633.560946398,657,0.400963492459,-0.0153486134484,0.0698203540915,0.999999925332,0.000255286254411,-0.000290062677202,5.31596078805e-06,1793251762382848512
+31,0.516666667,BASELINE,770,746.972105269,725,692,670.027894731,643,889.972105269,790.972105269,820.972105269,657,633,657,0.400962758782,-0.015348160457,0.0698196803672,0.999999924898,0.000256037952775,-0.000290900018394,5.10533893776e-06,1793251762399515136
+32,0.533333333,BASELINE,770,746.393188113,725,692,670.606811887,643,889.393188113,790.393188113,820.393188113,657,633,657,0.400962634303,-0.015349188914,0.0698196780899,0.999999925236,0.000254503216627,-0.000291084190242,5.12461672905e-06,1793251762416181760
+33,0.550000000,BASELINE,770,746.183893179,725,692,671,643,889,790.183893179,820.183893179,657,633,657,0.400963387578,-0.0153500652819,0.0698202663566,0.999999925899,0.000252946973556,-0.000290158931129,5.20122397913e-06,1793251762432848640
+34,0.566666667,BASELINE,770,746.757087876,725,692,671,643,889,790.757087876,820.757087876,657,633,657,0.400965999056,-0.0153506196775,0.069822104804,0.999999927247,0.000251345200562,-0.000286885008706,5.39919758461e-06,1793251762449515264
+35,0.583333333,BASELINE,770,747,725,692,671.339398217,643,889,791,820.660601783,657,633,657,0.400965306876,-0.0153509709796,0.0698218501421,0.999999927353,0.000250229338732,-0.000287489635451,5.3064490213e-06,1793251762466181888
+36,0.600000000,BASELINE,770,747,725,692,671.928412879,643,889,791,820.071587121,657,633,657,0.400962184962,-0.0153511729131,0.0698200560661,0.999999926545,0.000249470848728,-0.000290946809715,4.99988369711e-06,1793251762482848512
+37,0.616666667,BASELINE,770,747,724.491075568,692,671.491075568,643,889,790.491075568,820.508924432,656.491075568,633,657,0.400963270549,-0.0153501333132,0.0698208393163,0.999999926519,0.000251271130914,-0.000289482209698,5.05551179217e-06,1793251762499515392
+38,0.633333333,BASELINE,770,747,724,691.912063987,670.912063987,643,889,790,821,656.087936013,633,657,0.400964562684,-0.0153489431808,0.0698216458893,0.999999926461,0.000253376236491,-0.000287840111519,5.15349591851e-06,1793251762516181760
+39,0.650000000,BASELINE,770,747,724,691.334852404,670.334852404,643,889,790,821,656.665147596,633,657,0.400963765165,-0.0153478712049,0.0698205982316,0.999999925661,0.000255207662306,-0.00028899914486,5.20833607356e-06,1793251762532848384
+40,0.666666667,BASELINE,770,746.762022137,724.237977863,691.237977863,670,643,889,790,820.762022137,657,633,657,0.40096391596,-0.0153479050376,0.0698205407225,0.999999925554,0.000255586543104,-0.000289033617134,5.26327186227e-06,1793251762549515008
+41,0.683333333,BASELINE,770,746.195245291,724.804754709,691.804754709,670,643,889,790,820.195245291,657,633,657,0.40096537698,-0.0153494666962,0.0698218512394,0.999999926406,0.000253958534088,-0.000287514354347,5.31833977868e-06,1793251762566181888
+42,0.700000000,BASELINE,770,746.391704906,724.608295094,692,670.391704906,643,889,790.391704906,820.391704906,657,633,657,0.400965657515,-0.0153491280987,0.0698221953332,0.999999926594,0.000253480203487,-0.00028728530404,5.18889212963e-06,1793251762582848512
+43,0.716666667,BASELINE,770,746.989256477,724.010743523,692,670.989256477,643,889,790.989256477,820.989256477,657,633,657,0.400965317687,-0.0153477908887,0.0698220315575,0.999999926434,0.000253606045778,-0.000287734279335,4.96247884719e-06,1793251762599514880
+44,0.733333333,BASELINE,770,747,724,692,671,643,889,791,820.430072245,657,633,657,0.400965175081,-0.0153478939007,0.0698219361426,0.999999926218,0.000254710294137,-0.000287508945854,5.01084715925e-06,1793251762616181760
+45,0.750000000,BASELINE,770,747,724,691.851149831,671,643,889,790.851149831,820.148850169,656.851149831,633,657,0.4009654371,-0.0153480838056,0.0698218732673,0.999999926182,0.00025534347854,-0.00028707254681,5.03976852714e-06,1793251762632848384
+46,0.766666667,BASELINE,770,747,724,691.276347705,671,643,889,790.276347705,820.723652295,656.276347705,633,657,0.400966846672,-0.0153484469091,0.0698218999267,0.999999926665,0.000254577398521,-0.000286067487456,4.99864395168e-06,1793251762649515008
+47,0.783333333,BASELINE,769.694119255,746.694119255,724.305880745,691.305880745,671,643,889.305880745,790,821,656.305880745,633,657,0.400966572743,-0.0153489943794,0.0698214987338,0.999999926786,0.000253384622835,-0.000286704145074,5.03230048071e-06,1793251762666181632
+48,0.800000000,BASELINE,769.105014486,746.105014486,724.894985514,691.894985514,671,643,889.894985514,790,821,656.894985514,633,657,0.400964740011,-0.0153497125603,0.0698207013796,0.999999926566,0.000251796756928,-0.000288860916848,5.13519904012e-06,1793251762682848256
+49,0.816666667,BASELINE,769.475749211,746,725,692,671,643,890,790,820.524250789,656.524250789,633,657,0.400965276743,-0.015349103124,0.0698215721328,0.999999926479,0.000253330329507,-0.000287816347248,5.27929244998e-06,1793251762699515136
+50,0.833333333,BASELINE,770,746.054564597,725,692,671,643,889.945435403,790.054564597,820.054564597,656,633,657,0.400966172886,-0.0153483483016,0.0698226196294,0.999999926414,0.000255229120113,-0.000286358484256,5.42369465206e-06,1793251762716181760
+51,0.850000000,BASELINE,770,746.632049519,725,692,671,643,889.367950481,790.632049519,820.632049519,656,633,657,0.400965587415,-0.0153489602405,0.0698218930112,0.999999926336,0.000254138617627,-0.000287595299381,5.48541356617e-06,1793251762732848384
+52,0.866666667,BASELINE,770,747,725,692,671,643,889,790.791298298,820.791298298,656.208701702,633,657,0.400965334139,-0.0153494977352,0.0698215901907,0.999999926545,0.000253108036872,-0.000287776347127,5.54776525648e-06,1793251762749515264
+53,0.883333333,BASELINE,770,747,725,692,671,643,889,790.216108468,820.216108468,656.783891532,633,657,0.400965664209,-0.0153499045029,0.0698220315751,0.999999927259,0.000252182681027,-0.000286103427126,5.61122812216e-06,1793251762766181888
+54,0.900000000,BASELINE,770,747,724.632569678,692,671,643,889,790,820.367430322,657,633,657,0.400965817775,-0.0153491796128,0.0698223001045,0.999999927102,0.000253458542432,-0.000285524053956,5.48611204425e-06,1793251762782848512
+55,0.916666667,BASELINE,770,747,724.044006196,692,671,643,889,790,820.955993804,657,633,657,0.400965865114,-0.0153477736492,0.0698224646033,0.999999926419,0.000256059177841,-0.000285602817782,5.24750217964e-06,1793251762799515136
+56,0.933333333,BASELINE,770,747,724.534829086,691.465170914,671,642.465170914,889,790.534829086,821,657,633,657,0.400963551021,-0.0153485103299,0.0698210268042,0.999999926019,0.000254093066794,-0.000288742028986,5.13200121336e-06,1793251762816181760
+57,0.950000000,BASELINE,770,747,725,691.112859672,671,642.112859672,889,791,821,657,633,657,0.400961963164,-0.015349325008,0.0698199706208,0.999999925826,0.000252197932233,-0.000291065460643,5.06227026704e-06,1793251762832848384
+58,0.966666667,BASELINE,770,747,725,691.690813653,671,642.690813653,889,791,821,657,633,657,0.400964154532,-0.0153497475663,0.0698210206749,0.999999926443,0.000252116117701,-0.000289007871502,5.14015950754e-06,1793251762849515008
+59,0.983333333,BASELINE,770,746.732749926,725,692,671,643,889.267250074,791,821,657,633,657,0.400965660061,-0.0153501690615,0.0698218635073,0.999999926931,0.00025198556607,-0.000287426836915,5.11888712443e-06,1793251762866181632
+60,1.000000000,BASELINE,770,746.158059208,725,692,671,643,889.841940792,791,821,657,633,657,0.400966376612,-0.0153505893339,0.069822467955,0.999999927275,0.00025179894797,-0.000286394023571,4.98354064508e-06,1793251762882848256
+61,1.016666667,BASELINE,770,746.427085743,725,692,671,643,889.572914257,791,821,657,633,657,0.4009656437,-0.0153508314235,0.0698218475795,0.999999927382,0.000250982009732,-0.000286737841424,5.05992779731e-06,1793251762899514880
+62,1.033333333,BASELINE,770,747,725,692,671,643,889,791,821,657,633,657.015957704,0.400964392761,-0.015350995301,0.0698208012231,0.999999927388,0.000249959906796,-0.000287604913741,5.21214581398e-06,1793251762916181760
+63,1.050000000,BASELINE,770,747,725,692,671,643,889,791,821,657,633,657.596375062,0.400964268836,-0.0153507837337,0.0698211232479,0.999999927083,0.000250139129106,-0.000288507226926,5.20535206567e-06,1793251762932848384
+64,1.066666667,BASELINE,770,747,725,692,671,643,889,791,820.825775561,657,633,657.825775561,0.400964554863,-0.01535079656,0.0698215479844,0.999999927046,0.000250229586814,-0.000288556926556,5.27151663274e-06,1793251762949515008
+65,1.083333333,BASELINE,770,747,725,692,671,643,889,791,820.253789028,657,633,657.253789028,0.400965776826,-0.0153513216867,0.0698222072165,0.999999927618,0.000250117391,-0.000286660071708,5.50424825788e-06,1793251762966181632
+66,1.100000000,BASELINE,770,747,725,692,671,643,889.321924,791,820.321924,656.678076,633,657,0.400965913747,-0.0153504989827,0.0698221352375,0.999999927566,0.000250811779802,-0.000286241589651,5.2956251802e-06,1793251762982848512
+67,1.116666667,BASELINE,770,747,725,692,671,643,889.900609189,791,820.900609189,656.099390811,633,657,0.400965185255,-0.0153486012715,0.0698214800569,0.999999927014,0.000252149486989,-0.000287002233061,4.7349849731e-06,1793251762999515136
+68,1.133333333,BASELINE,770,746.509250603,724.509250603,692,671,643,889.509250603,791,821,656.490749397,633,657.490749397,0.400964338288,-0.0153489044897,0.0698210113372,0.999999926499,0.000252991982716,-0.000288049856918,4.85198365348e-06,1793251763016181760
+69,1.150000000,BASELINE,770,746.080848218,724,692,671,643,889,791,821,657,633,657.919151782,0.400963805618,-0.0153494676218,0.0698207907329,0.999999926096,0.000253714788805,-0.000288810067564,5.08013846717e-06,1793251763032848640
+70,1.166666667,BASELINE,770,746.656165572,724,692,671,643,889,791,821,657,633,657.343834428,0.400965345453,-0.0153488290138,0.0698218511243,0.999999926331,0.000254333633787,-0.000287448483987,5.12869516499e-06,1793251763049515264
+71,1.183333333,BASELINE,770,746.76903558,724.23096442,692,671,643,889,791,821,657,633,657,0.40096585725,-0.0153484556062,0.0698221780134,0.999999926496,0.000254334310847,-0.000286872892777,5.13982997844e-06,1793251763066181888
+72,1.200000000,BASELINE,770,746.195006811,724.804993189,692,671,643,889,791,821,657,633,657,0.400964842046,-0.0153484761155,0.0698214153908,0.999999926559,0.000253416788668,-0.000287464779712,5.0953799848e-06,1793251763082848512
+73,1.216666667,BASELINE,770,746.390895108,725,692,671,643,889,791,820.609104892,656.609104892,633,657,0.400963894458,-0.0153484619631,0.0698209201945,0.999999926405,0.000253565190054,-0.000287869673643,5.09292933323e-06,1793251763099514880
+74,1.233333333,BASELINE,770,746.982905728,725,692,671,643,889,791,820.017094272,656.017094272,633,657,0.400962981659,-0.0153484299771,0.0698205625891,0.999999926139,0.000254262009109,-0.000288178359648,5.11208734347e-06,1793251763116181504
+75,1.250000000,BASELINE,770,746.440320516,724.440320516,692,671.559679484,643,889,791,820,656.559679484,633,657,0.400963712319,-0.0153495011077,0.0698212909324,0.99999992646,0.000252931595081,-0.000288236473082,5.05251325073e-06,1793251763132848640
+76,1.266666667,BASELINE,770.136088969,746,724.136088969,692,671.863911031,643,889,790.863911031,820,657,633,657,0.400964170838,-0.0153505282498,0.0698218017332,0.999999926767,0.000251584034217,-0.000288352291706,5.0232185509e-06,1793251763149515008
+77,1.283333333,BASELINE,770.712785844,746,724.712785844,692,671.287214156,643,889,790.287214156,820,657,633,657,0.400963590051,-0.015351306779,0.0698215036681,0.999999926975,0.000250376112737,-0.000288679061052,5.0995370764e-06,1793251763166181632
+78,1.300000000,BASELINE,770.712708527,746.287291473,725,692,671,643,889,790.287291473,820.287291473,657,633,657.287291473,0.400963590778,-0.0153517377034,0.0698212788722,0.999999927223,0.000249548822052,-0.000288534668504,5.29462700948e-06,1793251763182849024
+79,1.316666667,BASELINE,770.140377008,746.859622992,725,692,671,643,889,790.859622992,820.859622992,657,633,657.859622992,0.400964168462,-0.015351823747,0.0698211267712,0.999999927509,0.000249099179332,-0.000287922806408,5.60755756595e-06,1793251763199516928
+80,1.333333333,BASELINE,770,746.55076919,725,692,671,643,889,790.55076919,820.55076919,657,633.44923081,657.55076919,0.40096429756,-0.0153508818887,0.0698216784016,0.99999992723,0.000250845702404,-0.000287377299135,5.45758426093e-06,1793251763216183296
+81,1.350000000,BASELINE,770,746.042960097,725,692,671,643,889,790.042960097,820.042960097,656.957039903,633.957039903,657,0.400964283554,-0.0153497191146,0.0698223522567,0.999999926798,0.000253065149606,-0.000286942743804,5.17167688148e-06,1793251763232849152
+82,1.366666667,BASELINE,770,746.618190718,725,692,671,643,889,790.618190718,820.618190718,656.381809282,633.381809282,657,0.400964302717,-0.0153499580425,0.0698217069044,0.999999926798,0.000252301259299,-0.000287615694336,5.06543404053e-06,1793251763249515520
+83,1.383333333,BASELINE,770,746.806201418,725,692,671,643,889,791,821,656.193798582,633.193798582,657,0.400964659322,-0.0153495693262,0.0698216474206,0.999999926899,0.000252166208511,-0.000287382825909,4.95157284921e-06,1793251763266181888
+84,1.400000000,BASELINE,770,746.229848781,725,692,671,643,889,791,821,656.770151219,633.770151219,657,0.400965682028,-0.0153479416544,0.0698227444276,0.999999927199,0.000253272472698,-0.000285361891289,4.82267318609e-06,1793251763282848512
+85,1.416666667,BASELINE,770,746.34131577,725,692.34131577,671,643,889.34131577,791,820.65868423,657,633.65868423,657,0.400966210719,-0.0153469559762,0.069823323129,0.99999992722,0.000254341985816,-0.000284337144971,4.7369458184e-06,1793251763299515392
+86,1.433333333,BASELINE,770,746.909038839,725,692.909038839,671,643,889.909038839,791,820.090961161,657,633.090961161,657,0.400966411711,-0.015346396156,0.069823558019,0.999999927057,0.000255387120534,-0.000283973207099,4.6798562293e-06,1793251763316182016
+87,1.450000000,BASELINE,769.495663202,746.495663202,725,692.495663202,671,643,889.495663202,791,820,657,633,657,0.400966115865,-0.0153477960434,0.0698233410265,0.999999927328,0.00025372455442,-0.000284504902942,4.933740591e-06,1793251763332848640
+88,1.466666667,BASELINE,769.100101757,746,725,692.100101757,671,643,889.100101757,791,820,657,633,657,0.400965465378,-0.0153494148717,0.0698229058669,0.999999927494,0.000252058695842,-0.000285395046355,5.20802878966e-06,1793251763349515520
+89,1.483333333,BASELINE,769.673213657,746,725,692.673213657,671,643,889.673213657,791,820,657,633,657,0.400963587025,-0.0153503015125,0.0698218471926,0.999999926794,0.000252818369903,-0.000287171513325,5.298376803e-06,1793251763366182144
+90,1.500000000,BASELINE,770,746.253546922,725,692.746453078,671,643,889.746453078,791,820.253546922,657,632.746453078,657,0.400962654484,-0.0153507952089,0.0698212461666,0.999999926553,0.000252689584389,-0.000288120151713,5.4277220352e-06,1793251763382848768
+91,1.516666667,BASELINE,770,746.843460323,725,692.156539677,671,643,889.156539677,791,820.843460323,657,632.156539677,657,0.400962976699,-0.0153507676079,0.069821252277,0.999999926924,0.000251382129334,-0.000287970556213,5.60880268302e-06,1793251763399515136
+92,1.533333333,BASELINE,770,747,724.574613084,692,671,643,889,790.574613084,820.574613084,657,632.425386916,657,0.400964138584,-0.015349755595,0.0698217785736,0.999999927283,0.000251230802024,-0.000286859794018,5.3337095885e-06,1793251763416181760
+93,1.550000000,BASELINE,770,746.995568652,724.004431348,692.004431348,671.004431348,643,889,790.004431348,820,657,633,657,0.400965586377,-0.015348415568,0.0698224842994,0.999999927632,0.00025149135468,-0.000285418381862,4.89840610574e-06,1793251763432848384
+94,1.566666667,BASELINE,770,746.416171189,724.583828811,692.583828811,671.583828811,643,889,790.583828811,820,657,633,657,0.400964777931,-0.015350652368,0.0698220912658,0.999999927551,0.000251008834648,-0.000286122362022,5.05540469013e-06,1793251763449515008
+95,1.583333333,BASELINE,770,746.161844908,724.838155092,692.838155092,671.838155092,642.838155092,889,791,820,657,633,657,0.40096463629,-0.015352175692,0.0698221055622,0.999999927502,0.00025116644951,-0.000286154152847,5.19896792709e-06,1793251763466181632
+96,1.600000000,BASELINE,770,746.736339117,724.263660883,692.263660883,671.263660883,642.263660883,889,791,820,657,633,657,0.400966194775,-0.0153518798965,0.0698231584109,0.99999992753,0.000252956189859,-0.000284472090341,5.30827564514e-06,1793251763482848512
+97,1.616666667,BASELINE,770,746.682061073,724.317938927,692,671,642.317938927,889,790.682061073,820,657,633,657,0.400966972187,-0.015351516817,0.0698236653447,0.999999927983,0.000252177941245,-0.000283571853841,5.20023627654e-06,1793251763499515392
+98,1.633333333,BASELINE,770,746.094434052,724.905565948,692,671,642.905565948,889,790.094434052,820,657,633,657,0.400967087062,-0.0153510966648,0.0698237092122,0.999999928793,0.000249221424962,-0.000283334792501,4.90783469624e-06,1793251763516182016
+99,1.650000000,BASELINE,770,746.488039969,724.511960031,692,671,643,889,790.488039969,820,657,633,657,0.400965002435,-0.015350565964,0.0698217008323,0.999999927738,0.000249958446633,-0.000286392604578,4.82146321092e-06,1793251763532848640
+100,1.666666667,BASELINE,770,746.931722939,724,692,671,643,889,790.931722939,820.068277061,656.931722939,633,657,0.400962853855,-0.0153502428063,0.0698197646962,0.999999926584,0.000251061021218,-0.000289442401073,4.79481264109e-06,1793251763549515264
+101,1.683333333,BASELINE,770,746.360692031,724,692,671,643,889,790.360692031,820.639307969,656.360692031,633,657,0.400963335469,-0.015351603743,0.0698212540145,0.999999927415,0.000249647754378,-0.000287787690367,4.91742875874e-06,1793251763566181888
+102,1.700000000,BASELINE,770,746,724,692,671,643,889,790.212686467,820.787313533,656.212686467,633,657,0.400963428914,-0.0153520190113,0.0698221667356,0.999999927711,0.000249636416606,-0.000286763974368,5.07553079414e-06,1793251763582848512
+103,1.716666667,BASELINE,770,746,724,692,671,643,889,790.790090582,820.209909418,656.790090582,633,657,0.40096285672,-0.0153508126346,0.0698220906997,0.999999927093,0.00025202912603,-0.000286822296853,5.29448455184e-06,1793251763599515392
+104,1.733333333,BASELINE,770,746.377915613,724.377915613,692,671,643,889,791,820.377915613,657,633,657,0.400963996139,-0.0153501089586,0.0698227237908,0.999999927357,0.000252036989225,-0.000285897140051,5.05047390886e-06,1793251763616182016
+105,1.750000000,BASELINE,770,746.971693028,724.971693028,692,671,643,889,791,820.971693028,657,633,657,0.400966113215,-0.0153496924204,0.0698237619283,0.999999928124,0.000250682651178,-0.000284410229245,4.54202242726e-06,1793251763632848640
+106,1.766666667,BASELINE,770,747,725,692,671,643,889.547714459,790.452285541,820.452285541,657,633,657,0.400965249916,-0.0153497696281,0.0698227922586,0.999999927509,0.000252063809272,-0.000285343356446,5.00674447554e-06,1793251763649515264
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,889,791,821,657,633,658,0.400963209848,-0.015351954132,0.0698213368532,0.999999927601,0.000249208895824,-0.000287516292564,5.15752801248e-06,1793251763691696640
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,746.421124331,724.578875669,692,671,643,889,791,821,657,633,657.421124331,0.400963588595,-0.0153518515494,0.0698212209964,0.999999927768,0.000249273729405,-0.000286881139327,4.99563258391e-06,1793251763708363520
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.161501174,725,692,671,643,889,791,821,656.838498826,633,657.161501174,0.400964014879,-0.015351709822,0.0698213729535,0.99999992789,0.000249484562481,-0.000286275080626,4.93769968203e-06,1793251763725030656
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746.754137165,725,692,671,643,889,791,821,656.245862835,633,657.754137165,0.400964568062,-0.0153514635957,0.0698222398519,0.99999992789,0.00025008514794,-0.000285746690985,5.15729949302e-06,1793251763741697024
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725,691.664597932,671,643,889,791,821,656.335402068,633,657.664597932,0.400965560697,-0.0153521958078,0.0698231294757,0.999999928492,0.000249253061339,-0.000284362247914,5.28636253744e-06,1793251763758363904
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725,691.091395187,671,643,889,791,821,656.908604813,633,657.091395187,0.400966864903,-0.0153536217345,0.0698240352117,0.999999929514,0.0002474052076,-0.000282370861431,5.35123483619e-06,1793251763775031040
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,724.512336634,691.487663366,671,643,889,790.512336634,820.512336634,657,633,657,0.400966408982,-0.0153514091864,0.0698235208219,0.999999928207,0.000251292939155,-0.000283565796571,5.28690060124e-06,1793251763791697152
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.931264891,746.931264891,724.068735109,692,671,643,889,790,820.068735109,657,633,657,0.400965571826,-0.0153488202903,0.069822732486,0.999999926618,0.000255518765745,-0.000285389057077,5.16241282289e-06,1793251763808363776
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.343377449,746.343377449,724.656622551,692,671,643,889,790,820.656622551,657,633,657,0.400964377026,-0.01534860183,0.0698219097159,0.999999926413,0.000254080630538,-0.000287392868279,4.76870751714e-06,1793251763825030400
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.240323113,746.240323113,725,692,671,643,889.240323113,790,821,656.759676887,633,657,0.400967087865,-0.0153490457625,0.0698232582796,0.999999927211,0.000252878238077,-0.0002856719709,4.76371208671e-06,1793251763841697024
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.818143786,746.818143786,725,692,671,643,889.818143786,790,821,656.181856214,633,657,0.400975283582,-0.015350419926,0.0698276561543,0.99999992939,0.000252006910859,-0.000278720282012,5.3046010724e-06,1793251763858363648
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.60465339,747,725,692,671,643,889.60465339,790.39534661,820.60465339,656.39534661,633,657,0.400994270531,-0.0153519961877,0.0698355169663,0.999999933206,0.000250934990075,-0.000265676274737,5.91671248077e-06,1793251763875030272
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.027734278,747,725,692,671,643,889.027734278,790.972265722,820.027734278,656.972265722,633,657,0.401018213615,-0.015353665268,0.0698449682165,0.999999937577,0.000249770941712,-0.000249834222081,6.56153455735e-06,1793251763891696896
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+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,791,820,657,633,657,0.401120689438,-0.0153575544776,0.0698786146239,0.999999949708,0.000251569120799,-0.000192911540351,9.10116079162e-06,1793251763925030400
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+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671.599479728,643,889,791,820,657,633,657,0.401251276152,-0.0153646330387,0.0698950716823,0.999999953084,0.000248771036178,-0.000178540867243,8.2233404565e-06,1793251763958363648
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,692,672.758003415,643,889,791,820,657,633,657,0.401333779834,-0.0153685901188,0.0699010296507,0.999999955484,0.000247005844451,-0.00016724297843,7.10658232175e-06,1793251763975030272
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+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890.646604869,790.823302435,820.176697565,657,633,657,0.401779524913,-0.0153855429441,0.0699070047438,0.999999959642,0.000236567203969,-0.000157308833512,-2.2878554356e-06,1793251764041696768
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.452912079,790.22645604,820.77354396,657,633,657,0.401932127309,-0.0153930321127,0.0699089258182,0.999999961782,0.000229832108059,-0.000153570797807,-5.39549862745e-06,1793251764058363648
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724.644288442,692,671,643,889.355711558,790.355711558,820.644288442,656.644288442,633,657,0.402107273897,-0.015401850856,0.0699121240431,0.999999964642,0.000221464044559,-0.000146942853013,-8.80006094957e-06,1793251764075030272
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,724.071095381,692,671,643,889.928904619,790.928904619,820.071095381,656.071095381,633,657,0.402296203984,-0.0154114825,0.0699161031161,0.999999967833,0.000212097586494,-0.000138548021843,-1.23861594737e-05,1793251764091697152
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,889.492350257,790.492350257,820,656,633,657,0.402507824403,-0.0154166008797,0.069917139774,0.999999968942,0.000207138087911,-0.000137506675548,-1.73782137479e-05,1793251764108363520
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.91148802,724.08851198,692,671,643,889.08851198,790.08851198,820,656.08851198,633,657,0.402728487066,-0.0154221865023,0.0699183953072,0.999999970318,0.000201068205669,-0.000135757962923,-2.24795394881e-05,1793251764125030144
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.323109025,724.676890975,692,671,643,889.676890975,790.676890975,820,656.676890975,633,657,0.402982070874,-0.0154340199359,0.0699232398619,0.999999974779,0.000185203414101,-0.00012413414338,-2.70736853343e-05,1793251764141696768
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.261858793,724.738141207,692,671,643,889.738141207,791,820,656.738141207,633,657,0.403263442894,-0.0154452275372,0.0699323892657,0.999999984809,0.000134938025373,-0.000105742146627,-3.15169302408e-05,1793251764158363136
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.842671631,724.157328369,692,671,643,889.157328369,791,820,656.157328369,633,657,0.403578662005,-0.0154556728497,0.0699467821404,0.999999995316,4.27713909688e-05,-7.91062506534e-05,-3.57763715519e-05,1793251764175029760
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724.419059897,692,671,643,889.838119794,791,820.419059897,656.419059897,633.419059897,657,0.403904252043,-0.0154645824728,0.069949155101,0.999999995938,1.7624842697e-05,-7.81698937081e-05,-4.12638938584e-05,1793251764191696640
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724.993804381,692,671,643,890.987608762,791,820.993804381,656.993804381,633.993804381,657,0.404233694967,-0.015472921573,0.0699470625531,0.999999994969,1.73768718924e-05,-8.67811514639e-05,-4.72076594782e-05,1793251764208363520
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,692.567964069,671,643,891,791,820.432035931,657,634,657,0.404610576582,-0.0154712149186,0.0699521960644,0.999999995708,8.81713151669e-06,-7.62130633603e-05,-5.1945619545e-05,1793251764225030400
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,746.852830824,724.852830824,692.852830824,671,643,891,791.147169176,820.147169176,657,634,657,0.404994094275,-0.0154664463222,0.0699561704382,0.99999999613,2.0985770387e-05,-6.85446048463e-05,-5.10072062877e-05,1793251764241697280
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,746.258268416,724.258268416,692.258268416,671,643,891,791.741731584,820.741731584,657,634,657,0.405396213999,-0.0154527022364,0.0699563816595,0.999999992337,9.64438827273e-05,-7.03263660539e-05,-3.28526034621e-05,1793251764258363904
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,746,724.326828746,692.326828746,671,643,891,791.673171254,820.673171254,656.673171254,633.673171254,657,0.405823675817,-0.0154464538927,0.0699527415717,0.999999989579,0.000118884215511,-7.62829772796e-05,-2.9837091238e-05,1793251764275030272
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,746,724.904656811,692.904656811,671,643,891,791.095343189,820.095343189,656.095343189,633.095343189,657,0.406270600008,-0.0154459621591,0.0699461437391,0.999999990549,0.000100607738663,-8.54458078272e-05,-3.84481598279e-05,1793251764291696640
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746.480444245,725,693,671,643,890.519555755,791,820.480444245,656.480444245,633,657,0.406756098683,-0.0154572078547,0.0699316248929,0.999999990682,7.53813807245e-05,-0.00010526406504,-4.32789428439e-05,1793251764308363520
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890.056979466,791,821,657,633.056979466,657,0.407255015397,-0.0154709481107,0.0699179588596,0.999999990093,5.01098804134e-05,-0.000123054250646,-4.64871035309e-05,1793251764325030144
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890.644226897,791,821,657,633.644226897,657,0.407807866027,-0.0154863183066,0.069926796134,0.999999993205,3.71991241668e-05,-0.000102375223096,-4.15466233593e-05,1793251764341696768
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,746.772152296,725,693,671,643,891,791,821,657,634,657,0.408382787455,-0.0155020368047,0.0699365870075,0.999999995918,2.16638710881e-05,-7.89627418888e-05,-3.81966569112e-05,1793251764358363648
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,746.194105602,725,693,671,643,891,791,821,657,634,657,0.408991631381,-0.0155182906378,0.06994784355,0.999999997984,2.09480090138e-06,-5.13489788014e-05,-3.7291289904e-05,1793251764375030784
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746,725,693,671,643,891,791,821,656.615988551,633.615988551,657.384011449,0.409600409876,-0.0155250849965,0.0699458102633,0.999999997857,-1.11139372015e-05,-5.14177149934e-05,-3.89591200121e-05,1793251764391697664
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,725,693,671,643,891,791,821,656.037835948,633.037835948,657.962164052,0.410209155274,-0.0155270970149,0.0699370581589,0.999999996754,-2.11071398212e-05,-6.54816398667e-05,-4.19278578707e-05,1793251764408364032
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,746.534519327,725,693.534519327,671,643,891.534519327,791,821,656,633.534519327,658,0.410876879126,-0.0155230557308,0.069936881894,0.999999996333,-1.44799631583e-05,-7.30853616474e-05,-4.22293873812e-05,1793251764425030656
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.889755237,747,725,694,671,643,892.110244763,791,821,656.110244763,633.889755237,658,0.411561546334,-0.0155192526236,0.0699429369674,0.999999996761,-8.19261974362e-06,-6.81384281062e-05,-4.20526885169e-05,1793251764441697536
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.297520774,747,725,694,671,643,892.702479226,791,821,656.702479226,633.297520774,658,0.412302233313,-0.0155183440519,0.0699736099243,0.999999999087,-8.47937826299e-06,-1.02978725411e-05,-4.06017460398e-05,1793251764458363648
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,892.71192888,791,821.28807112,656.71192888,633,658,0.413052805142,-0.0155199598428,0.0699995449008,0.999999998685,-1.11908475788e-05,3.11172726809e-05,-3.919446059e-05,1793251764475030016
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,892.133042756,791,821.866957244,656.133042756,633,658,0.413813356065,-0.0155241240407,0.0700206967711,0.999999997586,-1.63501231803e-05,5.59505620315e-05,-3.78312479104e-05,1793251764491696896
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.443617479,747,725,694,671,643,892.887234959,791,822.443617479,656.443617479,633.443617479,658,0.414545155277,-0.015523490755,0.0699954532397,0.99999999889,-2.15864891253e-05,7.8443553822e-06,-4.11441755047e-05,1793251764508363776
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.980048828,747,725,694,671,643,894,791,823,657,633.980048828,658,0.41527048023,-0.0155214541685,0.0699563727372,0.9999999967,-2.65097285359e-05,-6.16001537847e-05,-4.58560715931e-05,1793251764525030144
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.394135057,747,725,694,671,643,894,791,823,657,633.394135057,658,0.416055532572,-0.015520220422,0.0699175116925,0.999999991405,-2.18978267818e-05,-0.000118922002226,-5.06694163603e-05,1793251764541696512
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.189481022,747,725,694,670.810518978,643,894.189481022,791,823,656.810518978,633.189481022,658,0.416870449999,-0.0155194977592,0.0699006173793,0.999999987973,-1.93815877745e-05,-0.000144216511414,-5.3658559946e-05,1793251764558363392
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.768374954,747,725,694,670.231625046,643,894.768374954,791,823,656.231625046,633.768374954,658,0.417746744766,-0.0155198254528,0.0699288681109,0.999999993001,-2.1172261356e-05,-0.00010368986461,-5.28986869164e-05,1793251764575030016
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.650478731,747,725,694.349521269,670.349521269,643,895,790.650478731,823.349521269,656.349521269,633.650478731,657.650478731,0.418617485551,-0.0155228191154,0.0699570867744,0.999999996401,-2.67217635701e-05,-6.25548555906e-05,-5.07118718922e-05,1793251764591696896
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.06783012,747,725,694.93216988,670.93216988,643,895,790.06783012,823.93216988,656.93216988,633.06783012,657.06783012,0.41948452185,-0.0155275909536,0.0699852840477,0.999999998043,-3.47783684163e-05,-2.1014076389e-05,-4.75733002112e-05,1793251764608363264
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.504963556,747,725,694.495036444,671,643,895.504963556,790.504963556,824,657,633,657,0.420434554406,-0.0155367111936,0.07001294827,0.999999997546,-4.81459680311e-05,2.2538873026e-05,-4.5626034228e-05,1793251764625029888
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.923243991,747,725,694,670.923243991,643,895.923243991,790.923243991,824.076756009,657,633.076756009,657.076756009,0.421387026604,-0.0155442063973,0.0700332539275,0.999999995709,-6.01755330125e-05,5.44117200085e-05,-4.4721321757e-05,1793251764641696768
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.349527446,747,725,694,670.349527446,643,895.349527446,790.349527446,824.650472554,657,633.650472554,657.650472554,0.422284493441,-0.015537470786,0.0700063709085,0.999999996991,-5.90113411617e-05,8.94465754312e-06,-4.95504227932e-05,1793251764658363392
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,694.232853989,670.232853989,643,895.465707979,790,825,656.767146011,634,657.767146011,0.423149992312,-0.0155290960009,0.0699535590545,0.999999994119,-5.54330677736e-05,-7.44023014015e-05,-5.61514404552e-05,1793251764675030272
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,694.828744724,670.828744724,643,896.657489449,790,825,656.171255276,634,657.171255276,0.423965650876,-0.0155181656205,0.0698603222078,0.999999973195,-4.80910602781e-05,-0.000216806852216,-6.55150084791e-05,1793251764691696896
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,695.409465351,671,643.409465351,897,790,825.409465351,656.409465351,634,657.409465351,0.424898051444,-0.0155222537527,0.0698526108823,0.999999971926,-5.71917976312e-05,-0.000219911113094,-6.71962339204e-05,1793251764708363264
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,695.984067847,671,643.984067847,897,790,825.984067847,656.984067847,634,657.984067847,0.425877533949,-0.0155323988432,0.0698793919564,0.999999981261,-7.29238851757e-05,-0.00016683563846,-6.57791745889e-05,1793251764725029888
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671,644,897.559248162,790,826,657,634,658,0.426886267876,-0.0155390105377,0.069944192721,0.999999992336,-7.11875252687e-05,-8.20444067901e-05,-5.94050027005e-05,1793251764741696512
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643.861689112,898,790,826,656.861689112,634,657.861689112,0.427900505787,-0.0155435597639,0.0700039110364,0.999999996091,-7.01134954309e-05,-8.60637385254e-07,-5.38582488031e-05,1793251764758363392
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643.269952705,898,790,826,656.269952705,634,657.269952705,0.428930052652,-0.0155416779252,0.0700434130331,0.999999993874,-7.28439257103e-05,6.55316291241e-05,-5.14874703273e-05,1793251764775030272
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.685389112,747,725,696,671,643,898,790,826.314610888,656.314610888,634,657.314610888,0.429907079347,-0.0155403529771,0.0700453499266,0.999999993501,-7.39852863973e-05,6.92832031336e-05,-5.21941806946e-05,1793251764791696896
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.106843011,747,725,696,671,643,898,790,826.893156989,656.893156989,634,657.893156989,0.43084004546,-0.015539495219,0.0700157724811,0.999999995528,-7.37935354111e-05,2.0483876135e-05,-5.5482676243e-05,1793251764808363776
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.46532689,747,725,696,671,643,898,790,827,656.53467311,634,658,0.431689725005,-0.0155332550687,0.0699412950484,0.999999990232,-6.6255360943e-05,-0.000106546703575,-6.15916581877e-05,1793251764825030400
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.962596068,747,725,696,671,643,898,789.962596068,827,656,634,658,0.432533912222,-0.0155265385278,0.0698646742031,0.999999968058,-5.8392838378e-05,-0.000236394050312,-6.77708042188e-05,1793251764841697024
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.37047819,747,725,696,671,643,898,789.37047819,827,656,634,658,0.433576417242,-0.0155308372066,0.0699070915924,0.999999984831,-7.03978715525e-05,-0.000145224540453,-6.55160850253e-05,1793251764858363392
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.216436362,747.216436362,725,696.216436362,671,643,898,789,827,656.216436362,634,658,0.434602172638,-0.0155349720666,0.0699540955217,0.999999993417,-7.75368428209e-05,-5.72387035665e-05,-6.22731826034e-05,1793251764875030016
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.794653472,747.794653472,725,696.794653472,671,643,898,789,827,656.794653472,634,658,0.435599930635,-0.0155388330985,0.0700087660154,0.999999995101,-7.65420283413e-05,2.54255289886e-05,-5.73784983643e-05,1793251764891696640
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.62915802,725,696.62915802,671,643,898.37084198,789,827,657,634,658,0.436571338609,-0.0155446047339,0.0700325542059,0.999999992553,-8.4695655061e-05,6.82382684843e-05,-5.53557859199e-05,1793251764908363520
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.054086733,725,696.054086733,671,643,898.945913267,789,827,657,634,658,0.437528235093,-0.0155514285726,0.0700393349569,0.999999989731,-9.78874920799e-05,8.91040736033e-05,-5.49147200839e-05,1793251764925030400
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.478329059,696,671.521670941,643,899,789.521670941,827.521670941,656.478329059,634,658,0.438383930889,-0.0155477806344,0.069989497639,0.999999993467,-9.58732410776e-05,1.9366041455e-05,-5.91602448145e-05,1793251764941697024
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.899996499,747,724.100003501,696.100003501,671.899996499,643,899,790,828,656.100003501,634,658,0.439222751233,-0.0155425420488,0.0699311010023,0.99999999151,-9.14616003079e-05,-6.72476457338e-05,-6.39665108964e-05,1793251764958363904
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.309381299,747,724.690618701,696.690618701,671.309381299,643,899,790,828,656.690618701,634,658,0.440030324796,-0.0155348332936,0.0698595493916,0.999999976016,-8.30332252248e-05,-0.000190506249251,-6.91367816245e-05,1793251764975030528
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.276219531,747,724.723780469,697,671.276219531,643.276219531,899.276219531,789.723780469,828,656.723780469,634,658,0.440911066987,-0.0155347065118,0.0698523569649,0.999999973375,-8.41455851067e-05,-0.000203208664989,-6.98227448105e-05,1793251764991697152
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.85630409,747,724.14369591,697,671.85630409,643.85630409,899.85630409,789.14369591,828,656.14369591,634,658,0.441872300852,-0.0155429205474,0.0699159651305,0.99999998882,-9.57535674869e-05,-9.42898440107e-05,-6.55755874306e-05,1793251765008363520
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.567372617,747.432627383,724.432627383,697,672,644,900,789,828.432627383,656.432627383,634,658,0.442788036096,-0.0155483820623,0.0699799670715,0.999999993311,-9.89955975336e-05,-2.07780430329e-06,-5.97815814237e-05,1793251765025030144
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.992161313,900,789,828.992161313,656.992161313,634,658,0.443687351273,-0.015552905904,0.0700431738595,0.999999990143,-9.95802664732e-05,8.32325437835e-05,-5.35783889754e-05,1793251765041697024
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.407644415,900,789,828.407644415,656.407644415,634,658,0.444480863588,-0.0155551262021,0.0700383431391,0.999999990595,-0.00010733162908,6.55166079392e-05,-5.47443180557e-05,1793251765058363648
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.176746689,900,789,828.176746689,656.176746689,634,658,0.445270972681,-0.0155571063311,0.0700231499998,0.999999991212,-0.000113057116476,3.97990834389e-05,-5.66536385705e-05,1793251765075030272
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.760847988,900,789,828.760847988,656.760847988,634,658,0.446053238399,-0.0155585329336,0.0699840742109,0.999999991663,-0.000114113496086,-4.36000084291e-06,-6.02762809199e-05,1793251765091697152
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,644,900.339472502,789,828.660527498,656.660527498,634,658,0.446773460103,-0.0155567512686,0.0699473236585,0.999999989878,-0.000111153864863,-6.34092956753e-05,-6.21948356312e-05,1793251765108363776
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,644,900.91429995,789,828.08570005,656.08570005,634,658,0.44745066689,-0.0155527453244,0.0699121851857,0.999999983649,-0.000105409948805,-0.000132781911844,-6.29319527143e-05,1793251765125030400
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.341684507,900.658315493,789,829,656.341684507,634,658,0.44958165926,-0.0155579946237,0.0699481085051,0.999999989236,-0.000108499415712,-7.83918398996e-05,-6.00819750015e-05,1793251765175030272
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.243527607,747.756472393,724.756472393,696.756472393,672,643.243527607,901,789,829,656,634,658,0.450281801853,-0.0155607763228,0.0699850100407,0.999999992269,-0.000108224506839,-1.91161725811e-05,-5.81685843848e-05,1793251765191696896
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.822176713,747.177823287,724.177823287,696.177823287,672,643.822176713,901,789,829,656,634,658,0.450937573343,-0.0155594541067,0.0700018084734,0.999999994268,-8.94933048246e-05,5.51593586828e-06,-5.85198146359e-05,1793251765208363520
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.602576736,747,724.397423264,696,672,644,901.397423264,789.397423264,829,656.397423264,634,658.397423264,0.451514077097,-0.0155633389125,0.0699792434892,0.999999991755,-0.000110572150425,-2.54228456939e-05,-6.01518791841e-05,1793251765225030144
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+245,4.083333333,POSE1_TO_POSE2_PRESS,768.928807239,748,724.928807239,695.928807239,671,642.071192761,902,787,829,656.928807239,633,658,0.45905701501,-0.015607502691,0.069737264449,0.999999905172,-0.000164438660488,-0.000397916175045,-6.54188474166e-05,1793251765991697920
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.333333345,748,724.333333345,695.333333345,671,642.666666655,902,787,829,656.333333345,633,658,0.459058349501,-0.0156065752519,0.0697386754742,0.999999905462,-0.000166835976447,-0.000396139074814,-6.57006766433e-05,1793251766008364544
+247,4.116666667,POSE1_TO_POSE2_PRESS,768,748,724,695.254737591,671,643,902,787,829,656,633,658,0.45905875306,-0.0156056750232,0.0697386073491,0.999999905196,-0.000167782344709,-0.000396361946115,-6.59896359115e-05,1793251766025031424
+248,4.133333333,POSE1_TO_POSE2_PRESS,768,748,724,695.833395134,671,643,902,787,829,656,633,658,0.459057972863,-0.0156048093944,0.0697366583621,0.999999904226,-0.000166883713086,-0.000399127946682,-6.62876616567e-05,1793251766041697792
+249,4.150000000,POSE1_TO_POSE2_PRESS,768,748,724.409250953,695.590749047,671.409250953,643,901.590749047,786.590749047,829,656,633,658,0.459058924063,-0.0156038831476,0.0697374049217,0.999999904787,-0.000166086641322,-0.000398076604279,-6.61467471004e-05,1793251766058363648
+250,4.166666667,POSE1_TO_POSE2_PRESS,768,748,724.983973918,695.016026082,671.983973918,643,901.016026082,786.016026082,829,656,633,658,0.459060575317,-0.0156029323912,0.0697392413689,0.999999905963,-0.000165330633202,-0.000395481799387,-6.58283562492e-05,1793251766075030016
+251,4.183333333,HOLD_POSE2,768,748,725,696,672,643,902,786,830,656,633,658,0.459055791844,-0.0156064858877,0.0697355775799,0.999999903452,-0.000166029892445,-0.000401621447199,-6.50481890743e-05,1793251766103885312
+252,4.200000000,HOLD_POSE2,768.579611995,748,724.420388005,695.420388005,672,643,901.420388005,786,829.420388005,656.579611995,633,658,0.459058238077,-0.0156069122586,0.0697366245496,0.999999904209,-0.000166148514916,-0.000399652578744,-6.52255579342e-05,1793251766120551936
+253,4.216666667,HOLD_POSE2,768.841234905,748,724.158765095,695.158765095,671.841234905,643,901.158765095,786.158765095,829.158765095,656.841234905,633,658,0.459059779072,-0.0156068640417,0.0697371041361,0.999999904689,-0.000165916194449,-0.000398524967738,-6.5359115435e-05,1793251766137218560
+254,4.233333333,HOLD_POSE2,768.26329327,748,724.73670673,695.73670673,671.26329327,643,901.73670673,786.73670673,829.73670673,656.26329327,633,658,0.459058930029,-0.0156055628033,0.0697360857005,0.999999904443,-0.000164757303554,-0.000399618470383,-6.53770008625e-05,1793251766153885184
+255,4.250000000,HOLD_POSE2,768,748,725,695.686980892,671,643,902,786.686980892,830,656,633,658,0.459058699332,-0.0156048396927,0.0697358711161,0.999999904347,-0.000164165363577,-0.000400082861862,-6.54925698344e-05,1793251766170551552
+256,4.266666667,HOLD_POSE2,768,748,725,695.112031888,671,643,902,786.112031888,830,656,633,658,0.459058986056,-0.0156046003513,0.0697363291829,0.999999904378,-0.00016404784006,-0.000400020822083,-6.56898789928e-05,1793251766187217664
+257,4.283333333,HOLD_POSE2,768,748,725,695,671.47344836,643,902,786,830,656,633,658,0.459060277631,-0.0156033479918,0.0697368321101,0.999999904916,-0.000163279219699,-0.000398978850763,-6.57570504074e-05,1793251766203884288
+258,4.300000000,HOLD_POSE2,768,748,725,695.060639638,671.939360362,643,902,786,830,656,633,658,0.4590615133,-0.0156019554323,0.0697371723843,0.999999905444,-0.000162365350246,-0.000398018248701,-6.58103617677e-05,1793251766220550912
+259,4.316666667,HOLD_POSE2,768,748,725,695.640656372,671.359343628,643,902,786,830,656,633,658,0.459060187243,-0.0156014618798,0.0697360265518,0.999999904856,-0.000161557041573,-0.000399785808191,-6.6014716081e-05,1793251766237217536
+260,4.333333333,HOLD_POSE2,768,748,724.782448187,695.782448187,671,643,902,786,830,656,633,658,0.459059783649,-0.0156016258061,0.0697356569852,0.999999904696,-0.000161468844495,-0.000400245063613,-6.58829177116e-05,1793251766253884160
+261,4.350000000,HOLD_POSE2,768,748,724.21063551,695.21063551,671,643,902,786,830,656,633,658,0.459060882193,-0.0156028603693,0.0697365514884,0.999999905232,-0.000162553275544,-0.00039857387957,-6.52037290772e-05,1793251766270551296
+262,4.366666667,HOLD_POSE2,768,748,724.366201317,695,671.366201317,643,902,786,829.633798683,656,633,658,0.459061097813,-0.0156028563245,0.0697368048263,0.999999905142,-0.000162990844655,-0.000398616572584,-6.52329993242e-05,1793251766287218432
+263,4.383333333,HOLD_POSE2,768,748,724.94596824,695,671.94596824,643,902,786,829.05403176,656,633,658,0.459060798517,-0.0156021299339,0.069736684242,0.999999904687,-0.000163051169291,-0.000399658784491,-6.56754369199e-05,1793251766303885312
+264,4.400000000,HOLD_POSE2,768,748,725,695,671.46413442,643,902,786,829,656,633,658,0.459061205832,-0.0156037672769,0.0697367983269,0.999999904774,-0.000165451212889,-0.000398469730278,-6.5578907599e-05,1793251766320551936
+265,4.416666667,HOLD_POSE2,768,748,725,695,671.124002102,643,902,786,829.124002102,656.124002102,633,658,0.459061570749,-0.0156048806354,0.0697368662084,0.999999904926,-0.000167026522336,-0.000397452043737,-6.54441779791e-05,1793251766337218560
+266,4.433333333,HOLD_POSE2,768,748,725,695,671.701882919,643,902,786,829.701882919,656.701882919,633,658,0.459061514668,-0.0156031868966,0.0697366766964,0.999999905137,-0.000164702949503,-0.000397900957548,-6.5372372914e-05,1793251766353884672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,642,902,786,830,656,633,658,0.459060021641,-0.0156010459977,0.069735934118,0.999999904735,-0.000159707941093,-0.000401034643662,-6.47705364507e-05,1793251766391444736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.411551122,748,725,695,671.588448878,642.588448878,901.411551122,786,829.411551122,656,633,658,0.459060377135,-0.0156006365535,0.0697355125539,0.999999904889,-0.000160029676637,-0.000400456617439,-6.51737208124e-05,1793251766408111872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.17414364,748,725,695.17414364,671.82585636,643,901,786,829,656,633,658,0.459060917309,-0.0156006649132,0.0697354945536,0.999999905125,-0.000160515027579,-0.000399641440825,-6.5358942588e-05,1793251766424778752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.753431088,748,725,695.753431088,671.246568912,643,901,786,829,656,633,658,0.459061887141,-0.0156017118203,0.069736415441,0.999999905552,-0.000161381028524,-0.000398274535574,-6.50370762013e-05,1793251766441445376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.669234375,671.330765625,643,901.330765625,786.330765625,829.330765625,656,633,658,0.459062128573,-0.0156025318921,0.0697368158459,0.99999990557,-0.000162219874835,-0.000397869394953,-6.51533289514e-05,1793251766458111488
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.093347123,671.906652877,643,901.906652877,786.906652877,829.906652877,656,633,658,0.459061830208,-0.015603183862,0.069736830535,0.999999905285,-0.000163038597518,-0.000398176992659,-6.5594260187e-05,1793251766474777856
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671.519035754,642.519035754,901.519035754,786.519035754,829.519035754,656,633,658,0.459062163961,-0.01560187341,0.0697365880891,0.999999905566,-0.000162174295682,-0.000397843669108,-6.54785804242e-05,1793251766491444480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,671.056612969,642,901.056612969,786,829.056612969,656.056612969,633,658,0.459062446713,-0.015600450926,0.0697362454229,0.999999905841,-0.000161175027033,-0.000397595880855,-6.5257408094e-05,1793251766508111360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,671.647767514,642,901.647767514,786,829.647767514,656.647767514,633,658,0.459061093308,-0.0156015551065,0.0697354261443,0.999999905035,-0.00016197553609,-0.000399326398486,-6.50568526715e-05,1793251766524777728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.233986515,672,642.233986515,902,786.233986515,829.766013485,656.766013485,633,658,0.459055952202,-0.0156015437124,0.0697327246961,0.999999903353,-0.000161554778645,-0.000403693311129,-6.50050312573e-05,1793251766541444352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.812929205,672,642.812929205,902,786.812929205,829.187070795,656.187070795,633,658,0.459045227053,-0.015599887675,0.0697272484469,0.999999900333,-0.000159333560863,-0.00041194694647,-6.51724819578e-05,1793251766558111232
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.610421755,672,643,902,786.610421755,829,656,633,658,0.459019841221,-0.015598942013,0.0697150107892,0.999999892598,-0.000160006595574,-0.000429926127559,-6.60784919633e-05,1793251766574778112
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.0348676,672,643,902,786.0348676,829,656,633,658,0.458987456705,-0.0155983354682,0.0696995453863,0.999999882201,-0.000162061281198,-0.00045254806644,-6.73370735907e-05,1793251766591444736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,672,643,901.448522889,786.551477111,829,656.551477111,633,658,0.458936961686,-0.0155940258905,0.0696805288797,0.999999869779,-0.000159133959021,-0.00047999046393,-6.87620750619e-05,1793251766608111360
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,671.863331006,642.863331006,901,786.863331006,829,657,633,658.136668994,0.458882127326,-0.0155899625787,0.0696627821863,0.999999858319,-0.000156388545404,-0.000503996189675,-6.99479558142e-05,1793251766624777984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671.284125051,642.284125051,901,786.284125051,829,657,633,658.715874949,0.458817023775,-0.0155874699187,0.0696498886831,0.999999852413,-0.000155272459258,-0.000515867340061,-7.03248088504e-05,1793251766641444864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.293308862,671.293308862,642.293308862,901.293308862,786.293308862,829,656.706691138,633,658.706691138,0.458742367558,-0.0155846725486,0.0696417427383,0.999999848185,-0.000153686609233,-0.000524542035018,-6.97589552488e-05,1793251766658111232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.869036491,671.869036491,642.869036491,901.869036491,786.869036491,829,656.130963509,633,658.130963509,0.458658513355,-0.0155815817821,0.0696381680833,0.999999845646,-0.000151648436999,-0.000530138953228,-6.82853962037e-05,1793251766674777600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,671.55469198,643,901.55469198,787,829.44530802,656,633,658,0.458565595528,-0.0155776849225,0.0696412314133,0.999999847512,-0.000149448541125,-0.000527473056834,-6.64358339889e-05,1793251766691444224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.977799335,671,642.977799335,901,787,829.977799335,656,633,658,0.458469245059,-0.0155734289019,0.0696462940675,0.999999850711,-0.000147104833013,-0.000522283003485,-6.44801870828e-05,1793251766708111104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.389144963,671,642.389144963,901,787,829.389144963,656,633,658,0.45835340598,-0.0155660650828,0.0696524979921,0.999999855419,-0.000142306775978,-0.000514767986733,-6.26427189943e-05,1793251766724777984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.196056812,671,642.196056812,901,787,829,656,633,658,0.45822637327,-0.0155591393657,0.0696581937545,0.999999859669,-0.00013894502442,-0.000507651177327,-6.0383672772e-05,1793251766741444864
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.7745242,671,642.7745242,901,787,829,656,633,658,0.458077507294,-0.0155530681716,0.0696628983413,0.999999863127,-0.000138384800187,-0.000501311075857,-5.73023348314e-05,1793251766758111488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.647447588,748,724.647447588,696,671.352552412,643,901.352552412,787,829,656,633,658,0.457907258375,-0.0155443773104,0.0696689477128,0.99999986758,-0.000132388708166,-0.000494378353418,-5.3881245827e-05,1793251766774778112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.069699845,748,724.069699845,696,671.930300155,643,901.930300155,787,829,656,633,658,0.457723350936,-0.0155340131179,0.0696758560755,0.999999872566,-0.000122920417319,-0.000487067089491,-5.0243138134e-05,1793251766791444480
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.520010059,748,724.479989941,695,672.479989941,643,900,788,829,656.479989941,633,658,0.453318603853,-0.015467320619,0.0697491610676,0.999999930671,6.33041610367e-05,-0.000366515103547,1.78272815279e-05,1793251767008112128
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.233582779,898,788.233582779,827.233582779,656.233582779,633,657.233582779,0.442258808867,-0.0154409016117,0.0698149039195,0.999999957533,8.09327793868e-05,-0.000278509462954,2.85603499106e-05,1793251767274778368
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,746.624327264,724,692,671,643,889.624327264,790,821,657,633,657,0.401000922597,-0.0153935063787,0.069805145902,0.999999930381,0.000198630168614,-0.000315580155718,1.39285857703e-05,1793251768441444352
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d85e246581e1ed6fef75e84a7735adb4e7801e9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.591774585205,-0.00999483311238,1.06002096926,0.562345929304,-0.00132242240136,1.05963234501
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+367,6.116666667,pose2_to_pose3_retreat,0.588729588091,-0.00999485799251,1.06002096348,0.559300931388,-0.00132245024038,1.059632334
+368,6.133333333,pose2_to_pose3_retreat,0.588452721859,-0.00999483690064,1.06002090218,0.55902406569,-0.0013224272841,1.05963227391
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+379,6.316666667,pose2_to_pose3_retreat,0.586338994814,-0.00999482504378,1.06002102504,0.556910337539,-0.00132241920733,1.05963239641
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+381,6.350000000,pose2_to_pose3_retreat,0.586153066191,-0.00999485568756,1.060021072,0.556724410105,-0.00132244584299,1.05963244333
+382,6.366666667,pose2_to_pose3_retreat,0.586079631387,-0.00999477911585,1.06002111393,0.556650973829,-0.00132237418253,1.05963248711
+383,6.383333333,pose2_to_pose3_retreat,0.586015165559,-0.00999488259511,1.06002100723,0.556586507904,-0.00132247799962,1.05963238012
+384,6.400000000,pose2_to_pose3_retreat,0.585959460104,-0.00999491154029,1.06002075632,0.556530803243,-0.0013225037077,1.05963214126
+385,6.416666667,pose2_to_pose3_retreat,0.585913186671,-0.00999489671098,1.06002095251,0.556484530729,-0.00132248627676,1.05963232587
+386,6.433333333,pose2_to_pose3_retreat,0.585874859619,-0.00999492558104,1.06002096097,0.55644620514,-0.00132251025666,1.05963233268
+387,6.450000000,pose2_to_pose3_retreat,0.585843655542,-0.00999493641085,1.06002088863,0.556415000803,-0.00132252179964,1.05963226411
+388,6.466666667,pose2_to_pose3_retreat,0.585818769336,-0.0099949033404,1.06002087486,0.55639011302,-0.0013224939954,1.05963225218
+389,6.483333333,pose2_to_pose3_retreat,0.585799906915,-0.00999488864971,1.06002086058,0.556371251922,-0.00132247475638,1.0596322393
+390,6.500000000,pose2_to_pose3_retreat,0.58578499165,-0.0099947414877,1.06002118152,0.556356334821,-0.00132233420139,1.05963255184
+391,6.516666667,pose2_to_pose3_retreat,0.585773545989,-0.00999480829007,1.06002111163,0.556344889623,-0.00132239926155,1.05963248574
+392,6.533333333,pose2_to_pose3_retreat,0.585765882373,-0.00999486980401,1.06002096142,0.556337225849,-0.00132246118091,1.05963233849
+393,6.550000000,pose2_to_pose3_retreat,0.58576092348,-0.00999483109238,1.06002090052,0.55633226506,-0.00132242905367,1.05963227421
+394,6.566666667,pose2_to_pose3_retreat,0.585757951689,-0.00999487993682,1.06002093828,0.556329293841,-0.00132247595516,1.05963231209
+395,6.583333333,pose2_to_pose3_retreat,0.58575609719,-0.00999492564131,1.06002097753,0.556327440059,-0.00132251920277,1.05963235187
+396,6.600000000,pose2_to_pose3_retreat,0.5857550782,-0.00999494851088,1.06002099731,0.556326421435,-0.00132254081366,1.05963237199
+397,6.616666667,pose2_to_pose3_retreat,0.585754489043,-0.00999490822444,1.06002096613,0.556325831833,-0.0013225019768,1.05963234213
+398,6.633333333,pose2_to_pose3_retreat,0.585754159229,-0.00999488567185,1.06002094867,0.556325501771,-0.00132248023569,1.05963232542
+399,6.650000000,pose2_to_pose3_retreat,0.585754074265,-0.00999487986206,1.06002094417,0.556325416743,-0.00132247463494,1.05963232111
+400,6.666666667,pose2_to_pose3_retreat,0.585753978819,-0.00999487333547,1.06002093912,0.556325321225,-0.00132246834319,1.05963231628
+401,6.683333333,pose2_to_pose3_retreat,0.585753694987,-0.00999485392709,1.0600209241,0.556325037178,-0.00132244963316,1.05963230189
+402,6.700000000,pose2_to_pose3_retreat,0.585753343714,-0.00999482990708,1.0600209055,0.55632468564,-0.00132242647743,1.05963228409
+403,6.716666667,pose2_to_pose3_retreat,0.585752971563,-0.0099948044595,1.0600208858,0.556324313208,-0.0013224019455,1.05963226524
+404,6.733333333,pose2_to_pose3_retreat,0.585752666983,-0.0099947836324,1.06002086968,0.556324008399,-0.00132238186779,1.0596322498
+405,6.750000000,pose2_to_pose3_retreat,0.585752632365,-0.00999478126516,1.06002086785,0.556323973754,-0.00132237958573,1.05963224805
+406,6.766666667,pose2_to_pose3_retreat,0.58575233155,-0.00999477178096,1.0600208889,0.556323672835,-0.00132237053612,1.05963226731
+407,6.783333333,pose2_to_pose3_retreat,0.585752039682,-0.00999476976417,1.06002093329,0.556323380945,-0.00132236874295,1.05963230837
+408,6.800000000,pose2_to_pose3_retreat,0.58575182475,-0.00999476827902,1.06002096598,0.556323165997,-0.00132236742246,1.0596323386
+409,6.816666667,pose2_to_pose3_retreat,0.585751667549,-0.00999476719277,1.06002098989,0.556323008784,-0.00132236645666,1.05963236072
+410,6.833333333,pose2_to_pose3_retreat,0.585751591658,-0.00999476666837,1.06002100143,0.556322932887,-0.0013223659904,1.05963237139
+411,6.850000000,pose2_to_pose3_retreat,0.585751427363,-0.00999476553311,1.06002102641,0.55632276858,-0.00132236498101,1.05963239451
+412,6.866666667,pose2_to_pose3_retreat,0.58575124809,-0.00999481412849,1.06002103165,0.556322590056,-0.00132241099782,1.05963240054
+413,6.883333333,pose2_to_pose3_retreat,0.585751134248,-0.00999486849264,1.06002102458,0.55632247705,-0.00132246244351,1.05963239533
+414,6.900000000,pose2_to_pose3_retreat,0.585750988276,-0.00999493776337,1.06002101735,0.55632233215,-0.00132252797392,1.05963239041
+415,6.916666667,pose2_to_pose3_retreat,0.58575083953,-0.00999494066593,1.06002129407,0.556322184555,-0.0013225273449,1.0596326588
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd1562f1db7b8e036e68b5d31911371d3ee541b8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7529aee8200f494dc189fc7b5639d7afce46464cca1eeedb8b15b90d5a293bd2
+size 26483806
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..183dff94f0ceadb58c9a285c2c6f87c8b0a48540
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+23,0.383333333,BASELINE,769.332686019,747,724.332686019,691.667313981,671,643,889,790.667313981,820.332686019,656.667313981,633.667313981,657,0.400960404689,-0.0153982522279,0.069818900994,0.999999937489,0.000198138903483,-0.000292500325659,1.43974577997e-05,1793251769388112896
+24,0.400000000,BASELINE,769.906780217,747,724.906780217,691.093219783,671,643,889,790.093219783,820.906780217,656.093219783,633.093219783,657,0.400960023641,-0.0154000651045,0.0698186333626,0.999999937805,0.000196460996868,-0.000292548031874,1.44548685313e-05,1793251769404779520
+25,0.416666667,BASELINE,770,746.505272706,725,691.494727294,671,643,889.494727294,790,821,656.494727294,633,657,0.400959888655,-0.0154001522263,0.0698190220119,0.999999938081,0.000195527848708,-0.000292229673606,1.44175831205e-05,1793251769421445632
+26,0.433333333,BASELINE,770,746,724.916389151,692,671,642.916389151,889.916389151,790.083610849,821,657,633,657,0.400960047659,-0.0153997143553,0.0698196170268,0.999999938311,0.000195221962536,-0.000291651141646,1.43806045668e-05,1793251769438112256
+27,0.450000000,BASELINE,770,746,724.337858071,692,671,642.337858071,889.337858071,790.662141929,821,657,633,657,0.400961664523,-0.0153981491646,0.0698206805125,0.999999938302,0.000197774443882,-0.000289952610917,1.44541052762e-05,1793251769454778880
+28,0.466666667,BASELINE,770,746.240405479,724.240405479,692,671,642.240405479,889,790.759594521,821,656.759594521,633,657,0.400961946063,-0.0153978679312,0.0698207216256,0.99999993825,0.0001982557784,-0.000289801383103,1.44855233215e-05,1793251769471444992
+29,0.483333333,BASELINE,770,746.818293435,724.818293435,692,671,642.818293435,889,790.181706565,821,656.181706565,633,657,0.400960353069,-0.0153993891238,0.0698193275265,0.999999938141,0.000195829625951,-0.000291822267367,1.4457865497e-05,1793251769488111616
+30,0.500000000,BASELINE,770,746.60661524,725,691.60661524,671,643,889,790,820.60661524,656.39338476,633,657,0.400961485337,-0.0154006699406,0.0698205283901,0.999999938942,0.00019403024086,-0.000290258305035,1.47719488555e-05,1793251769504778240
+31,0.516666667,BASELINE,770,746.032806591,725,691.032806591,671,643,889,790,820.032806591,656.967193409,633,657,0.400963867531,-0.0154018405101,0.0698229194201,0.999999940153,0.000192518319446,-0.000287050171258,1.52427700441e-05,1793251769521444864
+32,0.533333333,BASELINE,770,746.556798372,725,691.556798372,671,643,889.556798372,790,820.556798372,657,633,657,0.400962841521,-0.0153994336923,0.0698218864861,0.999999939142,0.000195617123173,-0.000288501046507,1.47313120096e-05,1793251769538111744
+33,0.550000000,BASELINE,769.855682247,746.855682247,724.855682247,691.855682247,671,643,889.855682247,790,820.855682247,656.855682247,633,657,0.400962011489,-0.0153977662741,0.0698208961387,0.99999993829,0.000197995853722,-0.000289851504026,1.42678158941e-05,1793251769554778368
+34,0.566666667,BASELINE,769.277316494,746.277316494,724.277316494,691.277316494,671,643,889.277316494,790,820.277316494,656.277316494,633,657,0.400962392473,-0.0153989751123,0.0698206583412,0.999999938359,0.000197367992076,-0.000290050230417,1.41277187785e-05,1793251769571444992
+35,0.583333333,BASELINE,769.299478576,746,724,691,671,643,889,790.299478576,820.299478576,656.299478576,633,657,0.400962532562,-0.0153999578979,0.0698207623547,0.999999938826,0.000195330048841,-0.000289818363447,1.41506283551e-05,1793251769588111360
+36,0.600000000,BASELINE,769.874826852,746,724,691,671,643,889,790.874826852,820.874826852,656.874826852,633,657,0.40096245075,-0.0154007324515,0.0698211812333,0.999999939651,0.000191993185283,-0.000289189848218,1.43236942568e-05,1793251769604777984
+37,0.616666667,BASELINE,769.540548485,746,724.459451515,691.459451515,671,643,889.459451515,790.540548485,820.540548485,657,633,657,0.400962483785,-0.0154013788089,0.0698213104909,0.99999993959,0.000192284215259,-0.000289197989158,1.45239484821e-05,1793251769621444864
+38,0.633333333,BASELINE,769.046255895,746.046255895,725,692,671,643,889.953744105,790,820.046255895,656.953744105,633,657,0.400962413592,-0.0154018115203,0.0698212929784,0.999999939243,0.000193655228497,-0.000289473284792,1.4693990253e-05,1793251769638111744
+39,0.650000000,BASELINE,769.628430707,746.628430707,725,692,671,643,889.371569293,790,820.628430707,656.371569293,633,657,0.400960777426,-0.0154001819267,0.0698205080147,0.999999938437,0.000195851530519,-0.00029079281939,1.44264040193e-05,1793251769654780416
+40,0.666666667,BASELINE,770,746.79257203,725,692,671,642.79257203,889.20742797,790,820.79257203,656.20742797,633,657,0.40096016168,-0.015399542348,0.0698200997927,0.999999938087,0.00019660704371,-0.000291494376432,1.42271895134e-05,1793251769671447808
+41,0.683333333,BASELINE,770,746.219180917,725,692,671,642.219180917,889.780819083,790,820.219180917,656.780819083,633,657,0.400961346249,-0.0154006494431,0.0698203562524,0.999999938551,0.000194820587104,-0.00029110564163,1.41486025954e-05,1793251769688113152
+42,0.700000000,BASELINE,770,746.363762969,725,692,671,642.363762969,889.636237031,790.363762969,820,657,633,657,0.40096142699,-0.0154008616004,0.0698202539438,0.999999938818,0.000193915051866,-0.000290795375565,1.40880308564e-05,1793251769704779264
+43,0.716666667,BASELINE,770,746.952617972,725,692,671,642.952617972,889.047382028,790.952617972,820,657,633,657,0.400960824696,-0.0154005199812,0.0698199296339,0.999999938965,0.000193554619963,-0.000290533665002,1.40386066905e-05,1793251769721445376
+44,0.733333333,BASELINE,770,746.46843676,725,692,671,643,889,790.46843676,820,656.46843676,633,657,0.400961373341,-0.0153993687104,0.0698202365593,0.99999993863,0.000196098168716,-0.000289972197098,1.41731802469e-05,1793251769738111744
+45,0.750000000,BASELINE,770,746,724.890505444,692,671,643,889,790,820,656.109494556,633,657,0.40096150004,-0.0153985648127,0.0698202828042,0.999999938235,0.000198115595929,-0.000289958069941,1.42931355682e-05,1793251769754778368
+46,0.766666667,BASELINE,770,746,724.31320145,692,671,643,889,790,820,656.68679855,633,657,0.40095939371,-0.0153995477467,0.0698189793092,0.999999937786,0.000196799504179,-0.000292394494425,1.42818451741e-05,1793251769771444992
+47,0.783333333,BASELINE,770,746,724,692,671,643,889.262735385,790,820.262735385,657,633,657,0.4009593148,-0.0154002296484,0.0698189232001,0.999999938099,0.000194759884773,-0.000292691546034,1.41916022573e-05,1793251769788112128
+48,0.800000000,BASELINE,770,746,724,692,671,643,889.83705097,790,820.83705097,657,633,657,0.400961640225,-0.0154005545531,0.0698203463767,0.999999939315,0.00019186222739,-0.000290451496878,1.40077288483e-05,1793251769804779520
+49,0.816666667,BASELINE,769.5768902,746.4231098,724.4231098,692,671,643,889.5768902,790,820.5768902,656.5768902,633,657,0.400962803617,-0.0154011047153,0.0698212316299,0.99999993977,0.000192134316773,-0.000288694391425,1.41706736954e-05,1793251769821445888
+50,0.833333333,BASELINE,769.013545257,746.986454743,724.986454743,692,671,643,889,790.013545257,820,656.013545257,633,657,0.400963475363,-0.0154017014134,0.0698218826428,0.999999939906,0.000193650533636,-0.000287191204687,1.44617065072e-05,1793251769838112256
+51,0.850000000,BASELINE,769.592500396,746.407499604,724.407499604,692,671,643,889,790.592500396,820,656.592500396,633,657,0.400962838626,-0.0154005160447,0.0698216503915,0.999999939386,0.000194688340723,-0.000288301781882,1.43648530451e-05,1793251769854778624
+52,0.866666667,BASELINE,770,746,724,692,671,643,889,790.838299299,820.161700701,656.838299299,633,657,0.400962271316,-0.0153999098411,0.069821580703,0.999999939136,0.000194877647458,-0.000289043172524,1.42932833217e-05,1793251769871444992
+53,0.883333333,BASELINE,770,746,724,692,671,643,889,790.292283409,820.707716591,656.292283409,633,657,0.400961869018,-0.0154006801433,0.0698218973786,0.99999993953,0.000193050317402,-0.000288907114831,1.42818056426e-05,1793251769888111616
+54,0.900000000,BASELINE,769.718493541,746.281506459,724.281506459,692,671,643,889,790,820.718493541,656,633,657,0.400961831014,-0.0154012996435,0.0698216520624,0.999999939712,0.000191853451355,-0.000289072278969,1.43113322253e-05,1793251769904778496
+55,0.916666667,BASELINE,769.112709887,746.887290113,724.887290113,692,671,643,889,790,820.112709887,656,633,657,0.400962212655,-0.0154017454298,0.0698207593678,0.999999939653,0.00019138283911,-0.000289584431142,1.43880930608e-05,1793251769921445120
+56,0.933333333,BASELINE,769.482155909,746.517844091,724.517844091,691.517844091,671,643,889,790,820,656.482155909,633,657.482155909,0.400962183677,-0.0154002560608,0.0698207578526,0.999999939137,0.00019387677201,-0.000289719607704,1.41612324923e-05,1793251769938111744
+57,0.950000000,BASELINE,770,746,724,691.072669565,671,643,889,790,820,656.927330435,633,657.927330435,0.400962162793,-0.0153987389785,0.0698210523172,0.999999938725,0.000196150371608,-0.00028962125177,1.3940379066e-05,1793251769954778624
+58,0.966666667,BASELINE,770,746,724,691.650283255,671,643,889,790,820,656.349716745,633,657.349716745,0.400962850344,-0.0154001029968,0.0698219879099,0.999999939815,0.000192184307193,-0.00028849895827,1.42435175301e-05,1793251769971445760
+59,0.983333333,BASELINE,770,746.227372606,724,692,671,643,889,790.227372606,820,656.227372606,633,657,0.400963010484,-0.0154009231526,0.0698223007383,0.999999940247,0.000190793405334,-0.000287912784425,1.44840419585e-05,1793251769988112384
+60,1.000000000,BASELINE,770,746.803657426,724,692,671,643,889,790.803657426,820,656.803657426,633,657,0.400962361291,-0.01540090873,0.0698216579106,0.999999939685,0.000193354191169,-0.000288149307126,1.46284827308e-05,1793251770004778752
+61,1.016666667,BASELINE,770,746.612796887,724,692,671,643,889,790.612796887,820.387203113,657,633,657,0.400962364752,-0.0154014596416,0.0698215515128,0.999999939806,0.000192901110355,-0.000288038874817,1.45223478188e-05,1793251770021445120
+62,1.033333333,BASELINE,770,746.025499041,724,692,671,643,889,790.025499041,820.974500959,657,633,657,0.400962705485,-0.0154023027005,0.0698217223257,0.999999940279,0.000190890555224,-0.000287749146748,1.42867230433e-05,1793251770038111744
+63,1.050000000,BASELINE,770,746.55385626,724.55385626,692,671.55385626,643,889.55385626,790,820.44614374,657,633,657,0.400961928152,-0.0154015304401,0.0698210761711,0.999999939612,0.000193232205278,-0.0002885017771,1.43100633147e-05,1793251770054778112
+64,1.066666667,BASELINE,770,747,724.867508209,692,671.867508209,643,889.867508209,790,820,657,633,657,0.400961345706,-0.0154008293747,0.069820635413,0.999999939126,0.000194960303826,-0.000289019974256,1.43282270109e-05,1793251770071444992
+65,1.083333333,BASELINE,770,747,724.290079223,692,671.290079223,643,889.290079223,790,820,657,633,657,0.400961588151,-0.0154006136115,0.0698210089478,0.999999939444,0.000193964578832,-0.000288592011815,1.4289534168e-05,1793251770088112128
+66,1.100000000,BASELINE,770,747,724,692,671,643,889.285769744,790,820,657,633,657,0.400961796931,-0.0154010132382,0.0698214217372,0.999999939624,0.000193602701555,-0.000288203624392,1.44131150712e-05,1793251770104779008
+67,1.116666667,BASELINE,770,747,724,692,671,643,889.860023649,790,820,657,633,657,0.400961971724,-0.0154020341002,0.0698218741539,0.999999939667,0.000193880692736,-0.000287855187922,1.47005110991e-05,1793251770121446144
+68,1.133333333,BASELINE,770,746.554032759,724.445967241,692,671,643,890,790,820.445967241,657,633,657,0.400962094025,-0.0154014840051,0.0698213157953,0.999999939426,0.000194610122345,-0.000288207997062,1.45260181132e-05,1793251770138112256
+69,1.150000000,BASELINE,770,746.035236798,724.964763202,692,671,643,889.964763202,790,821,656.964763202,633,657,0.400962214082,-0.0154005534423,0.069820529751,0.999999939145,0.00019533881219,-0.000288703728531,1.42364981767e-05,1793251770154778624
+70,1.166666667,BASELINE,770,746.617644363,724.382355637,692,671,643,889.382355637,790,821,656.382355637,633,657,0.40096256201,-0.0154015776432,0.0698212671576,0.999999939671,0.000193796514115,-0.000287909000796,1.44726010879e-05,1793251770171445248
+71,1.183333333,BASELINE,770,746.803127698,724,692,671,643,889,790,820.803127698,656.196872302,633,657,0.400962849918,-0.0154017737781,0.0698217811918,0.999999939883,0.000193180534433,-0.000287580561745,1.45716327277e-05,1793251770188111616
+72,1.200000000,BASELINE,770,746.22997682,724,692,671,643,889,790,820.22997682,656.77002318,633,657,0.400963023109,-0.0154003872452,0.0698218682982,0.9999999395,0.000194335010567,-0.000288143331934,1.44086824926e-05,1793251770204778240
+73,1.216666667,BASELINE,770,746,724,692,671,642.655967404,889,790,820,657,633,657,0.400962599891,-0.0153995401139,0.069821851646,0.999999939247,0.000195042801109,-0.00028854528156,1.43759401944e-05,1793251770221445120
+74,1.233333333,BASELINE,770,746,724,692,671,642.081382678,889,790,820,657,633,657,0.400961776992,-0.0153990544606,0.0698217654603,0.999999939081,0.000195451246937,-0.000288839457865,1.44304562578e-05,1793251770238112000
+75,1.250000000,BASELINE,770,746.506013714,724,692,671,642.506013714,889,790.506013714,820,657,633,657,0.400961080292,-0.0153999745818,0.069820734616,0.999999938858,0.000194712889034,-0.000290114846808,1.43178895637e-05,1793251770254778880
+76,1.266666667,BASELINE,770,747,724.094095678,692,671,643,889,790.905904322,820.094095678,657,633,657,0.40096059722,-0.015400905711,0.0698199813445,0.999999938759,0.000193870858775,-0.000291023420101,1.41832193242e-05,1793251770271445760
+77,1.283333333,BASELINE,770,747,724.674790577,692,671,643,889,790.325209423,820.674790577,657,633,657,0.4009611112,-0.0154006941992,0.0698214695823,0.999999939368,0.000193471288806,-0.000289197788442,1.40768185422e-05,1793251770288112384
+78,1.300000000,BASELINE,770,746.748675351,725,692,671,643,889,790,820.748675351,657,633,657,0.400961443147,-0.0154001221325,0.0698220572322,0.999999939328,0.000194947264434,-0.000288339647112,1.41559717216e-05,1793251770304779264
+79,1.316666667,BASELINE,770,746.177437673,725,692,671,643,889,790,820.177437673,657,633,657,0.400961543385,-0.0153990911128,0.069821498517,0.999999938455,0.000198810636143,-0.000288713031617,1.44713179379e-05,1793251770321445888
+80,1.333333333,BASELINE,770,746.399405866,725,692,671,643,889.399405866,790,820.399405866,657,633,657,0.400961285005,-0.0153997584586,0.0698210535685,0.999999938587,0.00019715568405,-0.000289397817761,1.42916512031e-05,1793251770338112000
+81,1.350000000,BASELINE,770,746.978775333,725,692,671,643,889.978775333,790,820.978775333,657,633,657,0.400960865038,-0.0154011910509,0.0698206598808,0.999999939162,0.000193014295537,-0.000290222914745,1.38889424202e-05,1793251770354778368
+82,1.366666667,BASELINE,769.428794838,747,724.428794838,692,671,643,889.428794838,790,820.428794838,657,633,657,0.400962631904,-0.0154000646696,0.069821575581,0.999999939334,0.000195370426874,-0.000288036689664,1.40153576846e-05,1793251770371444992
+83,1.383333333,BASELINE,769.159223263,747,724,692,671,643,889,790,820,657,633,657,0.400963990354,-0.0153994970941,0.0698222929118,0.999999939449,0.000196979969455,-0.000286528109106,1.42298423212e-05,1793251770388111616
+84,1.400000000,BASELINE,769.734418328,747,724,692,671,643,889,790,820,657,633,657,0.400964064562,-0.0154006436263,0.0698223619187,0.999999939476,0.000195993540587,-0.000287089042225,1.46218423157e-05,1793251770404778752
+85,1.416666667,BASELINE,770,747,724.309149163,692,671,643,889.309149163,790,820,657,633,657,0.400962902305,-0.0154005367982,0.0698221386873,0.99999993928,0.000195364279343,-0.000288200876422,1.46229192973e-05,1793251770421445632
+86,1.433333333,BASELINE,770,747,724.883481754,692,671,643,889.883481754,790,820,657,633,657,0.400960679428,-0.0153993548567,0.0698216647783,0.99999993889,0.000195041391088,-0.000289785265112,1.42886684694e-05,1793251770438112000
+87,1.450000000,BASELINE,770,746.527545034,725,692,671,643,890,790,820.472454966,657,633,657,0.400961779954,-0.0154004843528,0.069822094035,0.999999939224,0.000194699865473,-0.000288845133253,1.45717148768e-05,1793251770454778624
+88,1.466666667,BASELINE,770,746.063567652,725,692,671,643,889.936432348,790,821,657,633,657,0.400963380003,-0.0154018347268,0.0698225488497,0.999999939631,0.000194526363218,-0.000287532440264,1.49063705717e-05,1793251770471444992
+89,1.483333333,BASELINE,770,746.641833036,725,692,671,643,889.358166964,790,821,657,633,657,0.400962175996,-0.0154002102717,0.069821349425,0.999999939148,0.000195751727367,-0.000288405525276,1.43868173877e-05,1793251770488111616
+90,1.500000000,BASELINE,770,746.779361376,724.779361376,692,671,643,889,790,820.779361376,656.779361376,633,657,0.400961363572,-0.0153994435416,0.0698206867436,0.999999938894,0.000196010508895,-0.000289128523317,1.40502133723e-05,1793251770504778496
+91,1.516666667,BASELINE,770,746.199676766,724.199676766,692,671,643,889,790,820.199676766,656.199676766,633,657,0.400961188373,-0.0154000725906,0.0698208975069,0.999999939012,0.00019469636711,-0.000289607284234,1.40113232138e-05,1793251770521445376
+92,1.533333333,BASELINE,770,746.37300978,724,692,671.37300978,643,889,790,820.37300978,656.37300978,633,657,0.400961364036,-0.0154007871087,0.0698213443023,0.999999939292,0.000193731083191,-0.000289286055582,1.40326905147e-05,1793251770538112256
+93,1.550000000,BASELINE,770,746.942019214,724,692,671.942019214,643,889,790,820.942019214,656.942019214,633,657,0.400961724061,-0.0154015465369,0.0698219151219,0.999999939657,0.000192949108077,-0.000288544468881,1.40857203631e-05,1793251770554779136
+94,1.566666667,BASELINE,769.468070032,746.468070032,724.531929968,692,671.468070032,643,889,790,820.468070032,657,632.468070032,657,0.400961061933,-0.0154024964652,0.0698210539982,0.999999939325,0.000192824761533,-0.000289767806111,1.42266166475e-05,1793251770571445504
+95,1.583333333,BASELINE,769,746,724.878326182,691.878326182,671,643,889,790,820,657,632.121673818,657,0.400960785179,-0.0154028811659,0.0698205201669,0.999999939086,0.000192989653748,-0.000290479615148,1.43365300553e-05,1793251770588111872
+96,1.600000000,BASELINE,769,746,724.298147443,691.298147443,671,643,889,790,820,657,632.701852557,657,0.400962397658,-0.0154010544647,0.069821831901,0.999999939493,0.000193963319541,-0.000288423725805,1.4292123166e-05,1793251770604778496
+97,1.616666667,BASELINE,769.279669494,746.279669494,724,691.279669494,671,643,889,790,820.279669494,656.720330506,633,656.720330506,0.400963030076,-0.0154004942591,0.069822443718,0.999999939689,0.000194110230977,-0.000287645081865,1.42874458558e-05,1793251770621445120
+98,1.633333333,BASELINE,769.854989633,746.854989633,724,691.854989633,671,643,889,790,820.854989633,656.145010367,633,656.145010367,0.400962626429,-0.0154012729206,0.0698223156226,0.999999939664,0.000193383144777,-0.000288216669074,1.43247683944e-05,1793251770638111744
+99,1.650000000,BASELINE,770,746.561465474,724.438534526,692,671.438534526,643,889,790.438534526,821,656,633,656.438534526,0.400961446245,-0.0154012339825,0.069821483617,0.999999939367,0.000193409410439,-0.000289236259524,1.42134161613e-05,1793251770654778368
+100,1.666666667,BASELINE,770,746,724.975463205,691.975463205,671.975463205,643,889,790.975463205,821,656.024536795,633,657,0.400960108227,-0.0154009552606,0.0698204808629,0.999999939018,0.000193629042817,-0.000290298878113,1.40684081223e-05,1793251770671445248
+101,1.683333333,BASELINE,770,746,724.396561532,691.396561532,671.396561532,643,889,790.396561532,821,656.603438468,633,657,0.400961116531,-0.0154014840122,0.0698209797117,0.999999939635,0.000192481655032,-0.000288922678826,1.42949724468e-05,1793251770688112384
+102,1.700000000,BASELINE,770,746.181680374,724.181680374,691.181680374,671,643,889,790,820.818319626,657,633,657,0.400962045424,-0.0154017634907,0.069821547493,0.999999939967,0.000192434596166,-0.000287794383858,1.4445617878e-05,1793251770704779008
+103,1.716666667,BASELINE,770,746.758487316,724.758487316,691.758487316,671,643,889,790,820.241512684,657,633,657,0.400962801611,-0.015401500839,0.0698222651916,0.999999939683,0.00019478058178,-0.000287205242423,1.44311514906e-05,1793251770721445376
+104,1.733333333,BASELINE,769.669060016,747,724.669060016,692,671,643,889,790,820,657,633,657,0.400963388686,-0.015401691631,0.0698230177183,0.999999939965,0.000194451753492,-0.000286442012946,1.44843135073e-05,1793251770738111744
+105,1.750000000,BASELINE,769.099743674,747,724.099743674,692,671,643,889,790,820,657,633,657,0.400963853949,-0.0154022090389,0.069823795332,0.999999940654,0.000192196254683,-0.000285553387639,1.45861883204e-05,1793251770754778368
+106,1.766666667,BASELINE,769,746.508497606,724,692,671,643,889,790.491502394,820,656.508497606,633,657,0.400962142976,-0.0154025301346,0.0698220688239,0.999999940013,0.000191525511295,-0.00028825376983,1.42239747286e-05,1793251770771444992
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,671,643,890,790,821,657,633,657,0.40095867827,-0.0154000300268,0.0698201571437,0.999999938014,0.00019653491777,-0.000291806856663,1.39796043515e-05,1793251770814460672
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,724.574275711,691,671,643,889.425724289,790,821,657,633,657,0.400960856689,-0.015401299942,0.0698210388042,0.999999939026,0.000194453858212,-0.000289718850041,1.40753770167e-05,1793251770831127040
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,746.852076408,725,691.147923592,671,643,889,790.147923592,820.852076408,656.852076408,633,657,0.400962377448,-0.0154019114421,0.0698217890222,0.999999939714,0.000193081345146,-0.000288255352717,1.41389793529e-05,1793251770847793664
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,746.28022765,725,691.71977235,671,643,889,790.71977235,820.28022765,656.28022765,633,657,0.400962013463,-0.0154006360307,0.0698221625471,0.999999939493,0.000193739411618,-0.000288581597876,1.41103867359e-05,1793251770864460800
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746.304860535,725,692,671,643,889,791,820,656.304860535,633,657,0.400961171218,-0.0154003700688,0.069822024737,0.999999939135,0.000194569976469,-0.000289257614776,1.4232123105e-05,1793251770881127936
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746.902670856,725,692,671,643,889,791,820,656.902670856,633,657,0.400959869397,-0.0154010741176,0.0698213955694,0.999999938644,0.000195566300232,-0.000290269737991,1.44983151834e-05,1793251770897794560
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.48378136,790.51621864,820,657,633,657,0.400961124947,-0.0154017214798,0.0698213517618,0.999999939288,0.000193445094308,-0.000289494150438,1.40174100267e-05,1793251770914460928
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.939490266,725,692,671,643,889.939490266,790.060509734,820,657,633,657,0.40096259922,-0.0154021895949,0.0698214078023,0.999999939986,0.000191229246911,-0.000288577310212,1.34866012537e-05,1793251770931127296
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.372262335,725,692,671,643,889.372262335,790.627737665,820,657,633,657,0.400961740372,-0.015401248982,0.0698213467098,0.99999993935,0.000193297854768,-0.000289388942414,1.37545636588e-05,1793251770947794176
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746,724.795988088,691.795988088,671,643,889,790.795988088,820.204011912,657,633,657,0.400964242127,-0.0154009218867,0.0698229155821,0.999999939613,0.000194448415031,-0.00028768983851,1.40506225504e-05,1793251770964461056
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746,724.202441102,691.202441102,671,643,889,790.202441102,820.797558898,657,633,657,0.400973160534,-0.0154017662263,0.069827596667,0.999999941572,0.000193846078701,-0.000281196799865,1.44003281163e-05,1793251770981127680
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,746,724.383742498,691.383742498,671,643,889,790,820.616257502,656.616257502,633,657,0.400995539438,-0.0154038873826,0.0698367261839,0.999999946097,0.000191823069824,-0.000266037935417,1.52991324339e-05,1793251770997794304
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,746,724.966114775,691.966114775,671,643,889,790,820.033885225,656.033885225,633,657,0.401024885659,-0.0154066694348,0.0698481582637,0.999999951637,0.000189064703464,-0.000246393533598,1.64821569621e-05,1793251771014461184
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,746.54091498,725,692,671,643,889,790.54091498,820.54091498,656.54091498,633,657,0.401080239558,-0.0154095355539,0.0698657853607,0.99999995881,0.000189461729993,-0.000214874539304,1.766959592e-05,1793251771031127552
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.884893769,889,790.884893769,821,657,633,657,0.401138911479,-0.0154119367044,0.0698818875283,0.999999964009,0.000190627437241,-0.000187881996538,1.85397852191e-05,1793251771047793920
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.31126464,889,790.31126464,821,657,633,657,0.401204400268,-0.0154124649758,0.0698903906073,0.999999964469,0.000194078633954,-0.000181842756155,1.81451321909e-05,1793251771064460544
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746.728739942,725,692,671,642.271260058,889.271260058,790.271260058,820.728739942,657,633,657,0.401277756585,-0.0154143584061,0.0698971675322,0.999999965847,0.000194692678445,-0.000173504782007,1.72413594861e-05,1793251771081127168
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746.135661735,725,692,671,642.864338265,889.864338265,790.864338265,820.135661735,657,633,657,0.401360446792,-0.0154178714369,0.0699018965779,0.999999968262,0.000191940775345,-0.000162439630999,1.57335761953e-05,1793251771097793536
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746.443833119,724.556166881,692,671,643,889.556166881,790.556166881,820.443833119,657,633,657,0.401456614346,-0.0154235849546,0.0699039142744,0.999999969088,0.000189179806351,-0.000160744777125,1.40221803804e-05,1793251771114460416
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724.019234543,692,671,643,889,790,821,657,633,657,0.401557685599,-0.0154299091353,0.0699051310711,0.999999969481,0.000186354160443,-0.000161740630221,1.22213041683e-05,1793251771131127040
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724.592767544,692,671,643,889,790,821,657,633,657,0.401684881824,-0.0154350240346,0.0699064412111,0.999999970609,0.0001817421477,-0.000160190152679,9.58204399153e-06,1793251771147793920
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,746.8279781,725,692,671,643,889,790,820.8279781,656.8279781,633,657,0.401821753202,-0.0154404013525,0.0699078051713,0.999999971901,0.000176915479061,-0.000157655296173,6.59815171951e-06,1793251771164460288
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,746.23471353,725,692,671,643,889,790,820.23471353,656.23471353,633,657,0.401982316817,-0.0154464212729,0.0699093009248,0.999999973619,0.000171563167436,-0.000152709918767,2.77033389134e-06,1793251771181127168
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,746.348158815,724.651841185,692,671,643,889,790,820,656,633,657,0.402159109326,-0.01545310481,0.0699106378326,0.999999975293,0.000164735496505,-0.000149248609072,-1.17286256667e-06,1793251771197794048
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,746.924228293,724.075771707,692,671,643,889,790,820,656,633,657,0.402346525561,-0.0154602227623,0.0699118707573,0.999999976902,0.000156942029828,-0.000146758794761,-5.19158821161e-06,1793251771214461184
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,692,671,643,889,790,820.500130453,656.500130453,633,657,0.402567189324,-0.0154689892157,0.0699158421298,0.999999979219,0.000148358139437,-0.000139479308094,-9.86030554924e-06,1793251771231127296
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724.075625931,692,671,643,889.075625931,790,820.924374069,657,633,657,0.402799221742,-0.0154780740885,0.0699208943108,0.999999982005,0.000137623370281,-0.000129755006808,-1.46240046903e-05,1793251771247793664
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724.648613735,692,671,643,889.648613735,790,820.351386265,657,633,657,0.403072905277,-0.0154876110967,0.0699303269197,0.999999987458,0.000113530417266,-0.000108722865519,-1.93649408847e-05,1793251771264460288
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.76936391,747,724.76936391,692,671,643,890,790,820,656.76936391,633,657,0.403358647959,-0.0154969261146,0.0699384631883,0.999999993105,6.72040277965e-05,-9.32595647779e-05,-2.40126015721e-05,1793251771281127168
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.1730158,747,724.1730158,692,671,643,890,790,820,656.1730158,633,657,0.403663512418,-0.0155058891289,0.0699445438925,0.999999995738,-1.43771852875e-05,-8.66265912565e-05,-2.85123580099e-05,1793251771297793536
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.409554956,747,724.409554956,692,671,643,890,790,820,656,633,657,0.403991580116,-0.015515808616,0.0699462549951,0.999999994967,-4.04404223562e-05,-8.53758168265e-05,-3.37879480054e-05,1793251771314460160
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.986494898,747,724.986494898,692,671,643,890,790,820,656,633,657,0.404329130963,-0.0155261190131,0.0699461802429,0.999999994539,-4.38134776252e-05,-8.63247458335e-05,-3.93806208814e-05,1793251771331127040
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889.439143253,790,820.560856747,656.560856747,633,657,0.40470899374,-0.0155232755588,0.0699506315803,0.999999994265,-5.83179860852e-05,-7.76308398694e-05,-4.52027966784e-05,1793251771347793664
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,692.13881221,671,643,889.277624419,790,820.86118779,656.86118779,633,657,0.405101178789,-0.0155177949306,0.0699554559388,0.999999995445,-4.90198360142e-05,-6.86584487608e-05,-4.46465253448e-05,1793251771364460288
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,692.728644483,671,643,890.457288966,790,820.271355517,656.271355517,633,657,0.405530105302,-0.0155047701736,0.0699611398043,0.999999997215,3.84833567224e-05,-5.9532200207e-05,-2.33479223683e-05,1793251771381126912
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.687945458,747,725,693,671,643,891,790.312054542,820.312054542,656.312054542,633,657.312054542,0.405961966292,-0.0154976973158,0.0699552068896,0.999999994908,6.87998687642e-05,-7.1360979863e-05,-1.89038696289e-05,1793251771397793792
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+144,2.400000000,POSE1_TO_POSE2_PRESS,769.468295731,747,725,693,671,643,891,790.531704269,820.531704269,657,633,657.531704269,0.406887267579,-0.0155058619092,0.0699259257856,0.999999992409,2.11126350313e-05,-0.000116279093573,-3.48572266789e-05,1793251771431127040
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.953519993,747,725,693,671,643,891,790,820.046480007,657,633,657.046480007,0.407397123759,-0.0155180767916,0.0699150554977,0.999999991368,-8.56557418849e-06,-0.000125013371862,-3.9515730543e-05,1793251771447793920
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.377665299,747,725,693,671,643,891,790,820.622334701,657,633,657.622334701,0.407970931041,-0.0155210451407,0.0699271942302,0.99999999431,-1.36952597975e-05,-9.8398341577e-05,-3.88675402708e-05,1793251771464460288
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.202468344,747,725,693.202468344,671.202468344,643,891,790.202468344,821,657,633.202468344,658,0.408560218636,-0.0155201045949,0.0699385285322,0.999999996552,-1.03055420698e-05,-7.27264294383e-05,-3.87399324969e-05,1793251771481126912
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.79075582,747,725,693.79075582,671.79075582,643,891,790.79075582,821,657,633.79075582,658,0.409179005136,-0.0155117153462,0.0699483299292,0.999999997979,9.31855977073e-06,-4.88517037299e-05,-3.96043351081e-05,1793251771497793280
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.625902236,747,725,693.625902236,671.625902236,643,891.374097764,791,821,657,634,657.625902236,0.409795878147,-0.0155092607301,0.0699462123974,0.999999997848,9.87343593442e-06,-4.99970268735e-05,-4.13082572864e-05,1793251771514460160
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.045290404,747,725,693.045290404,671.045290404,643,891.954709596,791,821,657,634,657.045290404,0.410411694829,-0.0155100822233,0.0699375152309,0.999999996945,-9.85179943686e-08,-6.49542271511e-05,-4.34756213982e-05,1793251771531126784
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,892,791,821,657,633.469793848,657.530206152,0.411082336164,-0.0155142747313,0.0699423411061,0.999999997048,-5.32188196905e-06,-6.2853956338e-05,-4.38654930605e-05,1793251771547793408
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,725,693.105114704,671,643,892.105114704,791,821,657,633,658,0.411771272982,-0.0155184859733,0.0699533600894,0.999999997759,-1.07230947528e-05,-4.96226326542e-05,-4.36322723109e-05,1793251771564460032
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,725,693.679330326,671,643,892.679330326,791,821,657,633,658,0.412521157819,-0.0155215080348,0.069986911521,0.999999998949,-1.87109136855e-05,6.84348190343e-06,-4.12894671633e-05,1793251771581126656
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.262379956,747,725,694,671,643,893,791,821.262379956,657,633,658,0.413284304404,-0.0155227610671,0.0700124653259,0.999999997831,-2.23990110681e-05,4.73772344779e-05,-3.99055823362e-05,1793251771597793280
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.856602388,747,725,694,671,643,893,791,821.856602388,657,633,658,0.414064223757,-0.0155217767376,0.0700279042154,0.999999996702,-2.06490789132e-05,6.77606961315e-05,-3.97344823851e-05,1793251771614459904
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.563218821,747,724.563218821,693.563218821,671,643,893.873562358,791,822,657,633,657.563218821,0.414789215048,-0.0155170037375,0.069991075564,0.999999998899,-1.73277484637e-05,1.08644125399e-07,-4.36016851058e-05,1793251771631126528
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.012404694,747,724.012404694,693.012404694,671,643,895,790.987595306,822.012404694,656.987595306,633,657,0.415498891531,-0.0155111788838,0.0699382606683,0.999999994284,-1.36104551209e-05,-9.41952497253e-05,-4.87196939718e-05,1793251771647793152
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.584049078,747,724.584049078,693.584049078,671,643,895,790.415950922,822.584049078,656.415950922,633,657,0.416305796587,-0.0155122625347,0.0699142503824,0.999999990381,-1.45756878258e-05,-0.000127621772787,-5.23188679217e-05,1793251771664460544
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,724.839048754,694,671,643,895,790.160951246,823,656,633,657.160951246,0.417127738274,-0.0155143071742,0.0699058218824,0.999999988862,-1.70118897188e-05,-0.000137924078945,-5.44344314162e-05,1793251771681127680
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,724.248099916,694,671,643,895,790.751900084,823,656,633,657.751900084,0.417989851798,-0.015518919192,0.0699390217066,0.999999994607,-2.33779350859e-05,-8.64476901416e-05,-5.25863787902e-05,1793251771697794048
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.664530572,747,724.335469428,694,671,643,895,791,823.335469428,656,633.335469428,657.664530572,0.418893447213,-0.0155239402426,0.06997060172,0.999999997554,-2.86371475553e-05,-3.92917766608e-05,-5.02781439257e-05,1793251771714460416
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.086301366,747,724.913698634,694,671,643,895,791,823.913698634,656,633.913698634,657.086301366,0.419827060631,-0.0155292572863,0.0700010095688,0.999999998306,-3.30954089324e-05,4.73765701417e-06,-4.76369019246e-05,1793251771731127296
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.507989936,747,725,694.492010064,671,643,895.492010064,791,824,656,633.507989936,657.492010064,0.420755919246,-0.0155335910454,0.0700225695359,0.999999997363,-4.24625676804e-05,3.60093463845e-05,-4.66250135817e-05,1793251771747793920
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.140002058,747,725,695,671,643,896,790.929998971,824.070001029,656.070001029,633,657.929998971,0.421675324438,-0.0155365029831,0.0700346559418,0.999999996209,-5.14531260675e-05,5.25901946578e-05,-4.65723920829e-05,1793251771764460288
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.291146026,747,725,695,671,643,896,790.354426987,824.645573013,656.645573013,633,657.354426987,0.422532477933,-0.0155303919185,0.0699895318093,0.999999997138,-5.15039234783e-05,-2.07664558183e-05,-5.13834450074e-05,1793251771781126656
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.773225856,747,725,695,670.773225856,643.226774144,896,790,825,656.773225856,633,657,0.423375233103,-0.015524299388,0.0699301017124,0.99999999059,-5.07571681267e-05,-0.000113373117938,-5.82320131745e-05,1793251771797793536
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.183002853,747,725,695,670.183002853,643.816997147,896,790,825,656.183002853,633,657,0.424194912341,-0.0155182365609,0.0698477435696,0.999999968432,-4.8732182034e-05,-0.000236831609633,-6.83460890328e-05,1793251771814460160
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.601032973,695,670,643.601032973,896.398967027,790,825,656,633.398967027,657.398967027,0.425172936498,-0.0155233508444,0.0698545050546,0.999999972208,-5.69527171666e-05,-0.000218345948437,-6.82995937689e-05,1793251771831127040
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.022772044,695,670,643.022772044,896.977227956,790,825,656,633.977227956,657.977227956,0.426222120068,-0.015533488069,0.0699013164856,0.99999998628,-6.97775412782e-05,-0.000136071246196,-6.36869850255e-05,1793251771847794176
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.550907103,695,670.550907103,643,897.550907103,790,825.550907103,656.550907103,634,658,0.42722904624,-0.0155352307264,0.0699621400642,0.999999994313,-6.69436229579e-05,-5.85018058659e-05,-5.89133666726e-05,1793251771864460800
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,695.128245257,671,643,898.128245257,790,826.128245257,657,634,657.871754743,0.428233707399,-0.0155366499649,0.0700179473154,0.99999999628,-6.47770329566e-05,1.65173868747e-05,-5.45128743954e-05,1793251771881127936
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,695.719470912,671,643,898.719470912,790,826.719470912,657,634,657.280529088,0.429236445435,-0.0155381439796,0.0700535713019,0.999999992961,-6.7336997863e-05,8.30262387921e-05,-5.14832407965e-05,1793251771897793792
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724.695646797,695.695646797,671,643,898.695646797,790.304353203,827,657,633.695646797,657.304353203,0.430190760998,-0.0155365124964,0.0700449023448,0.999999993997,-6.54417229241e-05,7.03116032841e-05,-5.27317945391e-05,1793251771914460160
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724.116491984,695.116491984,671,643,898.116491984,790.883508016,827,657,633.116491984,657.883508016,0.431101355681,-0.0155320589897,0.0699962411265,0.999999996458,-5.95237954922e-05,-1.39342097237e-05,-5.78431391579e-05,1793251771931126528
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,724,695,670.539512211,643,898,790.079024422,827,656.539512211,633.460487789,657.539512211,0.432002878886,-0.0155268761266,0.0699282616589,0.999999988402,-5.49465721456e-05,-0.000126903557173,-6.38173610404e-05,1793251771947793408
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.963240163,747,724,695.036759837,670.036759837,643,898.036759837,789.036759837,827,656.036759837,634,657,0.432910526836,-0.0155222631388,0.069863828157,0.999999969268,-5.1906160898e-05,-0.000232296513149,-6.9346973682e-05,1793251771964460032
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.389308016,747,724,695.610691984,670.610691984,643,898.610691984,789.610691984,827,656.610691984,634,657,0.43394105201,-0.0155286613196,0.0699222906749,0.999999988315,-6.63903086917e-05,-0.000121291352706,-6.52046749055e-05,1793251771981126656
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,724,696,671,643,899.190096319,790,827,657,634,657.190096319,0.43495382311,-0.0155343594813,0.0699761637967,0.999999994793,-7.78479802536e-05,-2.42953362073e-05,-6.13521253076e-05,1793251771997793280
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,724,696,671,643,899.781039702,790,827,657,634,657.781039702,0.435929157234,-0.0155385815475,0.0700203594884,0.999999993942,-8.29238693011e-05,4.31602831007e-05,-5.81105565012e-05,1793251772014459904
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.364668256,747,724,696,671,643,900,789.635331744,827,657,634,658,0.436899063128,-0.0155437492788,0.0700364291708,0.999999991559,-8.80739245681e-05,7.69767891877e-05,-5.65589715078e-05,1793251772031126528
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.943991047,747,724,696,671,643,900,789.056008953,827,657,634,658,0.437865773746,-0.0155494736565,0.0700359430483,0.999999989943,-9.32676361045e-05,9.0992312963e-05,-5.6002161331e-05,1793251772047793408
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.480756693,747,724,696,671,643.519243307,899.480756693,789,827.519243307,657,633.480756693,658,0.438714796865,-0.015542336552,0.0699654778388,0.999999993708,-9.14671738355e-05,-1.97420661112e-05,-6.18647207307e-05,1793251772064460032
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,724.095998154,696,671.095998154,643.904001846,899,789,828,656.904001846,633.095998154,658,0.439548570764,-0.0155345763279,0.0698928914742,0.999999984671,-8.8025537769e-05,-0.000135270352052,-6.79014657279e-05,1793251772081126656
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,724.682659694,696,671.682659694,643.317340306,899,789,828,656.317340306,633.682659694,658,0.440368782515,-0.0155306669264,0.0698477446044,0.999999972819,-8.00216466097e-05,-0.000207058430618,-7.13168806623e-05,1793251772097794048
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.265595305,725,696.265595305,672,643,899.265595305,789,828,656.265595305,634,658,0.441257549707,-0.0155327724009,0.0698592767393,0.999999976977,-7.90956700546e-05,-0.000186654182716,-7.03595190312e-05,1793251772114461184
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.844140623,725,696.844140623,672,643,899.844140623,789,828,656.844140623,634,658,0.442227095475,-0.0155419651828,0.0699375935492,0.999999992534,-8.65095753786e-05,-5.76200340903e-05,-6.42497293747e-05,1793251772131127296
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643,900,789,828,657,634,658,0.443141734166,-0.0155469143935,0.0699945619718,0.999999993622,-9.35612358289e-05,2.07802553831e-05,-5.97454193356e-05,1793251772147793920
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643,900,789,828,657,634,658,0.444036126732,-0.0155502988484,0.0700436584867,0.999999990152,-0.000100479324306,8.05100405887e-05,-5.58331066033e-05,1793251772164460800
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.577163122,747.422836878,725,697,672,643,900,789,828,656.422836878,634,658,0.444871972325,-0.0155539111247,0.0700280250877,0.999999990873,-0.000110511394432,5.17766894053e-05,-5.79678181675e-05,1793251772181127424
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.843015032,747.156984968,725,697,672,643,900,789,828,656,634,658,0.445679659867,-0.015556454178,0.0700070486949,0.999999991148,-0.00011717982592,1.90747959787e-05,-6.00785989903e-05,1793251772197794304
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.256308332,747.743691668,725,697,672,643,900,789,828,656,634,658,0.446410309221,-0.0155560702468,0.0699714907795,0.999999991201,-0.000114638705482,-2.44301126985e-05,-6.21197550022e-05,1793251772214460672
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.326164555,900.326164555,789,828.326164555,656.326164555,634,658,0.44711025196,-0.0155521936284,0.0699324686674,0.999999987938,-0.000109246331579,-8.96905972385e-05,-6.43773141363e-05,1793251772231127040
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.905353005,900.905353005,789,828.905353005,656.905353005,634,658,0.447786373834,-0.0155456075395,0.0698907591884,0.999999977841,-0.000101642082277,-0.00017182808283,-6.68027487503e-05,1793251772247793920
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,725,696.517811385,672,644,900.517811385,789,829,656.517811385,634,658,0.448518476023,-0.0155454791016,0.0698954989027,0.999999980459,-9.35578545982e-05,-0.00016118456664,-6.59447290681e-05,1793251772264460544
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643.941473429,900.058526571,789,829,656.058526571,634,658,0.44926299922,-0.0155473281194,0.0699137045609,0.999999986154,-8.7386775641e-05,-0.000126199388699,-6.42574833224e-05,1793251772281126912
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643.365472035,900.634527965,789,829,656.634527965,634,658,0.450020662989,-0.0155555083537,0.0699707507609,0.999999992592,-9.89601576962e-05,-3.62324130506e-05,-6.09092456723e-05,1793251772297794304
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.785949999,725,696,672,643,901,789,829,656.785949999,634,658,0.450720674827,-0.0155616682753,0.0700042086948,0.999999992803,-0.000103051651581,1.58625974137e-05,-5.93454634305e-05,1793251772314461440
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.200316305,725,696,672,643,901,789,829,656.200316305,634,658,0.451320604748,-0.0155643210002,0.069996718176,0.999999993712,-9.41548360285e-05,2.21312439675e-06,-6.08794375599e-05,1793251772331128320
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747.384956733,725,696,672.384956733,643.384956733,901,789,829,656,634,658,0.451889899529,-0.0155640342825,0.0699636833234,0.999999991727,-0.000104079719049,-4.33242831303e-05,-6.19321158586e-05,1793251772347795456
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747.970042331,725,696,672.970042331,643.970042331,901,789,829,656,634,658,0.452443267961,-0.0155622194261,0.0699173686438,0.999999984812,-0.000123789506129,-0.000105439388816,-6.27345810626e-05,1793251772364462336
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+263,4.383333333,HOLD_POSE2,767.876063795,748,725,695,671,643,902,786,829.876063795,656.123936205,633,658,0.45953887299,-0.0156049778205,0.0697196733369,0.999999893657,-0.000164648773194,-0.000425504842078,-6.72445514845e-05,1793251773431943680
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+265,4.416666667,HOLD_POSE2,767.298002848,748,725,695,671.298002848,643,902,786,829.298002848,657,633,658.298002848,0.459538779907,-0.0156042606086,0.0697196467861,0.999999893861,-0.000164073026329,-0.000425200212899,-6.75506241007e-05,1793251773465277440
+266,4.433333333,HOLD_POSE2,767.876515098,748,725,695,671.876515098,643,902,786,829.876515098,657,633,658.876515098,0.459538822759,-0.0156039766447,0.0697189695429,0.999999893303,-0.000165511698677,-0.000425933761194,-6.76828268218e-05,1793251773481944576
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,672,642,902,786,829,656,633,658,0.45953767966,-0.0156041541758,0.0697200553094,0.999999892675,-0.000165945662665,-0.000427284164845,-6.73873318814e-05,1793251773514627840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.590729114,671.409270886,642.590729114,902,786,829.590729114,656,633,658.590729114,0.459539010245,-0.0156028874766,0.0697209439083,0.999999894251,-0.000162738027606,-0.000424801692749,-6.75154834579e-05,1793251773531294208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.822073693,671.177926307,643,902,786,830,656,633,659,0.459539958224,-0.0156022048796,0.0697215046231,0.999999895187,-0.000160942755454,-0.00042326919859,-6.75822910657e-05,1793251773547960576
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.336056888,671.663943112,643,902,786,829.663943112,656,633,658.663943112,0.459539371091,-0.0156045455656,0.0697202965039,0.999999893823,-0.00016470241689,-0.000425119539642,-6.7088483954e-05,1793251773581294080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.914716647,671.085283353,643,902,786,829.085283353,656,633,658.085283353,0.459538152304,-0.0156070246325,0.0697186532184,0.999999892634,-0.000167778696639,-0.000426814591634,-6.64130502039e-05,1793251773597960704
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.068070003,748,725,695,671.931929997,642.931929997,902,786,829,656.068070003,633,658,0.459540094043,-0.0156043965548,0.0697197868383,0.999999893916,-0.000164133065838,-0.00042509147603,-6.72772868757e-05,1793251773631293184
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.654259795,748,725,695,671.345740205,642.345740205,902,786,829,656.654259795,633,658,0.459536109338,-0.0156033167364,0.0697170166075,0.999999892319,-0.000165182052626,-0.00042834389738,-6.78174640955e-05,1793251773647959808
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.184499007,748,725.815500993,695.815500993,671,642.815500993,901.184499007,786,829,656.184499007,633,658.815500993,0.459518025552,-0.0156012445658,0.0697073815722,0.999999886685,-0.000164716589649,-0.000441429720292,-6.81011243435e-05,1793251773681292800
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747.123290104,725,695,672,643,901.123290104,786,830,656,633,658,0.459335922668,-0.0155925188588,0.0696368754629,0.999999838579,-0.000162021518629,-0.000539687457512,-7.30012294132e-05,1793251773747959552
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.941824052,671.941824052,642.941824052,901,786,829,656,633,658,0.458137092737,-0.0155377786571,0.069654955728,0.999999853829,-0.000128113604469,-0.000522736168037,-5.17290628069e-05,1793251773914626048
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,643,901,786.514602396,829.514602396,656,633,658,0.457928174694,-0.0155271111606,0.0696632482642,0.99999986,-0.00012034519894,-0.000513039288811,-4.80472243389e-05,1793251773931292928
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.735311881,671,643,901,787.470623761,829,657,633,658,0.457205565472,-0.0154998181492,0.0697050779103,0.999999893772,-9.0514156985e-05,-0.000450784943436,-3.24961168863e-05,1793251773981292800
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.156888735,671,643,901,786.313777471,829,657,633,658,0.456923593759,-0.0154930432077,0.0697231826085,0.999999907171,-8.29742523119e-05,-0.000421994395185,-2.63363960239e-05,1793251773997959424
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.259268861,748,725,695,672,643,900.259268861,788.259268861,829,657,633.740731139,658,0.455035486748,-0.0154815110629,0.069722712172,0.999999907502,2.75831470495e-05,-0.000429220490242,2.16766307276e-06,1793251774081293056
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.480037481,725,695,672.480037481,643,900,788,829,656.480037481,633.480037481,658,0.453639428996,-0.0154678231733,0.0697278448956,0.999999916103,6.0909357357e-05,-0.000404695749315,1.74617267902e-05,1793251774131292928
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747.233698991,724.233698991,695.766301009,672,643,898.467397981,789,827.233698991,656.766301009,633.233698991,657.233698991,0.442547672205,-0.0154348409824,0.06980774354,0.999999954688,8.60756857538e-05,-0.00028717167652,2.73368370975e-05,1793251774397959936
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b12dd1bdf22fb77f77c85cf7e397150812f2ca5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.585803303957,-0.00999468843457,1.06002114784,0.556374646332,-0.00132228385887,1.05963251794
+390,6.500000000,pose2_to_pose3_retreat,0.58578720542,-0.00999489532366,1.06002115649,0.5563585512,-0.00132247931666,1.05963252386
+391,6.516666667,pose2_to_pose3_retreat,0.585775250321,-0.00999489321458,1.06002092899,0.556346595113,-0.00132248048844,1.05963229794
+392,6.533333333,pose2_to_pose3_retreat,0.585766911357,-0.00999483085052,1.06002076764,0.556338254533,-0.00132242336935,1.0596321419
+393,6.550000000,pose2_to_pose3_retreat,0.585761356361,-0.00999478378454,1.06002073566,0.556332698762,-0.00132237863532,1.0596321166
+394,6.566666667,pose2_to_pose3_retreat,0.585758403371,-0.00999480696547,1.06002096445,0.556329746039,-0.00132240120232,1.05963233873
+395,6.583333333,pose2_to_pose3_retreat,0.585756309699,-0.00999482440488,1.06002113179,0.556327652571,-0.00132241816784,1.05963250114
+396,6.600000000,pose2_to_pose3_retreat,0.585755011648,-0.00999476365516,1.0600211174,0.556326353698,-0.00132236017988,1.05963248748
+397,6.616666667,pose2_to_pose3_retreat,0.585754284293,-0.00999471354692,1.06002108281,0.556325625669,-0.00132231230523,1.05963245416
+398,6.633333333,pose2_to_pose3_retreat,0.585753932031,-0.00999468927918,1.06002106606,0.55632527308,-0.00132228911923,1.05963243802
+399,6.650000000,pose2_to_pose3_retreat,0.585753548911,-0.00999466288565,1.06002104785,0.556324889605,-0.0013222639022,1.05963242046
+400,6.666666667,pose2_to_pose3_retreat,0.585753158583,-0.00999463599554,1.06002102929,0.556324498916,-0.00132223821073,1.05963240258
+401,6.683333333,pose2_to_pose3_retreat,0.58575286413,-0.00999462121794,1.06002101405,0.556324204262,-0.00132222409765,1.05963238778
+402,6.700000000,pose2_to_pose3_retreat,0.585752474158,-0.00999465132154,1.06002098275,0.556323814669,-0.00132225291947,1.05963235635
+403,6.716666667,pose2_to_pose3_retreat,0.585752087418,-0.00999468117563,1.0600209517,0.556323428305,-0.00132228150239,1.05963232518
+404,6.733333333,pose2_to_pose3_retreat,0.585752043769,-0.0099946845451,1.0600209482,0.556323384698,-0.00132228472839,1.05963232166
+405,6.750000000,pose2_to_pose3_retreat,0.58575186197,-0.00999469857894,1.06002093361,0.556323203076,-0.00132229816468,1.05963230701
+406,6.766666667,pose2_to_pose3_retreat,0.585751776356,-0.00999470518785,1.06002092673,0.556323117546,-0.00132230449219,1.05963230011
+407,6.783333333,pose2_to_pose3_retreat,0.585751595795,-0.00999471912607,1.06002091224,0.556322937161,-0.00132231783693,1.05963228556
+408,6.800000000,pose2_to_pose3_retreat,0.585751352631,-0.00999477080803,1.06002093701,0.556322694674,-0.00132236726996,1.05963230918
+409,6.816666667,pose2_to_pose3_retreat,0.585751332093,-0.00999477817586,1.06002094315,0.556322674234,-0.00132237431558,1.05963231512
+410,6.833333333,pose2_to_pose3_retreat,0.585751242551,-0.0099948102992,1.06002096989,0.556322585117,-0.00132240503409,1.05963234101
+411,6.850000000,pose2_to_pose3_retreat,0.585751209329,-0.00999482221743,1.06002097981,0.556322552053,-0.00132241643111,1.05963235062
+412,6.866666667,pose2_to_pose3_retreat,0.585751138721,-0.00999484754806,1.0600210009,0.55632248178,-0.00132244065397,1.05963237103
+413,6.883333333,pose2_to_pose3_retreat,0.585750969522,-0.00999490283002,1.0600211291,0.556322313592,-0.00132249262091,1.05963249666
+414,6.900000000,pose2_to_pose3_retreat,0.585750849459,-0.00999493777601,1.06002128147,0.556322194411,-0.00132252469266,1.05963264642
+415,6.916666667,pose2_to_pose3_retreat,0.58575083953,-0.00999494066593,1.06002129407,0.556322184555,-0.00132252734489,1.0596326588
+416,6.933333333,pose2_to_pose3_retreat,0.58575083953,-0.00999494066593,1.06002129407,0.556322184555,-0.00132252734493,1.0596326588
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..384a1bd7efffe7ff5f3c527769996c346bfceb4d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1bdced2a5c15efa05c4adb5387463747cc9a5b3f4df892567e536c3ab7a34fa
+size 26053276
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3272b00dadd9433021c4cacab83ee3680be3eaf7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+42,0.700000000,BASELINE,770,747,725,694,671,643,890.610371171,790,821,656,633,657,0.401044068388,-0.0154810151919,0.0798704547887,0.99999997908,0.000144629916339,-0.000138515142863,4.16590185093e-05,1793251777948640768
+43,0.716666667,BASELINE,770,747,725,694,671,643,890.034008628,790,821,656,633,657,0.401043185597,-0.0154794652726,0.0798697724181,0.999999978789,0.000145092944465,-0.000140274076622,4.1137391776e-05,1793251777965307392
+44,0.733333333,BASELINE,770,746.462576878,725,693.462576878,671,643,890.537423122,790.537423122,821,656.537423122,633,657,0.401043966117,-0.0154799621488,0.0798707146273,0.999999979233,0.000142842883161,-0.000139341774469,4.1391739673e-05,1793251777981974016
+45,0.750000000,BASELINE,769.887793371,746.112206629,725,693,671,643,891,790.887793371,821,656.887793371,633,657,0.401044744562,-0.0154805117657,0.079871529605,0.999999979593,0.000141125883221,-0.000138437037442,4.16242420313e-05,1793251777998640640
+46,0.766666667,BASELINE,769.297408585,746.702591415,725,693,671,643,891,790.297408585,821,656.297408585,633,657,0.401045069685,-0.0154807391854,0.0798713682453,0.999999979424,0.000142405576695,-0.00013836893816,4.15562876295e-05,1793251778015307264
+47,0.783333333,BASELINE,769,747,725,693.286874237,671,643,890.713125763,790,821,656,633,657.286874237,0.401044862492,-0.0154811261669,0.079871112631,0.999999979267,0.000143194310757,-0.000138720187175,4.14605213363e-05,1793251778031974144
+48,0.800000000,BASELINE,769,747,725,693.86496285,671,643,890.13503715,790,821,656,633,657.86496285,0.40104411493,-0.0154816751241,0.0798707613362,0.999999979122,0.000143484657801,-0.000139497128825,4.13365223756e-05,1793251778048640768
+49,0.816666667,BASELINE,769.441300917,747,725.441300917,693.558699083,671.441300917,643,890,790.441300917,821,656,633,657.558699083,0.401044169053,-0.0154813291114,0.0798705705046,0.999999979058,0.000143700902997,-0.000139669473629,4.15615309844e-05,1793251778065307392
+50,0.833333333,BASELINE,769.982447441,747,725.982447441,693.017552559,671.982447441,643,890,791,820.982447441,656,633,657,0.401044479338,-0.0154807453905,0.0798704615273,0.999999979028,0.000143859111082,-0.000139624271978,4.18720858881e-05,1793251778081974272
+51,0.850000000,BASELINE,769.391590643,747,725.391590643,693.608409357,671.391590643,643,890,791,820.391590643,656,633,657,0.401045175569,-0.0154813070917,0.0798714286665,0.999999979344,0.000142859391192,-0.000138492333124,4.15023763573e-05,1793251778098641152
+52,0.866666667,BASELINE,769,747,725,694,671,643,889.804894892,791,820.195105108,656.195105108,633,657,0.401045264989,-0.0154815696703,0.0798716844125,0.999999979468,0.000142321161595,-0.000138234764923,4.12303772258e-05,1793251778115307520
+53,0.883333333,BASELINE,769,747,725,694,671,643,889.226376317,791,820.773623683,656.773623683,633,657,0.401044161925,-0.0154812444238,0.0798705421542,0.999999979216,0.000142689836011,-0.000139695478224,4.11503950423e-05,1793251778131974144
+54,0.900000000,BASELINE,769.350129702,747,725,693.649870298,671,643,889.350129702,791,821,657,633,657,0.401043293098,-0.015481265639,0.0798698841044,0.999999978951,0.000143554229983,-0.00014065708248,4.12969423159e-05,1793251778148640768
+55,0.916666667,BASELINE,769.925341919,747,725,693.074658081,671,643,889.925341919,791,821,657,633,657,0.401042574852,-0.0154815095787,0.0798695373304,0.999999978678,0.000144737299576,-0.000141297832097,4.15891151125e-05,1793251778165307904
+56,0.933333333,BASELINE,770,747,725,693.500139385,671,643,890,791,821,657,633,657,0.401043481353,-0.0154804644675,0.0798703377456,0.999999978951,0.000144108581106,-0.000140141001262,4.11279778987e-05,1793251778181974272
+57,0.950000000,BASELINE,770,747,725,693.922921897,671,643,890,791,821,657,633,657.077078103,0.401044461753,-0.0154794198119,0.0798712574848,0.99999997922,0.000143610932996,-0.000138855284953,4.06801054272e-05,1793251778198640896
+58,0.966666667,BASELINE,770,747,725,693.331275611,671,643,890,791,821,657,633,657.668724389,0.401044317691,-0.0154796617342,0.0798718315416,0.999999978938,0.000145792337611,-0.000138499027289,4.10708743572e-05,1793251778215307264
+59,0.983333333,BASELINE,769.754579535,747,725,693,671,643,890,790.754579535,821,656.754579535,633,657.754579535,0.401043804674,-0.015479822595,0.0798716207241,0.999999978648,0.000147188456879,-0.000138978532306,4.15270058146e-05,1793251778231973888
+60,1.000000000,BASELINE,769.196904879,747,725,693,671,643,890,790.196904879,821,656.196904879,633,657.196904879,0.401042822226,-0.0154798803194,0.079870411293,0.999999978351,0.000147585439555,-0.000140521397656,4.20662995961e-05,1793251778248640768
+61,1.016666667,BASELINE,769,747,725,693,671,643,890,790,821,656.383172234,633,657,0.401042951168,-0.0154805838414,0.0798700173493,0.999999978493,0.000146559851443,-0.000140636232857,4.18891396822e-05,1793251778265307648
+62,1.033333333,BASELINE,769,747,725,693,671,643,890,790,821,656.975476369,633,657,0.401043686697,-0.0154816398339,0.0798700684914,0.999999978873,0.00014475783718,-0.000139971662165,4.13209458601e-05,1793251778281974016
+63,1.050000000,BASELINE,769,746.450634975,725,693,671,643,890,790,821,656.450634975,633,657,0.401043777652,-0.0154818408011,0.0798711904996,0.999999979195,0.000143422321055,-0.000139007038714,4.14413294013e-05,1793251778298640896
+64,1.066666667,BASELINE,769.127438214,746,725,693,671,643,890,790,820.872561786,656,633,657,0.401043599087,-0.0154814882575,0.0798718366399,0.999999979327,0.000142904608442,-0.000138573940466,4.14809469871e-05,1793251778315307520
+65,1.083333333,BASELINE,769.72383707,746,725,693,671,643,890,790,820.27616293,656,633,657,0.40104253116,-0.0154792347467,0.0798705614247,0.999999978775,0.000145322189345,-0.000140144496257,4.11139089944e-05,1793251778331974144
+66,1.100000000,BASELINE,770,746.310973556,725.310973556,693,671,643,890.310973556,790,820.310973556,656,633,657,0.401042139586,-0.0154789429991,0.079869961573,0.999999978663,0.000145362876479,-0.000140976615818,4.08667684519e-05,1793251778348640512
+67,1.116666667,BASELINE,770,746.890122391,725.890122391,693,671,643,890.890122391,790,820.890122391,656,633,657,0.401042331279,-0.0154803430236,0.0798699441368,0.999999978931,0.000143353793854,-0.000141171927639,4.07230242839e-05,1793251778365307392
+68,1.133333333,BASELINE,770,747,725.534809373,693.465190627,671,643,890.534809373,790,821,656.465190627,633,657,0.401043451823,-0.0154814481912,0.0798703463183,0.999999979317,0.000142113055497,-0.000139649846147,4.08508621733e-05,1793251778381974272
+69,1.150000000,BASELINE,769.959647768,747,725,693.959647768,671,643,890.040352232,790,821,656.959647768,633,657,0.401044586771,-0.0154824049085,0.0798707916226,0.999999979682,0.000141071880205,-0.000138027537334,4.10280349392e-05,1793251778398640896
+70,1.166666667,BASELINE,769.370215234,747,725,693.370215234,671,643,890.629784766,790,821,656.370215234,633,657,0.401042958344,-0.0154822810633,0.079870486782,0.999999979445,0.000140298208765,-0.00014051313216,4.10112403444e-05,1793251778415307776
+71,1.183333333,BASELINE,769.215671119,747,725,693,671.215671119,643,890.784328881,790,821,656.215671119,633,657,0.401042460167,-0.0154812512711,0.0798707101226,0.999999979162,0.000141473703855,-0.000141346971857,4.10133258278e-05,1793251778431974400
+72,1.200000000,BASELINE,769.795568759,747,725,693,671.795568759,643,890.204431241,790,821,656.795568759,633,657,0.401043870761,-0.0154786915107,0.0798718254586,0.999999978793,0.000145940961524,-0.000139391319192,4.10472960839e-05,1793251778448641024
+73,1.216666667,BASELINE,770,747,725.374830715,693,671.625169285,643,890.374830715,790,821,656.625169285,633,657,0.401045249662,-0.0154783951082,0.0798729936887,0.999999979014,0.00014641073024,-0.000137243895642,4.12218671794e-05,1793251778465307904
+74,1.233333333,BASELINE,770,747,725.953746524,693,671.046253476,643,890.953746524,790,821,656.046253476,633,657,0.401046611309,-0.0154793310424,0.0798741907182,0.999999979559,0.000144703975056,-0.000134992058195,4.14729915926e-05,1793251778481975040
+75,1.250000000,BASELINE,770,747,725.476077802,693.523922198,671,643,891,790.523922198,821,656.523922198,633,657.523922198,0.401044483316,-0.0154800025672,0.0798721314166,0.999999979375,0.000143352707353,-0.000137901859213,4.10335727056e-05,1793251778498641664
+76,1.266666667,BASELINE,770,747,725.097774534,693.902225466,671,643,891,791,821,657,633,657.902225466,0.401042473756,-0.0154803576314,0.0798701339555,0.999999979095,0.000142712809575,-0.000140673464912,4.06643899085e-05,1793251778515308032
+77,1.283333333,BASELINE,770,747,725.694250784,693.305749216,671,643,891,791,821,657,633,657.305749216,0.401042613835,-0.0154792156872,0.0798698941481,0.999999978706,0.000145543827765,-0.000140454102213,4.09592911591e-05,1793251778531974144
+78,1.300000000,BASELINE,769.718615693,747,725.718615693,693,671,643,891,790.718615693,821,656.718615693,633,657.281384307,0.401042931872,-0.0154792317804,0.0798699933333,0.999999978682,0.000145948868013,-0.000140209021657,4.09371680731e-05,1793251778548640512
+79,1.316666667,BASELINE,769.14130768,747,725.14130768,693,671,643,891,790.14130768,821,656.14130768,633,657.85869232,0.401043437064,-0.0154804657478,0.0798704490272,0.999999979046,0.000143802577524,-0.000139936894392,4.05816396794e-05,1793251778565307392
+80,1.333333333,BASELINE,769.43552027,747,725,693,671,643,890.56447973,790,821,656,633,657.56447973,0.401044630736,-0.0154807973901,0.0798716754389,0.999999979194,0.000144126889076,-0.000138448686084,4.08944645068e-05,1793251778581974016
+81,1.350000000,BASELINE,769.9876047,747,725,693,671,643,890,790,821,656,633,657,0.401045993008,-0.0154808178509,0.0798731080318,0.99999997926,0.000145251918009,-0.000136628638406,4.14111770355e-05,1793251778598640896
+82,1.366666667,BASELINE,769.40134889,747,725,693,671,643,890,790,821,656,633,657,0.401044830388,-0.015479970805,0.0798725216992,0.999999978953,0.000146376730878,-0.000137692526066,4.13387384068e-05,1793251778615307520
+83,1.383333333,BASELINE,769,747,725,693.182025151,671,643,890,790,821,656.182025151,632.817974849,657,0.401044121576,-0.0154796268933,0.0798722188021,0.999999978845,0.000146587853771,-0.000138241239106,4.13658059096e-05,1793251778631974144
+84,1.400000000,BASELINE,769,747,725,693.759144294,671,643,890,790,821,656.759144294,632.240855706,657,0.401044397778,-0.0154803750572,0.0798725311145,0.999999979172,0.000144815770621,-0.000137671742058,4.16088560495e-05,1793251778648641280
+85,1.416666667,BASELINE,769,746.663770164,725,693.663770164,670.663770164,643,890,790,821,656.663770164,632.336229836,657,0.401044084872,-0.0154804591563,0.0798721575487,0.999999979292,0.000143671178455,-0.000138059367425,4.14144343956e-05,1793251778665308160
+86,1.433333333,BASELINE,769,746.086708725,725,693.086708725,670.086708725,643,890,790,821,656.086708725,632.913291275,657,0.401043350006,-0.0154800676052,0.0798712927084,0.999999979263,0.000142976039848,-0.000139132551637,4.09066644674e-05,1793251778681975040
+87,1.450000000,BASELINE,769.487021583,746.487021583,725,693.487021583,670.487021583,643,890,790,820.512978417,656.487021583,633,657,0.401043716978,-0.0154807278653,0.0798711674951,0.999999979365,0.000142508681087,-0.000138816634936,4.11226223841e-05,1793251778698641152
+88,1.466666667,BASELINE,769.937800086,747,725,693.937800086,671,643,890.062199914,790,820.062199914,657,633,657,0.401044228538,-0.0154814592889,0.0798712016256,0.999999979461,0.000142230270742,-0.000138324390147,4.14000283321e-05,1793251778715307520
+89,1.483333333,BASELINE,769.345252709,747,725,693.345252709,671,643,890.654747291,790,820.654747291,657,633,657,0.401044311645,-0.0154812116361,0.0798714792394,0.999999979319,0.000143219497155,-0.000138423079818,4.11101812565e-05,1793251778731974144
+90,1.500000000,BASELINE,769.241337683,747,725,693,671,643,891,790.241337683,820.758662317,657,633,657,0.401044546048,-0.0154808101526,0.0798717367867,0.999999979253,0.000144092158517,-0.000138005915485,4.10621360887e-05,1793251778748640768
+91,1.516666667,BASELINE,769.819611367,747,725,693,671,643,891,790.819611367,820.180388633,657,633,657,0.401044991678,-0.0154801939033,0.0798719663184,0.999999979295,0.000144802081173,-0.000136868557831,4.13516750591e-05,1793251778765307648
+92,1.533333333,BASELINE,769.604418425,747,725,693,671,643,890.604418425,790.604418425,820.395581575,657,633,657,0.401045195764,-0.0154800161662,0.07987252968,0.999999979214,0.000145609191515,-0.000136529417135,4.15782781565e-05,1793251778781974784
+93,1.550000000,BASELINE,769.029492492,747,725,693,671,643,890.029492492,790.029492492,820.970507508,657,633,657,0.401045290341,-0.0154800372367,0.0798732443896,0.999999979079,0.00014646036379,-0.000136552163033,4.17763481156e-05,1793251778798641408
+94,1.566666667,BASELINE,769.54519905,746.45480095,725,693,671,643,890,790,820.45480095,656.45480095,633,657,0.401043816986,-0.0154801784572,0.079871737204,0.99999997868,0.000147109664889,-0.000138789714331,4.16588603025e-05,1793251778815308032
+95,1.583333333,BASELINE,770,746.123614772,725,693,671,642.876385228,890.123614772,790,820.123614772,656,633.123614772,657,0.40104291594,-0.0154800583535,0.0798706613854,0.999999978454,0.000147266050754,-0.000140300361065,4.14712337203e-05,1793251778831974656
+96,1.600000000,BASELINE,770,746.716207798,725,693,671,642.283792202,890.716207798,790,820.716207798,656,633.716207798,657,0.401044507806,-0.0154789221723,0.0798716779168,0.999999978953,0.000145593792998,-0.00013859888083,4.10822435711e-05,1793251778848641024
+97,1.616666667,BASELINE,769.69810301,747,725,693,671,642.30189699,891,790,821,656,633.69810301,657,0.401044932354,-0.015478813659,0.0798721836939,0.999999979052,0.000145339538696,-0.000138167051936,4.10104728377e-05,1793251778865307648
+98,1.633333333,BASELINE,769.11875857,747,725,693,671,642.88124143,891,790,821,656,633.11875857,657,0.401044284121,-0.0154796495867,0.0798722200809,0.999999978788,0.000146388448996,-0.000138902050033,4.12302310946e-05,1793251778881974272
+99,1.650000000,BASELINE,769.453131079,747,725,693,671,643,890.546868921,790.453131079,821,656,633,657.453131079,0.401044122449,-0.0154805962824,0.0798719566678,0.999999978871,0.000145792507547,-0.000138959991652,4.11402717128e-05,1793251778898640896
+100,1.666666667,BASELINE,770,746.97586184,725,693,671,643,890,790.97586184,821,656.02413816,633,657.97586184,0.401044042117,-0.0154814603023,0.0798716058619,0.999999979022,0.00014486453965,-0.000138891275855,4.09730481585e-05,1793251778915307520
+101,1.683333333,BASELINE,770,746.380241764,725,693,671,643,890,790.380241764,821,656.619758236,633,657.380241764,0.401042917312,-0.0154796907473,0.0798710161287,0.999999978696,0.000146116751549,-0.000139957003951,4.08672426923e-05,1793251778931974144
+102,1.700000000,BASELINE,770,746.208610534,725,693,671,643,890,790.208610534,821,657,633,657,0.401042719288,-0.0154789313371,0.0798708064042,0.999999978522,0.000147006208296,-0.000140256779544,4.08989969202e-05,1793251778948640768
+103,1.716666667,BASELINE,770,746.785514529,725,693,671,643,890,790.785514529,821,657,633,657,0.40104415746,-0.0154799552971,0.0798712675696,0.999999978621,0.00014725523536,-0.000139204296863,4.11736072358e-05,1793251778965307136
+104,1.733333333,BASELINE,770,747,725,693,671,643,890,790.637597855,821,657,633,657,0.401044581356,-0.0154807571296,0.0798714724669,0.999999979021,0.000145154208919,-0.000138558081475,4.11024476006e-05,1793251778981973760
+105,1.750000000,BASELINE,770,747,725,693,671,643,890,790.060719879,821,657,633,657,0.401044404986,-0.0154814275033,0.0798715257003,0.999999979589,0.000141662380352,-0.00013815230197,4.08266553783e-05,1793251778998640384
+106,1.766666667,BASELINE,769.485697643,746.485697643,725,693,671,643,890,790,820.485697643,656.485697643,633,657,0.401044272422,-0.0154812181118,0.0798715768404,0.999999979299,0.000143639342974,-0.000138106465608,4.1197193306e-05,1793251779015307008
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,890,791,820,656,633,657,0.401043847491,-0.0154815387928,0.079872069478,0.999999979157,0.00014456252967,-0.000138031103929,4.16635798534e-05,1793251779057628672
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,725,693.422951752,671,643,890,791,820.577048248,656.577048248,633,657,0.40104453964,-0.0154823912527,0.0798727364976,0.999999979652,0.000141918217409,-0.000137218598372,4.15564834784e-05,1793251779074295808
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,791,821,656.846056525,633,657,0.401044710875,-0.0154827861609,0.0798729242608,0.999999979911,0.00014028159979,-0.000137064927208,4.13897174119e-05,1793251779090962944
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,791,821,656.269581167,633,657,0.401043452345,-0.0154819252174,0.0798717965994,0.999999979537,0.000141410822182,-0.000138719572424,4.10591746695e-05,1793251779107629312
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.686240577,746.686240577,725,693.313759423,671,643,890,791,821,656,633,657,0.401043056142,-0.0154816192568,0.0798715826374,0.999999979275,0.00014278710611,-0.000139180814479,4.11047198861e-05,1793251779124295680
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.096869485,746.096869485,725,693.903130515,671,643,890,791,821,656,633,657,0.401043417423,-0.0154818008028,0.0798721712849,0.999999979113,0.000144380413071,-0.000138593750583,4.14806272501e-05,1793251779140962048
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.483800138,746.483800138,725,694,671,643,890.483800138,791,821,656,633,657,0.401042153424,-0.0154800891689,0.0798709841188,0.99999997873,0.000145169196024,-0.000140652803713,4.10194268841e-05,1793251779157628928
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.937926594,747,725,694,671,643,891,790.937926594,820.937926594,656,633,657,0.401041003876,-0.015478301791,0.0798698678945,0.999999978383,0.000145619052273,-0.000142793222849,4.04824677202e-05,1793251779174295552
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.365286535,747,725,694,671,643,891,790.365286535,820.365286535,656,633,657,0.401043425085,-0.0154789541986,0.0798722081014,0.999999978735,0.000144582729098,-0.000141321992706,4.0676653865e-05,1793251779190962176
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.208359339,747,725,694,671,643,891,790.208359339,820.208359339,656.208359339,633,657,0.401046220429,-0.0154798187604,0.0798742399197,0.999999978744,0.000143876712089,-0.000141923311059,4.08525015109e-05,1793251779207628800
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.78377706,747,725,694,671,643,891,790.78377706,820.78377706,656.78377706,633,657,0.401049674872,-0.0154810570658,0.0798757284617,0.999999978144,0.00014375258246,-0.000146175756018,4.09960429304e-05,1793251779224295680
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,725,693.62962805,671,643,891.37037195,790.62962805,821,656.62962805,633,657,0.401066990865,-0.0154811299513,0.079881851588,0.99999997813,0.000146161784879,-0.00014377250496,4.13126648031e-05,1793251779240962304
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,725,693.03630483,671,643,891.96369517,790.03630483,821,656.03630483,633,657,0.401092651039,-0.015480501294,0.0798907645761,0.99999997843,0.000150095966694,-0.000137362752515,4.17334752122e-05,1793251779257628928
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.457549846,747,725,693,671,643,891.457549846,790,821,656.542450154,633,657,0.401141674321,-0.0154845619946,0.0799024853696,0.999999980887,0.00014587218387,-0.000123333802641,4.16725787307e-05,1793251779274295808
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.119504046,747,725.119504046,693,671,643,891,790.119504046,820.880495954,656.880495954,633.119504046,657.119504046,0.401196560715,-0.0154881797726,0.0799141871419,0.999999983127,0.000142295132071,-0.000108533451741,4.14453161693e-05,1793251779290962432
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.693698501,747,725.693698501,693,671,643,891,790.693698501,820.306301499,656.306301499,633.693698501,657.693698501,0.401267961427,-0.0154889494172,0.0799251202476,0.999999984623,0.000143201834033,-9.2687519167e-05,4.07045187888e-05,1793251779307628800
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.731942809,747,725.731942809,693.268057191,671,643,890.731942809,790.731942809,820.268057191,656.268057191,633.731942809,658,0.401348518453,-0.0154910816451,0.0799340061517,0.999999985815,0.000142894634623,-8.0045773664e-05,3.92819050825e-05,1793251779324295680
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.157396371,747,725.157396371,693.842603629,671,643,890.157396371,790.157396371,820.842603629,656.842603629,633.157396371,658,0.401439544555,-0.0154947718134,0.079940551341,0.999999986819,0.000141199493614,-7.10676088269e-05,3.70797213221e-05,1793251779340962304
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746.569281083,725,693.569281083,671,643,890,790,821,657,633,658,0.401544562106,-0.0154990413623,0.0799446214655,0.999999987353,0.000140622981678,-6.58160330707e-05,3.44570069243e-05,1793251779357628928
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746,725,693,671,643,890.02328438,790,820.97671562,657,633.02328438,657.97671562,0.401655864539,-0.0155033771127,0.079947774857,0.999999987726,0.000140419660202,-6.19022648998e-05,3.15918594716e-05,1793251779374295296
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746,725,693,671,643,890.599938137,790,820.400061863,657,633.599938137,657.400061863,0.401791068612,-0.0155040908161,0.0799513356502,0.999999988386,0.000139054589897,-5.63656557565e-05,2.67360691178e-05,1793251779390962176
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.176028543,746,725.176028543,693.176028543,671,643,890.823971457,790,820.176028543,656.823971457,633.823971457,657,0.401935341495,-0.0155053351578,0.0799549404064,0.999999989108,0.000136979169943,-5.03669400137e-05,2.1977966679e-05,1793251779407628800
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.750842623,746,725.750842623,693.750842623,671,643,890.249157377,790,820.750842623,656.249157377,633.249157377,657,0.402100159382,-0.015507781639,0.0799586447583,0.999999990026,0.000133294481808,-4.33213412325e-05,1.74411729186e-05,1793251779424295424
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.665896689,746.334103311,725.665896689,693.665896689,671,643,890.334103311,790,820.665896689,656.334103311,633,657,0.402271502898,-0.0155100733754,0.079957227993,0.99999999093,0.000125588143826,-4.73129366756e-05,1.1379360919e-05,1793251779440962048
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.076173504,746.923826496,725.076173504,693.076173504,671,643,890.923826496,790,820.076173504,656.923826496,633,657,0.402447839142,-0.0155122467179,0.0799518931007,0.999999991616,0.00011480487207,-5.97490037519e-05,4.15076871388e-06,1793251779457628672
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.503383268,746.496616732,725.503383268,693.503383268,671,643,890.496616732,790.503383268,820,657,633,657,0.402660798906,-0.015511230008,0.0799469539712,0.999999994283,7.65044005793e-05,-7.46106305778e-05,-3.87166299941e-06,1793251779474295296
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.081503103,725.918496897,694,671,643,890,791,820.081503103,656.918496897,633,657,0.402886005792,-0.0155096642558,0.0799429707304,0.999999995364,3.92181784752e-05,-8.71178932376e-05,-1.20290036603e-05,1793251779490962176
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.660056315,725.339943685,694,671,643,890,791,820.660056315,656.339943685,633,657,0.403152773422,-0.0155076358067,0.0799444590155,0.999999995799,3.30089199124e-05,-8.30728587471e-05,-2.02910035304e-05,1793251779507628800
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,890.237096494,790.762903506,821,656,633.237096494,657,0.403437545976,-0.015503059114,0.0799465284834,0.999999996027,3.23221690252e-05,-7.89332753617e-05,-2.58989563974e-05,1793251779524295680
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,725,694,671,643,890.811981045,790.188018955,821,656,633.811981045,657,0.403747969878,-0.0154948519743,0.0799494259541,0.999999996048,3.95032578876e-05,-7.46589897395e-05,-2.77257251601e-05,1793251779540962304
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.602264477,747,725,694,671,643,891,790.397735523,821,656.397735523,633.602264477,657,0.40407977779,-0.0154932144535,0.0799514186369,0.999999996402,3.53931069726e-05,-7.13846983005e-05,-2.91223663684e-05,1793251779557628928
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.011227167,747,725,694,671,643,891,790.988772833,821,656.988772833,633.011227167,657,0.404421978446,-0.0154947698061,0.0799529715873,0.999999996855,2.57953474014e-05,-6.85964099923e-05,-3.03099630193e-05,1793251779574295552
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.564730804,747,725.564730804,694.564730804,671,643,891,790.435269196,820.435269196,657,633,657.564730804,0.404822976255,-0.0155009510886,0.0799503475256,0.999999996945,1.7783746649e-05,-6.853586493e-05,-3.31059258116e-05,1793251779590962176
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725.85953391,694.85953391,671,643,891.14046609,790,820.14046609,656.85953391,633,657.85953391,0.405231070497,-0.015507054561,0.0799472823412,0.999999996855,8.07665244096e-06,-7.02995868421e-05,-3.58094176536e-05,1793251779607628800
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725.283583876,694.283583876,671,643,891.716416124,790,820.716416124,656.283583876,633,657.283583876,0.405657635853,-0.0155126390936,0.0799431003101,0.999999996241,-6.98216229308e-06,-7.75552910244e-05,-3.81296693646e-05,1793251779624295680
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.712079273,746.712079273,725,694,671,643,891.712079273,790.287920727,821,656,633,657,0.406101201376,-0.015523109663,0.0799370004607,0.999999995386,-9.78363219378e-06,-8.86895137485e-05,-3.55755562812e-05,1793251779640962304
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.144886499,746.144886499,725,694,671,643,891.144886499,790.855113501,821,656,633,657,0.406561256457,-0.0155383195011,0.0799290404007,0.999999994234,-6.95950154822e-07,-0.000103585751346,-2.829349683e-05,1793251779657628928
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746.449294072,725.449294072,694.449294072,671,643,891.449294072,791,821,656,633,657.449294072,0.407054075351,-0.0155442689101,0.0799253694915,0.999999993091,-1.80628516752e-05,-0.000111846388532,-3.13404956095e-05,1793251779674295552
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,892,791,821,656,633.050408269,658,0.407562239426,-0.0155463441313,0.0799222167337,0.999999991318,-4.11670214298e-05,-0.000119446622203,-3.74498853966e-05,1793251779690961920
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,892,791,821,656,633.627237829,658,0.40811326717,-0.015541139607,0.0799091076044,0.999999988468,-2.94028317838e-05,-0.000143924713332,-3.85325417847e-05,1793251779707628800
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,725.797389633,695,671,643,892,791,821.202610367,656,634,658,0.408691186723,-0.0155377375035,0.0799080655206,0.999999988064,-2.16218253486e-05,-0.000147956782601,-3.88901613916e-05,1793251779724295424
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,725.224678618,695,671,643,892,791,821.775321382,656,634,658,0.409318228486,-0.0155376278137,0.0799290658508,0.999999992487,-2.11167488797e-05,-0.000114640880105,-3.79233838403e-05,1793251779740962304
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.35970055,747,725.35970055,695,671,643,892,791,822,656,633.64029945,658,0.409977558951,-0.0155398280851,0.0799586885275,0.999999996883,-2.75978741149e-05,-6.39062946221e-05,-3.7248421312e-05,1793251779757628928
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.951612282,747,725.951612282,695,671,643,892,791,822,656,633.048387718,658,0.410657733945,-0.0155435195937,0.079993877515,0.999999998578,-3.85890679011e-05,-1.92676506283e-06,-3.67618451761e-05,1793251779774295552
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.469296027,747,725.469296027,695,671,643,892.530703973,791,822,656.530703973,633.530703973,658,0.41132378885,-0.0155436393676,0.0799860151398,0.999999998278,-3.86819498288e-05,-2.17531078679e-05,-3.84016901478e-05,1793251779790962176
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,893,790.891396135,822.108603865,657,634,658,0.41199625606,-0.0155432568717,0.0799695042924,0.999999996992,-3.87887351379e-05,-5.33103876176e-05,-4.08608055076e-05,1793251779807628800
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,893,790.313714455,822.686285545,657,634,658,0.412701848295,-0.0155420783848,0.0799321932845,0.999999992593,-4.3146162385e-05,-0.000104079708212,-4.60408369225e-05,1793251779824295424
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.259649413,747,725,695,671.259649413,643,893,790.259649413,823,657,633.740350587,658,0.413429715839,-0.0155414492881,0.0799119834455,0.999999989671,-4.64725765621e-05,-0.00012661145551,-4.96705110318e-05,1793251779840962048
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.827881808,747,725,695,671.827881808,643,893,790.827881808,823,657,633.172118192,658,0.414184056796,-0.0155414731196,0.0799120976598,0.999999990817,-4.85736734522e-05,-0.000115583978792,-5.14576480348e-05,1793251779857628672
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,725,695.415912126,671.584087874,643,893.415912126,791,823,657,633.415912126,658,0.414970231715,-0.0155403887751,0.0799313102887,0.999999994263,-4.59431303688e-05,-8.26943222908e-05,-5.02462571012e-05,1793251779874295296
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,725,696,671,643,894.012115194,791,823,656.987884806,634,658,0.415769954102,-0.0155388480994,0.0799579401992,0.99999999712,-4.14137307207e-05,-4.19289413115e-05,-4.78277991475e-05,1793251779890962176
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,725,696,671,643,894.588309802,791,823,656.411690198,634,658,0.416556413138,-0.0155384802443,0.0799435373276,0.999999994833,-4.41997515828e-05,-7.67649480572e-05,-4.98717603327e-05,1793251779907628800
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.835543781,747,725,696,671,643,895,790.835543781,823.328912439,656,634,658,0.417384358254,-0.0155386231201,0.0799417482285,0.99999999421,-4.63428344405e-05,-8.2516917484e-05,-5.1226815267e-05,1793251779924295424
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.259518,747,725,696,671,643,895,790.259518,824.480964,656,634,658,0.418316126742,-0.0155400441558,0.0799715264669,0.999999997488,-4.68768948887e-05,-1.54829206585e-05,-5.08578073031e-05,1793251779940962048
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,696,670.68704076,643,895,790,824.68704076,656.31295924,634,657.68704076,0.419208911921,-0.0155411431831,0.0799856488716,0.99999999732,-5.00253738653e-05,1.63918035624e-05,-5.08756433236e-05,1793251779957628672
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,696,670.117473147,643,895,790,824.117473147,656.882526853,634,657.117473147,0.420069733006,-0.0155419781821,0.0799869344016,0.99999999697,-5.53175240723e-05,1.94379659078e-05,-5.12106690639e-05,1793251779974295296
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.525561518,747,725,696.474438482,670,643,895.948876965,790.474438482,824.474438482,656.525561518,634,657.474438482,0.420939814784,-0.0155426555709,0.0799736775194,0.999999997074,-5.56612832678e-05,-2.61685609003e-06,-5.24102289895e-05,1793251779990962176
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.069949769,747,725,696.930050231,670,643,897,791,825,656,633.930050231,658,0.421822123228,-0.0155435347134,0.0799622235093,0.999999996827,-5.47757249346e-05,-2.24696642929e-05,-5.32960162243e-05,1793251780007628800
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.649391065,747,725,696.350608935,670,643,897,791,825,656,633.350608935,658,0.422775959444,-0.015546181659,0.0799914240964,0.999999997037,-5.43015674146e-05,2.12225607224e-05,-5.02601618174e-05,1793251780024295680
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,696.224813624,670.224813624,643,897.224813624,791,825.224813624,656.224813624,633.224813624,658,0.423704990662,-0.0155469934882,0.0800002375938,0.999999997255,-4.96203565133e-05,2.54212259994e-05,-4.87931483243e-05,1793251780040962304
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,696.794078901,670.794078901,643,897.794078901,791,825.794078901,656.794078901,633.794078901,658,0.424596016666,-0.0155449936161,0.0799778147024,0.999999997545,-3.84932439715e-05,-3.08907673792e-05,-4.97298581228e-05,1793251780057628928
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.621278105,747,725.378721895,696.621278105,671,643,898,790.621278105,826,657,633.621278105,658,0.425497656412,-0.0155427809412,0.079943127288,0.999999994483,-3.59314975756e-05,-8.29336774825e-05,-5.35250250927e-05,1793251780074295552
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.027920004,747,725.972079996,696.027920004,671,643,898,790.027920004,826,657,633.027920004,658,0.426405311318,-0.0155404476628,0.0799014890998,0.999999988747,-3.82240729286e-05,-0.000132557131081,-5.894018914e-05,1793251780090961920
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.552873262,747.552873262,726,696.552873262,671,643,898,790,826,656.447126738,633.552873262,658,0.4273559956,-0.0155400250877,0.079899823963,0.999999989108,-4.150389594e-05,-0.000128335453001,-5.99290347754e-05,1793251780107628800
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.868291781,748,725.868291781,697,671,643,898,790,826.131708219,656.131708219,634,658,0.428311599505,-0.015540691897,0.0799054022028,0.999999990211,-4.53235546649e-05,-0.000117989929712,-6.00169817237e-05,1793251780124295424
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.293953075,748,725.293953075,697,671,643,898,790,826.706046925,656.706046925,634,658,0.429276596262,-0.0155447027218,0.0799286899389,0.999999992431,-5.07936068577e-05,-9.59992826229e-05,-5.7811803862e-05,1793251780140962304
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.28008533,747.71991467,725,697,671,643,898,790,827,656.71991467,634,658,0.430273556601,-0.0155494401679,0.0799666901004,0.999999995893,-5.69916161027e-05,-4.40562353381e-05,-5.50065793909e-05,1793251780157629184
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.853808866,747.146191134,725,697,671,643,898,790,827,656.146191134,634,658,0.431304027126,-0.0155549393951,0.0800201145963,0.999999995853,-6.39528064526e-05,3.92885592237e-05,-5.15722728973e-05,1793251780174296064
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.55860588,747,725,697.44139412,671.44139412,643,898.44139412,790,827,656,634,658.44139412,0.432225857204,-0.0155507243887,0.0800148187515,0.999999996425,-6.1204347309e-05,2.6027146744e-05,-5.22210879124e-05,1793251780190962688
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725,697.966939063,671.966939063,643,899,790,827,656,634,658.966939063,0.433110954325,-0.0155434551291,0.0799873564105,0.999999996749,-5.5082479427e-05,-2.22483939815e-05,-5.45174907435e-05,1793251780207628800
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725,697.386179236,671.386179236,643,899,790,827,656,634,658.386179236,0.434002937503,-0.0155406165107,0.0799253107621,0.999999991646,-4.80780443461e-05,-0.000103332570678,-6.09786456385e-05,1793251780224295424
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747.192495864,725,697,671.192495864,643,899.192495864,790,827.192495864,656.192495864,634,658,0.434914543211,-0.0155411670734,0.0798939923877,0.999999986682,-4.80173785074e-05,-0.000141977517626,-6.45928745224e-05,1793251780240962304
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747.767033563,725,697,671.767033563,643,899.767033563,790,827.767033563,656.767033563,634,658,0.435865093435,-0.0155484440602,0.0799236576714,0.999999991492,-6.17378408587e-05,-9.63943787421e-05,-6.25568807161e-05,1793251780257629184
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747.649560263,725,697.350439737,672,643.350439737,900,790,828,657,634,658,0.436820859008,-0.0155536283885,0.079963714485,0.999999995242,-6.617201552e-05,-4.09046011482e-05,-5.88617022433e-05,1793251780274295808
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747.060105438,725,697.939894562,672,643.939894562,900,790,828,657,634,658,0.437780181619,-0.0155573854324,0.0800108587704,0.999999996247,-6.4272538593e-05,2.13419306791e-05,-5.40348879311e-05,1793251780290962176
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,725,698,672,644,900.519108029,789.480891971,828,656.480891971,634,658,0.438706196914,-0.0155596539457,0.0800340190366,0.999999994438,-6.73343796959e-05,6.09111263083e-05,-5.3669267124e-05,1793251780307628544
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747.096676998,725,697.903323002,672,643.903323002,900.903323002,789,828,656,633.903323002,658,0.439603974243,-0.0155606689422,0.080040101811,0.999999993247,-7.04422567714e-05,7.45174306129e-05,-5.4688075775e-05,1793251780324295424
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747.671862084,725,697.328137916,672,643.328137916,900.328137916,789,828,656,633.328137916,658,0.440380704958,-0.0155563161452,0.0799751376608,0.999999995295,-7.09897230292e-05,-2.76363197511e-05,-6.00519962148e-05,1793251780340962304
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.75482507,725,697,672,643,900,789.24517493,828,656,633.24517493,658,0.441145577581,-0.0155518175264,0.0799039454767,0.999999986046,-7.06898125903e-05,-0.000136253500204,-6.59185047409e-05,1793251780357629184
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.183999051,725,697,672,643,900,789.816000949,828,656,633.816000949,658,0.441894699756,-0.0155471252218,0.0798244809756,0.999999962857,-6.92643827711e-05,-0.000253455656802,-7.24525703506e-05,1793251780374295808
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.403973305,725,697.403973305,672,643.403973305,900,789.596026695,828,656,634,658.403973305,0.44274473235,-0.0155460319082,0.079842029478,0.999999971008,-7.04066585482e-05,-0.000218741904848,-7.19618435929e-05,1793251780390962176
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,698,672,644,900,789.000098213,828,656,634,659,0.443642753062,-0.0155466513491,0.0799057234191,0.999999988785,-7.27704338978e-05,-0.000111769740021,-6.81292208675e-05,1793251780407628544
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,748,725,698,672,644,900,789.57646528,828,656,634,659,0.444474730254,-0.0155522574053,0.0799693777604,0.999999995055,-7.59479984841e-05,-1.82083463805e-05,-6.15649744975e-05,1793251780424295680
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,748,725,697.847636616,672,644,900,789.847636616,828,656,634,658.847636616,0.445286469304,-0.0155582424075,0.080020269766,0.999999993697,-7.91140463772e-05,5.59594672443e-05,-5.6707590254e-05,1793251780440962560
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,748,725,697.273037988,672,644,900,789.273037988,828,656,634,658.273037988,0.446042123831,-0.0155652775607,0.0800357943132,0.9999999921,-8.22481810749e-05,7.63830704156e-05,-5.65803274681e-05,1793251780457629184
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,644,900,789,828.298888426,656,634,658.298888426,0.446762100017,-0.0155682082085,0.0800316217858,0.999999991881,-8.42447345034e-05,7.63176889451e-05,-5.75955276454e-05,1793251780474295552
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,644,900,789,828.868395341,656,634,658.868395341,0.4474497724,-0.0155674225691,0.0800096152028,0.999999992926,-8.52113029835e-05,5.77012431112e-05,-5.96451325578e-05,1793251780490962176
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672,644,900.462219869,789,829,656,634,659,0.448081783733,-0.0155629314583,0.0799684478034,0.999999994255,-8.61578772098e-05,-7.31572847914e-06,-6.33503078422e-05,1793251780507628800
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.939157511,900.939157511,789,829,656,634,658.939157511,0.448694695524,-0.015557700538,0.0799236021206,0.99999999063,-8.68488714123e-05,-8.16244676947e-05,-6.73353905263e-05,1793251780524295680
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.361842974,900.361842974,789,829,656,634,658.361842974,0.449287476594,-0.0155556427834,0.0798964145679,0.99999998716,-8.54213420107e-05,-0.000116433860949,-6.94729306671e-05,1793251780540962560
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.214523651,748,725,697,672,643,900.214523651,788.785476349,829,656,634,658,0.449891106056,-0.0155565991241,0.0798925204868,0.999999986681,-8.93535680057e-05,-0.000117286725873,-6.99881472129e-05,1793251780557629184
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.789298382,748,725,697,672,643,900.789298382,788.210701618,829,656,634,658,0.45051295324,-0.0155626170568,0.0799277432994,0.999999990604,-0.000102286469104,-6.11161498337e-05,-6.77789840513e-05,1793251780574295552
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.626610795,748,725,697,672,643,901,788,829,656,634,658,0.451106769215,-0.0155722626418,0.0799622775014,0.999999991589,-0.000111468202419,-1.27847983524e-05,-6.5070025878e-05,1793251780590961920
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.037128373,748,725,697,672,643,901,788,829,656,634,658,0.45168436262,-0.0155840076751,0.0799964131842,0.999999990574,-0.000118479006694,3.10097286894e-05,-6.20718188604e-05,1793251780607628544
+201,3.350000000,POSE1_TO_POSE2_PRESS,767.458043257,748,724.458043257,697,672.541956743,643,901,788,829,656,634,658,0.452140371499,-0.0155865961099,0.0799694109003,0.999999989168,-0.000131046413716,-1.84008333467e-05,-6.4438494365e-05,1793251780624295168
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.119962429,748,724.119962429,697,672.880037571,643,900.880037571,788,829,656,633.880037571,658,0.452579662962,-0.0155886090959,0.0799358265941,0.999999984955,-0.000141145213589,-7.51724763015e-05,-6.72093198591e-05,1793251780640962048
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.696519889,748,724.696519889,697,672.303480111,643,900.303480111,788,829,656,633.303480111,658,0.45298643216,-0.0155907744942,0.0798928318607,0.999999978416,-0.00014042650805,-0.00013611560394,-7.01458322047e-05,1793251780657629696
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.727717349,748,725,696.727717349,672,643,900.272282651,788,829,656,633,658.272282651,0.453384327707,-0.0155923061149,0.0798609897763,0.999999970403,-0.000142738028047,-0.000183119713935,-7.27156521537e-05,1793251780674297344
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.152837795,748,725,696.152837795,672,643,900.847162205,788,829,656,633,658.847162205,0.453772361644,-0.0155931333972,0.0798415420097,0.999999963149,-0.000148417140357,-0.000214632919744,-7.48779544558e-05,1793251780690963968
+206,3.433333333,POSE1_TO_POSE2_PRESS,767.43342365,748,725,696,672,643,901,788.43342365,829,656,633,658.56657635,0.454143837642,-0.0155965401098,0.0798299820057,0.999999959549,-0.000148109600399,-0.000230806170036,-7.54567934748e-05,1793251780707630336
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,788.95327829,829,656,633.023360855,658,0.454507675985,-0.0156008910461,0.07982150259,0.9999999574,-0.000145965447861,-0.000241247617733,-7.54559641511e-05,1793251780724296704
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901,787.794635083,829,656,633.602682458,658,0.454832451602,-0.0156054826189,0.0798183570008,0.999999955032,-0.000151707933874,-0.000247486056995,-7.53067613255e-05,1793251780740963584
+209,3.483333333,POSE1_TO_POSE2_PRESS,767.819468181,748,725,696,672,643,901,787.180531819,829.180531819,656,633.819468181,658,0.455143474675,-0.015609297313,0.0798162587513,0.999999952619,-0.000158382479461,-0.000252957961458,-7.54299995977e-05,1793251780757630464
+210,3.500000000,POSE1_TO_POSE2_PRESS,767.244832824,748,725,696,672,643,901,787.755167176,829.755167176,656,633.244832824,658,0.455424475709,-0.0156114160692,0.0798164468599,0.999999950179,-0.000167091723664,-0.000256756508713,-7.6147980701e-05,1793251780774296832
+211,3.516666667,POSE1_TO_POSE2_PRESS,767.33701616,748.33701616,725,696.33701616,671.66298384,643,900.66298384,787.66298384,829.66298384,656.33701616,633.33701616,658,0.455677702521,-0.0156130659746,0.0798138147995,0.999999947628,-0.00017150706027,-0.000263623569551,-7.63651632728e-05,1793251780790963200
+212,3.533333333,POSE1_TO_POSE2_PRESS,767.924220329,748.924220329,725,696.924220329,671.075779671,643,900.075779671,787.075779671,829.075779671,656.924220329,633.924220329,658,0.455910310833,-0.0156143678232,0.0798090891527,0.999999944976,-0.000172734763732,-0.00027276857882,-7.62105720929e-05,1793251780807629824
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,748.492776175,725,697,671.507223825,643,900.507223825,787.507223825,829,656.492776175,634,658,0.4561153478,-0.0156141983289,0.0797972095591,0.999999939612,-0.000171652498442,-0.000292408534659,-7.62131082428e-05,1793251780824296960
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696.911142198,671.911142198,643,901,787.911142198,829,656,634,658,0.456310672798,-0.0156140047559,0.079784776088,0.999999933423,-0.000170727282356,-0.000313340576291,-7.63116173192e-05,1793251780840963840
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,696.333616575,671.333616575,643,901,787.333616575,829,656,634,658,0.45647505464,-0.0156148777189,0.0797751261489,0.999999926777,-0.000172548076862,-0.000332826332731,-7.68098848921e-05,1793251780857630208
+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,724.757795538,696,671,643,900.757795538,787,829,656,633.757795538,658.242204462,0.456633333835,-0.0156164325974,0.0797710811077,0.999999923022,-0.000175042753629,-0.000342623301984,-7.69736452342e-05,1793251780874296320
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.295516316,748,724.295516316,696,671.704483684,642.295516316,901.295516316,786,829,656,633,658,0.457316979299,-0.0156032959829,0.0796733642412,0.99999985484,-0.000182204512833,-0.000500764932347,-7.97294953206e-05,1793251781978800384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,748,724.281774364,696,671.718225636,642.281774364,901,786,829,656,633,658,0.457240143408,-0.0155998760585,0.0796682430199,0.999999850773,-0.000181685685574,-0.00050919349821,-7.85208450376e-05,1793251781995467264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,748,724.857450846,696,671.142549154,642.857450846,901,786,829,656,633,658,0.457155915984,-0.0155973463493,0.079667699409,0.999999847982,-0.000183039099005,-0.000514465231684,-7.65393724994e-05,1793251782012133888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,748,725,696,671.441149296,643,901,786,829,656,633,658.441149296,0.457059517616,-0.0155941334339,0.0796693210605,0.999999849019,-0.000181022294257,-0.000513556306464,-7.38471660791e-05,1793251782028800256
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,748,725,696,671.972877282,643,901,786.027122718,829,656,633,658.972877282,0.456957526242,-0.0155904944276,0.0796716198351,0.999999851271,-0.000177752124637,-0.000510718391953,-7.09133167385e-05,1793251782045467136
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.18425574,748,724.81574426,696.18425574,671.36851148,643,901.18425574,787,829,656,633.18425574,658,0.4566793536,-0.0155757384318,0.0796738924449,0.999999854042,-0.000165656506846,-0.000510227815943,-6.4356314994e-05,1793251782078800384
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,724.339108122,696.660891878,672.321783756,643,901.321783756,787,829,656,634,658,0.456329055578,-0.0155622609507,0.0796671977823,0.999999851312,-0.000153337590023,-0.000520304361171,-5.60961067107e-05,1793251782112133632
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.085649569,748,725,696,672,643,901,787,829,656,633.914350431,658,0.455688216196,-0.0155390607979,0.0796624821884,0.999999851905,-0.000128395972856,-0.000527328940715,-4.03450874519e-05,1793251782162134016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.66457239,748,725,696,672,643,901,787,829,656,633.33542761,658,0.455435259186,-0.0155251265199,0.0796751627167,0.99999986564,-0.000110011668057,-0.000505466862832,-3.34847007574e-05,1793251782178801664
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,724.029059456,696.970940544,671.970940544,642.970940544,900.029059456,787,829,656,633.970940544,658,0.454212214252,-0.0154819558914,0.0797036383191,0.999999896002,2.19871207112e-05,-0.000455506358145,-5.18029174287e-06,1793251782245467648
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.274727141,747.725272859,725,696,672,643,900,788,829,656,634,658,0.452984550007,-0.0154703982759,0.0796943640187,0.999999895246,2.6665781452e-05,-0.00045689781283,-6.37595569738e-06,1793251782295468544
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,747.622273188,725,696,672.377726812,643,900,788.622273188,828,656,633,658,0.450570254093,-0.0154605000425,0.0797787035287,0.999999946203,5.96218201511e-05,-0.000322258074578,1.37208037878e-05,1793251782378801664
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.901873764,747.098126236,724.098126236,696,671.098126236,643,897.098126236,789.098126236,827,656,633,657,0.438506590059,-0.015426616893,0.0796491270502,0.999999844683,0.000144166278837,-0.000537814224638,2.46011709398e-05,1793251782645467136
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aff4a8806898937dd2770ef5f1c50cd38db402d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7be9dfed1944fc185d1e4162e92c4b1084672e2c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def4e7c9d916aa7783ece90a8a724fbf8f596280ff145ea75a485b9459255734
+size 26180290
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6337b8521bd9ae0ee71e26a3284583193993693
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+8,0.133333333,BASELINE,770,747,725,694,671,643,890,790,821,656,633,657,0.400984518747,-0.0153930691799,0.0798430105067,0.999999931071,0.00024734785416,-0.000273418075565,4.38099390619e-05,1793251784447169536
+9,0.150000000,BASELINE,770,747,725,693.776046424,671,643,890,790,820.776046424,656.223953576,633,657,0.400985393046,-0.0153934421439,0.0798437546143,0.999999931603,0.000246446224454,-0.000272286083551,4.38100777985e-05,1793251784463835904
+10,0.166666667,BASELINE,770,747,725,693.198597277,671,643,890,790,820.198597277,656.801402723,633,657,0.400984806023,-0.0153943284357,0.0798435058554,0.999999931684,0.000245400249744,-0.000272907194503,4.39687967863e-05,1793251784480502272
+11,0.183333333,BASELINE,769.623641973,747,725,693,671,643,890,790,820.376358027,657,633,657,0.400984693646,-0.0153950434932,0.0798434457242,0.999999931654,0.00024544714033,-0.000272964984087,4.40170009047e-05,1793251784497168896
+12,0.200000000,BASELINE,769.04999391,747,725,693,671,643,890,790,820.95000609,657,633,657,0.400984830082,-0.0153956687883,0.0798434844732,0.999999931567,0.000246066919979,-0.000272727475939,4.40072722156e-05,1793251784513835776
+13,0.216666667,BASELINE,769,747,725,693.538951062,671,643,890,790,821,657,633,657.538951062,0.400985126397,-0.0153959496442,0.0798436706642,0.999999932077,0.000244226567176,-0.000272530923916,4.38905944822e-05,1793251784530502656
+14,0.233333333,BASELINE,769.126795369,746.873204631,725,693.873204631,671,643,890,790,821,656.873204631,633,657.873204631,0.400985357497,-0.0153962576441,0.079843896051,0.999999932513,0.000242617611246,-0.000272379063337,4.38193861435e-05,1793251784547169280
+15,0.250000000,BASELINE,769.705511704,746.294488296,725,693.294488296,671,643,890,790,821,656.294488296,633,657.294488296,0.400985301762,-0.0153967795942,0.0798442109679,0.999999932496,0.000242670518502,-0.000272372554467,4.39466308992e-05,1793251784563835648
+16,0.266666667,BASELINE,769.716777532,746,725,693,671,643,890,790,820.716777532,656,633,657,0.400984574506,-0.015396693216,0.0798437212583,0.999999932113,0.000243365599529,-0.000273158424505,4.39543576087e-05,1793251784580502016
+17,0.283333333,BASELINE,769.140108671,746,725,693,671,643,890,790,820.140108671,656,633,657,0.400983151489,-0.0153959765497,0.0798423978762,0.999999931346,0.000244726035872,-0.000274765277191,4.38382518343e-05,1793251784597168640
+18,0.300000000,BASELINE,769,746.443776812,725,693,671,643,890,790,820.443776812,656,633,657,0.400983858272,-0.0153958312719,0.0798428076265,0.999999931611,0.00024434155395,-0.000274133480672,4.38812970636e-05,1793251784613835264
+19,0.316666667,BASELINE,769,746.97040083,725,693.02959917,671,643,890,790,820.97040083,656.02959917,633,657,0.400985163903,-0.0153958456613,0.0798437058267,0.999999932143,0.000243529543837,-0.000272898654702,4.39727026728e-05,1793251784630501888
+20,0.333333333,BASELINE,769,746.39161425,725,693.60838575,671,643,890,790,820.39161425,656.60838575,633,657,0.40098489825,-0.0153954200746,0.0798433464664,0.999999931491,0.000245175625276,-0.000273805677008,4.40136930748e-05,1793251784647169024
+21,0.350000000,BASELINE,769,746.186595016,725,693.813404984,671,643,890,790.186595016,820.186595016,656.813404984,633,657,0.400984665018,-0.0153954797998,0.0798431499977,0.999999931072,0.000246504946036,-0.000274123767537,4.41308220282e-05,1793251784663835904
+22,0.366666667,BASELINE,769,746.763596317,725,693.236403683,671,643,890,790.763596317,820.763596317,656.236403683,633,657,0.40098449962,-0.0153965549263,0.0798432943413,0.999999931145,0.0002471715192,-0.00027320965641,4.44072530295e-05,1793251784680502528
+23,0.383333333,BASELINE,769.34007234,747,725,693,671,643,890,790.65992766,821,656.34007234,633,657,0.400985374892,-0.0153972628793,0.079843711056,0.999999931824,0.000246179208556,-0.000271611893542,4.44462385115e-05,1793251784697168896
+24,0.400000000,BASELINE,769.916183833,747,725,693,671,643,890,790.083816167,821,656.916183833,633,657,0.400986972478,-0.0153977159826,0.0798443168194,0.999999932915,0.000244035491397,-0.000269539618071,4.43204166175e-05,1793251784713835264
+25,0.416666667,BASELINE,769.497857559,746.497857559,725,693.502142441,671,643,890.502142441,790,821,657,633,657,0.400986062101,-0.0153963991326,0.0798442627529,0.99999993266,0.000243926519748,-0.000270637125537,4.39904589414e-05,1793251784730501632
+26,0.433333333,BASELINE,769,746.088577218,725,693.911422782,671,643,890.911422782,790,820.911422782,656.911422782,633,657,0.400984841404,-0.0153951820377,0.0798440865283,0.999999932303,0.000243831420068,-0.000272092910984,4.36538286051e-05,1793251784747168000
+27,0.450000000,BASELINE,769,746.668355677,725,693.331644323,671,643,890.331644323,790,820.331644323,656.331644323,633,657,0.400984267722,-0.0153961892256,0.0798438558571,0.999999932659,0.000241892148557,-0.000272542772331,4.34729293029e-05,1793251784763834880
+28,0.466666667,BASELINE,769,747,725,693.246937607,671,643,890,790,820,656,633.246937607,657,0.400984084712,-0.0153956221014,0.0798439164307,0.999999932573,0.000242210925784,-0.00027260123599,4.33105558807e-05,1793251784780501760
+29,0.483333333,BASELINE,769,747,725,693.823920276,671,643,890,790,820,656,633.823920276,657,0.400984423856,-0.0153929508265,0.0798443662683,0.999999931892,0.000245547703695,-0.000272136576086,4.31729432797e-05,1793251784797168640
+30,0.500000000,BASELINE,769.399983884,747,725,693.600016116,671.399983884,643,890,790,820.399983884,656.399983884,633.600016116,657,0.400985167011,-0.0153937518404,0.0798446809056,0.999999931855,0.000246308983878,-0.000271536908161,4.3461549639e-05,1793251784813835264
+31,0.516666667,BASELINE,769.975643817,747,725,693.024356183,671.975643817,643,890,790,820.975643817,656.975643817,633.024356183,657,0.40098608761,-0.0153960779108,0.0798449361617,0.999999932104,0.00024593908523,-0.000270877943671,4.39373547024e-05,1793251784830502400
+32,0.533333333,BASELINE,769.436044834,747,725,693,671.436044834,643,890,790.563955166,821,657,633,657,0.400986086051,-0.015396332214,0.0798442036996,0.999999932762,0.000243561004,-0.000270663166239,4.35290304653e-05,1793251784847169024
+33,0.550000000,BASELINE,769,747,725,693,671,642.849668506,889.849668506,790.849668506,821,656.849668506,633,657,0.400986302771,-0.0153966914123,0.0798437913239,0.999999933251,0.00024188830993,-0.000270398845297,4.32677243696e-05,1793251784863835392
+34,0.566666667,BASELINE,769,747,725,693,671,642.270408077,889.270408077,790.270408077,821,656.270408077,633,657,0.400987258526,-0.0153976110521,0.0798444167309,0.999999933221,0.000242481379281,-0.000269937174652,4.35373408322e-05,1793251784880501760
+35,0.583333333,BASELINE,769,747,725,693,671,642.306252014,889.306252014,790.306252014,821,656,633,657,0.400987972685,-0.0153970089648,0.0798453276255,0.999999933355,0.00024313975405,-0.00026881976849,4.37020945704e-05,1793251784897168128
+36,0.600000000,BASELINE,769,747,725,693,671,642.880635508,889.880635508,790.880635508,821,656,633,657,0.40098847532,-0.0153950745667,0.0798464884721,0.99999993363,0.000243855305448,-0.000267128249041,4.37750383385e-05,1793251784913835008
+37,0.616666667,BASELINE,769,747,725,693.455986002,671,643,890,790.544013998,820.544013998,656.455986002,633,657,0.400987045821,-0.0153951172317,0.0798451496162,0.999999933227,0.000243863560919,-0.000268671959746,4.34909198358e-05,1793251784930501632
+38,0.633333333,BASELINE,769.032375092,747,725,693.967624908,671,643,890,790,820.032375092,657,633,657,0.40098517742,-0.0153957552678,0.0798432281119,0.999999932663,0.000243653881184,-0.000271007166748,4.31482019706e-05,1793251784947168512
+39,0.650000000,BASELINE,769.622281979,747,725,693.377718021,671,643,890,790,820.622281979,657,633,657,0.400984479212,-0.0153977146895,0.0798425653762,0.999999932472,0.000242886390975,-0.000272357385166,4.34093948916e-05,1793251784963835392
+40,0.666666667,BASELINE,769.791374117,746.791374117,725,693,671,643,890,790,820.791374117,656.791374117,633,657,0.400984408878,-0.0153981905856,0.0798424407971,0.999999932403,0.000242671177145,-0.000272783485364,4.35211855532e-05,1793251784980502272
+41,0.683333333,BASELINE,769.211372723,746.211372723,725,693,671,643,890,790,820.211372723,656.211372723,633,657,0.400985456228,-0.0153960256537,0.0798432741919,0.999999932555,0.000243439072064,-0.000271564560089,4.33670248254e-05,1793251784997168640
+42,0.700000000,BASELINE,769,746.364787951,725,693,671.364787951,642.635212049,890,790,820.364787951,656.364787951,633,657,0.400986217007,-0.0153963345312,0.0798440076556,0.999999932858,0.000243419128644,-0.000270441655108,4.35034268562e-05,1793251785013835264
+43,0.716666667,BASELINE,769,746.938746325,725,693,671.938746325,642.061253675,890,790,820.938746325,656.938746325,633,657,0.400986813465,-0.0153980618979,0.0798446838187,0.999999933248,0.000242947436504,-0.000269373808472,4.38064383856e-05,1793251785030501632
+44,0.733333333,BASELINE,769,747,725,693.525300339,671.474699661,642.525300339,890,790,821,656.474699661,633,657,0.400986617517,-0.015397481256,0.0798450744182,0.999999933491,0.000242443361413,-0.000268930016554,4.37653419429e-05,1793251785047168256
+45,0.750000000,BASELINE,769.111728077,746.888271923,725,693.888271923,671,643,890,790.111728077,821,656,633,657,0.400986341984,-0.0153967570075,0.0798453165443,0.999999933748,0.000241645506845,-0.00026871973457,4.35935357729e-05,1793251785063834880
+46,0.766666667,BASELINE,769.691325318,746.308674682,725,693.308674682,671,643,890,790.691325318,821,656,633,657,0.400986129628,-0.0153965860843,0.0798450797934,0.999999934134,0.000239633631301,-0.000269175079903,4.30465292769e-05,1793251785080501760
+47,0.783333333,BASELINE,769.730828668,746.269171332,725,693.269171332,671,643,890,790.730828668,821,656.269171332,633,657,0.400985844933,-0.0153962716136,0.0798448587619,0.999999934053,0.000239668407029,-0.000269454998668,4.29706769615e-05,1793251785097168640
+48,0.800000000,BASELINE,769.154977834,746.845022166,725,693.845022166,671,643,890,790.154977834,821,656.845022166,633,657,0.400985477819,-0.0153957935924,0.0798446556402,0.999999933442,0.000242035028124,-0.000269535045789,4.34316325948e-05,1793251785113835520
+49,0.816666667,BASELINE,769.42165519,747,725.42165519,694,671,642.57834481,890,790,821,656.57834481,633,657,0.400986156459,-0.0153949195398,0.0798454126855,0.999999933253,0.000243929720336,-0.000268548886156,4.32946457735e-05,1793251785130501888
+50,0.833333333,BASELINE,769.998576205,747,725.998576205,694,671,642.001423795,890,790,821,656.001423795,633,657,0.400987220177,-0.0153938996567,0.0798465232925,0.999999933216,0.000245650634332,-0.000267170117878,4.29374789524e-05,1793251785147168512
+51,0.850000000,BASELINE,770,747,725.412639541,693.412639541,671,642,890,790.587360459,820.412639541,656.587360459,633,657,0.400985654006,-0.015394142992,0.0798451249067,0.999999933173,0.000244139951116,-0.000268719182423,4.28992431533e-05,1793251785163835136
+52,0.866666667,BASELINE,770,747,725,693.17338069,671,642.17338069,889.82661931,790.82661931,820,657,633,657,0.400984934815,-0.0153941699648,0.0798444307956,0.999999933008,0.000243915760592,-0.00026950892669,4.30504340331e-05,1793251785180502272
+53,0.883333333,BASELINE,770,747,725,693.752858174,671,642.752858174,889.247141826,790.247141826,820,657,633,657,0.400986214683,-0.0153936828476,0.0798454007943,0.999999932564,0.000246723553271,-0.000268503205023,4.36434569261e-05,1793251785197169152
+54,0.900000000,BASELINE,769.670684492,747,725,693.670684492,671,643,889.329315508,790,820,656.670684492,633,657,0.400986705559,-0.0153946713432,0.0798456340515,0.999999932795,0.000245852316032,-0.000268420969864,4.37781033572e-05,1793251785213835520
+55,0.916666667,BASELINE,769.096473124,747,725,693.096473124,671,643,889.903526876,790,820,656.096473124,633,657,0.400986609702,-0.01539675718,0.0798453194301,0.999999933522,0.000242245163779,-0.000269025486564,4.35718775714e-05,1793251785230501888
+56,0.933333333,BASELINE,769,747,725,693.48887985,671,643,890,790,820.48887985,656,633,657,0.400985385364,-0.0153972518496,0.0798447180953,0.999999933201,0.000242115552402,-0.000270308632851,4.37216255675e-05,1793251785247168768
+57,0.950000000,BASELINE,769,746.92458248,725,693.92458248,671,643,889.92458248,790.07541752,820.92458248,656,633,657,0.400984244492,-0.0153973169537,0.0798442716217,0.999999932741,0.000242839445578,-0.000271326317374,4.39315147579e-05,1793251785263835904
+58,0.966666667,BASELINE,769,746.345163686,725,693.345163686,671,643,889.345163686,790.654836314,820.345163686,656,633,657,0.400985184306,-0.0153966586455,0.0798452469794,0.999999932764,0.00024457417885,-0.000269654152966,4.406292652e-05,1793251785280502016
+59,0.983333333,BASELINE,769,746.233412978,725,693,671.233412978,643,889.233412978,790.766587022,820,656,633,657,0.400985945583,-0.0153962517432,0.0798458404983,0.999999932947,0.000245030476676,-0.000268569627444,4.40004354797e-05,1793251785297168384
+60,1.000000000,BASELINE,769,746.810748888,725,693,671.810748888,643,889.810748888,790.189251112,820,656,633,657,0.400986443796,-0.0153962152756,0.0798458713959,0.99999993337,0.000243603060878,-0.000268350959652,4.36522378929e-05,1793251785313835008
+61,1.016666667,BASELINE,769,747,725,693.384953364,671.615046636,643,890,789.615046636,820.384953364,656,633,657,0.400985810965,-0.0153965817912,0.0798456597946,0.99999993332,0.000242900245825,-0.000269180662212,4.359199257e-05,1793251785330501632
+62,1.033333333,BASELINE,769,747,725,693.957630748,671.042369252,643,890,789.042369252,820.957630748,656,633,657,0.400984626576,-0.0153971448232,0.0798453299378,0.99999993304,0.000242550785257,-0.000270521606708,4.3672168321e-05,1793251785347168512
+63,1.050000000,BASELINE,769,747,725,694,671.546836893,643,890,789.546836893,820.453163107,656,633,657,0.400984539293,-0.0153970696074,0.0798447050341,0.999999932987,0.000242736428687,-0.000270564829959,4.35845689413e-05,1793251785363835392
+64,1.066666667,BASELINE,769,747,725,694,671.86488968,643,890,790,820.13511032,656,633,657,0.400985030566,-0.0153970897008,0.0798446100711,0.999999933169,0.000242684340218,-0.000269946983392,4.35300647392e-05,1793251785380502272
+65,1.083333333,BASELINE,769,747,725,694,671.284049901,643,890,790,820.715950099,656,633,657,0.400987141326,-0.0153975924465,0.0798463411514,0.999999934062,0.000241706932907,-0.000267490312729,4.36289631013e-05,1793251785397169152
+66,1.100000000,BASELINE,769,747,725,693.705585018,671,643,890,790,820.705585018,656,633,657,0.400987363953,-0.0153977360682,0.0798464362673,0.999999934196,0.000241532494416,-0.000267144229637,4.36242592737e-05,1793251785413835776
+67,1.116666667,BASELINE,769,747,725,693.129393119,671,643,890,790,820.129393119,656,633,657,0.400985779496,-0.0153975359816,0.0798449656442,0.999999933609,0.000242126556538,-0.000268818135114,4.35204004813e-05,1793251785430502144
+68,1.133333333,BASELINE,769,747,725,693.443900517,671,643,890,790,820.443900517,656.443900517,633,657,0.400986398821,-0.0153975392032,0.0798458530704,0.999999933849,0.000242214820985,-0.000267830068356,4.3597948714e-05,1793251785447168512
+69,1.150000000,BASELINE,769.016921646,747,725,693.983078354,671,643,890,790,821,657,633.016921646,657.016921646,0.400987565679,-0.0153975642817,0.0798473142876,0.999999934284,0.000242212456753,-0.000266185238279,4.3707986193e-05,1793251785463834880
+70,1.166666667,BASELINE,769.609214703,747,725,693.390785297,671,643,890,790,821,657,633.609214703,657.609214703,0.400985649132,-0.0153963305642,0.0798450658325,0.99999993325,0.000244109128203,-0.000268421581345,4.31364069551e-05,1793251785480501760
+71,1.183333333,BASELINE,769.803007073,747,725,693,671,643,890,790,821,656.803007073,633.803007073,657.803007073,0.400984494333,-0.0153958762479,0.079843860292,0.999999932719,0.000244712471549,-0.000269881690993,4.29159490618e-05,1793251785497168640
+72,1.200000000,BASELINE,769.223984393,747,725,693,671,643,890,790,821,656.223984393,633.223984393,657.223984393,0.400984816798,-0.0153969334297,0.079844677283,0.999999933176,0.000242807655044,-0.00026983644617,4.33764231343e-05,1793251785513835264
+73,1.216666667,BASELINE,769,747,725.352991745,693.352991745,671,643,890,790,821,656.352991745,633,657,0.40098538518,-0.015396721016,0.0798453599998,0.99999993334,0.000242882927619,-0.000269139624208,4.34875325474e-05,1793251785530501888
+74,1.233333333,BASELINE,769,747,725.928676737,693.928676737,671,643,890,790,821,656.928676737,633,657,0.400986108704,-0.0153957076476,0.0798459580065,0.99999993332,0.000244207386658,-0.000268031739293,4.3378236918e-05,1793251785547168512
+75,1.250000000,BASELINE,769,746.485911056,725.485911056,694,671.514088944,643,890.514088944,790,821,656.485911056,633,657,0.400985475087,-0.0153965296266,0.0798457570091,0.999999933305,0.000243557993339,-0.000268659787841,4.34870215668e-05,1793251785563834880
+76,1.266666667,BASELINE,769,746.099591453,725,694,671.900408547,643,890.900408547,790,820.900408547,656.099591453,633,657,0.400984647635,-0.0153973381603,0.079845388899,0.999999933256,0.000242760224844,-0.000269549438358,4.35798477925e-05,1793251785580501760
+77,1.283333333,BASELINE,769,746.678903049,725,694,671.321096951,643,890.321096951,790,820.321096951,656.678903049,633,657,0.400983810944,-0.0153968317476,0.0798447600842,0.999999933041,0.000242592278164,-0.000270516730032,4.3447254641e-05,1793251785597168384
+78,1.300000000,BASELINE,769,746.742895623,725,694,671,643,890.257104377,790.257104377,820.257104377,656.742895623,633,657.257104377,0.400983853047,-0.0153972530659,0.0798446117831,0.999999933312,0.000241438158729,-0.000270573251768,4.32854879095e-05,1793251785613835008
+79,1.316666667,BASELINE,769,746.166074987,725,694,671,643,890.833925013,790.833925013,820.833925013,656.166074987,633,657.833925013,0.400984987953,-0.015398828043,0.0798450610137,0.999999934183,0.000239057706765,-0.000269497206336,4.30874430503e-05,1793251785630501376
+80,1.333333333,BASELINE,769,746.409431422,725,693.590568578,671,642.590568578,890.590568578,790.590568578,821,656,633,657.590568578,0.400986437716,-0.0153977848071,0.0798458858826,0.999999934379,0.000240582843352,-0.000267394780134,4.31431980425e-05,1793251785647168256
+81,1.350000000,BASELINE,769,746.984406504,725,693.015593496,671,642.015593496,890.015593496,790.015593496,821,656,633,657.015593496,0.400988014785,-0.0153956829606,0.0798468626317,0.999999934291,0.000243687109691,-0.000264877361678,4.33015708287e-05,1793251785663834880
+82,1.366666667,BASELINE,769,746.427715098,725,693,671.572284902,642.572284902,890,790,821,656,633,657,0.400986783058,-0.0153970194456,0.0798460587295,0.999999933921,0.000242627740771,-0.000267210640687,4.34581606823e-05,1793251785680501504
+83,1.383333333,BASELINE,769,746,725,693,671.841555244,643,890,790,820.841555244,656,633,657,0.400986070441,-0.0153977940935,0.0798455670748,0.999999933655,0.000241963460669,-0.000268784520876,4.35744327466e-05,1793251785697168384
+84,1.400000000,BASELINE,769,746,725,693,671.260932753,643,890,790,820.260932753,656,633,657,0.400986949629,-0.0153968163332,0.0798460396677,0.999999933703,0.000242661159887,-0.000267974681436,4.35834100982e-05,1793251785713835008
+85,1.416666667,BASELINE,769,746.316961632,725,693.316961632,671,643,889.683038368,790,820.316961632,656,633,657,0.400987214398,-0.0153964849846,0.0798462361642,0.999999933875,0.000242474956812,-0.000267514491261,4.34958660986e-05,1793251785730501376
+86,1.433333333,BASELINE,769,746.892629286,725,693.892629286,671,643,889.107370714,790,820.892629286,656,633,657,0.400986977673,-0.0153966812414,0.079846207309,0.999999934149,0.000241567307244,-0.000267339687001,4.33295407821e-05,1793251785747168256
+87,1.450000000,BASELINE,769,746.522763075,725,693.522763075,671,642.522763075,889.477236925,790,821,656.477236925,633,657,0.400986564922,-0.0153967437303,0.0798459385018,0.999999933633,0.000242987029639,-0.000267962654521,4.34474863973e-05,1793251785763834624
+88,1.466666667,BASELINE,769,746.063008407,725,693,671,642,890.063008407,790,821,657,633,657,0.400985973427,-0.0153969060552,0.0798455662164,0.999999933049,0.0002444083728,-0.000268822221286,4.36037575673e-05,1793251785780501504
+89,1.483333333,BASELINE,769,746.641531681,725,693,671,642,890.641531681,790,821,657,633,657,0.400984249719,-0.0153981361411,0.0798447974286,0.999999933414,0.000241477084389,-0.00027012103673,4.35403355063e-05,1793251785797168128
+90,1.500000000,BASELINE,769.220077494,747,725,693.220077494,671,642.220077494,890.779922506,790,821,656.779922506,633,657,0.40098411624,-0.0153981927138,0.0798447313192,0.99999993354,0.000240997391596,-0.00027009422656,4.34601954615e-05,1793251785813834752
+91,1.516666667,BASELINE,769.798659968,747,725,693.798659968,671,642.798659968,890.201340032,790,821,656.201340032,633,657,0.400986573235,-0.0153963376402,0.079845809869,0.99999993328,0.000244511334338,-0.000267907979713,4.33528219225e-05,1793251785830501632
+92,1.533333333,BASELINE,770,746.625246436,725,693.625246436,671.374753564,643,890,790,821,656,633,657,0.400987508293,-0.0153965724274,0.0798463448853,0.999999933614,0.000243856328904,-0.000267229738207,4.35279000695e-05,1793251785847169024
+93,1.550000000,BASELINE,770,746.050481141,725,693.050481141,671.949518859,643,890,790,821,656,633,657,0.40098763107,-0.0153979226052,0.0798465898095,0.999999934264,0.000240976292128,-0.000267356342109,4.38537270089e-05,1793251785863836416
+94,1.566666667,BASELINE,769.46321128,746.53678872,725,693,672,643,890,790.53678872,821,656,633,657,0.40098661395,-0.0153972250684,0.079845495437,0.999999933619,0.000242487393582,-0.000268445983761,4.35818773225e-05,1793251785880502272
+95,1.583333333,BASELINE,769,746.876322878,725,693,671.876322878,643,890,790.876322878,821,656.123677122,633,657,0.400985547482,-0.0153965431864,0.0798446523688,0.999999933038,0.000243888008749,-0.000269374124973,4.33675858839e-05,1793251785897168384
+96,1.600000000,BASELINE,769,746.295297259,725,693,671.295297259,643,890,790.295297259,821,656.704702741,633,657,0.400984704398,-0.0153966482984,0.0798452154708,0.999999933171,0.000243316556349,-0.000269362153349,4.35789476615e-05,1793251785913835264
+97,1.616666667,BASELINE,769,746.282348893,725,693.282348893,671,643,890,790.282348893,821,656.717651107,633,657,0.40098457449,-0.0153972566571,0.0798455701189,0.999999933442,0.000242639452255,-0.00026896277459,4.35989663706e-05,1793251785930501888
+98,1.633333333,BASELINE,769,746.856502368,725,693.856502368,671,643,890,790.856502368,821,656.143497632,633,657,0.400985181644,-0.0153983851159,0.0798457093323,0.999999933855,0.000241853158293,-0.000268163014675,4.34212340386e-05,1793251785947168512
+99,1.650000000,BASELINE,769,747,725,693.570728508,671,643,890,790.570728508,821,656,633,657,0.400986296088,-0.0153975322687,0.0798460544881,0.999999934123,0.000241674174952,-0.000267355617549,4.32218732177e-05,1793251785963835648
+100,1.666666667,BASELINE,769,746.998353247,725,693.001646753,671,643,890,790,821,656,633,657,0.400987570247,-0.0153960230384,0.0798464640026,0.999999934339,0.00024170355112,-0.000266554000605,4.30163589303e-05,1793251785980503040
+101,1.683333333,BASELINE,769,746.401612903,725,693.598387097,671,643,890,790,821,656,633,657,0.400985477622,-0.0153958878825,0.0798453330681,0.999999933207,0.00024390089259,-0.000268760799287,4.31914791253e-05,1793251785997169152
+102,1.700000000,BASELINE,769,746.18857646,725,694,671.18857646,643,890,790,820.81142354,656.18857646,633,657,0.400984363644,-0.0153957780129,0.0798448226893,0.999999932712,0.000244878932771,-0.000269703197651,4.32605427776e-05,1793251786013835520
+103,1.716666667,BASELINE,769,746.76528247,725,694,671.76528247,643,890,790,820.23471753,656.76528247,633,657,0.400985263926,-0.0153957201876,0.0798455895437,0.999999933538,0.000243347397205,-0.000268043197092,4.31113200005e-05,1793251786030501888
+104,1.733333333,BASELINE,769,746.65834378,725,693.65834378,671.65834378,643,890,790,820,656.65834378,633,657,0.40098557198,-0.0153968721043,0.0798459952521,0.999999933847,0.000242183637641,-0.000267899021567,4.33879334214e-05,1793251786047168512
+105,1.750000000,BASELINE,769,746.082198012,725,693.082198012,671.082198012,643,890,790,820,656.082198012,633,657,0.40098547357,-0.0153988543056,0.0798461530946,0.999999933802,0.000241272294313,-0.000268795204887,4.39568117765e-05,1793251786063835136
+106,1.766666667,BASELINE,769,746,725,693.504812032,671,642.495187968,890,790,820.504812032,656.504812032,633,657,0.400986437852,-0.0153985703584,0.079846628979,0.999999933804,0.000242649436787,-0.00026756729964,4.38236486384e-05,1793251786080501760
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,725,694,671,643,890,790,821,657,633,657,0.400986634314,-0.0153969380916,0.0798464915798,0.999999934151,0.00024152369443,-0.000267350337914,4.34502198074e-05,1793251786123302912
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.574021355,746.574021355,725,693.425978645,671,643,890,790.574021355,821,657,633,657.574021355,0.400985432629,-0.0153968706183,0.0798459405872,0.99999993383,0.000241675520488,-0.000268456070854,4.31801915002e-05,1793251786139969792
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,725,693.148266499,671.148266499,643,890,790.851733501,821,657,633,657.851733501,0.400984658268,-0.0153968772974,0.079845481814,0.999999933668,0.000241408369396,-0.000269337642461,4.29238041969e-05,1793251786156636672
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,725,693.723155704,671.723155704,643,890,790.276844296,821,657,633,657.276844296,0.400985113496,-0.0153970973427,0.079845288393,0.999999933968,0.00023993565156,-0.000269574211473,4.27066675186e-05,1793251786173302528
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.692425675,746.692425675,725,694,671.692425675,643,890.307574325,790,821,656.692425675,633,657,0.400984979521,-0.0153977423541,0.0798449231371,0.999999934,0.000239343473623,-0.000269948760059,4.29340337189e-05,1793251786189968640
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.099155523,746.099155523,725,694,671.099155523,643,890.900844477,790,821,656.099155523,633,657,0.400984298253,-0.0153987821029,0.0798443982695,0.999999933782,0.00023956920076,-0.00027045147339,4.35742842561e-05,1793251786206635264
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.480522672,725,694,671,643,890.519477328,790,820.519477328,656.480522672,633,657.480522672,0.400984954791,-0.015397973007,0.0798451297802,0.999999933858,0.000240462088529,-0.000269418965079,4.32973508283e-05,1793251786223301888
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,820,657,633,657.942701381,0.400985876234,-0.0153969463679,0.0798460979663,0.999999933951,0.000241524058592,-0.000268180669745,4.29273924243e-05,1793251786239968768
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,820,657,633,657.367504504,0.400986765525,-0.015397306881,0.0798469265417,0.999999933682,0.000242904196654,-0.000267866937103,4.33802087733e-05,1793251786256635648
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.792541581,725,693.792541581,671,643,890,790,820.207458419,657,633.207458419,657,0.400992854994,-0.0153978251742,0.0798496347115,0.999999934734,0.000243171408804,-0.000263589634991,4.38148253883e-05,1793251786273302528
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.217992692,725,693.217992692,671,643,890,790,820.782007308,657,633.782007308,657,0.401008145997,-0.0153986226536,0.0798556687581,0.999999938041,0.000241469337027,-0.000252298934313,4.42172381536e-05,1793251786289969152
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.368596008,746,725,693.368596008,671,643,890,790,820.631403992,656.631403992,633.631403992,657,0.401037445046,-0.0153998857715,0.0798663194456,0.99999994295,0.000241462893514,-0.000231928032997,4.47872185526e-05,1793251786306635520
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.962545711,746,725,693.962545711,671,643,890,790,820.037454289,656.037454289,633.037454289,657,0.401075308391,-0.0154014335734,0.0798797926739,0.999999948346,0.000242493129678,-0.000206005641245,4.54596471358e-05,1793251786323302144
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.460089691,746,725,693.460089691,671,643,890,790,820.539910309,656,633.539910309,657,0.401140376599,-0.015404714546,0.0798970765259,0.999999955308,0.000241434228181,-0.000170271156191,4.58349201702e-05,1793251786339968768
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,725,693,671.115947208,643,890,790,821,656,633.884052792,657,0.401209439002,-0.0154077881297,0.0799135321597,0.99999996053,0.000240230011946,-0.000138276344501,4.59182286986e-05,1793251786356635136
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,725,693,671.69114672,643,890,790,821,656,633.30885328,657,0.401287069606,-0.015409578241,0.0799256914863,0.999999962777,0.000239007149751,-0.00012370962703,4.49243192133e-05,1793251786373301760
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.271579676,746.271579676,725,693,671.728420324,643,890,790,821,656,633,657,0.401370186193,-0.015411913938,0.0799338606776,0.999999964426,0.000238733197104,-0.000110813048222,4.33008063798e-05,1793251786389968640
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.858081261,746.858081261,725,693,671.141918739,643,890,790,821,656,633,657,0.401459664283,-0.0154148822922,0.0799374029348,0.999999965482,0.00023955959349,-9.98531515225e-05,4.09472099309e-05,1793251786406635520
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.558439152,747,725,693.441560848,671,643,890,790.441560848,821,656,633,657,0.401568552842,-0.0154182207785,0.0799404516322,0.999999966747,0.00023737864156,-9.34420122987e-05,3.77725818747e-05,1793251786423302400
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,725,693.976273005,671.023726995,643,890.023726995,791,821,656,633,657,0.401684714417,-0.015421706298,0.0799433156763,0.999999968076,0.000234175752248,-8.8511048882e-05,3.42904464462e-05,1793251786439969024
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,725,693.402196243,671.597803757,643,890.597803757,791,821,656,633,657,0.40182585368,-0.0154258617026,0.0799455511255,0.999999969666,0.000229536195093,-8.42325998242e-05,2.97548002413e-05,1793251786456635392
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.172443754,747,725,693,671.827556246,643,890.827556246,790.827556246,820.827556246,656,633,657,0.401975273276,-0.0154309915751,0.0799483651912,0.999999971496,0.000223827444386,-7.92561888223e-05,2.50493466108e-05,1793251786473302016
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.748401631,747,725,693,671.251598369,643,890.251598369,790.251598369,820.251598369,656,633,657,0.402144068625,-0.015438401678,0.079952533205,0.999999973917,0.000215616807868,-7.2646564732e-05,1.99465484409e-05,1793251786489968640
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.669176638,746.669176638,725,693,671,643,890,790,820.330823362,656,633,657,0.402319913998,-0.0154453297127,0.0799516403511,0.999999975998,0.000205136295595,-7.57104397555e-05,1.37989293496e-05,1793251786506635264
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.081740977,746.081740977,725,693,671,643,890,790,820.918259023,656,633,657,0.402501227934,-0.0154518838186,0.0799468218954,0.99999997765,0.000192895090448,-8.62778314491e-05,6.84086544007e-06,1793251786523301888
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.500555276,746.500555276,725.500555276,693.500555276,671,643,890,790,821,656.500555276,633.500555276,657,0.402719369206,-0.0154579384123,0.0799419974137,0.999999987719,0.000124300571724,-9.54412205335e-05,-1.24921683249e-06,1793251786539968768
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.91898763,747,725.91898763,694,671,643,890.08101237,790,821,656.91898763,633.91898763,657.08101237,0.402951520271,-0.0154644635189,0.0799383921314,0.999999993174,5.64189742782e-05,-0.000101866409947,-9.55028807753e-06,1793251786556635904
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.344670818,747,725.344670818,694,671,643,890.655329182,790,821,656.344670818,633.344670818,657.655329182,0.403232732418,-0.0154743453531,0.0799422167866,0.999999994344,4.83454908844e-05,-9.29999487423e-05,-1.80219131702e-05,1793251786573302528
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,725,694.228852195,671,643,890.771147805,790,821,656,633.228852195,658,0.40352821863,-0.0154847016667,0.0799467093929,0.999999995339,4.03382772773e-05,-8.46139311018e-05,-2.31277273923e-05,1793251786589968896
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,725,694.801183779,671,643,890.198816221,790,821,656,633.801183779,658,0.403845128463,-0.0154957701159,0.0799522045125,0.999999996245,3.24305270749e-05,-7.69490015272e-05,-2.31818672356e-05,1793251786606635520
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.389276507,747,725,694.610723493,671.389276507,643,890.389276507,790.389276507,821,656.389276507,633.610723493,657.610723493,0.404181755939,-0.0155009040995,0.0799518689116,0.999999996468,2.67819595508e-05,-7.63532724118e-05,-2.27531330673e-05,1793251786623302144
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.98575862,747,725,694.01424138,671.98575862,643,890.98575862,790.98575862,821,656.98575862,633.01424138,657.01424138,0.404528878788,-0.0155028792626,0.0799484297119,0.999999996345,2.23359187836e-05,-7.95203649359e-05,-2.20673728492e-05,1793251786639968768
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.437182638,746.437182638,725,694.562817362,672,643,891,790.437182638,821,656.437182638,633,657,0.404934649282,-0.0155067429432,0.0799497791094,0.999999996891,2.31397636509e-05,-7.14966857563e-05,-2.38876626649e-05,1793251786656635648
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.138734302,746.138734302,725,695,671.861265698,643,891,790.138734302,821,656,633,657.138734302,0.405349832287,-0.015508984785,0.0799491560966,0.999999997049,2.2223792381e-05,-6.87426273852e-05,-2.6144439183e-05,1793251786673302272
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.712560218,746.712560218,725,695,671.287439782,643,891,790.712560218,821,656,633,657.712560218,0.40579003546,-0.0155059954295,0.0799419799801,0.999999995967,1.55115056491e-05,-8.33733261069e-05,-2.95778666095e-05,1793251786689969152
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.705343281,747,725,694.705343281,671,643,891,790.705343281,821,656.294656719,633,658,0.406244113089,-0.0155011818626,0.0799363243764,0.999999994858,2.53107254937e-05,-9.34781137614e-05,-3.00806014904e-05,1793251786706636032
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.114945696,747,725,694.114945696,671,643,891,790.114945696,821,656.885054304,633,658,0.406712116276,-0.015494537372,0.0799321948791,0.999999993378,5.16822028159e-05,-9.90403396349e-05,-2.76418611656e-05,1793251786723302912
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.466640464,747,725,694.466640464,671,643,891.466640464,790.466640464,821,657,633,658,0.407207664157,-0.0154972244976,0.0799256034055,0.999999992351,3.73254043856e-05,-0.000113681003819,-3.13134453809e-05,1793251786739969024
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.954137353,747,725.045862647,695,671,643,892,791,821,657,633.045862647,658,0.407713965667,-0.0155019974603,0.0799182638736,0.99999999073,1.51202732188e-05,-0.000130402264227,-3.61523053275e-05,1793251786756635392
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.377618983,747,725.622381017,695,671,643,892,791,821,657,633.622381017,658,0.408267641969,-0.015504801314,0.0799091557943,0.999999988543,1.60350769186e-05,-0.000145802002077,-3.74047398233e-05,1793251786773302272
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.201804591,747,726,695,671,643,892.201804591,791,821,656.798195409,634,658,0.408852229482,-0.015506937001,0.0799121717292,0.99999998912,1.77144466388e-05,-0.000141577275309,-3.74524680948e-05,1793251786789969152
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.786743785,747,726,695,671,643,892.786743785,791,821,656.213256215,634,658,0.409495503213,-0.0155078041446,0.0799382056212,0.999999994153,2.0845377408e-05,-0.000100094666522,-3.52130102419e-05,1793251786806636288
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.632506668,747,725.632506668,695,671.367493332,643,892.632506668,790.632506668,821,656,634,658,0.410171545856,-0.0155089806485,0.0799686161591,0.999999997992,1.72830687082e-05,-5.02531727365e-05,-3.4529027832e-05,1793251786823303424
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.054160985,747,725.054160985,695,671.945839015,643,892.054160985,790.054160985,821,656,634,658,0.410866389912,-0.0155103346505,0.080001537833,0.999999999338,9.88045814011e-06,4.38429938648e-06,-3.47375123902e-05,1793251786839970048
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.525088314,747,725.525088314,695,671.474911686,643,891.474911686,790.525088314,821,656,633.474911686,657.474911686,0.411527344099,-0.0155099299612,0.0799864042364,0.999999998976,5.29818280562e-06,-2.4385903379e-05,-3.77590899533e-05,1793251786856636416
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.896092645,747,726,695,671,643,891.103907355,791,821.103907355,656,633.103907355,657,0.412192652036,-0.0155092064962,0.0799632752422,0.999999997121,1.02720214242e-06,-6.35476419801e-05,-4.14547454693e-05,1793251786873303040
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.31965501,747,726,695,671,643,891.68034499,791,821.68034499,656,633.68034499,657,0.412893683059,-0.015507859735,0.0799263664302,0.99999999276,-3.15334485827e-06,-0.000110774564472,-4.68940328569e-05,1793251786889968896
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725.738811981,695.261188019,671,643,892.261188019,790.738811981,822,656.261188019,634,657,0.413628698252,-0.0155084566038,0.0799095546043,0.99999999059,-7.84692759347e-06,-0.000127472660805,-5.00994732228e-05,1793251786906635008
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725.152484832,695.847515168,671,643,892.847515168,790.152484832,822,656.847515168,634,657,0.414406018633,-0.0155114729945,0.0799177604471,0.999999993001,-1.31791619097e-05,-0.000106167045073,-5.05241165742e-05,1793251786923301632
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,695.571478827,671,643,893.428521173,790,822,656.571478827,634,657.428521173,0.415205458527,-0.0155142178802,0.0799357996187,0.99999999553,-1.49669402626e-05,-7.94684363245e-05,-4.90072643972e-05,1793251786939968512
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725.007635023,695.007635023,671,643,894.007635023,790.007635023,822.007635023,656,634,658,0.416012469647,-0.0155167907955,0.0799567906696,0.999999997448,-1.5468775872e-05,-5.16581632718e-05,-4.68633500222e-05,1793251786956635136
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725.585116622,695.585116622,671,643,894.585116622,790.585116622,822.585116622,656,634,658,0.41680431589,-0.0155136508562,0.0799401435211,0.999999995332,-1.29736681763e-05,-8.23502867762e-05,-4.88486878769e-05,1793251786973302016
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,895,791,823.161907574,656,634,658,0.417632973968,-0.0155128704198,0.0799375992622,0.999999995134,-1.24353734924e-05,-8.39395464985e-05,-5.03202939493e-05,1793251786989968896
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,895,791,823.736936242,656,634,658,0.418555560558,-0.0155181104578,0.0799710397398,0.99999999852,-1.68900555798e-05,-1.12703451991e-05,-5.04810690248e-05,1793251787006635520
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,895,790.681166677,824.318833323,656.318833323,633.681166677,657.681166677,0.419450582058,-0.0155212627986,0.0799843484481,0.999999998392,-2.05985973422e-05,1.6511674318e-05,-5.01893855318e-05,1793251787023302144
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,895,790.093477853,824.906522147,656.906522147,633.093477853,657.093477853,0.420322359309,-0.015522654693,0.0799806810844,0.999999998473,-2.36779577392e-05,6.44267232167e-06,-4.95161674923e-05,1793251787039968768
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725.531296585,696,671,643,895.468703415,790,825,657,633.468703415,657.468703415,0.421215782337,-0.0155237843837,0.0799716853548,0.999999998276,-2.70263037779e-05,-8.45668358079e-06,-5.14372871494e-05,1793251787056635136
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896.028079123,790,825.028079123,656.971920877,634,657.971920877,0.422115397651,-0.0155249885582,0.0799635460104,0.999999997876,-3.02565765791e-05,-2.1546111907e-05,-5.35625188847e-05,1793251787073301760
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896.628617821,790,825.628617821,656.371382179,634,657.371382179,0.423057786017,-0.0155287223671,0.0799934132769,0.999999998088,-3.0042383474e-05,2.08908809349e-05,-4.98448157219e-05,1793251787089968384
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725.218484335,696.218484335,671.218484335,643,897,790,826,656,634,657.218484335,0.423973847404,-0.015529368272,0.0799993919591,0.99999999837,-2.4530802575e-05,1.7677454979e-05,-4.84318325978e-05,1793251787106635264
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725.791055082,696.791055082,671.791055082,643,897,790,826,656,634,657.791055082,0.424847242144,-0.0155250097694,0.0799666556369,0.999999996886,-1.04340155539e-05,-5.95192683216e-05,-5.07539909449e-05,1793251787123302400
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,726,697,671.623767596,643,897.376232404,790,826,656,634,658,0.425774724064,-0.0155241827013,0.0799356834867,0.999999993763,-9.48430637148e-06,-9.71980787895e-05,-5.41985667545e-05,1793251787139969280
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671.031346382,643,897.968653618,790,826,656,634,658,0.426733285241,-0.015525384849,0.0799057250584,0.999999991881,-1.60891071647e-05,-0.000112169296368,-5.82881005318e-05,1793251787156636160
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747.54920472,725.45079528,697,671.54920472,643,898,790,826,656.54920472,633.45079528,658,0.427682451785,-0.0155291036508,0.0799038945819,0.999999990544,-2.60579216771e-05,-0.000121517101714,-5.88766323452e-05,1793251787173302272
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747.872138612,725,697,671.872138612,643,898,790,826.127861388,656.872138612,633.127861388,658,0.428636230441,-0.0155324364677,0.0799106229973,0.999999990534,-3.42677507451e-05,-0.000119676093358,-5.86084998212e-05,1793251787189968896
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.297781598,725,697,671.297781598,643,898,790,826.702218402,656.297781598,633.702218402,658,0.429607947514,-0.0155339304297,0.0799417517069,0.999999994605,-3.56788521061e-05,-7.98605220553e-05,-5.60318961521e-05,1793251787206635264
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.717048556,747,725,697,671,643,898.282951444,790,826.717048556,656,634,658,0.430601392076,-0.015536692865,0.0799816089247,0.999999997546,-3.90409485783e-05,-2.36476701089e-05,-5.31396786477e-05,1793251787223301632
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.129450649,747,725,697,671,643,898.870549351,790,826.129450649,656,634,658,0.431618229998,-0.0155408210325,0.0800308638984,0.999999996503,-4.45036305639e-05,5.02197050855e-05,-4.99076479517e-05,1793251787239968256
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,725,697.451322428,671.451322428,643,899,790,826.451322428,656,634,658,0.432529848226,-0.0155373175192,0.0800045943837,0.999999997352,-5.04601578515e-05,5.41513929808e-06,-5.21531105987e-05,1793251787256634880
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725,697.970955367,671.970955367,643,899,790,827,656.029044633,633.970955367,658,0.433414117117,-0.0155320468441,0.0799573722749,0.999999994321,-5.60223324598e-05,-7.12721967073e-05,-5.60386332279e-05,1793251787273301760
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725,697.413649861,671.413649861,643,899,790,827,656.586350139,633.413649861,658,0.434341685625,-0.0155338546997,0.0799171896431,0.999999989797,-5.18741667794e-05,-0.000117980633676,-6.16043637999e-05,1793251787289968896
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.15318286,747,725,697,671,643,899,790,827,657,633.15318286,658,0.435271123269,-0.0155365332894,0.0798971751117,0.99999998691,-5.00289835947e-05,-0.000139566944272,-6.47894057784e-05,1793251787306635520
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.747448896,747,725,697,671,643,899,790,827,657,633.747448896,658,0.436205943223,-0.0155417191191,0.079935233712,0.999999992686,-5.48151344986e-05,-8.88152295806e-05,-6.11193632201e-05,1793251787323301888
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.658438324,747,725,697,671,643.341561676,899.341561676,789.658438324,827.341561676,656.658438324,634,658,0.437170030397,-0.0155456868824,0.0799774471208,0.999999996418,-5.62278223614e-05,-2.67820814407e-05,-5.73227981904e-05,1793251787339968512
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.064438848,747,725,697,671,643.935561152,899.935561152,789.064438848,827.935561152,656.064438848,634,658,0.438155748024,-0.0155487544097,0.0800227312193,0.999999996102,-5.51472863111e-05,4.35888265261e-05,-5.34327243443e-05,1793251787356635136
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,725,697,671.515456621,643.484543379,900,789.515456621,828,656,634,658,0.439070389949,-0.015551784504,0.0800347902937,0.999999994741,-6.17054060818e-05,6.15418623107e-05,-5.40692762979e-05,1793251787373302016
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,725,697,671.907705728,643,900,790,828,656,634,658,0.439951482159,-0.0155532530938,0.0800273733637,0.999999994927,-6.739405595e-05,4.95620818011e-05,-5.60968378971e-05,1793251787389968896
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,725,697,671.33781051,643,900,790,828,656,634,658,0.440703717752,-0.0155466648401,0.0799400939934,0.999999992461,-6.37734668915e-05,-8.43062342832e-05,-6.24722007051e-05,1793251787406635264
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,725,697.417479192,672,643.417479192,900.417479192,789,828,656.417479192,634,658,0.443133604924,-0.0155398079298,0.0798578129525,0.999999977648,-5.93407336251e-05,-0.000190238793106,-7.06477370752e-05,1793251787456635648
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,697.997601912,672,643.997601912,900.997601912,789,828,656.997601912,634,658,0.444049264348,-0.015543327162,0.0799332114741,0.999999993538,-5.92375808425e-05,-7.25649261085e-05,-6.44208649747e-05,1793251787473302016
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,748,725,697.425550104,672,644,900.425550104,789,828,656.425550104,634,658,0.444874575985,-0.0155497116723,0.0799867939498,0.999999995906,-6.7918504301e-05,1.96294638735e-06,-5.97578896687e-05,1793251787489968896
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+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672.306593726,644,901,789.693406274,828.693406274,656,634,658,0.447153749041,-0.0155638839461,0.080020945995,0.999999993106,-8.12803814296e-05,6.14060177282e-05,-5.84079652494e-05,1793251787539968768
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+199,3.316666667,POSE1_TO_POSE2_PRESS,767.379947389,748,725,696.620052611,672,643.620052611,901,788.620052611,829,656,634,658,0.451505465197,-0.0155744441715,0.0799738186713,0.999999991546,-0.000113312308252,-3.78606233307e-06,-6.36757446503e-05,1793251787656635392
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+243,4.050000000,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643,901,786,829,656,634,658,0.458086580942,-0.0156222422308,0.0797652580833,0.999999918938,-0.00016662291465,-0.000360453354714,-6.65871836915e-05,1793251788389968384
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+245,4.083333333,POSE1_TO_POSE2_PRESS,767.931183938,748,725,696,671,642.068816062,901.068816062,786.068816062,829,656,633,658,0.458089093487,-0.0156247512022,0.0797662495114,0.999999919355,-0.000170509498066,-0.000357465888546,-6.6590730852e-05,1793251788423301888
+246,4.100000000,POSE1_TO_POSE2_PRESS,767.356776729,748,725,696,671,642.643223271,901.643223271,786.643223271,829,656,633,658,0.458088415573,-0.0156233118947,0.0797658411188,0.999999919544,-0.000168276931157,-0.000358004629163,-6.65415719673e-05,1793251788439969024
+247,4.116666667,POSE1_TO_POSE2_PRESS,767.217184765,748,725,696,671.217184765,643,901.782815235,787,829,656,633,658.217184765,0.458087650066,-0.0156218254564,0.0797651890209,0.999999919393,-0.000166711511948,-0.000359135631087,-6.66473977096e-05,1793251788456636160
+248,4.133333333,POSE1_TO_POSE2_PRESS,767.790415658,748,725,696,671.790415658,643,901.209584342,787,829,656,633,658.790415658,0.458086740963,-0.015620261753,0.0797641373999,0.999999918691,-0.000166239794125,-0.000361237568356,-6.70073005499e-05,1793251788473302784
+249,4.150000000,HOLD_POSE2,767,748,725,696,671,642,901,786,829,656,633,659,0.458087632595,-0.015621768202,0.0797646114011,0.999999918284,-0.000168677570323,-0.000361272637196,-6.68017906761e-05,1793251788507359488
+250,4.166666667,HOLD_POSE2,767,748.574290215,725,696,671.574290215,642.574290215,901,786.574290215,829,655.425709785,633,658.425709785,0.458087107607,-0.0156209157165,0.0797637986355,0.999999918393,-0.000166017190195,-0.000362262905325,-6.64709264061e-05,1793251788524025856
+251,4.183333333,HOLD_POSE2,767,748.850762831,725,696,672,643,901,786.850762831,829,655.149237169,633,658,0.458086745099,-0.0156200582611,0.0797632568028,0.999999918565,-0.000163661180346,-0.000362900985769,-6.62460722772e-05,1793251788540692480
+252,4.200000000,HOLD_POSE2,767,748.27393407,725,696,672,643,901,786.27393407,829,655.72606593,633,658,0.458086848129,-0.0156191865662,0.0797634912419,0.999999918936,-0.000162177246013,-0.000362529984768,-6.63249563805e-05,1793251788557358848
+253,4.216666667,HOLD_POSE2,767.309473835,748,725,696,671.690526165,643,901,786,829,656,633,658,0.458087580626,-0.015619229419,0.0797641324134,0.9999999193,-0.000162220454872,-0.000361514960699,-6.62716123256e-05,1793251788574025728
+254,4.233333333,HOLD_POSE2,767.898831798,748,725,696,671.101168202,643,901,786,829,656,633,658,0.458088882403,-0.0156200993768,0.0797651414284,0.999999919655,-0.000163644792339,-0.000359917490531,-6.60986828326e-05,1793251788590692864
+255,4.250000000,HOLD_POSE2,768,748,725,696,671.480487533,643,901.480487533,786.480487533,829,656,633,658,0.458088444342,-0.0156200679504,0.079764318214,0.999999918958,-0.000164191280954,-0.000361585465325,-6.61831411422e-05,1793251788607359488
+256,4.266666667,HOLD_POSE2,767.939824651,748,725,696,672,643,901.939824651,787,829,656,633,658,0.458087679528,-0.01561983229,0.0797631733469,0.999999918114,-0.000164569932465,-0.000363711547457,-6.63591143122e-05,1793251788624025600
+257,4.283333333,HOLD_POSE2,767.363326756,748,725,696,672,643,901.363326756,787,829,656,633,658,0.458087204704,-0.0156194469984,0.0797625265012,0.999999917907,-0.00016506940029,-0.000363962018287,-6.68626494533e-05,1793251788640691968
+258,4.300000000,HOLD_POSE2,767,748,725,696,671.787864577,642.787864577,901,787,829,656,633,658,0.458087037749,-0.0156190876779,0.0797623008736,0.999999917904,-0.000165268044139,-0.000363848064055,-6.70255292242e-05,1793251788657358336
+259,4.316666667,HOLD_POSE2,767,748,725,696,671.214167721,642.214167721,901,787,829,656,633,658,0.458087395521,-0.0156187726223,0.0797627931661,0.999999918251,-0.000164953966649,-0.000363112987469,-6.66077994354e-05,1793251788674025216
+260,4.333333333,HOLD_POSE2,767,748,725,696,671,642.369692801,901,786.630307199,829,656,633,658,0.458088807145,-0.0156189372127,0.0797638742687,0.999999918831,-0.000165317209539,-0.000361411063911,-6.62602822861e-05,1793251788690691840
+261,4.350000000,HOLD_POSE2,767,748,725,696,671,642.959607768,901,786.040392232,829,656,633,658,0.458090846538,-0.0156193875231,0.0797653061193,0.999999919545,-0.000166083925123,-0.00035913319957,-6.59545900372e-05,1793251788707358464
+262,4.366666667,HOLD_POSE2,767.540006236,748,724.459993764,696,671,643,901,786,829,656,633,658,0.458089473338,-0.0156194409738,0.0797640481875,0.999999918844,-0.000165277741756,-0.000361512660477,-6.56062001621e-05,1793251788724025088
+263,4.383333333,HOLD_POSE2,768,748,724,696,671,643,901,786,829,656,633,658,0.45808842772,-0.0156194631502,0.079763015948,0.999999918283,-0.000164826468262,-0.000363304233421,-6.53874558344e-05,1793251788740691712
+264,4.400000000,HOLD_POSE2,768,748,724,696,671,643,901,786,829,656,633,658,0.458089604814,-0.015619477244,0.0797636107268,0.999999918686,-0.000166183290051,-0.000361521225711,-6.56789635451e-05,1793251788757358336
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,748,725,696,671,642,901,787,829,656,634,658,0.458092551699,-0.0156221966083,0.0797657452945,0.999999919944,-0.000166930779293,-0.000357699785501,-6.55522255942e-05,1793251788794629632
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,748.579644047,725,696,671,642.579644047,901,786.420355953,829,656,634,658,0.458090300314,-0.0156205668025,0.0797646280356,0.999999919524,-0.000164842602494,-0.000359828132131,-6.55979996853e-05,1793251788811296256
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.158347603,748.841652397,725,696,671,642.841652397,901,786,829,656,633.841652397,658,0.458088750183,-0.0156189219588,0.0797638177153,0.999999919168,-0.000163193490856,-0.00036152138846,-6.58287152884e-05,1793251788827962880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.734569364,748.265430636,725,696,671,642.265430636,901,786,829,656,633.265430636,658,0.45808905064,-0.0156172374307,0.0797638173956,0.999999919004,-0.000162703057393,-0.000362066456155,-6.65474855164e-05,1793251788844630272
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.688636724,748,725,696,671.311363276,642.311363276,901,786,829,656,633,658,0.458089730733,-0.0156181870082,0.0797637949354,0.999999919016,-0.000163269701382,-0.000361784146275,-6.65114190563e-05,1793251788861297152
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.111354201,748,725,696,671.888645799,642.888645799,901,786,829,656,633,658,0.458090735054,-0.015621386239,0.0797637535661,0.999999919177,-0.0001647391405,-0.000360795216028,-6.58306856328e-05,1793251788877963520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.472562024,748,725,696,671.527437976,642.527437976,901,786,829,656,633,658,0.458091412052,-0.0156207776542,0.0797644419752,0.999999919396,-0.000165103333274,-0.0003600750597,-6.55388848982e-05,1793251788894630400
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.942283891,748,725,696,671,642,901.057716109,786.057716109,829.057716109,656,633,658,0.458091556591,-0.0156193286341,0.0797649049245,0.999999919504,-0.000165049000429,-0.000359824095488,-6.54087246134e-05,1793251788911297280
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.360286896,748,725,696,671,642,901.639713104,786.639713104,829.639713104,656,633,658,0.458087574996,-0.0156185119456,0.0797617355144,0.999999918471,-0.000163592329944,-0.000363251671865,-6.59025093892e-05,1793251788927963648
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.21878293,748.21878293,725,696,671,642,901.562434141,786.78121707,829.78121707,656,633,658,0.458080966772,-0.0156180444291,0.079757955389,0.999999916566,-0.000163214316326,-0.000368549973577,-6.6330493607e-05,1793251788944630272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.793095942,748.793095942,725,696,671,642,900.413808116,786.206904058,829.206904058,656,633,658,0.458070090184,-0.01561814433,0.0797531828295,0.999999913212,-0.000164589158818,-0.000376888270496,-6.66515495156e-05,1793251788961296640
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.625239017,748.625239017,725,696,671,642,900.374760983,786,829,656,633,658,0.458045324223,-0.0156165356517,0.0797417944737,0.999999906373,-0.000163131718683,-0.00039516173267,-6.69974618917e-05,1793251788977963264
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.039433673,748.039433673,725,696,671,642,900.960566327,786,829,656,633,658,0.458012736544,-0.0156139647975,0.079726680472,0.999999897126,-0.000160079295919,-0.000419030123156,-6.73573720361e-05,1793251788994629888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,748,725,696,671,642.543270331,901,786,829,656,633,658,0.457954126482,-0.0156122780304,0.0797055564314,0.9999998804,-0.000161422216423,-0.000456573149498,-6.84428357528e-05,1793251789011296512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,748,725,696.12429064,671,642.87570936,901,786,829,656,633,658,0.457891561128,-0.0156103871419,0.079685677576,0.999999864245,-0.000162499003198,-0.000490196400051,-6.93596245292e-05,1793251789027963648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,748,725,696.700008857,671,642.299991143,901,786,829,656,633,658,0.457821451442,-0.0156075231252,0.0796718967224,0.999999856535,-0.000161457001783,-0.000505998281144,-6.94735865413e-05,1793251789044630528
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,748,725,696.72446298,671.27553702,642,901,786.27553702,829,656,633.27553702,658,0.457746287495,-0.015604461365,0.079664357942,0.999999851747,-0.000160223490015,-0.000515896150138,-6.84525570259e-05,1793251789061297408
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,748,725,696.14914163,671.85085837,642,901,786.85085837,829,656,633.85085837,658,0.457665624515,-0.0156011844599,0.0796636105391,0.99999985033,-0.000158781615044,-0.000519370451991,-6.61966565185e-05,1793251789077964032
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,748,724.56276048,696,671.56276048,642.43723952,901,786.56276048,829,656,633.56276048,658,0.457572209713,-0.0155973704028,0.0796640774311,0.999999850661,-0.000156752033691,-0.000519625827236,-6.39912836882e-05,1793251789094630144
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,748,724.026967024,696,671.026967024,642.973032976,901,786,829,656,633,658,0.457473130552,-0.0155932100209,0.0796650974953,0.999999851715,-0.000154356424468,-0.000518585751345,-6.17564343295e-05,1793251789111296512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,748,724.605967644,696,671.605967644,642.394032356,901,786,829,656,633,658,0.457349448474,-0.0155858081381,0.0796687425089,0.999999855091,-0.000148678135156,-0.000514086384594,-5.85562131734e-05,1793251789127963392
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.183870621,748,725,696.183870621,672,642.183870621,901,786.183870621,829,656,633.183870621,658,0.457212436712,-0.0155788373973,0.0796707104397,0.9999998566,-0.000143052684715,-0.000513135446095,-5.50265189332e-05,1793251789144630016
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.759435251,748,725,696.759435251,672,642.759435251,901,786.759435251,829,656,633.759435251,658,0.457047029146,-0.0155727851063,0.0796691057314,0.999999854185,-0.00013753979605,-0.0005197436173,-5.0794958585e-05,1793251789161296896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,696.66470096,672,643,901,787,829,656,633.66470096,658,0.456869133813,-0.015565154545,0.0796693117995,0.999999854725,-0.000130595338408,-0.000520890949097,-4.65662820743e-05,1793251789177963008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.088622283,672,643,901,787,829,656,633.088622283,658,0.456682270945,-0.0155563906207,0.0796708181936,0.999999857363,-0.000122622864553,-0.000518116830058,-4.23396760223e-05,1793251789194629632
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.501825159,748,725,696,672,643,900.501825159,787,829,656,633,658.498174841,0.456464191158,-0.0155457588484,0.0796661169959,0.999999855492,-0.000110956613552,-0.000524682602903,-3.75764992626e-05,1793251789211296000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.085571983,748,725,696,672,643,900.085571983,787,829,656,633,658.914428017,0.456234254318,-0.015534913527,0.0796602339512,0.99999985267,-9.81307098762e-05,-0.00053288976546,-3.25390404375e-05,1793251789227962880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.665183071,748,725,696,672,643,900.665183071,787,829,656,633,658.334816929,0.455968628443,-0.0155247958541,0.0796540433432,0.999999850031,-8.24867972391e-05,-0.000540769843852,-2.64812481455e-05,1793251789244629504
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.756517121,748,725,695.756517121,671.756517121,642.756517121,901,787,829,656.243482879,633.243482879,658,0.455693169339,-0.0155161323752,0.0796558015974,0.999999854186,-5.64617880224e-05,-0.000536714058558,-1.94487780724e-05,1793251789261296128
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.18001085,748,725,695.18001085,671.18001085,642.18001085,901,787,829,656.81998915,633.81998915,658,0.455404260865,-0.0155094578688,0.0796684318979,0.999999866507,-1.62380482759e-05,-0.000516333010088,-1.10831940669e-05,1793251789277963008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.402620388,748,725,695,671.402620388,642.402620388,901,787,829,656.597379612,634,658,0.455106195502,-0.0154996136215,0.0796846234683,0.999999880588,1.68156731261e-05,-0.000488391560655,-3.80830798063e-06,1793251789294629376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.988032376,748,725,695,671.988032376,642.988032376,901,787,829,656.011967624,634,658,0.454803972875,-0.0154883302967,0.0797024318722,0.999999894477,4.66141704721e-05,-0.000457017652777,2.9713957598e-06,1793251789311296000
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.432954743,747.432954743,725,695,672,643,900.432954743,787,829,656,633.432954743,658,0.454432409566,-0.0154813699486,0.0797067031155,0.999999899371,2.89787243848e-05,-0.000447681053992,8.62708141704e-08,1793251789327962880
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.371347111,672,643,900.371347111,788,828.371347111,656,633.628652889,658,0.451177985168,-0.0154694237644,0.0797589280451,0.99999993414,5.17873745251e-05,-0.000358912129367,1.48601425748e-05,1793251789444629248
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.784556226,672,643,900,788,828,656,634,658,0.450073857872,-0.0154556829123,0.0798047312593,0.999999960674,6.11210418541e-05,-0.000273156370191,1.73461404176e-05,1793251789477962752
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.911404806,747,724.911404806,695.911404806,671,642.088595194,897.088595194,789,827,656,633,657.088595194,0.439250925219,-0.0154253095214,0.0796677861075,0.999999850524,0.000158693292729,-0.000522511684488,2.73730524507e-05,1793251789711295744
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724.925534168,695.074465832,671.074465832,643,897,790,827,656,633,657,0.437489643167,-0.015435886907,0.079686706172,0.999999877923,0.000143045746515,-0.00047201256708,2.9943670303e-05,1793251789744629248
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,747,725,693.502219843,671,643,890.502219843,790,820.497780157,656,633,657,0.400989075862,-0.0153412653339,0.0798408570964,0.999999914339,0.00030496601706,-0.000277596893754,3.54638509066e-05,1793251791077962752
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,746,725,693.767889078,671,643,890,791,820.767889078,656.767889078,633.767889078,657,0.400989076128,-0.0153425000243,0.0798419578278,0.999999914926,0.000304799580686,-0.000275644881697,3.55717500075e-05,1793251791127962624
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee5521ce66ff4a887d63734dfcdb8d4567c34ba4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
+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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+384,6.400000000,pose2_to_pose3_retreat,0.585847237548,-0.00999489361612,1.07002103815,0.556418581279,-0.00132248461512,1.06963240424
+385,6.416666667,pose2_to_pose3_retreat,0.585821942669,-0.0099948681136,1.07002099688,0.556393286528,-0.00132245834458,1.06963237047
+386,6.433333333,pose2_to_pose3_retreat,0.585802067062,-0.0099948391895,1.07002088968,0.55637340977,-0.00132243334296,1.06963226284
+387,6.450000000,pose2_to_pose3_retreat,0.585787071618,-0.00999493382494,1.07002086632,0.556358415155,-0.0013225250376,1.06963224238
+388,6.466666667,pose2_to_pose3_retreat,0.585776008416,-0.00999490617948,1.07002090823,0.556347352189,-0.00132249650439,1.06963228621
+389,6.483333333,pose2_to_pose3_retreat,0.585768332145,-0.00999480151331,1.07002097365,0.556339675643,-0.00132239274569,1.06963235231
+390,6.500000000,pose2_to_pose3_retreat,0.585763197877,-0.00999491399744,1.07002090723,0.556334542996,-0.00132249980419,1.06963228421
+391,6.516666667,pose2_to_pose3_retreat,0.58575968238,-0.00999497086423,1.07002085946,0.556331028238,-0.00132255423238,1.06963223496
+392,6.533333333,pose2_to_pose3_retreat,0.585757482369,-0.00999492716745,1.07002082054,0.556328827226,-0.00132251403116,1.0696321938
+393,6.550000000,pose2_to_pose3_retreat,0.585755890842,-0.00999489555643,1.07002079239,0.556327234975,-0.00132248494888,1.06963216404
+394,6.566666667,pose2_to_pose3_retreat,0.585754806088,-0.00999486627179,1.07002081399,0.556326149611,-0.00132245779922,1.06963218415
+395,6.583333333,pose2_to_pose3_retreat,0.585754102354,-0.00999483698848,1.07002088221,0.556325445329,-0.00132243044773,1.06963225089
+396,6.600000000,pose2_to_pose3_retreat,0.585753569229,-0.00999481480439,1.07002093389,0.556324911787,-0.00132240972713,1.06963230146
+397,6.616666667,pose2_to_pose3_retreat,0.585753039421,-0.00999479275837,1.07002098525,0.556324381566,-0.00132238913549,1.06963235171
+398,6.633333333,pose2_to_pose3_retreat,0.585752759475,-0.00999478110941,1.07002101238,0.556324101401,-0.00132237825501,1.06963237826
+399,6.650000000,pose2_to_pose3_retreat,0.585752624404,-0.00999477548893,1.07002102548,0.556323966225,-0.00132237300532,1.06963239107
+400,6.666666667,pose2_to_pose3_retreat,0.585752525707,-0.00999477138201,1.07002103505,0.55632386745,-0.00132236916933,1.06963240043
+401,6.683333333,pose2_to_pose3_retreat,0.585752487881,-0.00999476980801,1.07002103871,0.556323829595,-0.00132236769917,1.06963240402
+402,6.700000000,pose2_to_pose3_retreat,0.585752288521,-0.00999483786277,1.07002103403,0.556323631506,-0.00132243139206,1.06963240037
+403,6.716666667,pose2_to_pose3_retreat,0.585752167632,-0.00999488028826,1.07002103082,0.55632351141,-0.00132247109811,1.06963239781
+404,6.733333333,pose2_to_pose3_retreat,0.585751967943,-0.00999495036785,1.07002102552,0.556323313031,-0.00132253668566,1.06963239359
+405,6.750000000,pose2_to_pose3_retreat,0.585751782609,-0.00999501540998,1.07002102061,0.556323128912,-0.00132259755864,1.06963238967
+406,6.766666667,pose2_to_pose3_retreat,0.585751635776,-0.00999506694034,1.07002101671,0.556322983042,-0.00132264578594,1.06963238656
+407,6.783333333,pose2_to_pose3_retreat,0.58575137127,-0.00999515976729,1.0700210097,0.55632272027,-0.00132273266277,1.06963238096
+408,6.800000000,pose2_to_pose3_retreat,0.585751133493,-0.00999512705239,1.07002094492,0.556322481774,-0.00132270216081,1.06963232126
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+410,6.833333333,pose2_to_pose3_retreat,0.585750951998,-0.00999504620768,1.07002086736,0.556322298634,-0.00132262664245,1.06963224939
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..646735bea6268721b0bc638b459fb41d4311cf1f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0fa1a42e6e413fefff32050863e313ee028c324b38d31ddc0da129925bd93b
+size 26180083
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35faa0b6d9119acd0fd554e48febccae62de535b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+31,0.516666667,BASELINE,769,747,725,693,671,643,890,790.008036789,820.991963211,657,633,657,0.400990719436,-0.0153459332829,0.0798463166582,0.999999918305,0.000300379519253,-0.000268205544905,3.50373735733e-05,1793251791896873728
+32,0.533333333,BASELINE,769,747,725,693,671,643,890,790.587460263,820.412539737,657,633,657,0.400989602922,-0.0153444297957,0.0798454399398,0.999999917806,0.000300465970015,-0.000269988898545,3.48378829798e-05,1793251791913540352
+33,0.550000000,BASELINE,769.158329529,747,725,693.158329529,671,643,890,790.841670471,820.158329529,656.841670471,633,657,0.400988558428,-0.0153433202446,0.0798446022319,0.999999917355,0.000300827162944,-0.000271283959567,3.46250729512e-05,1793251791930206720
+34,0.566666667,BASELINE,769.708052553,747,725,693.708052553,671,643,890,790.291947447,820.708052553,656.291947447,633,657,0.400987691968,-0.0153431845115,0.0798438609588,0.999999917026,0.000301867523533,-0.000271371952032,3.4379337065e-05,1793251791946873344
+35,0.583333333,BASELINE,769.717710339,747,725,693.717710339,671,643,890,790,821,656.282289661,633,657,0.400987750586,-0.0153441221539,0.0798438944958,0.999999917126,0.000301704762816,-0.0002711722602,3.44699283007e-05,1793251791963540224
+36,0.600000000,BASELINE,769.115709375,747,725,693.115709375,671,643,890,790,821,656.884290625,633,657,0.400988856914,-0.0153462754634,0.0798448055554,0.999999917711,0.000300179389517,-0.000270646747298,3.49414317299e-05,1793251791980207360
+37,0.616666667,BASELINE,769,747,725.478475227,693,671,643,890,790,821,657,633,657,0.400988277716,-0.0153463479379,0.0798445929134,0.999999917872,0.000298927865131,-0.000271451123953,3.48095816215e-05,1793251791996873984
+38,0.633333333,BASELINE,769,747,725.930833888,693,671,643,890,790,821,657,633,657.069166112,0.400987361663,-0.0153460353835,0.0798442136719,0.999999917911,0.000297978009512,-0.000272379908422,3.45970459434e-05,1793251792013540608
+39,0.650000000,BASELINE,769,747,725.352178092,693,671,643,890,790,821,657,633,657.647821908,0.400986918541,-0.0153465337707,0.0798445767677,0.999999917798,0.000298770316334,-0.000271894172325,3.48476790251e-05,1793251792030206976
+40,0.666666667,BASELINE,769,747,725,693,671,643,890,790,821,657,633,658,0.400986899735,-0.0153464148408,0.0798448154607,0.999999917743,0.000299269056339,-0.000271533936402,3.4951326408e-05,1793251792046873856
+41,0.683333333,BASELINE,769,747,725,693,671,643,890,790,821,657,633,658,0.40098754075,-0.0153453359684,0.0798448607045,0.999999917779,0.000299311293116,-0.000271368856175,3.48264076207e-05,1793251792063540224
+42,0.700000000,BASELINE,769,747,725,693,671,643,890,790,821,656.654100264,633,657.654100264,0.400988158527,-0.0153454179221,0.0798450540681,0.9999999178,0.000299594903075,-0.000270982962581,3.48067274517e-05,1793251792080206848
+43,0.716666667,BASELINE,769,747,725,693,671,643,890,790,821,656.05455015,633,657.05455015,0.400988759264,-0.0153463511167,0.0798453560487,0.999999917808,0.000300055513455,-0.000270435145211,3.48642194068e-05,1793251792096873728
+44,0.733333333,BASELINE,769,746.46275215,725,693,671.53724785,643,890,790,820.46275215,656,633,656.46275215,0.400989701546,-0.0153459740936,0.0798458733601,0.99999991804,0.000300454860679,-0.000269142377444,3.47667710383e-05,1793251792113540608
+45,0.750000000,BASELINE,769,746.125581419,725,693.125581419,671.874418581,643,890,790,820.125581419,656,633,656.125581419,0.400990146578,-0.015345460906,0.0798460531154,0.999999918195,0.000300521243905,-0.000268505048583,3.46636652361e-05,1793251792130207488
+46,0.766666667,BASELINE,769,746.704215678,725,693.704215678,671.295784322,643,890,790,820.704215678,656,633,656.704215678,0.400988674379,-0.0153449296009,0.0798449373339,0.999999917993,0.000299408533934,-0.000270501307956,3.45960978297e-05,1793251792146873856
+47,0.783333333,BASELINE,769,747,725,694,671,642.718815147,890.281184853,790,820.718815147,656,633,657,0.40098823677,-0.015345559491,0.0798447120643,0.999999918282,0.000298068103339,-0.00027090377312,3.46726718236e-05,1793251792163540480
+48,0.800000000,BASELINE,769,747,725,694,671,642.143587127,890.856412873,790,820.143587127,656,633,657,0.400988881062,-0.0153474036767,0.0798454180286,0.999999919085,0.00029648953854,-0.000269639561641,3.48999786574e-05,1793251792180207104
+49,0.816666667,BASELINE,769,747,725,693.567995361,671,642.432004639,890.567995361,790,820,656,633,657,0.400988288097,-0.0153466242997,0.0798453710045,0.999999918756,0.000297255157185,-0.000270030341059,3.48027407575e-05,1793251792196873728
+50,0.833333333,BASELINE,769,747,725,693,671,643,890,790,820.007928832,656,633,657,0.400987314235,-0.0153450189612,0.0798450874653,0.999999918063,0.000298775946303,-0.00027094282207,3.4604482466e-05,1793251792213540352
+51,0.850000000,BASELINE,769,747,725,693,671,643,890,790,820.599416422,656,633,657,0.400988598576,-0.0153468564233,0.0798458320718,0.999999918466,0.00029848384931,-0.00026973284479,3.49170600135e-05,1793251792230206976
+52,0.866666667,BASELINE,769,747,725,693.186698872,671,643,890,790,820.813301128,656.186698872,633,657,0.400988936184,-0.015347441673,0.0798459535945,0.999999918277,0.000299255499548,-0.000269560197319,3.50550981144e-05,1793251792246873600
+53,0.883333333,BASELINE,769,747,725,693.765157431,671,643,890,790,820.234842569,656.765157431,633,657,0.400987287217,-0.0153453993423,0.0798447676691,0.99999991684,0.000302259264416,-0.000271564231517,3.4826891248e-05,1793251792263540480
+54,0.900000000,BASELINE,769,747,725,693.659662366,671.340337634,643,890,790,820.340337634,656.659662366,633,657,0.40098692956,-0.0153450751721,0.0798442600163,0.999999916824,0.000301838897236,-0.000272103670173,3.47094073744e-05,1793251792280207104
+55,0.916666667,BASELINE,769,747,725,693.086722761,671.913277239,643,890,790,820.913277239,656.086722761,633,657,0.400987454444,-0.0153459252697,0.0798442159253,0.99999991778,0.000299078324856,-0.000271642138609,3.46675965585e-05,1793251792296873728
+56,0.933333333,BASELINE,769,747,725,693,671.495993152,642.495993152,890,790,821,656,633,657,0.40098674047,-0.015345072352,0.0798438079813,0.999999916989,0.000301011566603,-0.000272430383146,3.45778127613e-05,1793251792313540352
+57,0.950000000,BASELINE,769.095036185,746.904963815,725,693,671.095036185,642.095036185,890,790,821,656.095036185,633,657,0.400986191558,-0.0153442324449,0.0798435410776,0.999999916284,0.000302906326391,-0.00027292882197,3.44795403106e-05,1793251792330206976
+58,0.966666667,BASELINE,769.671509469,746.328490531,725,693,671.671509469,642.671509469,890,790,821,656.671509469,633,657,0.400987598195,-0.0153449972126,0.0798443174207,0.999999917625,0.000300365032071,-0.000270829915142,3.43816119595e-05,1793251792346873600
+59,0.983333333,BASELINE,769.752099065,746,725,693.247900935,671.752099065,643,889.752099065,790,821,657,633,657,0.400988122636,-0.0153454979891,0.0798448766494,0.999999918052,0.00029971591033,-0.000269954714661,3.45129468813e-05,1793251792363540224
+60,1.000000000,BASELINE,769.175815899,746,725,693.824184101,671.175815899,643,889.175815899,790,821,657,633,657,0.400987478476,-0.0153456490695,0.0798451482774,0.999999917277,0.000301573256609,-0.00027070049778,3.49479756227e-05,1793251792380206848
+61,1.016666667,BASELINE,769,746.4086143,725,694,671,643,889.4086143,790,821,657,633,657,0.400987106252,-0.0153458677476,0.0798447873492,0.999999917548,0.000300031522154,-0.000271423800377,3.48519679476e-05,1793251792396873472
+62,1.033333333,BASELINE,769,746.99662123,725,694,671,643,889.99662123,790,821,657,633,657,0.400986853416,-0.0153461161028,0.0798441487119,0.999999918271,0.000296997500028,-0.000272137233377,3.45228210246e-05,1793251792413540352
+63,1.050000000,BASELINE,769.57664516,747,725,694,671,643,890,790,821,657,633,657,0.400987499137,-0.0153457691553,0.0798446497734,0.999999917961,0.000298736862212,-0.000271366470877,3.45750326981e-05,1793251792430206976
+64,1.066666667,BASELINE,769.844628449,746.844628449,725,693.844628449,671,643,890.155371551,790,821,656.844628449,633,657,0.400987497471,-0.0153454820649,0.0798446470173,0.999999917641,0.000300007799516,-0.000271130877813,3.46579446393e-05,1793251792446873856
+65,1.083333333,BASELINE,769.269284656,746.269284656,725,693.269284656,671,643,890.730715344,790,821,656.269284656,633,657,0.40098573187,-0.0153453660687,0.0798432646287,0.999999917321,0.000299938007071,-0.000272365043545,3.48178825161e-05,1793251792463540736
+66,1.100000000,BASELINE,769,746,725,693.305238789,671,643,890.694761211,790,821,656.305238789,633,657,0.400985203203,-0.0153453513849,0.0798431164121,0.99999991737,0.000299309715714,-0.000272871491,3.48415733676e-05,1793251792480207104
+67,1.116666667,BASELINE,769,746,725,693.879040426,671,643,890.120959574,790,821,656.879040426,633,657,0.400985762846,-0.0153454258403,0.0798440540757,0.999999917745,0.000298190031838,-0.000272737659043,3.47453879359e-05,1793251792496873728
+68,1.133333333,BASELINE,769,746.467385838,725,694,671,643,890.467385838,790,821,656.532614162,633,657,0.400985387174,-0.015346119699,0.0798436817768,0.999999917569,0.000298674903249,-0.000272861147318,3.46603849786e-05,1793251792513540096
+69,1.150000000,BASELINE,769,747,725,693.941738794,671,643,890.941738794,790,821,656,633,657,0.400984904396,-0.0153468207897,0.0798431072191,0.999999917259,0.000299621231182,-0.000272969256938,3.45916913668e-05,1793251792530206976
+70,1.166666667,BASELINE,769,747,725,693.362968259,671,643,890.362968259,790,821,656,633,657,0.400985696772,-0.0153461083492,0.0798438517579,0.999999917061,0.000300861135934,-0.000272325904527,3.46420207294e-05,1793251792546873600
+71,1.183333333,BASELINE,769,747,725,693.215141158,671,643,890,790,820.784858842,656.215141158,633,657,0.400986374778,-0.0153459817777,0.0798444318341,0.999999917126,0.000301116871306,-0.000271784375032,3.47873166131e-05,1793251792563540480
+72,1.200000000,BASELINE,769,747,725,693.792138704,671,643,890,790,820.207861296,656.792138704,633,657,0.400986860424,-0.0153468406075,0.0798447352928,0.999999917636,0.000299717284496,-0.00027141410635,3.50923413196e-05,1793251792580206848
+73,1.216666667,BASELINE,769,747,725,693.637484118,671,643,890,790.362515882,820.362515882,657,633.362515882,657,0.400988243645,-0.0153459744143,0.0798455127941,0.999999917955,0.000300137775921,-0.000269784265804,3.49827628801e-05,1793251792596873472
+74,1.233333333,BASELINE,769,747,725,693.070834916,671,643,890,790.929165084,820.929165084,657,633.929165084,657,0.400990132293,-0.0153441368576,0.0798465572296,0.99999991816,0.000301583156636,-0.000267445158181,3.46397206725e-05,1793251792613540096
+75,1.250000000,BASELINE,769,747,725,693.52270512,671,643,890,790.47729488,821,656.47729488,633.47729488,657,0.400988534037,-0.0153438818146,0.0798456218685,0.99999991775,0.000301576995586,-0.000268966322198,3.47734022162e-05,1793251792630206976
+76,1.266666667,BASELINE,769.116646296,747,725,694,671.116646296,643,890,790,821,656.116646296,633,657,0.400986989487,-0.0153439463238,0.0798447193695,0.999999917305,0.000301539657849,-0.000270637940762,3.49141950592e-05,1793251792646873344
+77,1.283333333,BASELINE,769.696912364,747,725,694,671.696912364,643,890,790,821,656.696912364,633,657,0.400987638373,-0.015344382317,0.0798450716738,0.999999917087,0.000302202636822,-0.000270715569448,3.48125536345e-05,1793251792663540224
+78,1.300000000,BASELINE,769.725524221,747,725,694,672,643,890.274475779,790,821,656.725524221,633,657,0.400987300594,-0.015345557619,0.0798448014676,0.999999917272,0.000301113294531,-0.000271252620158,3.47631688153e-05,1793251792680207104
+79,1.316666667,BASELINE,769.150916125,747,725,694,672,643,890.849083875,790,821,656.150916125,633,657,0.400985883921,-0.0153475413365,0.0798438505619,0.99999991789,0.000298107833244,-0.000272292037219,3.47709252777e-05,1793251792696873728
+80,1.333333333,BASELINE,769.432869412,747,725,693.567130588,671.567130588,643,890.567130588,790,820.567130588,656,633,657,0.400986601751,-0.0153471497908,0.0798443454676,0.999999918103,0.000298004074773,-0.000271652257499,3.45276455607e-05,1793251792713540608
+81,1.350000000,BASELINE,769.980238253,747,725,693,671.019761747,643,890.019761747,790,820.019761747,656,633,657,0.400988050066,-0.0153459548445,0.0798453298702,0.999999918168,0.00029894656753,-0.00027041453715,3.42169837493e-05,1793251792730207232
+82,1.366666667,BASELINE,769.397962641,747,725,693,671.602037359,643,890.602037359,790,820.602037359,656,633,657,0.400988649829,-0.0153459739704,0.0798455886761,0.999999918099,0.000300250131813,-0.000269181873545,3.45335511149e-05,1793251792746873600
+83,1.383333333,BASELINE,769,747,725,693.182300527,671.817699473,642.817699473,890.817699473,790,821,656,633,657,0.400989101049,-0.0153458250594,0.0798458879241,0.999999918128,0.000300935516803,-0.000268280405748,3.47579115101e-05,1793251792763540224
+84,1.400000000,BASELINE,769,747,725,693.758218598,671.241781402,642.241781402,890.241781402,790,821,656,633,657,0.40098923154,-0.0153453133284,0.0798462744934,0.999999918372,0.000300286148817,-0.000268094045252,3.47831815846e-05,1793251792780207104
+85,1.416666667,BASELINE,769,747,725,694,671,642.334430164,890,790,820.665569836,656.334430164,633,657,0.400988488511,-0.0153444404575,0.0798455886916,0.999999918134,0.000300090896828,-0.00026923338416,3.45065206688e-05,1793251792796873728
+86,1.433333333,BASELINE,769,747,725,694,671,642.910854068,890,790,820.089145932,656.910854068,633,657,0.400987113403,-0.0153433062656,0.079844126922,0.999999917544,0.000300224243311,-0.000271331999457,3.40113824211e-05,1793251792813540352
+87,1.450000000,BASELINE,769,747,725,694,671,643,890,790.497452469,820.497452469,656.502547531,633,657,0.400988462983,-0.0153461530049,0.0798456025989,0.999999918527,0.000299084480613,-0.000268866889688,3.47214746604e-05,1793251792830206976
+88,1.466666667,BASELINE,769,746.915418844,725,693.915418844,671,643,890,790.915418844,821,656.084581156,633.084581156,657,0.400989965556,-0.0153490402232,0.0798472017786,0.999999919525,0.00029792566661,-0.000266333568293,3.54585305607e-05,1793251792846873600
+89,1.483333333,BASELINE,769,746.336076519,725,693.336076519,671,643,890,790.336076519,821,656.663923481,633.663923481,657,0.400989447222,-0.0153479040106,0.0798463798691,0.999999918989,0.000298017835507,-0.000268285133846,3.50635279817e-05,1793251792863540224
+90,1.500000000,BASELINE,769,746,725,693.240869176,671.240869176,643,890,790,821,657,633.759130824,657,0.400988267139,-0.0153474322454,0.0798455800567,0.999999918456,0.000298274156678,-0.00027000786264,3.48730395527e-05,1793251792880206848
+91,1.516666667,BASELINE,769,746,725,693.814503833,671.814503833,643,890,790,821,657,633.185496167,657,0.400986172836,-0.0153478784274,0.0798448107718,0.999999917928,0.000298757257419,-0.00027141444881,3.49650914574e-05,1793251792896873728
+92,1.533333333,BASELINE,769.390317771,746.390317771,725,693.609682229,671.609682229,643,890,790,821,656.609682229,633,657,0.40098654166,-0.015347302844,0.0798448916212,0.999999917968,0.000298778406685,-0.000271275818777,3.47139573061e-05,1793251792913540352
+93,1.550000000,BASELINE,769.967173266,746.967173266,725,693.032826734,671.032826734,643,890,790,821,656.032826734,633,657,0.400988087643,-0.0153462389463,0.0798453787603,0.999999918279,0.000298578783632,-0.000270398710802,3.42988102739e-05,1793251792930206976
+94,1.566666667,BASELINE,770,747,725,693,672.114077847,643,890,790.557038924,821,656,633,657,0.400988792922,-0.015346037694,0.0798463129387,0.999999917765,0.000301373981128,-0.000269134084415,3.47864057643e-05,1793251792946873600
+95,1.583333333,BASELINE,769.855230939,746.855230939,725,693.144769061,672.710461877,642.855230939,890,790.855230939,821,656,633,657,0.400988942729,-0.0153458865503,0.0798468116579,0.999999917556,0.000302610951754,-0.000268491291916,3.50282054678e-05,1793251792963540224
+96,1.600000000,BASELINE,769.276260193,746.276260193,725,693.723739807,671.552520386,642.276260193,890,790.276260193,821,656,633,657,0.400987578672,-0.0153457295775,0.0798459234139,0.999999918427,0.000298632386675,-0.000269783679238,3.43694221157e-05,1793251792980207104
+97,1.616666667,BASELINE,769,746.29986891,725,693.70013109,671.29986891,642.29986891,890,790,821,656.29986891,633.29986891,657,0.400987524122,-0.0153460807998,0.0798455595979,0.999999918799,0.000297461358699,-0.000269701726111,3.43417401823e-05,1793251792996873728
+98,1.633333333,BASELINE,769,746.873404636,725,693.126595364,671.873404636,642.873404636,890,790,821,656.873404636,633.873404636,657,0.400988664658,-0.0153468958117,0.0798456743862,0.999999918725,0.000298852549687,-0.000268365520267,3.48900150123e-05,1793251793013540352
+99,1.650000000,BASELINE,769,746.541453916,725,693.458546084,671.541453916,643,890,790,821,656.541453916,633.541453916,657,0.40098950834,-0.0153463345077,0.0798457938904,0.999999918383,0.00030003423258,-0.000268309123743,3.49669318266e-05,1793251793030206720
+100,1.666666667,BASELINE,769.046243206,746,725,694,671,643,890,790.046243206,820.953756794,656,633,657,0.400990080105,-0.0153455142474,0.0798458915212,0.999999917976,0.000301073309896,-0.000268669788319,3.4914735079e-05,1793251793046873344
+101,1.683333333,BASELINE,769.625507244,746,725,694,671,643,890,790.625507244,820.374492756,656,633,657,0.400988486816,-0.015346202614,0.0798457216334,0.999999917686,0.000301152663216,-0.000269659296953,3.49132326063e-05,1793251793063539968
+102,1.700000000,BASELINE,769.796031255,746.203968745,725.203968745,694,671,642.796031255,890,790.796031255,820,656,633,657,0.40098721653,-0.0153465715825,0.0798453759607,0.999999917561,0.000300923485313,-0.000270388375618,3.48197721356e-05,1793251793080206848
+103,1.716666667,BASELINE,769.219037525,746.780962475,725.780962475,694,671,642.219037525,890,790.219037525,820,656,633,657,0.400986536965,-0.0153463564247,0.0798447088063,0.999999917741,0.000300130055001,-0.000270641170981,3.45581357477e-05,1793251793096873472
+104,1.733333333,BASELINE,769,746.645359946,725.290719893,693.645359946,671,642.354640054,890,790,820.354640054,656,633,657,0.400987491184,-0.0153462818461,0.0798449645942,0.999999918148,0.000299537093828,-0.00026980596668,3.44373707921e-05,1793251793113540096
+105,1.750000000,BASELINE,769,746.073711504,724.147423008,693.073711504,671,642.926288496,890,790,820.926288496,656,633,657,0.400989445134,-0.0153462932895,0.0798457851413,0.999999918694,0.000299066801984,-0.000268305002707,3.44028066849e-05,1793251793130206720
+106,1.766666667,BASELINE,769.515786778,746.515786778,724.515786778,693,671.515786778,643,890,790,821,656,633,657,0.400987335329,-0.0153464911278,0.0798448569155,0.999999918059,0.000299252439961,-0.000270452992517,3.44385917065e-05,1793251793146873600
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,725,693,671,643,890,790,820,657,634,657,0.400989711158,-0.0153497932442,0.0798466885726,0.999999919653,0.000296097299429,-0.000268023542439,3.44053346325e-05,1793251793189203456
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.573937029,746,725,693,671.573937029,643,890.573937029,790,820.573937029,657,634,657,0.400989217737,-0.015347495244,0.0798460528523,0.99999991929,0.000297795629494,-0.000267483990151,3.45080602823e-05,1793251793205870080
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.848751622,746.151248378,725,693.151248378,671.848751622,643,890.848751622,790.151248378,821,657,633.848751622,657,0.400988828636,-0.0153455550368,0.0798456888671,0.999999918797,0.000299687433168,-0.000267201672036,3.45923980412e-05,1793251793222536704
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.261717857,746.738282143,725,693.738282143,671.261717857,643,890.261717857,790.738282143,821,657,633.261717857,657,0.400988740104,-0.0153446457219,0.0798461078202,0.999999917936,0.000302136684349,-0.000267660511455,3.46237555915e-05,1793251793239203328
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.677095323,747,725,694,671,643,890,790.677095323,821,656.677095323,633,657,0.40098886963,-0.0153454408158,0.0798460058733,0.999999917859,0.000302055322787,-0.000268028450728,3.47034537781e-05,1793251793255869696
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.094412669,747,725,694,671,643,890,790.094412669,821,656.094412669,633,657,0.400989174583,-0.0153476071127,0.0798454848605,0.999999918414,0.000299938073994,-0.000268323260478,3.48220421791e-05,1793251793272536320
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.482309755,747,725,694,671.482309755,643,890,790,821,656,633,657,0.400989969002,-0.0153470151992,0.0798462805614,0.999999918122,0.000301797716623,-0.000267276518675,3.51828785339e-05,1793251793289202688
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671.942254989,643,890.057745011,790,821,656.057745011,633,657,0.400990565638,-0.0153460714091,0.079847093516,0.999999917744,0.000303715865124,-0.000266476239096,3.54744193389e-05,1793251793305869312
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.368024386,643,890.631975614,790,821,656.631975614,633,657,0.400988546741,-0.0153467506004,0.0798457835708,0.999999918109,0.000299279375128,-0.000270200556534,3.47272022145e-05,1793251793322535936
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.788790088,725,694,671,643,890.788790088,790,821,656.788790088,633.211209912,657,0.40099123728,-0.0153471519556,0.0798465554234,0.999999918813,0.000297489576467,-0.000269619297251,3.43556880973e-05,1793251793339202560
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.200625562,725,694,671,643,890.200625562,790,821,656.200625562,633.799374438,657,0.401002332933,-0.0153470574457,0.079851042742,0.99999992012,0.000300423432104,-0.000261353705937,3.4654705951e-05,1793251793355869440
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.383760967,725,694,671,643,890,790,821,656,633.616239033,657,0.4010288213,-0.0153474302742,0.0798612549236,0.999999924494,0.000301879078077,-0.000242141199794,3.53394697571e-05,1793251793372536064
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.966191713,725,694,671,643,890,790,821,656,633.033808287,657,0.401063278345,-0.0153480450397,0.0798744308184,0.999999929968,0.000302569467637,-0.000217261568338,3.62239309629e-05,1793251793389202432
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.539661972,747,725,693.460338028,671,643,890,790,820.460338028,656,633,657,0.401125309634,-0.0153517707432,0.0798928350409,0.999999938546,0.000298833722905,-0.000179619025262,3.66503344535e-05,1793251793405869312
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.886868592,747,725,693,671,643,890,790,820.113131408,656,633,657,0.401191335574,-0.015355441977,0.0799101165808,0.999999944961,0.000295670352292,-0.000145952366147,3.68130248201e-05,1793251793422535936
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.311144489,747,725,693,671,643,890,790,820.688855511,656,633,657,0.401266747461,-0.0153581065936,0.079921490062,0.999999946874,0.000295962706496,-0.000131759020199,3.60128174731e-05,1793251793439202816
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746.729266013,725,693,671.270733987,643,890,790,821,656.270733987,633,657,0.401348817393,-0.0153611489448,0.079930311296,0.999999948781,0.000295372779584,-0.000118278224573,3.4687160316e-05,1793251793455869696
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746.140150056,725,693,671.859849944,643,890,790,821,656.859849944,633,657,0.401438717153,-0.0153646355101,0.0799361310977,0.999999950741,0.000293745293988,-0.000105635385831,3.27435765585e-05,1793251793472536320
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746,725,693.441832102,671.558167898,643,890,790,821,656.558167898,633.441832102,657,0.401543319764,-0.0153684290929,0.0799387695105,0.999999952123,0.000291752226444,-9.87474164476e-05,2.97202863332e-05,1793251793489202688
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746.021409803,725,693.978590197,671,643,890,790,820.978590197,656,633.978590197,657,0.401653566391,-0.0153722991409,0.0799404852075,0.999999953336,0.000289601560195,-9.36256517573e-05,2.63147980934e-05,1793251793505869312
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,746.596396812,725,693.403603188,671,643,890,790,820.403603188,656,633.403603188,657,0.401791074459,-0.0153756682541,0.0799440209961,0.999999954925,0.000286326716521,-8.77218278575e-05,2.17417752939e-05,1793251793522535936
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.171303682,746.828696318,725,693.171303682,671,643,890.171303682,790,820.171303682,656,633,657,0.401938049866,-0.0153801967337,0.0799475916871,0.999999956881,0.000281736743141,-8.10577235226e-05,1.71091269539e-05,1793251793539203328
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.746021747,746.253978253,725,693.746021747,671,643,890.746021747,790,820.746021747,656,633,657,0.402107320514,-0.0153874554816,0.0799512445719,0.999999959737,0.000274049684199,-7.26031852804e-05,1.2336063127e-05,1793251793555870976
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.670141903,746.329858097,725,694,671,643,891,790,821,656,633,657,0.40228210419,-0.0153942737847,0.0799509070967,0.999999962186,0.000264816236871,-7.38861033045e-05,6.39625294016e-06,1793251793572537600
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.079085163,746.920914837,725,694,671,643,891,790,821,656,633,657,0.402461253385,-0.0154007433217,0.0799474098492,0.999999964216,0.000254358278664,-8.28796401616e-05,-4.67447663274e-07,1793251793589203968
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.501455778,747,725,694,671,643,891,790,821,656,633.501455778,657,0.402672348214,-0.015407045694,0.0799428411481,0.999999969926,0.000226698296852,-9.31930956937e-05,-8.44578393816e-06,1793251793605870080
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.920107559,747,725,694,671,643,890.920107559,790,821,656,633.920107559,657,0.402895565356,-0.0154139767399,0.0799390122158,0.999999976478,0.00019106159081,-0.000101308762806,-1.65904225913e-05,1793251793622536192
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.344647341,747,725,694,671,643,890.344647341,790,821,656,633.344647341,657,0.403163366906,-0.0154249675853,0.079940798665,0.999999987733,0.000122428368059,-9.45269736113e-05,-2.46986077429e-05,1793251793639202816
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.235479459,790,821,656.235479459,633,657,0.403448699729,-0.0154346800258,0.0799436811326,0.999999992537,7.83193701163e-05,-8.81730968082e-05,-3.19096992828e-05,1793251793655869440
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.822574315,790,821,656.822574315,633,657,0.403760210043,-0.0154424835652,0.0799482001631,0.999999993378,7.08296859022e-05,-8.24581751271e-05,-3.77812599404e-05,1793251793672536064
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.406109769,747,725,694.406109769,671,643,891,790,821,656.593890231,633.406109769,657,0.404102472513,-0.0154488876243,0.0799507653724,0.999999993314,8.06265694346e-05,-7.61573791598e-05,-3.27418237222e-05,1793251793689203456
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.98810365,747,725,694.98810365,671,643,891,790,821,656.01189635,633.98810365,657,0.404458053579,-0.0154546855753,0.0799524843914,0.999999992521,9.79101792104e-05,-6.96028440908e-05,-2.29768891372e-05,1793251793705870592
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.437759179,747,725,694.437759179,671,643,891,790,821,656,634,657,0.404847924985,-0.0154599044434,0.0799507947714,0.999999993497,8.68160837291e-05,-6.84072755188e-05,-2.81119101579e-05,1793251793722537472
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,725,694.13653565,671,643,891,790.13653565,821,656.13653565,634,657,0.405246877779,-0.0154663461515,0.0799480300802,0.999999994431,7.20623837791e-05,-7.01081374347e-05,-3.21016839305e-05,1793251793739203840
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725,694.711863926,671,643,891,790.711863926,821,656.711863926,634,657,0.405672716298,-0.015476756606,0.0799420389609,0.99999999512,4.74506721444e-05,-8.07580440128e-05,-3.14116844378e-05,1793251793755869952
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,725,694.70402299,671,643,891,791,821,656.70402299,633.70402299,657,0.406121568471,-0.0154901732592,0.0799352645116,0.999999994591,3.55671060605e-05,-9.30162264815e-05,-3.00184520097e-05,1793251793772536576
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,725,694.111096154,671,643,891,791,821,656.111096154,633.111096154,657,0.406593509992,-0.0155066059929,0.0799277041568,0.999999993233,3.64535173605e-05,-0.000106887972222,-2.79196751949e-05,1793251793789203456
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,725.468457085,694.468457085,671,643,891,791,821,656.468457085,633.468457085,657,0.407092795642,-0.0155075078181,0.0799242171407,0.999999992623,2.75625681826e-05,-0.000114180793526,-3.0931755504e-05,1793251793805870080
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+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.381564481,725.381564481,695,671,643,891.618435519,791,821,656.381564481,634,657.618435519,0.40813417213,-0.0155048426483,0.0799119615897,0.999999989108,2.08602955083e-05,-0.00014157161966,-3.61310168545e-05,1793251793839204352
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+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746.78795522,725.78795522,695,671,643,892,791,821,656.78795522,634,658,0.409346212898,-0.0155048314423,0.0799333522867,0.999999993077,2.08892310541e-05,-0.000110192766171,-3.5598134005e-05,1793251793872537856
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+150,2.500000000,POSE1_TO_POSE2_PRESS,769.951432896,747,726,695,671,643,892.951432896,791,821,656.048567104,634,658,0.410711782169,-0.0155111893174,0.0799969974229,0.999999999379,8.14131274009e-06,-3.45142260591e-06,-3.41233046885e-05,1793251793905871104
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,725.473730545,695,671,643,892.473730545,791,821,656.526269455,633.473730545,657.473730545,0.411371189442,-0.0155123988507,0.0799864219509,0.999999998988,6.05576992048e-06,-2.62813937297e-05,-3.60215069796e-05,1793251793922537472
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.794025081,747,725,695,671,643,892.10298746,790.89701254,821.10298746,656.89701254,633,657,0.412030627479,-0.0155129605846,0.0799677449876,0.999999997463,3.63564307878e-06,-5.95953312631e-05,-3.8850993737e-05,1793251793939203840
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.618543437,747,725,695,671,643,892.690728282,790.309271718,821.690728282,656.309271718,633,657,0.412704101313,-0.0155116123217,0.0799302342834,0.999999993195,-2.65135726021e-06,-0.000107617425768,-4.49562284147e-05,1793251793955869952
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.274236918,747,725,695,671,643,893,790.274236918,822,656,633.274236918,657.274236918,0.413432298809,-0.015511179207,0.0799113316141,0.999999990671,-6.8893020311e-06,-0.000127462957209,-4.86282320564e-05,1793251793972536576
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.853045301,747,725,695,671,643,893,790.853045301,822,656,633.853045301,657.853045301,0.414221273276,-0.0155117624688,0.0799130952913,0.999999992001,-8.85153701541e-06,-0.000116015198697,-4.95978551689e-05,1793251793989203968
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,695.431759174,671,643,893.431759174,791,822.431759174,656,634,658,0.415024198855,-0.0155120703503,0.0799318361715,0.999999995118,-7.76263950352e-06,-8.59863810886e-05,-4.80712299973e-05,1793251794005870592
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,894,790.98959244,823,656,634,658,0.415831641941,-0.015512279264,0.0799556817747,0.999999997645,-5.73609995078e-06,-5.07961088875e-05,-4.57840689625e-05,1793251794022537472
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,894,790.412755993,823,656,634,658,0.416626575894,-0.015512201947,0.0799429312566,0.999999995684,-9.18589498814e-06,-7.88178951684e-05,-4.83356932455e-05,1793251794039203584
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725.166289225,696,671,643,894.166289225,790,823.166289225,656,633.833710775,658,0.417447132286,-0.0155130721171,0.0799417740902,0.999999995366,-1.22602563749e-05,-8.13089115232e-05,-5.00625583994e-05,1793251794055869952
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725.750890722,696,671,643,894.750890722,790,823.750890722,656,633.249109278,658,0.418332143684,-0.0155163257577,0.0799697808184,0.999999998469,-1.43901877145e-05,-1.95754735643e-05,-4.97146835995e-05,1793251794072536576
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,895,790.33280197,824.33280197,656.33280197,633,657.66719803,0.419228466012,-0.0155187261949,0.0799824011432,0.999999998618,-1.60043945756e-05,8.61230471229e-06,-4.93399705801e-05,1793251794089203200
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,895,790.912715631,824.912715631,656.912715631,633,657.087284369,0.420133186877,-0.0155204931125,0.0799835967742,0.999999998583,-1.72356662957e-05,1.18918001512e-05,-4.89453297959e-05,1793251794105869824
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725.508644766,696,671,643,895.491355234,791,825,656.508644766,633.491355234,657.491355234,0.421022805709,-0.0155224757233,0.0799712888288,0.999999998462,-2.07068893296e-05,-9.27684960381e-06,-5.06012283278e-05,1793251794122536448
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,696.069237611,671,643,896.138475222,791,825,656.069237611,634,658,0.421916745088,-0.0155246490654,0.079962054467,0.999999998008,-2.42772623755e-05,-2.63241702525e-05,-5.19741596997e-05,1793251794139203584
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,696.64324493,671,643,897.28648986,791,825,656.64324493,634,658,0.422861690069,-0.0155279342983,0.0799926705618,0.999999998321,-2.56770927647e-05,1.82547404285e-05,-4.8635430114e-05,1793251794155870464
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.777072357,747,725,697,671,643,897.777072357,790.777072357,825.222927643,656.777072357,634,657.777072357,0.423776439731,-0.015528210509,0.0800027528297,0.999999998337,-2.25248170317e-05,2.3951622078e-05,-4.73786290134e-05,1793251794172537344
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.188069851,747,725,697,671,643,897.188069851,790.188069851,825.811930149,656.188069851,634,657.188069851,0.424641605082,-0.0155235455321,0.0799791160099,0.999999998117,-1.18974182004e-05,-3.420060752e-05,-4.95406124116e-05,1793251794189203968
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,747,725,697,671,643,897.39412146,790.39412146,826,656,634,657,0.425567451627,-0.0155219532088,0.0799419357172,0.999999994836,-9.80429197937e-06,-8.59439747903e-05,-5.33427045385e-05,1793251794205870592
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,747,725,697,671,643,897.973117735,790.973117735,826,656,634,657,0.426521762504,-0.0155218022087,0.0798984024428,0.999999989185,-1.17144299206e-05,-0.000134681064112,-5.79141400192e-05,1793251794222536960
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,747,725,696.450656999,671,643,898,790.450656999,826,656,633.450656999,657,0.427475116508,-0.0155250131734,0.0798961076164,0.999999988849,-2.00319342938e-05,-0.000135800399896,-5.88095169859e-05,1793251794239203072
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,747,725,696.12505834,671,643,898.12505834,789.87494166,826,656,633.12505834,657,0.428433307942,-0.0155284172588,0.07990223398,0.999999989665,-2.80499185998e-05,-0.000128192849651,-5.87386329754e-05,1793251794255869696
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,725,696.69942632,671,643,898.69942632,789.30057368,826,656,633.69942632,657,0.429409046633,-0.0155319270718,0.0799314020583,0.999999993108,-3.38709308992e-05,-9.75612271136e-05,-5.58392277965e-05,1793251794272536832
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,725,697,671.280829879,643,899,789.280829879,826.280829879,656,634,657,0.43039797587,-0.0155361054347,0.0799727154897,0.999999997118,-3.74321114983e-05,-3.98264348643e-05,-5.26911073675e-05,1793251794289203968
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,725,697,671.869957117,643,899,789.869957117,826.869957117,656,634,657,0.431401385734,-0.0155410177367,0.0800273621881,0.999999996909,-3.85124296438e-05,4.76624389902e-05,-4.92699452187e-05,1793251794305871104
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747.45402398,725,697,671.54597602,643,899,790,827,656,634,657.45402398,0.432348699524,-0.015537354649,0.080010269454,0.999999997795,-4.00017306658e-05,1.55935695996e-05,-5.06700190454e-05,1793251794322537216
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.036054488,747.963945512,725,697,671,643.036054488,899,790,827,656,634,658,0.433278720401,-0.0155317062457,0.079972049607,0.999999996459,-4.12634285393e-05,-5.00166120883e-05,-5.36430534184e-05,1793251794339203328
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.60910439,747.39089561,725,697,671,643.60910439,899,790,827,656,634,658,0.434187846684,-0.0155326677868,0.0799218284099,0.999999991382,-3.74097233775e-05,-0.000110781642733,-5.97031563992e-05,1793251794355869952
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.816911369,697.183088631,671.183088631,643.816911369,899,790,827,656,634,658.183088631,0.435111894108,-0.015534992904,0.0798983022037,0.999999987712,-3.90780303157e-05,-0.000137987851542,-6.33124229472e-05,1793251794372536320
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.240921964,697.759078036,671.759078036,643.240921964,899,790,827,656,634,658.759078036,0.436067961871,-0.0155402442003,0.0799320623554,0.999999992375,-5.2596350653e-05,-9.31782022778e-05,-6.1662295405e-05,1793251794389202944
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.65479764,747,724.34520236,697.65479764,671.65479764,643,899,790,827.34520236,656,634,658.65479764,0.437027227027,-0.0155452523257,0.0799724301306,0.999999996133,-5.64564573553e-05,-3.41055442178e-05,-5.81660193745e-05,1793251794405869824
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.061386089,747,724.938613911,697.061386089,671.061386089,643,899,790,827.938613911,656,634,658.061386089,0.437988791131,-0.0155500856047,0.0800175489515,0.999999996533,-5.33720642492e-05,3.52225737584e-05,-5.33423160289e-05,1793251794422536704
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,725,697,671.51689076,643,899.51689076,789.48310924,828,656,634.51689076,658,0.438934116278,-0.0155531963044,0.0800338103347,0.999999995217,-5.80723750865e-05,5.82297691617e-05,-5.29329669426e-05,1793251794439203584
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643,900,789.094288332,828,656,634.905711668,658,0.439846954797,-0.0155544975979,0.0800317984476,0.999999995162,-6.2336245192e-05,5.34611606585e-05,-5.41436085393e-05,1793251794455870208
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643,900,789.676169366,828,656,634.323830634,658,0.44060148475,-0.0155474697375,0.0799525085739,0.999999994087,-5.96982242283e-05,-6.73058319318e-05,-6.10977695893e-05,1793251794472537088
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.258054138,725,697,672,643.258054138,900,790,828,656,634,658,0.441373159654,-0.0155418467403,0.0798795404505,0.999999980943,-5.64622859157e-05,-0.000174197977614,-6.7689083706e-05,1793251794489203456
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.839943556,725,697,672,643.839943556,900,790,828,656,634,658,0.442166349907,-0.0155379867236,0.0798145055745,0.999999961135,-5.24760145506e-05,-0.000263678400202,-7.38250567687e-05,1793251794505869824
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.580355073,725,697,672,643.580355073,900,790,828,656,634,658,0.443044151143,-0.0155389551183,0.0798494320127,0.999999974897,-5.5969033498e-05,-0.000204804024647,-7.16211793019e-05,1793251794522536448
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.001483867,725,697,672,643.001483867,900,790,828,656,634,658,0.443954056471,-0.0155417555616,0.0799222868633,0.999999991847,-6.22999258985e-05,-8.96392507722e-05,-6.62529041491e-05,1793251794539203072
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,725,697.57425485,672,643,900.57425485,789.42574515,828,656,634,658,0.444819343693,-0.0155485613283,0.0799805475135,0.99999999581,-6.76401699972e-05,-7.87717411526e-06,-6.1172970048e-05,1793251794555869696
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.152664173,725,697.694671654,672,643,901,789,828.152664173,656,634,658,0.445658144368,-0.0155553649057,0.080026826855,0.999999994012,-7.31211206133e-05,5.80588684303e-05,-5.70792935437e-05,1793251794572536576
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.7386772,725,696.5226456,672,643,901,789,828.7386772,656,634,658,0.446422086657,-0.0155621330511,0.08003920282,0.999999992177,-7.90087065239e-05,7.93152036035e-05,-5.57830805295e-05,1793251794589203200
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.677406888,747.677406888,725,696,672,643,901,789,829,656,634,658,0.447150871049,-0.0155628241825,0.0800276964685,0.999999992751,-7.91216836652e-05,6.98123662246e-05,-5.79946578621e-05,1793251794605869824
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.095178848,747.095178848,725,696,672,643,901,789,829,656,634,658,0.447851359013,-0.0155586243067,0.0799969687402,0.9999999946,-7.45870406024e-05,3.55534020368e-05,-6.30294353008e-05,1793251794622536192
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.480916604,747.480916604,724.519083396,696,672,643.480916604,901,789,829,656,634,658,0.448469607438,-0.0155550144117,0.0799434562084,0.999999993095,-8.09931419037e-05,-5.30562135335e-05,-6.65920113699e-05,1793251794639202816
+195,3.250000000,POSE1_TO_POSE2_PRESS,767.943048101,748,724.056951899,696,672,644,900.943048101,789,829,656,634,658,0.449076114455,-0.0155521037725,0.0798904460168,0.999999983587,-8.82806081787e-05,-0.000142099333353,-6.9570776503e-05,1793251794655869440
+196,3.266666667,POSE1_TO_POSE2_PRESS,767.356426537,748,724.643573463,696,672,644,900.356426537,789,829,656,634,658,0.449722889846,-0.0155546241542,0.0798835181721,0.999999984745,-8.3880689637e-05,-0.00013639412666,-6.97955959426e-05,1793251794672536064
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,748,725,696.226704787,672,643.773295213,900.453409575,789,829,656,634,658,0.450377954098,-0.0155592805754,0.0799013408716,0.999999988775,-8.63181949186e-05,-0.000101544610572,-6.84637223263e-05,1793251794689202688
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,748,725,696.804431883,672,643.195568117,901.608863766,789,829,656,634,658,0.451045852491,-0.0155672443706,0.0799574865082,0.999999992738,-9.93425445691e-05,-2.15689950959e-05,-6.47215155531e-05,1793251794705869568
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.383579129,748,725,696.616420871,672.383579129,643.383579129,901.616420871,789,829,656,634,658,0.451632984365,-0.0155744104153,0.0799783656377,0.999999991399,-0.000114584169102,7.0715835531e-07,-6.38087293209e-05,1793251794722536192
+200,3.333333333,POSE1_TO_POSE2_PRESS,767.963453183,748,725,696.036546817,672.963453183,643.963453183,901.036546817,789,829,656,634,658,0.452178784391,-0.0155811682154,0.0799811972931,0.999999989333,-0.00013096047565,-6.54412573047e-06,-6.43438863382e-05,1793251794739202816
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672.460566583,643.460566583,901,789,829,656,634,658,0.452650368085,-0.0155830368305,0.0799387378897,0.999999987018,-0.000126390213044,-7.3591452677e-05,-6.76301471058e-05,1793251794755869696
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.882719064,748,725,696,672,643.117280936,901,788.882719064,829,656,634,658.117280936,0.45311103074,-0.0155847605096,0.0798952282457,0.999999979714,-0.000124623265328,-0.00014134410003,-7.11561747683e-05,1793251794772536064
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.2963553,748,725,696,672,643.7036447,901,788.2963553,829,656,634,658.7036447,0.453547980044,-0.0155872198619,0.079859702912,0.999999968262,-0.000139703977848,-0.00019583052489,-7.49010428714e-05,1793251794789202688
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.286393014,748,725,696,672,643.713606986,901,788,829,656,634,658.713606986,0.453973297751,-0.0155895755301,0.0798319077177,0.999999958035,-0.000147690600594,-0.000236633672215,-7.82465262816e-05,1793251794805869568
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.865446721,748,725,696,672,643.134553279,901,788,829,656,634,658.134553279,0.454386729279,-0.0155918252452,0.0798120118381,0.999999950985,-0.00014842787961,-0.000263454082198,-8.11838844316e-05,1793251794822536192
+206,3.433333333,POSE1_TO_POSE2_PRESS,767.555726856,748,725,696,672.444273144,643,901,788,829,656,634,658,0.454784044907,-0.015598068062,0.0798084870659,0.999999950652,-0.000146654632293,-0.000266565621696,-7.83013480894e-05,1793251794839202560
+207,3.450000000,POSE1_TO_POSE2_PRESS,767.022909376,747.977090624,725,695.977090624,672.977090624,643,901.022909376,788,829,656,634,658,0.455174256603,-0.0156054165631,0.0798097704932,0.999999952179,-0.000144919093463,-0.00026301504857,-7.3913779502e-05,1793251794855869440
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.5986167,747.4013833,725,695.4013833,672.4013833,643,901.5986167,788,829,656,634,658,0.455510766654,-0.0156102783857,0.0798074961002,0.999999946981,-0.000162430947178,-0.000271884607616,-7.57200575104e-05,1793251794872536064
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,747.177244501,725,695.177244501,672,643,901.822755499,788,829,656,634,658,0.455832499495,-0.0156128342658,0.0798042102523,0.999999942279,-0.000173371336161,-0.00028182270919,-7.72072174617e-05,1793251794889202688
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,747.762596658,725,695.762596658,672,643,901.237403342,788,829,656,634,658,0.456120207585,-0.0156100806838,0.0797985955174,0.999999939367,-0.000169180843975,-0.000294221142108,-7.79596039377e-05,1793251794905869312
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767.080488203,748,724.919511797,696,672,643,901.080488203,787,829,656,633,658,0.45708962119,-0.0156064481403,0.0797668307967,0.999999920082,-0.00016956881916,-0.000353052006372,-8.02330854204e-05,1793251794972535808
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.066263194,748,725,695,672,643,901.933736806,786.066263194,829,656,633,658,0.458586624947,-0.0156243915859,0.0797592524342,0.999999912826,-0.000184343053592,-0.000368158729464,-6.9467247747e-05,1793251795944766464
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.516787549,748,725,695,672,643,901.483212451,786,829,656.516787549,633,658,0.458586112975,-0.0156248288214,0.079758866693,0.999999912695,-0.000183511257696,-0.000368992612468,-6.91227597444e-05,1793251795961432832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.09821217,672,642.90178783,901,786,829,656.90178783,633,658,0.458585566348,-0.0156246475212,0.0797584686681,0.999999912619,-0.000182329736705,-0.000369815711199,-6.8949022661e-05,1793251795978099456
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,642,901.249409837,786.249409837,829,656,633,658,0.458582989049,-0.0156214702673,0.0797574425932,0.999999912266,-0.000181596243247,-0.00037093513272,-6.99783816318e-05,1793251796011432704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,672,642,901.824617488,786.824617488,829,656,633,658,0.458576940592,-0.0156229681513,0.0797534992609,0.999999910355,-0.000183092933258,-0.000375359944753,-6.97976436381e-05,1793251796028099328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.589365597,748,725,696,672,642.410634403,901.589365597,787,829.410634403,656,633,658,0.458558842017,-0.0156226748884,0.0797442066176,0.999999904659,-0.000183550720874,-0.000389920264332,-7.03748987646e-05,1793251796044766208
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,748,725,696,672,643,901,786.420159301,829.420159301,656,633,658,0.458487352687,-0.0156192704858,0.0797141953952,0.999999883077,-0.000184076969417,-0.000441310071314,-7.21562414138e-05,1793251796078100480
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.119576747,748,725,695.119576747,671.880423253,643,901.119576747,787,830,656.119576747,633.119576747,658,0.458222418973,-0.0156047993319,0.079660321249,0.999999845072,-0.000174976168961,-0.000523524045243,-7.18494566052e-05,1793251796144766720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,748.469658315,725,695.469658315,672,642.530341685,901.469658315,787,830,656.469658315,633,658,0.458136877458,-0.01560315618,0.0796613393877,0.999999845349,-0.000175078357689,-0.000523266138018,-6.95848151854e-05,1793251796161433344
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,748.938921948,725,695.938921948,672,642,901.938921948,786.938921948,830,656.938921948,633,658,0.458047013916,-0.0156009108604,0.0796646915614,0.999999847127,-0.000175045811256,-0.000520200619586,-6.70537905144e-05,1793251796178099968
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.213975345,748,725,695.213975345,671.786024655,642.213975345,901,786.213975345,830,656,633,658,0.457810039825,-0.0155876951627,0.0796674766631,0.999999849748,-0.000165228440246,-0.000519081375455,-6.12969665349e-05,1793251796211434496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.788906474,748,725,695.788906474,671.211093526,642.788906474,901,786.788906474,830,656,633,658,0.457665370227,-0.0155833435229,0.0796664904863,0.999999849889,-0.000164289237797,-0.000519552204363,-5.74236455932e-05,1793251796228101120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,695.627316169,671.372683831,643,901,787,830,656,633.372683831,658.372683831,0.457503059194,-0.0155758561063,0.0796661088646,0.999999850297,-0.000157293317473,-0.000521367558896,-5.32930272279e-05,1793251796244767488
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.542751519,672,642.457248481,901,786.457248481,830,656,634,658.457248481,0.45712135997,-0.0155562439142,0.0796634909273,0.999999848254,-0.000136407866786,-0.000531856457458,-4.48720749934e-05,1793251796278100480
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.301965718,748,725,695.301965718,671.301965718,642.698034282,901,786.698034282,829.301965718,656,633.301965718,658,0.456666655971,-0.0155388795776,0.0796630924983,0.999999849961,-0.000115567571727,-0.000534400515567,-3.37447608536e-05,1793251796311433984
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,748,725,696,672.098338566,643,900.098338566,788,829,656.901661434,633.098338566,658,0.453566984351,-0.0154873145335,0.079702242448,0.999999899242,-3.61690010862e-06,-0.000448880458791,-3.07002279805e-06,1793251796461433088
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,748,725,695.506586693,672,643,900,788,829,656.506586693,633.493413307,658,0.453083708278,-0.0154905116929,0.0797083885074,0.99999990556,6.82461826841e-06,-0.000434550055546,7.80526445379e-07,1793251796478100224
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.662806204,672.662806204,642.337193796,900,788.662806204,829,656,634,658,0.452062488471,-0.015483211354,0.07972968014,0.999999918232,2.71269631932e-05,-0.000403351636987,1.03423818964e-05,1793251796511433984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,748,725,695.760951745,672.760951745,642.239048255,900,788.760951745,829,656,634,658,0.451527325441,-0.0154739836903,0.0797441336952,0.999999925406,3.86337344508e-05,-0.000384070011821,1.36039288395e-05,1793251796528100864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.185237878,672.185237878,642.814762122,900,788.185237878,829,656,634,658,0.450979057171,-0.0154640923356,0.079761378787,0.99999993404,6.29389160208e-05,-0.000357322661013,1.67258807175e-05,1793251796544767488
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,643,900,788,828.610170216,656,634,658,0.450411945425,-0.0154594548572,0.0797858110207,0.99999994968,6.53402890296e-05,-0.000309882077096,1.85153584974e-05,1793251796561434112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,643,900,788,828.035409122,656,634,658,0.449835894538,-0.0154573097651,0.0798136527613,0.999999966252,5.73507158073e-05,-0.000252624832578,1.96727239004e-05,1793251796578100224
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.557284977,748,724.442715023,695,672,643,900,788.557284977,828,656,634,658,0.449166533419,-0.0154583052574,0.0798208030354,0.999999965088,7.01029821654e-05,-0.000253778475364,2.24992250386e-05,1793251796594767360
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.853872713,747.853872713,724.146127287,695,672,643,900,789,828,656,634,658,0.448468940242,-0.0154579676602,0.0798102864,0.999999956986,8.15000283822e-05,-0.000280724292464,2.40743217661e-05,1793251796611434240
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.279760045,747.279760045,724.720239955,695,672,643,900,789,828,656,634,658,0.447706601592,-0.0154531217589,0.0797520045917,0.999999926973,8.49395310455e-05,-0.00037198019071,2.16632917868e-05,1793251796628100864
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c086ea2944d3547db8d75af5dbc154cd88046020
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c3e0bda3b9d53e05a436d5f49abd269ec6af341
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf984732af93827a2fefdebd9ad90c92a4ac25c696c4fc489337e65705540af
+size 26310921
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4e4fbc7d84ae15b8fb5c8c7b2d3ed3bea5aa336
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+54,0.900000000,BASELINE,769,746.686927414,725,693,671,643,890,790.686927414,820.313072586,656,633,657,0.400981522009,-0.0153937566668,0.0798399408042,0.999999930619,0.000244901698438,-0.000277640262183,4.12486110005e-05,1793251799374230528
+55,0.916666667,BASELINE,769,746.089276183,725,693,671,643,890,790.089276183,820.910723817,656,633,657,0.400983178715,-0.0153946434204,0.0798404718504,0.999999931364,0.000244060566116,-0.00027564470183,4.15598808238e-05,1793251799390897152
+56,0.933333333,BASELINE,769.493462787,746.493462787,725,693.493462787,671,643,890.493462787,790,821,656.493462787,633,657,0.400983486481,-0.0153940587924,0.0798414073174,0.999999931398,0.000244215638363,-0.000275384036738,4.15530758792e-05,1793251799407564544
+57,0.950000000,BASELINE,769.927509007,746.927509007,725,693.927509007,671,643,890.927509007,790,820.927509007,656.927509007,633,657,0.400983405268,-0.0153932594095,0.0798421044638,0.999999931195,0.000244788278261,-0.000275621977721,4.14764238795e-05,1793251799424231680
+58,0.966666667,BASELINE,769.355998348,746.355998348,725,693.355998348,671,643,890.355998348,790,820.355998348,656.355998348,633,657,0.400982277079,-0.0153927604094,0.0798406721389,0.999999930216,0.00024703110892,-0.000277194976681,4.13034686343e-05,1793251799440898048
+59,0.983333333,BASELINE,769,746,725,693.222372109,671,643,890,790,820.222372109,656,633,657,0.400981397866,-0.0153926028814,0.0798397898618,0.999999929765,0.000247710735648,-0.000278234217442,4.11746058312e-05,1793251799457564416
+60,1.000000000,BASELINE,769,746,725,693.812074156,671,643,890,790,820.812074156,656,633,657,0.40098092993,-0.0153930094209,0.0798398161923,0.999999930193,0.00024580815219,-0.000278391759003,4.11185780077e-05,1793251799474231040
+61,1.016666667,BASELINE,769,746.396550462,725,693.603449538,671,643,890,790,821,656,633,657,0.400981125076,-0.0153938140863,0.0798399816336,0.999999930659,0.00024407216027,-0.00027823129675,4.12113154571e-05,1793251799490897664
+62,1.033333333,BASELINE,769,746.978582456,725,693.021417544,671,643,890,790,821,656,633,657,0.40098163037,-0.01539480497,0.0798402121421,0.999999931141,0.000242414089579,-0.000277922092169,4.13736360108e-05,1793251799507564032
+63,1.050000000,BASELINE,769,747,725,693,671,643,890.558373896,790,821,656,633,657,0.400980338645,-0.0153937490514,0.0798392830245,0.999999930497,0.000243608657278,-0.000279249177631,4.09977394418e-05,1793251799524230912
+64,1.066666667,BASELINE,769,747,725,693.134127503,671,643,890.865872497,790.134127503,821,656.134127503,633,657,0.400979609034,-0.0153929524774,0.0798388274869,0.999999930089,0.000244661327589,-0.000279821446888,4.07801466273e-05,1793251799540897536
+65,1.083333333,BASELINE,769,747,725,693.697240482,671,643,890.302759518,790.697240482,821,656.697240482,633,657,0.400980896827,-0.0153932354718,0.0798400283126,0.999999930582,0.000244911602172,-0.000277779620807,4.11346271176e-05,1793251799557564416
+66,1.100000000,BASELINE,769,747,725,694,671.277621138,643,890,791,821,656.722378862,633,657,0.400981187952,-0.0153935717445,0.079840479539,0.999999931088,0.000243984758748,-0.000276746475936,4.13173560648e-05,1793251799574231040
+67,1.116666667,BASELINE,769,747,725,694,671.878081967,643,890,791,821,656.121918033,633,657,0.400980320074,-0.0153939699735,0.079840059072,0.999999931607,0.000241689069913,-0.000276886305048,4.1300358786e-05,1793251799590897920
+68,1.133333333,BASELINE,769,746.540422987,725,694,671.540422987,643,890,790.540422987,820.540422987,656,633,657,0.400980104416,-0.0153935554073,0.0798399735594,0.99999993084,0.000243917055858,-0.000277721834942,4.11672484037e-05,1793251799607564288
+69,1.150000000,BASELINE,769,746.036036308,725,694,671,643,890,790,820.036036308,656,633,657,0.400980043096,-0.0153930631492,0.0798399944209,0.999999929858,0.000246889793561,-0.000278652286266,4.10222579187e-05,1793251799624230656
+70,1.166666667,BASELINE,769,746.609455093,725,694,671,643,890,790,820.609455093,656,633,657,0.400979805398,-0.0153945002898,0.0798403290046,0.999999930698,0.000243782178141,-0.000278355133159,4.11412436407e-05,1793251799640897280
+71,1.183333333,BASELINE,769,747,725,693.811415763,671,643,890,790,820.811415763,656,633,657,0.400980387601,-0.0153951639589,0.0798408793789,0.999999931235,0.000242694650578,-0.000277341910793,4.13504955284e-05,1793251799657563648
+72,1.200000000,BASELINE,769,747,725,693.220091484,671,643,890,790,820.220091484,656,633,657,0.400982720785,-0.0153941758046,0.0798418905949,0.999999931132,0.000245921217209,-0.000274799452583,4.17525196456e-05,1793251799674230272
+73,1.216666667,BASELINE,769,747,725,693.36358094,671,643,890,790,820.36358094,656.36358094,633,657,0.400982996336,-0.0153950636617,0.079841833186,0.999999931111,0.000245690860589,-0.000275071241711,4.18229403959e-05,1793251799690897152
+74,1.233333333,BASELINE,769,747,725,693.942716801,671,643,890,790,820.942716801,656.942716801,633,657,0.400982051984,-0.0153970637429,0.0798411422252,0.999999931139,0.00024341101016,-0.000277011503655,4.16967646303e-05,1793251799707564032
+75,1.250000000,BASELINE,769,746.482277069,725,693.482277069,671,643,890,790,820.482277069,656.482277069,633,657,0.400982598581,-0.0153947159489,0.0798416696394,0.999999931247,0.000244146688373,-0.000275990053485,4.15566888591e-05,1793251799724230912
+76,1.266666667,BASELINE,769,746.092457533,725,693.092457533,671,643,890,790,820.092457533,656,633,657,0.400982951267,-0.0153922937716,0.079842062024,0.999999931214,0.000245267909649,-0.000275141568154,4.13864196372e-05,1793251799740897792
+77,1.283333333,BASELINE,769,746.668142227,725,693.668142227,671,643,890,790,820.668142227,656,633,657,0.400981435119,-0.0153919772278,0.0798410496923,0.999999930397,0.000246674139915,-0.000276896227706,4.10663195457e-05,1793251799757564160
+78,1.300000000,BASELINE,769,746.74972348,725,694,671,643,890,790,820.74972348,656,633,657,0.400980676109,-0.0153924171268,0.0798404180638,0.99999993007,0.000246875126334,-0.000277903347779,4.10162620281e-05,1793251799774230528
+79,1.316666667,BASELINE,769,746.158811083,725,694,671,643,890,790,820.158811083,656,633,657,0.400980947589,-0.015393886573,0.0798403045867,0.999999930414,0.000245435729866,-0.00027789303801,4.13337427647e-05,1793251799790897152
+80,1.333333333,BASELINE,769.423401034,746.423401034,725,694,671,643,890,790,820,656,633,657,0.400981932385,-0.015393863761,0.0798411555426,0.99999993121,0.000243632781352,-0.000276643159769,4.11227369706e-05,1793251799807563776
+81,1.350000000,BASELINE,769.997605005,747,725,694,671.002394995,643,890,790,820,656.002394995,633,657,0.400983173117,-0.0153933004168,0.0798423554585,0.999999932163,0.00024170425476,-0.000274945432866,4.07216407215e-05,1793251799824230656
+82,1.366666667,BASELINE,769.423521723,747,725,694,671.576478277,643,890,790,820,656.576478277,633,657,0.400982926973,-0.0153946277221,0.0798422425055,0.9999999321,0.000241694674642,-0.000275093493562,4.1310037277e-05,1793251799840897280
+83,1.383333333,BASELINE,769,747,725,693.849153309,671.849153309,643,890,790.150846691,820.150846691,656.849153309,633.150846691,657,0.400982479983,-0.0153956015822,0.0798418595907,0.999999931843,0.000242136459282,-0.00027558458072,4.16719492259e-05,1793251799857564160
+84,1.400000000,BASELINE,769,747,725,693.273982699,671.273982699,643,890,790.726017301,820.726017301,656.273982699,633.726017301,657,0.400981468025,-0.0153955812197,0.0798407172871,0.999999931037,0.000243847909573,-0.000277040583559,4.13967718586e-05,1793251799874231040
+85,1.416666667,BASELINE,769,746.689704115,725,693.310295885,671,643,890,790.689704115,821,656,633.689704115,657,0.400980767943,-0.0153955916771,0.0798399253005,0.999999930589,0.00024434266281,-0.000278224601853,4.13516339974e-05,1793251799890897920
+86,1.433333333,BASELINE,769,746.097140284,725,693.902859716,671,643,890,790.097140284,821,656,633.097140284,657,0.400980351567,-0.0153956301704,0.0798394519881,0.99999993047,0.000243730618864,-0.000279161202928,4.15157569977e-05,1793251799907564544
+87,1.450000000,BASELINE,769,746.483193646,725,694,671,643,889.516806354,790,820.516806354,656.483193646,633,657,0.400981085935,-0.0153953241528,0.0798405364794,0.999999930586,0.000244875070462,-0.000277726772626,4.162737918e-05,1793251799924230656
+88,1.466666667,BASELINE,769,747,725,694,671,643,889.121372964,790,820.060686482,656.939313518,633,657,0.400982015857,-0.0153949094292,0.0798418148862,0.999999930739,0.000246217165682,-0.000275975710442,4.16778935949e-05,1793251799940897024
+89,1.483333333,BASELINE,769,747,725,694,671,643,890.268866262,790,820.634433131,656.365566869,633,657,0.400982691477,-0.0153941467628,0.079842150377,0.999999930867,0.000246318497802,-0.000275478151903,4.12988154154e-05,1793251799957563648
+90,1.500000000,BASELINE,769,746.79195085,725,694,671,643,890.79195085,790,821,656.20804915,633,657.20804915,0.400982561373,-0.0153934348177,0.0798419722625,0.999999930899,0.000246274503386,-0.000275440950318,4.10314572118e-05,1793251799974230272
+91,1.516666667,BASELINE,769,746.21856428,725,694,671,643,890.21856428,790,821,656.78143572,633,657.78143572,0.400981016405,-0.0153928119402,0.0798408922494,0.999999930763,0.00024597531339,-0.000276212142483,4.09602809971e-05,1793251799990897408
+92,1.533333333,BASELINE,769,746.368569404,725,694,671,643,890,790,821,657,633,657.631430596,0.400981198195,-0.0153940423373,0.0798408712381,0.999999931203,0.000244052088947,-0.000276316270732,4.10047228467e-05,1793251800007564288
+93,1.550000000,BASELINE,769,746.964171126,725,694,671,643,890,790,821,657,633,657.035828874,0.400982443638,-0.0153964143192,0.0798415025535,0.999999931992,0.000241128487612,-0.000276009499327,4.1120383398e-05,1793251800024231168
+94,1.566666667,BASELINE,769.541540111,747,725,694,671,643,890,790,821,656.458459889,633,657,0.400981905485,-0.0153965128409,0.0798412372845,0.999999931588,0.000242169439902,-0.000276542188672,4.12697973952e-05,1793251800040897792
+95,1.583333333,BASELINE,769.882654243,747,725,694,671,643,890,790,821,656,633,657,0.400981486625,-0.0153960788707,0.0798410935917,0.999999931138,0.0002436755534,-0.00027683247029,4.13601861162e-05,1793251800057563904
+96,1.600000000,BASELINE,769.308391651,747,725,694,671,643,890,790,821,656,633,657,0.400981976787,-0.0153941381048,0.0798416467387,0.999999930812,0.000246004831122,-0.000275969658929,4.12123321182e-05,1793251800074230272
+97,1.616666667,BASELINE,769,747,725,693.72616992,671.27383008,643,890,790,821,656,633,657,0.400982348755,-0.0153930602418,0.0798421103568,0.999999930657,0.000247394978855,-0.000275294221503,4.11635393521e-05,1793251800090897152
+98,1.633333333,BASELINE,769,747,725,693.134716181,671.865283819,643,890,790,821,656,633,657,0.400982583625,-0.0153929832858,0.0798424701278,0.999999930706,0.000247695801631,-0.000274836124733,4.1229650666e-05,1793251800107563776
+99,1.650000000,BASELINE,769,747,725,693.447284543,671.552715457,642.552715457,890,790,821,656.447284543,633,657,0.400982975356,-0.0153940881728,0.0798422817033,0.999999930814,0.00024698088502,-0.000275070015729,4.1335395316e-05,1793251800124230400
+100,1.666666667,BASELINE,769,747,725,694,671,642.026198368,890,790,821,656.973801632,633,657,0.400983369067,-0.0153954721426,0.0798419358953,0.999999930933,0.000245997434258,-0.000275502974395,4.1451526964e-05,1793251800140897024
+101,1.683333333,BASELINE,769,747,725,694,671,642.598881577,890,790,821,656.401118423,633,657,0.40098283895,-0.0153954062618,0.0798416799599,0.999999930921,0.00024566190796,-0.000275830878506,4.15404791552e-05,1793251800157564160
+102,1.700000000,BASELINE,769,746.823494914,725,694,671,642.823494914,890,790,821,656.176505086,633,657,0.400982490716,-0.0153955597005,0.0798414260895,0.999999931106,0.000244732386789,-0.000275988899508,4.15320069717e-05,1793251800174231040
+103,1.716666667,BASELINE,769,746.234321068,725,694,671,642.234321068,890,790,821,656.765678932,633,657,0.400982567722,-0.0153962259081,0.0798411770467,0.999999931746,0.000242414106093,-0.00027574973388,4.12957566605e-05,1793251800190897408
+104,1.733333333,BASELINE,769,746,725,693.650615869,671,642.349384131,890,790,821,656.650615869,633,657,0.40098248596,-0.0153952555656,0.0798413954899,0.99999993141,0.000243990398766,-0.000275586286732,4.12535817907e-05,1793251800207564032
+105,1.750000000,BASELINE,769,746,725,693.07052174,671,642.92947826,890,790,821,656.07052174,633,657,0.400982299358,-0.0153932045546,0.0798419226296,0.999999930417,0.000248138407922,-0.000275472838992,4.13395613846e-05,1793251800224230656
+106,1.766666667,BASELINE,769,746.505677326,725,693,670.494322674,642.494322674,890,790,820.494322674,656.505677326,633,657,0.400983220001,-0.0153934066078,0.0798424278199,0.999999930712,0.000247742704985,-0.000274756366275,4.13293090403e-05,1793251800240897280
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,821,656,633,657,0.400984307562,-0.0153943399986,0.079843591111,0.999999931955,0.000245874750756,-0.000271847105628,4.16563419639e-05,1793251800284144896
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.588524347,747,725,693.411475653,671,643,890,790,820.411475653,656,633,657,0.400983411745,-0.0153942409938,0.0798424437183,0.999999931222,0.000246339914847,-0.000274124269873,4.15685432353e-05,1793251800300812032
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+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,820.667520518,656.667520518,633,657,0.400983104464,-0.0153938136393,0.0798424157718,0.999999930988,0.000246332827583,-0.000275015515788,4.13622475034e-05,1793251800350810880
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,820.091768884,656.091768884,633,657,0.400982900178,-0.0153934927643,0.0798424406255,0.999999930981,0.00024614818159,-0.000275218466902,4.12862003346e-05,1793251800367477504
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,820.492881763,656,633.492881763,657,0.400983371479,-0.0153938999512,0.0798428753537,0.999999931508,0.000244452975807,-0.000274788655657,4.14456399803e-05,1793251800384144128
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.078281573,790,821,656,633.921718427,657,0.400983931172,-0.0153943443225,0.0798432796101,0.999999932034,0.000242739604095,-0.000274377629211,4.15421924916e-05,1793251800400810496
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+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.763639269,790,821,656,633,657,0.400989666168,-0.0153944545161,0.0798448655655,0.999999932834,0.000242849525628,-0.000271453577091,4.08527755345e-05,1793251800434144000
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.185977892,790,821,656,633,657,0.401002494568,-0.0153955064982,0.0798498625308,0.99999993515,0.000243103268296,-0.000262451679325,4.1468920537e-05,1793251800450810624
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,725,693.608724695,671,643,890,790,820.608724695,656.391275305,633,657,0.401033827007,-0.0153975622486,0.0798619210355,0.99999994081,0.000242359812902,-0.000240548399722,4.21786584056e-05,1793251800467477248
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,725,693.031665259,671,643,890,790,820.031665259,656.968334741,633,657,0.401073945478,-0.0154000946051,0.0798773324789,0.999999947421,0.000241142870873,-0.000212519324889,4.29328357774e-05,1793251800484143872
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671,643,890,790,820.553319142,656.446680858,633,657,0.401139419116,-0.01540284679,0.0798947850115,0.999999954485,0.000242102225549,-0.000174599536851,4.39481183284e-05,1793251800500810496
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,725,693.13763614,671,643,890,790,820.86236386,656.13763614,633,657,0.401209010061,-0.0154054053255,0.0799112912149,0.999999959515,0.000242611376654,-0.000141898421598,4.44346953442e-05,1793251800517477120
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725,693.718323791,671,643,890,790,820.281676209,656.718323791,633,657,0.401287115942,-0.0154072994192,0.0799243697174,0.999999961792,0.000241264585355,-0.000127844744692,4.31705678293e-05,1793251800534143744
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671.296606716,642.703393284,890,790,820.296606716,657,633,657,0.401372464614,-0.0154093189159,0.0799326145798,0.999999963612,0.00024032976306,-0.000115375778376,4.1312319819e-05,1793251800550810368
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.872624295,642.127375705,890,790,820.872624295,657,633,657,0.40146463617,-0.0154114565451,0.0799363060331,0.999999965046,0.000239783025845,-0.000104399649482,3.88943956853e-05,1793251800567476992
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671.550989626,642.449010374,890,790,821,656.550989626,633,657,0.40157349667,-0.0154153744388,0.0799399306411,0.99999996643,0.000237749619481,-9.66062335149e-05,3.58176599044e-05,1793251800584143872
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.0260297,790,821,656,633,657,0.401688413665,-0.0154198883162,0.0799436266051,0.999999967822,0.000235091093841,-8.96126285191e-05,3.25115485486e-05,1793251800600810496
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.61447096,790,821,656,633,657,0.401831813929,-0.0154263584873,0.079949274385,0.999999970367,0.000228045726303,-8.03761388996e-05,2.82908375311e-05,1793251800617477120
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.800317523,790.199682477,820.800317523,656,633.199682477,657,0.401983668525,-0.015432165578,0.0799536785336,0.999999972536,0.000221524519622,-7.27487246381e-05,2.37311538398e-05,1793251800634143744
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.221242516,790.778757484,820.221242516,656,633.778757484,657,0.402151586158,-0.0154367128286,0.0799557198081,0.999999974176,0.000215999208456,-6.81785209714e-05,1.85274296442e-05,1793251800650810112
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790.64351556,820.35648444,656.35648444,633.64351556,657,0.402331648117,-0.0154418286883,0.0799535311817,0.999999975791,0.000207595217325,-7.19569237025e-05,1.20229405901e-05,1793251800667476736
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790.066622029,820.933377971,656.933377971,633.066622029,657,0.402519218749,-0.015447296111,0.07994872727,0.999999977231,0.000197411380092,-8.089714667e-05,4.71420722543e-06,1793251800684143616
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,725.507360478,694,671.507360478,643,890,790,821,656.492639522,633,657,0.402734245929,-0.0154561958264,0.0799447034618,0.999999982876,0.000162027547662,-8.93662704655e-05,-3.09198030728e-06,1793251800700810240
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.91657575,725.91657575,694.08342425,672,643,890,790.08342425,821,656,633.08342425,657.08342425,0.402961050994,-0.0154654730705,0.0799415192048,0.999999988179,0.000119655179748,-9.59311474115e-05,-1.09983836712e-05,1793251800717477120
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.325535108,725.325535108,694.674464892,672,643,890,790.674464892,821,656,633.674464892,657.674464892,0.403237709221,-0.0154743207474,0.0799428236689,0.999999994151,5.4779074836e-05,-9.12834057432e-05,-1.91193831309e-05,1793251800734143744
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746.259934559,725,694.740065441,671.740065441,643,890.259934559,790.740065441,821,656,633.740065441,657.740065441,0.403532435811,-0.0154830723631,0.0799454292615,0.999999995803,1.64198213047e-05,-8.62510963185e-05,-2.61561511575e-05,1793251800750810368
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746.838573645,725,694.161426355,671.161426355,643,890.838573645,790.161426355,821,656,633.161426355,657.161426355,0.403849315917,-0.0154917061982,0.0799496301613,0.999999996176,1.05727571686e-05,-8.07472708404e-05,-3.18635477764e-05,1793251800767476992
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.58598654,790.41401346,820.58598654,656.41401346,633,657,0.404191990677,-0.0154963625689,0.0799513696025,0.999999996439,2.39028185129e-05,-7.65535613045e-05,-2.62822640307e-05,1793251800784143616
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890.011784588,790.988215412,820.011784588,656.988215412,633,657,0.404544645797,-0.0154994799943,0.0799521566656,0.999999996215,4.46528194264e-05,-7.2866756871e-05,-1.63332074631e-05,1793251800800810240
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.57540923,747,725,694.57540923,671,643,890.57540923,790.42459077,820.57540923,657,633,657,0.404941434666,-0.0155036314056,0.0799520219741,0.999999996833,3.84581284775e-05,-6.62762371708e-05,-2.15144657854e-05,1793251800817476864
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,694.839248109,671,643,891,790.160751891,821.160751891,656.839248109,633.160751891,657,0.405350574518,-0.0155050314209,0.079949340048,0.999999996956,3.09244387051e-05,-6.64975525179e-05,-2.66415001777e-05,1793251800834143488
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,694.259440868,671,643,891,790.740559132,821.740559132,656.259440868,633.740559132,657,0.405789500716,-0.0154992024922,0.0799400682227,0.999999995716,2.13719712713e-05,-8.46348787568e-05,-3.08007258074e-05,1793251800850810368
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.682028053,747,725,694.317971947,671,643,891.317971947,790.682028053,821.682028053,656.317971947,634,657,0.406246916363,-0.0154935578241,0.0799334424814,0.99999999432,3.1693583103e-05,-9.67475056591e-05,-3.15646160582e-05,1793251800867477248
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.106554245,747,725,694.893445755,671,643,891.893445755,790.106554245,821.106554245,656.893445755,634,657,0.40671930529,-0.0154880623743,0.079928959606,0.999999992468,5.81097345292e-05,-0.000103981177992,-2.95788768168e-05,1793251800884144640
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.467266782,643,891.532733218,790,821,657,633.532733218,657,0.407217556347,-0.015492926217,0.0799254752777,0.999999992138,4.53068603602e-05,-0.000112474218437,-3.19609216049e-05,1793251800900811520
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,725.042067568,695,671.957932432,643,891.042067568,790.042067568,821,656.957932432,633,657,0.407723953637,-0.0154996388695,0.0799215449203,0.999999991588,2.51173789379e-05,-0.000122269994401,-3.52465654044e-05,1793251800917478400
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,725.634603752,695,671.365396248,643,891.634603752,790.634603752,821,656.365396248,633,657,0.408260048406,-0.0154997412203,0.0799088090059,0.999999988426,2.48865645376e-05,-0.000145367879824,-3.73688211185e-05,1793251800934145024
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.22187298,747,726,695,671.22187298,643,892.22187298,791,821,656,633.22187298,657,0.408846034997,-0.0155007326462,0.0799119207531,0.999999988879,2.41349264943e-05,-0.000142172823088,-3.802278201e-05,1793251800950811648
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.800669309,747,726,695,671.800669309,643,892.800669309,791,821,656,633.800669309,657,0.409512281697,-0.0155031543125,0.0799405263688,0.999999994413,2.25454481748e-05,-9.66807491219e-05,-3.63147214536e-05,1793251800967477760
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,726,695,672,643,893,791,821,656.364324466,634,657.364324466,0.410176035252,-0.0155054022494,0.0799696436845,0.999999998037,1.86085445272e-05,-4.82757707358e-05,-3.53496622473e-05,1793251800984144128
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,726,695,672,643,893,791,821,656.920026052,634,657.920026052,0.410838479153,-0.0155075589273,0.0799990297918,0.999999999304,1.34385546235e-05,1.65933481019e-06,-3.47748965148e-05,1793251801000810496
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.491778345,747,725.491778345,695,671.491778345,643,892.491778345,791,821.508221655,656.491778345,634,658,0.411515863891,-0.0155076653415,0.0799851585313,0.999999998963,1.00121105863e-05,-2.44094841463e-05,-3.71270671085e-05,1793251801017477632
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.897562437,747,725.102437563,695,671,643,892.102437563,791,821.897562437,656,634,658,0.412197474982,-0.0155071263049,0.0799610313434,0.999999997027,6.41696114055e-06,-6.52294939006e-05,-4.06133835613e-05,1793251801034145024
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.300654309,747,725.699345691,695,671,643,892.699345691,791,821.300654309,656,634,658,0.412887362627,-0.0155051353719,0.0799225003212,0.999999992207,5.92632904754e-07,-0.000115579382467,-4.71991555699e-05,1793251801050811392
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.285491487,747,725.714508513,695,671,643,892.714508513,790.714508513,821.285491487,656,634,658,0.413630150412,-0.015505322814,0.0799079871098,0.999999990431,-1.78051429032e-06,-0.000128923917885,-5.01372057862e-05,1793251801067478016
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.860715159,747,725.139284841,695,671,643,892.139284841,790.139284841,821.860715159,656,634,658,0.414426624201,-0.0155077209886,0.0799178484656,0.999999993298,-6.51217210758e-07,-0.000104713427901,-4.93733517211e-05,1793251801084144128
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725.435847643,695.435847643,671.435847643,643,892.871695285,790,822,656,633.564152357,658,0.415224958874,-0.0155096746224,0.0799358091106,0.99999999575,-4.22750938047e-06,-7.83904397238e-05,-4.83463760365e-05,1793251801100810752
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725.988746757,696,671.988746757,643,894,790.011253243,822.011253243,656.011253243,633.011253243,658,0.416023531281,-0.0155113686742,0.0799556633262,0.999999997462,-9.14444196023e-06,-5.24855249082e-05,-4.73034674219e-05,1793251801117477632
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725.397768485,696,671.397768485,643,894,790.602231515,822.602231515,656.602231515,633.602231515,658,0.416803723698,-0.0155070070539,0.079939755184,0.99999999531,-5.67345585335e-06,-8.28892522682e-05,-4.97706620314e-05,1793251801134144256
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,894.188554876,791,823.188554876,657,634,657.811445124,0.417631465146,-0.0155059876562,0.0799405259581,0.999999995532,-4.09255943958e-06,-7.94676710285e-05,-5.10224639163e-05,1793251801150811136
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,894.765294957,791,823.765294957,657,634,657.234705043,0.418557097574,-0.0155118490213,0.0799756342622,0.99999999872,-6.40286386261e-06,-6.40861884868e-06,-4.97720896211e-05,1793251801167478016
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.341749521,747,725,696,671,643,895.341749521,790.658250479,824,656.658250479,633.658250479,657.341749521,0.419462948563,-0.0155170881428,0.0799854621793,0.999999998582,-1.28482033168e-05,1.61798902007e-05,-4.90855352634e-05,1793251801184144640
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.918008139,747,725,696,671,643,895.918008139,790.081991861,824,656.081991861,633.081991861,657.918008139,0.420355225458,-0.0155219002793,0.079977942651,0.999999998557,-2.2131010693e-05,4.1354246082e-06,-4.87858752658e-05,1793251801200811520
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.507508038,747,725.492491962,696.492491962,671,643,896,790,824.492491962,656.492491962,633.492491962,658,0.421250385306,-0.0155229111078,0.0799716100196,0.999999998346,-2.53328704398e-05,-7.88319116516e-06,-5.10348341784e-05,1793251801217478144
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,726,696.93094578,671,643,896.06905422,790.06905422,825.06905422,656.93094578,634,657.93094578,0.422150555482,-0.0155232379903,0.0799695273171,0.99999999815,-2.64588535828e-05,-1.37571739927e-05,-5.30192420116e-05,1793251801234144768
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,726,696.336324232,671,643,896.663675768,790.663675768,825.663675768,656.336324232,634,657.336324232,0.4230852186,-0.0155231587328,0.0799982920474,0.999999998205,-1.94629499559e-05,2.71026284588e-05,-4.97724161555e-05,1793251801250811136
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.750200302,747,725.750200302,696.249799698,671,643,897,790.750200302,826,656,634,657.249799698,0.42399467641,-0.0155219880914,0.0799990774482,0.999999998624,-1.21074030432e-05,1.457790451e-05,-4.89077303385e-05,1793251801267477504
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.175140886,747,725.175140886,696.824859114,671,643,897,790.175140886,826,656,634,657.824859114,0.424871314966,-0.0155193963783,0.0799634314685,0.999999996408,-4.2835700384e-06,-6.74578506499e-05,-5.11447858507e-05,1793251801284144128
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,747,725.400524004,697,671.400524004,643,897.400524004,790,826,656,634,657.599475996,0.425819550992,-0.0155200822378,0.0799317359437,0.999999993165,-5.87678025404e-06,-0.000103366455107,-5.43277565516e-05,1793251801300810752
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,747,725.976454022,697,671.976454022,643,897.976454022,790,826,656,634,657.023545978,0.426799142456,-0.0155222034819,0.0799017704884,0.999999991166,-1.15941033323e-05,-0.000119074069283,-5.79249825576e-05,1793251801317477632
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,747,725.436789439,697,671.436789439,643.563210561,898.563210561,790,826.563210561,656,634,657.563210561,0.427725571967,-0.0155253495109,0.0798992489423,0.999999989726,-2.04521143412e-05,-0.000129044028533,-5.89710906845e-05,1793251801334144000
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.149250783,747,725,697,671.149250783,643.850749217,899,790,827,656,634,657.850749217,0.42866879043,-0.0155275576264,0.079907152947,0.999999990152,-2.71679930004e-05,-0.000124430282471,-5.89421895899e-05,1793251801350810368
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.731871047,747,725,697,671.731871047,643.268128953,899,790,827,656,634,657.268128953,0.429667337682,-0.0155269155469,0.0799419321766,0.999999994998,-2.72751805503e-05,-7.81809621321e-05,-5.61076095263e-05,1793251801367476736
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.68983149,747.31016851,725,697,672,643,899,790,827,656,634,657.31016851,0.430676407751,-0.0155297632084,0.0799844761871,0.999999997987,-2.99942308379e-05,-1.75316494088e-05,-5.30938994293e-05,1793251801384143616
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.11521959,747.88478041,725,697,672,643,899,790,827,656,634,657.88478041,0.43169444931,-0.0155355861526,0.0800336402907,0.999999996609,-3.49401023086e-05,5.53948028548e-05,-4.99274666912e-05,1793251801400810496
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.459831449,747.540168551,725,697,672,643,899,790,827,656,634,658,0.432622498827,-0.0155328945401,0.079999414344,0.999999997828,-3.90921751095e-05,-9.23605638352e-07,-5.30628649638e-05,1793251801417477120
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,697,672,643.035795345,899,790,827,656,634.035795345,658,0.433528875709,-0.0155285470424,0.0799455528859,0.999999993676,-4.26935392865e-05,-8.65446809248e-05,-5.77449947075e-05,1793251801434143744
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,697,672,643.624149831,899,790,827,656,634.624149831,658,0.434449115992,-0.0155316035662,0.079911441706,0.999999989547,-4.08671243712e-05,-0.000124110387479,-6.19050173827e-05,1793251801450810368
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+179,2.983333333,POSE1_TO_POSE2_PRESS,768.208808912,747,725,697,672,644,899.791191088,789.208808912,827,656,634.208808912,658,0.436349124217,-0.0155373380201,0.0799440654946,0.999999993838,-4.87329272683e-05,-7.89339979448e-05,-6.09722636434e-05,1793251801484143872
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747.369104962,725,697,672,644,900,789.369104962,827.369104962,656,634,658,0.4373267892,-0.015541686169,0.079986092863,0.99999999668,-5.48804298768e-05,-1.62154176188e-05,-5.80107935064e-05,1793251801500810240
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747.945147247,725,697,672,644,900,789.945147247,827.945147247,656,634,658,0.438312130717,-0.0155469143983,0.0800292703806,0.999999995235,-6.07541696862e-05,5.31746382849e-05,-5.48677397583e-05,1793251801517477120
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747.482330482,725,697,672,643.482330482,900,790,828,656.517669518,634,658,0.439243848365,-0.0155492497631,0.0800331365559,0.999999994586,-6.54661589923e-05,5.87185769378e-05,-5.56228618564e-05,1793251801534143488
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643,900,789.907172719,828,656.907172719,634,658,0.440142237226,-0.0155497916727,0.0800175992488,0.999999995407,-6.84181043062e-05,3.4211491948e-05,-5.77497022594e-05,1793251801550810368
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643,900,789.315873314,828,656.315873314,634,658,0.440891960033,-0.0155423378468,0.079920084433,0.999999989247,-6.25753787281e-05,-0.000115583245207,-6.50394401262e-05,1793251801567476992
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.424557881,725,696.575442119,672,643.575442119,900.424557881,789.575442119,828.424557881,656.424557881,634,658,0.443399423248,-0.0155399290446,0.0798702489908,0.999999980513,-6.29882161912e-05,-0.000173292683709,-7.05379619607e-05,1793251801617477120
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.999073326,725,696,672,643,900.999073326,789,828.999073326,656.999073326,634,658,0.444309964453,-0.0155434063342,0.0799492467461,0.999999994785,-5.73518805216e-05,-5.57651921947e-05,-6.34952293158e-05,1793251801634143744
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.408752088,725,696,672,643,900.408752088,789,828.408752088,656.408752088,634,658,0.445165567406,-0.0155452093781,0.0800009060282,0.999999996142,-6.11358862772e-05,1.87850964964e-05,-6.02198835471e-05,1793251801650810368
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+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.757441815,725,696.757441815,672,643,900,789.757441815,828.757441815,656,634,658,0.446782082754,-0.0155567242387,0.0800382701581,0.999999991962,-7.5635066059e-05,8.41237784816e-05,-5.72632820124e-05,1793251801684143616
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.33336857,900.33336857,789.66663143,829,656.33336857,634,658,0.447502853393,-0.0155575933219,0.0800156915772,0.999999993594,-7.74977400163e-05,5.65451012666e-05,-6.00745979827e-05,1793251801700810240
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.906885921,900.906885921,789.093114079,829,656.906885921,634,658,0.4481786617,-0.0155534325062,0.0799759698671,0.999999995118,-7.41578237138e-05,1.54186043004e-06,-6.52905075109e-05,1793251801717476864
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,644,900.651513486,789,829,656,634,658,0.450112960506,-0.0155540781901,0.0798939098695,0.999999986542,-8.58103754222e-05,-0.000120649189047,-7.0679595425e-05,1793251801767476736
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672.238002441,644,901,789,829,656,634,658.238002441,0.450789723567,-0.0155620505364,0.0799266734357,0.999999990923,-9.34455671512e-05,-6.91945190238e-05,-6.80798925681e-05,1793251801784143616
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672.814207587,644,901,789,829,656,634,658.814207587,0.451447801337,-0.0155735599793,0.0799781585025,0.999999992484,-0.000104541180538,2.41498940454e-07,-6.40610698172e-05,1793251801800810240
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.613597144,748,725,696.613597144,672.613597144,643.613597144,901,789,829,656,634,658.613597144,0.452012611322,-0.0155779993301,0.0799823422175,0.99999999133,-0.000114740834814,-1.5548014859e-06,-6.4590938131e-05,1793251801817477120
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+234,3.900000000,POSE1_TO_POSE2_PRESS,767,748,724.708111004,695.291888996,671.708111004,642.708111004,901,786,829,656,633.708111004,658,0.459051295065,-0.0156326790741,0.0797495916251,0.999999902889,-0.000201022375006,-0.000385051773188,-7.44738244034e-05,1793251802400810496
+235,3.916666667,POSE1_TO_POSE2_PRESS,767.285907954,748,725,695.285907954,672,643,901,786,829.285907954,656,633.714092046,658,0.459053135398,-0.0156311789393,0.079747903285,0.999999902227,-0.000200288166782,-0.000387127271366,-7.45850389866e-05,1793251802417477120
+236,3.933333333,POSE1_TO_POSE2_PRESS,767.861683689,748,725,695.861683689,672,643,901,786,829.861683689,656,633.138316311,658,0.459053413541,-0.0156293764723,0.0797458344928,0.999999901323,-0.000198588674669,-0.000390162100692,-7.54263254073e-05,1793251802434143744
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.562930724,748,725,695.562930724,672,642.562930724,901,786,829.562930724,656,633,658,0.459055338673,-0.0156297465485,0.0797460715355,0.9999999015,-0.000198620052483,-0.000389720767733,-7.52894735942e-05,1793251802450810624
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,748,725,695.012657194,672,642.012657194,901.012657194,786,829,656,633.012657194,658,0.459057734893,-0.0156307897354,0.0797470250948,0.999999901998,-0.000199215467828,-0.000388222281905,-7.48415916802e-05,1793251802467477504
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,748,725,695.60311439,672,642.60311439,901.60311439,786,829,656,633.60311439,658,0.459057864209,-0.0156312026898,0.0797474059998,0.999999901603,-0.000200576412992,-0.000388638496768,-7.43132969369e-05,1793251802484144128
+240,4.000000000,POSE1_TO_POSE2_PRESS,767.189881615,748,725,695.810118385,671.810118385,642.810118385,902,786,829,656,633.810118385,658,0.459058001841,-0.0156305724295,0.0797473906972,0.999999901396,-0.000200568906191,-0.000389227002047,-7.40384591602e-05,1793251802500810752
+241,4.016666667,POSE1_TO_POSE2_PRESS,767.769083148,748,725,695.230916852,671.230916852,642.230916852,902,786,829,656,633.230916852,658,0.459058156525,-0.0156278032352,0.0797465630383,0.999999901572,-0.000197755621583,-0.000390168759461,-7.4283291764e-05,1793251802517478144
+242,4.033333333,POSE1_TO_POSE2_PRESS,767.654303321,748,725,695.345696679,671.345696679,642.345696679,901.654303321,786,829.345696679,656,633,658,0.459058720677,-0.0156265351177,0.0797463639528,0.99999990177,-0.000196252297996,-0.000390398640022,-7.43897735408e-05,1793251802534144768
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+244,4.066666667,POSE1_TO_POSE2_PRESS,767.505531173,748,725,696,672,642.494468827,901,786,830,656,633,658,0.459059918706,-0.0156272404829,0.0797460016273,0.999999901967,-0.000195222362925,-0.000390380916551,-7.4548376504e-05,1793251802567476992
+245,4.083333333,POSE1_TO_POSE2_PRESS,767.908915795,748,725,696,672,642.091084205,901.091084205,786,829.908915795,656,633,658,0.459060104344,-0.0156279360018,0.0797454397053,0.999999901891,-0.0001947962795,-0.000390772144982,-7.46293758946e-05,1793251802584143616
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+247,4.116666667,POSE1_TO_POSE2_PRESS,767.249799324,748,725,696,672,643,902,786,829.249799324,656.249799324,633,658,0.459059718651,-0.0156254051689,0.0797457043439,0.999999901566,-0.000194195234297,-0.000392006694911,-7.40762442888e-05,1793251802617477120
+248,4.133333333,POSE1_TO_POSE2_PRESS,767.826033376,748,725,696,672,643,902,786,829.826033376,656.826033376,633,658,0.459060116464,-0.0156264311864,0.0797455141104,0.999999901408,-0.000195694428275,-0.000391653689617,-7.41286967576e-05,1793251802634144256
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.011463641,672,642.011463641,901,786.022927282,829.988536359,656,634,658.011463641,0.457547928059,-0.0155569620037,0.0796602223507,0.99999984735,-0.000143456864889,-0.00053165271219,-4.54372132763e-05,1793251803386500864
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.597560933,672,642.597560933,901,787.195121865,829.402439067,656,634,658.597560933,0.457323295464,-0.0155466951303,0.079660188144,0.999999847451,-0.00013308597886,-0.000534598623725,-3.9879949851e-05,1793251803403167488
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,748,725.182318703,695.817681297,672,643,901,787.817681297,829,656,633.817681297,658.817681297,0.45708271395,-0.0155359920335,0.0796607326891,0.999999848045,-0.000120611720997,-0.000536843168835,-3.40826711941e-05,1793251803419833856
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.341987141,748,725.658012859,695,672,643,901,787,829,656,633,658,0.45651142919,-0.0155153895063,0.079661092084,0.99999985316,-5.89857116983e-05,-0.000538294023157,-2.09747376004e-05,1793251803453167104
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.917121653,748,725.082878347,695,672,643,901,787,829,656,633,658,0.45620188508,-0.0155082971616,0.0796574121333,0.999999854601,4.27737384003e-06,-0.000539061384812,-1.38753820436e-05,1793251803469833728
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,748.92986476,725,696,672,643,900.92986476,787.07013524,829,656,633.92986476,658,0.455511720593,-0.0154932088723,0.0796561593915,0.999999853414,2.09776945012e-05,-0.000541047118408,-6.33049184023e-07,1793251803503167232
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,748.340784888,725,696,672,643,900.340784888,787.659215112,829,656,633.340784888,658,0.455164032755,-0.0154901692133,0.0796746223961,0.999999873445,2.83458655616e-05,-0.000502264380852,6.04809672807e-06,1793251803519833856
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.176657655,672,643,900.823342345,787.176657655,829,656.823342345,633.823342345,658,0.454360349618,-0.0154875137225,0.079705356259,0.999999900035,-7.28336168832e-06,-0.000446960134407,-1.01657605777e-05,1793251803553168128
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,643,900.599843238,787.400156762,829,656.599843238,634,658,0.453902442865,-0.0154893770646,0.0797121301765,0.999999904643,-1.26124931163e-05,-0.000436451522035,-8.03724337759e-06,1793251803569834496
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,643,900,788.56343159,829,656,634,658,0.452925134927,-0.0154861031192,0.079718016832,0.999999910286,1.90793167567e-05,-0.000423126539748,5.18743813738e-06,1793251803603167488
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,748,725,695.14908301,672.14908301,643,900.14908301,788.85091699,829,656,633.85091699,658,0.452404819711,-0.0154801946432,0.0797219773213,0.999999913358,3.97187530619e-05,-0.000414275882816,9.03850793989e-06,1793251803619834112
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.72789682,672.72789682,643,900.72789682,788.27210318,829,656,633.27210318,658,0.451842806629,-0.0154763747549,0.079730789509,0.999999917374,3.90787961468e-05,-0.000404412474253,1.3232682988e-05,1793251803636501248
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,748,724.692945894,695.692945894,672.692945894,643,900.692945894,788.307054106,829,656.307054106,633.307054106,658,0.451267588425,-0.0154693172062,0.0797485097191,0.999999928425,4.86996625602e-05,-0.000374874813533,1.57379082369e-05,1793251803653168384
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,747,725,695.848532368,671.848532368,643,898.151467632,789,827,656,633,657.151467632,0.441704469717,-0.0154424286452,0.0798155151044,0.999999949907,0.000126966077488,-0.00028751769388,3.74120572435e-05,1793251803869834752
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,747,724.245872625,695,672,642.754127375,897,789.754127375,827,656,633,657.245872625,0.43711483721,-0.015436678406,0.0797372627623,0.99999990483,0.000144822042684,-0.000410019916957,3.53574547778e-05,1793251803953167872
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,672,643,895.516499238,790,826.516499238,656,633,657,0.434410653055,-0.0154358311651,0.079863660976,0.999999962478,0.000165757806072,-0.000212801665345,4.77971660985e-05,1793251804003167232
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a481d2d0326afe13c79b34709c4f7aa2215e6c3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7e7a800716c324971c97370d88aa11ae9614968
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8e64534ce434303117894aeb5e60761a238d93c3e038e269b189cf408a32575
+size 26307589
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..061783272e0cd06de906a62cf63d548087e4fbfe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/franka_data.csv
@@ -0,0 +1,417 @@
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+13,0.216666667,BASELINE,768.465509144,746,725,693,671,643,889.931018288,790,820.534490856,656,633.534490856,657,0.400982672398,-0.0153900580193,0.0798398357647,0.999999929062,0.000249636117858,-0.000279098216766,4.07744216366e-05,1793251805814057728
+14,0.233333333,BASELINE,768.119671349,746.119671349,725,693.119671349,671,643,889.119671349,790.119671349,821,656,633.880328651,657,0.400982390452,-0.0153912868072,0.0798401431379,0.999999929783,0.000247229218953,-0.000278652666121,4.07905521917e-05,1793251805830724608
+15,0.250000000,BASELINE,768.696220093,746.696220093,725,693.696220093,671,643,889.696220093,790.696220093,821,656,633.303779907,657,0.40098103929,-0.0153919526408,0.0798397922691,0.999999929367,0.000247262057951,-0.000280090896441,4.09509849988e-05,1793251805847391488
+16,0.266666667,BASELINE,768.728969033,746.728969033,725,693.728969033,671,643,890,790.728969033,821,656,633,657,0.400980316676,-0.0153916354561,0.0798394534439,0.999999928813,0.000248577543658,-0.000280883247861,4.10889752582e-05,1793251805864058368
+17,0.283333333,BASELINE,768.156093644,746.156093644,725,693.156093644,671,643,890,790.156093644,821,656,633,657,0.400980294068,-0.0153902234938,0.0798391280315,0.999999928102,0.000251321499919,-0.00028095629045,4.12019714713e-05,1793251805880725760
+18,0.300000000,BASELINE,768,746.430647188,725,693,671,643,890,790,821,656,633,657,0.400981456625,-0.0153902321317,0.0798400897182,0.99999992867,0.000250439867448,-0.000279707449071,4.12669971508e-05,1793251805897392384
+19,0.316666667,BASELINE,768.022048983,746.977951017,725,693,671,642.977951017,889.977951017,790,820.977951017,656,633,657,0.400982970471,-0.0153907733925,0.0798414503782,0.99999992965,0.000248345929885,-0.00027805974137,4.13174768343e-05,1793251805914059008
+20,0.333333333,BASELINE,768.600038806,746.399961194,725,693,671,642.399961194,889.399961194,790,820.399961194,656,633,657,0.40098215003,-0.0153913292252,0.0798407164531,0.999999929035,0.00024992200367,-0.00027883779623,4.1454187851e-05,1793251805930725120
+21,0.350000000,BASELINE,769,746,725,693,671,642.17750228,889.17750228,790,820,656.17750228,633,657,0.400981362706,-0.0153916058944,0.0798400966604,0.999999928686,0.000250489828724,-0.000279583607239,4.1419706295e-05,1793251805947391488
+22,0.366666667,BASELINE,769,746,725,693,671,642.753783175,889.753783175,790,820,656.753783175,633,657,0.400980649784,-0.0153912553922,0.0798397332793,0.999999928939,0.000248792510659,-0.000280256978746,4.10006215665e-05,1793251805964058112
+23,0.383333333,BASELINE,769,746.336356124,725,693,671,643,890,790,820.336356124,657,633,657,0.400981751841,-0.0153910740392,0.0798402577953,0.999999929177,0.000249390352587,-0.000278884921473,4.09043343499e-05,1793251805980724736
+24,0.400000000,BASELINE,769,746.923622799,725,693,671,643,890,790,820.923622799,657,633,657,0.400984207813,-0.0153910188659,0.0798414446533,0.999999929397,0.00025170030783,-0.000275987042003,4.10488433639e-05,1793251805997391360
+25,0.416666667,BASELINE,769,746.493913097,725,693,671,643,890,790,820.493913097,656.493913097,633,657,0.400982655537,-0.0153901497414,0.079840417211,0.999999929329,0.000250255592668,-0.000277597114994,4.06665360759e-05,1793251806014058240
+26,0.433333333,BASELINE,769,746,725,693,671,643,890,790,820.087295341,656,633,657,0.400981115055,-0.015389374515,0.0798395515182,0.9999999293,0.00024863415443,-0.000279204482167,4.03331563018e-05,1793251806030725376
+27,0.450000000,BASELINE,769,746,725,693,671,643,890,790,820.665480416,656,633,657,0.400983010538,-0.015389811578,0.079841456907,0.99999992976,0.000249175413505,-0.000277006898245,4.07177943302e-05,1793251806047392000
+28,0.466666667,BASELINE,769,746,725,693.241262494,671,643,890,790,820.758737506,656.241262494,633,657,0.400983526339,-0.0153902899636,0.0798419133583,0.999999929803,0.000249295300883,-0.000276725263721,4.08476125964e-05,1793251806064058368
+29,0.483333333,BASELINE,769,746,725,693.81374555,671,643,890,790,820.18625445,656.81374555,633,657,0.400982148024,-0.0153908250792,0.0798403806157,0.999999929274,0.000248836702251,-0.000279073967036,4.06275979949e-05,1793251806080724480
+30,0.500000000,BASELINE,769,746.398789302,725,694,671,643,889.601210698,790,820.398789302,656.601210698,633,657,0.400982204895,-0.0153904148064,0.079840499288,0.999999929053,0.000249667454548,-0.000279102559542,4.07624844849e-05,1793251806097391104
+31,0.516666667,BASELINE,769,746.989890294,725,694,671,643,889.010109706,790,820.989890294,656.010109706,633,657,0.40098295387,-0.0153895486306,0.0798414143368,0.999999928981,0.000251119981946,-0.000278012304441,4.10685180706e-05,1793251806114057728
+32,0.533333333,BASELINE,768.430776266,746.430776266,725,694,671,643,889.569223734,790,821,656,633,657,0.400981517079,-0.0153895907148,0.0798403993728,0.999999928645,0.000250763534525,-0.000279582509812,4.07507999069e-05,1793251806130724096
+33,0.550000000,BASELINE,768.147051373,746.147051373,725,694,671,642.852948627,890,790,821,656,633,657,0.400981064954,-0.0153899588685,0.0798401127787,0.999999928781,0.00024981813462,-0.000279964992689,4.05946643473e-05,1793251806147390976
+34,0.566666667,BASELINE,768.72110104,746.72110104,725,694,671,642.27889896,890,790,821,656,633,657,0.400983582481,-0.0153912279496,0.0798420386962,0.999999930296,0.000247253975127,-0.000276764217427,4.0939238477e-05,1793251806164058368
+35,0.583333333,BASELINE,769,746.698058861,725,694,671,642.301941139,890,790,820.698058861,656,633,657,0.400984301255,-0.0153915413645,0.0798426987473,0.999999930726,0.000246940959013,-0.000275467772349,4.10546563931e-05,1793251806180725248
+36,0.600000000,BASELINE,769,746.110802159,725,694,671,642.889197841,890,790,820.110802159,656,633,657,0.40098332032,-0.0153909517346,0.0798421626336,0.999999930142,0.000248755132819,-0.000275970800258,4.09535360073e-05,1793251806197391872
+37,0.616666667,BASELINE,768.529642928,746.470357072,725,694,671,643,890,790.470357072,820,656,633,657,0.400983579312,-0.0153895250333,0.0798420218472,0.999999929466,0.000251561305017,-0.000275855661874,4.10961813326e-05,1793251806214058240
+38,0.633333333,BASELINE,768.049941211,746.950058789,725,693.950058789,670.950058789,643,890,790.950058789,820,656,633,657,0.400983925589,-0.0153881952263,0.0798418235235,0.999999928863,0.000253967174888,-0.00027581989303,4.12158228214e-05,1793251806230724352
+39,0.650000000,BASELINE,768.62786497,746.37213503,725,693.37213503,670.37213503,643,890,790.37213503,820,656,633,657,0.400982146163,-0.0153899478124,0.0798400449604,0.999999929323,0.000249702094404,-0.000278143046697,4.04929445123e-05,1793251806247390720
+40,0.666666667,BASELINE,769,746.204344431,725,693.204344431,670.204344431,642.795655569,890,790,820,656,633,657,0.400981050954,-0.0153910500163,0.079838930867,0.999999929444,0.00024761106846,-0.000279624822298,4.01402011126e-05,1793251806264057344
+41,0.683333333,BASELINE,769,746.778212081,725,693.778212081,670.778212081,642.221787919,890,790,820,656,633,657,0.400981193038,-0.015390976111,0.0798390183578,0.999999928985,0.000249451462046,-0.000279585104221,4.0456785729e-05,1793251806280724224
+42,0.700000000,BASELINE,769,746.638765712,725,693.638765712,671,642,890,790,820,656,633,657,0.400981585298,-0.0153912051664,0.0798395660118,0.999999929246,0.000249108999953,-0.00027892131502,4.0679008505e-05,1793251806297391360
+43,0.716666667,BASELINE,769,746.049976737,725,693.049976737,671,642,890,790,820,656,633,657,0.400982135155,-0.0153916250678,0.0798404035396,0.99999992996,0.000247391477175,-0.000277864400598,4.08417892951e-05,1793251806314058752
+44,0.733333333,BASELINE,768.4698965,746,724.4698965,693.5301035,671,642.5301035,890,790,820.5301035,656,633,657,0.4009814606,-0.0153908743495,0.0798398807708,0.999999929434,0.000248473736702,-0.000278798225977,4.08029721603e-05,1793251806330725120
+45,0.750000000,BASELINE,768.109004819,746,724.109004819,694,671,643,890,790,820.890995181,656,633,657,0.400981027408,-0.0153901325271,0.0798395196669,0.999999928978,0.000249642152411,-0.000279399687454,4.07269051559e-05,1793251806347391488
+46,0.766666667,BASELINE,768.686311453,746,724.686311453,694,671,643,890,790,820.313688547,656,633,657,0.400982119053,-0.0153898953963,0.0798403951571,0.99999992933,0.000250065040552,-0.000277779983711,4.05711403728e-05,1793251806364057856
+47,0.783333333,BASELINE,769,746.263246867,725,694,671,643,890,790,820,656,633,657,0.400982763396,-0.0153899098168,0.0798411524936,0.999999929659,0.000250030468191,-0.000276631626077,4.05216903353e-05,1793251806380724224
+48,0.800000000,BASELINE,769,746.839740629,725,694,671,643,890,790,820,656,633,657,0.400982875478,-0.015390223567,0.0798417692349,0.999999929963,0.000249451547211,-0.000276044139884,4.05987480093e-05,1793251806397390848
+49,0.816666667,BASELINE,769,746.576250902,725,693.576250902,671,643,889.576250902,790,820.423749098,656,633,657,0.40098165816,-0.0153908808567,0.0798409561472,0.999999930079,0.000247564415804,-0.000277305175271,4.06961253274e-05,1793251806414057472
+50,0.833333333,BASELINE,769,746,725,693.01050804,671,643,889.01050804,790,821,656,633,657,0.400979965244,-0.0153916382127,0.0798396115925,0.999999930097,0.000245284123877,-0.000279245936522,4.07947438225e-05,1793251806430724608
+51,0.850000000,BASELINE,769,746,725,693.589539994,671,643,889.589539994,790,821,656,633,657,0.400980233622,-0.015390653222,0.0798392976355,0.999999929134,0.00024898386314,-0.000279455629671,4.05372341491e-05,1793251806447391488
+52,0.866666667,BASELINE,769.167388209,746.167388209,725,693.832611791,671,643,890,790,821,656.167388209,633,657,0.400981461091,-0.0153902820035,0.079839778187,0.999999928967,0.00025080935696,-0.000278424490771,4.0500300235e-05,1793251806464058624
+53,0.883333333,BASELINE,769.742354072,746.742354072,725,693.257645928,671,643,890,790,821,656.742354072,633,657,0.400985023875,-0.0153914052746,0.0798421933067,0.99999993075,0.000248071204362,-0.000274372019471,4.10004516633e-05,1793251806480725504
+54,0.900000000,BASELINE,769.681409966,746.681409966,725,693.318590034,671,643,890,790,820.681409966,656.681409966,633,657,0.400985184479,-0.0153915010945,0.0798426289883,0.999999930888,0.000247933726672,-0.000273988702763,4.10320939556e-05,1793251806497391872
+55,0.916666667,BASELINE,769.104142784,746.104142784,725,693.895857216,671,643,890,790,820.104142784,656.104142784,633,657,0.400982582703,-0.015390762682,0.0798414574778,0.999999929696,0.000249907850539,-0.000276584532951,4.06833332157e-05,1793251806514058240
+56,0.933333333,BASELINE,769,746.48577569,725,694,671,643,890,790,820,656,633,657,0.400982845376,-0.0153901058128,0.0798413466027,0.999999929641,0.000250862278056,-0.000275902414993,4.0789274589e-05,1793251806530724608
+57,0.950000000,BASELINE,769,747,725,693.923656826,671,643,890,790,820.076343174,656,633,657,0.400983596223,-0.0153896006153,0.0798415251466,0.999999929823,0.000251408471152,-0.000274720054807,4.09395336289e-05,1793251806547390976
+58,0.966666667,BASELINE,769,747,725,693.347083928,671,643,890,790,820.652916072,656,633,657,0.400983414399,-0.0153899716204,0.0798420703283,0.999999929924,0.000250750455214,-0.000274987674188,4.07243657872e-05,1793251806564057856
+59,0.983333333,BASELINE,769,747,724.771973407,693.228026593,671,643,890.228026593,790,821,656,633,657,0.400983689505,-0.0153906772129,0.0798427052814,0.999999930339,0.000249442850287,-0.000274659533597,4.07693440541e-05,1793251806580724480
+60,1.000000000,BASELINE,769,747,724.19907453,693.80092547,671,643,890.80092547,790,821,656,633,657,0.400984655679,-0.0153918888426,0.0798434760068,0.999999931227,0.000247152793011,-0.000273430352954,4.12077728129e-05,1793251806597391360
+61,1.016666667,BASELINE,769,747,724.386052655,694,671,642.613947345,890.227894689,790,820.613947345,656,633,657,0.400984831402,-0.0153918559797,0.0798433999871,0.999999931099,0.000247630490067,-0.000273457158084,4.12637656282e-05,1793251806614057984
+62,1.033333333,BASELINE,769,747,724.977691807,694,671,642.022308193,889.044616386,790,820.022308193,656,633,657,0.400984586181,-0.0153911603812,0.0798428730462,0.999999930429,0.000249582112922,-0.000274152819492,4.11160979464e-05,1793251806630724864
+63,1.050000000,BASELINE,769,746.44330236,725,693.44330236,671,642.55669764,889.55669764,790,820.55669764,656,633,657,0.400983391234,-0.0153919881276,0.0798423845567,0.999999930561,0.000248011534394,-0.000275102984992,4.10667394273e-05,1793251806647390976
+64,1.066666667,BASELINE,769,746,725,693,671,643,890,790.135505049,821,656,633,657,0.400982380119,-0.0153925674913,0.079841840451,0.999999930584,0.000246843588714,-0.000276076373956,4.10097049635e-05,1793251806664057600
+65,1.083333333,BASELINE,769,746,725,693,671,643,890,790.715284846,821,656,633,657,0.40098209374,-0.0153921367914,0.079841109059,0.999999930157,0.000247448229611,-0.000277093208983,4.09148740998e-05,1793251806680724224
+66,1.100000000,BASELINE,769,746.290293823,725,693,671,643,890.290293823,790.709706177,820.709706177,656,633,657,0.400982293709,-0.0153917875517,0.0798411982978,0.999999930012,0.000248209933916,-0.000276933268836,4.09467716289e-05,1793251806697390848
+67,1.116666667,BASELINE,769,746.860699288,725,693,671,643,890.860699288,790.139300712,820.139300712,656,633,657,0.400982962967,-0.015391516915,0.0798420793835,0.999999930136,0.00024912319253,-0.000275637829358,4.11009525027e-05,1793251806714057472
+68,1.133333333,BASELINE,769,747,725,693.446880628,671,643,890.553119372,790,820.446880628,656,633,657,0.400983543686,-0.0153903417244,0.0798428290672,0.999999930441,0.000249164153762,-0.000274522557919,4.08881074192e-05,1793251806730724352
+69,1.150000000,BASELINE,769,747,725,694,671,643,890,790,821,656,633.037248214,657,0.400983986218,-0.0153889868679,0.0798434288763,0.999999930759,0.00024892198213,-0.000273633486472,4.05646278853e-05,1793251806747391232
+70,1.166666667,BASELINE,769,747,725,694,671,643,890,790,821,656,633.614405428,657,0.400982840449,-0.0153892644011,0.0798424717096,0.999999930408,0.000248661376236,-0.000275179315343,4.03565397415e-05,1793251806764057856
+71,1.183333333,BASELINE,769,746.808299052,725,694,671,643,890,790,821,656,633.808299052,657,0.400981847241,-0.01538958474,0.0798415171941,0.999999930095,0.000248295956696,-0.000276667812072,4.01746982398e-05,1793251806780724480
+72,1.200000000,BASELINE,769,746.230725036,725,694,671,643,890,790,821,656,633.230725036,657,0.400981161122,-0.0153899912418,0.0798405680154,0.999999929862,0.00024771955869,-0.000278040905742,4.0045688324e-05,1793251806797391104
+73,1.216666667,BASELINE,769,746.343940041,725,694,671,643,890.343940041,790.343940041,820.656059959,656,633,657,0.400981217093,-0.015390749043,0.0798404126995,0.999999929951,0.00024761536247,-0.000277776929588,4.02991628123e-05,1793251806814057728
+74,1.233333333,BASELINE,769,746.916670049,725,694,671,643,890.916670049,790.916670049,820.083329951,656,633,657,0.400981766704,-0.0153917405296,0.0798407854638,0.999999930254,0.000247825276352,-0.000276423969506,4.08070671017e-05,1793251806830724352
+75,1.250000000,BASELINE,769,747,725,693.493153475,671,643,890.493153475,790.493153475,820.506846525,656.506846525,633,657,0.4009828421,-0.0153910850468,0.0798415381062,0.999999930459,0.000248688968395,-0.000274883963743,4.09168790426e-05,1793251806847390976
+76,1.266666667,BASELINE,769.097254107,746.902745893,725,693.097254107,671,643,890,790,821,656.902745893,633,657,0.400983705721,-0.0153905458793,0.0798421110232,0.999999930652,0.000249059646992,-0.000273847558866,4.09073544185e-05,1793251806864057600
+77,1.283333333,BASELINE,769.674150899,746.325849101,725,693.674150899,671,643,890,790,821,656.325849101,633,657,0.400983083374,-0.015391963395,0.0798414785611,0.999999930868,0.000246449850751,-0.000275451908637,4.06435754586e-05,1793251806880724224
+78,1.300000000,BASELINE,769.751025342,746.248974658,725,694,671,643,890,790,821,656.248974658,633,657,0.400982504908,-0.0153929580157,0.079840999603,0.999999930824,0.000245690253315,-0.000276287497019,4.06575421967e-05,1793251806897390848
+79,1.316666667,BASELINE,769.178892336,746.821107664,725,694,671,643,890,790,821,656.821107664,633,657,0.400981983399,-0.015393403737,0.0798407198863,0.999999930449,0.000247332134195,-0.000276125266212,4.10320108715e-05,1793251806914057728
+80,1.333333333,BASELINE,769,747,725,694,671,643,890,790,821,657,633,657,0.400981365151,-0.0153928421445,0.0798406397261,0.99999992972,0.000248888251012,-0.00027736459855,4.10334447342e-05,1793251806930724352
+81,1.350000000,BASELINE,769,747,725,694,671,643,890,790,821,657,633,657,0.400980702895,-0.0153918223065,0.0798406503478,0.999999928826,0.000250405352326,-0.000279241527631,4.08651782579e-05,1793251806947391488
+82,1.366666667,BASELINE,769,747,725,694,671,643,890,790,821,656.443184178,633,657,0.40098201062,-0.0153904736658,0.0798412247791,0.999999929477,0.000250238326324,-0.000277087077387,4.06027076657e-05,1793251806964057856
+83,1.383333333,BASELINE,769,747,725,694,671,642.877566656,890,790,821,656,633,657,0.400982882643,-0.015389495432,0.0798415988724,0.999999930046,0.000249792587977,-0.000275465133047,4.036902082e-05,1793251806980724224
+84,1.400000000,BASELINE,769,747,725,694,671,642.280949553,890,790,821,656,633,657,0.400982056264,-0.0153899536062,0.0798411939298,0.999999930301,0.000248276742491,-0.000275927949275,4.02473359088e-05,1793251806997390848
+85,1.416666667,BASELINE,769,747,725.303828169,694,671,642.303828169,890,790.303828169,821,656.303828169,633,657,0.40098183559,-0.0153907817038,0.0798411030994,0.999999930448,0.000247347268238,-0.000276214361915,4.03722672283e-05,1793251807014057472
+86,1.433333333,BASELINE,769,747,725.878068606,694,671,642.878068606,890,790.878068606,821,656.878068606,633,657,0.400982154004,-0.0153919390394,0.0798412918342,0.999999930499,0.000246939674503,-0.000276343772317,4.07166912185e-05,1793251807030724352
+87,1.450000000,BASELINE,769,747,725.532788048,693.532788048,671,643,890,790.532788048,821,657,633,657,0.400982862062,-0.0153914771762,0.0798421199998,0.999999930498,0.000247930500093,-0.000275435385836,4.08748316155e-05,1793251807047390720
+88,1.466666667,BASELINE,769,747,725,693.058805717,671.058805717,643,890,790,821,656.941194283,633.058805717,657,0.400983497506,-0.0153907188842,0.0798429477522,0.999999930458,0.000249120087158,-0.000274495325357,4.09419158769e-05,1793251807064057344
+89,1.483333333,BASELINE,769,747,725,693.63657045,671.63657045,643,890,790,821,656.36342955,633.63657045,657,0.400982565168,-0.015391196683,0.0798422506541,0.999999930221,0.000248736904995,-0.000275744657549,4.06485999687e-05,1793251807080723968
+90,1.500000000,BASELINE,769,746.787104118,725,694,671.787104118,643,890,790,821,656,633.787104118,657,0.400982020918,-0.0153913111704,0.079841816055,0.999999930053,0.000248709017075,-0.000276400074657,4.05014552007e-05,1793251807097390848
+91,1.516666667,BASELINE,769,746.213219243,725,694,671.213219243,643,890,790,821,656,633.213219243,657,0.400982134716,-0.0153908096223,0.0798418265526,0.999999930003,0.000249283570679,-0.000276048441587,4.06021601275e-05,1793251807114057472
+92,1.533333333,BASELINE,769,746.370285609,725,693.629714391,671.370285609,643,890,790,821,656,633,657,0.40098231947,-0.0153906263958,0.0798421193653,0.999999930025,0.000249651130109,-0.000275625163039,4.0694878995e-05,1793251807130724096
+93,1.550000000,BASELINE,769,746.95947768,725,693.04052232,671.95947768,643,890,790,821,656,633,657,0.400982546171,-0.0153906313554,0.0798425790778,0.999999930088,0.000249896318207,-0.000275159528888,4.07828766516e-05,1793251807147390720
+94,1.566666667,BASELINE,768.45727301,746.45727301,725,693.54272699,671.45727301,643,890,790,821,656.54272699,633,657,0.400983080114,-0.0153903885315,0.0798419863025,0.999999929835,0.000250717602499,-0.00027532773033,4.08019012185e-05,1793251807164057344
+95,1.583333333,BASELINE,768.123258641,746,725,693.876741359,671.123258641,642.876741359,890,790,821,656.876741359,633,657,0.400983289697,-0.0153903135303,0.0798414201266,0.999999929632,0.000251168831418,-0.000275657044691,4.07775937379e-05,1793251807180723968
+96,1.600000000,BASELINE,768.695490042,746,725,693.304509958,671.695490042,642.304509958,890,790,821,656.304509958,633,657,0.400982235137,-0.0153909164861,0.0798412339807,0.999999929697,0.000250117142522,-0.000276402702073,4.06140033648e-05,1793251807197390848
+97,1.616666667,BASELINE,769,746,725,693,671.730306078,642.269693922,890,790,820.730306078,656,633,657,0.40098152188,-0.0153916076156,0.079840913035,0.999999929907,0.000248524960682,-0.000277077243099,4.06199687125e-05,1793251807214057472
+98,1.633333333,BASELINE,769,746,725,693,671.153858709,642.846141291,890,790,820.153858709,656,633,657,0.400981196824,-0.0153923990351,0.0798404387665,0.99999993028,0.000246318015049,-0.000277670895393,4.08187889984e-05,1793251807230724096
+99,1.650000000,BASELINE,769,746.434682895,725,693,671.434682895,643,890.434682895,790,820.434682895,656,633,657,0.400981924535,-0.015391797546,0.0798407996676,0.999999930251,0.000247101503343,-0.000277126173651,4.04881838227e-05,1793251807247390720
+100,1.666666667,BASELINE,769,746.973285373,725,693.026714627,671.973285373,643,890.973285373,790,821,656,633.026714627,657,0.400982885344,-0.0153907524223,0.0798413917997,0.999999930061,0.000248877297868,-0.000276293486394,4.0007184394e-05,1793251807264057344
+101,1.683333333,BASELINE,769,746.39993951,725,693.60006049,671.39993951,643,890.39993951,790,821,656,633.60006049,657,0.400980772789,-0.0153910067102,0.0798404934347,0.999999929608,0.000248679145591,-0.000278049241484,4.03929958947e-05,1793251807280723968
+102,1.700000000,BASELINE,769,746,725,693.825013492,671,643,890,790,821,656,634,657,0.400980145027,-0.0153916636395,0.0798405104754,0.99999992975,0.000247767361085,-0.000278309501569,4.06900515154e-05,1793251807297390848
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+105,1.750000000,BASELINE,769,746.905720142,725,693.905720142,671,643,890.905720142,790,821,656,633.094279858,657,0.40098204711,-0.0153910305972,0.0798418942975,0.999999930498,0.000246946383344,-0.00027640746283,4.02470382007e-05,1793251807347390464
+106,1.766666667,BASELINE,769,747,725,694,671,643,891,789.509033164,821,656,633,657,0.400981924989,-0.0153905607603,0.0798417412431,0.99999993017,0.000248222762549,-0.000276458899412,4.02071143213e-05,1793251807364057344
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,747,725,694,671,643,890,790,820,656,633,657,0.400982805513,-0.0153920336945,0.0798421158425,0.999999929973,0.000251240644385,-0.00027432399463,4.09584076986e-05,1793251807407060992
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,747,725,693.425582675,671,643,890,790,820.574417325,656,633,657,0.40098218923,-0.015392513315,0.0798418941938,0.999999930836,0.000246892328641,-0.000275225625516,4.02861916386e-05,1793251807423727616
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.152427671,746.847572329,725,693.152427671,671,643,890,790,821,656.152427671,633,657,0.400981687704,-0.0153927051157,0.0798416105665,0.999999931242,0.000244297962737,-0.000276111345633,3.99526803616e-05,1793251807440394496
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.74071215,746.25928785,725,693.74071215,671,643,890,790,821,656.74071215,633,657,0.400981514316,-0.0153920739151,0.0798411497154,0.99999993039,0.000246718899015,-0.00027695157018,4.05876727817e-05,1793251807457061120
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746.324866426,725,693.675133574,671,643,890.324866426,790,821,656.675133574,633,657,0.400982526781,-0.0153916631927,0.0798418169264,0.999999930343,0.000247917668091,-0.000276020205428,4.07778019118e-05,1793251807473727488
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746.905765582,725,693.094234418,671,643,890.905765582,790,821,656.094234418,633,657,0.400984473838,-0.0153914262331,0.0798433731823,0.999999930931,0.000248153226356,-0.000273692621101,4.06173267124e-05,1793251807490394112
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671.481055679,643,890.518944321,790,821,656,633,657,0.40098387891,-0.0153914300187,0.0798434343684,0.99999993091,0.000248097800132,-0.000273805551204,4.07118673965e-05,1793251807507060992
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671.944693159,642.944693159,889.944693159,789.944693159,820.944693159,656,633,657,0.400983087102,-0.0153915350043,0.0798432265815,0.999999930806,0.000247925494426,-0.000274324108947,4.08257436936e-05,1793251807523727360
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725,693,671.369999027,642.369999027,889.369999027,789.369999027,820.369999027,656,633,657,0.400985068772,-0.0153921525862,0.0798432115169,0.999999931027,0.000247184701419,-0.000274214062216,4.0657477225e-05,1793251807540394240
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671.210447328,642.210447328,889.210447328,789.420894656,820.210447328,656,633,657,0.400992129683,-0.0153929910169,0.0798457237992,0.9999999324,0.000246839425854,-0.000269451072848,4.08283816842e-05,1793251807557060864
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,747,725,693,671.801291119,642.801291119,889.801291119,790.602582238,820.801291119,656,633,657,0.401008371634,-0.0153942286456,0.0798528044161,0.999999935739,0.000247209072397,-0.000256277604044,4.16123584273e-05,1793251807573727488
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,725,693.385133219,671.614866781,643,890,790.614866781,821,656.385133219,633,657,0.401043318381,-0.0153956453039,0.0798651554038,0.999999941634,0.000246304381561,-0.000233002509026,4.21344579229e-05,1793251807590394112
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+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790,821,656.459667115,633.540332885,657,0.401156834842,-0.0153999622798,0.0798977701102,0.999999954496,0.000247011442274,-0.0001676963583,4.32647261694e-05,1793251807623727616
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790.116699827,821,656,633.883300173,657.116699827,0.4012285841,-0.0154027404583,0.0799140436051,0.999999958851,0.000248879731378,-0.000135835945505,4.36436479176e-05,1793251807640394496
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,790.70027939,821,656,633.29972061,657.70027939,0.401304715286,-0.0154050628928,0.079924386337,0.999999960308,0.000248225759391,-0.000126345100996,4.24854401205e-05,1793251807657060864
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746.717062842,725,694,671,643,890,790.717062842,821,656.282937158,633,657.717062842,0.401391403795,-0.0154083233402,0.079932104472,0.999999962486,0.000245271432043,-0.00011501252609,4.05244362108e-05,1793251807673727488
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746.135378413,725,694,671,643,890,790.135378413,821,656.864621587,633,657.135378413,0.401489239552,-0.015412574215,0.0799370513509,0.999999965341,0.000239888208866,-0.000101735308155,3.77157771849e-05,1793251807690394112
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746.442701422,725,694,671,643,890,790,821,656.557298578,633,657,0.40160437167,-0.0154158288118,0.0799406515408,0.999999966789,0.000237515785511,-9.40077001762e-05,3.42070514934e-05,1793251807707060736
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,746.980041737,724.980041737,694,671,643,890,790,821,656,633,657,0.401725475438,-0.0154188676728,0.0799438989546,0.999999967838,0.000235943829424,-8.79007477499e-05,3.04684870172e-05,1793251807723727360
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+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.076743656,725,694,671.076743656,643,890.076743656,790,820.923256344,656.923256344,633,657,0.403030122949,-0.0154624892689,0.0799407707148,0.999999994187,4.27400864462e-05,-9.79916890018e-05,-1.40517413618e-05,1793251807840395008
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.652534649,725,694,671.652534649,643,890.652534649,790,820.347465351,656.347465351,633,657,0.403313896063,-0.0154743581211,0.0799450021084,0.99999999558,2.53822070828e-05,-8.78908339269e-05,-2.16832517577e-05,1793251807857061632
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671.766194391,643,891,790,820.233805609,656.233805609,633,657,0.403607887256,-0.0154838415666,0.0799485776187,0.999999996227,1.17889228978e-05,-8.11273582193e-05,-2.87463386366e-05,1793251807873728256
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.176584066,643,891,790,820.823415934,656.823415934,633,657,0.403917428278,-0.0154896949061,0.0799511550075,0.999999996226,3.92459009248e-06,-7.94426976701e-05,-3.4944399763e-05,1793251807890395136
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891,790,820.596363136,657,633,657,0.40426633897,-0.0154949650602,0.0799530087289,0.99999999667,2.1086837352e-05,-7.3598569248e-05,-2.82710950393e-05,1793251807907061760
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,891,790,820.020156536,657,633,657,0.40463208165,-0.0154999858806,0.0799545530556,0.999999996496,4.89488763742e-05,-6.59761139588e-05,-1.60948036469e-05,1793251807923728384
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.55815736,747,725,694,671,643,890.44184264,790,820.55815736,656.44184264,633,657,0.405045244477,-0.0155034777372,0.0799511889041,0.999999996788,3.91066762471e-05,-6.65095763482e-05,-2.16932090796e-05,1793251807940395008
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.860770699,746.860770699,725,694,671,643,890,790.139229301,820.860770699,656,633.139229301,657,0.405463529678,-0.0155046850086,0.0799466293206,0.999999996703,2.85976628095e-05,-7.08826298389e-05,-2.7437554873e-05,1793251807957061632
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.271021535,746.271021535,725,694,671,643,890,790.728978465,820.271021535,656,633.728978465,657,0.405892827611,-0.0154986791331,0.0799387772913,0.999999995534,2.03535469142e-05,-8.67232175419e-05,-3.15692240531e-05,1793251807973728256
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746.312812129,725,694,671.312812129,643,890.312812129,790.687187871,820.312812129,656,633.687187871,657,0.406344992752,-0.0154918618016,0.0799316683015,0.999999993983,3.0576567469e-05,-0.000100226125675,-3.24501714079e-05,1793251807990394624
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746.891615768,725,694,671.891615768,643,890.891615768,790.108384232,820.891615768,656,633.108384232,657,0.406816602464,-0.0154843544692,0.0799251911347,0.999999991694,5.65026275977e-05,-0.0001117412516,-3.05669539776e-05,1793251808007061504
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746.532250765,725,694.467749235,671.532250765,643,891,790,821,656,633.467749235,657,0.407324414758,-0.0154902018483,0.0799227655288,0.999999991253,4.53947361073e-05,-0.000119885953825,-3.25810651508e-05,1793251808023728384
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,746.043295952,725,695,671.043295952,643,891.043295952,790.043295952,820.956704048,656,633.956704048,657.043295952,0.407845112317,-0.0154986604314,0.0799208964596,0.999999990896,2.67276049453e-05,-0.000127421886109,-3.54665579375e-05,1793251808040395520
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,746.619193168,725,695,671.619193168,643,891.619193168,790.619193168,820.380806832,656,633.380806832,657.619193168,0.408421710606,-0.0155013901315,0.0799143905018,0.999999989689,2.00340524869e-05,-0.000137021666965,-3.80253327587e-05,1793251808057061888
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.199687276,747,725.199687276,694.800312724,671.800312724,643,892,790.800312724,820.199687276,656,633,657.800312724,0.409020394162,-0.0155023635061,0.0799193341496,0.999999990803,1.81800710258e-05,-0.000128649872084,-3.89049277416e-05,1793251808073728768
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.789154255,747,725.789154255,694.210845745,671.210845745,643,892,790.210845745,820.789154255,656,633,657.210845745,0.409662187036,-0.0154999086197,0.0799466268625,0.999999995372,2.57726935856e-05,-8.51984479692e-05,-3.6506846392e-05,1793251808090395904
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.627606397,746.627606397,725.627606397,694.372393603,671.372393603,643,892,790,821,656,633,657.372393603,0.410331266733,-0.0155006793888,0.0799743907778,0.999999998204,2.54067812734e-05,-4.13159903468e-05,-3.52022040699e-05,1793251808107062272
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.047835097,746.047835097,725.047835097,694.952164903,671.952164903,643,892,790,821,656,633,657.952164903,0.411015541832,-0.0155032464535,0.0800024170942,0.999999999188,2.06089380284e-05,2.80649879599e-06,-3.45064736168e-05,1793251808123728384
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.527442999,725.527442999,695.527442999,671.472557001,643,892,790,821,656,633,657.472557001,0.411679194651,-0.0155067289433,0.079979616924,0.999999998574,1.28920857716e-05,-3.48279748507e-05,-3.83746568663e-05,1793251808140395264
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,726,695.895713339,671.104286661,643,892,790,821,656,633,657,0.412349674358,-0.0155092292354,0.0799511721484,0.999999995977,5.77654463195e-06,-7.85612111429e-05,-4.29061782144e-05,1793251808157061632
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,726,695.309773038,671.690226962,643,892,790,821,656,633,657,0.413060249274,-0.0155068129896,0.0799177672217,0.999999992028,2.65054596812e-06,-0.000116505791609,-4.86058319881e-05,1793251808173728512
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.725149871,746.725149871,725.725149871,695.274850129,671.725149871,643,892,790.274850129,821.274850129,656,633.274850129,657.274850129,0.413809850859,-0.0155053635335,0.0799072201744,0.999999990974,3.20186580195e-06,-0.000124314157158,-5.08663179346e-05,1793251808190395392
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.142004042,746.142004042,725.142004042,695.857995958,671.142004042,643,892,790.857995958,821.857995958,656,633.857995958,657.857995958,0.414603228226,-0.0155049985121,0.0799223124994,0.999999993922,7.87798402199e-06,-9.83191400012e-05,-4.92691362701e-05,1793251808207062016
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.434354917,746.434354917,725,696,671,643,893.30306475,791,822,656,634,657.565645083,0.41539578185,-0.0155067975677,0.0799392588252,0.999999995781,1.53344818564e-06,-7.82203275208e-05,-4.81401039639e-05,1793251808223728640
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746.991444555,725,695.991444555,671,643,894.991444555,790.991444555,822.008555445,656,633.991444555,657.008555445,0.416188491468,-0.01550925833,0.0799563524855,0.99999999702,-8.17927651696e-06,-6.05357674284e-05,-4.72100014279e-05,1793251808240395264
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746.415499497,725,695.415499497,671,643,894.415499497,790.415499497,822.584500503,656,633.415499497,657.584500503,0.417009135147,-0.0155094037638,0.0799436377229,0.999999995787,-5.99623430662e-06,-7.70888742776e-05,-4.94785970644e-05,1793251808257061888
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746.164586019,725,695,671,643,894.164586019,790.164586019,823.164586019,656,633.164586019,657.835413981,0.417860329599,-0.0155094706197,0.0799443407175,0.999999996329,-3.38077945345e-06,-6.88930691065e-05,-5.0839715989e-05,1793251808273728512
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746.755393875,725,695,671,643,894.755393875,790.755393875,823.755393875,656,633.755393875,657.244606125,0.418790640121,-0.0155093339858,0.0799797911427,0.999999998752,3.54477030086e-07,3.39400621783e-06,-4.98507784451e-05,1793251808290395136
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,695.337873316,671.337873316,643,895.337873316,790.662126684,824,656,634,657,0.419683960941,-0.0155100548052,0.0799866947807,0.999999998584,-1.47238439654e-06,1.90929169381e-05,-4.96449937539e-05,1793251808307061248
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,695.914468355,671.914468355,643,895.914468355,790.085531645,824,656,634,657,0.42055114694,-0.0155113814515,0.07997342891,0.999999998711,-7.22911646912e-06,-5.19009624299e-06,-4.99925396743e-05,1793251808323727872
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.508719004,747,725,696,671.508719004,643,896,790,824.491280996,656,633.508719004,657.491280996,0.421451808845,-0.0155164264908,0.0799704188836,0.99999999846,-1.66336704986e-05,-1.09241543857e-05,-5.18022657866e-05,1793251808340394240
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,747,725,696.067833599,671,643,896.067833599,790.067833599,825,656.067833599,633,657.932166401,0.422363975788,-0.0155215447352,0.0799727828062,0.999999998256,-2.43255316272e-05,-8.45043428587e-06,-5.31453401525e-05,1793251808357061120
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,747,725,696.642161277,671,643,896.642161277,790.642161277,825,656.642161277,633,657.357838723,0.423318510816,-0.0155223737137,0.0800019344859,0.999999998203,-1.44851152019e-05,3.11850352994e-05,-4.91024561279e-05,1793251808373728000
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,747,725,696.776719061,671,643,897.223280939,791,825.223280939,656.776719061,633,657.223280939,0.424244375699,-0.0155204845743,0.0800023125035,0.999999998656,-5.05008055364e-06,1.8960190805e-05,-4.79817518606e-05,1793251808390394880
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,747,725,696.184372705,671,643,897.815627295,791,825.815627295,656.184372705,633,657.815627295,0.425122851291,-0.0155141026049,0.0799551299784,0.999999995538,3.7148922371e-06,-7.89855722221e-05,-5.16911746608e-05,1793251808407061760
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,747,725,696.398711421,670.601288579,643,898,790.601288579,826.398711421,656,633,657.601288579,0.426067262625,-0.0155172317903,0.0799259717281,0.999999992353,-4.87030928901e-06,-0.00011048564568,-5.53543182164e-05,1793251808423728384
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,747,725,696.977609696,670.022390304,643,898,790.022390304,826.977609696,656,633,657.022390304,0.427041471784,-0.0155246592855,0.0799049590646,0.999999991766,-2.1296453811e-05,-0.00011195737949,-5.89965470344e-05,1793251808440394752
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,747,725,697,670.552221118,643,898,790,826.447778882,656,633,657.552221118,0.427982884819,-0.0155278367123,0.0799062952418,0.999999990522,-2.78644433179e-05,-0.000121227536911,-5.90148586537e-05,1793251808457061120
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,747,725,697,671,643,898,790,826,656,633.12943351,658,0.428940927731,-0.015530179987,0.0799171182787,0.999999991173,-3.13278476557e-05,-0.000115301911681,-5.81254124163e-05,1793251808473727744
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,725,697,671,643,898,790,826,656,633.716450782,658,0.42996242669,-0.015530178817,0.0799583011937,0.999999996707,-2.52178662878e-05,-5.45457075817e-05,-5.45422424177e-05,1793251808490394624
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,725,696.700461376,671,643,898.299538624,790,826.299538624,656,634,658,0.430977309181,-0.0155320339698,0.0799996842098,0.999999998319,-2.57430999123e-05,7.01326050468e-06,-5.14850822511e-05,1793251808507061248
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,725,696.12104508,671,643,898.87895492,790,826.87895492,656,634,658,0.431986009435,-0.0155356236012,0.0800412541905,0.999999995874,-3.24680302917e-05,6.93222977048e-05,-4.8919406159e-05,1793251808523727872
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747,725,696.456546952,671.456546952,643,899,789.543453048,827,656,633.543453048,658,0.432892300356,-0.0155326118124,0.0799937074795,0.999999997827,-3.78058664638e-05,-5.23195644111e-06,-5.37492144655e-05,1793251808540394752
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725,697.033632744,671.966367256,643,899,789,827.033632744,656,633.033632744,657.966367256,0.433775778834,-0.0155283283083,0.0799256878064,0.999999991186,-4.26109904853e-05,-0.000110340435031,-6.03067362087e-05,1793251808557061632
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725,697.61032233,671.38967767,643,899,789,827.61032233,656,633.61032233,657.38967767,0.434727580167,-0.0155316590124,0.0799070877611,0.999999989161,-4.47290965612e-05,-0.000125218625319,-6.3227052728e-05,1793251808573728000
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.190454499,747.190454499,725,697.809545501,671,643,899.190454499,789.190454499,828,656,634,657.190454499,0.435687963115,-0.0155345521614,0.0799087145057,0.999999989934,-4.62486506042e-05,-0.000118004348234,-6.37814910553e-05,1793251808590394624
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.7777601,747.7777601,725,697.2222399,671,643,899.7777601,789.7777601,828,656,634,657.7777601,0.436666227799,-0.015536533575,0.0799524879218,0.999999995057,-4.65209987576e-05,-6.47558760891e-05,-5.94061362279e-05,1793251808607061248
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.639279769,748,725,697,671.360720231,643,900,789.639279769,828,656,634,657.639279769,0.437651894026,-0.0155403053878,0.0799963288761,0.999999997064,-5.17581814555e-05,1.06525960616e-06,-5.65019930547e-05,1793251808623727616
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.05896505,748,725,697,671.94103495,643,900,789.05896505,828,656,634,657.05896505,0.438642066009,-0.0155451671362,0.0800402109426,0.999999993936,-6.00177902188e-05,7.45402117628e-05,-5.44934747176e-05,1793251808640394496
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.516125986,747.483874014,725,697,671.483874014,643.516125986,900.516125986,789.516125986,828,656,633.483874014,657.516125986,0.439542465015,-0.01554721708,0.0800302411554,0.999999994773,-6.35294520853e-05,5.72736057386e-05,-5.60109751697e-05,1793251808657061120
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.909142752,747,725,697,671,643.909142752,900.909142752,789.909142752,828,656,633,658,0.440411188623,-0.0155469094692,0.0799995617077,0.999999996107,-6.50875301161e-05,7.48595026074e-06,-5.91094858218e-05,1793251808673728000
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.333177984,747,725,697,671,643.333177984,900.333177984,789.333177984,828,656,633,658,0.441165001331,-0.0155357123039,0.0798908282301,0.999999982924,-5.90821246936e-05,-0.000161142816241,-6.85201092318e-05,1793251808690395136
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.249660327,725,696.750339673,671,643.249660327,900.249660327,789,828,656,633.249660327,658,0.441980833099,-0.0155315144585,0.0798321355601,0.999999965009,-6.49084867282e-05,-0.000245593273193,-7.38404490738e-05,1793251808707061760
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.841931199,725,696.158068801,671,643.841931199,900.841931199,789,828,656,633.841931199,658,0.442881773978,-0.0155369218278,0.0798421142358,0.999999970503,-8.69716650588e-05,-0.000214525261417,-7.35476665775e-05,1793251808723727872
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,725,696.421655104,671.421655104,643.578344896,900.578344896,789.421655104,828.421655104,656,634,658,0.443781551367,-0.0155421247554,0.0799023165205,0.999999986908,-8.01054836478e-05,-0.000122960171546,-6.81748869757e-05,1793251808740394752
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,748,725,696.996811403,671.996811403,643.003188597,900.003188597,789.996811403,828.996811403,656,634,658,0.444680905267,-0.0155472532574,0.0799808024315,0.999999996132,-6.27077306271e-05,-9.37145294772e-06,-6.09527618964e-05,1793251808757061376
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.418645219,747.418645219,725,697,672.581354781,643.581354781,900.581354781,790,829,656,634,658,0.445502411268,-0.0155513489841,0.0800186974185,0.999999995095,-6.57109578076e-05,4.45220692066e-05,-5.92448615675e-05,1793251808773727744
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.165120564,747.165120564,724.834879436,696.834879436,672.834879436,643.834879436,900.834879436,789.834879436,829,656,634,658,0.446313612707,-0.0155549179527,0.0800435795925,0.999999992449,-6.89372389499e-05,8.35313147571e-05,-5.8068641246e-05,1793251808790394368
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.746792808,747.746792808,724.253207192,696.253207192,672.253207192,643.253207192,900.253207192,789.253207192,829,656,634,658,0.447099913693,-0.0155571725879,0.0800362050446,0.999999992002,-7.24393112943e-05,8.5831352456e-05,-5.81561468813e-05,1793251808807061248
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.67274127,747.67274127,724.32725873,696,672.32725873,643,900.32725873,789.32725873,829,656,633.67274127,658,0.447828269002,-0.0155554572605,0.0800021216869,0.999999994477,-7.61113761168e-05,3.80192981839e-05,-6.17110245939e-05,1793251808823727872
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.093205312,747.093205312,724.906794688,696,672.906794688,643,900.906794688,789.906794688,829,656,633.093205312,658,0.448511955097,-0.015550681568,0.0799474490406,0.999999993327,-7.9914484097e-05,-4.84231688962e-05,-6.79388299328e-05,1793251808840395008
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.489038033,747.489038033,725,696,672.510961967,643,901,789.510961967,829,656,633.489038033,658,0.449141608093,-0.0155490650145,0.0799036022758,0.999999988236,-7.69417117089e-05,-0.000112305974492,-7.06761175962e-05,1793251808857061632
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,748,725,696,672.06979132,643,901,789,829,656,633.93020868,658,0.449773309133,-0.015548821104,0.0798717495664,0.999999982314,-7.45000551774e-05,-0.000156850775064,-7.22473576031e-05,1793251808873728000
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,748,725,696,672.636248203,643,901,789,829,656,633.363751797,658,0.45049327886,-0.0155540368798,0.0799104867501,0.999999989442,-8.50794442975e-05,-9.45462275812e-05,-7.02810913125e-05,1793251808890394624
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.787999083,748,725,696,672.787999083,643,901,789,828.787999083,656,633.212000917,658,0.451180842085,-0.0155603458953,0.079947670641,0.999999992325,-9.58324219287e-05,-3.89307862498e-05,-6.81921353967e-05,1793251808907061248
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.195565177,748,725,696,672.195565177,643,901,789,828.195565177,656,633.804434823,658,0.45181025217,-0.0155686167151,0.079982067163,0.999999992105,-0.000106896901211,4.68113075364e-06,-6.58830150146e-05,1793251808923727872
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,748,725,696.387440053,672,643,901.387440053,789,828.387440053,656,634,658,0.452378796667,-0.0155747696235,0.0799704098965,0.999999991193,-0.000112865011771,-1.99168181365e-05,-6.69283147512e-05,1793251808940394496
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,748,725,696.965799163,672,643,901.965799163,789,828.965799163,656,634,658,0.452917348448,-0.0155798788883,0.0799360586813,0.999999987759,-0.000116321782546,-7.81265776909e-05,-6.96265736545e-05,1793251808957061120
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,748,725,696,672,643,901,788,829,656,634,658,0.453864541883,-0.0155826530138,0.0798473194715,0.999999964557,-0.000141771184733,-0.000211086148997,-7.89277454698e-05,1793251808990395392
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,748,725,696,672,643,901,788,829,656,634,658,0.454303266258,-0.0155852100571,0.0798203354422,0.999999953488,-0.000150306542388,-0.000251877342767,-8.36064374292e-05,1793251809007062016
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.288224648,748,725,696,672,643,901,788,829,656,634,658,0.454749973942,-0.0155904979948,0.0798080136511,0.999999949642,-0.000148537646513,-0.000268068664375,-8.24081755224e-05,1793251809023728384
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.868516475,748,725,696,672,643,901,788,829,656,634,658,0.455204771339,-0.015598553234,0.0798105495728,0.999999954249,-0.000136327123353,-0.000259332153073,-7.52546096645e-05,1793251809040395008
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725,696,672,643,901.44642726,788,829,656,634,658,0.455608854749,-0.0156019877901,0.0798075726182,0.999999949921,-0.000147105874702,-0.000269639981728,-7.62386552821e-05,1793251809057061376
+207,3.450000000,POSE1_TO_POSE2_PRESS,767.976559113,748,725,696,672,643,901.976559113,787.976559113,829,656,633.976559113,658,0.455995579017,-0.0156039719972,0.079802762621,0.99999994259,-0.000163741876122,-0.000285808918607,-7.95079057657e-05,1793251809073727744
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.404219314,748,725,696,672,643,901.404219314,787.404219314,829,656,633.404219314,658,0.456323718177,-0.0156036926237,0.0797928482837,0.999999936381,-0.000159824907825,-0.00030857777215,-8.04635924511e-05,1793251809090394368
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,748,725,696,672,643,901,787,829,656,633,658,0.456642294337,-0.0156038813999,0.0797814111203,0.999999928813,-0.000161430644035,-0.0003311000902,-8.17685934043e-05,1793251809107060992
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,748,725,696,672,643,901,787,829,656,633,658,0.456937877724,-0.0156051957684,0.0797663125627,0.999999918621,-0.000176314854284,-0.000353029649385,-8.3913465424e-05,1793251809123727616
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,748,725,696,672,643,901,787,829,656,633,658,0.457230213662,-0.0156110612291,0.079766537669,0.999999917048,-0.000186492352522,-0.000352098287774,-8.45704010521e-05,1793251809140394496
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,748,725,696,672,643,901,787,829,656,633,658,0.457520429149,-0.01561989841,0.0797767686443,0.999999921182,-0.000193596517334,-0.000336239466071,-8.42557612321e-05,1793251809157061376
+213,3.550000000,POSE1_TO_POSE2_PRESS,767.50311798,748,724.49688202,695.49688202,672,643,901.50311798,787,829,656,633,658,0.457778447297,-0.0156221571279,0.0797866830173,0.999999926725,-0.000190102218324,-0.000321850698105,-8.26026677798e-05,1793251809173728000
+214,3.566666667,POSE1_TO_POSE2_PRESS,767.920322927,748,724.079677073,695.079677073,672,643,901.920322927,786.920322927,829,656,633,658,0.4580246151,-0.0156235654139,0.0797955798345,0.999999932004,-0.000183916946186,-0.000309495024005,-7.9873400344e-05,1793251809190394368
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768,748,725,696,671.409681332,642.590318668,901.409681332,786.590318668,829,656,633,658,0.458722658739,-0.0156301554853,0.0797825930041,0.999999922059,-0.000197109215875,-0.000334289769786,-7.26610923131e-05,1793251809257061120
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+221,3.683333333,POSE1_TO_POSE2_PRESS,767.860093257,747.279813485,725,695.139906743,672,642.139906743,901,786.139906743,829,656,633,658,0.459067069846,-0.0156321240075,0.0797616288778,0.999999910301,-0.00019919027192,-0.000365584971727,-7.79049098571e-05,1793251809307061504
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+246,4.100000000,POSE1_TO_POSE2_PRESS,767.343803044,748,724.656196956,695.656196956,671.343803044,643,901,785,829,656,633,658.656196956,0.459518135664,-0.0156275177644,0.0797179153572,0.999999883557,-0.000199726147294,-0.000432344078525,-7.79323636782e-05,1793251809723727616
+247,4.116666667,POSE1_TO_POSE2_PRESS,767,748,724.757413313,696,671,642.757413313,901.242586687,785.242586687,829,656,633,658.757413313,0.45951702845,-0.0156263131627,0.0797168582322,0.999999882803,-0.000199157270076,-0.00043429420152,-7.82174090174e-05,1793251809740394240
+248,4.133333333,POSE1_TO_POSE2_PRESS,767,748,724.179189904,696,671,642.179189904,901.820810096,785.820810096,829,656,633,658.179189904,0.459516573462,-0.015623669685,0.0797160472014,0.999999882236,-0.000197226209957,-0.000436410354339,-7.85809987407e-05,1793251809757060864
+249,4.150000000,HOLD_POSE2,768,748,725,696,671,642,902,786,829,656,633,658,0.459517468883,-0.0156216386779,0.0797163602074,0.999999883636,-0.000192285945165,-0.000435468326111,-7.82416722677e-05,1793251809791384320
+250,4.166666667,HOLD_POSE2,767.421621803,748,725,696,671,642,902,785.421621803,829,656,633.578378197,658,0.459517676486,-0.0156222767584,0.0797158487436,0.999999883162,-0.000194202970594,-0.000435694284629,-7.83074130014e-05,1793251809808050944
+251,4.183333333,HOLD_POSE2,767,748,725,696,671,642,901.839218354,785,829,656,633.839218354,658,0.459517781316,-0.0156235064159,0.0797153289278,0.999999882552,-0.000196433511729,-0.000436105791999,-7.82442238295e-05,1793251809824717568
+252,4.200000000,HOLD_POSE2,767,748,725,696,671,642,901.245988204,785,829,656,633.245988204,658,0.459517609721,-0.0156263272164,0.0797147866479,0.999999881578,-0.000199507305004,-0.000437016363373,-7.78342566268e-05,1793251809841384192
+253,4.216666667,HOLD_POSE2,767,748,725,695.661433383,671.338566617,642,901,785.338566617,829,656,633,658,0.459518143092,-0.0156259081957,0.0797148271781,0.999999881936,-0.000198141662293,-0.000436818447241,-7.78317728503e-05,1793251809858050560
+254,4.233333333,HOLD_POSE2,767,748,725,695.083024249,671.916975751,642,901,785.916975751,829,656,633,658,0.459519175864,-0.015623194067,0.0797152805744,0.999999883226,-0.000193631097707,-0.000435835272201,-7.8117952673e-05,1793251809874717184
+255,4.250000000,HOLD_POSE2,767,748,725,695.490562303,671.509437697,642.490562303,901,785.509437697,829,656,633,658,0.459518230396,-0.015620290151,0.0797147034648,0.999999883177,-0.000191510019313,-0.000436839943703,-7.83624820113e-05,1793251809891384320
+256,4.266666667,HOLD_POSE2,767,748,725,696,671,642.934759389,901.065240611,785,829,656,633,658.065240611,0.4595171851,-0.0156181011873,0.0797140440159,0.99999988291,-0.000190308800809,-0.000437951421255,-7.84940316254e-05,1793251809908050688
+257,4.283333333,HOLD_POSE2,767,748,725,696,671,642.344799708,901.655200292,785,829,656,633,658.655200292,0.459518003463,-0.0156219182857,0.0797141113874,0.999999882706,-0.000193284970407,-0.000437242420859,-7.77730470768e-05,1793251809924717312
+258,4.300000000,HOLD_POSE2,767,748,725,695.759361911,671,642,901.759361911,785,829,656,633,658.759361911,0.459519087088,-0.0156231526413,0.0797146535121,0.999999883075,-0.00019382184009,-0.000436231686355,-7.73600758134e-05,1793251809941383936
+259,4.316666667,HOLD_POSE2,767,748,725,695.180283866,671,642,901.180283866,785,829,656,633,658.180283866,0.459520543784,-0.0156207545568,0.0797158633426,0.999999884255,-0.000190928011745,-0.000434796584853,-7.73803028768e-05,1793251809958050816
+260,4.333333333,HOLD_POSE2,767,748,725,695.396501188,671,642.396501188,901,785.396501188,829,656,633,658,0.45952035425,-0.0156202402337,0.0797156157031,0.999999884184,-0.000190729928296,-0.000435040834829,-7.74160117747e-05,1793251809974717440
+261,4.350000000,HOLD_POSE2,767,748,725,695.972249694,671,642.972249694,901,785.972249694,829,656,633,658,0.4595194205,-0.0156205775074,0.0797147091814,0.999999883549,-0.000191750516965,-0.00043604427345,-7.74587195875e-05,1793251809991384320
+262,4.366666667,HOLD_POSE2,767,748,725,695.452739192,671,642.452739192,901,785.452739192,829,656,633,658,0.459520144227,-0.0156200009978,0.0797151952186,0.999999883561,-0.000190702544406,-0.000436421548559,-7.77555463809e-05,1793251810008050944
+263,4.383333333,HOLD_POSE2,767,748,725,695,671,642,901.125654112,785.125654112,829,656,633,658,0.459520786032,-0.0156197675861,0.0797156252544,0.999999883604,-0.00018988592734,-0.000436661043312,-7.78648520773e-05,1793251810024717568
+264,4.400000000,HOLD_POSE2,767,748,725,695,671,642,901.716713031,785.716713031,829,656,633,658,0.459520813532,-0.0156209763496,0.0797155866794,0.999999883638,-0.000190314199167,-0.000436507663413,-7.72319437729e-05,1793251810041384192
+265,4.416666667,HOLD_POSE2,767,748,725,695.301562211,671.301562211,642,901.698437789,786,829.301562211,656,633,658,0.459520818544,-0.0156213270267,0.0797155571848,0.999999883545,-0.000191066200296,-0.000436410298979,-7.71291318595e-05,1793251810058050816
+266,4.433333333,HOLD_POSE2,767,748,725,695.880695637,671.880695637,642,901.119304363,786,829.880695637,656,633,658,0.459520802856,-0.015620887883,0.0797155360481,0.999999883334,-0.000192116176185,-0.000436364493667,-7.75142441778e-05,1793251810074717440
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,642,901,786,829,656,633,659,0.459521243626,-0.0156193498272,0.0797167306734,0.999999884122,-0.000190665926523,-0.000435147900015,-7.77712950319e-05,1793251810107156992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748.572708275,725,695,671.572708275,642,901,785.427291725,829,656,633,658.427291725,0.45952008717,-0.0156191213902,0.0797153874478,0.999999883493,-0.000189539744171,-0.000437199516557,-7.71036130816e-05,1793251810123823872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.84921679,748.84921679,725,695,671.84921679,642,901.15078321,785,829,656,633,658,0.459519478397,-0.015619378976,0.0797148397314,0.999999883129,-0.000189320987593,-0.00043818942894,-7.67374459486e-05,1793251810140490496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.25537233,748.25537233,725,695,671.25537233,642,901.74462767,785,829,656,633,658,0.459520478934,-0.0156210646907,0.0797166295384,0.999999883554,-0.000191768609836,-0.000436059631256,-7.72572495286e-05,1793251810157157632
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.332406171,671,642,902,785,829,656,633.332406171,658,0.459520943536,-0.0156202078173,0.0797165334727,0.999999883968,-0.000190634230797,-0.000435588042069,-7.73647743571e-05,1793251810173824512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,748,725,695.915607957,671,642,902,785,829,656,633.915607957,658,0.459521003784,-0.0156174325983,0.0797150145433,0.999999884368,-0.000186797283803,-0.000436367547174,-7.71612408392e-05,1793251810190491136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.486820613,748,725,696,671,642,901.513179387,785,829,655.513179387,633.513179387,658,0.459520714245,-0.0156173923231,0.0797148195049,0.99999988407,-0.000186953862634,-0.000436980076823,-7.71776222997e-05,1793251810207157504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.941951454,671,642,901.058048546,785.058048546,829,655.058048546,633,658,0.459520200542,-0.0156178753175,0.0797147312753,0.999999883628,-0.000187888229387,-0.000437585560666,-7.72117135199e-05,1793251810223823872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.351997015,671,642,901.648002985,785.648002985,829,655.648002985,633,658,0.459518175072,-0.0156189131678,0.0797135693457,0.999999882935,-0.000189758480003,-0.000438385341596,-7.70671517239e-05,1793251810240490496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.766258193,748.233741807,725,695.233741807,671,642,901.766258193,785.766258193,829,656,633,658,0.459510227216,-0.0156194146733,0.0797087783261,0.999999879956,-0.000190446359676,-0.000444807192981,-7.72323864562e-05,1793251810257157120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.186755347,748.813244653,725,695.813244653,671,642,901.186755347,785.186755347,829,656,633,658,0.45949351871,-0.0156191227941,0.0796986189989,0.999999873445,-0.000189385224678,-0.000459545455137,-7.78558856758e-05,1793251810273823744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,748.610721627,725,695.610721627,671,642,901.389278373,785,829,656,633,658,0.459461300973,-0.0156179154771,0.0796842274667,0.999999861985,-0.000189476977695,-0.000483657893361,-7.87624287008e-05,1793251810290490624
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,748.03633746,725,695.03633746,671,642,901.96366254,785,829,656,633,658,0.459421708439,-0.0156162728601,0.0796678234776,0.999999847555,-0.000190116940385,-0.000512227847889,-7.98035619173e-05,1793251810307157504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,748,725,695,671,642,901.461851493,785,829,656,633,658,0.459363610315,-0.015611680187,0.0796492507233,0.99999983116,-0.000187784566954,-0.000543953372138,-8.08247326642e-05,1793251810323824384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.116740782,748,725,695,671.116740782,642,901.116740782,785,829,656,633,658,0.459302868754,-0.0156072046935,0.0796323941888,0.999999816088,-0.000185420822104,-0.000571658518122,-8.15509965886e-05,1793251810340491008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.71214171,748,725,695,671.71214171,642,901.71214171,785,829,656,633,658,0.459236412955,-0.0156040265594,0.0796231750405,0.999999810466,-0.000183751518927,-0.000582005524735,-8.10736129944e-05,1793251810357157376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,672,642,901.702748979,785,829,656,633,658,0.459164292893,-0.0156014986206,0.079620482192,0.999999809161,-0.000182534133538,-0.000584837354818,-7.95303336598e-05,1793251810373824000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,672,642,901.127272602,785,829,656,633,658,0.459086871118,-0.0155995792612,0.0796238979258,0.999999811953,-0.000181739740879,-0.000580635019499,-7.69893816786e-05,1793251810390490368
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.552875363,748,725,695,671.552875363,642,901,785.447124637,829,655.552875363,633.447124637,658,0.4589945771,-0.0155958979417,0.0796307177855,0.999999818835,-0.000178673121637,-0.000570058665914,-7.37520630433e-05,1793251810407156992
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.021176408,671.021176408,642.021176408,901,786,829,655.021176408,633.978823592,658,0.458896917992,-0.0155916026181,0.0796384056631,0.999999826565,-0.000174952839402,-0.000557956696889,-7.03304432018e-05,1793251810423823872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,748,725,695.594211143,671.594211143,642.594211143,901,786,829,655.594211143,633.405788857,658,0.458769499638,-0.0155843449072,0.0796435234314,0.999999830064,-0.000171012656595,-0.000553265166169,-6.72590718519e-05,1793251810440490752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.825599164,671.825599164,642.825599164,901,786,829,656,633,658,0.458633538211,-0.0155777006726,0.0796475685439,0.999999833374,-0.000167348012254,-0.000548791336981,-6.38391087264e-05,1793251810457157376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.228049479,671.228049479,642.228049479,901,786,829,656,633,658,0.458476848738,-0.0155725449168,0.0796490110701,0.999999836291,-0.000164351907641,-0.000544845717871,-5.95733576243e-05,1793251810473824256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.355083603,748,725,695,671.355083603,642,901,786,829,656,633,658,0.458298605395,-0.0155657773924,0.0796522822895,0.999999839133,-0.000156679630473,-0.000542393470461,-5.47195126823e-05,1793251810490491136
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.929319049,748,725,695,671.929319049,642,901,786,829,656,633,658,0.458107059339,-0.0155580151101,0.0796566821488,0.999999841833,-0.000146121295113,-0.000540862907417,-4.9502705338e-05,1793251810507157760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,724.494663445,695,671.494663445,642,901.505336555,786,829,656,633,658,0.457882138385,-0.0155482783894,0.0796609589542,0.999999846048,-0.00013479405751,-0.000536493186147,-4.36875997879e-05,1793251810523824128
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.916181881,748,724.083818119,695,671.083818119,642,901.916181881,786,829,656,633,658,0.457647966383,-0.0155382460635,0.0796643372807,0.999999849538,-0.000123044762586,-0.000533251115916,-3.77686626165e-05,1793251810540490496
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.324279861,748,724.675720139,695,671.675720139,642,901.324279861,786,829,656,633,658,0.457386113864,-0.0155281018024,0.0796623739606,0.999999848113,-0.000109391281003,-0.000539260275126,-3.1729384901e-05,1793251810557157120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,642,901,786,829,656,633.260535462,658,0.457105232856,-0.0155186749502,0.0796597435739,0.999999848252,-8.00649977406e-05,-0.000544472187028,-2.52123532377e-05,1793251810573823744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,642,901,786,829,656,633.836763741,658,0.456801294898,-0.0155101173884,0.0796563048977,0.999999848786,-3.17478610746e-05,-0.00054871806707,-1.81164237713e-05,1793251810590490624
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,642,901,786.411278375,829,656,633.588721625,658,0.456466489872,-0.0155010149549,0.0796541851891,0.999999848595,6.03106599297e-07,-0.000550166287598,-1.12930273578e-05,1793251810607157504
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,642,901,786.985115671,829,656,633.014884329,658,0.456119484557,-0.0154916971596,0.0796525868063,0.999999848105,2.66434004274e-05,-0.000550508725316,-4.57735056185e-06,1793251810623824384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,748,725,695,672,642.561069327,901,787,829,656,633,658,0.455733327544,-0.0154902007603,0.0796531495395,0.999999850997,2.68645017642e-05,-0.00054523746104,1.17633633261e-06,1793251810640490752
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.141467195,672,642.858532805,901,787,829,656,633,658,0.45534551285,-0.015490046029,0.0796582055037,0.999999858094,2.28676598663e-05,-0.000532227130767,4.8167997435e-06,1793251810657157376
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,748,725,695.735914941,672,642.264085059,901,787,829,656,633,658,0.45495572863,-0.0154935204417,0.0796774646054,0.999999877499,7.56639550738e-06,-0.000494914829941,1.7727070829e-06,1793251810673823744
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,748,725,695.679874963,672,642,900.679874963,787,829,656,633,658,0.454535465556,-0.0154946839582,0.0796943564521,0.999999892989,-1.60624630408e-07,-0.000462625066173,-2.76352361439e-07,1793251810690490624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,748,725,695.10384857,672,642,900.10384857,787,829,656,633,658,0.454090838272,-0.0154940001922,0.0797093559662,0.999999905667,-1.83295171513e-06,-0.000434350211136,-1.53000309108e-06,1793251810707157248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,747.528406612,725,695,672,642.471593388,900,787,828.528406612,656,633,657.528406612,0.453584702435,-0.015485444797,0.079712060593,0.999999907537,1.01435286251e-05,-0.000429905451474,2.24840968461e-06,1793251810723823616
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,747.04800521,725,695.04800521,672,642.95199479,900,787.04800521,828,656,633,657.04800521,0.45306171941,-0.0154756783766,0.0797123821412,0.999999907165,2.48856463462e-05,-0.000430121358762,6.85991515978e-06,1793251810740490240
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,747.636790982,725,695.636790982,672,642.363209018,900,787.636790982,828,656,633,657.636790982,0.452501344117,-0.015471772292,0.0797163197812,0.999999909479,3.6966779603e-05,-0.000423798901139,8.38890751984e-06,1793251810757157376
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,747.778593903,725,695.778593903,672.221406097,642,900,788,828,656,633,658,0.451931477561,-0.015467514773,0.0797262350375,0.999999914615,4.89814204416e-05,-0.000410166497013,1.15611832493e-05,1793251810773824256
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,747.200694145,725,695.200694145,672.799305855,642,900,788,828,656,633,658,0.451346328824,-0.0154626913975,0.0797457750614,0.999999923974,6.08889987829e-05,-0.000384764093892,1.73793666213e-05,1793251810790491136
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747.952927193,725,695,672.047072807,642,899.047072807,788,828,656,633.952927193,658,0.450159424481,-0.0154513682092,0.0797931862042,0.999999955236,6.26492317165e-05,-0.000292309490676,1.25917858399e-05,1793251810823824384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,747.49319506,724.49319506,695,672,642,899,788,828,656,633.49319506,658,0.44950166454,-0.0154513435979,0.0798166421156,0.999999962779,7.34155123411e-05,-0.000262055018329,1.9461582608e-05,1793251810840490752
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,747,724.765910538,695,671.234089462,643,898.234089462,789.765910538,827.234089462,656,633,657,0.44245523462,-0.0154390584597,0.0798250180004,0.99999995146,0.000126178995729,-0.000282304073825,3.82408195766e-05,1793251810990490624
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,747,725,695.910808013,671.910808013,643,898,789.089191987,827.910808013,656,633,657,0.440681602401,-0.0154339910586,0.079783287332,0.9999999376,0.000118673063086,-0.000330949232378,3.44930823446e-05,1793251811023824128
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,747,724,696,671,643,893,790,823,656,633,657,0.42350214552,-0.0154016911607,0.0797265899919,0.999999874809,0.000229719523299,-0.00044266857222,4.06898324844e-05,1793251811323823872
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,747,724,695.486848116,671,642.486848116,892.486848116,790,822.486848116,656,633,657,0.421707867837,-0.0153955148813,0.0797601443867,0.999999899949,0.000234701362402,-0.000378344832875,4.32811099588e-05,1793251811357157120
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,747,724.094403791,695,671.094403791,642.094403791,892.094403791,790,821.905596209,656,633,657,0.420881006393,-0.0153971549521,0.079817043428,0.999999935917,0.000226976103112,-0.00027309950589,4.54322286566e-05,1793251811373824000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,747,724.687565732,695,671.687565732,642.687565732,892.687565732,790,821.312434268,656,633,657,0.420043782166,-0.0153980920553,0.0798559617028,0.999999949882,0.000229180765329,-0.000213221975813,4.74086813734e-05,1793251811390490624
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,747,724.575007383,695,672,643,892.575007383,790,821,656,633,657,0.41733912491,-0.015357134785,0.0797988293488,0.999999909624,0.000270551633202,-0.000325886997807,3.67506027653e-05,1793251811440490496
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.023020376,747,725,694,671.976979624,643,890.023020376,790,821,656.023020376,633,657,0.404803264571,-0.0153395424117,0.0798145863358,0.999999908743,0.000304615449419,-0.000297022082552,3.87593557222e-05,1793251811773824000
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,746,725,693,671,643,890,790,820.073615265,656,633,657,0.400984480168,-0.0153417421307,0.0798362653988,0.999999912029,0.000304875716188,-0.000286129935794,3.35148599258e-05,1793251812407157248
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d0a3c6b3eace25df6d97f7d6a70c1cfcecf5d39
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,417 @@
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+373,6.216666667,pose2_to_pose3_retreat,0.587280159839,-0.00999485070337,1.07002118314,0.557851503741,-0.00132244116416,1.06963254797
+374,6.233333333,pose2_to_pose3_retreat,0.58708812091,-0.00999494385138,1.07002107962,0.557659464798,-0.00132253435983,1.06963244446
+375,6.250000000,pose2_to_pose3_retreat,0.586915019855,-0.00999488673087,1.07002110536,0.557486362934,-0.00132247997746,1.06963247033
+376,6.266666667,pose2_to_pose3_retreat,0.586759147661,-0.00999487435268,1.07002109544,0.557330491459,-0.00132246500825,1.06963246373
+377,6.283333333,pose2_to_pose3_retreat,0.586620271386,-0.00999495335512,1.07002099226,0.557191616753,-0.00132253834143,1.06963236831
+378,6.300000000,pose2_to_pose3_retreat,0.586495103329,-0.00999492463547,1.0700209595,0.557066447074,-0.00132251484929,1.06963234178
+379,6.316666667,pose2_to_pose3_retreat,0.586382768897,-0.00999488119108,1.07002101803,0.556954113268,-0.0013224698159,1.06963238834
+380,6.333333333,pose2_to_pose3_retreat,0.586283239225,-0.00999488728713,1.07002102117,0.556854583591,-0.0013224760084,1.06963238971
+381,6.350000000,pose2_to_pose3_retreat,0.586194077893,-0.00999490325583,1.07002094314,0.55676542245,-0.00132249114979,1.06963231597
+382,6.366666667,pose2_to_pose3_retreat,0.586115036505,-0.00999488795239,1.07002090239,0.556686380555,-0.00132247736958,1.06963227991
+383,6.383333333,pose2_to_pose3_retreat,0.58604573194,-0.00999484362974,1.07002100889,0.556617074632,-0.00132243764488,1.06963238652
+384,6.400000000,pose2_to_pose3_retreat,0.585985995976,-0.00999490801648,1.07002111103,0.556557341299,-0.0013224932881,1.06963248452
+385,6.416666667,pose2_to_pose3_retreat,0.585935690263,-0.00999482539278,1.07002114562,0.556507034159,-0.00132241572859,1.06963251404
+386,6.433333333,pose2_to_pose3_retreat,0.585893428988,-0.00999489423318,1.0700211352,0.556464773576,-0.00132248213485,1.06963250556
+387,6.450000000,pose2_to_pose3_retreat,0.585859304963,-0.00999495242329,1.07002101478,0.556430649885,-0.0013225391366,1.06963238634
+388,6.466666667,pose2_to_pose3_retreat,0.585831356752,-0.00999491377232,1.07002089236,0.556402700964,-0.00132250282652,1.06963226548
+389,6.483333333,pose2_to_pose3_retreat,0.585809048271,-0.00999480650386,1.07002087746,0.556380391389,-0.0013223990826,1.06963225469
+390,6.500000000,pose2_to_pose3_retreat,0.585791457335,-0.00999489339643,1.07002087386,0.556362801041,-0.0013224839814,1.06963225115
+391,6.516666667,pose2_to_pose3_retreat,0.585778407545,-0.00999493061568,1.07002104966,0.556349751498,-0.00132252035053,1.06963242721
+392,6.533333333,pose2_to_pose3_retreat,0.585769337933,-0.00999484888985,1.07002104078,0.556340682267,-0.00132243729043,1.06963241928
+393,6.550000000,pose2_to_pose3_retreat,0.585763249592,-0.00999479185336,1.0700209889,0.55633459422,-0.00132237928506,1.0696323668
+394,6.566666667,pose2_to_pose3_retreat,0.585759594493,-0.00999487405616,1.07002100884,0.556330939134,-0.00132246164155,1.06963238238
+395,6.583333333,pose2_to_pose3_retreat,0.585757218218,-0.00999491698265,1.07002101703,0.556328562887,-0.00132250456785,1.06963238845
+396,6.600000000,pose2_to_pose3_retreat,0.585755966396,-0.00999490822146,1.07002100709,0.556327311139,-0.00132249550785,1.06963237954
+397,6.616666667,pose2_to_pose3_retreat,0.585755033979,-0.00999490169571,1.07002099969,0.556326378777,-0.00132248875954,1.06963237291
+398,6.633333333,pose2_to_pose3_retreat,0.585754333709,-0.0099948967947,1.07002099413,0.556325678549,-0.00132248369137,1.06963236792
+399,6.650000000,pose2_to_pose3_retreat,0.585753622429,-0.00999488935719,1.07002099442,0.556324967109,-0.0013224768173,1.06963236779
+400,6.666666667,pose2_to_pose3_retreat,0.585753210816,-0.00999488199692,1.07002100197,0.556324555151,-0.00132247069421,1.06963237384
+401,6.683333333,pose2_to_pose3_retreat,0.585753115993,-0.00999488030133,1.07002100371,0.556324460248,-0.00132246928364,1.06963237523
+402,6.700000000,pose2_to_pose3_retreat,0.585753114495,-0.00999488027455,1.07002100374,0.556324458749,-0.00132246926136,1.06963237526
+403,6.716666667,pose2_to_pose3_retreat,0.585753106975,-0.00999488014008,1.07002100388,0.556324451223,-0.0013224691495,1.06963237537
+404,6.733333333,pose2_to_pose3_retreat,0.585752744445,-0.00999487365749,1.07002101053,0.556324088389,-0.00132246375656,1.0696323807
+405,6.750000000,pose2_to_pose3_retreat,0.585752446369,-0.00999486832743,1.07002101599,0.556323790064,-0.00132245932244,1.06963238508
+406,6.766666667,pose2_to_pose3_retreat,0.585752407742,-0.00999486763672,1.0700210167,0.556323751405,-0.00132245874783,1.06963238564
+407,6.783333333,pose2_to_pose3_retreat,0.585752283048,-0.00999486540701,1.07002101899,0.556323626607,-0.00132245689291,1.06963238748
+408,6.800000000,pose2_to_pose3_retreat,0.585751904479,-0.00999486299949,1.07002101801,0.556323247892,-0.00132245501667,1.0696323856
+409,6.816666667,pose2_to_pose3_retreat,0.585751792212,-0.00999487336142,1.07002099758,0.55632313602,-0.00132246399585,1.06963236616
+410,6.833333333,pose2_to_pose3_retreat,0.585751670122,-0.00999488463,1.07002097537,0.556323014359,-0.00132247376069,1.06963234503
+411,6.850000000,pose2_to_pose3_retreat,0.585751408057,-0.00999490881798,1.0700209277,0.556322753215,-0.00132249472091,1.06963229965
+412,6.866666667,pose2_to_pose3_retreat,0.585751148941,-0.00999493273372,1.07002088056,0.55632249501,-0.00132251544522,1.06963225478
+413,6.883333333,pose2_to_pose3_retreat,0.585751063196,-0.00999494462203,1.07002087274,0.556322409468,-0.0013225265977,1.06963224796
+414,6.900000000,pose2_to_pose3_retreat,0.585750980518,-0.00999498080197,1.07002091357,0.556322326379,-0.00132256406002,1.06963229125
+415,6.916666667,pose2_to_pose3_retreat,0.585750807418,-0.00999501516384,1.07002075184,0.556322153202,-0.00132259875185,1.06963212806
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bf5927d6df788983d411e762f42dc2f9d75a56f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960aafe0877fe348fbaa93c3f2c1759508472db9c909651bad356f15f2603068
+size 26108915
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b031cc44c087a5c797115a48fd1dffb66c5514f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/franka_data.csv
@@ -0,0 +1,411 @@
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+34,0.566666667,BASELINE,769.714331218,748,725,692,673.714331218,643,889,789,820,657,633,657,0.400915156839,0.0044041002575,0.0599239466984,0.999999968005,-0.000120658133675,-0.000220262814016,-3.02770085831e-05,1793251814895727360
+35,0.583333333,BASELINE,770,748,725,692,673.70222532,643,889,789,820,656.70222532,633,656.70222532,0.400914946714,0.00440502743693,0.0599240112479,0.99999996823,-0.00011923297667,-0.000220016649924,-3.028059429e-05,1793251814912393984
+36,0.600000000,BASELINE,770,748,725,692,673.110108472,643,889,789,820,656.110108472,633,656.110108472,0.400913804224,0.00440673996852,0.059923858015,0.999999968399,-0.000116677464147,-0.000220601121311,-3.03995862904e-05,1793251814929060608
+37,0.616666667,BASELINE,769.529407223,747.529407223,725,691.529407223,673.470592777,643,889,789,820,656.470592777,633,656,0.400914726703,0.00440742592324,0.0599238752604,0.999999968772,-0.000114617520228,-0.000219966216185,-3.05549317151e-05,1793251814945727488
+38,0.633333333,BASELINE,769,747,725,691.048297885,674,643,889,789,820,657,633,656.048297885,0.400916034027,0.00440769587572,0.059923932307,0.999999969127,-0.000113158747692,-0.000219085469329,-3.06882475182e-05,1793251814962394112
+39,0.650000000,BASELINE,769,747,725,691.621780025,674,643,889,789,820,657,633,656.621780025,0.400916396729,0.00440599228616,0.0599239986815,0.999999968806,-0.000117006037806,-0.000218560392502,-3.04917149833e-05,1793251814979060736
+40,0.666666667,BASELINE,769,747.20066854,725,692,673.79933146,643,889,789,820,657,633.20066854,657,0.400916595058,0.00440485916391,0.0599241428712,0.99999996857,-0.00011947024105,-0.000218338442105,-3.02587517349e-05,1793251814995727360
+41,0.683333333,BASELINE,769,747.790029087,725,692,673.209970913,643,889,789,820,657,633.790029087,657,0.400916475,0.00440483102852,0.059924437788,0.999999968525,-0.000119255425165,-0.000218703643173,-2.99552227434e-05,1793251815012393728
+42,0.700000000,BASELINE,769.372800247,747.627199753,725,692,673,643,889,789,820,657,633.627199753,657,0.4009158796,0.00440511791132,0.0599240533159,0.999999968341,-0.000119394644629,-0.000219460585355,-3.00096170225e-05,1793251815029060608
+43,0.716666667,BASELINE,769.951924531,747.048075469,725,692,673,643,889,789,820,657,633.048075469,657,0.400915021126,0.00440557913903,0.0599232928401,0.999999968079,-0.000119729802818,-0.000220434334271,-3.02621017763e-05,1793251815045727232
+44,0.733333333,BASELINE,770,747.528956908,725,692,673,643,889,789,820,657,633,656.471043092,0.400915588383,0.00440466212442,0.0599237917496,0.99999996828,-0.000119354236752,-0.000219749194301,-3.00961682521e-05,1793251815062394880
+45,0.750000000,BASELINE,770,748,725,692,673.105364946,643.105364946,889,789,820,657,633.105364946,656.105364946,0.400915880752,0.00440411615948,0.05992409188,0.99999996847,-0.00011844252148,-0.000219395177534,-2.99633587107e-05,1793251815079062272
+46,0.766666667,BASELINE,770,748,725,692,673.679836284,643.679836284,889,789,820,657,633.679836284,656.679836284,0.400914374619,0.00440577769163,0.0599229994032,0.999999968422,-0.000115430220852,-0.000221184012952,-3.01466695735e-05,1793251815095728384
+47,0.783333333,BASELINE,770,748,725,692,673.739075899,643.739075899,889,789,820,657,633.739075899,657,0.400913997407,0.00440629908456,0.0599224945936,0.999999968314,-0.0001149892875,-0.000221877497656,-3.03364313486e-05,1793251815112395008
+48,0.800000000,BASELINE,770,748,725,692,673.149658103,643.149658103,889,789,820,657,633.149658103,657,0.400915041462,0.00440538508502,0.059922729635,0.999999968134,-0.000117785609068,-0.000221191976978,-3.05343146063e-05,1793251815129061120
+49,0.816666667,BASELINE,769.567583461,747.567583461,725,692,673,643,889,789,820,657,633,657,0.400916068623,0.00440544354137,0.059923303777,0.999999968335,-0.00011815055108,-0.00022007767277,-3.06072344329e-05,1793251815145728000
+50,0.833333333,BASELINE,769.01190516,747,725,692,673.01190516,643,889,789,820,657,633,657,0.400917080995,0.00440579272117,0.0599239841642,0.999999968659,-0.00011771023723,-0.000218833019738,-3.06254598496e-05,1793251815162395136
+51,0.850000000,BASELINE,769.587277172,747,725,692,673.587277172,643,889,789,820,657,633,657,0.40091766554,0.00440423827096,0.0599242311607,0.999999968715,-0.000118319985075,-0.000218325469692,-3.00678202658e-05,1793251815179061760
+52,0.866666667,BASELINE,769.83421597,747.16578403,725,692,673.83421597,643,889,789,820,657,633,657,0.400917523298,0.00440365558667,0.0599241635914,0.99999996865,-0.000118622116093,-0.000218489850246,-2.98655726749e-05,1793251815195728384
+53,0.883333333,BASELINE,769.247754462,747.752245538,725,692,673.247754462,643,889,789,820,657,633,657,0.400915536835,0.00440553876141,0.0599232978104,0.999999968275,-0.000118143668441,-0.000220359256753,-3.05651333714e-05,1793251815212394496
+54,0.900000000,BASELINE,769.336555138,747.663444862,725,692,673,643,888.663444862,789,819.663444862,657,633,657,0.400915721516,0.00440651362216,0.0599240235907,0.999999968563,-0.000117098003785,-0.000219577380562,-3.0780187012e-05,1793251815229060864
+55,0.916666667,BASELINE,769.919290655,747.080709345,725,692,673,643,888.080709345,789,819.080709345,657,633,657,0.400917494327,0.00440682407732,0.0599259135522,0.999999969331,-0.000115637436271,-0.000216856167446,-3.06408376815e-05,1793251815245727488
+56,0.933333333,BASELINE,769.505435712,747.494564288,725,692,673.494564288,643,888.989128576,789,819.494564288,656.505435712,633,656.505435712,0.400917925901,0.00440536023069,0.0599254034455,0.999999969215,-0.000117180706379,-0.000216591511178,-3.04559682927e-05,1793251815262394368
+57,0.950000000,BASELINE,769.068785316,748,725,692,674,643,889.931214684,789,820,656.068785316,633,656.068785316,0.400917919412,0.00440405036711,0.0599245171269,0.999999968945,-0.000118716962775,-0.000217022761745,-3.02758468572e-05,1793251815279061248
+58,0.966666667,BASELINE,769.644088668,748,725,692,674,643,889.355911332,789,820,656.644088668,633,656.644088668,0.400916274963,0.00440597490458,0.0599237017982,0.999999968614,-0.000116645477986,-0.000219670303298,-3.01845771917e-05,1793251815295728128
+59,0.983333333,BASELINE,770,747.775522772,725,692,674,643,889.224477228,789,820,657,633,657,0.400915427177,0.00440665978447,0.059923041146,0.999999968355,-0.000116607113866,-0.000220867234007,-3.01826870559e-05,1793251815312394752
+60,1.000000000,BASELINE,770,747.186884581,725,692,674,643,889.813115419,789,820,657,633,657,0.40091587179,0.00440533361481,0.0599226314194,0.99999996822,-0.000119867004595,-0.000219710893735,-3.03257939542e-05,1793251815329061376
+61,1.016666667,BASELINE,769.603915596,747,725,692,674,643,889.603915596,789,820,657,633,657,0.400914699864,0.00440541529423,0.0599222920613,0.999999968056,-0.000119453020472,-0.000220663578391,-3.04421899124e-05,1793251815345728000
+62,1.033333333,BASELINE,769.023583803,747,725,692,674,643,889.023583803,789,820,657,633,657,0.400912775969,0.00440615186574,0.0599219854367,0.999999967876,-0.0001173300523,-0.000222597322542,-3.05461606793e-05,1793251815362394624
+63,1.050000000,BASELINE,769,747.55139474,725,692,673.44860526,643,889,789,820,657,633,657,0.400913847724,0.00440682345544,0.0599228239501,0.999999968524,-0.000115221421601,-0.000220805611184,-3.03621884839e-05,1793251815379060992
+64,1.066666667,BASELINE,769,747.874482076,725,691.874482076,673,643,889,789,820,657,633,657,0.400914869497,0.00440693598496,0.0599235040363,0.999999968939,-0.000114464819868,-0.000219343137592,-3.01539904003e-05,1793251815395727616
+65,1.083333333,BASELINE,769,747.302594344,725,691.302594344,673,643,889,789,820,657,633,657,0.400915262256,0.00440507016038,0.0599234482149,0.999999968415,-0.000118514175766,-0.00021961271492,-2.99030157719e-05,1793251815412394752
+66,1.100000000,BASELINE,769.279534367,747,725,691,673,643,889,789.279534367,820,657,633,656.720465633,0.400915649026,0.00440468329604,0.0599236091312,0.99999996827,-0.000119646725495,-0.000219658460934,-2.99173235009e-05,1793251815429061376
+67,1.116666667,BASELINE,769.87317042,747,725,691,673,643,889,789.87317042,820,657,633,656.12682958,0.400916029066,0.00440595828079,0.059924013587,0.99999996856,-0.000117501775489,-0.000219452696557,-3.02297185159e-05,1793251815445728000
+68,1.133333333,BASELINE,770,747.456891178,724.543108822,691,673.456891178,643,889,789.543108822,820,656.543108822,633,656.456891178,0.400915405108,0.00440686428196,0.059923538411,0.999999968488,-0.000116580912612,-0.000220251050171,-3.03626075705e-05,1793251815462394624
+69,1.150000000,BASELINE,769.962588526,748,724.037411474,691.037411474,674,643,889.037411474,789,820,656.037411474,633,657,0.40091457365,0.00440755710834,0.0599228929871,0.999999968337,-0.000116083814397,-0.000221190426791,-3.04240379701e-05,1793251815479061248
+70,1.166666667,BASELINE,769.389323779,748,724.610676221,691.610676221,674,643,889.610676221,789,820,656.610676221,633,657,0.400914677278,0.00440663250686,0.0599232322105,0.99999996846,-0.000116892777211,-0.000220242113097,-3.01605091525e-05,1793251815495727616
+71,1.183333333,BASELINE,769.188521986,748,725,692,673.811478014,643,889.811478014,789,820,657,633,657,0.400915096849,0.0044057264033,0.0599236208696,0.999999968565,-0.000117570395535,-0.000219433294928,-2.9953286858e-05,1793251815512394240
+72,1.200000000,BASELINE,769.776063902,748,725,692,673.223936098,643,889.223936098,789,820,657,633,657,0.400916185135,0.00440485945168,0.0599241141631,0.999999968633,-0.000117970014236,-0.000218919728588,-2.98652411976e-05,1793251815529060864
+73,1.216666667,BASELINE,769.641852742,748,725,692,673,643,889,789,820,657,633,657,0.400916992868,0.0044054019376,0.0599240953607,0.999999968673,-0.000118097346802,-0.000218647514474,-3.00007646105e-05,1793251815545727232
+74,1.233333333,BASELINE,769.063131217,748,725,692,673,643,889,789,820,657,633,657,0.400917627815,0.00440681246218,0.0599237611707,0.999999968697,-0.000118056984874,-0.000218523943414,-3.0273978834e-05,1793251815562394112
+75,1.250000000,BASELINE,769.51453084,747.48546916,725,692,673,643,889,789,820,657,633,657,0.400915839174,0.00440703948733,0.0599231048225,0.99999996852,-0.000117564761514,-0.000219612974813,-3.01344983669e-05,1793251815579062016
+76,1.266666667,BASELINE,769.908558888,747.091441112,725,692,673.091441112,643,889,789,820,657,633,657,0.400914087463,0.00440693208953,0.059922487617,0.999999968321,-0.0001170639491,-0.0002208080958,-2.99589436953e-05,1793251815595729664
+77,1.283333333,BASELINE,769.334928885,747.665071115,725,692,673.665071115,643,889,789,820,657,633,657,0.40091409535,0.0044058253647,0.0599222848296,0.999999968139,-0.000116809601149,-0.000221779701092,-2.98596292441e-05,1793251815612395776
+78,1.300000000,BASELINE,769.246071281,748,725,691.753928719,673.753928719,643,889,789,820,657,633,657,0.400913991658,0.00440513421791,0.0599219675954,0.999999967914,-0.000117332503541,-0.000222528103793,-2.97666187053e-05,1793251815629061888
+79,1.316666667,BASELINE,769.837412702,748,725,691.162587298,673.162587298,643,889,789,820,657,633,657,0.400913731406,0.00440502618146,0.0599214897775,0.999999967629,-0.00011894598968,-0.000222963324031,-2.9682453387e-05,1793251815645728000
+80,1.333333333,BASELINE,769.580232723,747.580232723,725,691.419767277,673.419767277,643,889.419767277,789,820,657,633,657,0.40091335766,0.00440576324414,0.0599213151977,0.999999967783,-0.000117528297034,-0.000223007762216,-2.97953527213e-05,1793251815662394112
+81,1.350000000,BASELINE,769.001285991,747.001285991,725,691.998714009,673.998714009,643,889.998714009,789,820,657,633,657,0.400912940877,0.00440682077586,0.0599212556085,0.999999968099,-0.000114961154777,-0.000222904012431,-2.99829807036e-05,1793251815679060736
+82,1.366666667,BASELINE,769.573952012,747,724.426047988,692,673.426047988,643,889.426047988,789,820,656.426047988,633,656.426047988,0.400913662063,0.00440719564138,0.0599220358466,0.999999968232,-0.000115232911367,-0.000222182120296,-2.98802323436e-05,1793251815695727360
+83,1.383333333,BASELINE,769.847973402,747,724,691.847973402,673,643,889,789,820,656.152026598,633.152026598,656.152026598,0.400914510596,0.00440753634207,0.0599227691384,0.999999968426,-0.000115219721165,-0.000221320081705,-2.98337532956e-05,1793251815712393984
+84,1.400000000,BASELINE,769.261774111,747,724,691.261774111,673,643,889,789,820,656.738225889,633.738225889,656.738225889,0.400915715584,0.00440778381177,0.0599233630168,0.999999968797,-0.000114374702406,-0.000220061728783,-2.99498198873e-05,1793251815729060864
+85,1.416666667,BASELINE,769.32272298,747,724.32272298,691.32272298,673,643,889,789,820,657,633.67727702,657,0.40091591085,0.0044073901809,0.0599234623021,0.999999968761,-0.000115459301457,-0.00021965782503,-2.99654996111e-05,1793251815745727744
+86,1.433333333,BASELINE,769.905846555,747,724.905846555,691.905846555,673,643,889,789,820,657,633.094153445,657,0.400915291387,0.00440647925506,0.059923162507,0.999999968392,-0.000118100881802,-0.00021994336427,-2.99001785878e-05,1793251815762394880
+87,1.450000000,BASELINE,769.517267856,747.482732144,725,692,673.482732144,643,888.517267856,789,820,656.517267856,633,657,0.400914764059,0.00440733763909,0.0599234018757,0.999999968591,-0.00011577373605,-0.000220270622387,-2.99272266479e-05,1793251815779061248
+88,1.466666667,BASELINE,769.058316677,748,725,692,674,643,888,789,820,656.058316677,633,657,0.400914252911,0.00440828165591,0.0599235969261,0.999999968813,-0.0001130596421,-0.000220667968616,-2.99653916345e-05,1793251815795727616
+89,1.483333333,BASELINE,769.633016594,748,725,692,674,643,888,789,820,656.633016594,633,657,0.40091372794,0.00440696719998,0.0599224802535,0.999999968338,-0.000115391045433,-0.000221614799831,-2.99445024196e-05,1793251815812394240
+90,1.500000000,BASELINE,770,747.786399774,725,692,673.786399774,643,888.213600226,789.213600226,820,657,633,656.786399774,0.400913749874,0.0044062255015,0.0599218550079,0.999999968089,-0.000117109150194,-0.000221830662236,-2.99665923101e-05,1793251815829060864
+91,1.516666667,BASELINE,770,747.195421145,725,692,673.195421145,643,888.804578855,789.804578855,820,657,633,656.195421145,0.400914738051,0.00440649572291,0.0599220979915,0.99999996825,-0.000117743708878,-0.000220755084709,-3.00646155781e-05,1793251815845727488
+92,1.533333333,BASELINE,770,747.387313851,725,691.612686149,673,643,889,789.612686149,819.612686149,657,633,656,0.400916268556,0.0044070242473,0.0599234699635,0.999999968757,-0.000116856767926,-0.000218931549808,-2.99944154066e-05,1793251815862393856
+93,1.550000000,BASELINE,770,747.965976216,725,691.034023784,673,643,889,789.034023784,819.034023784,657,633,656,0.400918066992,0.00440768038369,0.0599253997009,0.999999969429,-0.000115218145435,-0.000216738493991,-2.98411061448e-05,1793251815879060736
+94,1.566666667,BASELINE,770,748,725,691.541530269,673.541530269,643,889,789,819.541530269,656.458469731,633,656.541530269,0.400917225215,0.00440679565555,0.0599248202359,0.999999969084,-0.000116151030486,-0.000217833034325,-2.98273095094e-05,1793251815895728128
+95,1.583333333,BASELINE,770,747.880753209,724.880753209,692,673.880753209,643,889,789,820,656.119246791,633,657,0.400916111797,0.00440611230509,0.0599240207088,0.999999968703,-0.000116871430492,-0.000219197852245,-2.97997597403e-05,1793251815912395008
+96,1.600000000,BASELINE,770,747.293793208,724.293793208,692,673.293793208,643,889,789,820,656.706206792,633,657,0.400914579855,0.00440659635117,0.0599229728599,0.999999968436,-0.000116128336923,-0.000220817223883,-2.96840832075e-05,1793251815929061120
+97,1.616666667,BASELINE,770,747.289328265,724.289328265,691.710671735,673.289328265,643,889.289328265,789,819.710671735,657,633,657,0.400914649816,0.00440713103552,0.0599228125432,0.999999968569,-0.000115436359306,-0.000220585870888,-2.96304297619e-05,1793251815945727488
+98,1.633333333,BASELINE,770,747.868602974,724.868602974,691.131397026,673.868602974,643,889.868602974,789,819.131397026,657,633,657,0.400916325102,0.00440771646631,0.0599235416552,0.999999969101,-0.000114795606902,-0.000218499838904,-2.96389319289e-05,1793251815962394112
+99,1.650000000,BASELINE,769.554193023,747.554193023,725,691.445806977,673.554193023,643,889.554193023,789,819.445806977,657,633,657,0.400916783253,0.00440741096156,0.0599236498229,0.999999969091,-0.000115630225814,-0.000218105487535,-2.96264417758e-05,1793251815979060736
+100,1.666666667,BASELINE,769,747,725,692,673,642.977622396,889,789,820,657,633,656.977622396,0.400916865694,0.004406879873,0.0599235911953,0.999999968929,-0.000116799464803,-0.000218228741305,-2.96091581454e-05,1793251815995727360
+101,1.683333333,BASELINE,769,747,725,692,673,642.401691681,889,789,820,657,633,656.401691681,0.40091648728,0.00440723427225,0.0599239129109,0.999999968933,-0.000115539043928,-0.000218879012665,-2.96256450484e-05,1793251816012394496
+102,1.700000000,BASELINE,769,747,725,692,673,642.174120673,889,789,819.825879327,657,633,656.174120673,0.400915945898,0.00440766143623,0.0599237131062,0.999999968892,-0.000114536581937,-0.000219568422193,-2.97992985529e-05,1793251816029061888
+103,1.716666667,BASELINE,769,747,725,692,673,642.749660081,889,789,819.250339919,657,633,656.749660081,0.400915028808,0.0044082563524,0.0599223109855,0.999999968751,-0.000114128819918,-0.000220348060976,-3.03352847825e-05,1793251816045728256
+104,1.733333333,BASELINE,769,747,725,692,673,643,889,789,819.334647251,657,633,657,0.400915304525,0.00440701812616,0.0599225113752,0.999999968692,-0.000115184532788,-0.000220078425837,-3.02331044324e-05,1793251816062394880
+105,1.750000000,BASELINE,769,747,725,692,673,643,889,789,819.92690741,657,633,657,0.400916498471,0.00440436873901,0.059923945384,0.999999968693,-0.000117366834949,-0.000219001055152,-2.96396607304e-05,1793251816079061504
+106,1.766666667,BASELINE,769.505462221,747.505462221,725.505462221,692,673,643,889,789,820,657,633,657,0.400917498709,0.00440576064838,0.0599243264637,0.999999968863,-0.000117422455988,-0.000218168834151,-2.98128733905e-05,1793251816095727872
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,748,725,692,673,643,889,789,820,657,633,657,0.400916006891,0.00440608262337,0.0599229910663,0.999999968101,-0.000120270020884,-0.000220110671345,-2.97478514501e-05,1793251816139072256
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,748,725,692,673,643,889.59104934,789,820,657,633,656.40895066,0.400915576164,0.00440561111294,0.0599230668936,0.999999968289,-0.000118721639449,-0.0002201261703,-2.95360448811e-05,1793251816155738880
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,748,725,692,673.177770895,643,889.822229105,789,820,657,633,656.177770895,0.400915862203,0.00440588951444,0.0599235250694,0.999999968649,-0.000116882432646,-0.000219477163052,-2.94888699241e-05,1793251816172405248
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,748,725,692,673.754773374,643,889.245226626,789,820,657,633,656.754773374,0.400917757931,0.0044078520415,0.0599248419098,0.999999969396,-0.000114390100223,-0.000217335831286,-2.98114187744e-05,1793251816189071872
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.330072521,748,725,692,673.669927479,643,889,789,820,657,633,657,0.400918627182,0.00440811931577,0.0599250360734,0.999999969445,-0.000114474298555,-0.000217031957676,-3.00302709451e-05,1793251816205738240
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.904112644,748,725,692,673.095887356,643,889,789,820,657,633,657,0.400918737731,0.00440713357209,0.0599244004291,0.999999968982,-0.000116462896793,-0.000218086210762,-3.01724774245e-05,1793251816222404864
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.508254211,747.508254211,725,692,673,643,888.508254211,789.491745789,820,657,633,656.508254211,0.400925915418,0.00440648142052,0.0599269524378,0.999999970049,-0.000118186125737,-0.000212213414132,-2.99775829863e-05,1793251816239071232
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.0805755,747.0805755,725,692,673,643,888.0805755,789.9194245,820,657,633,656.0805755,0.400936114434,0.00440581108526,0.0599304235171,0.999999971612,-0.000119347718255,-0.000204083378432,-2.97042156448e-05,1793251816255737600
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.659938146,747.659938146,725,692,673,643,888.659938146,789.340061854,820,657,633,656.659938146,0.400956243357,0.00440461407065,0.0599356268184,0.999999974522,-0.000117362034274,-0.000190579482027,-2.93635493092e-05,1793251816272404480
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.76252877,747.76252877,725,692,673,643,889.23747123,789.23747123,820,657,633,657,0.400981143047,0.00440517184114,0.0599406743354,0.999999977394,-0.000116350199072,-0.000175435180358,-2.99602282486e-05,1793251816289071104
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.187595657,747.187595657,725,692,673,643,889.812404343,789.812404343,820,657,633,657,0.401012822302,0.00440822327417,0.0599455004725,0.999999980204,-0.000116722265747,-0.000157959758517,-3.1888935101e-05,1793251816305737984
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,725,692,673,643,889.614121958,789.614121958,820,657,633,657,0.401053405003,0.00440899185576,0.0599494459552,0.999999982888,-0.000116737019333,-0.000139658517198,-3.30460262774e-05,1793251816322404608
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,725,692,673,643,889.041355031,789.041355031,820,657,633,657,0.401098299834,0.00440865480447,0.0599529649187,0.999999985317,-0.000116578718657,-0.000120957312485,-3.38294078536e-05,1793251816339071232
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.534874863,747.534874863,725,691.465125137,673,643,889,789.534874863,820,657,633,657,0.401154088505,0.00440575288446,0.0599558170999,0.999999985757,-0.000120467178661,-0.000113250391821,-3.38708765862e-05,1793251816355737856
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,748,725,691,673.115291405,643,889,789.884708595,820,657,633,657,0.401214256382,0.00440429745748,0.0599581132821,0.999999986143,-0.000123201395182,-0.000106622389187,-3.41747692358e-05,1793251816372404480
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,748,725,691,673.712067105,643,889,789.287932895,820,657,633,657,0.401289172396,0.00440971650824,0.0599583041851,0.999999987089,-0.000119800024138,-0.000100927069029,-3.58157275658e-05,1793251816389071104
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.70527733,748,725,691.29472267,673.70527733,643,889,789.29472267,820,657,633,656.70527733,0.40137307099,0.0044116866732,0.0599579103853,0.999999987415,-0.000119048922676,-9.80710921034e-05,-3.71342565491e-05,1793251816405737728
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.135785944,748,725,691.864214056,673.135785944,643,889,789.864214056,820,657,633,656.135785944,0.401465344003,0.00441044145598,0.0599569714695,0.999999987191,-0.000120768656699,-9.78622233769e-05,-3.81521858998e-05,1793251816422404352
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747.560679967,725,692,673.439320033,643,889,789.560679967,820,657,633,656,0.401582800204,0.00440861049687,0.0599601726654,0.999999987499,-0.000123725678137,-9.06711913022e-05,-3.83770222916e-05,1793251816439070976
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.016686679,747,725,692,674,643,889,789,820,657,633,656.016686679,0.401708859961,0.00440667727378,0.0599646326332,0.999999987893,-0.000126982939159,-8.13323269179e-05,-3.83912781581e-05,1793251816455737856
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.611474136,747,725,692,674,643,889,789,820,657,633,656.611474136,0.401859833285,0.00440755447775,0.05996779593,0.999999988431,-0.000127221476764,-7.33157192203e-05,-3.97124493943e-05,1793251816472404480
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.798999005,747.201000995,725,692,673.798999005,643,889.201000995,789,820,657,633,657,0.402019922836,0.00440892106724,0.0599692429783,0.999999988916,-0.000126777701558,-6.63674999119e-05,-4.112392181e-05,1793251816489071104
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.219381366,747.780618634,725,692,673.219381366,643,889.780618634,789,820,657,633,657,0.402197184201,0.00441120949039,0.0599674572053,0.999999989383,-0.000125048684005,-6.14317572595e-05,-4.27054904e-05,1793251816505737728
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.355881062,747.644118938,725,691.644118938,673.355881062,643,890,789,820,657,633,657,0.402397162107,0.0044138931762,0.0599676190319,0.999999990154,-0.000121270072045,-5.52257794088e-05,-4.40074602649e-05,1793251816522404352
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.92849125,747.07150875,725,691.07150875,673.92849125,643,890,789,820,657,633,657,0.402610974247,0.00441681757448,0.0599689669331,0.999999991061,-0.000116243270967,-4.82462365505e-05,-4.51391565738e-05,1793251816539070976
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.484398396,747,725,691,673.484398396,643,890,789,820,657,633,657,0.402855997395,0.00441360007487,0.0599706682145,0.999999991183,-0.000118415518329,-3.97189987482e-05,-4.51101885867e-05,1793251816555737856
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.103077786,747,725,691,673,643,889.896922214,789,819.896922214,656.896922214,633,657,0.403112924935,0.00441061932854,0.0599719523866,0.999999991182,-0.000120624337309,-3.24210650327e-05,-4.51057109068e-05,1793251816572404480
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.682679461,747,725,691,673,643,889.317320539,789,819.317320539,656.317320539,633,657,0.4034042958,0.00441278495245,0.0599710751537,0.999999991445,-0.000118252941348,-3.18271749449e-05,-4.59801527058e-05,1793251816589071360
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,725,691.260894553,673,643,889.260894553,789,819.260894553,656.260894553,633,656.739105447,0.403705496814,0.00441594413058,0.0599664259302,0.999999991818,-0.000113062524409,-3.72866624575e-05,-4.68071263679e-05,1793251816605737984
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,725,691.837432054,673,643,889.837432054,789,819.837432054,656.837432054,633,656.162567946,0.404018590802,0.00442030535892,0.0599572131685,0.999999992159,-0.000104461518589,-5.00698213125e-05,-4.75766707037e-05,1793251816622404864
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.587460873,747.412539127,725,692,673,643,890,789.412539127,819.587460873,657,633,656.412539127,0.40434960008,0.00442030092768,0.0599427750858,0.999999990791,-0.000102795740718,-7.44446315276e-05,-4.80596104276e-05,1793251816639071232
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.012915549,747.987084451,725,692,673,643,890,789.987084451,819.012915549,657,633,656.987084451,0.404687644775,0.00441858207979,0.0599262849932,0.999999988092,-0.000103853461982,-0.000103371541355,-4.84299990249e-05,1793251816655737856
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.577249197,747.422750803,725,692,673,643,890.577249197,790,819.577249197,657,633,657,0.40507452405,0.00441830941573,0.0599171670437,0.999999986667,-0.000100571580729,-0.000119239066289,-4.83138777131e-05,1793251816672404224
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747.164194938,725,692,673.164194938,643,890.835805062,790,820,657,633,657,0.40548938082,0.00441904106653,0.0599151940927,0.999999986621,-9.63691948887e-05,-0.000123033825367,-4.83068255174e-05,1793251816689071104
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747.742124328,725,692,673.742124328,643,890.257875672,790,820,657,633,657,0.40597190477,0.00442221956501,0.0599307977509,0.99999999004,-9.00988075778e-05,-9.7164658427e-05,-4.86027944592e-05,1793251816705737728
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,748,725,692,673.682059884,643,890.317940116,790,820,657,633,657,0.406483619531,0.00442444260859,0.0599558011443,0.999999993701,-8.54724604099e-05,-5.37076323864e-05,-4.9075169891e-05,1793251816722404608
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,748,725,692,673.107947018,643,890.892052982,790,820,657,633,657,0.407018854151,0.00442589581726,0.0599883781544,0.999999995382,-8.21707589442e-05,3.92039921888e-06,-4.96896806166e-05,1793251816739071232
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747.537145688,725,692,673.462854312,643,891,789.537145688,820,657,633,657,0.407557240346,0.00442593587554,0.0600055110285,0.999999994982,-8.26669616357e-05,2.69486976317e-05,-4.97532330755e-05,1793251816755738112
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.965421561,747.034578439,725.034578439,692.034578439,673.965421561,643,890.965421561,789.034578439,820,657,633,657,0.408096839394,0.00442546643164,0.0600175041564,0.99999999445,-8.43707509141e-05,3.89520181946e-05,-4.96435014322e-05,1793251816772404992
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.36610155,747.63389845,725.63389845,692.63389845,673.36610155,643,890.36610155,789.63389845,820,657,633,657,0.408644328465,0.00442202015115,0.0600039627846,0.999999994628,-9.14336290577e-05,1.74743710237e-06,-4.878735171e-05,1793251816789071872
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,748,725.77460501,693,673.22539499,643,890.22539499,789.77460501,820,657,633,657,0.409222732847,0.00442154324981,0.0599921374562,0.999999993024,-0.000104148356628,-2.79706126448e-05,-4.81979045309e-05,1793251816805738752
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,748,725.195389628,693,673.804610372,643,890.804610372,789.195389628,820,657,633,657,0.409849667409,0.0044257276186,0.0599830059379,0.999999989887,-0.000125735240133,-4.59364582014e-05,-4.80271215972e-05,1793251816822405888
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747.618842673,725,693,674,643,891,789,820,657,633,657,0.410516618928,0.00443115355919,0.0599885658802,0.999999990816,-0.0001232923191,-2.74284696908e-05,-4.9134213633e-05,1793251816839072256
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747.043654119,725,693,674,643,891,789,820,657,633,657,0.411203941383,0.00443721153183,0.06000160463,0.99999999276,-0.000108616830492,9.64682028352e-06,-5.08918182336e-05,1793251816855738112
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+152,2.533333333,POSE1_TO_POSE2_PRESS,769,748,725,693,672.873058053,643,891,789.873058053,820,657,634,657,0.412555727641,0.0044284813458,0.059984913395,0.999999992083,-0.000112947745034,-2.1404820609e-05,-5.11653311189e-05,1793251816889071360
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+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747.13989623,725,693,672,643.86010377,891.86010377,789,820.86010377,657,634,657,0.414764986346,0.0044404291573,0.0599259436257,0.999999986193,-8.19400461155e-05,-0.000134540771615,-5.28985877926e-05,1793251816939071232
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725.435056056,693,672.870112113,643.564943944,892.435056056,789,821.435056056,657,633.564943944,657,0.415623288372,0.00443961717348,0.0599697035477,0.999999993884,-8.06980585004e-05,-5.39330886716e-05,-5.30102434697e-05,1793251816955737856
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747.009836702,726,693.009836702,673.980326597,643.009836702,893.009836702,789,822,657,633,657,0.416499816725,0.00443655262466,0.0600271969382,0.999999993911,-8.32027926959e-05,4.98328346831e-05,-5.26541051214e-05,1793251816972404224
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747.60042316,726,693.60042316,672.79915368,643.60042316,893.60042316,789,822,657,633,657,0.417315155324,0.00443352254145,0.0600335462511,0.999999993737,-8.55580149925e-05,4.99681709257e-05,-5.20512653893e-05,1793251816989071104
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.187327514,748,725.812672486,694,672.187327514,643.812672486,894,789,822.187327514,657,633.187327514,657,0.418143196856,0.00443291319865,0.0600302130924,0.99999999407,-8.65326725628e-05,4.03566125466e-05,-5.23862547276e-05,1793251817005737728
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.766529168,748,725.233470832,694,672.766529168,643.233470832,894,789,822.766529168,657,633.766529168,657,0.418997811853,0.00443736785088,0.0600066249792,0.999999994871,-8.46192992384e-05,1.03553321691e-05,-5.46831072841e-05,1793251817022404352
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.656940054,748,725,694,673,643,894.343059946,789,823,657,633.656940054,657,0.419858121884,0.00443979544302,0.0599773093362,0.999999994428,-8.33848830912e-05,-3.24254667666e-05,-5.6032747453e-05,1793251817039071232
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.082212932,748,725,694,673,643,894.917787068,789,823,657,633.082212932,657,0.420722277717,0.00444085416842,0.0599441259135,0.999999991464,-8.26089642782e-05,-8.38362284248e-05,-5.67427382366e-05,1793251817055738112
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747.506287932,725,694,673,643,895,789,823,657,633.493712068,657,0.421550234601,0.00443914968328,0.0599005703031,0.999999980954,-8.31228311243e-05,-0.000167398840141,-5.62245285812e-05,1793251817072404736
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,694.071562951,672.856874097,643,895.071562951,789,823.071562951,657,634,657,0.422390066673,0.0044371050136,0.0598656687903,0.999999967043,-8.48622583129e-05,-0.000235775791878,-5.58753240054e-05,1793251817089071360
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,694.661925758,671.676148484,643,895.661925758,789,823.661925758,657,634,657,0.423359793746,0.00443593800836,0.0599060574176,0.999999981857,-9.39256493397e-05,-0.000155155359742,-5.82376201083e-05,1793251817105737984
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747.247475021,725,695,671.494950042,643,896.247475021,789,824.247475021,657,634,657,0.424347024069,0.00443640141941,0.0599563199186,0.99999999137,-9.60847226368e-05,-6.74377180505e-05,-5.89847936958e-05,1793251817122404608
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747.826574072,725,695,672.653148144,643,896.826574072,789,824.826574072,657,634,657,0.425357709412,0.00443904963753,0.0600198137152,0.999999993939,-8.89918021532e-05,2.97904105481e-05,-5.75676544885e-05,1793251817139071488
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747.597664323,725,694.597664323,672.597664323,643.402335677,897,788.597664323,825,656.597664323,634,657,0.426347114512,0.00443777878583,0.0600404089951,0.999999992094,-8.7744380648e-05,6.93920786457e-05,-5.74177135066e-05,1793251817155737856
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747.023329515,725,694.023329515,672.023329515,643.976670485,897,788.023329515,825,656.023329515,634,657,0.427327422214,0.00443483252552,0.0600426650884,0.999999990811,-8.89959197168e-05,8.43583392673e-05,-5.78095019685e-05,1793251817172404224
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747.563852538,725,694.563852538,672,643.436147462,897,788,825.563852538,656,633.436147462,657,0.428231816729,0.00442991723981,0.0600147388363,0.999999992721,-9.64740433733e-05,4.27165267385e-05,-5.85344257997e-05,1793251817189071104
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,748,725,695,671.849770168,643,897.150229832,788,826,656,633.150229832,657.150229832,0.429125453568,0.00442760486721,0.059981499445,0.999999993188,-0.000100053518801,-9.92090890817e-06,-5.92890897128e-05,1793251817205737984
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,748,725,695,671.267273647,643,897.732726353,788,826,656,633.732726353,657.732726353,0.429997384872,0.0044330219184,0.0599366492337,0.999999990184,-9.16565739754e-05,-8.73003861432e-05,-6.00887417752e-05,1793251817222404352
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.689455477,725,695,671.310544523,643,898,788,826.310544523,656,633.689455477,657.689455477,0.430933041732,0.00443502950578,0.0599253694005,0.999999989018,-9.05054701624e-05,-0.000100111184303,-6.12436754141e-05,1793251817239070976
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.115604054,725,695,671.884395946,643,898,788,826.884395946,656,633.115604054,657.115604054,0.431922730666,0.00443414625025,0.0599425534823,0.999999991782,-9.5498026887e-05,-5.81749861767e-05,-6.26998480543e-05,1793251817255738112
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,695,672.921686684,643.460843342,898,788.460843342,827,656.460843342,633.460843342,657,0.432935311509,0.00442905031888,0.0599841333963,0.999999993005,-0.000100350546314,7.82870263815e-06,-6.21236613019e-05,1793251817272404736
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.038847043,725,695,673.922305915,644,898.038847043,788.961152957,827,657,634,657.038847043,0.433946083776,0.00442323058402,0.0600275242643,0.999999989962,-0.000104969267731,7.29316301513e-05,-6.11448649812e-05,1793251817289071360
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.629657908,725,695,672.740684183,644,898.629657908,788.370342092,827,657,634,657.629657908,0.434849102036,0.00442222682686,0.0600091999957,0.999999991636,-0.000106767997553,3.89665293628e-05,-6.17304817167e-05,1793251817305737984
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.785125566,725,695,672,644,898.785125566,788,827,656.785125566,634,658,0.435739593491,0.00442180149939,0.0599859057722,0.999999992251,-0.000107625513864,-4.85265315209e-06,-6.23783083218e-05,1793251817322404864
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.209306285,725,695,672,644,898.209306285,788,827,656.209306285,634,658,0.436609042638,0.00442234781468,0.059954263044,0.999999990166,-0.000106901985291,-6.52246712496e-05,-6.31306347467e-05,1793251817339072000
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.633637528,747,725,695,672,643.633637528,898.366362472,788,827,656,634,657.633637528,0.437458888787,0.00442321361785,0.0599230858089,0.999999984924,-0.000104021036479,-0.000123948680589,-6.29915675834e-05,1793251817355738624
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.058054765,747,725,695,672,643.058054765,898.941945235,788,827,656,634,657.058054765,0.438297540111,0.00442426187238,0.059892174407,0.999999976553,-9.99080397475e-05,-0.000181731550216,-6.23434480836e-05,1793251817372404992
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.530464134,747,725,695,672,643.530464134,899,787.469535866,827,656,634,657.530464134,0.439199928791,0.0044180130645,0.059900170639,0.999999978098,-0.000107601875286,-0.00016856988137,-6.17267339361e-05,1793251817389071360
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.881725991,747,725,695.118274009,672.118274009,643.881725991,899,787.118274009,827.118274009,656,634,658,0.440114832292,0.00441226327305,0.0599232156189,0.999999982859,-0.00011587848273,-0.000130695315636,-6.14187853035e-05,1793251817405737984
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.302337949,747,725,695.697662051,672.697662051,643.302337949,899,787.697662051,827.697662051,656,634,658,0.441050652062,0.0044116503191,0.0599879150291,0.999999990329,-0.000121263492212,-2.74999136351e-05,-6.23008833304e-05,1793251817422404608
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.274899819,747,725,695.725100181,672.725100181,643.274899819,899,788,828,656,634,658,0.441927238395,0.00441247920958,0.0600183483627,0.999999990306,-0.000122233051282,2.22766052071e-05,-6.2854959024e-05,1793251817439071488
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.849791008,747,725,695.150208992,672.150208992,643.849791008,899,788,828,656,634,658,0.442739184682,0.00441488154924,0.0600113879705,0.99999999091,-0.000118384139307,1.37584119365e-05,-6.30510725548e-05,1793251817455738112
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.575803372,747,724.575803372,695,672,644,899.424196628,787.575803372,828,656,634,658,0.443529520331,0.00441093244324,0.0599964198301,0.999999990785,-0.000120257137553,-6.14255313857e-06,-6.26956818896e-05,1793251817472404736
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.00156945,747,724.00156945,695,672,644,899.99843055,787.00156945,828,656,634,658,0.444312212417,0.00440473684687,0.0599786193685,0.99999998991,-0.000124153960875,-3.00695770501e-05,-6.21452255436e-05,1793251817489071616
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.589975149,724,695,672.589975149,644,899.410024851,787,828,656.589975149,634,658,0.445070544266,0.00440541389176,0.0599754139202,0.999999989465,-0.000125668100143,-3.56344679968e-05,-6.33050926132e-05,1793251817505738240
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.177571498,748,724.177571498,695,673,644,899.177571498,787.177571498,828,657,634,658,0.445802966168,0.00440646562306,0.0599647222893,0.999999988373,-0.000125791623588,-5.79699659032e-05,-6.379578408e-05,1793251817522405120
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.756144673,748,724.756144673,695,673,644,899.756144673,787.756144673,828,657,634,658,0.44647702772,0.0044083209571,0.0599370346222,0.999999983495,-0.000122789528684,-0.000118291410635,-6.27647214633e-05,1793251817539071744
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,748,725,695.33338084,673,644,900,787.66661916,828,656.66661916,634,658,0.447172258008,0.00440726678485,0.0599304044117,0.999999982191,-0.000124158909991,-0.000127579193832,-6.26544025575e-05,1793251817555738368
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,748,725,695.909642911,673,644,900,787.090357089,828,656.090357089,634,658,0.447882910525,0.00440409292117,0.0599391153993,0.99999998475,-0.000128713086287,-9.96869171077e-05,-6.32148822838e-05,1793251817572404736
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,748,725,695.514025454,673,644,900,787,828,656.485974546,634,658,0.448576716867,0.00439999615752,0.0599680144494,0.999999987624,-0.000133695084901,-5.41743151283e-05,-6.27854483786e-05,1793251817589071360
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,748,725,695,673,644,900,787,828.063668308,657,634,658,0.449255064992,0.00439574104696,0.0599946655994,0.999999988341,-0.000138654841364,-1.50041950288e-05,-6.21914926078e-05,1793251817605737984
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,695,673,644,900,787,828.652490593,657,634,658,0.449831748451,0.00439159540859,0.0599718106008,0.999999986378,-0.000142774938421,-5.51750321778e-05,-6.17588642756e-05,1793251817622405376
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.763145182,748,725,695,673,644,900.236854818,787,828.763145182,657,634,657.763145182,0.450393384506,0.00439065402717,0.0599455947083,0.999999983233,-0.000143704342067,-9.49482471142e-05,-6.21944346412e-05,1793251817639072256
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.185200962,748,725,695,673,644,900.814799038,787,828.185200962,657,634,657.185200962,0.450933351074,0.0043943270259,0.0599145388686,0.999999979156,-0.000140038898216,-0.000134148851617,-6.3880278899e-05,1793251817655739136
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,748,725,695,672.60966492,644,900.60966492,787,828,656.60966492,634,657,0.451458281007,0.00439357211682,0.0599075393661,0.999999978202,-0.000140632457339,-0.000140403127506,-6.40784539004e-05,1793251817672405504
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,748,725,695,672.035264422,644,900.035264422,787,828,656.035264422,634,657,0.45197612035,0.00439072919511,0.059911883806,0.999999979125,-0.000143234380812,-0.000131121319935,-6.35751075434e-05,1793251817689071872
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,748,725,695,672,644,900,787,828.552458166,656,634,657,0.452483172777,0.00438863281124,0.0599309584303,0.99999998218,-0.000146543075133,-0.000100865006476,-6.31849695995e-05,1793251817705738496
+202,3.366666667,POSE1_TO_POSE2_PRESS,768,748,725,695,672.138811609,644,900,787,829,656,634,657,0.452972055479,0.00438735206844,0.0599472087577,0.999999984146,-0.000148555899299,-7.53440062433e-05,-6.29554073528e-05,1793251817722404864
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,748,725,695,672.718056254,644,900,787,829,656,634,657,0.45340552656,0.00438850432597,0.0599514408887,0.999999984904,-0.000146310399853,-6.92005499736e-05,-6.32118383591e-05,1793251817739071488
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,695,672.705240967,644,900.294759033,787,829,656,634,657.294759033,0.453792474975,0.00439038914809,0.0599396955456,0.999999983648,-0.000141833923833,-9.29543282433e-05,-6.28197366102e-05,1793251817755738112
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,695,672.130948787,644,900.869051213,787,829,656,634,657.869051213,0.454135303845,0.00439296869385,0.0599127980504,0.999999978423,-0.000135241713007,-0.000145060988479,-6.1812602162e-05,1793251817772405504
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725,695,672,644,901,787,829,656.446503513,634,658,0.454484476351,0.00439200377496,0.0599034871373,0.99999997718,-0.000133940663372,-0.000154818641685,-6.10770062839e-05,1793251817789072128
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,694.974676563,672,643.974676563,901,787,829,657,634,658,0.45483449762,0.00439005906261,0.059900080812,0.999999977738,-0.000134219521442,-0.000151179463082,-6.04540529161e-05,1793251817805739008
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,725,694.386199837,672,643.386199837,901,787,829,657,634,658,0.455161726088,0.00438960705207,0.0599124659983,0.999999980906,-0.000134878119831,-0.000127784696541,-6.05524933161e-05,1793251817822405376
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.199854582,748,725,694.199854582,672,643.199854582,901,787,829,657,633.800145418,657.800145418,0.455475749209,0.00439059024727,0.0599245009274,0.999999983574,-0.000133970444671,-0.000105867011156,-6.07939609266e-05,1793251817839072000
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.781284112,748,725,694.781284112,672,643.781284112,901,787,829,657,633.218715888,657.218715888,0.455764559815,0.00439431362765,0.059935867122,0.999999985897,-0.000130072341474,-8.67694648461e-05,-6.13085051153e-05,1793251817855738368
+211,3.516666667,POSE1_TO_POSE2_PRESS,768.642692,748,725,694.642692,672,644,901,787,829,656.642692,633.357308,657.357308,0.456014500496,0.0043965693002,0.0599372726757,0.999999986295,-0.000128198299978,-8.46837456794e-05,-6.16781966776e-05,1793251817872404736
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.069927652,748,725,694.069927652,672,644,901,787,829,656.069927652,633.930072348,657.930072348,0.456241002682,0.00439793994683,0.0599326719745,0.999999985635,-0.000127544765199,-9.28561385564e-05,-6.19605423144e-05,1793251817889071104
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,748,725,694.506369264,672,643.493630736,901,787,829,656.506369264,634,658,0.456426621337,0.00440576617421,0.0599173542846,0.999999984351,-0.000118451077926,-0.000114704065846,-6.41057211146e-05,1793251817905738496
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,694.914538806,671.914538806,643,901.085461194,787,829,657,634,658,0.456601447256,0.00441528295179,0.0598998684758,0.99999998224,-0.000107786786733,-0.000139483706464,-6.66836956021e-05,1793251817922405632
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,694.321771333,671.321771333,643,901.678228667,787,829,657,634,658,0.456745956317,0.00442950585192,0.0598783594882,0.999999978525,-9.47666732423e-05,-0.000170376989229,-7.02929994991e-05,1793251817939072256
+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,694,671,643,901.736908624,787,829,657,634,658,0.456880228568,0.00443950391915,0.0598624648479,0.999999975176,-8.44401649486e-05,-0.000193024771519,-7.25173890503e-05,1793251817955738368
+217,3.616666667,POSE1_TO_POSE2_PRESS,768,748,725,694,671,643,901.16143179,787,829,657,634,658,0.457002345983,0.00444448556737,0.0598532364877,0.999999973146,-7.7311949704e-05,-0.000205882134508,-7.3097379805e-05,1793251817972404736
+218,3.633333333,POSE1_TO_POSE2_PRESS,768.412783759,748,725,694.412783759,671,643,901,787,829,657,634,658,0.457111368145,0.00444361708079,0.0598475624812,0.99999997179,-7.65701898627e-05,-0.000212870572858,-7.24038500396e-05,1793251817989071360
+219,3.650000000,POSE1_TO_POSE2_PRESS,768.986507532,748,725,694.986507532,671,643,901,787,829,657,634,658,0.457215284604,0.00444046768852,0.0598432742796,0.999999970729,-7.83184414901e-05,-0.000217570779374,-7.12137881046e-05,1793251818005737728
+220,3.666666667,POSE1_TO_POSE2_PRESS,768.421085855,748,725,694.421085855,671,643,901,787,829,657,634,658,0.457295848289,0.00444082251259,0.0598391960283,0.999999968998,-7.87944010129e-05,-0.000225184054096,-7.13223079927e-05,1793251818022404352
+221,3.683333333,POSE1_TO_POSE2_PRESS,768.166909962,748,725,694,671,643,901,787,829,657,634,658,0.457371329866,0.00444137339304,0.0598354473664,0.999999967496,-7.88931813487e-05,-0.000231722074719,-7.13296729658e-05,1793251818039071232
+222,3.700000000,POSE1_TO_POSE2_PRESS,768.742989854,748,725,694,671,643,901,787,829,657,634,658,0.457435731687,0.00444219800556,0.0598324942787,0.999999966707,-7.81424450707e-05,-0.000235452185,-7.10123944995e-05,1793251818055737856
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,694,671,643,901,787,829,656.681955455,634,658,0.45748817522,0.00444467270717,0.0598291449832,0.999999965728,-7.52969389183e-05,-0.000240461823265,-7.107448502e-05,1793251818072404480
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,694,671,643,901,787,829,656.107726499,634,658,0.457530986376,0.0044484765532,0.0598254765427,0.999999964563,-7.07640986425e-05,-0.000246502119828,-7.14421566619e-05,1793251818089071360
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,748,725,694.047386432,671,643,900.047386432,787,829,657,634,658,0.45758654455,0.00444406818482,0.0598127748029,0.999999959897,-7.67038908457e-05,-0.000263312314574,-7.06351648653e-05,1793251818122404864
+227,3.783333333,POSE1_TO_POSE2_PRESS,768,748,725,694.640360522,671,643,900.640360522,787,829,657,634,658,0.457607255409,0.00444423590809,0.0598106013654,0.999999959635,-7.44660866651e-05,-0.000265000546822,-7.04244054874e-05,1793251818139071232
+228,3.800000000,POSE1_TO_POSE2_PRESS,768,748.226711496,725,695,671,643,901,787,829,657,634,658,0.457625533898,0.00444523985783,0.0598096229496,0.999999959524,-7.26594691788e-05,-0.000265960038308,-7.02720413568e-05,1793251818155737600
+229,3.816666667,POSE1_TO_POSE2_PRESS,768,748.802854202,725,695,671,643,901,787,829,657,634,658,0.457640063367,0.00444753268631,0.0598104864249,0.999999959654,-7.15174413672e-05,-0.000265796319043,-7.02096820353e-05,1793251818172404224
+230,3.833333333,POSE1_TO_POSE2_PRESS,768,748.622179032,725,694.622179032,671,643,901,787,829,656.622179032,634,658,0.457648843919,0.00444765488247,0.0598103833254,0.999999959626,-7.04875546597e-05,-0.000266344708991,-6.95691221065e-05,1793251818189070848
+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748.047823982,725,694.047823982,671,643,901,787,829,656.047823982,634,658,0.457654634011,0.0044466479638,0.0598097774352,0.999999959514,-6.95160013012e-05,-0.00026726352235,-6.86277950562e-05,1793251818205737728
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,725,694.541614707,671,643,901,787,829,656.541614707,634,658,0.457658360819,0.00444526839378,0.0598091362864,0.999999959212,-7.18261328099e-05,-0.000267799517748,-6.85551775293e-05,1793251818222404864
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,725,695,671,643,901,787,829,656.870410783,634,658,0.457660968495,0.0044445171629,0.059808091475,0.999999958778,-7.30143070435e-05,-0.000269093780314,-6.85612996764e-05,1793251818239071488
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,748,725,695,671,643,901,787,829,656.292247029,634,658,0.457660350985,0.00444605809832,0.0598056604671,0.999999957948,-6.92870394097e-05,-0.000273133152476,-6.85668547047e-05,1793251818255738112
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,748,725.285202214,694.714797786,671,643,901,787,829,656.285202214,634,658,0.45766036737,0.00444745692743,0.0598045428937,0.999999957591,-6.68692600372e-05,-0.000275043264705,-6.85341233828e-05,1793251818272404736
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,748,725.861921195,694.138078805,671,643,901,787,829,656.861921195,634,658,0.457661031687,0.00444871050411,0.059804767835,0.999999957741,-6.57899613564e-05,-0.000274776974362,-6.84622580291e-05,1793251818289071104
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.43552737,748,725.56447263,694.43552737,671,643,901,787,829,657,634,658,0.457661850532,0.00444806414149,0.0598045844428,0.999999957653,-6.59507713875e-05,-0.000275153705621,-6.80763661422e-05,1793251818305737728
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.991550257,748,725,694.991550257,671,643,901,787,829,656.991550257,633.991550257,658,0.457662725265,0.00444688620236,0.0598042736751,0.999999957496,-6.64507597573e-05,-0.000275717322805,-6.76114182358e-05,1793251818322404096
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.398128571,748,725,694.398128571,671,643,901,787,829,656.398128571,633.398128571,658,0.457664101487,0.00445031217423,0.0598040434282,0.999999957773,-6.34066539742e-05,-0.000275205823471,-6.8516927276e-05,1793251818339070976
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,748.190611963,725,694.190611963,671,643,901,787,829,656,633.190611963,657.809388037,0.457664536007,0.00445233560435,0.0598034461758,0.999999957753,-6.17558335867e-05,-0.000275514832092,-6.90716129154e-05,1793251818355738112
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,748.769809369,725,694.769809369,671,643,901,787,829,656,633.769809369,657.230190631,0.457663050753,0.00445149978396,0.0598021007385,0.999999957142,-6.29453934716e-05,-0.00027749654504,-6.89111027454e-05,1793251818372404736
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.349386339,748.650613661,725,694.650613661,671,643,901,787,829,656.349386339,634,657.349386339,0.457663158768,0.0044494037715,0.0598020843038,0.999999957017,-6.54836497904e-05,-0.000277471323912,-6.84722333668e-05,1793251818389071360
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.92921363,748.07078637,725,694.07078637,671,643,901,787,829,656.92921363,634,657.92921363,0.457664317638,0.00444647658787,0.0598029444249,0.999999957202,-6.89114511217e-05,-0.00027612241099,-6.78497696337e-05,1793251818405738240
+244,4.066666667,POSE1_TO_POSE2_PRESS,768.501479738,748,725,694,671,643,901,787.498520262,829,656.501479738,634,658,0.45766372229,0.00444862707345,0.0598021973644,0.999999956972,-6.68349317842e-05,-0.000277452194416,-6.78948872213e-05,1793251818422404608
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,748,725,694.069480598,671,643,901,787.930519402,829,656,634,657.930519402,0.457663119109,0.00445108552718,0.0598014153776,0.999999956765,-6.43108250386e-05,-0.000278755978332,-6.80333737945e-05,1793251818439071488
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,748,725,694.663991936,671,643,901,787.336008064,829,656,634,657.336008064,0.457664300062,0.00445053555251,0.05980205829,0.999999957238,-6.41884359952e-05,-0.000277048534293,-6.81759125269e-05,1793251818455738112
+247,4.116666667,HOLD_POSE2,768,748,725,694,671,642,901,788,829,656,634,658,0.457666368986,0.00444830990552,0.0598040476542,0.999999957299,-6.9478868293e-05,-0.000275621417101,-6.78793395478e-05,1793251818494071552
+248,4.133333333,HOLD_POSE2,768.573542174,748,725,694,671,642.573542174,901,787.426457826,829,656,634,658,0.457664272332,0.00444905540273,0.0598019326618,0.999999956666,-6.85083278235e-05,-0.000278190476795,-6.7707184431e-05,1793251818510738176
+249,4.150000000,HOLD_POSE2,768.857511249,748,725,694,671.142488751,643,901,787,829,656,633.857511249,658,0.45766300073,0.00444958157851,0.0598005835516,0.99999995628,-6.76105676486e-05,-0.000279848263293,-6.74882050874e-05,1793251818527405056
+250,4.166666667,HOLD_POSE2,768.301889063,748,725,694,671.698110937,643,901,787,829,656,633.301889063,658,0.457664121296,0.00444947185149,0.0598014550478,0.999999956625,-6.69238272251e-05,-0.000278863894984,-6.71334630323e-05,1793251818544071936
+251,4.183333333,HOLD_POSE2,768.282565053,748,725,694,671.717434947,643,901,787,829,656.282565053,633,658,0.457664592688,0.00445043469896,0.0598013922623,0.999999956688,-6.57939129162e-05,-0.000278837507033,-6.74162631571e-05,1793251818560738560
+252,4.200000000,HOLD_POSE2,768.901323067,748,725,694,671.098676933,643,901,787,829,656.901323067,633,658,0.457664291701,0.00445267368442,0.0598002178778,0.999999956414,-6.4136714969e-05,-0.000279950914209,-6.84576043564e-05,1793251818577404928
+253,4.216666667,HOLD_POSE2,768.515965726,748,725,694.484034274,671,643,901,787,829,656.515965726,633.484034274,657.515965726,0.457664845721,0.00445147710413,0.0598008478192,0.999999956658,-6.47578230177e-05,-0.000279039816868,-6.80182990202e-05,1793251818594071040
+254,4.233333333,HOLD_POSE2,768,748,725,695,671,643,901,787,829,656.05967125,634,657.05967125,0.457665425981,0.00444978305383,0.0598016508202,0.999999956934,-6.57099195454e-05,-0.000277995534951,-6.73292761589e-05,1793251818610737408
+255,4.250000000,HOLD_POSE2,768,748,725,695,671,643,901,787,829,656.633284768,634,657.633284768,0.457664835029,0.00444941860009,0.0598009958138,0.999999956646,-6.57896756619e-05,-0.000279112506395,-6.6909071168e-05,1793251818627404032
+256,4.266666667,HOLD_POSE2,768,748,725,695,671,643,901,787,829,656.786700712,634,658,0.457664833391,0.00444945767059,0.0598007153474,0.999999956544,-6.57898947212e-05,-0.000279491729119,-6.68469519302e-05,1793251818644071168
+257,4.283333333,HOLD_POSE2,768,748,725,695,671,643,901,787,829,656.195340848,634,658,0.457665876279,0.00445021196436,0.0598010987314,0.999999956774,-6.5649138967e-05,-0.000278563335048,-6.74195188963e-05,1793251818660738304
+258,4.300000000,HOLD_POSE2,768,748,725,695,671,643,901,787,829,656.386546009,634,658,0.45766553421,0.00444952201295,0.0598008747802,0.999999956585,-6.60022160906e-05,-0.000279219109016,-6.71624788215e-05,1793251818677404672
+259,4.316666667,HOLD_POSE2,768,748,725,695,671,643,901,787,829,656.963760251,634,658,0.457664508996,0.00444811967118,0.0598003512538,0.999999956187,-6.65988819074e-05,-0.000280656291875,-6.64962256519e-05,1793251818694070784
+260,4.333333333,HOLD_POSE2,768.538854445,748,725,694.461145555,671,643,901,787,829,656.461145555,634,658,0.457666214429,0.00444957005376,0.0598015103104,0.999999956973,-6.40935652312e-05,-0.000278380008481,-6.67087835012e-05,1793251818710737408
+261,4.350000000,HOLD_POSE2,768.883250874,748,725,694.116749126,671,643,901,787.116749126,829,656.116749126,634,657.883250874,0.457667729693,0.00445052408765,0.0598024617027,0.999999957597,-6.27218348163e-05,-0.000276394060175,-6.69182341871e-05,1793251818727404288
+262,4.366666667,HOLD_POSE2,768.293432941,748,725,694.706567059,671,643,901,787.706567059,829,656.706567059,634,657.293432941,0.457667733174,0.0044486925586,0.0598021149116,0.999999957282,-6.678542048e-05,-0.000276592547646,-6.68765473637e-05,1793251818744071168
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.783865838,748,725,694.783865838,671,643,900.783865838,787.783865838,829.216134162,657,633,658,0.457661626648,0.00445114215383,0.0597984042905,0.999999955959,-6.21870982536e-05,-0.000282407882203,-6.67855636262e-05,1793251818931149824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.197910869,748,725,694.197910869,671,643,900.197910869,787.197910869,829.802089131,657,633,658,0.457653599307,0.0044521045142,0.0597939449633,0.999999954121,-6.30949356692e-05,-0.000288555744762,-6.7180142612e-05,1793251818947816704
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,694.38381856,671,643,900.38381856,787,829.61618144,657,633.38381856,658,0.457628918344,0.00445210714461,0.0597821261557,0.999999948429,-6.30945198017e-05,-0.00030763431552,-6.72416720161e-05,1793251818964483584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.963392925,671,643,900.963392925,787,829.036607075,657,633.963392925,658,0.457595743673,0.00445162029199,0.0597665538528,0.999999940238,-6.26308750747e-05,-0.000333307828798,-6.7133338897e-05,1793251818981150464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,643,901,787,829,657,634,658,0.457538690979,0.00445323053787,0.05974424319,0.999999927606,-6.10758699674e-05,-0.000369446476443,-6.75777725264e-05,1793251818997816832
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.116334593,748,725,694.883665407,671,643,901,787,829,656.883665407,634,658,0.457478944207,0.00445454868718,0.0597231047204,0.999999915208,-5.97471177341e-05,-0.000401737731856,-6.79746914092e-05,1793251819014482944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.683825515,748,725,694.316174485,671,643,901,787,829,656.316174485,634,658,0.457414992741,0.00445418574658,0.0597082739471,0.999999909227,-5.95811448048e-05,-0.000416372215019,-6.80428163154e-05,1793251819031149824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.735384314,748,725,694,671,643,901,787,829,656.264615686,633.735384314,658,0.457341040967,0.00445389102026,0.0596969488529,0.999999903624,-5.96815682781e-05,-0.000429638280005,-6.78251557992e-05,1793251819047816448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.13786275,748,725,694,671,643,901,787,829,656.86213725,633.13786275,658,0.457254508077,0.00445368211251,0.0596900341604,0.999999898611,-6.01171379186e-05,-0.00044118277405,-6.72479563318e-05,1793251819064482816
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,901,787,829,657,633.445245166,658,0.45716377229,0.00445458235878,0.0596939833265,0.999999900906,-5.70206640482e-05,-0.000436481670648,-6.64818580668e-05,1793251819081149952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,694.023469663,671,642.976530337,901,787,829,656.976530337,634,658,0.457070814283,0.00445580512809,0.0597012021228,0.999999905356,-5.28768313581e-05,-0.000426828977261,-6.5645504942e-05,1793251819097816576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,694.588756592,671,642.411243408,901,787,829,656.411243408,634,658,0.45695565527,0.00445679383068,0.0597086817302,0.999999910462,-4.90097067935e-05,-0.000415349174082,-6.4495194134e-05,1793251819114483712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.159629912,748.159629912,725,695,671,642.159629912,901,787,829,656,634,658,0.456830947185,0.00445751812698,0.0597151990512,0.999999914675,-4.57583974684e-05,-0.000405639550682,-6.33402190271e-05,1793251819131150336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.745416891,748.745416891,725,695,671,642.745416891,901,787,829,656,634,658,0.456680746371,0.00445753654908,0.0597191473965,0.99999991683,-4.41511040604e-05,-0.00040065570156,-6.21727920484e-05,1793251819147816448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748.66551484,725,694.66551484,671.33448516,643,901,786.66551484,829,656,634,658,0.456514414486,0.00445921360751,0.0597248333408,0.999999920247,-3.92472098393e-05,-0.000392756123066,-6.08933636417e-05,1793251819164483072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748.073924311,725,694.073924311,671.926075689,643,901,786.073924311,829,656,634,658,0.456335683276,0.00446216559337,0.0597318549084,0.999999924525,-3.18093502054e-05,-0.00038261533941,-5.95278440849e-05,1793251819181149440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,672,643,900.494904165,786.505095835,829,656,634,658,0.456129099468,0.0044636122044,0.0597414787865,0.999999928668,-2.65018640573e-05,-0.000372356518814,-5.75581578086e-05,1793251819197816320
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.91831852,748,725,694,672,643,900.08168148,787.08168148,829,656.08168148,634,658,0.455913706218,0.00446466384658,0.0597520527731,0.999999933145,-2.14708591104e-05,-0.000360793458036,-5.54692527786e-05,1793251819214482944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.345576709,748,725,694,672,643,900.654423291,787.654423291,829,656.654423291,634,658,0.455669263369,0.00446463336801,0.0597661045874,0.999999940145,-1.62730664342e-05,-0.000341490777144,-5.31823036749e-05,1793251819231149568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725.228082376,694,672,643,900.771917624,787.771917624,829,656.771917624,634,658,0.455409669096,0.00446544066136,0.0597795907537,0.999999946203,-1.03229391167e-05,-0.000323940188107,-5.05080293303e-05,1793251819247815936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725.803136837,694,672,643,900.196863163,787.196863163,829,656.196863163,634,658,0.455127025618,0.00446752242175,0.0597922164227,0.999999951121,-3.22831720617e-06,-0.000309054983663,-4.72445336112e-05,1793251819264482560
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725.608106227,694,672,643,900,787,829,656.391893773,634,658,0.454797849897,0.0044698307097,0.0597940911605,0.999999950261,4.99455269734e-06,-0.000312218020692,-4.44186438105e-05,1793251819281149184
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,725.012216642,694,672,643,900,787,829,656.987783358,634,658,0.45444445236,0.00447225691392,0.0597903696237,0.999999946291,1.38047189379e-05,-0.000324775863367,-4.18205448517e-05,1793251819297815808
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,672,643,900,787,829,657,634,657.432246127,0.454057753433,0.00447341645247,0.0597813728835,0.999999942694,2.09934841503e-05,-0.000335572363194,-3.95241675479e-05,1793251819314482432
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,672,643,899.85469077,787,828.85469077,656.85469077,633.85469077,657,0.453659526879,0.00447531971189,0.059771800219,0.999999938451,2.9422358652e-05,-0.000347625562686,-3.7274672253e-05,1793251819331149568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,672,643,899.283241171,787,828.283241171,656.283241171,633.283241171,657,0.453229538069,0.00447948179095,0.0597608623774,0.999999932462,4.15875570391e-05,-0.00036347232908,-3.51441453503e-05,1793251819347816192
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.702248384,725,694,672,643,899.297751616,787,828,656,633.297751616,657,0.45280433848,0.00448182667138,0.0597639118499,0.999999934901,5.15179868698e-05,-0.000355687791027,-3.20928834736e-05,1793251819364482560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747.111876815,725,694,672,643,899.888123185,787,828,656,633.888123185,657,0.452383845518,0.00448238567256,0.059780707568,0.99999994514,5.92521651554e-05,-0.000324679228943,-2.81367549555e-05,1793251819381149184
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747.469446943,725,694,672,643,899.530553057,787,828,656.469446943,634,657,0.451897789279,0.00448808977839,0.0597985437672,0.999999953282,7.37431555534e-05,-0.000295585310584,-2.50516191968e-05,1793251819397817344
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,672.048354709,643,899,787,828,656.951645291,633.951645291,657,0.451391618929,0.00449464093992,0.0598146057538,0.999999959172,8.96226001709e-05,-0.000270439084116,-2.20523965413e-05,1793251819414485760
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,672.623985873,643,899,787,828,656.376014127,633.376014127,657,0.450833273452,0.0044973110235,0.0598086683722,0.99999995432,0.000103415451402,-0.000283458367472,-1.77693638058e-05,1793251819431151360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,899,787,828,656,633.19891668,657,0.450251188299,0.00450010134988,0.0597940660993,0.99999994618,0.000116946215732,-0.000306227251951,-1.37305838933e-05,1793251819447817728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,673,643,899,787,828,656,633.772528203,657,0.449624385289,0.00450311817474,0.0597631419674,0.999999931171,0.000129983291987,-0.000347361238293,-1.015189774e-05,1793251819464484096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,725,693.641263372,673,643,899,787,828,656,633.641263372,657,0.448982766572,0.00450871768543,0.0597406839892,0.999999916338,0.000146607185774,-0.000381821979035,-6.43578327353e-06,1793251819481150464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,725,693.046776696,673,643,899,787,828,656,633.046776696,657,0.448331411478,0.00451601445316,0.0597237896931,0.999999901457,0.000165588218868,-0.000411897278053,-2.62935552994e-06,1793251819497816576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747.47002853,725,693,673,643,898.47002853,787,828,656,633.52997147,657,0.44767740439,0.00451868335928,0.0597457726964,0.999999913914,0.000180930185731,-0.000373404586146,2.19799958175e-06,1793251819514482944
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,724.89509443,693.10490557,673,643,898,787.10490557,827.89509443,656,633.89509443,657,0.447016623648,0.00452108838001,0.0597715548498,0.999999925791,0.000196180823224,-0.000331474712331,7.39603530012e-06,1793251819531149568
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,724.321496908,693.678503092,673,643,898,787.678503092,827.321496908,656,633.321496908,657,0.446326592005,0.00452408025309,0.0597994764585,0.999999932239,0.000212411958921,-0.000300351485225,1.38606286847e-05,1793251819547816192
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,672.73912997,643,898,787.73912997,827.26087003,656,633,657,0.445597516417,0.00452814408566,0.059801583735,0.999999927153,0.000229363489704,-0.000304473829871,1.95482453749e-05,1793251819564482816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,724,694,672.14557956,643,898,787.14557956,827.85442044,656,633,657,0.444818649066,0.00453357495913,0.0597707707068,0.999999906647,0.000247233722588,-0.000353543879195,2.42450059032e-05,1793251819581149440
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,724,693.564275866,672,643,897.564275866,787,827.564275866,656,633,657,0.4440448911,0.00453819193765,0.0597605225983,0.999999900063,0.000261593421887,-0.000361486856306,2.7742530128e-05,1793251819597816064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.986982679,747,724,693.013017321,672.013017321,643,897,787.013017321,827,656,633.013017321,657,0.443271851232,0.00454254920453,0.059757528718,0.999999898572,0.000274781757204,-0.00035552630479,3.08705234271e-05,1793251819614482688
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.411012323,747,724,693.588987677,672.588987677,643,897,787.588987677,827,656,633.588987677,657,0.442458057073,0.00454711338735,0.0597792342936,0.999999905076,0.000286649960408,-0.00032628889218,3.48717360898e-05,1793251819631149312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.164717657,747,724,694,672.835282343,643,896.835282343,788,827,656.164717657,633.835282343,657,0.441629063364,0.00455120633942,0.0597925620813,0.999999906483,0.000294832688856,-0.000314134417065,3.7789541157e-05,1793251819647815936
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.739848675,747,724,694,672.260151325,643,896.260151325,788,827,656.739848675,633.260151325,657,0.440762198244,0.00455412516454,0.0597850156267,0.999999896754,0.000293832624413,-0.000344544086651,3.80079089397e-05,1793251819664482816
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724,694,672,643,896,788,826.675752414,656.675752414,633,656.675752414,0.439908847679,0.00455468279469,0.0597853748234,0.999999900248,0.000275151689768,-0.000350231403884,3.36556406434e-05,1793251819681149440
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,672,643,896,788,826.0836989,656.0836989,633,656.0836989,0.439066659237,0.00455329024207,0.0597922635381,0.999999914144,0.000241867587319,-0.000335499777732,2.55283451597e-05,1793251819697816064
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.496090466,747.496090466,724.496090466,694,672,643,895.007819067,788,825.503909534,656,633,656,0.438174774498,0.00455638332887,0.0598023673056,0.999999915656,0.00024975586447,-0.000324800133551,2.85486175754e-05,1793251819714482688
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.926506713,747.926506713,724.926506713,693.926506713,671.926506713,643,893.926506713,788,825,656.073493287,633,656.073493287,0.437264000169,0.00456023433354,0.0598048690889,0.999999911458,0.000263136414479,-0.000326742314365,3.29064025119e-05,1793251819731149568
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.351610012,747.351610012,724.351610012,693.351610012,671.351610012,643,893.351610012,788,825,656.648389988,633,656.648389988,0.436280176648,0.00456421750221,0.0597518953565,0.999999879369,0.000267739052332,-0.000410403478143,3.38673098822e-05,1793251819747816192
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747.223107858,724,693,671.223107858,643,893,788.223107858,825,656.776892142,633,656.776892142,0.4353347161,0.00456688918259,0.059723440657,0.999999865989,0.000266178099047,-0.000442803915018,3.30947441337e-05,1793251819764482816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747.797544209,724,693,671.797544209,643,893,788.797544209,825,656.202455791,633,656.202455791,0.434449665668,0.00456749565971,0.0597335961311,0.999999889263,0.000254911326224,-0.000394483974648,2.959247438e-05,1793251819781149440
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747.615634719,724.384365281,693.384365281,672.768730561,643,893.384365281,788.615634719,825,656,633,656.384365281,0.433549701862,0.00456976752878,0.0597546993878,0.999999904182,0.000250719367087,-0.000357641192289,2.94792957176e-05,1793251819797816320
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747.02207312,724.97792688,693.97792688,673.955853759,643,893.97792688,788.02207312,825,656,633,656.97792688,0.432641621292,0.00457294581127,0.0597817611317,0.999999914689,0.000250377977512,-0.000327045020804,3.12106787186e-05,1793251819814482944
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,724.44533816,694,672.336014479,643,893.44533816,788,824.44533816,656.55466184,633,656.44533816,0.43170991581,0.00457632200928,0.0597978652204,0.999999922513,0.000251325517814,-0.000301379015288,3.12997747612e-05,1793251819831149568
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.130514398,747,724.130514398,693.869485602,671.261028795,643,893,788.130514398,823.869485602,656.869485602,633,656.130514398,0.430769504131,0.0045789642113,0.0598122324831,0.999999929055,0.000250768498876,-0.000279300431583,3.15758662038e-05,1793251819847815936
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.705575029,747,724.705575029,693.294424971,672.411150058,643,893,788.705575029,823.294424971,656.294424971,633,656.705575029,0.429802546277,0.00457908030577,0.0598221254857,0.999999933348,0.000244917219846,-0.000268792399584,3.27049391173e-05,1793251819864482560
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,747,724.713534291,693,672.713534291,643,892.713534291,789,822.713534291,656,633,657,0.428821146314,0.00458079021912,0.0598008780995,0.999999921198,0.000242050745755,-0.000312915126866,3.31557795594e-05,1793251819881149184
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747.457089782,724.457089782,693,672.914179564,643,892,789,821.542910218,656,633,656.542910218,0.426888287623,0.00458346012947,0.0597390165523,0.999999887239,0.000234827598406,-0.0004115590081,3.15760141439e-05,1793251819914482432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,643,892,789,821,656,633,656.039217061,0.425968524003,0.00458166647859,0.0597460245775,0.999999902033,0.000225722788829,-0.000379553702874,3.03587808426e-05,1793251819931149056
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747.811539724,724.811539724,693,673.623079449,643,892,789,821.188460276,656.188460276,633,657,0.424128200237,0.00457884979908,0.0598161539465,0.999999929614,0.000218866709702,-0.000302470008548,3.71704253226e-05,1793251819964482304
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,747,724.940393825,693,673.88078765,643,892,789.940393825,821.059606175,657,633,657,0.421401713034,0.00457571193091,0.0598377368966,0.999999947512,0.000190861352848,-0.000259217883291,3.67916356476e-05,1793251820014482688
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.577403141,673.577403141,643,890.577403141,789,820.577403141,656,633,656.422596859,0.416206088598,0.00457187911745,0.0598173462707,0.999999941174,0.000157155709145,-0.000302608157155,3.71892445434e-05,1793251820114482432
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,673.001728777,643,890.001728777,789,820,656,633,657,0.415410373518,0.00457331989236,0.0598432048847,0.999999948269,0.000161528827921,-0.000275449010221,3.87081972804e-05,1793251820131149056
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,674,643,890.845841319,788.845841319,820.154158681,656.154158681,632.845841319,657,0.413870990829,0.0045657914481,0.0598338205013,0.999999918794,0.000280449346453,-0.000286783983677,3.89150768252e-05,1793251820164482560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,674,643,890.268267182,788.268267182,820.731732818,656.731732818,632.268267182,657,0.413083888686,0.00456734936149,0.0598149134837,0.999999910203,0.000274478747182,-0.000320558756194,3.86901317369e-05,1793251820181149184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,747,724,692,673.370413284,643,890,788,820.685206642,656.685206642,632.314793358,657,0.412306034299,0.00456731668636,0.0597796825657,0.999999892858,0.000263890389597,-0.000378442393378,3.77663925466e-05,1793251820197815808
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.63649548,747.63649548,724,692,674,643,889,789,820,657,633,657,0.409668683921,0.00456148171457,0.059808183941,0.999999924125,0.000219108627418,-0.000319887462391,3.7607496402e-05,1793251820264482560
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.036367744,747,724,692,673,643,889,788,820,656.963632256,633,657,0.407348039657,0.00455140576982,0.0598216167442,0.999999938496,0.000186816750275,-0.000294547890134,3.67328255848e-05,1793251820331149312
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,769.305806813,747.305806813,724,691.305806813,673.388386374,643,889,788,820,656.694193187,633,657,0.405891264199,0.00454680890044,0.0598168892328,0.999999940251,0.00017707926365,-0.000294757531027,3.54683560197e-05,1793251820381150464
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.863454276,747,724,691.863454276,673.136545724,643,889,788,820,656.136545724,633,657,0.405012492533,0.00454085784036,0.059806604917,0.999999937735,0.00017300334782,-0.000305529324763,3.53841922555e-05,1793251820414484480
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,888.601215187,788,820,656.398784813,633,656.601215187,0.40384939926,0.0045371972601,0.0597551747235,0.999999908168,0.000177354079531,-0.000388752365553,3.28921554188e-05,1793251820464483584
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747.177917289,724,691,672.355834578,643,888.822082711,788.177917289,820,656.177917289,633,656.822082711,0.403538052421,0.00453553314004,0.0597579325828,0.999999911403,0.000178386290442,-0.000379915348509,3.21858438566e-05,1793251820481149696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747.75363288,724,691,673.507265761,643,888.24636712,788.75363288,820,656.75363288,633,656.24636712,0.403278783156,0.00453188704534,0.0597795550533,0.999999926192,0.000174253937571,-0.000340908554021,3.21456199803e-05,1793251820497816320
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.663314525,747.663314525,724,691,673.32662905,643,888.336685475,788.663314525,820,657,633,656,0.40303453331,0.00452973825453,0.0598009557395,0.9999999385,0.000171171553126,-0.000304403865131,3.22352402289e-05,1793251820514482944
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,724.341623828,691,672.341623828,643,888,788,820,656.658376172,632.341623828,656.341623828,0.402164478779,0.00452352767279,0.0598267612301,0.999999948377,0.000163068116439,-0.000274792545121,3.38324321023e-05,1793251820581149952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.761633462,747,724.238366538,691.238366538,672.238366538,643,888,788,820,656.761633462,632.238366538,656.238366538,0.401980966483,0.00452194279028,0.0598211399551,0.999999945224,0.00015949006803,-0.000288037829042,3.38863018644e-05,1793251820597816576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.173407112,747,724.826592888,691.826592888,672.826592888,643,888,788,820,656.173407112,632.826592888,656.826592888,0.40182611654,0.00451978853605,0.0598200880811,0.999999944502,0.000156256978187,-0.00029226710207,3.40414609191e-05,1793251820614483200
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.433426907,747,724,691,673,643,888,788.433426907,820,656.433426907,633,656.433426907,0.401461815805,0.00451931798935,0.0598247288632,0.999999947525,0.000149006470259,-0.000285754343188,3.30449345094e-05,1793251820664482560
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9154a8633f1847357ae30f0d4492f01a4bd22df7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46fd8dbd9aec3c8f55f57c6dba7808dc5a76a99a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c20082614779d74ec909cffc9429856a3b53afceaaaa772a7135944fa93bdc19
+size 26234476
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7ca7d3327e5cb3892dd914791d2bb0b1b89df29
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
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+6,0.100000000,BASELINE,769.485146743,747,724,691,672.514853257,642.514853257,888,788,820,656,633,656.485146743,0.400962342458,0.004512073184,0.0598363307692,0.999999954163,0.00012943799604,-0.00027208423072,2.98253400842e-05,1793251821466266112
+7,0.116666667,BASELINE,769.93316068,747,724,691,672.06683932,642,888,788,820,656,633,656.93316068,0.400961766295,0.00451329142889,0.0598357478671,0.999999953454,0.000131838890478,-0.000273576680061,2.94480407063e-05,1793251821482932736
+8,0.133333333,BASELINE,769.357988338,747,724,691,672.642011662,642,888,788,820,656,633,656.357988338,0.400964111668,0.00451219910297,0.0598371372762,0.999999954352,0.000130140428611,-0.000271077173216,2.96116321984e-05,1793251821499599360
+9,0.150000000,BASELINE,769,747,724,691,673,642.216067478,888,788,820,656,633,656,0.400964453406,0.00451142597706,0.0598374937772,0.999999954626,0.000129082045875,-0.000270559128167,2.97406214443e-05,1793251821516265728
+10,0.166666667,BASELINE,769,747,724,691,673,642.788282847,888,788,820,656,633,656,0.400961492516,0.00451117899436,0.0598361477169,0.999999953877,0.000129078717194,-0.000273307162319,2.98125751724e-05,1793251821532932352
+11,0.183333333,BASELINE,769,747,724,691,673,643,888,788,820,656.373949325,633,656,0.400962668076,0.00451107390169,0.0598368453643,0.999999954329,0.00012900514023,-0.000271667475604,2.99280117597e-05,1793251821549598720
+12,0.200000000,BASELINE,769,747,724,691,673,643,888,788,820,656.967515568,633,656,0.400966272933,0.00451105213967,0.0598387432619,0.999999955477,0.00012889030711,-0.000267450922,3.00689854272e-05,1793251821566265088
+13,0.216666667,BASELINE,769.547233136,747.547233136,724,691,672.452766864,643,888,788,820,657,633,656.547233136,0.400964455741,0.00451032917546,0.0598379259295,0.999999955197,0.00012776641909,-0.000269034351121,3.00416020982e-05,1793251821582932224
+14,0.233333333,BASELINE,770,747.874937986,724.125062014,691,672,643,888,788,820,657,633,657,0.400963186697,0.00450984642795,0.0598373201383,0.999999954943,0.000127091413307,-0.000270302284958,2.99896415101e-05,1793251821599599360
+15,0.250000000,BASELINE,770,747.301010009,724.698989991,691,672,643,888,788,820,657,633,657,0.400965011721,0.00451037156135,0.0598380378176,0.999999955088,0.000128237190654,-0.000269232638399,2.9884453679e-05,1793251821616265984
+16,0.266666667,BASELINE,770,747,724.720287923,691,672.279712077,643,888,788,820,657,633,656.720287923,0.40096555674,0.00451173480227,0.0598384620916,0.999999955094,0.000129444328195,-0.000268665648734,2.95904580864e-05,1793251821632932608
+17,0.283333333,BASELINE,770,747,724.13207243,691,672.86792757,643,888,788,820,657,633,656.13207243,0.400964690001,0.00451402241882,0.0598385627595,0.999999954946,0.000130719141791,-0.00026865305553,2.90882203686e-05,1793251821649599232
+18,0.300000000,BASELINE,770,747,724,691,673,643,887.550659644,788,820,657,633,656.449340356,0.400964023282,0.00451238731897,0.0598381310865,0.999999955098,0.000128461496008,-0.000269125043354,2.95532379229e-05,1793251821666265856
+19,0.316666667,BASELINE,770,747,724.02864416,691,672.97135584,642.97135584,887.02864416,788,819.97135584,656.97135584,633,656.97135584,0.400963391336,0.00450972458874,0.0598375550446,0.999999955305,0.000125348550377,-0.000269747091224,3.02501883663e-05,1793251821682932480
+20,0.333333333,BASELINE,770,747,724.605282873,691,672.394717127,642.394717127,887.605282873,788,819.394717127,656.394717127,633,656.394717127,0.400962316666,0.00450913106934,0.0598371658374,0.999999955081,0.000125439957229,-0.000270555737263,3.00264002579e-05,1793251821699598848
+21,0.350000000,BASELINE,769.818771774,747,724.818771774,691,672.181228226,642.181228226,887.818771774,788,819.181228226,656,633,656,0.400962201635,0.00450933203532,0.0598373253516,0.999999955023,0.000126172739649,-0.000270459741521,2.97703077559e-05,1793251821716265728
+22,0.366666667,BASELINE,769.244330889,747,724.244330889,691,672.755669111,642.755669111,887.244330889,788,819.755669111,656,633,656,0.400964168744,0.00451125680415,0.0598386754319,0.999999955317,0.000128297120921,-0.000268400935524,2.94441241237e-05,1793251821732933120
+23,0.383333333,BASELINE,769,747,724,691,672.661443812,642.661443812,887,788,820,656,633,656.338556188,0.400964711505,0.00451199025749,0.0598393038281,0.999999955411,0.000129180848827,-0.000267623246947,2.9455187729e-05,1793251821749600000
+24,0.400000000,BASELINE,769,747,724,691,672.072305225,642.072305225,887,788,820,656,633,656.927694775,0.400964200035,0.00451184195875,0.0598393980699,0.999999955362,0.000129146307233,-0.000267793777352,2.97158648793e-05,1793251821766266368
+25,0.416666667,BASELINE,769.508772958,747,724,691,672,642.508772958,887.508772958,788,820,656,633,656.491227042,0.400963067895,0.00451141726156,0.0598381524135,0.999999955085,0.000128458654723,-0.000269156235704,2.9715306937e-05,1793251821782932992
+26,0.433333333,BASELINE,770,747,724,691,672.087457305,642.912542695,888,788,820,656.087457305,633,656.087457305,0.400962132124,0.00451078606163,0.0598369717522,0.999999954828,0.000127663436602,-0.000270482910153,2.97522837631e-05,1793251821799599616
+27,0.450000000,BASELINE,770,747,724,691,672.659131532,642.340868468,888,788,820,656.659131532,633,656.659131532,0.400962764323,0.00450922562757,0.0598371887937,0.999999954872,0.000126778552273,-0.000270688227119,3.01994218739e-05,1793251821816265984
+28,0.466666667,BASELINE,769.765559375,747,724,691,672.765559375,642.234440625,888,788,820,656.765559375,633,657,0.400963655815,0.00450941519588,0.0598378321258,0.999999955121,0.00012675924176,-0.000269783636799,3.01232833943e-05,1793251821832932608
+29,0.483333333,BASELINE,769.184882118,747,724,691,672.184882118,642.815117882,888,788,820,656.184882118,633,657,0.400964930249,0.00451218927765,0.0598391050307,0.999999955669,0.00012801826505,-0.0002672398657,2.92743371671e-05,1793251821849598976
+30,0.500000000,BASELINE,769,747,724,690.598617773,672.401382227,643,888,788,820,656.401382227,633,656.598617773,0.400963337342,0.00451231599888,0.0598381376803,0.99999995517,0.00012837179403,-0.000268929307632,2.92911761457e-05,1793251821866265856
+31,0.516666667,BASELINE,769,747,724,690.009743629,672.990256371,643,888,788,820,656.990256371,633,656.009743629,0.400960405055,0.00451120609651,0.0598361238716,0.999999954174,0.000128302352414,-0.000272596149669,2.97124369627e-05,1793251821882932736
+32,0.533333333,BASELINE,769,747,724,690.567140604,672.432859396,642.432859396,887.432859396,788.567140604,820,657,633,656.567140604,0.400961514414,0.00451061627964,0.059837118185,0.999999954593,0.000128014593932,-0.000271163403022,2.99308909718e-05,1793251821899599616
+33,0.550000000,BASELINE,769.144392068,747,724,691,672.144392068,642.144392068,887.144392068,788.855607932,820,657,633,657,0.400962675503,0.00451037086118,0.0598380896995,0.999999955018,0.000127881410675,-0.000269647222362,3.00166374335e-05,1793251821916266496
+34,0.566666667,BASELINE,769.723355795,747,724,691,672.723355795,642.723355795,887.723355795,788.276644205,820,657,633,657,0.400963787624,0.00451113563119,0.0598388402765,0.999999955389,0.000128224501784,-0.000268138158145,2.97132480799e-05,1793251821932932864
+35,0.583333333,BASELINE,770,747,724.305746522,691,673,643,888,788,820,656.694253478,633,656.694253478,0.400964265487,0.00451127722974,0.0598388827629,0.999999955657,0.000126915577123,-0.000267790415475,2.94547182845e-05,1793251821949599488
+36,0.600000000,BASELINE,770,747,724.891273271,691,673,643,888,788,820,656.108726729,633,656.108726729,0.400964162957,0.00451084858135,0.0598382772954,0.999999955825,0.000124094938344,-0.000268505366011,2.92372382012e-05,1793251821966265600
+37,0.616666667,BASELINE,770,747,724.528666357,691.471333643,673,643,888,788,820,656,633,656.471333643,0.400963040016,0.00451165955272,0.0598381433075,0.999999955306,0.00012673903724,-0.000269219420605,2.90980803563e-05,1793251821982932224
+38,0.633333333,BASELINE,770,747,724,691.94997789,673,643,888,788.05002211,820,656,633,656.94997789,0.400961915165,0.0045124594525,0.0598381613504,0.999999954717,0.000130156419194,-0.000269779390879,2.90457162685e-05,1793251821999598848
+39,0.650000000,BASELINE,770,747,724,691.372610839,673,643,888,788.627389161,820,656,633,656.372610839,0.400963223223,0.00451016259904,0.0598386487041,0.999999955186,0.000128588757066,-0.000268717122119,2.97200665029e-05,1793251822016265472
+40,0.666666667,BASELINE,770,747.20398388,724,691,672.79601612,642.79601612,887.79601612,788.79601612,820,656.20398388,633,656,0.400964576998,0.00450949268355,0.0598391318547,0.999999955514,0.000128126920851,-0.000267684018195,3.00204455275e-05,1793251822032932352
+41,0.683333333,BASELINE,770,747.779173095,724,691,672.220826905,642.220826905,887.220826905,788.220826905,820,656.779173095,633,656,0.400966013967,0.00451178343375,0.0598396073566,0.999999955587,0.000129677442164,-0.000266703987857,2.96402800112e-05,1793251822049599488
+42,0.700000000,BASELINE,769.637450787,747.637450787,724.362549213,691,672,642.362549213,887.362549213,788,820,657,633,656,0.400965183015,0.00451193594991,0.0598391675252,0.999999955419,0.000129612845306,-0.000267359484191,2.96848450588e-05,1793251822066265856
+43,0.716666667,BASELINE,769.048972883,747.048972883,724.951027117,691,672,642.951027117,887.951027117,788,820,657,633,656,0.400962938769,0.00451075598916,0.0598381572885,0.999999955099,0.000128541760106,-0.000269034186747,2.99940881753e-05,1793251822082931968
+44,0.733333333,BASELINE,769.531184112,747,725,691,672.531184112,643,887.468815888,788,820,657,633,656,0.400961933838,0.00451042844399,0.0598372903879,0.999999954734,0.000128159529641,-0.000270556387477,3.01084695226e-05,1793251822099598848
+45,0.750000000,BASELINE,769.889975921,747,725,691,673,643,887.110024079,788,820,656.889975921,632.889975921,656.110024079,0.400961378873,0.0045101970844,0.0598369323558,0.999999954585,0.000127683717387,-0.000271329265754,3.01301830438e-05,1793251822116265216
+46,0.766666667,BASELINE,769.313517411,747,725,691,673,643,887.686482589,788,820,656.313517411,632.313517411,656.686482589,0.400962254569,0.00451004546188,0.0598386764541,0.999999955372,0.000126546087626,-0.000268984163744,2.9834029588e-05,1793251822132931840
+47,0.783333333,BASELINE,769,747,724.737954374,690.737954374,673,643,888,788,820,656.262045626,632.262045626,657,0.400962693675,0.00451062595757,0.059839115694,0.999999955539,0.000127060015323,-0.00026814508345,2.96003868898e-05,1793251822149598464
+48,0.800000000,BASELINE,769,747,724.163458977,690.163458977,673,643,888,788,820,656.836541023,632.836541023,657,0.400962612212,0.00451207939343,0.0598379990876,0.999999954968,0.00012954317532,-0.000269101705939,2.94412787756e-05,1793251822166265088
+49,0.816666667,BASELINE,769.421884212,747,724.421884212,690.421884212,672.578115788,643,888,788,820,657,633,657,0.400962208239,0.00451160777349,0.0598374157094,0.999999954938,0.000127896549996,-0.00027001831485,2.9274078066e-05,1793251822182932480
+50,0.833333333,BASELINE,770,747,724.988657141,691,672.011342859,643,888,788,820,656.988657141,633,657,0.400961692113,0.00451038872583,0.0598370597797,0.999999955109,0.000124714825007,-0.000270888151928,2.91148101839e-05,1793251822199599360
+51,0.850000000,BASELINE,770,747,724.409136764,691,672.590863236,643,888,788,820,656.409136764,633,657,0.400961982457,0.00451007728562,0.0598374750951,0.999999955005,0.000126903539216,-0.000270212205832,2.95141114385e-05,1793251822216265472
+52,0.866666667,BASELINE,770,747,724,691,673,643,888,788,820,656.16895495,633,657,0.400962768034,0.00451026438251,0.0598380338381,0.999999954998,0.000129005421827,-0.000269218674978,2.97226128951e-05,1793251822232931840
+53,0.883333333,BASELINE,770,747,724,691,673,643,888,788,820,656.743616029,633,657,0.400964742797,0.00451164860068,0.0598389369893,0.99999995523,0.000130898798362,-0.000267462538026,2.9472952862e-05,1793251822249598464
+54,0.900000000,BASELINE,770,747.319221856,724.319221856,691,673.319221856,643,887.680778144,788,820,657,633,656.680778144,0.400964459217,0.004512061228,0.0598389909034,0.999999955343,0.000129799255042,-0.000267604061903,2.92101829654e-05,1793251822266265088
+55,0.916666667,BASELINE,770,747.895588684,724.895588684,691,673.895588684,643,887.104411316,788,820,657,633,656.104411316,0.40096235646,0.00451169120301,0.0598383607258,0.999999955353,0.000126288804369,-0.000269274221609,2.89368526026e-05,1793251822282931712
+56,0.933333333,BASELINE,770,747.514149131,724.514149131,691,673.514149131,642.514149131,887.485850869,788,820,656.514149131,633,656,0.400962091645,0.00451212942446,0.0598385418552,0.999999955085,0.000128098715214,-0.000269403181937,2.90146001571e-05,1793251822299598336
+57,0.950000000,BASELINE,769.923104138,747,724,691,672.923104138,642.076895862,888,788,820,656,633,656,0.400962387781,0.00451257829601,0.0598388967526,0.999999954858,0.000130547335006,-0.00026905460656,2.91808128439e-05,1793251822316264960
+58,0.966666667,BASELINE,769.346936321,747,724,691,672.346936321,642.653063679,888,788,820,656,633,656,0.400963686021,0.00451193533726,0.0598392145199,0.999999955319,0.000129500722875,-0.000267819277783,2.94171202576e-05,1793251822332932608
+59,0.983333333,BASELINE,769.227518471,747,724.227518471,691,672.227518471,643,888,788,820,656.227518471,633,656.227518471,0.400963827668,0.00451217692477,0.0598392248428,0.999999955403,0.000129031848539,-0.000267733672623,2.93769350627e-05,1793251822349600000
+60,1.000000000,BASELINE,769.799380728,747,724.799380728,691,672.799380728,643,888,788,820,656.799380728,633,656.799380728,0.40096221884,0.00451375725185,0.0598387698559,0.99999995492,0.000129437366431,-0.000269388146583,2.89182849267e-05,1793251822366266368
+61,1.016666667,BASELINE,769.614963648,747,724.614963648,691,673,643,888,788.385036352,820,657,633,657,0.400962620509,0.00451258833116,0.0598390479684,0.99999995552,0.000126992033102,-0.000268317917304,2.89473491154e-05,1793251822382932736
+62,1.033333333,BASELINE,769.021854141,747,724.021854141,691,673,643,888,788.978145859,820,657,633,657,0.400964108649,0.00450993372037,0.059839722247,0.999999956689,0.000123006103367,-0.000265775261753,2.92399735324e-05,1793251822399599104
+63,1.050000000,BASELINE,769,747,724,690.442247493,673,643,888,789,820,657,633,657,0.400963643471,0.00451087032303,0.0598389458309,0.999999955745,0.000127091247994,-0.000267362906309,2.95688365651e-05,1793251822416265472
+64,1.066666667,BASELINE,769.136110361,747,724,690.136110361,673,642.863889639,888,788.863889639,820,657,633,656.863889639,0.400963318438,0.00451184570227,0.0598384256197,0.999999954979,0.000130028366124,-0.000268800759974,2.96689720082e-05,1793251822432932096
+65,1.083333333,BASELINE,769.712101782,747,724,690.712101782,673,642.287898218,888,788.287898218,820,657,633,656.287898218,0.400963687825,0.00451250239357,0.0598389127701,0.999999955108,0.000128257414144,-0.000269243862996,2.90254258671e-05,1793251822449598976
+66,1.100000000,BASELINE,770,747,724.292999433,691.292999433,673,642.292999433,888,788,820,657,633,656.292999433,0.40096274573,0.00451210921715,0.0598384698137,0.999999954839,0.00012823948426,-0.00027024959435,2.90103304119e-05,1793251822466266112
+67,1.116666667,BASELINE,770,747,724.878799959,691.878799959,673,642.878799959,888,788,820,657,633,656.878799959,0.40096049304,0.00451066688364,0.0598370973802,0.999999954172,0.000129973389905,-0.000271817573145,2.96232602635e-05,1793251822482933248
+68,1.133333333,BASELINE,769.540263904,747,724.540263904,691.540263904,673,643,888,788,820,656.540263904,633,657,0.4009611668,0.00451112763429,0.0598375832041,0.99999995455,0.000129244841486,-0.000270787496743,2.94777291672e-05,1793251822499599360
+69,1.150000000,BASELINE,769,747,724,691,673,643,887.960628016,788,820,656,633,656.960628016,0.400962512242,0.0045119376781,0.0598384975373,0.999999955186,0.000127856366645,-0.000269126982733,2.91713693433e-05,1793251822516265216
+70,1.166666667,BASELINE,769,747,724,691,673,643,887.381421598,788,820,656,633,656.381421598,0.400962599811,0.00451072994683,0.0598386405764,0.999999955659,0.000126227296423,-0.00026811521876,2.93727400572e-05,1793251822532931840
+71,1.183333333,BASELINE,769.194836495,747,724,691,673,643,887.194836495,788,820,656.194836495,633.194836495,656,0.400962449026,0.00451008633527,0.0598384921832,0.999999955861,0.000125288917879,-0.000267793636839,2.94593831458e-05,1793251822549598720
+72,1.200000000,BASELINE,769.765408939,747,724,691,673,643,887.765408939,788,820,656.765408939,633.765408939,656,0.400961838581,0.00451053061033,0.059837781772,0.999999955544,0.000125682515859,-0.000268803048752,2.93247777146e-05,1793251822566265344
+73,1.216666667,BASELINE,770,747,724.348182379,691,673,643,888,788,820,657,633.651817621,656,0.400962107679,0.00451065132707,0.059837793845,0.999999955472,0.000125878311542,-0.000268986968375,2.92591317135e-05,1793251822582931968
+74,1.233333333,BASELINE,770,747,724.93947484,691,673,643,888,788,820,657,633.06052516,656,0.400962990898,0.00451054612686,0.0598383103756,0.999999955571,0.000125935996442,-0.000268594507536,2.9241635006e-05,1793251822599598592
+75,1.250000000,BASELINE,770,747,724.480143298,691,673,643,888,788,820,656.480143298,633,656.519856702,0.400962957903,0.00451050349033,0.0598382089327,0.999999955424,0.000126705624707,-0.000268771124165,2.93089680424e-05,1793251822616265216
+76,1.266666667,BASELINE,770,747,724.098126342,691,672.901873658,643,887.901873658,788,819.901873658,656.098126342,633,657,0.400962697941,0.00451082994794,0.0598380114205,0.999999955212,0.000127754577433,-0.000269060336642,2.9339216895e-05,1793251822632932096
+77,1.283333333,BASELINE,770,747,724.672185743,691,672.327814257,643,887.327814257,788,819.327814257,656.672185743,633,657,0.400961843887,0.00451291198546,0.059837689745,0.999999954819,0.000129764546201,-0.00026958091393,2.9142681705e-05,1793251822649598720
+78,1.300000000,BASELINE,770,747.246173657,725,691,672,643,887.246173657,788,819.246173657,657,633,657,0.400961740963,0.00451368317505,0.0598380277221,0.999999954724,0.000130479570339,-0.000269581643328,2.9194920633e-05,1793251822666265344
+79,1.316666667,BASELINE,770,747.820066358,725,691,672,643,887.820066358,788,819.820066358,657,633,657,0.400962637982,0.00451270929623,0.0598392438628,0.99999995503,0.000129470697361,-0.000268890324414,2.95783404894e-05,1793251822682931968
+80,1.333333333,BASELINE,770,747.592706329,724.592706329,690.592706329,672,642.592706329,888,788,820,657,633,656.592706329,0.400962603643,0.00451123301453,0.0598389905943,0.999999955222,0.000127271550916,-0.000269224952063,2.95906155779e-05,1793251822699598592
+81,1.350000000,BASELINE,770,747.000593732,724,690.000593732,672.000593732,642.000593732,888,788,820,656.999406268,633,656.000593732,0.400962145986,0.00450952957252,0.0598380679124,0.999999955356,0.000124533424998,-0.000270024904025,2.94334830573e-05,1793251822716265216
+82,1.366666667,BASELINE,770,747.576786487,724,690.576786487,672.576786487,642.576786487,888,788,820,656.423213513,633,656.576786487,0.400963687194,0.00451005900977,0.0598388055064,0.999999955769,0.000126309631814,-0.000267666155994,2.93791465676e-05,1793251822732932096
+83,1.383333333,BASELINE,770,747.846892459,724,691,672.846892459,643,888,788,820,656,633,657,0.400964566781,0.00451004752933,0.0598393049659,0.999999956009,0.000127239173091,-0.000266319221584,2.94274108988e-05,1793251822749598464
+84,1.400000000,BASELINE,770,747.270216341,724,691,672.270216341,643,888,788,820,656,633,657,0.400963616007,0.00450853961231,0.0598391456315,0.99999995579,0.000125826433555,-0.00026777144633,2.97595180877e-05,1793251822766265088
+85,1.416666667,BASELINE,769.694692892,747,724,691,672.305307108,642.694692892,888,788,820,656.305307108,633,657,0.400962704533,0.00450915538446,0.0598387249186,0.999999955546,0.000125768413365,-0.000268729849274,2.95794099574e-05,1793251822782931968
+86,1.433333333,BASELINE,769.120185826,747,724,691,672.879814174,642.120185826,888,788,820,656.879814174,633,657,0.400961827711,0.00451164368772,0.0598380737389,0.99999995528,0.000126904896704,-0.000269252832173,2.89476636411e-05,1793251822799598848
+87,1.450000000,BASELINE,769.469015563,747,724.469015563,691,673,642,888,788,820,657,633,657,0.400962746968,0.00451132985174,0.0598386422455,0.999999955421,0.00012752480727,-0.000268419776967,2.90985715138e-05,1793251822816265472
+88,1.466666667,BASELINE,770,747.060277724,724.939722276,691,673,642.060277724,887.939722276,788,820,656.939722276,633,657,0.40096391249,0.00451037969017,0.0598394021723,0.999999955661,0.000127816515401,-0.000267350458914,2.94130684619e-05,1793251822832932096
+89,1.483333333,BASELINE,770,747.635923923,724.364076077,691,673,642.635923923,887.364076077,788,820,656.364076077,633,657,0.400963121214,0.00451032684376,0.0598390400553,0.99999995584,0.000126470502025,-0.000267328183138,2.93560404883e-05,1793251822849598720
+90,1.500000000,BASELINE,770,747.788330372,724,691,672.788330372,643,887.211669628,788,820,656,633,657,0.400962601487,0.00450995639484,0.0598387016887,0.999999955935,0.000124931200766,-0.000267697648394,2.93116537737e-05,1793251822866265344
+91,1.516666667,BASELINE,770,747.212413494,724,691,672.212413494,643,887.787586506,788,820,656,633,657,0.400962549052,0.00450903940629,0.0598384041925,0.999999955888,0.000123059284234,-0.000268741233002,2.92890205105e-05,1793251822882931968
+92,1.533333333,BASELINE,769.627792014,747,724,691,672,643,888,788,820,656.372207986,633,656.627792014,0.400962856986,0.00450897957129,0.0598386519566,0.999999955832,0.00012411298293,-0.000268456328321,2.93749648706e-05,1793251822899598592
+93,1.550000000,BASELINE,769.038083937,747,724,691,672,643,888,788,820,656.961916063,633,656.038083937,0.400963375502,0.0045094206147,0.0598392183442,0.999999955765,0.000126876267497,-0.000267395119753,2.95243566658e-05,1793251822916265472
+94,1.566666667,BASELINE,769,747,724,691,672.544378822,643,888,787.455621178,820,657,633,656,0.400962097018,0.00450984893137,0.0598386310535,0.999999955465,0.000126615918066,-0.00026862836037,2.9627205409e-05,1793251822932932096
+95,1.583333333,BASELINE,769,747,724,691,673,643,887.875210623,787.124789377,820,657,633,656,0.400961387282,0.00451019846071,0.0598383517728,0.999999955368,0.000126063686063,-0.000269240706015,2.96759191312e-05,1793251822949598720
+96,1.600000000,BASELINE,769,747,724,691,673,643,887.300396801,787.699603199,820,657,633,656,0.400963176014,0.00451026703031,0.059839470497,0.999999956069,0.000125211657523,-0.000267042673626,2.95409953581e-05,1793251822966265344
+97,1.616666667,BASELINE,769.274932763,747,724,691,673,643,887.274932763,788,820,657,633,656,0.400963511878,0.00451073409321,0.0598396582837,0.999999956092,0.000125628168265,-0.000266768530983,2.9472137125e-05,1793251822982931968
+98,1.633333333,BASELINE,769.85082686,747,724,691,673,643,887.85082686,788,820,657,633,656,0.400962257327,0.00451163737579,0.0598388269985,0.999999955373,0.000127433314122,-0.000268600417666,2.94755990297e-05,1793251822999598592
+99,1.650000000,BASELINE,770,747,724,691,673,643,888.438055223,788,820,657,633,656,0.400963367549,0.0045119192028,0.059839464765,0.999999955645,0.000128488694586,-0.000267095706767,2.93419324572e-05,1793251823016265216
+100,1.666666667,BASELINE,770,747,724,691,673,643,888.942902349,788,820,657,633.028548826,656.028548826,0.400965148425,0.00451192556739,0.0598405326863,0.999999956227,0.000129139524264,-0.000264610626751,2.9175021901e-05,1793251823032932096
+101,1.683333333,BASELINE,770,747,724,691,673,643,887.788699583,788,820,657,633.605650208,656.605650208,0.400963931382,0.00451081337798,0.0598399981838,0.999999956201,0.00012705328616,-0.000265700197403,2.92904381752e-05,1793251823049598720
+102,1.700000000,BASELINE,770,747.182376194,724,691,673,643,887.182376194,788.182376194,820,657,634,656.817623806,0.400963187984,0.00450995331356,0.0598398628821,0.999999956185,0.000125763009254,-0.000266361483104,2.94005218956e-05,1793251823066265344
+103,1.716666667,BASELINE,770,747.758292057,724,691,673,643,887.758292057,788.758292057,820,657,634,656.241707943,0.40096346664,0.00450963729613,0.0598405889939,0.999999956199,0.000126190293988,-0.000266098595868,2.9499098774e-05,1793251823082931712
+104,1.733333333,BASELINE,770,747.658843101,724,690.658843101,672.658843101,643,888,788.658843101,820,657,633.658843101,656,0.400963202154,0.00450944753519,0.0598403542412,0.99999995598,0.000126457566388,-0.000266791113722,2.95018018983e-05,1793251823099598336
+105,1.750000000,BASELINE,770,747.070952514,724,690.070952514,672.070952514,643,888,788.070952514,820,657,633.070952514,656,0.400962544853,0.00450934908624,0.0598394245658,0.999999955593,0.000126609113684,-0.000268174605769,2.94351665993e-05,1793251823116265216
+106,1.766666667,BASELINE,770,747,724,690.509154851,672.509154851,643,888.509154851,788,820,657,633,656.509154851,0.400963552885,0.0045096239028,0.0598397969261,0.999999956036,0.000126431853506,-0.00026661450945,2.93111676384e-05,1793251823132931840
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672,643,888,788,820,657,633,657,0.400963107478,0.0045106803579,0.0598392670602,0.999999955556,0.000127075861046,-0.000268078875501,2.95495331664e-05,1793251823176163328
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.578164456,747,724,691,672.578164456,643,888,788.578164456,820,657,633,657,0.400962409675,0.00451040909536,0.0598385478263,0.9999999554,0.000127359212697,-0.000268515883244,2.964479515e-05,1793251823192829952
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724,691,672.840415849,643,888,788.840415849,820,657,633.159584151,657,0.400962301428,0.00451023990304,0.0598386309936,0.999999955526,0.000126959300683,-0.000268237490172,2.96409939598e-05,1793251823209496576
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,691,672.250212137,643,888,788.250212137,820,657,633.749787863,657,0.40096378403,0.00451034613548,0.0598408793482,0.999999956406,0.00012471567997,-0.000266028670013,2.93698821593e-05,1793251823226163200
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.667946041,747,724,691,672.332053959,643,888,788.332053959,820,657,633.667946041,657,0.400964253179,0.00451022655278,0.0598411826723,0.999999956474,0.000124874535133,-0.000265704027377,2.93063824261e-05,1793251823242830336
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.091521559,747,724,691,672.908478441,643,888,788.908478441,820,657,633.091521559,657,0.400963976493,0.00450994078456,0.0598400545779,0.999999955947,0.000126801459355,-0.000266766019289,2.93956719414e-05,1793251823259497216
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.485411438,747,724.485411438,691,673,643,888,788.514588562,820,657,633,657,0.400962971174,0.00451066997423,0.0598395717916,0.999999955647,0.000127259367601,-0.000267696659066,2.91380462814e-05,1793251823276163584
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.938172584,747,725,691,673,643,888,788,820,656.938172584,633,657,0.400962207315,0.00451139807337,0.059839379165,0.999999955489,0.000127170612444,-0.000268357910348,2.88795183627e-05,1793251823292829696
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.366808472,747,725,691,673,643,888,788,820,656.366808472,633,657,0.400964566759,0.00451053844378,0.0598405740641,0.999999956134,0.000124861671554,-0.000267003372105,2.91531724822e-05,1793251823309496320
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.213123903,747,724.786876097,691,673,642.786876097,888,788,820,656.213123903,633,657,0.400971262898,0.00451004663969,0.0598432534746,0.999999957449,0.000123923001733,-0.000262452495258,2.93926423618e-05,1793251823326163456
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.808420796,747,724.191579204,691,673,642.191579204,888,788,820,656.808420796,633,657,0.400985735584,0.00451021441902,0.0598485949055,0.9999999599,0.000125441497137,-0.000252169956055,2.95708131583e-05,1793251823342830336
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,691,673,642,888,788,820,657,633,657,0.401019537287,0.00451032632644,0.0598619477176,0.999999965626,0.000125653851108,-0.000228202516072,2.97179697587e-05,1793251823359497216
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724,691,673,642,888,788,820,657,633,657,0.40106251134,0.00451041172056,0.0598791022324,0.99999997216,0.000125246391791,-0.000197741073891,2.98504089477e-05,1793251823376164096
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.453604771,747,724,690.453604771,673,642.546395229,888,788,819.453604771,657,633,657,0.401126140381,0.0045100587513,0.0598976148807,0.999999977747,0.000123718795589,-0.000168297250448,2.95975805759e-05,1793251823392830464
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.124128467,747.124128467,724,690.124128467,673,643,888,788,819.124128467,656.875871533,633,657,0.401192971462,0.00450962377252,0.059914474394,0.999999982021,0.000122711691196,-0.000141531942326,2.94748525644e-05,1793251823409496832
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.711737272,747.711737272,724,690.711737272,673,643,888,788,819.711737272,656.288262728,633,657,0.401267708564,0.00450896853427,0.059924895009,0.999999984122,0.000123867674424,-0.000124568336972,2.99134462268e-05,1793251823426163456
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.70499538,747.70499538,724,691,673,643,888,788,820,656.29500462,633,656.70499538,0.401352741381,0.0045084222511,0.0599322818243,0.999999985803,0.000122173241651,-0.000112195361668,2.96752780241e-05,1793251823442830080
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.125908778,747.125908778,724,691,673,643,888,788,820,656.874091222,633,656.125908778,0.401447688705,0.00450798088895,0.0599367471669,0.999999987222,0.00011773393038,-0.000104243047922,2.87854052565e-05,1793251823459496448
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,724,691,673,643,888,788,820,657,633,656.451994811,0.401561324926,0.0045081409941,0.0599411321478,0.999999988331,0.000116015998879,-9.54377628681e-05,2.77564286659e-05,1793251823476163328
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.029396861,747,724.029396861,691,672.970603139,643,888,788,820,656.970603139,633,657,0.401681325067,0.00450845140964,0.0599454579382,0.999999989292,0.000114982832752,-8.65099316243e-05,2.66646879209e-05,1793251823492830464
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.603595554,747,724.603595554,691,672.396404446,643,888,788,820,656.396404446,633,657,0.401823035965,0.00450845050568,0.0599491005584,0.999999990166,0.000112627734608,-7.97029623713e-05,2.51260096233e-05,1793251823509497344
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.81763841,747,724.81763841,691,672,643,888,788,820,656,633,657,0.401971822137,0.00450819934176,0.0599514668813,0.999999990964,0.00011010134858,-7.34334337195e-05,2.36267440354e-05,1793251823526164224
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.228689249,747,724.228689249,691,672,643,888,788,820,656,633,657,0.402136383092,0.00450739020624,0.0599509876121,0.999999991671,0.000107193064886,-6.83621663647e-05,2.22153519723e-05,1793251823542830592
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,724,691,672.355240006,643,888,788,820,656.355240006,633,657,0.402327607034,0.00450868063684,0.0599503796843,0.99999999225,0.000104660944071,-6.43498800993e-05,2.01198153011e-05,1793251823559496960
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672.935982733,643,888,788,820,656.935982733,633,657,0.402535756384,0.00451130385046,0.0599496900852,0.999999992745,0.000102367607318,-6.10098236996e-05,1.75899904924e-05,1793251823576163328
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.511345151,747.511345151,724.511345151,691.511345151,672.488654849,643,888,788,820,657,633,657,0.402773755245,0.00450942973874,0.0599502916744,0.999999993549,9.77476685721e-05,-5.57648307971e-05,1.53929445231e-05,1793251823592829952
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747.914095611,724.914095611,691.914095611,672.085904389,643,888.085904389,788,820,657,633,657,0.403020979758,0.00450739039042,0.0599514271116,0.999999994372,9.2743222992e-05,-4.98096042554e-05,1.31528412846e-05,1793251823609496320
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747.340312011,724.340312011,691.340312011,672.659687989,643,888.659687989,788,820,657,633,657,0.40329959735,0.0045075769876,0.0599546859496,0.999999995297,8.71920638191e-05,-4.11610648926e-05,1.04340531029e-05,1793251823626163712
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,691,673,643,888.75801394,788,820,657,633,657,0.403585464595,0.0045076152475,0.0599530659709,0.99999999575,8.15591083523e-05,-4.2308352586e-05,7.57424771402e-06,1793251823642830848
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,691,673,643,888.163305075,788,820,657,633,657,0.403881899034,0.00450743728859,0.0599443345498,0.99999999545,7.58069256089e-05,-5.77341971948e-05,4.50889351947e-06,1793251823659497472
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.580940994,747.419059006,724,691,673,643,888.419059006,788,820,657,633,657,0.404211275444,0.00450725218578,0.0599323851153,0.999999994482,6.87871258521e-05,-7.93930772574e-05,1.23565615327e-06,1793251823676164352
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.003249963,747.996750037,724,691,673,643,888.996750037,788,820,657,633,657,0.404553121812,0.0045070643787,0.0599192175232,0.999999992773,6.12874781286e-05,-0.000103411431412,-2.11627394802e-06,1793251823692830976
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.57083852,747.42916148,724,691.57083852,673,643,889,788,820,656.42916148,633,657,0.404924053189,0.00450502941712,0.0599062859212,0.999999990533,5.09102187683e-05,-0.000127699368418,-5.92291070593e-06,1793251823709497088
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,724,691.851051993,673,643,889,788,820,656,633,657,0.405315875011,0.00450369099211,0.0599003156069,0.999999989286,4.11221986725e-05,-0.00014015536367,-9.65486800146e-06,1793251823726163456
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,724,691.260973469,673,643,889,788,820,656,633,657,0.405769079421,0.00450444640924,0.0599149581752,0.999999992454,3.31275123365e-05,-0.000117564874621,-1.31580318953e-05,1793251823742830080
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,691.32292876,673.32292876,643,889.32292876,788.32292876,820,656.32292876,633,657,0.406262284517,0.00450358898715,0.059939234232,0.999999996651,2.43560737632e-05,-7.63139728511e-05,-1.67516974473e-05,1793251823759496960
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724,691.901933376,673.901933376,643,889.901933376,788.901933376,820,656.901933376,633,657,0.406787209384,0.00450145261685,0.0599711494484,0.999999999474,1.49686857439e-05,-2.0265745402e-05,-2.04171292916e-05,1793251823776163584
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724.478415267,691.521584733,673.521584733,643,890,788.521584733,820,657,633.478415267,657,0.407344402738,0.00449883458804,0.0599956658233,0.999999999588,3.15116687709e-06,1.61935467817e-05,-2.34910438331e-05,1793251823792830976
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,691.055232773,673,643,890,788,820,657,633.944767227,657,0.407903909181,0.00449643674646,0.0600152846546,0.999999998729,-8.39861589297e-06,4.20936616055e-05,-2.64402928519e-05,1793251823809499392
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,691.640203146,673,643,890,788,820,657,633.359796854,657,0.408422494233,0.00449709268544,0.0600024008627,0.999999999477,-1.26280095683e-05,5.03025111471e-06,-2.93506907003e-05,1793251823826172672
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,692,672.776557892,643,890.223442108,788.223442108,820.223442108,657,633.223442108,657.223442108,0.40897409432,0.00449696325039,0.059992053954,0.999999999063,-1.73996004841e-05,-2.26929323189e-05,-3.25117281128e-05,1793251823842840320
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,725,692,672.196085524,643,890.803914476,788.803914476,820.803914476,657,633.803914476,657.803914476,0.409578447938,0.00449557889385,0.059985760642,0.999999998454,-2.30375490046e-05,-3.54916943161e-05,-3.60732535144e-05,1793251823859499264
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,725,692,672.382709725,643,891,789,820.617290275,656.617290275,633.617290275,657.617290275,0.410227239727,0.00449497046102,0.0599872373657,0.999999998598,-2.33671489832e-05,-2.86667753452e-05,-3.78926813063e-05,1793251823876163584
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,725,692,672.960649416,643,891,789,820.039350584,656.039350584,633.039350584,657.039350584,0.41089870054,0.00449475784666,0.0599926777823,0.999999998956,-2.09888251702e-05,-1.18313171654e-05,-3.88234206798e-05,1793251823892830208
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747.535868393,725,692.535868393,673,643,891,789,820.535868393,656.535868393,633,657,0.411612498965,0.00449954887969,0.0599962253131,0.999999999296,1.78070022847e-05,-1.22119491012e-06,-3.30171708728e-05,1793251823909497344
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.886769787,748,725.113230213,692.886769787,673,643,891,788.886769787,820.886769787,657,633,657,0.412315324523,0.00450330279961,0.0599919297304,0.999999998328,4.97110856201e-05,-7.63243642296e-06,-2.85290220079e-05,1793251823926164224
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.299607097,748,725.700392903,692.299607097,673,643,891,788.299607097,820.299607097,657,633,657,0.412959275088,0.00450118566167,0.0599553851389,0.999999995157,4.16325746633e-05,-8.33839620399e-05,-3.16180929338e-05,1793251823942831104
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.283954673,748,725.716045327,692.283954673,672.716045327,643,891.283954673,788.283954673,820.283954673,657,633,657,0.413655314881,0.00450002921245,0.0599295250768,0.999999989772,3.65726277884e-05,-0.000133859107085,-3.46568382802e-05,1793251823959497984
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.863764678,748,725.136235322,692.863764678,672.136235322,643,891.863764678,788.863764678,820.863764678,657,633,657,0.414405627061,0.00449987371455,0.0599147973329,0.999999986209,3.46577534445e-05,-0.000157998537642,-3.76431493921e-05,1793251823976164352
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.557905014,747.557905014,725,693,672.884189972,643,892,789,821,657,633,657,0.415254604177,0.00450036600288,0.0599507395235,0.999999994624,3.81361641556e-05,-8.80115652541e-05,-3.93952125935e-05,1793251823992830464
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.019863055,747,725,693,673.980136945,643,892.019863055,789,821.019863055,657,633,657,0.416133219121,0.0045009341813,0.0600011514534,0.999999998198,4.33736217516e-05,8.37821015388e-06,-4.06579620953e-05,1793251824009496576
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.594621216,747,725,693,673.405378784,643,892.594621216,789,821.594621216,657,633,657,0.416993252962,0.00449806441671,0.0600210421267,0.999999997317,5.14774593799e-05,3.47523816188e-05,-3.88410960415e-05,1793251824026163200
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.82653605,747.17346395,725,693,672.82653605,643,893.17346395,789,822,656.82653605,633,657,0.41784446086,0.00449644081556,0.0600298847469,0.999999996463,5.82885204913e-05,4.69099097396e-05,-3.84075116278e-05,1793251824042829824
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.237917665,747.762082335,725,693,672.237917665,643,893.762082335,789,822,656.237917665,633,657,0.418674545418,0.00449779968025,0.0600122858588,0.999999996912,6.20055555559e-05,2.50424844327e-05,-4.12845605572e-05,1793251824059496704
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747.65519281,725,693,672,643,894,788.65519281,822.34480719,656.34480719,633,657,0.419517288241,0.00449787252499,0.0599884324118,0.999999996971,6.36280456999e-05,-1.14946110727e-05,-4.33389713578e-05,1793251824076163584
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747.076466187,725,693,672,643,894,788.076466187,822.923533813,656.923533813,633,657,0.420368618479,0.00449707292539,0.0599603358323,0.999999995277,6.38295827469e-05,-5.79837050254e-05,-4.4835298938e-05,1793251824092830720
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,693.499991324,671.500008676,643,894.499991324,788,823,656.500008676,633.499991324,657,0.421198530988,0.0044976906941,0.0599199611482,0.999999990118,8.03987714245e-06,-0.000132542196986,-4.6166847379e-05,1793251824109497344
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,895,788,823.077446374,656.077446374,633.922553626,657,0.422040312722,0.00449820560986,0.0598845352742,0.999999978056,-4.93745996399e-05,-0.000198020613878,-4.73074877257e-05,1793251824126163968
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,895,788,823.663724827,656.663724827,633.336275173,657,0.422981499675,0.0044966270289,0.0598939050262,0.999999981543,-6.14580670517e-05,-0.000175765048976,-4.73586631143e-05,1793251824142830080
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.493996406,643,895.246998203,788,824,657,633.246998203,657,0.423958856043,0.00449447311176,0.0599311665657,0.999999990268,-6.70254639617e-05,-0.000112891637924,-4.71977242722e-05,1793251824159496448
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,694,672.652459164,643,895.826229582,788,824,657,633.826229582,657,0.424984863423,0.00449154531924,0.0600059448861,0.999999996859,-6.3828203853e-05,4.61616711659e-06,-4.67514736782e-05,1793251824176163072
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.594470826,694,672.594470826,643,896,788,824.405529174,657,633.594470826,657,0.42596852783,0.0044891804141,0.0600377837653,0.999999995406,-6.04796974623e-05,5.74777568891e-05,-4.71757289646e-05,1793251824192829952
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.015142033,694,672.015142033,643,896,788,824.984857967,657,633.015142033,657,0.426934045039,0.00448705674852,0.060051219874,0.999999993807,-5.70663711132e-05,8.26335957333e-05,-4.79730613858e-05,1793251824209496832
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724,694,671.441250121,643,897.117499757,788,825,657,633.558749879,657,0.427874660362,0.00448281990715,0.0600269618578,0.999999995581,-5.61836862514e-05,5.64388293695e-05,-4.9965049618e-05,1793251824226163968
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.135825421,694,671,643.135825421,897.864174579,788,825.135825421,657,634,657,0.428801260902,0.00447617300085,0.0599983885289,0.999999996952,-5.61910313057e-05,1.9434197366e-05,-5.06148947444e-05,1793251824242831104
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.72398931,694,671,643.72398931,897.27601069,788,825.72398931,657,634,657,0.429683413803,0.00446168874921,0.0599588130727,0.999999995974,-5.89362463617e-05,-4.89807011837e-05,-4.66882305902e-05,1793251824259497728
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.307559653,724.692440347,694.307559653,671,643.692440347,897.307559653,788,826,656.692440347,634,657,0.430611266676,0.00445243412343,0.0599391310292,0.999999994003,-6.14855928181e-05,-7.84307018578e-05,-4.54085949161e-05,1793251824276163840
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.887068281,724.112931719,694.887068281,671,643.112931719,897.887068281,788,826,656.112931719,634,657,0.431579528119,0.00444780361403,0.0599370390493,0.999999994185,-6.38617492804e-05,-7.34273370525e-05,-4.64695028865e-05,1793251824292829952
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,748,724.464750161,695,671.929500323,643,897.535249839,788,826.464750161,656.464750161,634,657,0.432580307064,0.0044472033882,0.0599775419987,0.999999996998,-6.07931281945e-05,-7.00985716415e-06,-4.75197442278e-05,1793251824309496576
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672.9583084,643.0416916,897.0416916,788,827,657,634,657,0.433583693592,0.00444721830749,0.0600241746848,0.999999994949,-5.67632714217e-05,6.73228623941e-05,-4.84587408564e-05,1793251824326163456
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672.385169841,643.614830159,897.614830159,788,827,657,634,657,0.434519990494,0.00444263971775,0.0600175235304,0.999999995799,-5.72794864528e-05,5.30679734108e-05,-4.80126028184e-05,1793251824342830080
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,748,725,695,672,644,898,788,827,657,634,657.193813045,0.435442590046,0.00443846721295,0.0600012687611,0.999999996925,-5.84121570844e-05,2.0902882734e-05,-4.79696719817e-05,1793251824359496704
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672,644,898,788,827,657,634,657.784771746,0.436337122295,0.00443512682301,0.0599653350577,0.999999995813,-6.08080174555e-05,-4.79623139752e-05,-4.87529597624e-05,1793251824376163840
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.631680615,747.631680615,725,695,671.631680615,644,898,788,827,657,634,658,0.437200643817,0.00443591775208,0.0599299408333,0.999999991025,-5.4328378126e-05,-0.000112155120102,-4.91982938959e-05,1793251824392830464
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.052378262,747.052378262,725,695,671.052378262,644,898,788,827,657,634,658,0.438046401532,0.00443907520884,0.0598948556388,0.999999982782,-4.27646204369e-05,-0.000173671454468,-4.94500392356e-05,1793251824409497088
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.523299909,747.523299909,725,695.523299909,671.523299909,644,898.523299909,787.476700091,827,656.476700091,634,657.476700091,0.438934599731,0.00443377148653,0.059896282829,0.999999982049,-4.92009630246e-05,-0.000176159976855,-4.94900600013e-05,1793251824426163712
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747.899341158,724.899341158,695.899341158,672.100658842,644,899,787,827.100658842,656.100658842,634,657,0.439839192237,0.0044280966759,0.0599121293387,0.999999985305,-5.67406801649e-05,-0.000153959415029,-4.9670264094e-05,1793251824442830336
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747.312116336,724.312116336,695.312116336,672.687883664,644,899,787,827.687883664,656.687883664,634,657,0.440802639103,0.00442469368543,0.0599801319586,0.999999996028,-6.09648653322e-05,-4.07792716851e-05,-5.06298212483e-05,1793251824459496704
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724.271406571,695,672.728593429,644,899,787,828,656.728593429,634,657,0.441710563857,0.00442343301091,0.0600174721601,0.999999996585,-6.02562685585e-05,2.37392185614e-05,-5.1346386673e-05,1793251824476163328
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724.850729539,695,672.149270461,644,899,787,828,656.149270461,634,657,0.442555497556,0.0044246028386,0.0600200252062,0.999999996658,-5.39513285427e-05,3.30500440261e-05,-5.17872734258e-05,1793251824492829952
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,724.57472936,695,672,643.57472936,899,787,828,656,634,657.42527064,0.443358246765,0.00442079727142,0.0600036077885,0.999999997033,-5.57336690472e-05,1.03858228502e-05,-5.21560040142e-05,1793251824509497088
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,724.001847989,695,672,643.001847989,899,787,828,656,634,657.998152011,0.444146353875,0.00441526475306,0.0599806057548,0.999999996529,-6.03230905828e-05,-2.33768830037e-05,-5.24996893024e-05,1793251824526164224
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.579660596,724.579660596,695,672.579660596,643.579660596,899,787,828,656,634,658,0.444925293467,0.0044163273288,0.0599827944738,0.99999999662,-5.90198134636e-05,-2.07287336805e-05,-5.33504335787e-05,1793251824542830848
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.837357593,747.837357593,725,695,673,643.837357593,899.162642407,787,828,656.162642407,633.837357593,658,0.445679134633,0.00441603492943,0.0599761076669,0.999999996166,-5.84991302515e-05,-3.7065343607e-05,-5.35885507783e-05,1793251824559497216
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.250606856,747.250606856,725,695,673,643.250606856,899.749393144,787,828,656.749393144,633.250606856,658,0.44636760637,0.00441215362592,0.0599460643507,0.999999991506,-6.00688753617e-05,-0.000103214107234,-5.22248951889e-05,1793251824576163584
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.332327436,725,695,672.667672564,643.332327436,900,787,828,656.667672564,633.332327436,657.667672564,0.447079196467,0.00440832091775,0.0599343125447,0.999999985577,-0.000107453072696,-0.000120606049711,-5.24806844256e-05,1793251824592830208
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.912416401,725,695,672.087583599,643.912416401,900,787,828,656.087583599,633.912416401,657.087583599,0.447808022056,0.00440452443932,0.0599361976903,0.99999997552,-0.000188993518867,-0.000101648101306,-5.39438253742e-05,1793251824609496832
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.511427044,725,695,672.488572956,643.511427044,900,787,828,656.488572956,634,657.488572956,0.448518044457,0.00440243380976,0.0599650937036,0.999999976634,-0.000201500317549,-5.67519178861e-05,-5.39370149264e-05,1793251824626163456
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747.064046055,725,694.935953945,673,643.064046055,899.935953945,787,828.064046055,657,634,658,0.449212483789,0.00440076483277,0.0599929044418,0.999999978216,-0.000201051344972,-1.6518761954e-05,-5.36011748081e-05,1793251824642829824
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.639645814,725,694.360354186,673,643.639645814,899.360354186,787,828.639645814,657,634,658,0.44980916487,0.00440004072466,0.0599736805482,0.999999978294,-0.000195176410195,-5.03731754957e-05,-5.27252025011e-05,1793251824659496960
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.2201577,748,725,694,673,644,899.2201577,787,828.7798423,657,634,658,0.450393821205,0.00439822458315,0.0599494083912,0.999999976295,-0.000192383404958,-8.72190621203e-05,-5.28368044725e-05,1793251824676164096
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.808893181,748,725,694,673,644,899.808893181,787,828.191106819,657,634,658,0.450958346211,0.00439458021018,0.0599166846682,0.999999971216,-0.0001947500235,-0.000129073130456,-5.46017574821e-05,1793251824692830976
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.607043265,748,725,694.392956735,672.607043265,644,900,787,828,656.607043265,634,658,0.451511265029,0.00439299944652,0.0599086536578,0.999999970063,-0.000195766408073,-0.000135654616388,-5.61038985384e-05,1793251824709497600
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.025225065,748,725,694.974774935,672.025225065,644,900,787,828,656.025225065,634,658,0.452058605771,0.00439241048707,0.059912490368,0.999999971266,-0.00019613384831,-0.000125283523253,-5.7479728033e-05,1793251824726164224
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768.123750161,748,725.123750161,694.876249839,673,644,900,787,829,656.876249839,633.123750161,658,0.453087774562,0.00438826493063,0.0599547468826,0.999999975701,-0.000204529704158,-5.61004417048e-05,-6.01452512443e-05,1793251824759497472
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.710760728,748,725.710760728,694.289239272,673,644,900,787,829,656.289239272,633.710760728,658,0.453514367476,0.00438832867597,0.0599507583851,0.999999975067,-0.000203290352501,-6.99944516316e-05,-6.0326403739e-05,1793251824776163840
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,748,725.704651271,694,672.704651271,643.704651271,900.295348729,787,829,656,634.295348729,657.704651271,0.453920184924,0.00438764311269,0.0599350156241,0.999999972206,-0.000204280501403,-0.000100771820873,-6.08561042829e-05,1793251824792830464
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,748,725.122416458,694,672.122416458,643.122416458,900.877583542,787,829,656,634.877583542,657.122416458,0.454305822159,0.00438622971077,0.0599078553954,0.999999965636,-0.000207436268622,-0.000147948788614,-6.17243658043e-05,1793251824809497344
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.544545584,748,725,694.455454416,672,643,901,787,829,656,634.544545584,657.455454416,0.454674686131,0.00438590552696,0.0598975119734,0.999999964463,-0.000204807727456,-0.000159139324905,-6.16600569972e-05,1793251824826164224
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,694.968025571,672,643,901,787,829,656.031974429,634,658,0.455038540129,0.0043859113194,0.0598930197815,0.999999965797,-0.000198786329154,-0.000158751204321,-6.07316097744e-05,1793251824842831104
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,725,694.394706314,672,643,901,787,829,656.605293686,634,658,0.455393176134,0.00438659426681,0.0599117923328,0.999999978003,-0.000161394081788,-0.000124534714368,-4.93762730346e-05,1793251824859497216
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,725,694,671.815728085,643.184271915,900.815728085,786.815728085,829,656.815728085,633.815728085,658,0.455728435111,0.00438701533272,0.0599275436592,0.999999984986,-0.000137012956832,-9.7391002558e-05,-4.20692789756e-05,1793251824876163840
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,694,671.224244505,643.775755495,900.224244505,786.224244505,829,656.224244505,633.224244505,658,0.456020873887,0.00438685768203,0.0599366185562,0.999999985363,-0.000141384351725,-8.58770122921e-05,-4.3708481031e-05,1793251824892830720
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,748,725,694,671.359352406,643.640647594,900.359352406,786.359352406,829,656.359352406,633.359352406,658,0.456288032136,0.00438688227325,0.0599339179754,0.99999998466,-0.000144430895659,-8.80982215125e-05,-4.53630713511e-05,1793251824909497344
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,748,725,694,671.938133594,643.061866406,900.938133594,786.938133594,829,656.938133594,633.938133594,658,0.456539753545,0.00438701814552,0.0599240270201,0.999999983267,-0.000146668455775,-9.8706455915e-05,-4.70270582538e-05,1793251824926163712
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,748,725,694.512638802,672,643,901,787,829,657,634,658,0.4567304359,0.00438733219629,0.0598991621125,0.999999978645,-0.000149170521759,-0.000134432052699,-4.88458653831e-05,1793251824942830336
+214,3.566666667,POSE1_TO_POSE2_PRESS,768.086982672,748,725,694.913017328,671.913017328,643,901,787,829,656.913017328,634,658,0.456909589705,0.00438778729129,0.0598735074138,0.999999972495,-0.000151439880849,-0.000171796066645,-5.06162978033e-05,1793251824959496960
+215,3.583333333,POSE1_TO_POSE2_PRESS,768.66329816,748,725,694.33670184,671.33670184,643,901,787,829,656.33670184,634,658,0.457064985663,0.00438891588264,0.0598534915653,0.999999966767,-0.000152222026437,-0.00020146575685,-5.20103526067e-05,1793251824976163840
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,748,725,694,671,643,901,787,829,656.245916289,634,657.754083711,0.457212536429,0.00439054859909,0.0598379427585,0.99999996207,-0.00015046981916,-0.000224470349225,-5.32125328888e-05,1793251824992830464
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,748,725,694,671,643,901,787,829,656.837390766,634,657.162609234,0.457349063228,0.00439288970513,0.0598286709786,0.999999959651,-0.000145156374149,-0.000238109236132,-5.41450936908e-05,1793251825009497344
+218,3.633333333,POSE1_TO_POSE2_PRESS,768.581627904,748,725,694,671,643,901,787,829,656.581627904,634,657.418372096,0.457477548929,0.00439361119253,0.0598257449767,0.999999958694,-0.000144459798648,-0.000242403596467,-5.46255281759e-05,1793251825026163968
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+227,3.783333333,POSE1_TO_POSE2_PRESS,768.639656722,748,725.639656722,694.360343278,671,643,900.639656722,786.360343278,829,657,634,658,0.45807509741,0.00445771373114,0.0598046200205,0.999999956863,-8.71645260601e-05,-0.000271204819046,-7.157893099e-05,1793251825176163328
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+239,3.983333333,POSE1_TO_POSE2_PRESS,768.407309998,748,725,694.407309998,670.407309998,643,901,787,829,656.407309998,634,658,0.458140311338,0.00445925025274,0.0597904495069,0.999999950929,-8.04636169553e-05,-0.000294801061299,-6.89969868032e-05,1793251825376163584
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.171256873,748,725,694,670.171256873,643,901,787,829,656.171256873,634,657.828743127,0.458141363412,0.00446012274819,0.0597903059175,0.999999950917,-8.0879835457e-05,-0.000294669773288,-6.92390485292e-05,1793251825392830464
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.761638549,748,725,694,670.761638549,643,901,787,829,656.761638549,634,657.238361451,0.458141976895,0.00445833700948,0.0597898382266,0.999999950624,-8.27292542337e-05,-0.000295340638159,-6.84174538558e-05,1793251825409497344
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.65450516,748,725,694.34549484,671,643,901,787,829,657,634,657,0.458140871004,0.0044585140849,0.0597882464199,0.999999949989,-8.15804138335e-05,-0.000297846612888,-6.8218270249e-05,1793251825426164480
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.07506739,748,725,694.92493261,671,643,901,787,829,657,634,657,0.458138600881,0.00446002022941,0.0597858934472,0.999999949105,-7.84013793887e-05,-0.000301595184954,-6.84405362948e-05,1793251825442830848
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,748,725,695,671,643,901,786.499350664,829,656.499350664,634,657,0.458141083563,0.00445898923489,0.0597878407398,0.999999949863,-7.99994354405e-05,-0.000298665066773,-6.83659284628e-05,1793251825459496960
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.07571231,748,725,694.92428769,671,643,901,786.07571231,829,656,634,657.07571231,0.458143839768,0.00445806476602,0.0597900410413,0.999999950718,-8.18251999612e-05,-0.000295300034504,-6.8310745349e-05,1793251825476163072
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.650116787,748,725,694.349883213,671,643,901,786.650116787,829,656,634,657.650116787,0.458143738319,0.00446032915501,0.0597896921933,0.999999950709,-8.04677278909e-05,-0.000295617620065,-6.86745379003e-05,1793251825492829696
+247,4.116666667,HOLD_POSE2,768,748,725,695,670,643,901,787,829,656,634,657,0.458144968043,0.0044588260361,0.0597906635308,0.999999950863,-8.26495323948e-05,-0.000294496019524,-6.8659699621e-05,1793251825531143168
+248,4.133333333,HOLD_POSE2,768,748,725,694.420772446,670.579227554,643,901,787,829,656,634,657,0.458143074322,0.00445953106822,0.0597891515059,0.999999950421,-7.95665433502e-05,-0.000296894051409,-6.84230575236e-05,1793251825547810560
+249,4.150000000,HOLD_POSE2,768.157008313,748,725,694,671,643,900.842991687,787,829,656,634,657.157008313,0.458141517264,0.00445969295097,0.0597878034291,0.999999949879,-7.84221985943e-05,-0.000299040653647,-6.83107164481e-05,1793251825564477440
+250,4.166666667,HOLD_POSE2,768.730947279,748,725,694,671,643,900.269052721,787,829,656,634,657.730947279,0.4581408542,0.00445841251777,0.0597868907115,0.999999949099,-8.24258622965e-05,-0.000300519592868,-6.85284527884e-05,1793251825581144064
+251,4.183333333,HOLD_POSE2,768.687445954,748,725,694.312554046,670.687445954,643,900.312554046,787,829,656.312554046,634,658,0.458141278976,0.00445875049578,0.0597867690855,0.999999949052,-8.29605721492e-05,-0.000300505068478,-6.86270507707e-05,1793251825597810688
+252,4.200000000,HOLD_POSE2,768.099072624,748,725,694.900927376,670.099072624,643,900.900927376,787,829,656.900927376,634,658,0.458142663738,0.00446051667175,0.0597873455736,0.999999949659,-8.04340372091e-05,-0.000299172608519,-6.86205128217e-05,1793251825614477312
+253,4.216666667,HOLD_POSE2,768.481603535,748,725,694.518396465,670.481603535,643,901,787,829,657,634,658,0.458143594207,0.00445920481693,0.0597879407405,0.999999949992,-8.20372173693e-05,-0.000297699556373,-6.82675383202e-05,1793251825631143424
+254,4.233333333,HOLD_POSE2,768.939426094,748,725,694,670.939426094,643,901,787,829,656.939426094,634,658,0.458144298747,0.00445764468912,0.0597885090601,0.999999950258,-8.38624709621e-05,-0.000296377185079,-6.79105491855e-05,1793251825647809792
+255,4.250000000,HOLD_POSE2,768.361713071,748,725,694,670.361713071,643,901,787,829,656.361713071,634,658,0.458143859748,0.00445928572076,0.0597888158876,0.999999950463,-8.04449280112e-05,-0.000296584255665,-6.81181430932e-05,1793251825664476416
+256,4.266666667,HOLD_POSE2,768.213434056,748,725,694,670.213434056,643,901,787,829,656.213434056,634,657.786565944,0.458143710591,0.00445933347211,0.0597890757507,0.999999950476,-7.93706481443e-05,-0.000296827505226,-6.81331726714e-05,1793251825681143552
+257,4.283333333,HOLD_POSE2,768.784284279,748,725,694,670.784284279,643,901,787,829,656.784284279,634,657.215715721,0.458144046803,0.00445671311986,0.0597892569672,0.999999950176,-8.22203914778e-05,-0.000297131339995,-6.78257344553e-05,1793251825697811200
+258,4.300000000,HOLD_POSE2,769,748,725,694,671,643,901,787,829,657,634,657.368752075,0.458143567354,0.00445646088879,0.0597884746499,0.999999949903,-8.31588101209e-05,-0.000297792162458,-6.78109657998e-05,1793251825714477824
+259,4.316666667,HOLD_POSE2,769,748,725,694,671,643,901,787,829,657,634,657.96149151,0.458142592455,0.00445764710147,0.059787107063,0.999999949649,-8.29362523222e-05,-0.000298669826394,-6.79739704399e-05,1793251825731144192
+260,4.333333333,HOLD_POSE2,768.457705423,748,725,694,670.457705423,643,900.457705423,787,829,656.457705423,634,658,0.458142574765,0.00445822066413,0.0597865992076,0.999999949338,-8.15587061294e-05,-0.000300062887047,-6.80814517899e-05,1793251825747810816
+261,4.350000000,HOLD_POSE2,768,748,725,694,670.12113286,643,900.12113286,787,829,656.12113286,633.87886714,658,0.458142964119,0.00445905866052,0.0597866129601,0.999999949262,-8.00978335994e-05,-0.000300664102462,-6.8274481499e-05,1793251825764477440
+262,4.366666667,HOLD_POSE2,768,748,725,694,670.69572087,643,900.69572087,787,829,656.69572087,633.30427913,658,0.458144628252,0.00446104590168,0.0597883557116,0.99999995009,-7.86254433563e-05,-0.000298167029005,-6.88021990177e-05,1793251825781144320
+263,4.383333333,HOLD_POSE2,768.275885804,748,725,694,670.724114196,643,901,787,829,656.724114196,633.275885804,657.724114196,0.458144694753,0.00446086946207,0.0597886579144,0.999999950198,-7.84633110326e-05,-0.000297898796566,-6.85817810326e-05,1793251825797810688
+264,4.400000000,HOLD_POSE2,768.862328492,748,725,694,670.137671508,643,901,787,829,656.137671508,633.862328492,657.137671508,0.458142962844,0.0044582574278,0.0597873385321,0.999999949497,-7.97760992541e-05,-0.000300139507871,-6.75192079389e-05,1793251825814477056
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,749,725,695,671,643,901,787,829,657,634,658,0.458146371411,0.00445766876509,0.0597902080689,0.999999950703,-8.03159423265e-05,-0.000295907250359,-6.76917335853e-05,1793251825846995712
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.425371498,748.425371498,725,694.425371498,671,643,901,787,829,657,634,657.425371498,0.458143572786,0.00445839516273,0.0597874249764,0.999999949448,-8.01776813611e-05,-0.000300113233912,-6.78736219474e-05,1793251825863662336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.152466696,748,725,694,670.847533304,643,901,787,829,656.847533304,634,657,0.458141675851,0.0044589673319,0.0597854428758,0.999999948614,-7.98781349745e-05,-0.00030291998569,-6.80581686099e-05,1793251825880328960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.739452413,748,725,694,670.260547587,643,901,787,829,656.260547587,634,657,0.458142348667,0.00445909996126,0.0597857435433,0.999999949018,-7.91189368105e-05,-0.000301739029418,-6.82502912809e-05,1793251825896995072
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.67787079,748,725,694,670.32212921,643,901,787,829,656,634,657.32212921,0.458142915926,0.00445824096705,0.0597861157036,0.999999949292,-7.92744710525e-05,-0.000300881604516,-6.78356483571e-05,1793251825913661440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.098633205,748,725,694,670.901366795,643,901,787,829,656,634,657.901366795,0.458143398934,0.00445659050557,0.059786544926,0.999999949462,-8.01601016964e-05,-0.000300282407198,-6.69367136801e-05,1793251825930327808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.480287015,748,725,694,671,643,901,787,829,656.480287015,634,658,0.458143365885,0.00445825068294,0.0597869522023,0.999999949494,-8.02922331613e-05,-0.000300088891654,-6.71753235638e-05,1793251825946994432
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.941369308,748.058630692,725,694,670.941369308,643,901,787,829,657,633.941369308,658,0.45814278701,0.00446050537745,0.0597870856872,0.999999949409,-8.01563246107e-05,-0.000300306322372,-6.7629156528e-05,1793251825963661056
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.367519659,748.632480341,725,694,670.367519659,643,901,787,829,657,633.367519659,658,0.458138342344,0.00446201386326,0.059784852801,0.999999948544,-7.90238986541e-05,-0.000303403332009,-6.79227728494e-05,1793251825980328448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.211511075,748.788488925,725,694,670.211511075,643,900.788488925,787,829,657,633.211511075,658,0.458128761914,0.00446251126206,0.0597799325021,0.999999946402,-7.80332921389e-05,-0.000310592821848,-6.81058884584e-05,1793251825996995584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.799770409,748.200229591,725,694,670.799770409,643,900.200229591,787,829,657,633.799770409,658,0.458110033546,0.00446120768985,0.0597702253238,0.999999941859,-7.72952976975e-05,-0.000325071928626,-6.80921776858e-05,1793251826013661696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,671,642.617609397,900,787,829,656.617609397,634,658,0.458070879067,0.00446035008321,0.0597533606545,0.999999932272,-7.72263569059e-05,-0.000353369433993,-6.79817325019e-05,1793251826030328064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,671,642.037899039,900,787,829,656.037899039,634,658,0.458021184381,0.0044597226019,0.0597328026029,0.999999919115,-7.75026585117e-05,-0.000388797458223,-6.78213707252e-05,1793251826046994432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,671,642.541160496,900.541160496,787,829,656,634,658,0.457953695095,0.00445923440183,0.0597119610788,0.99999990698,-7.81493980514e-05,-0.000418768411363,-6.75739259126e-05,1793251826063661056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,694.119022591,671,643,900.880977409,786.880977409,829,656,633.880977409,658,0.457883516117,0.00445922250057,0.0596933206914,0.99999989579,-7.80212110948e-05,-0.000444733647809,-6.74106394176e-05,1793251826080327424
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,694.692486716,671,643,900.307513284,786.307513284,829,656,633.307513284,658,0.457807820022,0.00446099196304,0.059683160191,0.999999890554,-7.48353350283e-05,-0.000456862052817,-6.75919363328e-05,1793251826096994048
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.726902626,748,725,694.726902626,671,643,900.273097374,786.273097374,829,656.273097374,633.273097374,658,0.457727245165,0.0044624868731,0.059677422954,0.999999887872,-7.29024199703e-05,-0.000462954972147,-6.79223584469e-05,1793251826113660928
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.138028621,748,725,694.138028621,671,643,900.861971379,786.861971379,829,656.861971379,633.861971379,658,0.457641029104,0.004463664324,0.0596768002422,0.999999888283,-7.24182770338e-05,-0.000462069188271,-6.84252108258e-05,1793251826130327552
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,901,787,829.443252266,657,634,658,0.457533372756,0.0044636004211,0.0596796829653,0.999999890203,-7.03978864013e-05,-0.000458387283747,-6.72321337529e-05,1793251826146994176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.022142812,748,725,694,671,643,901,787,829.977857188,657,634,658,0.457418222882,0.00446322963241,0.059683586369,0.999999892556,-6.78629203787e-05,-0.00045385561548,-6.55600557309e-05,1793251826163660800
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.599387327,748,725,694,671,643,901,787,829.400612673,657,634,658,0.457279771877,0.00446469292917,0.0596861729841,0.999999894815,-6.42187609837e-05,-0.000449481452804,-6.48961717559e-05,1793251826180327424
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.825519155,748,725,694,671,643,900.825519155,787,829,657,634,657.825519155,0.457132756974,0.00446580368616,0.0596900068946,0.999999897563,-6.05833239343e-05,-0.000443986562928,-6.38651977179e-05,1793251826196994048
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.255304315,748,725,694,671,643,900.255304315,787,829,657,634,657.255304315,0.456966318606,0.00446611485964,0.0596966697523,0.999999901429,-5.69676702333e-05,-0.000435949790892,-6.20016394428e-05,1793251826213660928
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.328081968,748,725,694.328081968,671,643,900,787,828.671918032,656.671918032,634,657.328081968,0.456784592878,0.00446646800437,0.0597028954228,0.999999904962,-5.21282517495e-05,-0.000428673730402,-5.99773854716e-05,1793251826230327552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.92214667,748,725,694.92214667,671,643,900,787,828.07785333,656.07785333,634,657.92214667,0.456590473357,0.00446685517608,0.0597087666574,0.999999908208,-4.62967018351e-05,-0.00042201439338,-5.78228520228e-05,1793251826246994176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,748,725,694.496851305,671.503148695,643,900,787,828.503148695,656,634,658,0.45636553291,0.00446922851139,0.0597215408727,0.999999916582,-3.90542005937e-05,-0.000402714879767,-5.5957590599e-05,1793251826263660800
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,671.918514531,643,900.081485469,787,829,656,634,658,0.456130986296,0.00447163501875,0.059735836776,0.999999925253,-3.20337386152e-05,-0.00038151280774,-5.40062403092e-05,1793251826280327680
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,671.344380465,643,900.655619535,787,829,656,634,658,0.455866465161,0.00447243106669,0.0597530383357,0.999999933383,-2.76422152974e-05,-0.000360333654452,-5.12706467909e-05,1793251826296995328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725,694.235090518,671.235090518,643,900.764909482,787,829,656.235090518,634,658,0.455588776374,0.00447355605656,0.0597693583679,0.99999994089,-2.13346926473e-05,-0.000339711086745,-4.85832529307e-05,1793251826313662464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,694.822561033,671.822561033,643,900.177438967,787,829,656.822561033,634,658,0.455291350451,0.00447517410138,0.0597843570669,0.999999947694,-1.2155255879e-05,-0.0003199227932,-4.59681062924e-05,1793251826330328576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.595440002,748,725,694.595440002,672,643,900,787,828.595440002,657,634,657.595440002,0.454950013011,0.0044772321852,0.059790742026,0.999999950096,-4.04269041966e-06,-0.000312959327736,-4.29892553324e-05,1793251826346994944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.015808837,748,725,694.015808837,672,643,900,787,828.015808837,657,634,657.015808837,0.454589673106,0.00447948069349,0.0597933994349,0.999999950669,3.60819196763e-06,-0.000311545738327,-3.98530133508e-05,1793251826363661312
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,672,643,900,787,828,656.438893307,634,657,0.45416231359,0.00448076577487,0.0597832717882,0.999999944657,1.12575639772e-05,-0.000330418622503,-3.71798025709e-05,1793251826380327936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,725,694.137795553,672,643,900,787,828.137795553,656,634,657,0.453726112188,0.00448307886888,0.0597723997038,0.999999938188,2.07128686266e-05,-0.000349292032799,-3.44961478021e-05,1793251826396994304
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.71400538,672,643,900,787,828.71400538,656,634,657,0.453267758005,0.00448874866309,0.0597602996354,0.999999931743,3.59141134909e-05,-0.000366357383879,-3.17379582909e-05,1793251826413660672
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,725,694.407851503,672,643,899.703925752,787,828.703925752,656.296074248,633.703925752,657,0.4528165582,0.00449241456119,0.0597604582804,0.999999933219,4.86024692548e-05,-0.000361074058594,-2.8714118722e-05,1793251826430327552
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,693.232165959,672,643,899.116082979,787,828.116082979,656.883917021,633.116082979,657,0.452372408673,0.00449410570598,0.0597726973622,0.999999942247,5.88144819565e-05,-0.000333767069422,-2.54284920345e-05,1793251826446994176
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,693.467296518,672,643,899,787,828,656.532703482,633,657,0.451868063082,0.00449659062637,0.0597922728593,0.999999950807,6.95875622677e-05,-0.000305106025095,-2.13193936549e-05,1793251826463660800
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,693.951061971,672.048938029,643,899,787,828,656.048938029,633.048938029,657,0.451342660912,0.00449941458992,0.0598116137922,0.999999957645,8.09389388548e-05,-0.000279051394157,-1.70245733155e-05,1793251826480327424
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,693.376293901,672.623706099,643,899,787,828,656.623706099,633.623706099,657,0.450750162273,0.00450378284056,0.0598090375757,0.999999954717,9.702059805e-05,-0.000284582172519,-1.29113865137e-05,1793251826496994048
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,672.801144862,643,899,787,828,657,634,657,0.450136895924,0.00450882846618,0.0597959036486,0.999999947545,0.000113468243083,-0.000303229618645,-9.27628588424e-06,1793251826513660672
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,672.225273569,643,899,787,828,657,634,657,0.449484255412,0.00451515834955,0.0597627530028,0.999999931333,0.000130609771923,-0.000346745396497,-6.54760517422e-06,1793251826530327552
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,899,787,828,656.640350258,633.640350258,657,0.448823714617,0.00451875813275,0.0597409637552,0.999999916922,0.000145836461141,-0.000380635829122,-2.23659817772e-06,1793251826546994432
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,899,787,828,656.049610675,633.049610675,657,0.448158097589,0.00452060371337,0.0597264746775,0.999999903851,0.000159832786022,-0.000408341577513,3.09111882709e-06,1793251826563661056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,898.470799293,787,828,656.529200707,633,657,0.447495836215,0.00452523556538,0.0597533586095,0.999999919115,0.000174821017986,-0.000362143013337,7.75316176301e-06,1793251826580327680
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.893876114,724.893876114,693.106123886,672.106123886,643,898,787,828,656.893876114,633,657,0.446818985601,0.00453032097282,0.0597822009703,0.999999931973,0.000190749334666,-0.00031545175443,1.26041367532e-05,1793251826596994304
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747.32045212,724.32045212,693.67954788,672.67954788,643,898,787,828,656.32045212,633,657,0.446076539042,0.00453627872632,0.0598029647378,0.999999933756,0.000210416735049,-0.000296426070304,1.8555775188e-05,1793251826613660928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,672.73964615,643,898,787.26035385,827.73964615,656.26035385,633,657,0.445310152651,0.00454096740381,0.059797825798,0.999999925983,0.000227287253863,-0.000309584156795,2.30838409676e-05,1793251826630327552
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,724,694,672.14948898,643,898,787.85051102,827.14948898,656.85051102,633,657,0.44451344037,0.00454404847966,0.0597598745986,0.999999904649,0.000240614824424,-0.000363511041665,2.58085964198e-05,1793251826646994176
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724.432372914,694,672,643,898,788,827,657,633,657,0.443734202317,0.00454820612751,0.0597583527947,0.999999903683,0.000253129183477,-0.000357348069952,2.9342224294e-05,1793251826663660800
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724.988628667,694,672.011371333,642.988628667,897.988628667,787.988628667,827,657,633,657,0.44295974193,0.00455270682421,0.0597692350531,0.999999909396,0.000265406196487,-0.000331158414808,3.31858335152e-05,1793251826680327424
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724.412086126,694,672.587913874,642.412086126,897.412086126,787.412086126,827,657,633,657,0.442128114613,0.00455610618162,0.0597824049384,0.999999908076,0.000279597833013,-0.000322749354757,3.87981047523e-05,1793251826696994048
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724.164849665,694,672.835150335,642.164849665,897,787.164849665,827,656.835150335,633,656.835150335,0.441283766493,0.00455962887311,0.0597885924594,0.999999902557,0.000294278126658,-0.000326065578812,4.43497572281e-05,1793251826713661184
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724.674890768,694,672,643,896.674890768,788,826.674890768,656,633,656.325109232,0.4395315527,0.00456751675838,0.0597822654384,0.99999989433,0.000291028950771,-0.000353193099968,4.35472175804e-05,1793251826746995712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724.089009231,694,672,643,896.089009231,788,826.089009231,656,633,656.910990769,0.438655748674,0.00457175291295,0.0598003132587,0.999999919676,0.000243754240115,-0.000316930302035,2.80388355263e-05,1793251826763662080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724,694,672,643,895.508697462,788,826,656.491302538,633,657,0.437721054392,0.0045665162597,0.0597878171129,0.999999918178,0.000209047843957,-0.000345632551866,2.19480556243e-05,1793251826780328448
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,693.929858745,672,643,894.929858745,788,825.929858745,656.929858745,633,656.929858745,0.436777050245,0.00456126116708,0.0597679693088,0.999999908708,0.000183261092007,-0.000385559638126,1.85376719348e-05,1793251826796994560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724,693.354444144,672,643,894.354444144,788,825.354444144,656.354444144,633,656.354444144,0.435841976798,0.00456809748632,0.0597345783457,0.999999889376,0.000205509538518,-0.000422512030056,2.22829395566e-05,1793251826813660928
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.220251087,747.220251087,724,693.220251087,672.220251087,643,893.779748913,788.220251087,824.779748913,656,633,656,0.43491246345,0.00457389917418,0.0597224236593,0.999999885141,0.000221627792901,-0.000424221407181,2.52244339449e-05,1793251826830327552
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.793792511,747.793792511,724,693.793792511,672.793792511,643,893.206207489,788.793792511,824.206207489,656,633,656,0.433991868547,0.00457804127871,0.0597443326876,0.999999905439,0.000227913011241,-0.000369399779159,2.68766489391e-05,1793251826846994176
+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,747.620452227,724.379547773,694,672.620452227,643,893,788.620452227,824,656.379547773,633,656,0.433070748795,0.00457891832418,0.0597671589256,0.999999917694,0.00022560923389,-0.000336043186783,2.80465735631e-05,1793251826863661312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,747.02784061,724.97215939,694,672.02784061,643,893,788.02784061,824,656.97215939,633,656,0.432149334467,0.00457796248806,0.0597905000492,0.999999926184,0.000218483917207,-0.000314736261618,2.89457584346e-05,1793251826880328192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,725,693.448913393,672,643,893,788.551086607,824,656.448913393,633,656,0.431216552069,0.00457985347356,0.0598028655625,0.999999934199,0.000219442774793,-0.000287348987415,2.96235158121e-05,1793251826896994816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,747,725,693.128397073,672.128397073,643,893,788.871602927,823.871602927,656.128397073,633,656.128397073,0.430272204679,0.00458182824758,0.0598109079484,0.999999938168,0.000220288011829,-0.000272401333884,3.05798281482e-05,1793251826913661696
+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,747,725,693.702437394,672.702437394,643,893,788.297562606,823.297562606,656.702437394,633,656.702437394,0.429289662344,0.0045836067581,0.0598058234104,0.99999992991,0.000219355726822,-0.000301669698187,3.25408401255e-05,1793251826930328320
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747,724.716292669,694,672.716292669,643,892.716292669,788.283707331,822.716292669,657,633,656.716292669,0.428303158672,0.00458479464109,0.0597797301315,0.999999915376,0.000215593325952,-0.000348835699931,3.28695838766e-05,1793251826946994688
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,747,724.127241805,694,672.127241805,643,892.127241805,788.872758195,822.127241805,657,633,656.127241805,0.427312391626,0.00458534685375,0.059731025935,0.999999891488,0.000208784977276,-0.000415264253192,3.14415784897e-05,1793251826963661312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.546080269,747,724,693.546080269,672.907839462,643,892,789,821.546080269,657,633,656,0.426374022243,0.00458465232802,0.0597386689814,0.999999899178,0.000202708295699,-0.000399447233453,3.15404400891e-05,1793251826980327936
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.03280323,747,724,692.96719677,673.96719677,643,892,788.96719677,821,656.96719677,633,656.03280323,0.425450400964,0.00458378945669,0.059762365057,0.999999914835,0.000197375517647,-0.000361020377146,3.22069876186e-05,1793251826996994304
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.609955228,747,724,692.390044772,673.390044772,643,892,788.390044772,821,656.390044772,633,656.609955228,0.424531942124,0.00458583337247,0.0597948184082,0.99999992686,0.000201042005626,-0.000323443319702,3.53127361697e-05,1793251827013661440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.185184239,673,643,892,788.185184239,821,656,632.814815761,657,0.423624603332,0.00458575612953,0.059821635915,0.999999938083,0.000198886958143,-0.000287903360656,3.72664528676e-05,1793251827030328320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.756404689,673,643,892,788.756404689,821,656,632.243595311,657,0.422740445287,0.00458125710643,0.0598367049116,0.99999994936,0.00018459630288,-0.000256609943139,3.68186374785e-05,1793251827046994688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,673.340367484,643,891.659632516,789,820.659632516,656,632.340367484,657,0.421813162995,0.00458132111446,0.0598301601999,0.999999946964,0.000180450084241,-0.000268590369335,3.70002324331e-05,1793251827063661056
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,673.933804411,643,891.066195589,789,820.066195589,656,632.933804411,657,0.420853817092,0.00458477781979,0.0598075453002,0.999999933487,0.000183846440265,-0.000312745690576,3.76498054706e-05,1793251827080327680
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,747,724.515105312,692.484894688,672.969789376,643,891.515105312,789,820.515105312,656,633,656.484894688,0.419905445041,0.00458437775746,0.0597519580366,0.999999902665,0.000176722481033,-0.000402629657411,3.64568459563e-05,1793251827096994048
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.905917125,747,724.905917125,692,672.18816575,643,891.905917125,789,821,656.094082875,633,656.094082875,0.418978374953,0.00458312901842,0.0597049149542,0.999999872428,0.00016801362591,-0.000475057794763,3.51457672722e-05,1793251827113660672
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.331026169,747,724.331026169,692,673.337947661,643,891.331026169,789,821,656.668973831,633,656.668973831,0.418153126923,0.00458001773489,0.0597226925571,0.999999894939,0.00015795529816,-0.000428937775095,3.44132586773e-05,1793251827130327296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.248835768,747,724,692.248835768,674,643,891,789.248835768,821,657,633,657,0.417343522445,0.00457882647515,0.0597564710117,0.999999918612,0.000154415098022,-0.000371076272538,3.51412891875e-05,1793251827146993920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.835445351,747,724,692.835445351,674,643,891,789.835445351,821,657,633,657,0.41655515285,0.00458024148793,0.0598119692876,0.999999942341,0.000159722713455,-0.000297276688792,3.78518798101e-05,1793251827163660544
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,747.41902786,724,692.58097214,673.58097214,643,890.58097214,789.58097214,821,657,633,656.58097214,0.415753015654,0.00457700435929,0.059829322368,0.999999934149,0.000222222566506,-0.000284138763515,3.97931367863e-05,1793251827180327168
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,748,724.576177292,692,673.576177292,643,890,788.423822708,821,657,633,656.576177292,0.41418211749,0.00457498330695,0.0598308995689,0.999999911787,0.00030056413016,-0.000290652851916,4.00921690764e-05,1793251827213660672
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.518600636,747.481399364,724.518600636,692,672.962798727,643,889.518600636,789,820,657,633,656.518600636,0.41051246832,0.00457063347648,0.0597486340825,0.999999886232,0.00024117969185,-0.00040990183545,3.67282818413e-05,1793251827296994304
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,748,724,691.94116327,674,643,888.94116327,789,820,657,633,656.05883673,0.409908467452,0.0045713727264,0.0597871144231,0.999999912002,0.000233198523671,-0.000346735868204,3.72682496032e-05,1793251827313660928
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,748,724,691.36664656,674,643,888.36664656,789,820,657,633,656.63335344,0.409327081021,0.0045656351773,0.0598269250209,0.999999934101,0.000219442255336,-0.000286495687522,3.95407656819e-05,1793251827330327808
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747.786924239,724,691,673.786924239,643,888.213075761,788.786924239,820,656.786924239,633,657,0.408749508718,0.00456236079662,0.0598508937225,0.999999946064,0.000208646039107,-0.000250363315311,4.07026963807e-05,1793251827346994432
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747.198020194,724,691,673.198020194,643,888.801979806,788.198020194,820,656.198020194,633,657,0.408178663932,0.0045634310138,0.0598469200924,0.999999945624,0.000203070838442,-0.000256752898198,3.99057491717e-05,1793251827363660800
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,747.384530116,724,691.384530116,673,643,889.384530116,788.384530116,820,656.384530116,633,657,0.407605213154,0.00456152107902,0.0598312538427,0.999999941046,0.000193914763818,-0.00028067193938,3.91057972784e-05,1793251827380327424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,747.963861702,724,691.963861702,673,643,889.963861702,788.963861702,820,656.963861702,633,657,0.407030442139,0.00455810141087,0.0598096641567,0.9999999334,0.000182944631597,-0.000313471336671,3.83043231136e-05,1793251827396994048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,748,724,692,673,643,889.458747046,788.458747046,820.541252954,656.458747046,633,657,0.406545989692,0.00455655588745,0.0598103196505,0.999999937727,0.000171274370395,-0.000306361298029,3.6803995231e-05,1793251827413660928
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.117627173,747.882372827,724,691.882372827,673.117627173,643,889,788,820.882372827,656.117627173,633,657,0.406075432661,0.0045552607085,0.0598128949986,0.999999942302,0.000160674962457,-0.000297183751534,3.55236021997e-05,1793251827430327552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.690564513,747.309435487,724,691.309435487,673.690564513,643,889,788,820.309435487,656.690564513,633,657,0.405635402783,0.00455445192822,0.0598171730964,0.999999945327,0.000154400898095,-0.000290280838064,3.52745001597e-05,1793251827446994176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.271654419,673.456691161,642.728345581,889,788,820,657,633,657,0.405206589101,0.00455329872329,0.0598123919214,0.999999944623,0.000150104919642,-0.000294947231261,3.50623728548e-05,1793251827463661056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.862318012,672.275363976,642.137681988,889,788,820,657,633,657,0.404790946847,0.00455174105371,0.0597969722624,0.999999939373,0.000148131847064,-0.000313199691153,3.48936657237e-05,1793251827480327680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769.555545947,747,724.444454053,691.555545947,672.444454053,642.444454053,888.555545947,788,820,657,633,657,0.404378701719,0.00455159419292,0.0597740970405,0.999999925798,0.000147019896485,-0.000354335726077,3.51597036374e-05,1793251827496994304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747.023913234,724.976086766,691.023913234,672.976086766,643,888,788,820,656.976086766,633,656.976086766,0.403972119016,0.00455176034758,0.0597503204244,0.999999908907,0.000146023572311,-0.000399498649534,3.55412605461e-05,1793251827513660928
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,747.601406205,724.398593795,691.601406205,672.398593795,643,888,788,820,656.398593795,633,656.398593795,0.403672715693,0.00454924591906,0.0597581358254,0.999999918322,0.00014164491921,-0.000376868611595,3.55380728198e-05,1793251827530327808
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,747.819397151,724,691.819397151,672.180602849,642.819397151,888,788,820,656,633,656.180602849,0.403389276607,0.0045472232358,0.0597692204454,0.999999927922,0.000138354447327,-0.000351755984298,3.58128362996e-05,1793251827546994432
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,747.236404737,724,691.236404737,672.763595263,642.236404737,888,788,820,656,633,656.763595263,0.403141406451,0.0045462961788,0.0597875890005,0.999999938318,0.000137488482501,-0.000321112062891,3.67068849558e-05,1793251827563661312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.344714643,747,724.344714643,691,673,642.344714643,888.344714643,788,820,656.344714643,633,657,0.402909004544,0.00454494067408,0.0598074246131,0.999999947386,0.000140861969626,-0.000289814709249,3.73313930426e-05,1793251827580327680
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.924556499,747,724.924556499,691,673,642.924556499,888.924556499,788,820,656.924556499,633,657,0.402687153387,0.00454329292838,0.0598282608961,0.999999955163,0.000147127154259,-0.000258071651295,3.7772049651e-05,1793251827596994560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747.503249076,724.496750924,691,673,642.496750924,887.993501848,788,820,657,633,656.496750924,0.402464725531,0.0045385885055,0.0598301677626,0.999999951218,0.000170413549706,-0.00026005204606,2.99199951572e-05,1793251827613661184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747.918426025,724,691,672.918426025,642,887.081573975,788,820,657,633,656,0.402246733495,0.00453392297506,0.0598281597085,0.999999945124,0.000192595232163,-0.000268627739552,2.23205618335e-05,1793251827630327552
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747.341290235,724,691,672.341290235,642,887.658709765,788,820,657,633,656,0.40205621297,0.00453227114917,0.0598195686413,0.999999940092,0.00019259955298,-0.000286627213451,2.37909309414e-05,1793251827646994176
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.239242869,642.239242869,888,788,820,657,633,656.239242869,0.401886210799,0.00453216234154,0.0598150678664,0.999999936595,0.000194425853106,-0.00029728875485,2.50507864587e-05,1793251827663661056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.824692166,642.824692166,888,788,820,657,633,656.824692166,0.401745900584,0.00453428642329,0.0598164861211,0.99999993568,0.000198888724868,-0.000297331632315,2.60060093766e-05,1793251827680327680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,673,643,888,788,820,657,633,657,0.401621830913,0.00453354773737,0.0598190785132,0.999999936945,0.000197974901661,-0.000293568495843,2.70992322894e-05,1793251827696994304
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,673,643,888,788,820,657,633,657,0.401504702982,0.00453158541125,0.0598221727698,0.999999939111,0.000194762903785,-0.000288178545044,2.82514408691e-05,1793251827713660928
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.435863237,643,888,788.564136763,820,657,633,656.435863237,0.401413355679,0.00453211615281,0.0598264055778,0.999999941098,0.000194398104253,-0.000281445120295,2.83073157738e-05,1793251827730327296
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.858157917,747.141842083,724.141842083,691,672,643,888,788.858157917,820,657,633,656,0.401327128325,0.00453210177356,0.0598291846552,0.999999942402,0.000193920841689,-0.000277092118863,2.8478708687e-05,1793251827746994432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.285756009,747.714243991,724.714243991,691,672,643,888,788.285756009,820,657,633,656,0.401254317945,0.00453022723342,0.0598274571235,0.999999941757,0.000192867561645,-0.000280075578821,2.90911038344e-05,1793251827763662592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769.29488419,747.70511581,724.70511581,691,672.29488419,642.70511581,887.70511581,788,820,656.70511581,633,656.29488419,0.401188648958,0.00452938785525,0.0598246414335,0.999999940406,0.000192420574862,-0.00028512026325,2.94642826606e-05,1793251827780329472
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.883737175,747.116262825,724.116262825,691,672.883737175,642.116262825,887.116262825,788,820,656.116262825,633,656.883737175,0.401130099185,0.00452958042543,0.0598207409628,0.999999938323,0.000192577999122,-0.000292219773933,2.95989878264e-05,1793251827796996096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.533870216,747,724,691.466129784,673,642.466129784,887.466129784,788,820,656,633,657,0.40108831982,0.00452887420319,0.0598199194023,0.999999938209,0.000190474972884,-0.000293981964776,2.95786344291e-05,1793251827813662208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.04665151,747,724,691.906696981,672.95334849,643,887.95334849,788,820,656.04665151,633,656.95334849,0.401051661159,0.00452809048961,0.0598198832341,0.999999938544,0.000188090811225,-0.000294384523518,2.95270981365e-05,1793251827830328320
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769.623970961,747,724,690.752058077,672.376029039,643,887.376029039,788,820,656.623970961,633,656.376029039,0.401026320551,0.00452894050098,0.0598201649306,0.99999993844,0.000188834386313,-0.000294257140921,2.95547711071e-05,1793251827846994688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.200015007,672,643,887.200015007,788,820,656.799984993,633,656.200015007,0.401005525641,0.00452893833443,0.0598213125026,0.999999938999,0.000188354435674,-0.000292665195675,2.95382653769e-05,1793251827863661056
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.773676443,672,643,887.773676443,788,820,656.226323557,633,656.773676443,0.400993222513,0.00452734422107,0.0598240776099,0.999999940776,0.000185588826402,-0.000288337312703,2.9439229768e-05,1793251827880327680
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747.358189588,724,691,672.358189588,643,888,788,820,656,633,657,0.400983143256,0.00452727862561,0.0598259614879,0.999999941836,0.00018419480452,-0.000285539827897,2.94391501055e-05,1793251827896994560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747.949773629,724,691,672.949773629,643,888,788,820,656,633,657,0.400974513061,0.00452820900444,0.0598272711614,0.999999942439,0.00018369450188,-0.000283739542663,2.95035496214e-05,1793251827913661696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747.472811347,724,691,673,643,888,788,819.472811347,656.527188653,633,656.472811347,0.400971079658,0.00452698967266,0.0598291285925,0.999999943434,0.000182850957027,-0.000280769714017,2.94210035853e-05,1793251827930328576
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,747,724.103313818,691,672.896686182,643,888,788.103313818,819,657,633,656.103313818,0.400968475583,0.00452578763742,0.0598307580526,0.99999994434,0.000181986111163,-0.00027809950031,2.93569774802e-05,1793251827946995200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,724.679551974,691,672.320448026,643,888,788.679551974,819,657,633,656.679551974,0.400967460728,0.00452557775739,0.0598311113315,0.999999944708,0.000181169533551,-0.000277297493773,2.94401349082e-05,1793251827963661568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747.261624809,724.738375191,691,672,642.738375191,888,788.738375191,819.261624809,656.738375191,633,656.738375191,0.400966267408,0.00452528451598,0.0598309140218,0.999999944758,0.000180487718996,-0.000277562627194,2.94506559198e-05,1793251827980327680
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747.851007275,724.148992725,691,672,642.148992725,888,788.148992725,819.851007275,656.148992725,633,656.148992725,0.400964850511,0.00452488684129,0.0598300269471,0.999999944407,0.000179974732444,-0.000279164649372,2.93701796792e-05,1793251827996994560
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,748,724.429225947,691,672.429225947,642.429225947,888,788,820,656.429225947,633,656.429225947,0.400964818857,0.00452377673495,0.0598307928467,0.999999945061,0.000178720106295,-0.000277626510917,2.93523441442e-05,1793251828013661184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,748,724.996309232,691,673,643,888,788.003690768,820,657,633,656.996309232,0.400965254121,0.0045224445954,0.0598321121815,0.999999946038,0.000177240398323,-0.000275040531496,2.93572652583e-05,1793251828030327808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,748,724.418246524,691,673,643,888,788.581753476,820,657,633,656.418246524,0.400965419036,0.00452406879539,0.0598325290104,0.999999945667,0.000179780411983,-0.000274717092716,2.9605587869e-05,1793251828046994432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,747.841508955,724.158491045,691,673,643,888,788.841508955,820,657,633,656.158491045,0.400965289255,0.00452523171318,0.059832683638,0.999999945427,0.00018113081909,-0.000274692826714,2.9676050051e-05,1793251828063661312
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,747.268239372,724.731760628,691,673,643,888,788.268239372,820,657,633,656.731760628,0.400964388238,0.0045251874336,0.0598321520722,0.999999945548,0.000179367969616,-0.000275451509996,2.92810430915e-05,1793251828080327936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,747,724.68352035,691,672.68352035,643,888,788,820,657,633,657,0.400964115363,0.00452515908686,0.0598323267737,0.999999945811,0.000178099745223,-0.000275352560107,2.89666569226e-05,1793251828096994560
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,724.088732879,691,672.088732879,643,888,788,820,657,633,657,0.400964394869,0.00452514475123,0.0598331225568,0.999999946201,0.000177266487369,-0.000274499419449,2.87231675809e-05,1793251828113661440
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747.490338047,724,691,672.490338047,643,888,788,820.490338047,657,633,656.509661953,0.400964185242,0.00452420776016,0.059833496383,0.999999946596,0.00017540551934,-0.000274262756493,2.86365259586e-05,1793251828130328064
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,748,724.064255069,691,673.064255069,643,888,788,820.935744931,657,633,656.064255069,0.400963959599,0.0045234073011,0.0598337646742,0.999999946946,0.000173668083737,-0.000274099936311,2.8570950252e-05,1793251828146994944
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,748,724.619834582,691,673.619834582,643,888,788,820.380165418,657,633,656.619834582,0.400964267287,0.00452488788187,0.0598337917346,0.999999946964,0.000174253139801,-0.000273675209558,2.84561607062e-05,1793251828163661312
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.807043502,747.807043502,724.807043502,690.807043502,673.807043502,643,888,788,820,657,633,657,0.400964248254,0.00452558354455,0.0598338560248,0.999999946958,0.000174940279899,-0.000273261054833,2.84438524309e-05,1793251828180327936
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.195902771,747.195902771,724.195902771,690.195902771,673.195902771,643,888,788,820,657,633,657,0.400963521137,0.00452457809676,0.0598340010012,0.999999946899,0.00017584866134,-0.000272869812213,2.86536462763e-05,1793251828196995328
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.393841059,747,724,690.393841059,673,643,888,788,820,656.606158941,633,656.606158941,0.400964393331,0.0045252407832,0.0598349932805,0.999999947206,0.000176148873016,-0.000271554749694,2.85826241458e-05,1793251828213662208
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d85d692596a2e37236fc091c4a4692b0f681628
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
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+358,5.966666667,pose2_to_pose3_retreat,0.590769053745,0.0100051386692,1.05002092389,0.56134039664,0.0186775455213,1.04963230476
+359,5.983333333,pose2_to_pose3_retreat,0.59035002167,0.0100051087644,1.05002085915,0.560921365224,0.0186775173917,1.04963222973
+360,6.000000000,pose2_to_pose3_retreat,0.589954732149,0.0100051842935,1.0500212459,0.560526076324,0.0186775953886,1.04963262452
+361,6.016666667,pose2_to_pose3_retreat,0.589585850803,0.0100052348893,1.05002114359,0.560157194145,0.0186776430643,1.0496325201
+362,6.033333333,pose2_to_pose3_retreat,0.589228875134,0.0100051823518,1.05002075606,0.559800217887,0.0186775887754,1.04963213811
+363,6.050000000,pose2_to_pose3_retreat,0.588882668308,0.01000508402,1.05002074663,0.559454011873,0.0186774927485,1.04963211871
+364,6.066666667,pose2_to_pose3_retreat,0.588559609203,0.0100050683674,1.05002079509,0.559130954167,0.0186774817881,1.04963216596
+365,6.083333333,pose2_to_pose3_retreat,0.588260546281,0.0100051545265,1.05002091922,0.558831891429,0.0186775688407,1.04963229602
+366,6.100000000,pose2_to_pose3_retreat,0.587989276675,0.0100051686937,1.05002112562,0.558560621694,0.0186775825012,1.04963250095
+367,6.116666667,pose2_to_pose3_retreat,0.58774767882,0.0100050410602,1.0500211067,0.558319024887,0.0186774582059,1.04963247724
+368,6.133333333,pose2_to_pose3_retreat,0.58753652626,0.0100052548541,1.05002077917,0.558107870173,0.0186776651974,1.04963216104
+369,6.150000000,pose2_to_pose3_retreat,0.587338224164,0.0100052199446,1.05002094619,0.557909567168,0.018677626894,1.04963232119
+370,6.166666667,pose2_to_pose3_retreat,0.587150675402,0.0100051010185,1.05002097035,0.55772201874,0.0186775089527,1.04963234203
+371,6.183333333,pose2_to_pose3_retreat,0.586972618335,0.0100050633182,1.0500209626,0.557543961879,0.0186774718918,1.04963233288
+372,6.200000000,pose2_to_pose3_retreat,0.586804971043,0.0100051716242,1.05002101903,0.557376313845,0.0186775776147,1.04963238794
+373,6.216666667,pose2_to_pose3_retreat,0.58665084052,0.0100052181898,1.0500209049,0.557222183284,0.0186776242502,1.04963227822
+374,6.233333333,pose2_to_pose3_retreat,0.58651291339,0.010005026393,1.05002090155,0.557084258943,0.018677441849,1.04963227335
+375,6.250000000,pose2_to_pose3_retreat,0.586391684263,0.0100051020637,1.0500206399,0.556963028521,0.018677513827,1.04963202743
+376,6.266666667,pose2_to_pose3_retreat,0.586286936305,0.0100051293123,1.05002080988,0.556858279699,0.0186775377392,1.04963218842
+377,6.283333333,pose2_to_pose3_retreat,0.58619592068,0.0100051295269,1.05002088187,0.556767264479,0.0186775392251,1.04963225843
+378,6.300000000,pose2_to_pose3_retreat,0.586116051234,0.0100051184014,1.05002088262,0.55668739557,0.0186775299444,1.04963225983
+379,6.316666667,pose2_to_pose3_retreat,0.586045840005,0.0100051337791,1.05002092514,0.556617183722,0.0186775431551,1.04963230079
+380,6.333333333,pose2_to_pose3_retreat,0.5859851471,0.0100052306104,1.0500210078,0.556556488822,0.018677633357,1.04963238657
+381,6.350000000,pose2_to_pose3_retreat,0.585932798963,0.0100053539619,1.05002111929,0.556504140958,0.0186777576141,1.04963249749
+382,6.366666667,pose2_to_pose3_retreat,0.585888648916,0.0100050831112,1.05002103049,0.556459993386,0.0186774949976,1.0496324051
+383,6.383333333,pose2_to_pose3_retreat,0.585852300028,0.0100051296034,1.05002073533,0.556423643416,0.0186775378586,1.04963211076
+384,6.400000000,pose2_to_pose3_retreat,0.585823339331,0.0100051466539,1.05002096803,0.556394683541,0.0186775577756,1.04963234522
+385,6.416666667,pose2_to_pose3_retreat,0.585801867878,0.0100051579036,1.05002103971,0.556373212146,0.0186775693665,1.04963242012
+386,6.433333333,pose2_to_pose3_retreat,0.585785605878,0.0100051579573,1.05002098897,0.556356949046,0.0186775656357,1.04963236821
+387,6.450000000,pose2_to_pose3_retreat,0.585773927522,0.0100051126116,1.05002098696,0.556345270548,0.0186775196286,1.04963236223
+388,6.466666667,pose2_to_pose3_retreat,0.58576571974,0.010005022802,1.05002087143,0.556337066057,0.0186774412147,1.04963225179
+389,6.483333333,pose2_to_pose3_retreat,0.585760420109,0.0100051014311,1.05002083027,0.556331765649,0.0186775167895,1.04963220138
+390,6.500000000,pose2_to_pose3_retreat,0.585756761294,0.0100051072538,1.05002086089,0.556328106525,0.0186775214178,1.04963222875
+391,6.516666667,pose2_to_pose3_retreat,0.585754375269,0.0100050638092,1.05002092764,0.556325720643,0.0186774785082,1.04963229661
+392,6.533333333,pose2_to_pose3_retreat,0.585753159957,0.010005093128,1.05002097259,0.556324504868,0.0186775064202,1.0496323452
+393,6.550000000,pose2_to_pose3_retreat,0.585752395273,0.010005120306,1.05002100274,0.556323739802,0.0186775324282,1.04963237815
+394,6.566666667,pose2_to_pose3_retreat,0.58575200181,0.0100051342903,1.05002101825,0.556323346142,0.0186775458103,1.0496323951
+395,6.583333333,pose2_to_pose3_retreat,0.585751776608,0.0100051339031,1.05002100376,0.556323120961,0.018677545603,1.04963238314
+396,6.600000000,pose2_to_pose3_retreat,0.585751668717,0.0100051337175,1.05002099683,0.556323013079,0.0186775455037,1.0496323774
+397,6.616666667,pose2_to_pose3_retreat,0.585751617727,0.0100051336299,1.05002099355,0.556322962094,0.0186775454567,1.04963237469
+398,6.633333333,pose2_to_pose3_retreat,0.585751540131,0.0100051334965,1.05002098856,0.556322884504,0.0186775453853,1.04963237057
+399,6.650000000,pose2_to_pose3_retreat,0.585751445354,0.0100051333335,1.05002098246,0.556322789736,0.018677545298,1.04963236553
+400,6.666666667,pose2_to_pose3_retreat,0.585751309265,0.0100051330995,1.05002097371,0.556322653659,0.0186775451727,1.0496323583
+401,6.683333333,pose2_to_pose3_retreat,0.585751162602,0.0100051328473,1.05002096428,0.556322507009,0.0186775450377,1.0496323505
+402,6.700000000,pose2_to_pose3_retreat,0.585751149261,0.0100051328244,1.05002096342,0.556322493669,0.0186775450254,1.0496323498
+403,6.716666667,pose2_to_pose3_retreat,0.585751134603,0.0100051327992,1.05002096248,0.556322479013,0.0186775450119,1.04963234902
+404,6.733333333,pose2_to_pose3_retreat,0.585751038229,0.0100051326335,1.05002095628,0.556322382647,0.0186775449231,1.04963234389
+405,6.750000000,pose2_to_pose3_retreat,0.585751016227,0.010005133126,1.0500209554,0.556322360637,0.0186775453989,1.04963234323
+406,6.766666667,pose2_to_pose3_retreat,0.585750941754,0.0100052182782,1.05002103622,0.556322284602,0.0186776250921,1.04963242058
+407,6.783333333,pose2_to_pose3_retreat,0.585750929628,0.0100052321432,1.05002104938,0.556322272221,0.0186776380683,1.04963243317
+408,6.800000000,pose2_to_pose3_retreat,0.585750904307,0.0100052610955,1.05002107686,0.556322246369,0.0186776651645,1.04963245947
+409,6.816666667,pose2_to_pose3_retreat,0.585750878398,0.0100052907194,1.05002110497,0.556322219916,0.0186776928893,1.04963248638
+410,6.833333333,pose2_to_pose3_retreat,0.585750872782,0.0100052971405,1.05002111107,0.556322214183,0.0186776988988,1.04963249221
+411,6.850000000,pose2_to_pose3_retreat,0.585750810386,0.0100052882341,1.05002109988,0.556322153603,0.0186776962984,1.04963248416
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e6b54301f43e34b9ed1eb20270ce830d4c9d06b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21c35b20ce7b3a5486ea0f45d504134cefdc842bf1164468568be96adb0047b
+size 26366755
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35f0cdacae1c74a7abd7d8964f3011d93ec78283
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+1,0.016666667,BASELINE,770,747.577839224,724,691,673.577839224,643,888,788,820,657,633,656.422160776,0.400961102308,0.00452310820758,0.0598339786875,0.99999994738,0.000171817901069,-0.000273703887078,2.83570809191e-05,1793251828448774400
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+27,0.450000000,BASELINE,770,747,724,691,673,643,888,788,820,657,633,657,0.400962509381,0.00452275722877,0.0598361107037,0.999999948251,0.000173197216433,-0.000269593052714,2.86523734565e-05,1793251828882108416
+28,0.466666667,BASELINE,769.765799356,747,724,691,672.765799356,643,888.234200644,788,820,657,633,657,0.400961701265,0.00452250856218,0.0598354048761,0.99999994815,0.000172273123738,-0.000270575395604,2.84785092703e-05,1793251828898775040
+29,0.483333333,BASELINE,769.190584791,747,724,691,672.190584791,643,888.809415209,788,820,657,633,657,0.400963065601,0.00452381712762,0.0598359875228,0.999999948331,0.000172942671499,-0.00026948610745,2.83794124404e-05,1793251828915441664
+30,0.500000000,BASELINE,769.396640257,747,724.396640257,691,672,643,888.206719486,788,820,657,633,657,0.400964006523,0.00452379558254,0.0598367142486,0.999999948632,0.000173286217321,-0.000268149895887,2.83302986729e-05,1793251828932108800
+31,0.516666667,BASELINE,769.989816505,747,724.989816505,691,672,643,887.020366991,788,820,657,633,657,0.400964737643,0.00452311496517,0.0598375123658,0.999999948992,0.000173468228548,-0.000266691333343,2.83059516093e-05,1793251828948775680
+32,0.533333333,BASELINE,769.432602309,747,724.432602309,691,672.567397691,643,887.567397691,788,820,656.432602309,633,656.432602309,0.400963696644,0.00452334966555,0.0598373421141,0.99999994895,0.000172480183547,-0.000267449414478,2.86610087195e-05,1793251828965442304
+33,0.550000000,BASELINE,769,747,724,691,673,642.85588062,888,788,820,656.14411938,633,656.14411938,0.400963444445,0.00452365817302,0.0598374418425,0.999999949097,0.000171467185547,-0.000267537681935,2.87937972523e-05,1793251828982108928
+34,0.566666667,BASELINE,769,747,724,691,673,642.280914147,888,788,820,656.719085853,633,656.719085853,0.400965642913,0.00452413953021,0.0598383992488,0.999999949829,0.000170440690357,-0.000265507778491,2.82422980249e-05,1793251828998775552
+35,0.583333333,BASELINE,769,747,724,691,673,642.301404262,887.698595738,788,820,656.698595738,633,657,0.400965895951,0.00452448996428,0.0598383004833,0.999999949871,0.000170743384163,-0.000265188089514,2.79310691358e-05,1793251829015441920
+36,0.600000000,BASELINE,769,747,724,691,673,642.890746192,887.109253808,788,820,656.109253808,633,657,0.400964290479,0.00452471532485,0.0598371927355,0.999999949254,0.000172315879338,-0.000266502203233,2.78493753613e-05,1793251829032108288
+37,0.616666667,BASELINE,769,747,724,691.471752128,672.528247872,643,887,788,820,656.471752128,633,657,0.400963191016,0.00452495987558,0.0598367621914,0.999999948535,0.000174275029474,-0.000267914601964,2.79328395189e-05,1793251829048774912
+38,0.633333333,BASELINE,769.050472119,747,724,691.949527881,672,643,887.050472119,788,820,657,633,656.949527881,0.400962411797,0.004525048484,0.0598366151049,0.999999947967,0.000175743892702,-0.000269059472803,2.80601625372e-05,1793251829065441792
+39,0.650000000,BASELINE,769.625153147,747,724,691.374846853,672,643,887.625153147,788,820,657,633,656.374846853,0.400963762679,0.00452347210156,0.059837811422,0.999999949249,0.000171206698164,-0.000267193467372,2.82526461864e-05,1793251829082108672
+40,0.666666667,BASELINE,770,747,724,691,672.200264492,643,888,788,820,656.799735508,633,656,0.400964057824,0.00452247773253,0.059838023161,0.999999949819,0.000168408758708,-0.000266824865033,2.83799486981e-05,1793251829098775552
+41,0.683333333,BASELINE,770,747,724,691,672.776182986,643,888,788,820,656.223817014,633,656,0.400962372626,0.00452257509813,0.0598363880391,0.999999949086,0.000168873295708,-0.000269265075606,2.8384985115e-05,1793251829115442688
+42,0.700000000,BASELINE,770,747,724,691,673,643,888,788,820,656,633,656,0.400961493818,0.00452404131508,0.0598358355617,0.999999948404,0.000171227573205,-0.000270319754366,2.8300293619e-05,1793251829132109056
+43,0.716666667,BASELINE,770,747,724,691,673,643,888,788,820,656,633,656,0.4009611276,0.00452637765671,0.0598359712787,0.999999947746,0.000174783084007,-0.000270493705234,2.81585656357e-05,1793251829148775680
+44,0.733333333,BASELINE,770,747,724,691,672.468846817,642.468846817,887.468846817,788,820,656.531153183,633,656.531153183,0.400961824594,0.00452487845317,0.0598362907931,0.999999948355,0.000172589692277,-0.000269635170555,2.82781840549e-05,1793251829165441792
+45,0.750000000,BASELINE,770,747,724,691,672.108156222,642,887.108156222,788,820,656.891843778,632.891843778,657,0.400962851936,0.00452323948445,0.0598368473899,0.99999994908,0.000170150383849,-0.000268478979947,2.84254379011e-05,1793251829182108160
+46,0.766666667,BASELINE,770,747,724,691,672.685684666,642,887.685684666,788,820,656.314315334,632.314315334,657,0.400964915666,0.00452242702248,0.0598383641957,0.999999949857,0.000168791787486,-0.000266416795779,2.85949774403e-05,1793251829198774784
+47,0.783333333,BASELINE,770,747,724,691,673,642.259417435,888,788,820,656.259417435,632.259417435,657,0.400966049992,0.00452209240725,0.0598390533348,0.999999950216,0.000168345235334,-0.000265342933227,2.86696652607e-05,1793251829215441664
+48,0.800000000,BASELINE,770,747,724,691,673,642.82861768,888,788,820,656.82861768,632.82861768,657,0.400966074474,0.00452232841165,0.0598387541177,0.99999995008,0.000168987798771,-0.00026544927268,2.86310861133e-05,1793251829232108800
+49,0.816666667,BASELINE,769.582516133,747,724.417483867,691,672.582516133,643,887.582516133,788.417483867,820,657,633,656.582516133,0.400965448301,0.00452353747402,0.0598385056078,0.999999949567,0.000171121655198,-0.000266029934641,2.84801786374e-05,1793251829248775424
+50,0.833333333,BASELINE,769,747,724.985689775,691,672,643,887.014310225,788.985689775,820,657,633,656.014310225,0.4009645614,0.00452511722156,0.0598382658574,0.999999948902,0.000173812898701,-0.00026680343257,2.82860939277e-05,1793251829265442048
+51,0.850000000,BASELINE,769,747,724.408985003,691,672,643,887.591014997,788.408985003,820,657,633,656.591014997,0.400964443896,0.0045247903647,0.0598375118442,0.999999948929,0.000173160851271,-0.000267124784621,2.82969386246e-05,1793251829282108672
+52,0.866666667,BASELINE,769,747,724.167106457,691,672.167106457,642.832893543,888,788,820,656.832893543,633,656.832893543,0.400964309821,0.00452447611707,0.0598371091896,0.999999948943,0.000172792996961,-0.000267315364679,2.82569583988e-05,1793251829298775296
+53,0.883333333,BASELINE,769,747,724.741702315,691,672.741702315,642.258297685,888,788,820,656.258297685,633,656.258297685,0.400964135335,0.00452419261711,0.0598375633239,0.999999948926,0.00017311814814,-0.000267187056974,2.80930415047e-05,1793251829315441664
+54,0.900000000,BASELINE,769,747,724.674987869,691,672.674987869,642.325012131,888,788,820,656.325012131,633,656.325012131,0.400963573947,0.00452324880295,0.0598375394429,0.99999994924,0.000170756714831,-0.000267537859841,2.80169441182e-05,1793251829332108288
+55,0.916666667,BASELINE,769,747,724.084562027,691,672.084562027,642.915437973,888,788,820,656.915437973,633,656.915437973,0.400962696604,0.00452176575833,0.0598371252016,0.999999949809,0.000166201343841,-0.000268279917382,2.80125625279e-05,1793251829348774656
+56,0.933333333,BASELINE,769.496151099,747,724,691,672,643,888,788,820,657,633,656.503848901,0.400963338951,0.00452243794915,0.0598374327042,0.999999949767,0.000167404113289,-0.000267674470222,2.81309346677e-05,1793251829365441536
+57,0.950000000,BASELINE,770,747,724,691.074792627,672,643,888,788,820,657,633,656,0.400964113375,0.00452338725937,0.0598378014213,0.999999949597,0.000169533072969,-0.000266957164861,2.82589036344e-05,1793251829382108160
+58,0.966666667,BASELINE,770,747,724,691.65043395,672,643,888,788,820,657,633,656,0.400964071091,0.00452377970462,0.0598377721331,0.999999949263,0.000171418537751,-0.000266999213108,2.83137258071e-05,1793251829398774784
+59,0.983333333,BASELINE,770,747,724,691.769327738,672.230672262,643,887.769327738,788,820,657,633,656.230672262,0.400963983837,0.00452394335756,0.0598375350833,0.999999948992,0.000172314632679,-0.000267432440315,2.83413233834e-05,1793251829415441408
+60,1.000000000,BASELINE,770,747,724,691.181981302,672.818018698,643,887.181981302,788,820,657,633,656.818018698,0.400963827047,0.00452375324323,0.0598369767846,0.999999948823,0.000171680926815,-0.000268470523236,2.83268252677e-05,1793251829432108032
+61,1.016666667,BASELINE,770,747,724,691,673,643,887,788,820,657,633,657,0.400963763567,0.00452392868933,0.0598369861377,0.999999948631,0.000173020704052,-0.000268318505612,2.84072822281e-05,1793251829448774400
+62,1.033333333,BASELINE,770,747,724,691,673,643,887,788,820,657,633,657,0.400963741976,0.00452426824711,0.0598372503278,0.999999948424,0.000175246440486,-0.000267632214044,2.85303675348e-05,1793251829465441024
+63,1.050000000,BASELINE,770,747,724,691,673,642.442650858,887.557349142,788.557349142,820,657,633,657,0.400962883239,0.00452453061942,0.0598370754757,0.999999948528,0.000173622617535,-0.000268325535052,2.8281961419e-05,1793251829482107648
+64,1.066666667,BASELINE,770,747.134133123,724,691,672.865866877,642,888,788.865866877,820,657,633,657,0.400962538543,0.00452454317821,0.0598370165102,0.999999948656,0.000172472398067,-0.000268610909139,2.80805095182e-05,1793251829498774272
+65,1.083333333,BASELINE,770,747.706969389,724,691,672.293030611,642,888,788.293030611,820,657,633,657,0.400963976499,0.00452374803278,0.0598373897513,0.999999948833,0.000173337473675,-0.000267394915613,2.80776278356e-05,1793251829515440896
+66,1.100000000,BASELINE,770,747.711280092,724,691,672,642.288719908,888,788,820,656.711280092,633,656.711280092,0.400965006554,0.00452321819875,0.0598380183201,0.999999949174,0.000173207688344,-0.000266191120783,2.81553987478e-05,1793251829532107776
+67,1.116666667,BASELINE,770,747.120194027,724,691,672,642.879805973,888,788,820,656.120194027,633,656.120194027,0.400965609431,0.00452296621602,0.0598389142844,0.999999949688,0.000172036020254,-0.000265000101292,2.83176342728e-05,1793251829548774400
+68,1.133333333,BASELINE,770,747,724,691,672,642.540006954,887.540006954,787.540006954,820,656.459993046,633,656.459993046,0.400964221243,0.00452348069988,0.0598382303796,0.999999949349,0.000172629596168,-0.000265907042115,2.81952944914e-05,1793251829565441024
+69,1.150000000,BASELINE,770,747,724,691,672.037410894,642,887.037410894,787.037410894,820,657,633,657,0.400962470255,0.0045239995147,0.0598372388969,0.999999948875,0.000173306539961,-0.000267260725315,2.80322931256e-05,1793251829582107648
+70,1.166666667,BASELINE,770,747,724,691,672.615011732,642,887.615011732,787.615011732,820,657,633,657,0.400962818952,0.00452175596441,0.0598376289701,0.999999949639,0.000168681253158,-0.000267332814195,2.83309990647e-05,1793251829598774272
+71,1.183333333,BASELINE,770,747,724,691,672.808760821,642.191239179,888,788,819.808760821,657,633,657,0.400963441368,0.00452122892827,0.0598379567147,0.999999949862,0.000167653528051,-0.000267131625553,2.84563061067e-05,1793251829615440896
+72,1.200000000,BASELINE,770,747,724,691,672.235278364,642.764721636,888,788,819.235278364,657,633,657,0.400964610886,0.00452413280998,0.0598381598789,0.999999949015,0.00017381650318,-0.000266384217813,2.82350285602e-05,1793251829632107776
+73,1.216666667,BASELINE,770,747,724,691,672.349423397,643,887.650576603,788,819.349423397,656.650576603,632.650576603,657,0.400964981954,0.00452548747507,0.0598380979336,0.999999948772,0.0001754879824,-0.000266228066297,2.79900313343e-05,1793251829648774144
+74,1.233333333,BASELINE,770,747,724,691,672.941930055,643,887.058069945,788,819.941930055,656.058069945,632.058069945,657,0.400964797565,0.00452576439697,0.0598378515595,0.999999948965,0.000174034863762,-0.000266483233856,2.77285330604e-05,1793251829665441024
+75,1.250000000,BASELINE,770,747,724,691,672.478361251,643,887,788,820,656.521638749,632.521638749,656.478361251,0.40096414066,0.00452609959017,0.0598374946238,0.999999948626,0.000174713132542,-0.000267283089117,2.79877806652e-05,1793251829682107648
+76,1.266666667,BASELINE,770,747,724,691,672.099253373,643,887.099253373,788,820,657,633,656.099253373,0.400963401526,0.00452615443464,0.0598371932131,0.999999948359,0.000175015682422,-0.000268062661397,2.81786203547e-05,1793251829698774528
+77,1.283333333,BASELINE,770,747,724,691,672.673501308,643,887.673501308,788,820,657,633,656.673501308,0.400962514576,0.0045248373199,0.059837215019,0.999999948716,0.000172411853997,-0.000268461931431,2.77712970346e-05,1793251829715441152
+78,1.300000000,BASELINE,769.752227194,747,724.247772806,691,673,642.752227194,888,787.752227194,820,656.752227194,633,656.752227194,0.400962367732,0.00452363459574,0.0598371727002,0.999999949058,0.000170234274584,-0.000268584825146,2.76703147088e-05,1793251829732107776
+79,1.316666667,BASELINE,769.17792469,747,724.82207531,691,673,642.17792469,888,787.17792469,820,656.17792469,633,656.17792469,0.400963196242,0.00452258262239,0.0598370458743,0.999999949389,0.000168618431603,-0.000268343493728,2.79730467452e-05,1793251829748774400
+80,1.333333333,BASELINE,769.410330689,747,725,691,672.589669311,642.410330689,888,787.410330689,820,656.410330689,633,656.410330689,0.400963964805,0.00452368817505,0.0598379540484,0.999999949386,0.000170518016207,-0.000267130670419,2.81440750272e-05,1793251829765441024
+81,1.350000000,BASELINE,769.99528792,747,724.99528792,691,672.00471208,643,888,788,820,656.99528792,633,657,0.400964700494,0.00452573923455,0.0598393097281,0.999999949225,0.000173958589125,-0.000265499601142,2.82545413217e-05,1793251829782107648
+82,1.366666667,BASELINE,769.417584975,747,724.417584975,691,672.582415025,643,888,788,820,656.417584975,633,657,0.400964710878,0.004524998825,0.0598385882806,0.999999949268,0.000172899357303,-0.000266037161609,2.81895047614e-05,1793251829798774272
+83,1.383333333,BASELINE,769,747,724,691,672.841340298,643,888,788,820,656.158659702,633,657,0.400964604576,0.00452439881905,0.0598382394124,0.999999949418,0.000171847275508,-0.000266155636533,2.81549359419e-05,1793251829815440896
+84,1.400000000,BASELINE,769,747,724,691,672.268898637,643,888,788,820,656.731101363,633,657,0.400964193958,0.00452416498326,0.059838862225,0.999999949853,0.000170813840644,-0.000265181143197,2.81998264873e-05,1793251829832107776
+85,1.416666667,BASELINE,769.31186839,747.31186839,724,690.68813161,672.31186839,643,888,788,820,657,633,657,0.400963858725,0.00452334184049,0.0598386452922,0.999999949937,0.000169590086819,-0.000265652187017,2.81949163195e-05,1793251829848774400
+86,1.433333333,BASELINE,769.900010548,747.900010548,724,690.099989452,672.900010548,643,888,788,820,657,633,657,0.400963590274,0.00452199665042,0.059837684457,0.999999949706,0.000168197735859,-0.00026740378387,2.81458893641e-05,1793251829865441024
+87,1.450000000,BASELINE,770,747.519230005,724,690.480769995,673,643,888,788,820,657,633,656.519230005,0.400964502617,0.00452294360959,0.0598380852149,0.999999949847,0.000168792382204,-0.000266512003623,2.80370387622e-05,1793251829882107648
+88,1.466666667,BASELINE,770,747,724.05978803,691,673,642.94021197,888,788,820,657,633,656.05978803,0.400965355488,0.00452417179945,0.0598386645439,0.999999949985,0.00016978554362,-0.000265366490144,2.79776765439e-05,1793251829898774528
+89,1.483333333,BASELINE,770,747,724.636823258,691,673,642.363176742,888,788,820,657,633,656.636823258,0.400963601379,0.00452377115161,0.0598383759079,0.999999949458,0.000170705287984,-0.000266710107142,2.8452467726e-05,1793251829915440896
+90,1.500000000,BASELINE,770,747,724.787104972,691,672.787104972,642.212895028,887.787104972,788,820,657,633,657,0.400962861959,0.00452327357714,0.0598382852563,0.999999949275,0.000171134586966,-0.000267090534133,2.87164475807e-05,1793251829932107776
+91,1.516666667,BASELINE,770,747,724.212669413,691,672.212669413,642.787330587,887.212669413,788,820,657,633,657,0.400963845693,0.00452261140093,0.0598385308238,0.999999949682,0.000170731006454,-0.000265835261789,2.86224254175e-05,1793251829948774400
+92,1.533333333,BASELINE,769.628321361,747,724,691,672.371678639,643,887.371678639,788,820,657,633,657,0.400964329182,0.00452231498141,0.0598383980463,0.999999949804,0.000170529859851,-0.000265525845371,2.84123368361e-05,1793251829965441024
+93,1.550000000,BASELINE,769.038146051,747,724,691,672.961853949,643,887.961853949,788,820,657,633,657,0.400964518596,0.00452223357719,0.0598380428532,0.999999949761,0.000170447716911,-0.000265772463934,2.81340169214e-05,1793251829982107904
+94,1.566666667,BASELINE,769.542739956,747.542739956,724,691.542739956,672.457260044,643,888,788,820,657,633,657,0.400963804563,0.00452321009247,0.0598375822651,0.999999949457,0.000170388474598,-0.000266948078774,2.81486961113e-05,1793251829998774528
+95,1.583333333,BASELINE,769.878083262,747.878083262,724,691.878083262,672.121916738,643,888,788,820,657,633,656.878083262,0.40096326994,0.00452387033633,0.0598373748993,0.999999949301,0.000170059249464,-0.000267740686237,2.81633899183e-05,1793251830015441152
+96,1.600000000,BASELINE,769.302874658,747.302874658,724,691.302874658,672.697125342,643,888,788,820,657,633,656.302874658,0.400963634481,0.00452308286595,0.0598381361032,0.999999949762,0.000168720332463,-0.00026687057553,2.81028600301e-05,1793251830032107776
+97,1.616666667,BASELINE,769.272582285,747,724,691,673,643,887.727417715,788,820,656.727417715,633,656,0.40096359844,0.00452327849864,0.059838300477,0.999999949696,0.000169873357847,-0.000266385415226,2.81068954657e-05,1793251830048774400
+98,1.633333333,BASELINE,769.848315383,747,724,691,673,643,887.151684617,788,820,656.151684617,633,656,0.400963116896,0.00452456748375,0.0598378010896,0.999999949035,0.000173797782624,-0.000266328375336,2.8182736856e-05,1793251830065441024
+99,1.650000000,BASELINE,770,747,724,690.563123024,673,643,887.436876976,788,820,656.436876976,633,656.436876976,0.400962566518,0.00452496545664,0.0598372257286,0.999999948804,0.000174064342229,-0.000267039804943,2.79772478084e-05,1793251830082107904
+100,1.666666667,BASELINE,769.970797701,747.029202299,724.029202299,690.029202299,673,643,887.970797701,788,820,656.970797701,633,657,0.400962138231,0.00452497643115,0.0598367197833,0.999999948785,0.000172907228055,-0.000267893878819,2.76909086337e-05,1793251830098774528
+101,1.683333333,BASELINE,769.393945775,747.606054225,724.606054225,690.606054225,673,643,887.393945775,788,820,656.393945775,633,657,0.400964461337,0.00452370694201,0.0598380252869,0.999999949785,0.000169589054718,-0.000266267937743,2.77755805023e-05,1793251830115441152
+102,1.700000000,BASELINE,769.182009075,748,725,691.182009075,672.817990925,643,887.182009075,788,820,656.182009075,633,657,0.400965766103,0.00452259373671,0.0598387906553,0.999999950442,0.000167174027309,-0.000265312875292,2.79042142776e-05,1793251830132107776
+103,1.716666667,BASELINE,769.756031715,748,725,691.756031715,672.243968285,643,887.756031715,788,820,656.756031715,633,657,0.400964877553,0.00452181713778,0.059838392673,0.999999950384,0.000166704208044,-0.000265802760368,2.81275337822e-05,1793251830148774400
+104,1.733333333,BASELINE,769.660559986,747.660559986,724.660559986,691.660559986,672.339440014,643,887.660559986,788,820,657,633,657,0.400964324558,0.0045223352416,0.059838193211,0.99999995002,0.000168218866393,-0.000266208220116,2.81927613753e-05,1793251830165441024
+105,1.750000000,BASELINE,769.070213971,747.070213971,724.070213971,691.070213971,672.929786029,643,887.070213971,788,820,657,633,657,0.400964019595,0.00452381035886,0.0598381404904,0.999999949424,0.000171200403438,-0.000266551274713,2.81411312031e-05,1793251830182107648
+106,1.766666667,BASELINE,769,747,724,691,672.493858647,643,887.506141353,788,820,657,633,657,0.400964715071,0.00452290314516,0.059838944769,0.999999949888,0.000169999660015,-0.000265558477627,2.83345119246e-05,1793251830198774528
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,672,643,888,788,820,657,633,656,0.400963202279,0.00452409818608,0.059838233213,0.999999949402,0.000170737446779,-0.000266987506658,2.76247712785e-05,1793251830241931776
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.411370853,747,724,691,672.588629147,643,888,788,820,657,633,656,0.40096391054,0.00452490549001,0.0598385484967,0.999999949353,0.000171977210788,-0.000266364348811,2.7719875037e-05,1793251830258598400
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724,691,673,643,888,788,820,657,633,656.174367252,0.400964644887,0.00452520058643,0.0598388770636,0.999999949594,0.000171935222122,-0.000265484105388,2.7724878552e-05,1793251830275264768
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,724,691,673,643,888,788,820,657,633,656.753396108,0.400965439772,0.00452430698096,0.0598392364572,0.999999950505,0.000168918614981,-0.000264007232256,2.75207825641e-05,1793251830291931392
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,724.331321206,691,673,643,887.668678794,788,820,657,632.668678794,656.668678794,0.400965708255,0.00452282807565,0.0598392557045,0.999999950646,0.000168066773914,-0.000263979245082,2.78639504462e-05,1793251830308598016
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,724.908427465,691,673,643,887.091572535,788,820,657,632.091572535,656.091572535,0.400965586236,0.00452091497557,0.0598390226201,0.999999950221,0.000168820828252,-0.000265026089623,2.86130968184e-05,1793251830325264896
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.483260587,747,724.516739413,691,673,643,887.483260587,788,820,656.516739413,632.483260587,656.483260587,0.400965332862,0.00452127210651,0.0598392750246,0.99999995022,0.000168895665392,-0.000264964194452,2.87763779294e-05,1793251830341931520
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.940802982,747,724,691,672.940802982,643,887.940802982,788,820,656.059197018,633,656.940802982,0.400965372723,0.00452207465171,0.059839723736,0.999999950314,0.000169015849055,-0.000264530628649,2.88081824309e-05,1793251830358598144
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.35113794,747,724,691,672.35113794,643,887.35113794,788,820,656.64886206,633,656.35113794,0.400968262296,0.00452303172677,0.0598411110525,0.999999950532,0.00017069031163,-0.000262640350037,2.86519716661e-05,1793251830375264768
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.234246744,747,724,691,672.234246744,643,887.234246744,788,820,656.765753256,633,656.234246744,0.400976875193,0.00452341389766,0.0598446445129,0.999999952123,0.000170320350244,-0.000256784689261,2.84120546893e-05,1793251830391931392
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.813330221,747,724,691,672.813330221,643,887.813330221,788,820,656.186669779,633,656.813330221,0.400993913446,0.00452294974687,0.0598513373307,0.999999955637,0.000166940773832,-0.000245091553953,2.80489130574e-05,1793251830408598016
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.610137991,747,724.389862009,691,673,643,888,788,820,656.389862009,633.389862009,657,0.401035323478,0.00452360113736,0.059867448606,0.99999996201,0.000169030928893,-0.000215894128866,2.82492977101e-05,1793251830425265408
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.034819983,747,724.965180017,691,673,643,888,788,820,656.965180017,633.965180017,657,0.401088327083,0.00452478318693,0.0598880402092,0.99999996859,0.000173723015678,-0.000178369972789,2.87177497894e-05,1793251830441933056
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.540763952,747,725,691,673,643,888,788,820,656.459236048,633.459236048,657,0.401151220699,0.00452346257477,0.059903836335,0.999999972697,0.000170170484052,-0.000157518913792,2.89030619784e-05,1793251830458599168
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,691,672.88052661,643,888.11947339,788,820,656.11947339,633,657,0.401218722824,0.0045219603049,0.0599186920933,0.999999976307,0.000166565411299,-0.000137112286163,2.90199562243e-05,1793251830475265280
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,691,672.289549763,643,888.710450237,788,820,656.710450237,633,657,0.40130189805,0.00452037740278,0.0599310558964,0.99999997947,0.000164849115484,-0.000114220597897,2.89388243368e-05,1793251830491931648
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,724.705237006,691,672.294762994,643,888.705237006,788,820,656.705237006,633.294762994,656.705237006,0.401392258559,0.00451947422652,0.0599389985362,0.99999998133,0.000162853733913,-0.000100023909806,2.85318623815e-05,1793251830508598528
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,724.127325786,691,672.872674214,643,888.127325786,788,820,656.127325786,633.872674214,656.127325786,0.401489521218,0.00451922399247,0.0599426942224,0.999999982284,0.000160590263771,-9.41796076779e-05,2.78119093006e-05,1793251830525265408
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.550952997,747,724,691,673,642.550952997,888,788,820,656.449047003,634,656,0.401609888502,0.00451960470797,0.0599469011438,0.99999998323,0.000159986320299,-8.49994854139e-05,2.68317380226e-05,1793251830541932288
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724,691,673,642.024836821,888,788,820,657,633.975163179,656,0.40173739335,0.00452018512341,0.0599510283882,0.999999984063,0.000159789006978,-7.53474151308e-05,2.57595552361e-05,1793251830558599168
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724,691,673,642.597357831,888,788,820,657,633.402642169,656,0.401878320705,0.00452123759389,0.05995021303,0.999999984295,0.000158217533663,-7.60745194204e-05,2.42798768684e-05,1793251830575265792
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.176405042,747,724,691,672.823594958,643,888,788,820,657,633,656,0.402027848198,0.00452205463173,0.0599492927364,0.999999984788,0.000155630857958,-7.54566658119e-05,2.25688165254e-05,1793251830591932672
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.770920388,747,724,691,672.229079612,643,888,788,820,657,633,656,0.402197759475,0.00452231365355,0.0599481237277,0.999999985881,0.000150637978117,-7.16510304436e-05,2.03093412951e-05,1793251830608599040
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.29033555,747,724.354832225,691,672.354832225,643,888,788,820,657,633,656.354832225,0.402394143834,0.00452146563978,0.0599478828011,0.999999986915,0.000145582332213,-6.81347511211e-05,1.82389548662e-05,1793251830625265664
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.135805745,747,724.932097127,691,672.932097127,643,888,788,820,657,633,656.932097127,0.402607123315,0.00451992366174,0.0599482236585,0.9999999879,0.000140487339835,-6.47998592358e-05,1.62871017811e-05,1793251830641932032
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.011611995,747.505805997,724.494194003,691,673,643,888.505805997,788,820,657,633,657,0.402859993666,0.00452041368687,0.059951371293,0.999999989068,0.000136525507031,-5.50971046069e-05,1.37164982258e-05,1793251830658598656
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,748,724,691,673,643,888.918559781,788,820,657,633,657,0.40312050411,0.00452123613711,0.0599544243273,0.999999990094,0.000132579263172,-4.59542355655e-05,1.10915198533e-05,1793251830675265280
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,748,724,691,673,643,888.32792328,788,820,657,633,657,0.403395534317,0.00452244335677,0.0599545464242,0.999999990757,0.000127785992532,-4.56196281149e-05,8.64229879848e-06,1793251830691932416
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747.742347581,724,691,673,643,888,788,820,657,633,657,0.40368467568,0.00452188064965,0.0599498070148,0.999999991314,0.000120474191921,-5.31376481613e-05,5.81934924639e-06,1793251830708599296
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747.163088898,724,691,673,643,888,788,820,657,633,657,0.403991430819,0.00451910868885,0.059938999388,0.999999991463,0.000110018718321,-7.04574554589e-05,2.52990538021e-06,1793251830725265920
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.586642244,747,724,691,673,643,888,788.413357756,819.586642244,657,633,656.586642244,0.404321246494,0.00451860779987,0.0599268090638,0.999999990297,0.00010385992677,-9.283692087e-05,-7.40398954732e-07,1793251830741932544
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.011297583,747,724,691,673,643,888,788.988702417,819.011297583,657,633,656.011297583,0.40466009914,0.00451899690006,0.0599140768874,0.999999988185,9.93849219654e-05,-0.000117199167934,-4.00320279995e-06,1793251830758599168
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,724,691.562725361,672.437274639,643,888.562725361,788.437274639,819.562725361,656.437274639,633,656,0.405058503049,0.00451963563922,0.0599061190891,0.999999986847,9.27571716936e-05,-0.000132816532202,-7.90216481808e-06,1793251830775265280
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,724,692,672.141163139,642.858836861,889,788.141163139,820,656.141163139,633,656.141163139,0.405473834184,0.00451968293625,0.0599042108782,0.999999986843,8.4894646177e-05,-0.000137730875203,-1.16994659214e-05,1793251830791931904
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,724,692,672.733805347,642.266194653,889,788.733805347,820,656.733805347,633,656.733805347,0.405939488376,0.00451782264451,0.0599213450894,0.999999991267,7.32208713051e-05,-0.000108974166435,-1.51308740667e-05,1793251830808599040
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.318028936,747,724,691.681971064,673,642.318028936,889,789,820,657,633.318028936,657,0.406441905779,0.00451687242332,0.0599467342555,0.999999995782,6.1765333221e-05,-6.53104192863e-05,-1.88580278858e-05,1793251830825266176
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.895387806,747,724,691.104612194,673,642.895387806,889,789,820,657,633.895387806,657,0.406974301011,0.0045166642996,0.0599788547508,0.99999999842,5.04877502935e-05,-9.49104134331e-06,-2.28263415641e-05,1793251830841933312
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,691.470844026,673,643,888.529155974,789,820,657,633.529155974,657,0.407517262264,0.00451529052992,0.0599978708013,0.999999998688,4.17149395132e-05,1.46767863321e-05,-2.58648351863e-05,1793251830858599680
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724.04697433,691.95302567,672.95302567,643,888.093948661,788.95302567,820.04697433,657,633,657,0.408062873806,0.0045138377073,0.0600116000007,0.999999998644,3.34966049688e-05,2.76122444973e-05,-2.87715828461e-05,1793251830875266304
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724.635735767,691.364264233,672.364264233,643,889.271471535,788.364264233,820.635735767,657,633,657,0.408612086319,0.00451444812264,0.0599977980573,0.999999999117,2.52806327976e-05,-8.22046658781e-06,-3.25319422689e-05,1793251830891932928
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,691,672,643,890,788,820.779167438,656.779167438,633,657,0.409184319327,0.00451487431602,0.0599860627979,0.999999998486,1.69550712285e-05,-3.74619258267e-05,-3.65736269982e-05,1793251830908599296
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,725,691,672,643,890,788,820.200016846,656.200016846,633,657,0.409793904848,0.00451500159489,0.0599776808952,0.999999997552,8.45169285808e-06,-5.60085634871e-05,-4.10717837691e-05,1793251830925265920
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,725,691.37746666,672.37746666,643,890,788.37746666,820,656.37746666,633,657,0.410451168677,0.00451440745985,0.0599820301977,0.999999998085,-2.6900040997e-07,-4.13137131653e-05,-4.6075465001e-05,1793251830941932544
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,725,691.954070656,672.954070656,643,890,788.954070656,820,656.954070656,633,657,0.411133585784,0.00451343273372,0.0599930960098,0.999999998599,-9.1043406458e-06,-9.08189258144e-06,-5.13458419109e-05,1793251830958598912
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747.529079537,725,692,673,643,890.529079537,789,820.529079537,657,633.529079537,657,0.411829316848,0.0045146276734,0.0599916682704,0.999999998709,1.22395983507e-05,-1.21176850514e-05,-4.78035292058e-05,1793251830975265280
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.893327831,748,725,692,672.893327831,643,891,789,820.893327831,657,633.893327831,657,0.412521349729,0.00451727753628,0.0599822983482,0.999999997704,4.25921439525e-05,-3.12743856898e-05,-4.24297783579e-05,1793251830991931648
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.303404929,748,725,692,672.303404929,643,891,789,820.303404929,657,633.303404929,657,0.413191408497,0.00452566785346,0.0599418469862,0.999999988277,0.000101922923349,-0.000109634698656,-3.22145185956e-05,1793251831008598272
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,748,725,692.281351604,672,643,891,789,820,657,633.281351604,657,0.41391482622,0.00452875965466,0.0599192784345,0.999999980391,0.000125514201582,-0.000150308713973,-2.95203084891e-05,1793251831025264640
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,748,725,692.86063734,672,643,891,789,820,657,633.86063734,657,0.414694747892,0.0045262406527,0.0599156466797,0.999999981794,0.000111259543151,-0.000151075256702,-3.47904287307e-05,1793251831041931520
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747.562608198,725,692.562608198,672.874783603,643,891.874783603,789,820.437391802,657,633.562608198,657,0.415547264832,0.00452290835893,0.0599576736492,0.999999991203,0.000103034996281,-7.45743753223e-05,-3.76271962011e-05,1793251831058598144
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,692.013356562,673.986643438,643,893,789,821.013356562,657,633,657,0.416421977996,0.00451944534869,0.0600130686661,0.999999994208,9.70988793826e-05,2.41889537589e-05,-3.96418463043e-05,1793251831075264512
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,692.589836266,673.410163734,643,893,789,821.589836266,657,633,657,0.417262916902,0.00452133359424,0.0600222505307,0.999999993047,0.000107106255462,2.95664119737e-05,-3.94954084537e-05,1793251831091931392
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.169889946,747,725,693,672.830110054,643,893.169889946,789,822.169889946,657,633.169889946,657,0.418108253674,0.00452180808982,0.0600225377352,0.999999992428,0.000113528178301,2.56978630282e-05,-3.99246607125e-05,1793251831108598272
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.758757626,747,725,693,672.241242374,643,893.758757626,789,822.758757626,657,633.758757626,657,0.418964436289,0.0045187960355,0.0600008891825,0.999999992955,0.000111107758105,-9.72925114081e-07,-4.17736634829e-05,1793251831125264640
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.658383902,747,725,693,672,642.658383902,894.341616098,788.658383902,823,657,633.658383902,657,0.419817644728,0.00451857522665,0.0599728373561,0.999999994098,8.99020691889e-05,-4.23633217714e-05,-4.38978587586e-05,1793251831141931520
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.079695679,747,725,693,672,642.079695679,894.920304321,788.079695679,823,657,633.079695679,657,0.420668789136,0.00452029146509,0.0599403418358,0.999999992968,5.56599230733e-05,-9.39687185035e-05,-4.62130298283e-05,1793251831158598144
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.494814088,747,725,693,672,642.494814088,895,788,823,657,633,657,0.421496398101,0.00451978955075,0.059900696782,0.999999984412,-4.09963826184e-06,-0.000170165382275,-4.69324005685e-05,1793251831175264768
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.930978871,747,724.930978871,693,671.930978871,643,895,788,823.069021129,656.930978871,633.069021129,657,0.422341025114,0.00451895433393,0.0598694019023,0.999999970334,-5.95239735742e-05,-0.000231366455522,-4.75157027483e-05,1793251831191931392
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.354089133,747,724.354089133,693,671.354089133,643,895,788,823.645910867,656.354089133,633.645910867,657,0.423338531998,0.0045182733868,0.059907951069,0.999999985638,-5.30610382091e-05,-0.000153327981943,-4.89731701105e-05,1793251831208598272
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.229359955,747.229359955,724.229359955,693.229359955,671.688079864,643,895.229359955,788,824,656.229359955,633.770640045,657,0.424343599878,0.00451734351431,0.0599570157841,0.999999995379,-4.66862673858e-05,-6.7871045196e-05,-4.95641312413e-05,1793251831225264896
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.823233679,747.823233679,724.823233679,693.823233679,673.469701038,643,895.823233679,788,824,656.823233679,633.176766321,657,0.425360684337,0.00451601803333,0.0600227924991,0.999999997561,-4.04516124789e-05,2.93758077409e-05,-4.87779845509e-05,1793251831241931520
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.596813724,747.596813724,724.596813724,694,672.790441171,643,896,788,824.403186276,656.596813724,633,657,0.426338888403,0.00451491051916,0.060042341736,0.999999995941,-3.42584936531e-05,6.68959725751e-05,-4.969189447e-05,1793251831258598400
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.022760809,747.022760809,724.022760809,694,671.068282426,643,896,788,824.977239191,656.022760809,633,657,0.427300615254,0.00451389537739,0.0600423001885,0.99999999516,-2.80829779044e-05,7.91045101655e-05,-5.13262729237e-05,1793251831275265024
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,724.551587547,693.448412453,671,643,896.551587547,787.448412453,825,656.551587547,633,657,0.428222568976,0.00451208724431,0.0600136063007,0.999999997551,-2.42235660101e-05,3.84651521265e-05,-5.32131030503e-05,1793251831291931648
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725,693.258674004,671,643,897,787.129337002,825.129337002,657,633.129337002,657,0.429135584831,0.00451095893651,0.059980188467,0.999999998245,-1.8339691735e-05,-1.27341651367e-05,-5.48769189124e-05,1793251831308598272
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725,694.43830383,671,643,897,787.719151915,825.719151915,657,633.719151915,657,0.430022625506,0.00451236757042,0.0599341636406,0.999999994041,-4.90768660008e-06,-9.37618663323e-05,-5.57096299132e-05,1793251831325265152
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.30413755,724.69586245,695,671,643,897.30413755,787.69586245,826,656.69586245,634,657,0.43097416575,0.00451094595283,0.0599240979648,0.999999992725,-6.5721985924e-07,-0.000106310816344,-5.6995138003e-05,1793251831341931776
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.884733383,724.115266617,695,671,643,897.884733383,787.115266617,826,656.115266617,634,657,0.431984335472,0.00450695166212,0.0599467188342,0.999999996664,-4.75268923907e-06,-5.66131965927e-05,-5.86922346522e-05,1793251831358598144
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.539820092,724.460179908,695,671.920359815,643,898,787,826.460179908,656.460179908,634,657.460179908,0.432982693128,0.00450579999841,0.0599854461403,0.999999998234,-2.45405469801e-06,6.34149388027e-06,-5.90465211418e-05,1793251831375264768
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.034960512,725,695,672.930078977,643,898,787,827,657,634,657.965039488,0.433973060771,0.00450519130825,0.0600246847597,0.999999996009,1.34246675345e-06,6.69993923644e-05,-5.90950729071e-05,1793251831391931648
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.619320425,725,695,671.76135915,643,898,787,827,657,634,657.380679575,0.434883846451,0.00450204980716,0.060009260628,0.99999999742,3.7875776353e-06,3.99573385972e-05,-5.9566240257e-05,1793251831408598272
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.797398538,724.797398538,695,671,643,898,787,827,657,634,657,0.435795685607,0.00449850159674,0.0599864076206,0.999999998179,3.8605695123e-06,-1.38417386488e-06,-6.0217268394e-05,1793251831425264640
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.216133827,724.216133827,695,671,643,898,787,827,657,634,657,0.436709493872,0.00449419324382,0.0599496700006,0.999999995715,-4.99941703203e-07,-6.94514581663e-05,-6.12044572943e-05,1793251831441931520
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643.363364531,898.363364531,787,827,657,634,657.363364531,0.437579374668,0.00449374621536,0.0599146819562,0.999999988844,5.10675071927e-06,-0.000136214453303,-6.10910409071e-05,1793251831458598144
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724,695,671,643.941817287,898.941817287,787,827,657,634,657.941817287,0.4384232532,0.0044955848407,0.0598807295493,0.999999977599,1.66133812297e-05,-0.000202205389499,-6.03261374348e-05,1793251831475265024
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747.518467243,724.518467243,695,671.518467243,644,898.481532757,787,827,656.481532757,634,657.481532757,0.439352393636,0.0044905094176,0.0599002490075,0.999999983751,9.85098752985e-06,-0.000169169911373,-6.1495072212e-05,1793251831491931904
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672.096604927,643.903395073,898.096604927,787,827.096604927,656.096604927,634,657,0.440287831475,0.00448521552656,0.0599314729983,0.999999991225,2.28496648546e-06,-0.000116722110306,-6.26109596528e-05,1793251831508598528
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,748,725,695,672.68331308,643.31668692,898.68331308,787,827.68331308,656.68331308,634,657,0.441206844132,0.00448273599487,0.0599917398565,0.999999997814,1.00691170626e-06,-2.19732281968e-05,-6.23605544356e-05,1793251831525265152
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672.732009145,643.267990855,899,787,828,657,634,657,0.442101792787,0.00448075579292,0.0600194800094,0.999999997758,2.04926639691e-06,2.36492512814e-05,-6.26083520929e-05,1793251831541931776
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672.14971268,643.85028732,899,787,828,657,634,657,0.442968518585,0.00447936121611,0.060009072118,0.999999997903,5.81304878694e-06,1.16551913087e-05,-6.34404536283e-05,1793251831558598400
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,748,724.572484309,695,672,643.572484309,899,787,828,656.572484309,634,657.427515691,0.443781346702,0.00447425338514,0.0599925336633,0.999999997881,2.64583521896e-06,-1.04313828143e-05,-6.42096537294e-05,1793251831575264768
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747.997011746,724,695,672.002988254,643.002988254,899,787,828,656,634,657.997011746,0.444575327739,0.00446789921112,0.059973947571,0.999999997239,-2.8776485681e-06,-3.5966375092e-05,-6.49573656521e-05,1793251831591931648
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.421891866,724,695,672.578108134,643.578108134,899,787,828,656,634,657.421891866,0.445332218013,0.0044689690101,0.0599695462243,0.999999996434,-2.68907898253e-07,-5.29820602006e-05,-6.57589390217e-05,1793251831608598272
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,724.157606854,695,672.842393146,643.842393146,899,787,828,656,633.842393146,657.157606854,0.446071993967,0.00446907011656,0.0599593884081,0.999999994809,2.86910908835e-06,-7.78114839907e-05,-6.57220662317e-05,1793251831625265152
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,724.749162233,695,672.250837767,643.250837767,899,787,828,656,633.250837767,657.749162233,0.446764648199,0.00446650406329,0.059933380954,0.999999990257,7.46441529236e-06,-0.000124154952892,-6.33766488385e-05,1793251831641931776
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643.331432649,899,786.668567351,828,656,633.331432649,658,0.447503363799,0.00446350955051,0.0599351564209,0.999999991229,4.95764168185e-06,-0.000116143861388,-6.34715943036e-05,1793251831658598144
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643.906867401,899,786.093132599,828,656,633.906867401,658,0.448275989929,0.00446019960421,0.0599573857919,0.99999999554,-2.77771306487e-06,-6.81167123599e-05,-6.53631452045e-05,1793251831675265024
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.517148287,747.482851713,725,695,672,644,899.482851713,786,828,656.482851713,634,657.517148287,0.448969394046,0.00445947311875,0.0599734559316,0.999999996697,-1.74613704342e-05,-4.42526515875e-05,-6.58990731826e-05,1793251831691931648
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.06032541,748,725,695,672,644,900,786.06032541,828.06032541,656.93967459,634,657.06032541,0.449637444407,0.00445879737174,0.0599836123574,0.999999996462,-4.05800751924e-05,-3.22242946807e-05,-6.6260915616e-05,1793251831708598016
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.649935673,748,725,695,672,644,900,786.649935673,828.649935673,656.350064327,634,657.649935673,0.450217265379,0.00445418982488,0.0599523180064,0.999999986346,-0.000125934441769,-8.31026158529e-05,-6.73920945228e-05,1793251831725264640
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672.234993635,644,900,787,829,656.234993635,634.234993635,658,0.450795378427,0.00445043889962,0.0599250418719,0.999999974224,-0.000178010536242,-0.000122945154311,-6.89065922092e-05,1793251831741932032
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672.81339897,644,900,787,829,656.81339897,634.81339897,658,0.451370995523,0.00444793981242,0.0599036378249,0.999999970263,-0.000181454890729,-0.000146660372103,-7.098125956e-05,1793251831758599424
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,725,695,672.609750182,643.609750182,900,787,829,657,634.609750182,658,0.451948833867,0.00444494175643,0.0599113933241,0.999999971381,-0.000186475679803,-0.000131314631387,-7.22605162431e-05,1793251831775266560
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672.033639625,643.033639625,900,787,829,657,634.033639625,658,0.452527730156,0.00444170606087,0.059933036374,0.999999974104,-0.00019224726323,-9.73656843377e-05,-7.31609500288e-05,1793251831791933184
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672,643.540791933,900,787,829,657,634,658,0.4530421211,0.00444043287907,0.0599486183999,0.999999975136,-0.000197651010041,-7.06660920826e-05,-7.52893712231e-05,1793251831808599808
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,748,725,694.881372618,672,643.881372618,900,787,829,656.881372618,634,657.881372618,0.453530596501,0.0044397041462,0.0599559689867,0.999999974858,-0.000201772083194,-6.00203084614e-05,-7.72625898382e-05,1793251831825266432
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,748,725,694.289543636,672,643.289543636,900,787,829,656.289543636,634,657.289543636,0.453931651896,0.00444066175131,0.059931983855,0.99999997053,-0.000200867595051,-0.000111619522767,-7.83129505626e-05,1793251831841932800
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+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747,725,694.447892558,671.552107442,643,901,787,829,656,633.447892558,658,0.455130257054,0.00443696194113,0.059898432488,0.999999963915,-0.000207325271643,-0.00014946528714,-8.2746436908e-05,1793251831891933440
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+209,3.483333333,POSE1_TO_POSE2_PRESS,768.801822232,748,725,694.801822232,671,643,901,787,828.198177768,656,633.198177768,657.198177768,0.456185969883,0.00443831391434,0.059929273217,0.999999979329,-0.000164044210575,-9.72664912692e-05,-7.05008556484e-05,1793251831941933056
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+212,3.533333333,POSE1_TO_POSE2_PRESS,768.931943302,748,725,694,671.931943302,643,901,787,829,656.931943302,634,658,0.456943150745,0.00444768846419,0.0598788257027,0.999999979505,-9.79381096779e-05,-0.000168385802902,-5.51670194747e-05,1793251831991931904
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,694.081818779,671.918181221,642.918181221,901,786.081818779,829,656,633,657,0.457323486382,0.00444433667723,0.0598286371342,0.999999962775,-0.000109888919906,-0.000242773976373,-5.86100259939e-05,1793251832025265664
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,694.672722544,671.327277456,642.327277456,901,786.672722544,829,656,633,657,0.45750010405,0.00444701404822,0.0598223039646,0.999999961134,-0.000109892365776,-0.000248783640002,-6.13338429159e-05,1793251832041932800
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768.415235784,748,725,694.584764216,671,643,901,787,829,657,633.415235784,658,0.457945312348,0.00444558904837,0.0598133004642,0.999999957309,-0.000117303007216,-0.00025973730706,-6.44851340414e-05,1793251832091932416
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+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,694,671,643,901,787,829,657,633.160993127,658,0.458250446334,0.00444362340424,0.059803723517,0.999999952318,-0.000119271569665,-0.000277359955873,-6.48884411689e-05,1793251832141931776
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+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,694,670.681687018,643,900.681687018,787,829,656.681687018,634,658,0.458388255976,0.0044436270706,0.0598003068934,0.99999995049,-0.000118830153274,-0.00028403660818,-6.49824987106e-05,1793251832175265280
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,694,670.103986535,643,900.103986535,787,829,656.103986535,634,658,0.458443958984,0.0044439744982,0.0597993077404,0.999999950249,-0.00011841958889,-0.000284957010136,-6.5402245874e-05,1793251832191932416
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747.049462593,725,694,670,642.950537407,901,787,829,657,634,658,0.458529758565,0.00444622496023,0.0597995040862,0.999999950386,-0.000117109551291,-0.000285040629309,-6.53034716303e-05,1793251832225265152
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,747.636827865,725,694,670,642.363172135,901,787,829,657,634,658,0.458560582739,0.00444526384603,0.0598016446732,0.999999951352,-0.000117724856726,-0.000281348736366,-6.54213086449e-05,1793251832241932032
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768.524854328,748,725,694.475145672,670.475145672,643,901,786.524854328,829,656,633.475145672,658,0.458625158463,0.00444668508391,0.0597943117236,0.999999948255,-0.000113409200733,-0.000293945431928,-6.49913307203e-05,1793251832325265664
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+234,3.900000000,POSE1_TO_POSE2_PRESS,769,748,725,694,670,643,901,787,829,656,633.694252302,657.305747698,0.4586331934,0.00444734283474,0.0597933565503,0.999999948458,-0.000110990010026,-0.000294244623583,-6.47003859419e-05,1793251832358598656
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.71792879,748,725,694,670,643,901,786.71792879,829,656.28207121,633.71792879,657,0.458634801194,0.00444788726279,0.0597928964278,0.999999948376,-0.000110012125726,-0.000294916796466,-6.45671421164e-05,1793251832375265280
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.13794813,748,725,694,670,643,901,786.13794813,829,656.86205187,633.13794813,657,0.458633253251,0.0044481509858,0.0597907451967,0.999999947202,-0.00011035138444,-0.000298697190231,-6.47997452559e-05,1793251832391932160
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,747.012225998,725,694,670.987774002,642.987774002,901,786.987774002,828.012225998,656,634,658,0.458631480777,0.00444689719309,0.0597871521449,0.999999945791,-0.000107958248844,-0.000304386325544,-6.41254955546e-05,1793251832425265408
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,747.598981341,725,694,670.401018659,642.401018659,901,786.401018659,828.598981341,656,634,658,0.458634865399,0.00444699598157,0.0597879460362,0.999999946541,-0.000109584424054,-0.000301301834762,-6.42451774838e-05,1793251832441931776
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+247,4.116666667,HOLD_POSE2,768,748,725,694,670,643,900,786,829,657,633,657,0.458635213313,0.00444902463144,0.0597868402877,0.999999946249,-0.000105170365833,-0.000303993969305,-6.34697203494e-05,1793251832596885504
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+261,4.350000000,HOLD_POSE2,768,748,725,694,670.887274269,642.112725731,900,787,829,656.887274269,634,658,0.458638336681,0.00444923495748,0.0597863662227,0.999999945783,-0.000104702911814,-0.000305664237951,-6.35594464299e-05,1793251832830218240
+262,4.366666667,HOLD_POSE2,768,748,725,694,670.312377806,642.687622194,900,787,829,656.312377806,634,658,0.458636325868,0.00444896130346,0.0597849337363,0.999999945465,-0.000102586878642,-0.000307505166001,-6.31443068372e-05,1793251832846884864
+263,4.383333333,HOLD_POSE2,768,748,725,694,670,642.729562989,900.270437011,786.729562989,829,656,634,657.729562989,0.458635431303,0.00444951214527,0.0597842465259,0.999999945537,-0.000100364818331,-0.000308065332756,-6.28407277397e-05,1793251832863551488
+264,4.400000000,HOLD_POSE2,768,748,725,694,670,642.137325952,900.862674048,786.137325952,829,656,634,657.137325952,0.458635864992,0.00445104407611,0.0597844461389,0.999999946077,-9.80165936969e-05,-0.00030710148826,-6.26698973991e-05,1793251832880218112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,643,901,787,829,657,634,657,0.458636424584,0.00444896638834,0.0597858419029,0.999999946019,-0.000100767619992,-0.000306466665065,-6.23323400721e-05,1793251832912861184
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,747.42531703,725,694,670,643,901.57468297,786.42531703,829,657,634,657,0.458637771175,0.00444820755455,0.0597864092915,0.999999946199,-0.00010226276175,-0.000305426888466,-6.21161499394e-05,1793251832929527808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.152581295,747.152581295,725,694,670,642.847418705,901.847418705,786,829,657,633.847418705,657.152581295,0.458638367157,0.00444784217053,0.0597864407562,0.999999946225,-0.000102962490823,-0.000305140617339,-6.19481131817e-05,1793251832946194432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.739635427,747.739635427,725,694,670,642.260364573,901.260364573,786,829,657,633.260364573,657.739635427,0.458636825793,0.0044485971284,0.0597849461862,0.999999945818,-0.000101397295138,-0.000306999940944,-6.19171923528e-05,1793251832962860800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.677316509,748,725,694,670,642.322683491,901,786,829,657,633.322683491,657.677316509,0.458636522365,0.00444809347195,0.0597844649258,0.999999945673,-0.000101621378675,-0.000307406896414,-6.18780206763e-05,1793251832979526912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.097461232,748,725,694,670,642.902538768,901,786,829,657,633.902538768,657.097461232,0.458637205545,0.00444658672698,0.0597847912513,0.999999945737,-0.000103271479279,-0.000306656345673,-6.1832273254e-05,1793251832996193536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.479466019,748,725,694,670,642.520533981,901,786.479466019,829,656.520533981,634,657.479466019,0.458637899488,0.00444874268477,0.0597854789955,0.999999946294,-0.000102110154961,-0.000305082125717,-6.25301735241e-05,1793251833012860416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.944543162,748,725,694,670,642,900.944543162,787,829,656,634,657.944543162,0.458638326287,0.00445130097295,0.059785995682,0.999999946822,-0.00010057858246,-0.000303700582888,-6.32993519899e-05,1793251833029527296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.371769302,748,725,694,670,642,900.371769302,787,829,656,634,657.371769302,0.458636240806,0.00445070938536,0.059784235546,0.999999946188,-0.000100891793589,-0.000305668718012,-6.33319150294e-05,1793251833046193920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642.207819518,900.207819518,787,829,656.207819518,634,657,0.458628747376,0.00445022574463,0.0597799054283,0.999999944111,-0.00010145682744,-0.000312228873666,-6.32327167353e-05,1793251833062860544
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642.800012926,900.800012926,787,829,656.800012926,634,657,0.458611251644,0.00444994175777,0.0597708219853,0.999999939214,-0.000102487621538,-0.000327282229356,-6.28898184297e-05,1793251833079527168
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642.616302996,900.616302996,786.616302996,829,656.616302996,633.616302996,657.383697004,0.458578358562,0.00444914876103,0.0597563169667,0.999999931092,-0.000103549745208,-0.00035094172227,-6.27104086393e-05,1793251833096193792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642.036957797,900.036957797,786.036957797,829,656.036957797,633.036957797,657.963042203,0.458537614325,0.00444809621867,0.0597390474704,0.99999992075,-0.000104627843949,-0.000378989510232,-6.26143620414e-05,1793251833112860160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.464162666,725,694,670,642,900,786,829,656.535837334,633,657.464162666,0.458471983659,0.00445113346932,0.0597170279295,0.999999907924,-9.99327748662e-05,-0.00041246820698,-6.35189948996e-05,1793251833129526784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.111549955,747.111549955,725,694,670,642,900.111549955,786.111549955,829,657,633.111549955,657.111549955,0.458403900693,0.00445346643862,0.0596967519112,0.999999895482,-9.61031713805e-05,-0.000442363054168,-6.41532623017e-05,1793251833146193408
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.701694858,747.701694858,725,694,670,642,900.701694858,786.701694858,829,657,633.701694858,657.701694858,0.458332571749,0.00445158212456,0.0596853449616,0.999999889578,-9.76745231231e-05,-0.000455294035499,-6.33350085308e-05,1793251833162860032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.713772363,748,725,694,670,642,901,786.713772363,829,656.713772363,634,657.713772363,0.458252908116,0.0044508498679,0.0596773779579,0.999999885197,-9.73009271829e-05,-0.00046495824794,-6.28618568523e-05,1793251833179526912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.134976075,748,725,694,670,642,901,786.134976075,829,656.134976075,634,657.134976075,0.458164725153,0.00445129519116,0.0596729271084,0.999999882471,-9.49392955966e-05,-0.000471283319588,-6.27414526258e-05,1793251833196193792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,786,829,656.442752229,634,657.442752229,0.458062360761,0.00445248487291,0.0596731557413,0.999999882946,-9.00207926418e-05,-0.000471370007761,-6.17541679037e-05,1793251833212860672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.020002463,642.020002463,901,786.020002463,829,656.979997537,633.979997537,657.979997537,0.457954705999,0.00445389494377,0.0596747864051,0.999999884389,-8.4433309776e-05,-0.000469498544823,-6.05330481246e-05,1793251833229527552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.593015448,642.593015448,901,786.593015448,829,656.406984552,633.406984552,657.406984552,0.457820027068,0.00445513947353,0.0596758334728,0.999999886291,-8.18489734036e-05,-0.000465943005794,-6.01359092252e-05,1793251833246193920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,693.828623828,670.828623828,642.828623828,901,787,829,656,633.171376172,657.171376172,0.457678616907,0.00445579533957,0.0596770255784,0.999999888133,-8.01317513212e-05,-0.000462353582125,-5.95226451105e-05,1793251833262860544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,693.237154312,670.237154312,642.237154312,901,787,829,656,633.762845688,657.762845688,0.457520706541,0.00445500821773,0.0596785732141,0.999999889858,-8.05400814956e-05,-0.000458681097782,-5.83795946579e-05,1793251833279526912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,693.347083139,670.347083139,642.347083139,901,787,828.652916861,656.347083139,634,657.652916861,0.457341210009,0.00445680879242,0.0596805382237,0.999999891451,-7.62911453537e-05,-0.00045608034859,-5.71720121743e-05,1793251833296193536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,693.926479998,670.926479998,642.926479998,901,787,828.073520002,656.926479998,634,657.073520002,0.457147265158,0.00446034139417,0.0596827825951,0.999999892914,-6.89249536365e-05,-0.000454196945235,-5.59212362447e-05,1793251833312860160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.497245805,725,694,671,643,900.497245805,787,828.502754195,656.497245805,634,657.502754195,0.456926494038,0.0044623695568,0.0596912372984,0.99999989767,-6.19322064151e-05,-0.000444934544762,-5.34505436189e-05,1793251833329527040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.07754476,725,694,671,643,900,787,829,656,633.92245524,657.92245524,0.456697808865,0.00446383194827,0.0597010595202,0.999999903271,-5.53079461472e-05,-0.000433368608863,-5.09015073939e-05,1793251833346193920
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.645818598,725,694,671,643,900,787,829,656,633.354181402,657.354181402,0.456443713175,0.00446309759697,0.059713824167,0.999999911814,-5.0672131146e-05,-0.000414011652788,-4.89786529707e-05,1793251833362860544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.225109326,748,725,694,671,643,900.225109326,786.774890674,828.774890674,656,633,657,0.456178093423,0.00446311113608,0.059729433522,0.999999921674,-4.58630944675e-05,-0.000390335622127,-4.67546241504e-05,1793251833379527168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.822625684,748,725,694,671,643,900.822625684,786.177374316,828.177374316,656,633,657,0.455893408988,0.00446436193915,0.0597497489866,0.999999933574,-4.07674907658e-05,-0.00035951438104,-4.40323510277e-05,1793251833396193536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.593345334,748,725,694,671,642.593345334,900.593345334,786,828,656,633.406654666,657.406654666,0.455577165931,0.00446682637786,0.059771453479,0.99999994396,-3.25710004388e-05,-0.000330661022233,-4.10072280268e-05,1793251833412860160
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.015010428,748,725,694,671,642.015010428,900.015010428,786,828,656,633.984989572,657.984989572,0.455247599557,0.00446980318557,0.0597937443866,0.999999953223,-2.30653872641e-05,-0.000302638458652,-3.78542488272e-05,1793251833429526784
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.443119179,748,725,694,671,642.556880821,900.556880821,786,828,656,634,658,0.454857931538,0.00447006321053,0.0597974795522,0.999999953265,-1.44252543036e-05,-0.000303489568163,-3.39926700118e-05,1793251833446193664
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.132990015,747.867009985,725,693.867009985,671.132990015,643,900.867009985,786,828,656,633.867009985,657.867009985,0.454453399551,0.0044708735067,0.0597979839723,0.999999951997,-4.9763598006e-06,-0.000308331226083,-3.02176395611e-05,1793251833462860288
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.724224515,747.275775485,725,693.275775485,671.724224515,643,900.275775485,786,828,656,633.275775485,657.275775485,0.454003169005,0.00447382931647,0.0597890598844,0.999999947038,7.33875120038e-06,-0.000324272109681,-2.68058900729e-05,1793251833479526912
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747.308062522,725,693.308062522,672.308062522,643,900,786,828,656,633,657,0.453528876059,0.0044780141033,0.0597754223732,0.999999940269,1.99654441095e-05,-0.000344200525616,-2.42569038707e-05,1793251833496193792
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747.885434553,725,693.885434553,672.885434553,643,900,786,828,656,633,657,0.453033547614,0.00448327326721,0.0597576643673,0.999999931637,3.28645245667e-05,-0.000367614860213,-2.2462148448e-05,1793251833512860416
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.534863709,725,694,672.534863709,643,899.534863709,786,828,656,633.465136291,657,0.45253953811,0.00448671757214,0.0597616073238,0.999999935519,4.36323801786e-05,-0.000355942601985,-1.90720807129e-05,1793251833529527040
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747.044670044,725,693.955329956,672,643,899,786,828,656,633.955329956,657,0.452042454545,0.0044899002341,0.0597722472477,0.999999942524,5.45316887066e-05,-0.000334283877014,-1.52501074341e-05,1793251833546193664
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.615433742,725,693.384566258,672,643,899,786,828,656,633.384566258,657,0.451505321123,0.00449529251614,0.0597984921712,0.999999953066,7.3192580049e-05,-0.000297303345796,-1.09924410778e-05,1793251833562860288
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,898.80694319,786.19305681,828,656.19305681,633.19305681,657,0.450941257759,0.00449978588364,0.0598128638178,0.999999957814,8.95245614084e-05,-0.000276242792972,-6.85638051827e-06,1793251833579526912
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,898.215153036,786.784846964,828,656.784846964,633.784846964,657,0.450321574187,0.00450242266152,0.0598027127776,0.9999999534,0.000101046485861,-0.000288062856045,-2.97148095786e-06,1793251833596193536
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747.63137279,725,693,672,643,898,787,828,656.63137279,633.63137279,657,0.449657093876,0.00450575369189,0.0597800894192,0.999999941865,0.000116217408297,-0.000320565174844,1.16502517748e-06,1793251833612860160
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747.052168203,725,693,672,643,898,787,828,656.052168203,633.052168203,657,0.44896702356,0.00450948131219,0.0597503412804,0.999999924508,0.000133472811146,-0.000364882179762,5.44526080739e-06,1793251833629527040
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747.526684281,724.473315719,693,672,643,898.526684281,787,828,656.526684281,633,657,0.44827550456,0.00451557577237,0.0597426565961,0.999999917561,0.000148893740643,-0.00037765204435,9.37339711301e-06,1793251833646193664
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768.10475902,747.89524098,724,693,672,643,898.89524098,787,828,657,633.10475902,656.89524098,0.447585051186,0.0045212235283,0.059745228387,0.999999916241,0.000163729021928,-0.000374873755502,1.34276079048e-05,1793251833662860544
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768.679500729,747.320499271,724,693,672,643,898.320499271,787,828,657,633.679500729,656.320499271,0.446900022083,0.00452381617033,0.059784016214,0.999999934175,0.000176751534675,-0.000316350718039,1.82037865523e-05,1793251833679526912
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768.740035405,747,724.259964595,693,672,643,898,787,827.740035405,656.740035405,633.740035405,656,0.446169986104,0.0045286266115,0.0598035031898,0.999999938627,0.000192644434842,-0.000291736584749,2.28942678655e-05,1793251833696193280
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768.152358082,747,724.847641918,693,672,643,898,787,827.152358082,656.152358082,633.152358082,656,0.445383214129,0.00453623282224,0.0597986594169,0.999999929108,0.000212155762721,-0.000309868186521,2.74767193751e-05,1793251833712859904
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.430459131,747,724.569540869,693,672,643,898,787,827.430459131,656,633,656.430459131,0.44457649908,0.0045382851912,0.0597786910006,0.999999917856,0.000223898879811,-0.000336404838053,3.14560278734e-05,1793251833729526784
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.98860008,747,724,693,672,642.98860008,897.98860008,787,827.98860008,656.01139992,633,656.98860008,0.443763285403,0.0045384978222,0.0597543032599,0.999999905725,0.000233070867213,-0.00036467437038,3.52342866917e-05,1793251833746193408
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.416289059,747,724,693,672,642.416289059,897.416289059,787,827.416289059,656.583710941,633,656.416289059,0.442973749808,0.00454383052763,0.0597729274821,0.999999912492,0.000249509144522,-0.000333466536893,3.95068181359e-05,1793251833762860032
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724.160983618,693.160983618,672,642,897.160983618,787.160983618,827,657,633,656,0.442160532102,0.00454901991466,0.0597884497113,0.999999914997,0.000265736123845,-0.00031215161072,4.41879118847e-05,1793251833779526912
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724.751494669,693.751494669,672,642,897.751494669,787.751494669,827,657,633,656,0.44128412717,0.00455382690728,0.0597956953761,0.999999908841,0.000281399329453,-0.000317232386196,4.99591084452e-05,1793251833796194304
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724.664381126,694,671.664381126,642.335618874,897.664381126,788,827,656.664381126,633,656,0.440394609985,0.00455809327225,0.0597950958418,0.999999901462,0.000292833901403,-0.00032925239311,5.40160974939e-05,1793251833812861184
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724.084897704,694,671.084897704,642.915102296,897.084897704,788,827,656.084897704,633,656,0.439495565324,0.00456196681072,0.0597887958951,0.999999893059,0.000301195898594,-0.000346314525433,5.68275233151e-05,1793251833829527808
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.067358048,747,724,693.067358048,672,642.932641952,894.932641952,788,825.932641952,656,633,656,0.437725273227,0.00455912639648,0.0598158558371,0.999999944461,0.000149447788003,-0.00029762476257,1.27868684703e-05,1793251833862860288
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.641686239,747,724,693.641686239,672,642.358313761,894.358313761,788,825.358313761,656,633,656,0.436749482731,0.00456311001429,0.0597702110801,0.999999913734,0.000169953736381,-0.000378548680898,1.86546186722e-05,1793251833879527168
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.812995679,747,724,694,671.187004321,642.812995679,893.187004321,788,825,656,633,656,0.434864998463,0.00457299931456,0.0597290321458,0.999999899284,0.000201310100615,-0.000400359377503,2.48581822212e-05,1793251833912860416
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,724,693,671.939079681,642.53046016,893,788,824,656,632.53046016,656.53046016,0.432063622758,0.00457582120726,0.0597875978891,0.999999930378,0.000203083245525,-0.00031158425941,3.02871077225e-05,1793251833962860544
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747,724,693,671.187045821,643,893,788,824,656.093522911,633,657,0.431125022699,0.00457729952017,0.059804113319,0.999999937124,0.000199549902828,-0.000291519998908,3.07982127481e-05,1793251833979526912
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,747,724,693,672.407372327,643,893,788,824,656.703686164,633,657,0.430226202292,0.00457876731116,0.0598296842645,0.999999950186,0.000196578621429,-0.000244947614183,3.13793303108e-05,1793251833996193536
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,724,693.297792625,672.702207375,643,893,788.297792625,823.702207375,657,633,656.702207375,0.429243512618,0.00458106575409,0.0598174694296,0.999999942776,0.000195884191678,-0.00027392017089,3.2333920846e-05,1793251834012860416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,724,693.876739398,672.123260602,643,893,788.876739398,823.123260602,657,633,656.123260602,0.428181639732,0.00458414843811,0.0597695800065,0.999999909944,0.000197339398701,-0.000374216770174,3.36411171811e-05,1793251834029527040
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.973872117,747,724,693.973872117,672.052255766,643,892,788.973872117,822.947744234,656.973872117,633,656,0.42629291579,0.00458175807059,0.0597397362801,0.99999991175,0.000177428912864,-0.00037959495508,3.04312197498e-05,1793251834062860288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.393898966,747,724,693.393898966,673.212202069,643,892,788.393898966,821.787797931,656.393898966,633,656,0.425363418619,0.00458508629667,0.0597782721521,0.999999926506,0.000178894773926,-0.000337457848097,3.32593923017e-05,1793251834079526912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.188437781,747,724,693,673.623124439,643,892,788.188437781,821,656,633,656,0.424443860321,0.00458738435395,0.0598093942628,0.999999937883,0.000178010631517,-0.000302130524991,3.5553327316e-05,1793251834096193536
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.641992685,747,724,693,672.71601463,643,892,789,821,656.358007315,633,656,0.422630271009,0.00458724243389,0.0598359955318,0.999999951501,0.000165715520591,-0.000261116827792,3.679364541e-05,1793251834129526784
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.516328947,747,724,692.483671053,672.967342107,642.483671053,891.483671053,789,820.483671053,657,632.483671053,656,0.420756008736,0.0045894388252,0.0597960048396,0.999999930554,0.000158861529571,-0.000335155849447,3.64053045169e-05,1793251834162859776
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,673,643,890,788.266490692,820,656,633,657,0.413361154198,0.00458184822943,0.0598298257355,0.999999921686,0.000272549350472,-0.000284340661156,3.86585890853e-05,1793251834312860416
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,724,692,672.477928037,642.522071963,889,788,820,657,633,657,0.411086887506,0.00457717589943,0.0597373824906,0.999999877704,0.000239830503151,-0.000430963196109,3.66653840781e-05,1793251834362860544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,673.056503784,642.056503784,889,788.056503784,820,657,633,656.943496216,0.410423744279,0.00457735163159,0.059746744769,0.999999892274,0.000228574737837,-0.00040246272014,3.50708035556e-05,1793251834379527680
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,724,691.224103623,672.448207245,642.224103623,889,789,820,657,633,656,0.408682066809,0.0045684797749,0.0598564280498,0.999999948379,0.000204362824547,-0.000244620334361,4.04857362363e-05,1793251834429527552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,747,724,691.363904086,672.363904086,642,889,789,820.363904086,656.636095914,633,656,0.408109771209,0.00456750151754,0.0598529128211,0.999999949623,0.000196745112326,-0.000245923982029,3.95910550353e-05,1793251834446194176
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f5e077ea4a0cc92928c6477f89c8afc28a2e911
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.585753195394,0.0100049725388,1.05002102847,0.556324543723,0.0186773977195,1.04963240758
+400,6.666666667,pose2_to_pose3_retreat,0.58575307161,0.0100049677576,1.05002104349,0.556324420018,0.0186773931804,1.04963242203
+401,6.683333333,pose2_to_pose3_retreat,0.585752864152,0.0100049597443,1.05002106867,0.556324212692,0.018677385573,1.04963244625
+402,6.700000000,pose2_to_pose3_retreat,0.585752612579,0.0100049500272,1.05002109921,0.55632396128,0.0186773763479,1.04963247562
+403,6.716666667,pose2_to_pose3_retreat,0.585752456868,0.0100049440127,1.05002111811,0.556323805668,0.018677370638,1.0496324938
+404,6.733333333,pose2_to_pose3_retreat,0.585752350182,0.0100049404702,1.0500211307,0.55632369904,0.0186773672681,1.04963250592
+405,6.750000000,pose2_to_pose3_retreat,0.585752049254,0.0100049921793,1.05002112825,0.556323397103,0.0186774156149,1.04963250484
+406,6.766666667,pose2_to_pose3_retreat,0.585751633265,0.0100050636595,1.05002112486,0.556322979719,0.0186774824473,1.04963250334
+407,6.783333333,pose2_to_pose3_retreat,0.585751374732,0.0100051080836,1.05002112275,0.55632272032,0.0186775239828,1.04963250241
+408,6.800000000,pose2_to_pose3_retreat,0.585751349858,0.0100051123578,1.05002112255,0.556322695362,0.0186775279791,1.04963250232
+409,6.816666667,pose2_to_pose3_retreat,0.585751057079,0.0100051869477,1.05002111302,0.556322401136,0.0186775977632,1.04963249512
+410,6.833333333,pose2_to_pose3_retreat,0.585750868394,0.0100053113394,1.05002108439,0.556322210056,0.0186777142345,1.04963247117
+411,6.850000000,pose2_to_pose3_retreat,0.58575081998,0.0100053003505,1.05002109403,0.55632216263,0.0186777065317,1.04963247926
+412,6.866666667,pose2_to_pose3_retreat,0.585750810386,0.0100052882341,1.05002109988,0.556322153603,0.0186776962984,1.04963248416
+413,6.883333333,pose2_to_pose3_retreat,0.585750810386,0.0100052882341,1.05002109988,0.556322153603,0.0186776962984,1.04963248416
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b2a6d57d77aaa555854e9f6d22965291c7aeecf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c463f1dbf93c424d2c7c9f411d24a6c48d1735d8182695461291dcfcadd9842
+size 26495891
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d66da3686d2bf98e10a242b759b30d4ce1d8536
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
+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,769,747,724,691,673,643,888,789,819,657,633,656,0.400968829864,0.00452801305935,0.0598384959953,0.999999952165,0.00015952728788,-0.000263708081314,2.60697596846e-05,1793251835498046464
+1,0.016666667,BASELINE,769,747,724,690.422217507,672.422217507,643,888,788.422217507,819.577782493,657,633,656.577782493,0.400969346648,0.00452849412308,0.0598390406013,0.999999952197,0.000161085366699,-0.000262617295933,2.6258368437e-05,1793251835514713344
+2,0.033333333,BASELINE,769.154913215,747,724,690.154913215,672,642.845086785,888,788,820,656.845086785,632.845086785,656.845086785,0.400969300224,0.00452916064975,0.0598392511967,0.999999952026,0.000162616417219,-0.000262318518256,2.63362267289e-05,1793251835531380224
+3,0.050000000,BASELINE,769.730275096,747,724,690.730275096,672,642.269724904,888,788,820,656.269724904,632.269724904,656.269724904,0.400967725199,0.00453033053997,0.0598385552567,0.999999951306,0.0001640741108,-0.000264169321858,2.61134981596e-05,1793251835548047104
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+7,0.116666667,BASELINE,769.935259878,747,724,691.935259878,673,642,888,788,820,656,633,656,0.400965837355,0.00452705905981,0.0598379404362,0.999999951709,0.000158305420446,-0.000266143172188,2.62562649888e-05,1793251835614713344
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+9,0.150000000,BASELINE,769,747,724,690.789223102,672.789223102,642,888,788,820,656,633,656,0.400967578461,0.00452790889837,0.059838600782,0.999999952222,0.000159386754872,-0.000263565822024,2.61682465374e-05,1793251835648046080
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+19,0.316666667,BASELINE,770,747,724,691,672.027985886,643,888.027985886,789,820,657,633,656.027985886,0.400968849044,0.00452826677481,0.0598398721693,0.999999952207,0.000161179875376,-0.000262532582268,2.61622714241e-05,1793251835814713344
+20,0.333333333,BASELINE,770,747,724,691,672.60221645,643,888.60221645,789,820,657,633,656.60221645,0.400967618281,0.0045292696497,0.0598394093675,0.999999951806,0.000161951843411,-0.00026358658861,2.6090777457e-05,1793251835831380224
+21,0.350000000,BASELINE,770,747,724,691,672.819316687,643,888.819316687,788.819316687,820,657,633,656.819316687,0.400966739457,0.0045295412717,0.0598388866655,0.999999951575,0.000161963316981,-0.000264460365219,2.60685700021e-05,1793251835848046848
+22,0.366666667,BASELINE,770,747,724,691,672.231299556,643,888.231299556,788.231299556,820,657,633,656.231299556,0.400966654047,0.00452816435153,0.0598382289238,0.999999951723,0.000160260326013,-0.000264927830424,2.61574744405e-05,1793251835864713728
+23,0.383333333,BASELINE,769.6486578,747,724,691,672.3513422,643,888,788,820,657,633,656.3513422,0.400966590225,0.00452809769893,0.0598382980397,0.999999951656,0.000160503179384,-0.000265019859728,2.62768928196e-05,1793251835881380096
+24,0.400000000,BASELINE,769.069501438,747,724,691,672.930498562,643,888,788,820,657,633,656.930498562,0.400966540402,0.00452888063815,0.0598388384579,0.99999995145,0.000162007739544,-0.000264868452294,2.64160967836e-05,1793251835898046208
+25,0.416666667,BASELINE,769.508246105,747,724,691,672.491753895,643,888,788,820,657,633,657,0.400966593062,0.00452870296236,0.0598386719503,0.999999951806,0.000160929734229,-0.000264211162796,2.6112734302e-05,1793251835914713088
+26,0.433333333,BASELINE,770,747.085737641,724,691.085737641,672,643,888,788,820,657,633,656.914262359,0.400966779602,0.00452838841087,0.0598384994776,0.999999952179,0.000159893537791,-0.000263453570562,2.5838225386e-05,1793251835931379712
+27,0.450000000,BASELINE,770,747.662863259,724,691.662863259,672,643,888,788,820,657,633,656.337136741,0.400967653351,0.00452804017636,0.0598388453328,0.999999952224,0.000161115428055,-0.000262516497853,2.60749834934e-05,1793251835948046080
+28,0.466666667,BASELINE,770,747.756289063,724,691.756289063,672.243710937,643,888,788,820,657,633,656.243710937,0.400967726617,0.0045278227465,0.0598389825533,0.999999952194,0.00016164324863,-0.000262291846176,2.62169425601e-05,1793251835964712960
+29,0.483333333,BASELINE,770,747.170212663,724,691.170212663,672.829787337,643,888,788,820,657,633,656.829787337,0.400966675361,0.00452778907121,0.0598388266836,0.999999952062,0.000161196039069,-0.000263068004612,2.62257277884e-05,1793251835981379840
+30,0.500000000,BASELINE,769.589077137,747,724,691,672.589077137,643,888,788,819.589077137,657,633,656.589077137,0.400967437246,0.00452737870826,0.0598397380923,0.999999952506,0.000160468613767,-0.000261809551451,2.6329769932e-05,1793251835998046720
+31,0.516666667,BASELINE,769.009963921,747,724,691,672.009963921,643,888,788,819.009963921,657,633,656.009963921,0.400968941248,0.0045268141674,0.0598410863372,0.999999953182,0.000159626496427,-0.000259718333592,2.64728006441e-05,1793251836014713600
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+34,0.566666667,BASELINE,769,747,724,691,672.714862258,643,888.714862258,788,820,657,633,656,0.400967508808,0.00452611148686,0.0598392524024,0.999999952894,0.000157137250027,-0.000262330824456,2.65049636505e-05,1793251836064713216
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+36,0.600000000,BASELINE,769,747.889733939,724,691.889733939,672.110266061,642.110266061,888.110266061,788,820,657,633,656.889733939,0.400968060149,0.00452691447736,0.0598399939385,0.99999995311,0.000158231853793,-0.000260876610641,2.62109523912e-05,1793251836098046464
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+39,0.650000000,BASELINE,769,747,725,690.37594319,672.37594319,642.62405681,888,788,820,656.37594319,633,656.62405681,0.400968531146,0.00452676399957,0.059839763083,0.999999953048,0.000160062949777,-0.000260000140868,2.61323391944e-05,1793251836148047616
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+42,0.700000000,BASELINE,769,747,724,691,672,643,888,788.373611911,819.626388089,656.626388089,633,657,0.400967504499,0.00452850659346,0.0598401185407,0.999999952896,0.000159677245819,-0.000260854135912,2.58208382301e-05,1793251836198047232
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+45,0.750000000,BASELINE,769.10799192,747,724,692,673,643,888,788,820,656.10799192,633,656.89200808,0.400966233591,0.00452746578003,0.0598389728545,0.999999952091,0.000160870248295,-0.000263157378055,2.62088988398e-05,1793251836248046848
+46,0.766666667,BASELINE,769.682929039,747,724,692,673,643,888,788,820,656.682929039,633,656.317070961,0.40096618007,0.00452649606955,0.0598387867379,0.999999952128,0.000160485626916,-0.000263214084082,2.65765906106e-05,1793251836264713216
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+48,0.800000000,BASELINE,770,747,724,691.147798396,673,642.147798396,888,788,820,657,633,656,0.400969726665,0.00452663607739,0.0598404814617,0.9999999537,0.000158241008951,-0.000258610812755,2.60694479955e-05,1793251836298046208
+49,0.816666667,BASELINE,769.566098881,747,724,691,672.566098881,642,888,788,820,657,633,656.433901119,0.400968681752,0.00452663803532,0.0598401785691,0.999999953501,0.000157329416711,-0.000259924328848,2.61679467534e-05,1793251836314712832
+50,0.833333333,BASELINE,769.0133178,747,724,691,672.0133178,642.0133178,888,788.0133178,820,657,633,657,0.400966529515,0.00452648861727,0.0598393858768,0.999999952895,0.000156582577182,-0.000262662699556,2.6447021943e-05,1793251836331379456
+51,0.850000000,BASELINE,769.590255066,747,724,691,672.590255066,642.590255066,888,788.590255066,820,657,633,657,0.400967404711,0.00452651951584,0.0598397833445,0.999999953297,0.000155828499762,-0.000261622975343,2.60108772059e-05,1793251836348046080
+52,0.866666667,BASELINE,770,747,724,691,673,643,888,788.833329865,820,656.833329865,633,657,0.400968244973,0.00452666694058,0.0598400487759,0.999999953495,0.000155921638133,-0.000260834869759,2.5755363788e-05,1793251836364712704
+53,0.883333333,BASELINE,770,747,724,691,673,643,888,788.258194599,820,656.258194599,633,657,0.400968999622,0.00452709994061,0.059839990621,0.999999953194,0.000158091082002,-0.000260663416028,2.59425307574e-05,1793251836381379328
+54,0.900000000,BASELINE,769.675499518,747,724,691,672.675499518,642.675499518,888,788,820,656.324500482,633,656.675499518,0.400969029671,0.00452716702367,0.059839777413,0.999999953155,0.000158214411654,-0.000260740806425,2.59174649167e-05,1793251836398045952
+55,0.916666667,BASELINE,769.086645888,747,724,691,672.086645888,642.086645888,888,788,820,656.913354112,633,656.086645888,0.400968469426,0.00452693601378,0.0598394378914,0.99999995333,0.00015667088163,-0.000261020916803,2.57195043731e-05,1793251836414712576
+56,0.933333333,BASELINE,769,747,724,691,672,642.495440358,888,788,819.504559642,657,633,656,0.400967491982,0.00452680946234,0.0598394678374,0.999999952919,0.000157921044691,-0.000261819821351,2.59616164819e-05,1793251836431379456
+57,0.950000000,BASELINE,769,747,724,691,672,643,888,788,819,657,633,656,0.400966592377,0.00452666658564,0.059839548317,0.999999952535,0.000159073755913,-0.000262562860831,2.61827201527e-05,1793251836448046336
+58,0.966666667,BASELINE,769,747,724,691,672,643,888,788,819,657,633,656,0.400966682739,0.0045262967503,0.0598395415039,0.999999953025,0.000156397636308,-0.000262345317789,2.57633094957e-05,1793251836464712960
+59,0.983333333,BASELINE,769,747,724,690.773268823,672.453462355,642.773268823,888,788,819.226731177,656.773268823,633,656,0.400967186457,0.0045263477735,0.0598396944544,0.999999953416,0.000154756716561,-0.000261863837548,2.54282936521e-05,1793251836481379584
+60,1.000000000,BASELINE,769,747,724,690.200752026,673.598495948,642.200752026,888,788,819.799247974,656.200752026,633,656,0.40096832058,0.00452704064411,0.0598400910586,0.999999953661,0.00015469457013,-0.000260979829102,2.52219874939e-05,1793251836498046208
+61,1.016666667,BASELINE,769.385732151,747,724.385732151,690.385732151,673.228535698,642.385732151,888,788.385732151,820,656.385732151,633,656,0.400968009216,0.00452743487034,0.0598402935389,0.999999953455,0.000156447660125,-0.000260699150989,2.54926798119e-05,1793251836514712832
+62,1.033333333,BASELINE,769.979758642,747,724.979758642,690.979758642,672.040482717,642.979758642,888,788.979758642,820,656.979758642,633,656,0.400966917291,0.00452766782936,0.0598403911926,0.999999952998,0.000159180972985,-0.000260744269711,2.60209500561e-05,1793251836531379456
+63,1.050000000,BASELINE,769.442684468,747,725,691,672,642.442684468,888,789,820,657,633,656.557315532,0.400967922215,0.00452827160752,0.0598408957723,0.999999953019,0.000159866334774,-0.000260260940319,2.58739543042e-05,1793251836548045824
+64,1.066666667,BASELINE,769,747.133716291,724.866283709,691,672.133716291,642.133716291,888,788.866283709,820,657,633,657,0.400968665604,0.0045284717667,0.0598411714091,0.999999953047,0.000160134277967,-0.000259995179175,2.58028773472e-05,1793251836564712448
+65,1.083333333,BASELINE,769,747.70822112,724.29177888,691,672.70822112,642.70822112,888,788.29177888,820,657,633,657,0.400968303013,0.00452729829572,0.0598406450268,0.999999953046,0.000159264376177,-0.000260508072427,2.60605881998e-05,1793251836581379072
+66,1.100000000,BASELINE,769,747.709906887,724,691,673,642.709906887,887.709906887,788,820,657,633,657,0.400967373672,0.00452667946733,0.0598397266999,0.999999952866,0.000158156564036,-0.000261865483927,2.60983865536e-05,1793251836598045952
+67,1.116666667,BASELINE,769,747.120431866,724,691,673,642.120431866,887.120431866,788,820,657,633,657,0.400965859434,0.00452663304129,0.0598384038782,0.999999952498,0.000156803223697,-0.000264094455152,2.5909230785e-05,1793251836614712576
+68,1.133333333,BASELINE,769.460805795,747,724,691,672.539194205,642.460805795,887.460805795,788,820,656.539194205,633,657,0.400966554865,0.00452576958837,0.0598388922561,0.999999952906,0.000155758919278,-0.000263147730074,2.60689947654e-05,1793251836631379200
+69,1.150000000,BASELINE,769.960261004,747.039738996,724,691,672,642.960261004,888,788,820,656.039738996,633,657,0.400967788014,0.00452487335997,0.0598398251416,0.999999953453,0.000155089189993,-0.000261438625414,2.62931061352e-05,1793251836648046080
+70,1.166666667,BASELINE,769.383886442,747.616113558,724,691,672,642.383886442,888,788,820,656.616113558,633,657,0.400968620915,0.00452636740826,0.0598404806895,0.999999953195,0.000158406206167,-0.000260445431169,2.61763558971e-05,1793251836664712704
+71,1.183333333,BASELINE,769,748,724.195470176,691,672,642,888,788.195470176,819.804529824,656.804529824,633,657,0.400969080741,0.00452753356308,0.0598408793831,0.999999953059,0.000160244481084,-0.000259864361144,2.5952134975e-05,1793251836681379072
+72,1.200000000,BASELINE,769,748,724.780774128,691,672,642,888,788.780774128,819.219225872,656.219225872,633,657,0.400968796533,0.00452804578749,0.0598407658224,0.999999953185,0.000159133645381,-0.000260105206313,2.55135810664e-05,1793251836698045952
+73,1.216666667,BASELINE,769.362389892,747.637610108,724.637610108,691,672,642.362389892,888,788.637610108,819.362389892,656.362389892,633,656.637610108,0.400967609609,0.00452797131991,0.0598398426308,0.999999952801,0.000159246494279,-0.000261516338082,2.54546748358e-05,1793251836714712320
+74,1.233333333,BASELINE,769.941796948,747.058203052,724.058203052,691,672,642.941796948,888,788.058203052,819.941796948,656.941796948,633,656.058203052,0.400965882095,0.00452754551183,0.0598384345916,0.999999952107,0.000160092146693,-0.000263628295897,2.56231206209e-05,1793251836731379200
+75,1.250000000,BASELINE,770,747,724,691,672,643,888,788,820,657,633,656.520244757,0.400967553451,0.00452714087075,0.0598397116965,0.999999952707,0.000159548171993,-0.000261663788001,2.57544095927e-05,1793251836748046080
+76,1.266666667,BASELINE,769.901956313,747,724,691,672.098043687,643,888,788,820,657,633,656.901956313,0.400969005423,0.00452696473583,0.0598408636026,0.999999953275,0.000158850128598,-0.000259902515996,2.58272312905e-05,1793251836764712960
+77,1.283333333,BASELINE,769.326793816,747,724,691,672.673206184,643,888,788,820,657,633,656.326793816,0.400967542728,0.00452788909812,0.0598399470501,0.999999953014,0.000158157494216,-0.00026134554958,2.56357206203e-05,1793251836781379328
+78,1.300000000,BASELINE,769,747,724,690.746285119,673,643,888,787.746285119,819.746285119,657,633,656.253714881,0.400967132435,0.00452795187954,0.0598399731268,0.99999995299,0.000157953539963,-0.000261559079099,2.56532713719e-05,1793251836798046208
+79,1.316666667,BASELINE,769,747,724,690.158742146,673,643,888,787.158742146,819.158742146,657,633,656.841257854,0.400968106851,0.00452688102655,0.0598412394781,0.999999953279,0.000158392571917,-0.000260154875269,2.59458969593e-05,1793251836814712832
+80,1.333333333,BASELINE,769,747,724,690.42248885,673,643,888.42248885,787.42248885,819.42248885,657,633,656.57751115,0.400966881235,0.00452735456645,0.05984071519,0.999999952984,0.000158662963492,-0.000261127364788,2.59124267524e-05,1793251836831379456
+81,1.350000000,BASELINE,769,747,724,691,672.998619815,643,888.998619815,788,820,656.998619815,633,656,0.40096484814,0.00452839675916,0.0598395312672,0.999999952471,0.000158870495258,-0.000262974558625,2.57587214426e-05,1793251836848046336
+82,1.366666667,BASELINE,769,747,724,691,672.420986807,643,888.420986807,788,820,656.420986807,633,656,0.40096572715,0.00452815224133,0.0598397086622,0.999999952544,0.000158898858356,-0.000262672303785,2.58077771466e-05,1793251836864712960
+83,1.383333333,BASELINE,769,747,724,691.155610194,672.155610194,643,888.155610194,788,820,656.155610194,633.155610194,656.155610194,0.400966780284,0.00452782312431,0.05984002327,0.999999952776,0.000158588446994,-0.000261971447449,2.58500932985e-05,1793251836881379584
+84,1.400000000,BASELINE,769,747,724,691.729423051,672.729423051,643,888.729423051,788,820,656.729423051,633.729423051,656.729423051,0.400968301378,0.00452726664675,0.0598407066373,0.999999953431,0.000157367578694,-0.000260199348846,2.58742969038e-05,1793251836898046208
+85,1.416666667,BASELINE,769.31163584,747,724,691.68836416,672.68836416,643,888.68836416,788,820,657,633.68836416,657,0.400968597032,0.00452712358064,0.0598407812285,0.999999953626,0.000156732423619,-0.000259837180224,2.58371209164e-05,1793251836914712832
+86,1.433333333,BASELINE,769.901343841,747,724,691.098656159,672.098656159,643,888.098656159,788,820,657,633.098656159,657,0.400967799228,0.00452734940094,0.0598403126097,0.999999953413,0.000156619899588,-0.000260733089971,2.57451760156e-05,1793251836931379456
+87,1.450000000,BASELINE,770,747,724,691,672,643,888,788,820,657,633,657,0.400967634949,0.00452691693603,0.0598405809717,0.999999953496,0.000156247064265,-0.00026064288606,2.56756471327e-05,1793251836948046336
+88,1.466666667,BASELINE,769.938460097,747,724,691,672.061539903,642.938460097,888,788,820,656.938460097,633,656.938460097,0.400967807942,0.00452637489056,0.0598410690073,0.9999999537,0.000155821615237,-0.000260127440621,2.55778879012e-05,1793251836964712960
+89,1.483333333,BASELINE,769.362502653,747,724,691,672.637497347,642.362502653,888,788,820,656.362502653,633,656.362502653,0.400969736268,0.00452602237982,0.0598421556249,0.999999954401,0.000155393532005,-0.000257713448949,2.5206503062e-05,1793251836981379584
+90,1.500000000,BASELINE,769.212068666,747.212068666,724.212068666,691,673,642.212068666,888.212068666,788,820,656.212068666,633,656.212068666,0.400970139458,0.00452606292768,0.0598421749979,0.999999954415,0.000155743408207,-0.000257445730594,2.5210258277e-05,1793251836998046208
+91,1.516666667,BASELINE,769.784285921,747.784285921,724.784285921,691,673,642.784285921,888.784285921,788,820,656.784285921,633,656.784285921,0.400967952564,0.00452677099286,0.0598403819076,0.999999953262,0.00015741446498,-0.000260822951276,2.58511003933e-05,1793251837014712576
+92,1.533333333,BASELINE,769.63097162,747.63097162,724.63097162,691.36902838,672.63097162,642.63097162,888.63097162,788,820,657,633,657,0.400968791167,0.00452735604518,0.0598414449093,0.999999953448,0.000158330671456,-0.000259528661979,2.60723047502e-05,1793251837031379456
+93,1.550000000,BASELINE,769.038650315,747.038650315,724.038650315,691.961349685,672.038650315,642.038650315,888.038650315,788,820,657,633,657,0.400971460447,0.00452786666452,0.0598442360847,0.999999954437,0.000158790130751,-0.000255407720126,2.60395933498e-05,1793251837048046080
+94,1.566666667,BASELINE,769.541775128,747.541775128,724.541775128,691.458224872,672.541775128,642.541775128,888,788,820,657,633,657,0.40096855409,0.00452929412649,0.0598415276677,0.999999953382,0.000159622391712,-0.000259049441535,2.54878895702e-05,1793251837064712960
+95,1.583333333,BASELINE,770,747.879621422,724.879621422,691,672.879621422,643,888.120378578,788,820,657,633,656.879621422,0.400966238099,0.00453039239095,0.0598393497928,0.999999952482,0.000160676679247,-0.000261898637319,2.5047835994e-05,1793251837081379584
+96,1.600000000,BASELINE,770,747.304761424,724.304761424,691,672.304761424,643,888.695238576,788,820,657,633,656.304761424,0.40096762047,0.00453000615552,0.059840624379,0.99999995276,0.000162470960733,-0.0002597098316,2.51660923325e-05,1793251837098046208
+97,1.616666667,BASELINE,770,747,724.275859405,691,672,642.724140595,888.724140595,788,820,657,633,656.275859405,0.400967973899,0.00452909584987,0.0598409146451,0.999999953002,0.0001617538476,-0.000259210004505,2.53297871415e-05,1793251837114713088
+98,1.633333333,BASELINE,770,747,724.862980341,691,672,642.137019659,888.137019659,788,820,657,633,656.862980341,0.400967166336,0.00452759421803,0.0598400942695,0.999999953199,0.000158203042561,-0.000260615909456,2.55447517118e-05,1793251837131380480
+99,1.650000000,BASELINE,769.556343614,747,725,691,672,642,888,788,820,657,633,656.556343614,0.400966733096,0.00452690386587,0.0598398035709,0.999999953205,0.000156561712472,-0.000261569449903,2.57009468408e-05,1793251837148047360
+100,1.666666667,BASELINE,769,747,724.97763671,691,672,642.02236329,888,788,820,657,633,656,0.400966457316,0.00452654125714,0.0598397188339,0.999999953159,0.000155617564431,-0.000262293620893,2.58290271587e-05,1793251837164713728
+101,1.683333333,BASELINE,769,747,724.399108416,691,672,642.600891584,888,788,820,657,633,656,0.40096726355,0.00452818746097,0.0598407462011,0.999999953266,0.000157555807296,-0.000260738228441,2.57028352537e-05,1793251837181380352
+102,1.700000000,BASELINE,769.178050722,747,724.178050722,691,672,643,888,788,820.178050722,657,633.178050722,656.178050722,0.400967655493,0.00452886394074,0.0598411005596,0.999999953353,0.000158210750272,-0.000260013825159,2.56346620201e-05,1793251837198047232
+103,1.716666667,BASELINE,769.752164181,747,724.752164181,691,672,643,888,788,820.752164181,657,633.752164181,656.752164181,0.400967125872,0.00452738332954,0.0598399578522,0.999999953404,0.000156011072351,-0.000261137905716,2.56955477229e-05,1793251837214713600
+104,1.733333333,BASELINE,770,747,724.665313458,691,672.334686542,643,888,788,820.665313458,657,633.665313458,657,0.400966702798,0.00452815837944,0.0598393793104,0.999999952923,0.000157565562386,-0.000262062370397,2.5516003469e-05,1793251837231379968
+105,1.750000000,BASELINE,770,747,724.076403754,691,672.923596246,643,888,788,820.076403754,657,633.076403754,657,0.400966360656,0.00453064679746,0.0598392293007,0.999999952025,0.00016197166506,-0.000262835209797,2.51538320275e-05,1793251837248046336
+106,1.766666667,BASELINE,770,747.505187548,724.505187548,691,673,643,888,788,820,657,633,656.494812452,0.400968799803,0.00452975082721,0.0598410520105,0.999999953216,0.000160535495073,-0.000259142146623,2.53135862031e-05,1793251837264712960
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,691,672,643,888,788,820,656,633,657,0.400968917825,0.00452811436625,0.0598407692619,0.999999953939,0.000157378929397,-0.000258267995441,2.55172270967e-05,1793251837307925760
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.411280157,747,724.411280157,691,672.588719843,643,888,788,820,656.588719843,633,657,0.400968344145,0.0045267333833,0.0598405226467,0.999999953744,0.000156043030799,-0.000259816753088,2.56650783649e-05,1793251837324592384
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747.174661012,724,691,673,643,888.174661012,788,820,657,633,657,0.400968031555,0.00452617371337,0.0598403984559,0.999999953477,0.000155771134958,-0.000260998121386,2.57165013026e-05,1793251837341258752
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747.754161722,724,691,673,643,888.754161722,788,820,657,633,657,0.400968324132,0.00452751773145,0.0598405580276,0.999999953051,0.00015796544782,-0.000261327933076,2.55444169407e-05,1793251837357925376
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,748,724.332616497,691,673,643,888.667383503,788,820,657,633,657,0.400968493812,0.00452758510342,0.0598406305662,0.999999953052,0.000158368184911,-0.000261076259132,2.55880810826e-05,1793251837374591744
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,748,724.910300605,691,673,643,888.089699395,788,820,657,633,657,0.400968572943,0.00452671185867,0.05984063898,0.999999953369,0.000157450911589,-0.000260396153936,2.5790705993e-05,1793251837391258112
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747.534189904,724.534189904,691.465810096,673,643,888,788,820,657,633,656.534189904,0.400967697606,0.00452688121342,0.0598406080824,0.999999953406,0.000156806130577,-0.00026063360952,2.59004155789e-05,1793251837407924736
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.019229029,747,724,691.980770971,672.980770971,643,887.980770971,788,820,657,633,656.019229029,0.400966713285,0.00452721790903,0.0598405772697,0.99999995339,0.000156220026947,-0.000261036629499,2.59912213288e-05,1793251837424591360
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.634156893,747,724,691.365843107,672.365843107,643,887.365843107,788,820,657,633,656.634156893,0.400967787963,0.00452680163783,0.0598407729415,0.999999953359,0.000155900001076,-0.000261343677694,2.6025505244e-05,1793251837441257984
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.765509296,747,724.234490704,691,672.234490704,643,887.234490704,788.234490704,820,657,633,656.765509296,0.400971409802,0.00452649271556,0.0598423340497,0.999999953821,0.000156011173512,-0.000259506301866,2.59982275737e-05,1793251837457924864
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.186610545,747,724.813389455,691,672.813389455,643,887.813389455,788.813389455,820,657,633,656.186610545,0.400978772783,0.00452634146198,0.0598459006415,0.999999954989,0.000156755668166,-0.000254519304801,2.58805313666e-05,1793251837474591744
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747.391574424,724.608425576,691,672.608425576,643,888.391574424,788.608425576,820,657,633,656,0.401003388559,0.00452547745255,0.0598559590907,0.999999959494,0.000155936309687,-0.000236677891032,2.60535409754e-05,1793251837491258368
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747.969419898,724.030580102,691,672.030580102,643,888.969419898,788.030580102,820,657,633,656,0.40103621145,0.00452427438678,0.0598691057018,0.999999965112,0.000154373029871,-0.00021272166032,2.63648386477e-05,1793251837507924992
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.543790538,747.456209462,724,691.543790538,672,643,889,788,820,657,633,656.543790538,0.401094655486,0.00452575448904,0.0598880020117,0.999999971078,0.00015531905066,-0.000181685080811,2.66437290878e-05,1793251837524591872
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,724,691.878969171,672,643,888.878969171,788,820,656.878969171,633,656.878969171,0.401157074203,0.00452687555026,0.0599060308141,0.999999975804,0.000155832821548,-0.000152923550937,2.68722697864e-05,1793251837541258496
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,724,691.289880123,672,643,888.289880123,788,820,656.289880123,633,656.289880123,0.401229327477,0.0045260282859,0.0599194622601,0.999999978716,0.000154132721101,-0.000134490259377,2.69130979254e-05,1793251837557924608
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.70535467,747,724,691,672,643,888,788,820,656.29464533,633,656,0.401310262946,0.00452559617261,0.0599299323806,0.999999980975,0.000152994062665,-0.000118042125967,2.66379299173e-05,1793251837574591232
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.125250561,747,724,691,672,643,888,788,820,656.874749439,633,656,0.40139960991,0.0045255662667,0.0599375335042,0.99999998269,0.000152399341526,-0.000103517257891,2.60566179975e-05,1793251837591257856
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672,643,887.549041207,788,820,657,632.549041207,656.450958793,0.401503125763,0.00452459175593,0.0599407423554,0.999999983784,0.000149409541404,-9.73728968821e-05,2.50520202529e-05,1793251837607924736
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,724,691,672,643,887.026012464,788,820,656.973987536,632.026012464,656.973987536,0.401611940841,0.00452346406844,0.0599428445874,0.999999984723,0.000145871801091,-9.3286762795e-05,2.39207663658e-05,1793251837624591360
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724,691,672,643,887.599315669,788,820,656.400684331,632.599315669,656.400684331,0.401750161141,0.00452458622507,0.059947110887,0.999999985755,0.000144681648405,-8.3951931463e-05,2.25770502022e-05,1793251837641258240
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642.821939192,888.178060808,788,820,656.178060808,633,656,0.401892324632,0.00452485381343,0.05994919964,0.999999986559,0.000142713301692,-7.78860668023e-05,2.11978503451e-05,1793251837657924864
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642.230562269,888.769437731,788,820,656.769437731,633,656,0.402043641067,0.00452313777117,0.0599462338548,0.999999987,0.000138938605227,-7.94081539683e-05,1.97362856572e-05,1793251837674591232
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642,888.645744981,788,819.645744981,656.645744981,633,656.354255019,0.402221344821,0.00452422430588,0.0599458226202,0.99999998763,0.000136907928767,-7.5382794568e-05,1.77245932826e-05,1793251837691257856
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642,888.065119274,788,819.065119274,656.065119274,633,656.934880726,0.402415910217,0.00452710170079,0.0599470437557,0.999999988336,0.000135991689235,-6.78125898496e-05,1.53613664834e-05,1793251837707924736
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642,888,788,819,656,633,656.491212581,0.40264373559,0.0045249892536,0.0599490790507,0.999999989773,0.000128997325509,-6.03235330758e-05,1.32562853869e-05,1793251837724591104
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642.083912981,888.083912981,788,819.083912981,656.083912981,633,656,0.402880279913,0.00452270822257,0.0599510272193,0.99999999111,0.000121663079154,-5.34338657132e-05,1.10789087433e-05,1793251837741257728
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672,642.671448062,888.671448062,788,819.671448062,656.671448062,633,656,0.403143937212,0.00452319841117,0.0599518352309,0.999999991879,0.000116897036599,-5.00800401071e-05,8.27192236367e-06,1793251837757924864
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747.256623979,724.256623979,691,672,643,889,788,820,657,633,656,0.403421335187,0.00452355826586,0.0599504369778,0.999999992398,0.000111947818731,-5.13789525793e-05,5.61817240132e-06,1793251837774591744
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747.838806971,724.838806971,691,672,643,889,788,820,657,633,656,0.403716164879,0.00452375277599,0.0599462398073,0.99999999258,0.000106766220783,-5.85804345242e-05,3.158821809e-06,1793251837791258368
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.415271649,747.584728351,724.584728351,691,672,643,889,788,820,657,633,656,0.404030389705,0.004522793991,0.0599362275313,0.999999992295,9.98218130379e-05,-7.37909801553e-05,1.61348035419e-08,1793251837807924992
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.989546825,747.010453175,724.010453175,691,672,643,889,788,820,657,633,656,0.404352040735,0.00452139362039,0.0599239887072,0.999999991505,9.22024424332e-05,-9.20681191877e-05,-3.38819509734e-06,1793251837824591616
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,724,691,672,643,889,788,820,657,633,656.564103376,0.404707002107,0.00452160993545,0.0599093586626,0.999999989185,8.55143860872e-05,-0.000119448851223,-7.04932791903e-06,1793251837841258240
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.856997043,747,724,691,672,643,889,788.143002957,820,657,633,657,0.405081250635,0.00452195959758,0.0598988597484,0.999999987003,7.85540153113e-05,-0.000140377899697,-1.07898444611e-05,1793251837857924864
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.264461574,747,724,691,672,643,889,788.735538426,820,657,633,657,0.405514187294,0.00452263421765,0.0599014864851,0.999999987523,7.06833430867e-05,-0.000140495392649,-1.47649379774e-05,1793251837874591488
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.32029491,747,724,691,672.32029491,643,889,788.67970509,820,656.67970509,633,657,0.405986784144,0.00452312531312,0.0599173596815,0.999999991129,6.3962789425e-05,-0.000115380394904,-1.8396469792e-05,1793251837891258112
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.898780789,747,724,691,672.898780789,643,889,788.101219211,820,656.101219211,633,657,0.406491351275,0.00452346846877,0.0599439109008,0.999999995627,5.81693498425e-05,-6.99253883297e-05,-2.17510555885e-05,1793251837907924992
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724.473388578,691.473388578,672.526611422,643,889,788,820,656.473388578,633,656.526611422,0.407031544768,0.00452147952647,0.0599734892409,0.999999998394,4.7056783793e-05,-1.93316622397e-05,-2.49953559279e-05,1793251837924591872
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,692,672,643,889.048403386,788,820,656.951596614,633,656.048403386,0.407578777837,0.00451910703773,0.0600011928965,0.999999998623,3.51097153818e-05,2.69186697261e-05,-2.82327402325e-05,1793251837941259008
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,692,672,643,889.637143651,788,820,656.362856349,633,656.637143651,0.40812024996,0.00451797419099,0.0600008023688,0.999999999071,2.64399718047e-05,1.25169049067e-05,-3.16540236499e-05,1793251837957925376
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747.222191494,724.777808506,692,672,643,890.222191494,788.222191494,820,656.222191494,633,657,0.408672914735,0.00451740798393,0.0599941631446,0.999999999172,1.76785951965e-05,-9.16718307283e-06,-3.54948592429e-05,1793251837974591488
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747.801307856,724.198692144,692,672,643,890.801307856,788.801307856,820,656.801307856,633,657,0.409243559172,0.00451775201784,0.0599774861144,0.999999998256,8.77002126334e-06,-4.25494777761e-05,-4.00096565269e-05,1793251837991258112
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.62105562,747.62105562,724,692,672.37894438,643,890.62105562,789,820,657,633.37894438,657,0.409869895784,0.00451683151238,0.0599766535658,0.999999997982,-2.148557277e-06,-4.52216080638e-05,-4.45742087195e-05,1793251838007924736
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.04419202,747.04419202,724,692,672.95580798,643,890.04419202,789,820,657,633.95580798,657,0.410525319898,0.00451525054943,0.0599840964472,0.999999998184,-1.41169427546e-05,-3.18540963184e-05,-4.91647473143e-05,1793251838024591616
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747.531168156,724.531168156,692.531168156,673,643,890,789,820,657,633.468831844,657,0.411210268395,0.00451528630622,0.0599888241494,0.999999998096,-2.33567423981e-05,-1.73342803854e-05,-5.44180373928e-05,1793251838041258240
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747.891123724,725,692.891123724,672.891123724,643,890.108876276,789,820.108876276,657,633,657,0.411899271254,0.00451587413638,0.0599890229629,0.999999997978,-2.41722575392e-05,-1.22160663567e-05,-5.75416422011e-05,1793251838057925120
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747.30252077,725,692.30252077,672.30252077,643,890.69747923,789,820.69747923,657,633,657,0.412595345502,0.00451830350276,0.0599702592801,0.999999997438,1.11335749094e-05,-4.89440751208e-05,-5.10392360869e-05,1793251838074591744
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725,692,672,643,891,789,821,656.718431027,633.281568973,657,0.413288396117,0.00452467021047,0.0599424694393,0.9999999917,6.53167229664e-05,-0.000103234984152,-4.09356974301e-05,1793251838091258368
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725,692,672,643,891,789,821,656.139113759,633.860886241,657,0.413978249443,0.00453520050463,0.0599051347833,0.999999974405,0.000139461905986,-0.000176097984718,-2.70240993664e-05,1793251838107924992
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725,692,672,643,891.437655798,789,821,656.437655798,633.562344202,657,0.414791526341,0.00453334038183,0.0599228823172,0.999999980093,0.000141661692379,-0.000137623852559,-2.83740115895e-05,1793251838124591360
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.013550765,747.013550765,725,692,672.013550765,643,892.013550765,789,821.013550765,657,633,657,0.415643696257,0.00452754625361,0.0599580532904,0.99999998998,0.000121308088284,-6.43255182852e-05,-3.44584217059e-05,1793251838141257984
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.586579487,747.586579487,725,692,672.586579487,643,892.586579487,789,821.586579487,657,633,657,0.416491265593,0.00452099375384,0.0599938967157,0.999999993415,0.000108505908194,-5.92032806758e-06,-3.68902670713e-05,1793251838157924352
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.668147867,747.834073933,725,692.165926067,672.668147867,643,893.165926067,788.834073933,822,656.834073933,633.165926067,657.165926067,0.41734428522,0.00451667578863,0.060018320618,0.999999993444,0.000102501481608,3.33865686891e-05,-3.86001761823e-05,1793251838174591232
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.476725479,747.23836274,725,692.76163726,671.476725479,643,893.76163726,788.23836274,822,656.23836274,633.76163726,657.76163726,0.418211422249,0.00451814576145,0.0600131654336,0.999999992482,0.000114104738275,2.32246674279e-05,-3.84401112279e-05,1793251838191257856
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.344154876,747.344154876,725,693,671.344154876,643,894.344154876,788.344154876,822.344154876,656.344154876,633.655845124,657.655845124,0.419065914675,0.00450944867548,0.0599948173595,0.999999993098,0.000111147492195,-7.27343721827e-06,-3.73754219893e-05,1793251838207924736
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.917871934,747.917871934,725,693,671.917871934,643,894.917871934,788.917871934,822.917871934,656.917871934,633.082128066,657.082128066,0.419911972717,0.00449396983982,0.0599676692112,0.999999993196,9.84779298358e-05,-5.13364320044e-05,-3.57073197023e-05,1793251838224591616
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.493755987,748,725,693,671.506244013,643,895,788.506244013,823,657,633.493755987,657,0.420746931929,0.00448414735768,0.0599257550562,0.999999988586,8.87355726277e-05,-0.00011687436552,-3.59710250606e-05,1793251838241258240
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747.928199803,725,693.071800197,671,643,895,788,823.071800197,657,634,657,0.421584826682,0.00447698148342,0.0598846648386,0.999999980537,6.61169065105e-05,-0.000182260982353,-3.65491713134e-05,1793251838257924864
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747.337152139,725,693.662847861,671,643,895,788,823.662847861,657,634,657,0.42245735996,0.00448219377802,0.0598673734882,0.999999973566,-5.31577910819e-05,-0.000220607285322,-3.7067297353e-05,1793251838274591232
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.502687974,747,724.751343987,694,671.497312026,643,895,788,824,656.751343987,633.751343987,657,0.423413699066,0.00448299997624,0.0598906601938,0.999999975112,-0.000119199865173,-0.000184890180227,-3.72001736942e-05,1793251838291258112
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.344986777,747,724.172493388,694,672.655013223,643,895,788,824,656.172493388,633.172493388,657,0.424481325488,0.00447795524425,0.0599678311935,0.999999991469,-0.000114553441537,-5.08230111693e-05,-3.6821470552e-05,1793251838307924992
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.402838586,747.402838586,724,694,672.597161414,643,895,788,824.402838586,656.402838586,633,657,0.425481616707,0.00447475816496,0.0600130503411,0.99999999285,-0.000111044764241,2.42564040507e-05,-3.71562891367e-05,1793251838324591360
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.976676914,747.976676914,724,694,672.023323086,643,895,788,824.976676914,656.976676914,633,657,0.426453324942,0.00447234539052,0.0600447063383,0.999999990692,-0.000108019046076,7.42962764965e-05,-3.77939885442e-05,1793251838341257728
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747.446663418,724,693.446663418,671.446663418,643,896.106673164,787.446663418,825.553336582,656.446663418,633.553336582,657,0.427418171132,0.00447367143819,0.0600289557913,0.999999992104,-9.99309045347e-05,6.43975717682e-05,-4.07322051447e-05,1793251838357924864
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724,693,671,643,897,787,826,656.13320597,634,657,0.42836459942,0.00447361730685,0.0600072471747,0.999999993873,-9.31572101242e-05,4.14591611021e-05,-4.30914089651e-05,1793251838374591488
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724,693,671,643,897,787,826,656.72368338,634,657,0.429248800383,0.00446828152305,0.0599719801498,0.999999994718,-9.16320200702e-05,-1.75250169854e-05,-4.31283945769e-05,1793251838391258112
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724,693.307886853,671,643,896.692113147,787.307886853,826,656.692113147,634,657,0.430163621258,0.00446769074841,0.0599384954844,0.999999992701,-8.3724981414e-05,-7.52652175197e-05,-4.38595041879e-05,1793251838407924736
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724,693.886572122,671,643,896.113427878,787.886572122,826,656.113427878,634,657,0.431105373482,0.00447127339346,0.059906578475,0.999999987814,-7.02048596918e-05,-0.000131911288385,-4.52011227337e-05,1793251838424591360
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.537154041,747.462845959,724.462845959,694.462845959,671.925691917,643,896.925691917,788,826,656.462845959,634,657.462845959,0.432125571092,0.00446925475986,0.0599451302239,0.999999994652,-6.7517584339e-05,-6.31995722699e-05,-4.63004453094e-05,1793251838441257984
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.039255301,747.960744699,724.960744699,694.960744699,672.960744699,643,898.039255301,787.960744699,826,656.960744699,633.960744699,657.960744699,0.433157724984,0.00446599840078,0.0599977683248,0.999999996176,-6.71972128785e-05,2.99886448006e-05,-4.72540661164e-05,1793251838457924608
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.625748646,747.374251354,724.374251354,694.374251354,672.374251354,643,898.625748646,787.374251354,826,656.374251354,633.374251354,657.374251354,0.434089946998,0.00446452424849,0.0600072794149,0.999999996172,-6.30557557396e-05,3.83457831299e-05,-4.70000128191e-05,1793251838474591232
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724.209527719,694.209527719,671.790472281,643.209527719,899,787,826.209527719,656.209527719,633.209527719,657,0.435023051598,0.00446135862547,0.0600032064527,0.999999996646,-6.17334383614e-05,2.6077895293e-05,-4.7091674525e-05,1793251838491257856
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724.78852075,694.78852075,671.21147925,643.78852075,899,787,826.78852075,656.78852075,633.78852075,657,0.435957712639,0.00445521039085,0.0599751804031,0.999999996466,-6.53821777552e-05,-2.25586003454e-05,-4.77929437729e-05,1793251838507924736
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724.633323411,695,671,643.633323411,899,787.366676589,827.366676589,657,634,657.366676589,0.436865089866,0.00445387517034,0.0599429973873,0.999999993924,-6.13159770627e-05,-7.76468893763e-05,-4.86123994028e-05,1793251838524591616
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.055649354,695,671,643.055649354,899,787.944350646,827.944350646,657,634,657.944350646,0.437756767057,0.00445530951286,0.0599084223215,0.999999988071,-5.28103521016e-05,-0.000136447744137,-4.94998631299e-05,1793251838541258240
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724,695,671.520292792,643,899,787.479707208,827.479707208,656.479707208,634,657.479707208,0.43863238946,0.00445324583224,0.0598890614629,0.999999981834,-5.11955558514e-05,-0.000176726185709,-4.97891338555e-05,1793251838557924864
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,724,695,672,643,899,787,827.097988576,656,634,657,0.43951987249,0.00445024421058,0.0598844442209,0.999999979124,-5.16914091481e-05,-0.000191241070431,-5.00727247954e-05,1793251838574591488
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,724,695,672,643,899,787,827.685364681,656,634,657,0.440475139142,0.00444442058352,0.0599453612999,0.999999993194,-5.90597991854e-05,-8.6945710044e-05,-5.06464331109e-05,1793251838591257856
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.731124263,747.268875737,724,695.268875737,672,643,899,787,828,656.268875737,634,657,0.441401621211,0.00444107154323,0.0599888436176,0.999999996768,-6.03345086001e-05,-1.59626084204e-05,-5.06818930038e-05,1793251838607924480
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.15207199,747.84792801,724,695.84792801,672,643,899,787,828,656.84792801,634,657,0.442294897163,0.0044405772003,0.0600122130944,0.999999997118,-5.45795144159e-05,1.65912796302e-05,-5.00964269541e-05,1793251838624591360
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.422723109,747.577276891,724.422723109,695.577276891,672,643,899,787,828,657,634,657.422723109,0.44314994599,0.00443563479958,0.0600042497678,0.999999997102,-5.66513373989e-05,5.24241627681e-06,-5.05948061374e-05,1793251838641257984
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.996002033,747.003997967,724.996002033,695.003997967,672,643,899,787,828,657,634,657.996002033,0.443991380029,0.00442910819168,0.0599851270444,0.999999996547,-6.1510735996e-05,-2.17427188137e-05,-5.14792043721e-05,1793251838657924864
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.427501237,747,725,695,672,643.572498763,899,787,828,656.427501237,634,658,0.444787696249,0.00442985418558,0.0599801529808,0.999999996563,-5.80420324678e-05,-2.73364453575e-05,-5.25240172393e-05,1793251838674591744
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.152869517,747,725,695,672,643.847130483,899,787,828,656.152869517,634,658,0.445559599895,0.0044301089032,0.0599699737839,0.999999996068,-5.38823943146e-05,-4.6557649909e-05,-5.28577881435e-05,1793251838691258624
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.744289333,747,725,695,672,643.255710667,899,787,828,656.744289333,634,658,0.446262378203,0.00442880773198,0.0599445771059,0.999999992,-4.79083965061e-05,-0.000105304180133,-5.11484983516e-05,1793251838707924992
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643.329107639,899.658215278,787,828,656.670892361,634,658,0.44699801433,0.00442472491252,0.0599318270222,0.999999989714,-4.90534321197e-05,-0.000124876350435,-5.07027885679e-05,1793251838724591360
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643.90889752,900.817795039,787,828,656.09110248,634,658,0.447758678309,0.00441852330361,0.0599287098875,0.999999990574,-5.56210565483e-05,-0.00011460929403,-5.12195515289e-05,1793251838741257984
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.515717363,747.484282637,725,695,672,644,900.515717363,786.515717363,828.484282637,656.484282637,633.515717363,657.515717363,0.448519108171,0.00441680983296,0.0599565279381,0.9999999946,-5.83770094177e-05,-6.81534468089e-05,-5.24122044078e-05,1793251838757924608
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.060396488,748,725,695,672.060396488,643.939603512,900,786,828.939603512,657,633.060396488,657.060396488,0.44926496053,0.0044153514295,0.0599844862648,0.999999996415,-6.09679304261e-05,-2.41435885774e-05,-5.35681775e-05,1793251838774591232
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.650093159,748,725,695,672.650093159,643.349906841,900,786,828.349906841,657,633.650093159,657.650093159,0.449883441708,0.00440879581285,0.059963133135,0.999999994403,-6.83399266573e-05,-6.06937414791e-05,-5.32984541018e-05,1793251838791258112
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,748,725,695,672.764462092,643.235537908,900,786.235537908,828.235537908,656.764462092,634,657.764462092,0.450491915034,0.00440544400467,0.0599376240158,0.999999990971,-7.30013757178e-05,-9.88563269916e-05,-5.43622523338e-05,1793251838807924992
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,725,695,672.185221896,643.814778104,900,786.814778104,828.814778104,656.185221896,634,657.185221896,0.451085784619,0.00440676726749,0.0599060503841,0.999999985926,-7.37075318852e-05,-0.000139371807763,-5.73719558016e-05,1793251838824591616
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.608776356,748,725,695,672,643.608776356,900,787,828.608776356,656.391223644,634,657.391223644,0.451673122652,0.00440392490737,0.0599017040683,0.99999998502,-7.99334766915e-05,-0.000141741606577,-5.8989277712e-05,1793251838841258240
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.033644489,748,725,695,672,643.033644489,900,787,828.033644489,656.966355511,634,657.966355511,0.452257390356,0.00439912435205,0.0599101568925,0.999999986304,-8.87541893821e-05,-0.000126179710177,-5.99520627315e-05,1793251838857924608
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,748,725,694.448814225,672.551185775,643.551185775,900,786.448814225,828.551185775,656.448814225,634,658,0.45281908116,0.00439564598434,0.0599349571829,0.999999988375,-0.000110580354767,-8.56286633019e-05,-6.07379793277e-05,1793251838874591488
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.135588074,747.864411926,725,694,672.864411926,644,900,786.135588074,829,656,634,658,0.453355493681,0.00439295709325,0.0599513492119,0.999999985552,-0.00014583201217,-6.18689350072e-05,-6.16521750578e-05,1793251838891258368
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.716604963,747.283395037,725,694,672.283395037,644,900,786.716604963,829,656,634,658,0.453813471446,0.00439259187705,0.0599367819239,0.999999968415,-0.000222533940696,-9.83721497331e-05,-6.30238909862e-05,1793251838907924736
+204,3.400000000,POSE1_TO_POSE2_PRESS,768.705330662,747,725,694,671.705330662,643.705330662,900,787,829,656.294669338,633.705330662,657.705330662,0.454251500285,0.00439213525076,0.0599180065385,0.999999955279,-0.000261151758078,-0.000130529354267,-6.48377156711e-05,1793251838924591104
+205,3.416666667,POSE1_TO_POSE2_PRESS,768.130077701,747,725,694,671.130077701,643.130077701,900,787,829,656.869922299,633.130077701,657.130077701,0.454670533763,0.00439159158396,0.0598952242112,0.999999950464,-0.000263505948413,-0.000158548293837,-6.70725157377e-05,1793251838941257984
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747.446779122,725,694,671.446779122,643,900,787,829,657,633.446779122,657,0.455087145673,0.00439048560904,0.0598950280456,0.999999951262,-0.000263426119075,-0.000153175463859,-6.79632085641e-05,1793251838957924864
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.024570321,748,725,694,672,643,900.024570321,786.975429679,828.975429679,657,634,657.024570321,0.455501948818,0.00438926310669,0.0599018421473,0.999999953739,-0.000262537850733,-0.000137522262629,-6.84315612313e-05,1793251838974591488
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.613050808,748,725,694,672,643,900.613050808,786.386949192,828.386949192,657,634,657.613050808,0.455891478723,0.00438913710091,0.05991808259,0.99999995799,-0.000259418019385,-0.000109854632678,-6.82205775446e-05,1793251838991258112
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,694,671.801729498,642.801729498,901,786.198270502,828,656.801729498,633.801729498,658,0.45625758256,0.00438938199946,0.0599278861482,0.999999966103,-0.000235597357488,-9.26126656125e-05,-6.09226928918e-05,1793251839007924736
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,725,694,671.222770739,642.222770739,901,786.777229261,828,656.222770739,633.222770739,658,0.45657870725,0.00439033905099,0.0599253305978,0.999999979853,-0.000172030172359,-9.53884419452e-05,-4.0017640424e-05,1793251839024591360
+211,3.516666667,POSE1_TO_POSE2_PRESS,768.643790312,748,725,694,671.356209688,642,900.643790312,786.643790312,828.356209688,656,633,657.643790312,0.456850535913,0.00439556329318,0.0599043752132,0.999999980706,-0.000146338375731,-0.000126401456891,-3.45658732509e-05,1793251839041258240
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.064796275,748,725,694,671.935203725,642,900.064796275,786.064796275,828.935203725,656,633,657.064796275,0.457091533376,0.00440345636598,0.0598719120138,0.999999973506,-0.000144334990201,-0.000175074897945,-3.87790575881e-05,1793251839057924864
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,748,725,694,671.492338955,642.507661045,900.507661045,786,829,656.507661045,633.507661045,657.507661045,0.457306591349,0.0044004216953,0.0598437997013,0.999999964155,-0.000151225114184,-0.000217169053872,-4.07306626721e-05,1793251839074591488
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,694,671.082004515,643,901,786,829,657,634,658,0.457517373212,0.00439681450232,0.0598188709373,0.999999954289,-0.000158470481924,-0.000253968664067,-4.25341175816e-05,1793251839091258112
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+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,694,671.741067179,643,901,786.258932821,829,657,634,657.741067179,0.457913542989,0.00439966066498,0.0598049575732,0.999999949318,-0.000162869586938,-0.000269478334526,-4.71072688718e-05,1793251839124591616
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+219,3.650000000,POSE1_TO_POSE2_PRESS,768.991717186,748,725,694,671,643,901,786.008282814,829,656.008282814,633.008282814,657.991717186,0.458376848501,0.00439975138697,0.0597999260765,0.999999943466,-0.000170780558976,-0.00028541281464,-4.94164347249e-05,1793251839174591744
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,694,671,642.434265005,901,786,829,656.565734995,633,658,0.458506466671,0.00440120619998,0.0598056836318,0.99999994682,-0.000169806130896,-0.000273868750636,-5.02096981161e-05,1793251839191258112
+221,3.683333333,POSE1_TO_POSE2_PRESS,768.856171588,748,725,694,671,642,901,786.143828412,828.856171588,657,633.143828412,658,0.458626781908,0.00440209143947,0.0598094883213,0.999999948968,-0.000169157622156,-0.000266197185951,-5.08781843964e-05,1793251839207924736
+222,3.700000000,POSE1_TO_POSE2_PRESS,768.265298199,748,725,694,671,642,901,786.734701801,828.265298199,657,633.734701801,658,0.458718589145,0.00440109075624,0.059806875826,0.999999947459,-0.000169734802831,-0.000271397760515,-5.11495493866e-05,1793251839224591360
+223,3.716666667,POSE1_TO_POSE2_PRESS,768,748,725,694,670.681154673,642,901,787,828.318845327,657,634,658,0.458795359781,0.00440124253689,0.0598015792654,0.999999945061,-0.00016919009002,-0.000280362792017,-5.14740961251e-05,1793251839241258240
+224,3.733333333,POSE1_TO_POSE2_PRESS,768,748,725,694,670.10249498,642,901,787,828.89750502,657,634,658,0.4588598777,0.00440233341438,0.0597940955666,0.999999941842,-0.000167731190907,-0.000292395330185,-5.18419785784e-05,1793251839257924864
+225,3.750000000,POSE1_TO_POSE2_PRESS,768.473553347,748,725,694,670.473553347,642,901,787,829,656.526446653,633.526446653,658,0.458912754804,0.00440594104511,0.0597908646772,0.999999941315,-0.000163832388281,-0.000296244907032,-5.26119875062e-05,1793251839274591488
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,694,670.950019647,642,901,786.950019647,829,656.049980353,633,658,0.458962390865,0.00440978766597,0.0597888468108,0.999999941442,-0.000159769831763,-0.000297885215629,-5.3426449922e-05,1793251839291257856
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,694,670.363492846,642,901,786.363492846,829,656.636507154,633,658,0.459004132916,0.00441038429073,0.0597900237341,0.99999994239,-0.000159587362698,-0.000294717502375,-5.37889130003e-05,1793251839307924736
+228,3.800000000,POSE1_TO_POSE2_PRESS,768.779832466,748,725,694,670,642,901,786,829,656.779832466,633.220167534,658,0.459039665505,0.00441234489395,0.0597910417139,0.99999994306,-0.000157248675263,-0.000293598341989,-5.43490573285e-05,1793251839324591616
+229,3.816666667,POSE1_TO_POSE2_PRESS,768.200843714,748,725,694,670,642,901,786,829,656.200843714,633.799156286,658,0.459065078128,0.00441652846072,0.0597918006529,0.99999994326,-0.000151395859804,-0.000295817840415,-5.52313755059e-05,1793251839341257984
+230,3.833333333,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642,901,786,829,656.378140738,634,658,0.459083241776,0.00442980788311,0.0597906884102,0.999999944055,-0.000140359486219,-0.000297840689348,-5.89864041236e-05,1793251839357924608
+231,3.850000000,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642,901,786,829,656.957122887,634,658,0.459097555283,0.00444791837566,0.0597885823291,0.999999944997,-0.000126569976129,-0.000299759091962,-6.4267211764e-05,1793251839374591232
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642.531796321,901.531796321,786.531796321,829,657,633.468203679,658,0.459103907441,0.00446614034557,0.0597871127671,0.999999946003,-0.000106033881709,-0.000303554184099,-6.78700087796e-05,1793251839391257856
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642.891310185,901.891310185,787,829,656.891310185,633.108689815,658,0.459110221592,0.00447943044792,0.0597861894693,0.999999946616,-9.05762094595e-05,-0.000306003120257,-7.01920771819e-05,1793251839407924992
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642.303102047,901.303102047,787,829,656.303102047,633.696897953,658,0.459119177237,0.00447092276974,0.0597874515865,0.999999947177,-9.99040967979e-05,-0.000301850884704,-6.74559077997e-05,1793251839424591616
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642,901,787,829,656,634,657.717525097,0.459122572789,0.00446754615635,0.0597870042643,0.999999946707,-0.000103023264434,-0.000302605472514,-6.63458447288e-05,1793251839441257984
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642,901,787,829,656,634,657.134745343,0.459120057293,0.0044696244819,0.0597847396024,0.999999945194,-9.95418162365e-05,-0.000308576604178,-6.69645282257e-05,1793251839457924352
+237,3.950000000,POSE1_TO_POSE2_PRESS,768,748,725,694,670.440714773,642,901,787,829,656,634,657,0.459122805863,0.00447369935536,0.0597853708428,0.99999994607,-9.4535134047e-05,-0.000307209259569,-6.74196217472e-05,1793251839474590976
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.014015016,748,725,694,670.985984984,642,901,786.985984984,829,656,633.985984984,657.014015016,0.459127033914,0.00447819628716,0.0597868124322,0.999999947585,-8.92796997152e-05,-0.000303748870865,-6.7784704722e-05,1793251839491257856
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.588977304,748,725,694,670.411022696,642,901,786.411022696,829,656,633.411022696,657.588977304,0.459127112427,0.00447555285927,0.0597858290454,0.999999947049,-9.24277872391e-05,-0.000304850739781,-6.65163302419e-05,1793251839507924736
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.831072865,748,725,694,670,642,901.168927135,786,829,656.168927135,633.168927135,658,0.459126741191,0.00447497867703,0.0597847659797,0.999999946615,-9.29451420353e-05,-0.000306292579162,-6.57006407772e-05,1793251839524591616
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.238618504,748,725,694,670,642,901.761381496,786,829,656.761381496,633.761381496,658,0.459125242362,0.00447959242328,0.0597835031463,0.999999946435,-8.68668307905e-05,-0.000308586778572,-6.60199048056e-05,1793251839541258240
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,748,725,694.345133419,670,642,901.654866581,786,829,657,634,658,0.459124928839,0.00448127711613,0.0597831295334,0.999999946462,-8.44361192336e-05,-0.000309158246588,-6.60951771611e-05,1793251839557924608
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,748,725,694.9230166,670,642,901.0769834,786,829,657,634,658,0.459125414658,0.0044809865249,0.0597833555896,0.999999946647,-8.44652623327e-05,-0.000308567945468,-6.60059073284e-05,1793251839574591232
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,748,725,694.501962705,670.498037295,642,901,786,829,657,634,657.501962705,0.459126892874,0.00448203857841,0.0597835609811,0.999999946841,-8.37048428681e-05,-0.000308086119261,-6.62940520533e-05,1793251839591257856
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,748,725,694,670.925563898,642,901,786.074436102,829,656.925563898,634,657,0.459128111786,0.00448327877714,0.0597836471953,0.999999946981,-8.25980827762e-05,-0.000307872255378,-6.65528102305e-05,1793251839607924736
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,748,725,694,670.336598358,642,901,786.663401642,829,656.336598358,634,657,0.459126484003,0.00448439312758,0.0597829315656,0.999999946751,-7.99360924806e-05,-0.000309395405149,-6.62074865453e-05,1793251839624591360
+247,4.116666667,POSE1_TO_POSE2_PRESS,768.248187725,748,725,694,670,642,901.248187725,787,829,656.248187725,634,657.248187725,0.459125436377,0.00448579501241,0.0597821053509,0.999999946536,-7.78793153276e-05,-0.000310650356893,-6.60296846777e-05,1793251839641257728
+248,4.133333333,POSE1_TO_POSE2_PRESS,768.827399477,748,725,694,670,642,901.827399477,787,829,656.827399477,634,657.827399477,0.459125162543,0.00448758040061,0.0597811316415,0.99999994635,-7.66297497322e-05,-0.000311547595794,-6.60753174502e-05,1793251839657924608
+249,4.150000000,HOLD_POSE2,768,748,725,695,670,642,901,787,829,657,634,658,0.45912542568,0.00448681439495,0.0597809482538,0.999999946219,-7.5971393291e-05,-0.000312116793393,-6.61353653053e-05,1793251839691910656
+250,4.166666667,HOLD_POSE2,768.576043972,748,725,694.423956028,670,642.576043972,901,787,829,657,634,658,0.459126744854,0.00448836015277,0.0597819909136,0.999999946652,-7.45389902093e-05,-0.000311098438557,-6.6011795251e-05,1793251839708578048
+251,4.183333333,HOLD_POSE2,768.844048541,748,725,694,670,643,901,787,829,657,633.844048541,657.844048541,0.459127551366,0.00448923191766,0.0597826690106,0.999999946873,-7.41322330706e-05,-0.000310511209322,-6.58939415906e-05,1793251839725244928
+252,4.200000000,HOLD_POSE2,768.253371097,748,725,694,670,643,901,787,829,657,633.253371097,657.253371097,0.459126928799,0.00448822487882,0.0597823308625,0.999999946503,-7.65845379442e-05,-0.000311125773693,-6.57920227642e-05,1793251839741911040
+253,4.216666667,HOLD_POSE2,768,748,725,694,669.669582132,643,901,786.669582132,829,656.669582132,633.330417868,657.330417868,0.459126640378,0.00448801877154,0.0597819804331,0.99999994641,-7.6969946697e-05,-0.000311372713334,-6.55972930939e-05,1793251839758577664
+254,4.233333333,HOLD_POSE2,768,748,725,694,669.090967554,643,901,786.090967554,829,656.090967554,633.909032446,657.909032446,0.459126602955,0.00448841429215,0.0597816207787,0.999999946525,-7.58027854609e-05,-0.000311343507922,-6.53328476296e-05,1793251839775244288
+255,4.250000000,HOLD_POSE2,768,748,725,694,669.484076886,642.515923114,901,786.484076886,829,656.484076886,634,657.515923114,0.45912707451,0.0044897347176,0.0597816434509,0.999999946682,-7.33958986931e-05,-0.000311340427838,-6.56932339886e-05,1793251839791910912
+256,4.266666667,HOLD_POSE2,768.059798035,748,725,694,670,642.059798035,901,787,829,656.940201965,634,657.059798035,0.459127639602,0.00449108849112,0.059781730267,0.999999946838,-7.10370747805e-05,-0.000311298248635,-6.61192881729e-05,1793251839808577792
+257,4.283333333,HOLD_POSE2,768.647369764,748,725,694,670,642.647369764,901,787,829,656.352630236,634,657.647369764,0.459128192247,0.00449121380678,0.0597817537401,0.999999946965,-7.11435647368e-05,-0.000310867969695,-6.60961841789e-05,1793251839825244928
+258,4.300000000,HOLD_POSE2,769,748,725.231551842,694.231551842,670,643,901,787,829,656.231551842,634,658,0.459128816543,0.00449026080751,0.0597820028976,0.999999947091,-7.19037975875e-05,-0.000310345436847,-6.58269934113e-05,1793251839841911808
+259,4.316666667,HOLD_POSE2,769,748,725.810646245,694.810646245,670,643,901,787,829,656.810646245,634,658,0.45912954838,0.00448768933555,0.0597825907908,0.999999947211,-7.36452512107e-05,-0.000309684437593,-6.51884442043e-05,1793251839858578176
+260,4.333333333,HOLD_POSE2,768.610188686,748,725.610188686,694.610188686,670,642.610188686,901,787,829,657,634,658,0.459129838517,0.00448900270253,0.0597824096663,0.999999947369,-7.14030775979e-05,-0.000309734084798,-6.50267456742e-05,1793251839875244544
+261,4.350000000,HOLD_POSE2,768.030989232,748,725.030989232,694.030989232,670,642.030989232,901,787,829,657,634,658,0.459129914055,0.00449220350146,0.059781854918,0.999999947532,-6.72254760918e-05,-0.000310128996444,-6.50967229235e-05,1793251839891910656
+262,4.366666667,HOLD_POSE2,768.544408433,748,725,694,670,642,901,787,829,657,634,658,0.45912788661,0.004490433268,0.0597807765247,0.999999946534,-7.14067073012e-05,-0.000312394311142,-6.51327653428e-05,1793251839908577280
+263,4.383333333,HOLD_POSE2,769,748,725,694,670.122045757,642,901.122045757,787,829,657,634,658,0.459126872259,0.00448893715313,0.0597803837521,0.999999945916,-7.51343424848e-05,-0.000313491156288,-6.51683241331e-05,1793251839925243904
+264,4.400000000,HOLD_POSE2,769,748,725,694,670.709034099,642,901.709034099,787,829,657,634,658,0.459130170238,0.00448955581388,0.0597827156687,0.999999947069,-7.53339147089e-05,-0.000309733841505,-6.52093483057e-05,1793251839941910528
+265,4.416666667,HOLD_POSE2,768.707454941,748,725,694,670.707454941,642.292545059,901.707454941,787,829,657,634,658,0.459130381426,0.00449026355255,0.0597829894398,0.999999947292,-7.41250749326e-05,-0.000309325342718,-6.51130885309e-05,1793251839958577152
+266,4.433333333,HOLD_POSE2,768.127361998,748,725,694,670.127361998,642.872638002,901.127361998,787,829,657,634,658,0.459127558549,0.0044910588475,0.0597812402218,0.9999999466,-7.15318812586e-05,-0.000312208456578,-6.48818898538e-05,1793251839975244032
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,670,643,902,787,829,657,634,658,0.459129051423,0.00449230207501,0.0597817262728,0.999999946714,-7.20375282509e-05,-0.000311494500894,-6.59779396038e-05,1793251840007875840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,670.57124177,642.42875823,901.42875823,787,829,656.42875823,634,658,0.459129380168,0.00449191830927,0.0597818343672,0.999999946963,-7.18659948893e-05,-0.000310820459946,-6.55787808172e-05,1793251840024542464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.148168546,748,725,694.851831454,670.851831454,642,901,787,829,656,634,657.851831454,0.459129341207,0.00449163472647,0.0597817413434,0.999999947055,-7.12643333661e-05,-0.00031072541719,-6.52733478221e-05,1793251840041209088
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.742202652,748,725,694.257797348,670.257797348,642,901,787,829,656,634,657.257797348,0.459128195757,0.00449165261191,0.0597810431196,0.999999946677,-6.93683395095e-05,-0.000312372683012,-6.52499523404e-05,1793251840057875712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.671658259,748,725,694,670,642,900.671658259,786.671658259,829,656.328341741,634,657.328341741,0.459128135059,0.00449151398958,0.0597807429209,0.999999946596,-6.90713587369e-05,-0.000312706826566,-6.52086529e-05,1793251840074542336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.091572423,748,725,694,670,642,900.091572423,786.091572423,829,656.908427577,634,657.908427577,0.459128906055,0.00449125537062,0.0597807478934,0.999999946745,-7.00003632373e-05,-0.000312034181253,-6.51536262517e-05,1793251840091208704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,900.484508643,786.484508643,829,657,633.515491357,658,0.459128398345,0.00449216230649,0.0597801882342,0.999999946658,-6.90997017508e-05,-0.000312488862026,-6.52663955222e-05,1793251840107875328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.060949821,748,725,694.060949821,670,642,901,787,829,656.939050179,633,658,0.4591277168,0.00449308834271,0.0597796587682,0.999999946563,-6.8027097561e-05,-0.000313003355397,-6.53879930438e-05,1793251840124542208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.646960237,748,725,694.646960237,670,642,901,787,829,656.353039763,633,658,0.459127602609,0.00449229675563,0.0597803011869,0.999999946787,-6.84278579548e-05,-0.000312212679341,-6.53146818671e-05,1793251840141209088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,694.768393846,670,642,901,787,829,656,633.231606154,657.768393846,0.459120708661,0.00449189975015,0.0597769862695,0.999999945085,-6.92294688436e-05,-0.0003174448697,-6.53136483686e-05,1793251840157875456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,694.185815724,670,642,901,787,829,656,633.814184276,657.185815724,0.459103540784,0.0044921006869,0.059767674473,0.999999940318,-7.06385216104e-05,-0.000331804007939,-6.54221432135e-05,1793251840174541824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.608636066,748,725,694,670,642,901,786.608636066,829,656.391363934,633.608636066,657.391363934,0.459070762134,0.00449366604735,0.059753495815,0.999999932253,-6.82848081771e-05,-0.000355712467082,-6.55773159129e-05,1793251840191208448
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.033984621,748,725,694,670,642,901,786.033984621,829,656.966015379,633.033984621,657.966015379,0.459030672486,0.00449587040852,0.0597370378586,0.999999922016,-6.41688781446e-05,-0.000384093161707,-6.57543492252e-05,1793251840207874816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,786,829.552475861,656.447524139,633.552475861,658,0.45896898647,0.00449485150932,0.059715131992,0.999999908104,-6.5115306825e-05,-0.000418590911273,-6.58281200661e-05,1793251840224541696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,694.137799053,670,642,901,786.137799053,829.862200947,656,634,658,0.458903753585,0.00449430516921,0.0596947691865,0.999999895076,-6.52075649236e-05,-0.000448612598192,-6.58927443013e-05,1793251840241208320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,694.717100334,670,642,901,786.717100334,829.282899666,656,634,658,0.458831505971,0.0044959220224,0.0596804474345,0.999999888719,-6.1543585923e-05,-0.00046306126552,-6.59488595265e-05,1793251840257874944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.294267699,748,725,694.705732301,670,642.294267699,901,787,829,656.294267699,634,658,0.458752489715,0.00449691430087,0.0596719370523,0.999999884463,-5.94685855795e-05,-0.000472465357078,-6.56865908247e-05,1793251840274541824
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.869398321,748,725,694.130601679,670,642.869398321,901,787,829,656.869398321,634,658,0.458667013154,0.00449731045579,0.0596689733154,0.999999882354,-5.89101813739e-05,-0.000477054667633,-6.51204415453e-05,1793251840291208448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.553221274,748,725,694,670,643,900.553221274,787,829,657,634,658,0.458565129826,0.00449834844245,0.05966860271,0.999999882533,-5.61301102788e-05,-0.000477081189689,-6.46219044052e-05,1793251840307875072
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,643,900.025265685,787,829,657,634,657.974734315,0.458457359129,0.0044994028163,0.0596691330458,0.999999883395,-5.28795870009e-05,-0.000475715258275,-6.40930243918e-05,1793251840324541440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,643,900.613684321,787,829,657,634,657.386315679,0.458325803678,0.00449661939229,0.0596727634713,0.999999884653,-5.36916987314e-05,-0.000473192165058,-6.24450643033e-05,1793251840341208320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.198855749,643,901,787,829,656.801144251,634,657.198855749,0.458182949738,0.00449578067117,0.0596750422776,0.999999885344,-5.21606747206e-05,-0.000472075001054,-6.11219532422e-05,1793251840357874944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.777820139,643,901,787,829,656.222179861,634,657.777820139,0.458018498989,0.00449865920964,0.0596747374914,0.99999988494,-4.61507952203e-05,-0.000473645241879,-6.04197845511e-05,1793251840374541568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,900.645192869,786.645192869,829,656,634,657.645192869,0.457837728166,0.00450135520372,0.0596729003798,0.999999884797,-4.01376534356e-05,-0.000474623379975,-5.93882212852e-05,1793251840391208192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,900.069437203,786.069437203,829,656,634,657.069437203,0.457646794352,0.00450393752246,0.0596701090452,0.999999884804,-3.41224795476e-05,-0.000475232798932,-5.81515345388e-05,1793251840407875072
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.504025911,748,725,694,671,643,900,786.504025911,829,656.504025911,634,657.504025911,0.45742699118,0.00450451416008,0.0596719838698,0.999999886583,-2.85959681506e-05,-0.000472071296419,-5.62600892969e-05,1793251840424541696
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.92019748,748,725,694,671,643,900.07980252,787,829,656.92019748,634,658,0.457198388953,0.00450507323554,0.059675772789,0.999999889228,-2.30581032355e-05,-0.00046697805308,-5.42656690681e-05,1793251840441208320
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.327532028,748,725,694,671,643,900.672467972,787,829,656.327532028,634,658,0.456938682461,0.00450728717166,0.059687750363,0.999999895982,-1.70165833997e-05,-0.000452793722349,-5.21865413879e-05,1793251840457875200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,900.741256364,786.741256364,829,656.258743636,634,658,0.45666643682,0.00450847102188,0.0596999162464,0.999999903833,-1.09646082947e-05,-0.000435569768109,-4.99362512814e-05,1793251840474541824
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,900.162874349,786.162874349,829,656.837125651,634,658,0.456378700985,0.00450838235762,0.0597123147567,0.999999912918,-4.89971765789e-06,-0.000414590822464,-4.74745161678e-05,1793251840491208448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.414078517,748,725,693.585921483,671.414078517,643,900,786.414078517,828.585921483,657,634,658,0.456069601888,0.00450992448453,0.05973359401,0.999999925495,3.07473471632e-06,-0.000383454866692,-4.43067282357e-05,1793251840507874816
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.990471158,748,725,693.009528842,671.990471158,643,900,786.990471158,828.009528842,657,634,658,0.45575212864,0.00451210586325,0.0597583544144,0.999999938426,1.17977136812e-05,-0.000348337477223,-4.08621755484e-05,1793251840524541440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.423413145,748,725,693,671.423413145,643,900,787,828.576586855,657,634,657.423413145,0.45538526672,0.00451353203173,0.0597832874433,0.999999949025,1.90555811157e-05,-0.00031649935502,-3.76230416687e-05,1793251840541208320
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,671.160931016,643,899.839068984,787,829,656.839068984,633.839068984,657,0.454998999422,0.00451516231471,0.0598018879748,0.999999955672,2.77490774955e-05,-0.000294489110884,-3.40974131074e-05,1793251840557875200
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,693,671.7402446,643,899.2597554,787,829,656.2597554,633.2597554,657,0.454564441145,0.0045173562506,0.0598040179635,0.999999954378,4.02388957805e-05,-0.000297885721753,-2.98179896659e-05,1793251840574541824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,693.319243861,672,643,899.319243861,786.680756139,829,656.319243861,633.319243861,657,0.454095468951,0.00452084375594,0.0597968988372,0.999999949363,5.25043083987e-05,-0.000312786825221,-2.61144235742e-05,1793251840591208192
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,693.897987687,672,643,899.897987687,786.102012313,829,656.897987687,633.897987687,657,0.453598523078,0.00452538274994,0.0597822614929,0.999999940855,6.45873123837e-05,-0.000337039449096,-2.28789473256e-05,1793251840607874816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,693.527248168,672,643,899.527248168,786.472751832,829,657,634,657,0.453088909377,0.0045284782207,0.0597696223612,0.999999935616,7.65961277234e-05,-0.000349985814568,-2.02898691272e-05,1793251840624541696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,899,787,828.952133001,656.952133001,633.952133001,657,0.452574515734,0.00453134419242,0.0597598831293,0.999999932088,8.87984150845e-05,-0.000357247954254,-1.76954541301e-05,1793251840641208576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,672,643,899,787,828.363429481,656.363429481,633.363429481,657,0.452036741872,0.00453510717285,0.0597780779412,0.999999940899,0.000103366068798,-0.00032762107056,-1.34779196477e-05,1793251840657874944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747.778366667,725,693,672,643,899,786.778366667,828,656.221633333,633,657,0.451481884608,0.00453932344057,0.0597975814902,0.99999994886,0.000118579254336,-0.000296874247781,-9.16761796694e-06,1793251840674541568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747.199177352,725,693,672,643,899,786.199177352,828,656.800822648,633,657,0.450899467115,0.00454427098607,0.0598191963938,0.999999955966,0.000134833860753,-0.000264320654885,-4.70765735125e-06,1793251840691208192
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747.37848681,725,693,672,643,899,786.37848681,828,657,633.37848681,657.37848681,0.450254700541,0.00454787159243,0.0598084729675,0.999999950133,0.000148647078486,-0.000278635066713,-8.39921258873e-07,1793251840707875072
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.955351568,725,693,672,643,899,786.955351568,828,657,633.955351568,657.955351568,0.449577254689,0.00455076622153,0.0597807999101,0.999999936599,0.000161180679831,-0.000317514611794,2.71740946132e-06,1793251840724541696
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,748,725,693.525140679,672,643,899,787,828,656.474859321,633.474859321,657.474859321,0.448875053626,0.00455584427547,0.059758169982,0.999999919994,0.000178518358121,-0.000357905359424,6.79188986789e-06,1793251840741208064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,748,725,693.90131118,672,643,898.90131118,787,828,656.09868882,633,657,0.448169810103,0.00456075396644,0.0597427803355,0.99999990651,0.000195558122409,-0.000385509701232,1.09658705399e-05,1793251840757874688
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,748,725,693.305853498,672,643,898.305853498,787,828,656.694146502,633,657,0.447459705736,0.00456389414386,0.0597617063924,0.999999917435,0.000209069591782,-0.000348113081279,1.54223194034e-05,1793251840774541568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747.717747608,724.717747608,693,672.282252392,642.717747608,898,787,828,657,633.282252392,657,0.44673196924,0.00456685181618,0.0597860809107,0.999999926209,0.000221782447712,-0.000313009984802,2.04989053987e-05,1793251840791208448
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747.137405939,724.137405939,693,672.862594061,642.137405939,898,787,828,657,633.862594061,657,0.445985611209,0.00456961674363,0.0598162096001,0.999999933067,0.000233651882572,-0.000280329094525,2.6230424322e-05,1793251840807875328
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724.438597453,693,672.561402547,642.438597453,898,787.438597453,827.561402547,657,633.561402547,656.561402547,0.445179199777,0.00457451007474,0.0597998769567,0.99999992156,0.000250273036848,-0.00030551652561,3.00567295254e-05,1793251840824542208
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724.986471215,693,671.986471215,643,897.986471215,787.986471215,827,656.986471215,633.013528785,656.013528785,0.444355130063,0.00457998860214,0.0597699587781,0.999999903167,0.000268187740394,-0.000347324145865,3.32895302682e-05,1793251840841208832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724.399944207,693,671.399944207,643,897.399944207,787.399944207,827,656.399944207,633.600055793,656.600055793,0.443572195292,0.0045822876509,0.0597750898721,0.999999905211,0.000278457096625,-0.000332736922498,3.64174785301e-05,1793251840857875456
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724,693.185430504,671.185430504,642.814569496,897,787,827,656,633.814569496,657,0.442759965752,0.00458360424932,0.0597844388341,0.999999907051,0.000289107507491,-0.000317271764074,4.06745111761e-05,1793251840874542080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,693.768335207,671.768335207,642.231664793,897,787,827,656,633.231664793,657,0.441884942308,0.00458281494456,0.059802828885,0.999999908729,0.000300574716469,-0.000299924734298,4.73517598548e-05,1793251840891208448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.346875114,747,724,693.653124886,672,642.346875114,896.653124886,787.346875114,826.653124886,656,633,656.653124886,0.440991518917,0.00458294952508,0.0598015492587,0.99999990158,0.000310117581498,-0.000312917351282,5.2437112963e-05,1793251840907875072
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.922536141,747,724,693.077463859,672,642.922536141,896.077463859,787.922536141,826.077463859,656,633,656.077463859,0.440085959642,0.00458369346599,0.0597872962449,0.999999887888,0.000318391220216,-0.000345920870355,5.64725107079e-05,1793251840924541696
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.502884538,747,724,693.497115462,672,642.502884538,896,788,826,656,633,656.497115462,0.439208656572,0.00457970519688,0.0598040095993,0.999999922655,0.000230247655343,-0.000317361174061,3.09373230904e-05,1793251840941208064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.073195524,747,724,693.926804476,672,642.073195524,895.926804476,788,826,656.073195524,633,656.926804476,0.438326644778,0.00457521900617,0.059820153567,0.999999948024,0.000141442214246,-0.000289684112954,5.47197867396e-06,1793251840957874944
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.661009125,747,724,693.338990875,672,642.661009125,895.338990875,788,826,656.661009125,633,656.338990875,0.437380638036,0.00457240530208,0.0597984419823,0.999999931869,0.000153386354643,-0.000335513381846,1.28241721856e-05,1793251840974542080
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.753873869,747,724,693,671.753873869,642.753873869,894.753873869,788,825.753873869,657,633,656,0.43641936919,0.00457271416319,0.0597705429858,0.99999991406,0.000169248900016,-0.000378012100968,1.85009890837e-05,1793251840991208960
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.172430566,747,724,693,671.172430566,642.172430566,894.172430566,788,825.172430566,657,633,656,0.435437307435,0.00457727714242,0.0597342143835,0.999999895108,0.000190449801469,-0.000415973354524,2.18953084457e-05,1793251841007875840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.404899135,747,724.404899135,693.404899135,671.404899135,642,894,788,825,657,633,656.404899135,0.434504556365,0.00457849699393,0.0597393469102,0.999999903974,0.000198935726393,-0.000389702999649,2.46741980359e-05,1793251841024542208
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.9804946,747,724.9804946,693.9804946,671.9804946,642,894,788,825,657,633,656.9804946,0.433592593626,0.00457830745802,0.0597619585146,0.999999922649,0.000202061302744,-0.000336354046412,2.71936360831e-05,1793251841041208320
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.435202005,747,724.435202005,694,671.435202005,642.564797995,894,788.564797995,824.435202005,656.435202005,633,656.435202005,0.43266913042,0.00458065993255,0.0597832135669,0.999999929463,0.000197545716441,-0.000318306026525,2.70520639932e-05,1793251841057875200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.148874955,747,724,693.851125045,671.148874955,643,893.851125045,788.851125045,824,656.148874955,633,656,0.431741175657,0.00458197878279,0.0598045177926,0.999999937709,0.000192360313811,-0.00029468603445,2.71835145672e-05,1793251841074541824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.731402606,747,724,693.268597394,671.731402606,643,893.268597394,788.268597394,824,656.731402606,633,656,0.430801312664,0.0045800271033,0.059826103854,0.99999995074,0.000186004536261,-0.000251228886117,2.83821230159e-05,1793251841091208448
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,672.310274552,643,892.689725448,788.310274552,823.689725448,657,633,656,0.429810092375,0.00458109439627,0.0598249215681,0.999999948583,0.000183005780801,-0.000261623528968,2.99440789236e-05,1793251841107875072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,693,672.886018663,643,892.113981337,788.886018663,823.113981337,657,633,656,0.428774931057,0.00458474470906,0.059804258782,0.99999993218,0.000182879278957,-0.00031809353234,3.18169132392e-05,1793251841124542208
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.538795619,747,724,693,672.077591238,643,892,789,822.538795619,657,633,656,0.427789785348,0.00458550275906,0.0597687215247,0.999999916877,0.000180125750839,-0.00036444838417,3.12703568973e-05,1793251841141208832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.037219652,747.037219652,724,693,671.074439304,643,892,789,821.962780348,656.962780348,633,656,0.426821455368,0.00458553789258,0.0597338217747,0.999999902882,0.000176380744103,-0.000402755182967,3.02355809758e-05,1793251841157874944
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747.786103856,724,693,672.786103856,643,892,789,821,656.213896144,633,656,0.425006890814,0.00458640742275,0.0597928903713,0.999999935642,0.000162513037487,-0.000318240296659,3.20830704726e-05,1793251841191208192
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,747,724,693,672.370133221,642.629866779,892,789,821,657,633,656.370133221,0.423152037229,0.00458805718676,0.0598434249802,0.999999955115,0.000155071894197,-0.000253962765277,3.50100670081e-05,1793251841224541952
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,672.945827679,642.054172321,892,789,821,657,633,656.945827679,0.422232304001,0.00458473452625,0.0598560476116,0.999999964226,0.000140335644167,-0.000225094556654,3.44547357559e-05,1793251841241209344
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,769.885590466,747,724.114409534,692.885590466,672.885590466,642.114409534,891.885590466,789,821,656.114409534,633,656,0.420350429173,0.00458943026592,0.0597868323934,0.999999927255,0.000139039124204,-0.000353415989314,3.54258131835e-05,1793251841274542848
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.306090859,747,724.693909141,692.306090859,672.306090859,642.693909141,891.306090859,789,821,656.693909141,633,656,0.419423911067,0.00458699025744,0.0597352709915,0.999999898671,0.000127873266053,-0.000430282999742,3.40915925552e-05,1793251841291209472
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,747,724.149025854,692,673.701948292,642.149025854,891,789,821,657,633,656.850974146,0.417719329178,0.00458121444823,0.0597494101134,0.999999919685,0.000105808391751,-0.000385121715337,3.34087015597e-05,1793251841324541952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,692,674,642.426667004,891,789,820.573332996,657,633,657,0.416906660842,0.00458109746462,0.0597910955487,0.999999926681,0.000197961475467,-0.000325937877101,3.48395096338e-05,1793251841341208320
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.589164753,747,724.589164753,692,674,643,891,789,820,656.410835247,633,657,0.415321132867,0.00457792865556,0.0598383104457,0.999999909519,0.000322219866267,-0.00027514318265,3.785212353e-05,1793251841374541568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,747,724.825693921,692,673.825693921,642.825693921,890.825693921,789,820.174306079,656,633,656.825693921,0.414549960887,0.00457545958475,0.0598395374999,0.999999910717,0.000316352007091,-0.000277537638615,3.82119491404e-05,1793251841391208448
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.668226411,747,724,692,673.331773589,642,889.668226411,789,820.668226411,656,633,656,0.413006162625,0.00457595845765,0.0598164035735,0.99999990783,0.00029501166191,-0.000309725634635,3.71171509815e-05,1793251841424542208
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.091001008,747,724,692,673.908998992,642,889.091001008,789,820.091001008,656,633,656,0.4121962981,0.00457379949532,0.0597714230844,0.999999880052,0.000286838343111,-0.000395139347931,3.8540461671e-05,1793251841441209088
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747.061556467,724,691.938443533,672.123112934,643,889.938443533,788,820,656,633,656.938443533,0.410776198555,0.00457439812251,0.0597335777817,0.999999872412,0.0002611275106,-0.00043112484228,3.34718417408e-05,1793251841474542336
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747.649859164,724,691.350140836,673.299718328,643,889.350140836,788,820,656,633,656.350140836,0.410185775342,0.00457068156236,0.0597771702792,0.999999901924,0.000248809140057,-0.000364676958298,3.54428021228e-05,1793251841491208960
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.814232242,747.185767758,724,691.814232242,673.185767758,643,889,788,820,656.814232242,633,656.814232242,0.409024672639,0.00456310814516,0.0598542937465,0.999999944843,0.000223085613777,-0.000242998689061,3.87188786908e-05,1793251841524541952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.609282081,673,642.609282081,889,788,820,657,632.609282081,657,0.408442404493,0.0045619424671,0.0598576323748,0.999999948998,0.000211780115753,-0.00023603923447,3.79312873447e-05,1793251841541208832
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.875894033,747,724,691,673,643,888.124105967,788,820.875894033,657,633,657,0.405411282458,0.00455362268908,0.0598243640779,0.999999947995,0.000164643456356,-0.00027503347626,3.54856108221e-05,1793251841641208320
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.549247237,642.549247237,888,788,820.549247237,657,633,656.549247237,0.404984368885,0.00455236156463,0.0598113166592,0.999999943026,0.000161331501501,-0.00029435677221,3.56841261275e-05,1793251841657874944
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.97402927,747,724,691.02597073,672,642.02597073,888,788,820,657,633,656.02597073,0.404561588584,0.00455086674685,0.0597937174916,0.999999935274,0.000158031664861,-0.000321229774589,3.59026161571e-05,1793251841674541824
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.383200239,747,724,691.616799761,672,642.616799761,888,788,820,657,633,656.616799761,0.404174140798,0.00455050169379,0.0597700978095,0.999999921604,0.00015530572969,-0.000362457887502,3.60038439159e-05,1793251841691208192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.203755267,747,724,691.796244733,672,643,888,788,820,656.796244733,633,657,0.403818469834,0.00454975621728,0.0597578386496,0.999999914917,0.000153035612947,-0.000381346468837,3.63413964511e-05,1793251841707874816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.783561722,747,724,691.216438278,672,643,888,788,820,656.216438278,633,657,0.403521446291,0.00454830863045,0.0597665464979,0.999999923377,0.000151606756392,-0.000359005155792,3.71151106042e-05,1793251841724541440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.359967965,672.359967965,643,888,788,820,656,633,657,0.403259122291,0.00454738162399,0.0597846885935,0.999999934553,0.000152276842823,-0.000325917649943,3.85229986843e-05,1793251841741208064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.934348945,672.934348945,643,888,788,820,656,633,657,0.403017466861,0.00454676469833,0.0598084501494,0.999999946278,0.000154197153249,-0.000286429228675,4.03086291442e-05,1793251841757874944
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.491486542,672.491486542,643,888,788,820,656,633,657,0.402792697044,0.00454547374776,0.0598247428809,0.999999953379,0.000152499735401,-0.000261270172243,4.15161717889e-05,1793251841774541568
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.326098768,747,724,691,672,643,888.673901232,788,820,656,633,657,0.40235369227,0.00454336020339,0.0598309280839,0.999999954128,0.000152871628246,-0.000257812320132,4.36648493163e-05,1793251841807874816
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.259343264,747,724,691,672.259343264,643,888.740656736,788,820,656.259343264,633,657,0.402151149536,0.00454264351732,0.0598252671283,0.999999950413,0.00015271750288,-0.000271818409069,4.43358026642e-05,1793251841824541440
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,724.989733549,691,673,643,888,788,820,657,633,656.010266451,0.401677849888,0.00453961965407,0.0598230223093,0.999999948458,0.000139118175258,-0.000286044737069,4.36923103304e-05,1793251841874541568
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,724.423468562,691,672.423468562,643,888,788,820,657,633,656.576531438,0.401563080356,0.00453080186066,0.059824038469,0.999999956253,6.75363623146e-05,-0.000286598111106,2.8189509839e-05,1793251841891208192
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,888,788,820,657,633,656.838522093,0.401457373733,0.00452453386721,0.0598261655009,0.999999959408,1.6097242219e-05,-0.000283967899049,1.6949174588e-05,1793251841907874560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,888,788,820,657,633,656.258984105,0.401374030347,0.00452522112653,0.0598312391611,0.999999962388,1.9907489524e-05,-0.000272988024181,1.7450010674e-05,1793251841924541184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,888,788,820,657,633,656.319659291,0.401296392377,0.00452673837411,0.0598319615061,0.99999996289,2.30066742829e-05,-0.000270889761177,1.75708053117e-05,1793251841941207808
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672,643,888,788,820,657,633,656.897579984,0.40122336396,0.00452892619176,0.0598291683063,0.999999961444,2.5531372759e-05,-0.000275967191867,1.73845542212e-05,1793251841957874688
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.222290838,747,724.777709162,691,672.222290838,643,888,788,820,657,633,656,0.401040094471,0.00452845391794,0.0598208730689,0.999999956349,3.78992324182e-05,-0.000292347976643,1.99666473761e-05,1793251842024541696
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dbe325cc4b1589c1dfc350e0600168c57034343c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09c7a2052fe572380aea27271fa16f83745d542e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:281294ba2e4753bef56f4604005e19418d2c990b2ec31f0c4cef768695b20e43
+size 26497641
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2ff1c1e83f24877789133189ab903052e153bb7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/franka_data.csv
@@ -0,0 +1,417 @@
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+4,0.066666667,BASELINE,770,747,724.663335833,691.663335833,673,642.663335833,888,788,820,657,633.663335833,657,0.40096709327,0.00452568375279,0.0598370990914,0.9999999414,0.000213725087447,-0.000266540179083,2.18683284086e-05,1793251842688550912
+5,0.083333333,BASELINE,770,747,724.090232014,691.090232014,673,642.090232014,888,788,820,657,633.090232014,657,0.400967297602,0.00452261715043,0.059837023915,0.999999942466,0.000208717654717,-0.000266489508648,2.20924060124e-05,1793251842705217536
+6,0.100000000,BASELINE,770,747.496483274,724,691,672.503516726,642,888,788,820,657,633,657,0.400967897702,0.00452300262896,0.0598372669269,0.999999942532,0.00020922294043,-0.000265829999003,2.22528086857e-05,1793251842721884416
+7,0.116666667,BASELINE,769.915774445,747.915774445,724,691,672,642.084225555,888,788,820,657,633,657,0.400968485044,0.00452400206763,0.0598376039663,0.999999942467,0.000210482945782,-0.000265070154945,2.23625547468e-05,1793251842738551296
+8,0.133333333,BASELINE,769.336937853,747.336937853,724,691,672,642.663062147,888,788,820,657,633,657,0.400968563164,0.00452481878951,0.0598381440123,0.999999942725,0.000210125579449,-0.000264389216433,2.22446962356e-05,1793251842755218176
+9,0.150000000,BASELINE,769,747,724,691,672,643,888,788,820,657,633,657,0.400968327872,0.00452454109455,0.0598382018841,0.999999942804,0.000209480305912,-0.000264607339445,2.22237688697e-05,1793251842771885056
+10,0.166666667,BASELINE,769,747,724,691,672,643,888,788,820,657,633,657,0.40096765603,0.00452273899966,0.0598375881411,0.999999942629,0.000208434009971,-0.000266077754354,2.23378557245e-05,1793251842788551424
+11,0.183333333,BASELINE,769.391785571,747,724,691,672,643,888.391785571,788,820,657,633,656.608214429,0.400966877039,0.00452298129783,0.0598370181455,0.99999994244,0.000208498002613,-0.000266769352471,2.19627238293e-05,1793251842805217792
+12,0.200000000,BASELINE,769.966480451,747,724,691,672,643,888.966480451,788,820,657,633,656.033519549,0.400966048024,0.00452417804273,0.0598364685738,0.999999942244,0.000209080345332,-0.000267097351721,2.13591949087e-05,1793251842821884160
+13,0.216666667,BASELINE,769.443661165,747,724,691,672.556338835,642.443661165,888.443661165,788,820,657,633,656,0.400965305757,0.00452585601382,0.059835451592,0.999999941256,0.000212189018047,-0.000268335775916,2.14531013594e-05,1793251842838550784
+14,0.233333333,BASELINE,769,747.144216613,724,691,672.855783387,642.144216613,888.144216613,788.144216613,820,657,633.144216613,656.144216613,0.400964731954,0.00452665474102,0.0598348509328,0.999999940622,0.000214033997537,-0.000269217720643,2.16266896828e-05,1793251842855217408
+15,0.250000000,BASELINE,769,747.723290413,724,691,672.276709587,642.723290413,888.723290413,788.723290413,820,657,633.723290413,656.723290413,0.40096464992,0.00452471240409,0.0598355929084,0.999999941232,0.000211596730595,-0.000268854737121,2.19102879188e-05,1793251842871884032
+16,0.266666667,BASELINE,769.299257925,747.700742075,724.299257925,691,672,643,888.700742075,788.700742075,820.299257925,657,633.700742075,656.700742075,0.40096542582,0.00452398283727,0.0598366896285,0.999999941696,0.000211145247405,-0.000267464564338,2.20978801864e-05,1793251842888550912
+17,0.283333333,BASELINE,769.872382674,747.127617326,724.872382674,691,672,643,888.127617326,788.127617326,820.872382674,657,633.127617326,656.127617326,0.400966986862,0.0045243631409,0.059838110994,0.999999942025,0.000212511060559,-0.000265134356121,2.21976122753e-05,1793251842905217792
+18,0.300000000,BASELINE,769.542335769,747,724.542335769,691,672.457664231,643,888,788,820.542335769,656.542335769,633,656.457664231,0.400968211253,0.00452427398457,0.0598385111929,0.999999942686,0.000210975339133,-0.000263867380141,2.21552069793e-05,1793251842921884416
+19,0.316666667,BASELINE,769.045675886,747,724,691,672.954324114,642.954324114,888.045675886,788,820,656.045675886,633,657,0.400969170239,0.00452408542132,0.0598385818231,0.999999943343,0.000208841148998,-0.000263083058879,2.20630686051e-05,1793251842938550784
+20,0.333333333,BASELINE,769.624900245,747,724,691,672.375099755,642.375099755,888.624900245,788,820,656.624900245,633,657,0.400968155469,0.00452430653704,0.059838219647,0.999999942883,0.000209425019646,-0.000264379013207,2.1865597777e-05,1793251842955217152
+21,0.350000000,BASELINE,769.796110273,747.203889727,724,691,672,642,888.796110273,788,820,657,633,656.796110273,0.400967491142,0.0045240914845,0.0598380756635,0.999999942661,0.000209476550862,-0.000265172554344,2.19219139708e-05,1793251842971883776
+22,0.366666667,BASELINE,769.217552462,747.782447538,724,691,672,642,888.217552462,788,820,657,633,656.217552462,0.400967470792,0.00452307492846,0.059838332631,0.999999942878,0.000208549854238,-0.000265042860069,2.24445896159e-05,1793251842988550656
+23,0.383333333,BASELINE,769,747.641676534,724,691,672.358323466,642,888,788,820,657,633,656.358323466,0.400967813497,0.00452370795074,0.0598387688145,0.999999942766,0.000209726575902,-0.00026453215751,2.24632195452e-05,1793251843005217024
+24,0.400000000,BASELINE,769,747.067416733,724,691,672.932583267,642,888,788,820,657,633,656.932583267,0.40096837499,0.00452533505769,0.0598393129987,0.999999942453,0.000212170879653,-0.000263791848059,2.2178096643e-05,1793251843021883648
+25,0.416666667,BASELINE,769,747,724,691.519476007,672.480523993,642.519476007,888,788,820,656.480523993,633,657,0.400967026475,0.0045246564755,0.059838223831,0.999999942181,0.000212166763136,-0.000264821590296,2.22198842225e-05,1793251843038550784
+26,0.433333333,BASELINE,769.106912816,747,724.106912816,691.893087184,672,643,888,788,820,656,633,656.893087184,0.400965805784,0.00452364278486,0.0598373108841,0.999999942113,0.00021128325292,-0.000265770707165,2.23672463425e-05,1793251843055217920
+27,0.450000000,BASELINE,769.689296488,747,724.689296488,691.310703512,672,643,888,788,820,656,633,656.310703512,0.400966283415,0.00452250269456,0.0598381478412,0.999999942926,0.000207937188203,-0.000265314194615,2.27907451679e-05,1793251843071884544
+28,0.466666667,BASELINE,770,747,724.732413127,691,672,643,888,788.267586873,820,656.267586873,633.267586873,656,0.400966627805,0.00452245981386,0.0598382225936,0.999999943189,0.000206941363642,-0.000265106698592,2.27033870502e-05,1793251843088551168
+29,0.483333333,BASELINE,770,747,724.158804011,691,672,643,888,788.841195989,820,656.841195989,633.841195989,656,0.400966819815,0.00452367174269,0.0598374256606,0.999999942832,0.000208633360821,-0.000265183987107,2.20317940189e-05,1793251843105217536
+30,0.500000000,BASELINE,770,747,724,691,672,643,888,788.585131494,820,657,633.585131494,656.414868506,0.400965695583,0.00452387183775,0.0598373212144,0.999999942299,0.000209333164297,-0.000266657048844,2.17879837466e-05,1793251843121883904
+31,0.516666667,BASELINE,770,747,724,691,672,643,888,788.011434717,820,657,633.011434717,656.988565283,0.400964067441,0.00452368456232,0.0598374818799,0.999999941697,0.000209653116267,-0.000268664468441,2.17079458533e-05,1793251843138550528
+32,0.533333333,BASELINE,770,747,724,691,672,642.417541313,888,788,820,657,633,656.417541313,0.400965603551,0.0045240442449,0.0598382002415,0.999999942038,0.000210529721893,-0.000266688382422,2.18960533328e-05,1793251843155217152
+33,0.550000000,BASELINE,770,747,724,691,672.171827084,642.171827084,888,788,820,657,633,656,0.400966798944,0.00452405625474,0.0598386386471,0.999999942378,0.000210805111668,-0.000265177595433,2.20473589026e-05,1793251843171884288
+34,0.566666667,BASELINE,770,747,724,691,672.749536397,642.749536397,888,788,820,657,633,656,0.400967037507,0.00452322073218,0.0598383889618,0.999999942682,0.000209633595049,-0.000264957281357,2.20988511562e-05,1793251843188551424
+35,0.583333333,BASELINE,769.675761226,747,724.324238774,691,672.675761226,642.675761226,888,788,820,656.675761226,633,656.324238774,0.400968206066,0.00452343986616,0.0598391763274,0.999999943178,0.000209598036261,-0.000263111755028,2.20361946381e-05,1793251843205218304
+36,0.600000000,BASELINE,769.103360202,747,724.896639798,691,672.103360202,642.103360202,888,788,820,656.103360202,633,656.896639798,0.400970086417,0.00452446620128,0.0598407574193,0.999999943814,0.000210431904057,-0.000260022341881,2.18861722143e-05,1793251843221884416
+37,0.616666667,BASELINE,769.48418027,747,724.51581973,691,672.48418027,642.48418027,888,788,820,656.48418027,633,657,0.400968643583,0.00452377378305,0.0598399083472,0.999999943631,0.000208889774738,-0.000261962145671,2.18768784658e-05,1793251843238551040
+38,0.633333333,BASELINE,770,747,724,691,672.926445799,642.926445799,888,788.073554201,820,657,633,657,0.400967014279,0.00452296206597,0.0598387779843,0.999999943293,0.000207438957278,-0.000264392032461,2.18994417967e-05,1793251843255217664
+39,0.650000000,BASELINE,770,747,724,691,672.347399039,642.347399039,888,788.652600961,820,657,633,657,0.400969136219,0.00452393341745,0.0598393948027,0.999999943192,0.000210213956691,-0.000262573547365,2.19278150397e-05,1793251843271884544
+40,0.666666667,BASELINE,769.76826581,747,724.23173419,691,672,642.23173419,888,789,820,656.76826581,633,656.76826581,0.400970077943,0.00452423848122,0.0598397002688,0.999999943164,0.00021142058213,-0.000261699682247,2.20470560361e-05,1793251843288551424
+41,0.683333333,BASELINE,769.18900294,747,724.81099706,691,672,642.81099706,888,789,820,656.18900294,633,656.18900294,0.400969249711,0.0045235443221,0.0598395388041,0.999999943258,0.00021027513783,-0.000262242451246,2.23025701914e-05,1793251843305217792
+42,0.700000000,BASELINE,769,747,724.615587837,691,672.384412163,643,888,788.615587837,820,656,633,656.384412163,0.400970467091,0.00452311232702,0.0598406367742,0.999999943817,0.000209495594666,-0.000260725269732,2.2343714921e-05,1793251843321884416
+43,0.716666667,BASELINE,769,747,724.045004825,691,672.954995175,643,888,788.045004825,820,656,633,656.954995175,0.400972675159,0.00452280729804,0.0598423446889,0.999999944597,0.000208893257491,-0.000258210453966,2.2281040509e-05,1793251843338550784
+44,0.733333333,BASELINE,769,747,724,691,672.454939936,643,888,788,820,656.545060064,633,657,0.40097076098,0.00452295844734,0.0598404318994,0.999999944011,0.000208111751502,-0.000261107147095,2.21308301737e-05,1793251843355217152
+45,0.750000000,BASELINE,769.13382621,747,724.13382621,691,672,643,888,788,820,657,633,657,0.40096912482,0.00452306060067,0.0598389232463,0.999999943582,0.000207459530774,-0.000263276528485,2.1967376909e-05,1793251843371883520
+46,0.766666667,BASELINE,769.712724861,747,724.712724861,691,672,643,888,788,820,657,633,657,0.400969587217,0.00452286989461,0.0598397897584,0.999999944091,0.000207288304515,-0.000261485956705,2.17848095975e-05,1793251843388550400
+47,0.783333333,BASELINE,769.709809789,747.290190211,725,691,672,643,888,788,820,657,633,657,0.400969095996,0.0045233549415,0.0598399406323,0.999999943773,0.000209033721464,-0.000261307442899,2.18566669779e-05,1793251843405217280
+48,0.800000000,BASELINE,769.133756299,747.866243701,725,691,672,643,888,788,820,657,633,657,0.400967665374,0.00452450566538,0.0598393865389,0.99999994263,0.000212667203146,-0.000262716949971,2.21791553828e-05,1793251843421883648
+49,0.816666667,BASELINE,769,747.560340328,725,690.560340328,672,643,888,788,820,657,633,657,0.400967554543,0.00452473942865,0.0598396149036,0.999999942749,0.000211552122957,-0.000263179650268,2.19916137664e-05,1793251843438551296
+50,0.833333333,BASELINE,769,747,724.987296206,690.012703794,672,643,888,788.012703794,820,657,633,657,0.400967855008,0.0045246734847,0.0598400749917,0.999999943241,0.00020905593822,-0.000263332761444,2.16625965681e-05,1793251843455218944
+51,0.850000000,BASELINE,769,747,724.394819316,690.605180684,672,643,888,788.605180684,820,657,633,657,0.400968711129,0.00452358495035,0.0598403113722,0.999999943472,0.000209066219406,-0.000262424214812,2.19160986056e-05,1793251843471885312
+52,0.866666667,BASELINE,769.193279919,747,724,691,672,642.806720081,888,788.806720081,820,657,633,656.806720081,0.400969127425,0.00452297974927,0.0598403100256,0.999999943572,0.00020926412168,-0.000261866104562,2.21623905702e-05,1793251843488551936
+53,0.883333333,BASELINE,769.77263479,747,724,691,672,642.22736521,888,788.22736521,820,657,633,656.22736521,0.400968665177,0.00452334000223,0.0598398338211,0.999999943409,0.000209836795447,-0.000262007987985,2.23942804619e-05,1793251843505218560
+54,0.900000000,BASELINE,769.651716026,747,724,691.348283974,672,642.348283974,888,788,820,657,633,656.348283974,0.400968229142,0.0045240755896,0.0598395734799,0.999999943405,0.000209695017824,-0.000262149189332,2.22826904369e-05,1793251843521884928
+55,0.916666667,BASELINE,769.078460527,747,724,691.921539473,672,642.921539473,888,788,820,657,633,656.921539473,0.400967810041,0.00452505362152,0.059839452574,0.999999943501,0.00020909174545,-0.00026228995009,2.19492320244e-05,1793251843538550784
+56,0.933333333,BASELINE,769.508366412,747,724,691.491633588,672.508366412,642.491633588,888,788,820,657,632.491633588,657,0.400967974155,0.00452357085053,0.0598397874409,0.999999943568,0.000209520348955,-0.000261665953769,2.22671369702e-05,1793251843555217664
+57,0.950000000,BASELINE,770,747,724,691,672.904389037,642.095610963,888,788,820,657,632.095610963,656.904389037,0.400968063252,0.00452202926811,0.0598398785758,0.999999943523,0.000210033232349,-0.000261397860135,2.25893089655e-05,1793251843571884032
+58,0.966666667,BASELINE,770,747,724,691,672.325904282,642.674095718,888,788,820,657,632.674095718,656.325904282,0.400967306413,0.00452216140226,0.0598383737596,0.999999942942,0.000210145383714,-0.000263539675076,2.24113859376e-05,1793251843588550656
+59,0.983333333,BASELINE,769.748503842,747,724,691,672,643,888,788,820,657,633,656,0.400967438079,0.00452273413384,0.059838166216,0.999999942763,0.000210236111522,-0.000264153451258,2.23112993346e-05,1793251843605217536
+60,1.000000000,BASELINE,769.172502414,747,724,691,672,643,888,788,820,657,633,656,0.400968716183,0.00452387536793,0.0598396325418,0.999999943107,0.000210299196544,-0.000262795600675,2.23116449773e-05,1793251843621884672
+61,1.016666667,BASELINE,769.403611233,747,724.403611233,691,672.403611233,643,888,788,820,657,633,656,0.400968473609,0.00452365190932,0.0598400075791,0.999999943308,0.000209481119539,-0.000262694663955,2.22035014881e-05,1793251843638551296
+62,1.033333333,BASELINE,769.979772821,747,724.979772821,691,672.979772821,643,888,788,820,657,633,656,0.400967580919,0.00452284502237,0.0598399160727,0.999999943446,0.00020828633146,-0.000263131078399,2.2048977134e-05,1793251843655217920
+63,1.050000000,BASELINE,770,747,724.431826672,691,672.431826672,643,888,788,820,657,633,656,0.400968449058,0.00452332605867,0.0598397126584,0.999999943756,0.000207972231699,-0.000262220697187,2.18045744648e-05,1793251843671884288
+64,1.066666667,BASELINE,770,747.155157348,724.155157348,691,672,643,888,788,820,657,633,656.155157348,0.400968963858,0.00452372360127,0.059839295496,0.999999943818,0.000208222665001,-0.00026179657165,2.16963112455e-05,1793251843688550656
+65,1.083333333,BASELINE,770,747.737021135,724.737021135,691,672,643,888,788,820,657,633,656.737021135,0.400968330731,0.00452376265142,0.0598383016914,0.999999943178,0.000209937527272,-0.000262844486531,2.19714457413e-05,1793251843705217536
+66,1.100000000,BASELINE,769.68785476,747.68785476,725,691,672.31214524,643,888,788,820,657,633,657,0.400968482724,0.00452366682684,0.0598384122493,0.999999943232,0.000209900139134,-0.000262657379399,2.21035953175e-05,1793251843721883904
+67,1.116666667,BASELINE,769.118288781,747.118288781,725,691,672.881711219,643,888,788,820,657,633,657,0.400969282193,0.00452345977341,0.059839433556,0.999999943858,0.000208417700546,-0.000261451771091,2.21178277092e-05,1793251843738550528
+68,1.133333333,BASELINE,769.469748764,747,725,691.469748764,672.530251236,643,888,788,820,657,633,657,0.400968050845,0.00452382509443,0.0598390649518,0.999999943352,0.000208893480586,-0.000262999026811,2.2157022264e-05,1793251843755217408
+69,1.150000000,BASELINE,769.938836902,747.061163098,724.938836902,691.938836902,672,643,888.061163098,788,820.061163098,657,633,657,0.400966610751,0.00452441485058,0.0598385033149,0.999999942653,0.000209833487357,-0.000264900351945,2.21524378747e-05,1793251843771884288
+70,1.166666667,BASELINE,769.359826432,747.640173568,724.359826432,691.359826432,672,643,888.640173568,788,820.640173568,657,633,657,0.400967910215,0.00452563456277,0.0598393919387,0.999999942873,0.000210358105877,-0.000263690080942,2.17217937925e-05,1793251843788551168
+71,1.183333333,BASELINE,769.217026036,748,724.217026036,691,672,643,888.782973964,788,821,657,633,657,0.400968901153,0.00452568051603,0.0598400053757,0.999999943159,0.000210620390681,-0.000262398806907,2.1623069433e-05,1793251843805217792
+72,1.200000000,BASELINE,769.790335881,748,724.790335881,691,672,643,888.209664119,788,821,657,633,657,0.400969385597,0.00452379955179,0.0598401670485,0.999999943558,0.000210452011778,-0.000260974552928,2.20692456317e-05,1793251843821883904
+73,1.216666667,BASELINE,770,747.633862404,725,691,672,643,888,788,820.633862404,657,633,657,0.400969486084,0.00452310016263,0.0598405708782,0.99999994394,0.000209579286795,-0.000260205670837,2.21307657341e-05,1793251843838550528
+74,1.233333333,BASELINE,770,747.056624007,725,691,672,643,888,788,820.056624007,657,633,657,0.400969365196,0.00452308202414,0.0598411143261,0.999999944312,0.000208300463069,-0.000259814650958,2.1970507957e-05,1793251843855217408
+75,1.250000000,BASELINE,770,747,724.48862617,691,672,643,888.51137383,788,820,657,633,657,0.400968749881,0.00452609393143,0.0598406820434,0.999999943231,0.000212573806336,-0.000260539408551,2.16737624061e-05,1793251843871883776
+76,1.266666667,BASELINE,769.916745262,747,724,691,672,643,888.916745262,787.916745262,820,657,633,657,0.400967872192,0.00452854702646,0.0598400357124,0.999999942145,0.000216227086993,-0.000261716648509,2.14407562381e-05,1793251843888550400
+77,1.283333333,BASELINE,769.314386362,747,724,691,672,643,888.314386362,787.314386362,820,657,633,657,0.400965693867,0.00452546100854,0.0598387164603,0.999999942138,0.000212248957613,-0.000264958503285,2.16977335376e-05,1793251843905217280
+78,1.300000000,BASELINE,769,747,724,691,672.274239279,643,888,787.274239279,820,657,633,656.725760721,0.400965289215,0.00452333677187,0.0598386582375,0.999999942637,0.000209458709861,-0.000265281295089,2.19019234212e-05,1793251843921883904
+79,1.316666667,BASELINE,769,747,724,691,672.847871962,643,888,787.847871962,820,657,633,656.152128038,0.400966820925,0.00452226253439,0.0598399767098,0.999999943701,0.000207965300397,-0.00026241727769,2.20484840377e-05,1793251843938550784
+80,1.333333333,BASELINE,769.420593796,747,724,691,672.579406204,643,888,788,820,656.579406204,633,656.420593796,0.400966267893,0.00452236806824,0.059839409943,0.999999943645,0.000207568109702,-0.00026295138661,2.19481128407e-05,1793251843955217664
+81,1.350000000,BASELINE,769.992986936,747,724,691,672.007013064,643,888,788,820,656.007013064,633,656.992986936,0.400964962443,0.00452289940124,0.0598381627619,0.999999943185,0.000207566562598,-0.000264711935993,2.17586198289e-05,1793251843971884032
+82,1.366666667,BASELINE,769.410016591,747,724,691,672,643,888,788,820,656.589983409,633,656.410016591,0.400966397377,0.00452386977721,0.0598388128139,0.999999943557,0.000207575284707,-0.000263315811295,2.15158643442e-05,1793251843988550912
+83,1.383333333,BASELINE,769.180500612,747,724.180500612,691.180500612,672,643,888.180500612,788,820,657,633,656.180500612,0.400967468327,0.00452435607814,0.0598393901316,0.999999943794,0.000207815852997,-0.000262232807414,2.1397360834e-05,1793251844005217280
+84,1.400000000,BASELINE,769.756164959,747,724.756164959,691.756164959,672,643,888.756164959,788,820,657,633,656.756164959,0.400967668001,0.00452377068789,0.0598397566937,0.999999943717,0.000208563715233,-0.000261921030436,2.1552324216e-05,1793251844021883904
+85,1.416666667,BASELINE,770,747,724.668678375,691.668678375,672.331321625,643,888.668678375,788,819.668678375,657,633,656.668678375,0.400967594398,0.00452337862801,0.0598395896268,0.999999943632,0.000208659461505,-0.000262162097778,2.16231306933e-05,1793251844038550784
+86,1.433333333,BASELINE,770,747,724.093894798,691.093894798,672.906105202,643,888.093894798,788,819.093894798,657,633,656.093894798,0.400967319983,0.0045231286313,0.0598390304384,0.999999943542,0.000208276019495,-0.000262809406526,2.16320969351e-05,1793251844055217408
+87,1.450000000,BASELINE,770,747,724,691,673,642.505828536,888,788,819.494171464,656.505828536,633,656,0.40096717023,0.00452303346395,0.0598388264092,0.999999943616,0.000207577466028,-0.0002630669945,2.18100636999e-05,1793251844071884032
+88,1.466666667,BASELINE,770,747,724,691,673,642.083205062,888,788,820,656.083205062,633,656.083205062,0.400967000909,0.00452277097433,0.0598387144763,0.999999943743,0.000206743997705,-0.000263220983812,2.20169923079e-05,1793251844088550912
+89,1.483333333,BASELINE,770,747,724,691,673,642.662542353,888,788,820,656.662542353,633,656.662542353,0.400966569771,0.00452133052195,0.0598387381997,0.999999944004,0.000205472930903,-0.000263210969335,2.21998554789e-05,1793251844105217536
+90,1.500000000,BASELINE,770,747,724,691,672.759213209,643,888,788,820,657,633,657,0.40096710871,0.00452134705544,0.0598391131557,0.999999944089,0.000205935370545,-0.000262516718967,2.22881940313e-05,1793251844121883904
+91,1.516666667,BASELINE,770,747,724,691,672.18249351,643,888,788,820,657,633,657,0.400969001048,0.00452339629813,0.0598399781327,0.999999943924,0.000208816306174,-0.000260867859117,2.22446568535e-05,1793251844138550784
+92,1.533333333,BASELINE,769.607836177,747,724,691,672,643,888,788,820,657,633,657,0.40096853228,0.00452398627576,0.0598402213114,0.999999943645,0.000209791518416,-0.00026115189549,2.23146656659e-05,1793251844155217408
+93,1.550000000,BASELINE,769.034133496,747,724,691,672,643,888,788,820,657,633,657,0.400966970518,0.0045239007366,0.0598401766498,0.999999943314,0.000209884541305,-0.000262330700065,2.24372367158e-05,1793251844171884032
+94,1.566666667,BASELINE,769.555523451,747,724.555523451,691,672,643,888,788,820,657,633,657,0.40096770038,0.00452410949821,0.0598402085616,0.999999943877,0.000208380796538,-0.000261410538541,2.206830472e-05,1793251844188550912
+95,1.583333333,BASELINE,769.856546013,747,725,691,672,643,888,788,820,656.856546013,633,657,0.40096808001,0.00452395094162,0.0598400292101,0.99999994426,0.00020713661199,-0.000260952241556,2.18560958427e-05,1793251844205217536
+96,1.600000000,BASELINE,769.276932949,747,725,691,672,643,888,788,820,656.276932949,633,657,0.400966954026,0.00452261898145,0.0598391928035,0.99999994393,0.000206988716481,-0.00026230191404,2.22149244513e-05,1793251844221884416
+97,1.616666667,BASELINE,769,747,724.699163428,691,672,642.699163428,888,788,820,656,633,657,0.400966536545,0.00452236281148,0.0598387151116,0.999999943836,0.000206420211467,-0.000263115885497,2.21217526852e-05,1793251844238551040
+98,1.633333333,BASELINE,769,747,724.123080664,691,672,642.123080664,888,788,820,656,633,657,0.4009667673,0.0045230909207,0.0598385656209,0.999999943958,0.00020546687571,-0.00026343972475,2.16150295109e-05,1793251844255217408
+99,1.650000000,BASELINE,769,747,724.460266822,691,672,642.460266822,888,788,820,656,633,656.539733178,0.40096749271,0.00452302641944,0.0598395231205,0.999999944375,0.000204919171363,-0.000262271610556,2.17041433768e-05,1793251844271884032
+100,1.666666667,BASELINE,769,747,724.954639676,691,672,643,888,788,820,656,633,656.045360324,0.400968366091,0.00452276790544,0.0598406933019,0.999999944813,0.000204684512174,-0.000260763191476,2.19260840258e-05,1793251844288550656
+101,1.683333333,BASELINE,769,747,724.372243197,691,672,643,888,788,820,656,633,656.627756803,0.40096940017,0.00452276203713,0.0598408205859,0.999999944562,0.000206851286109,-0.000260025025714,2.18039483495e-05,1793251844305217280
+102,1.700000000,BASELINE,769,747,724,691,672.206865539,643,888,788.206865539,820,656.206865539,633,657,0.400969766959,0.00452313809833,0.0598406830135,0.99999994421,0.000208601410236,-0.000259991737767,2.16909800259e-05,1793251844321883904
+103,1.716666667,BASELINE,769,747,724,691,672.780150655,643,888,788.780150655,820,656.780150655,633,657,0.400968951782,0.00452419066878,0.0598400763025,0.999999943683,0.000209613525047,-0.000261206995369,2.15942497874e-05,1793251844338550784
+104,1.733333333,BASELINE,769,747,724.356670752,691,672.643329248,643,888,788.643329248,820,657,633,656.643329248,0.400967391762,0.00452424419437,0.0598388448189,0.999999943331,0.000209053608944,-0.000262995395551,2.16423216898e-05,1793251844355217408
+105,1.750000000,BASELINE,769,747,724.935203178,691,672.064796822,643,888,788.064796822,820,657,633,656.064796822,0.400965368422,0.00452367627923,0.0598372247049,0.999999943082,0.000207515834769,-0.000265140310567,2.17804655751e-05,1793251844371884288
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,725,691,673,642,889,788,820,657,633,656,0.400967329312,0.00452448630049,0.0598392283541,0.999999943698,0.000208382747749,-0.000262121344556,2.17556144176e-05,1793251844402918400
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,691,672.402070184,642.597929816,888.402070184,788,820,657,633,656.597929816,0.400966563438,0.0045250526491,0.0598387759824,0.999999943135,0.000209930937292,-0.000263045004355,2.15949328412e-05,1793251844419585024
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,724.81199053,691,672,643,888,788,819.81199053,656.81199053,633,657,0.400966712809,0.00452499086467,0.0598389963623,0.999999943217,0.000209820805342,-0.000262824613863,2.15665597419e-05,1793251844436251392
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,724.238025969,691,672,643,888,788,819.238025969,656.238025969,633,657,0.400968741038,0.0045236396179,0.0598405977996,0.999999944614,0.000206306389698,-0.000260255660794,2.18097959662e-05,1793251844452918016
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747.343883448,724,691,672.343883448,642.656116552,888,788,819.343883448,656.343883448,633,657,0.400969635269,0.00452322089881,0.0598412934143,0.999999944734,0.000206820599578,-0.000259381503121,2.18801484506e-05,1793251844469584640
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747.931422077,724,691,672.931422077,642.068577923,888,788,819.931422077,656.931422077,633,657,0.400969726018,0.00452346291296,0.0598413472172,0.999999943948,0.000210189252042,-0.000259708175949,2.18280058734e-05,1793251844486251520
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747.488475897,724,691,672.488475897,642,888,788,820,657,633,657,0.400969447999,0.00452399028638,0.059840867441,0.999999944043,0.0002098261977,-0.000259642692716,2.17613234189e-05,1793251844502918144
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.09041619,747,724,691,672,642.09041619,888,788,820,657,633,657,0.400968962021,0.0045245011337,0.0598402743995,0.999999944115,0.000209153865567,-0.000259911055692,2.17000696858e-05,1793251844519584768
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.66808372,747,724,691,672,642.66808372,888,788,820,657,633,657,0.400967617966,0.00452471971057,0.0598394509493,0.999999943436,0.000209472285091,-0.000262257774734,2.16784254639e-05,1793251844536251392
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,691,672,643,888.244946116,788,820,657,633,657,0.400967410233,0.00452490332731,0.0598393377124,0.999999942963,0.000210081027294,-0.000263572061011,2.16843649558e-05,1793251844552918016
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,691,672,643,888.820721036,788,820,657,633,657,0.400968737239,0.00452503972623,0.059840183703,0.999999942772,0.00021108188471,-0.000263491924096,2.17275595292e-05,1793251844569584640
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.595633996,747,724,691,672,643,888.595633996,788,820,656.595633996,633,657,0.400983614811,0.00452498244721,0.0598468305046,0.999999945847,0.000210321967086,-0.000252190141694,2.16945076128e-05,1793251844586251520
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.008430469,747,724,691,672,643,888.008430469,788,820,656.008430469,633,657,0.401004619385,0.00452483759508,0.0598561001923,0.99999995017,0.000208765900108,-0.000235814396902,2.16269801972e-05,1793251844602918144
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.572468389,747.572468389,724,691,672,643,888,788,820,656.572468389,633,657,0.401052388558,0.00452358372121,0.0598740757249,0.999999957952,0.000205275901826,-0.000203668791678,2.18146425656e-05,1793251844619584768
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.849022824,747.849022824,724,691,672,643,888,788,820,657,633,656.849022824,0.401105315544,0.00452253373716,0.0598917356865,0.999999964008,0.000202970849608,-0.000174063197696,2.21154554145e-05,1793251844636251648
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.276924382,747.276924382,724,691,672,643,888,788,820,657,633,656.276924382,0.401171541824,0.00452209752236,0.0599081617164,0.999999967344,0.000204049546301,-0.000152183179087,2.27215112795e-05,1793251844652918272
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.295572119,747,724,690.704427881,672,643,887.704427881,788,820,657,633,656,0.401245399792,0.00452237154232,0.0599219535113,0.999999970073,0.000205098704846,-0.000131409266159,2.27878518264e-05,1793251844669584896
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.868442034,747,724,690.131557966,672,643,887.131557966,788,820,657,633,656,0.401326417601,0.00452331188544,0.0599332739369,0.999999972272,0.000206120151439,-0.000111673073094,2.23478459705e-05,1793251844686251776
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,724,690.460910147,672,643,887.460910147,788,819.539089853,656.539089853,633,656.460910147,0.401421262042,0.00452311648351,0.0599386702952,0.999999973557,0.000204633687142,-0.000102689232022,2.15902080896e-05,1793251844702918400
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.943268012,747,724,691,672,642.943268012,888,788,819.056731988,656,633,657,0.401522408801,0.00452252620669,0.0599422895434,0.999999974722,0.000201993396479,-9.6572858528e-05,2.07162124354e-05,1793251844719585024
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.370100236,747,724,691,672,642.370100236,888,788,819.629899764,656,633,657,0.401643404926,0.00452142340921,0.0599458076841,0.999999976849,0.0001956554183,-8.73807490302e-05,1.96449566145e-05,1793251844736251648
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,724,691,672.201507015,642,888,788,820,656.201507015,633,656.798492985,0.401771372569,0.00452020197594,0.0599479263593,0.99999997835,0.000190546047421,-8.15350437233e-05,1.85672914672e-05,1793251844752918272
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,724,691,672.770270075,642,888,788,820,656.770270075,633,656.229729925,0.401912046118,0.00451876432347,0.059947494442,0.999999978891,0.000187675872057,-8.17883190097e-05,1.7477945141e-05,1793251844769585152
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,724,691,672.653423043,642,888,788,820,657,633,656.346576957,0.40207484469,0.00451901612654,0.0599487207998,0.999999980022,0.000184067615816,-7.63144091084e-05,1.58185556519e-05,1793251844786251776
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,724,691,672.072004385,642,888,788,820,657,633,656.927995615,0.402252635267,0.00452041271017,0.0599510708102,0.999999981471,0.000179959233211,-6.69597394621e-05,1.37729029058e-05,1793251844802918656
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.522183743,747,724,691,672,642.522183743,888,788,820,656.477816257,633,657,0.402464599316,0.004520851987,0.059952658719,0.999999982304,0.000178054847465,-5.96294052401e-05,1.15432940986e-05,1793251844819585280
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.886043409,747,724.113956591,691,672.113956591,643,888,788.113956591,820,656,633,657,0.402687075159,0.00452097087284,0.0599536598047,0.999999983167,0.000175279317803,-5.34648695765e-05,9.2331374597e-06,1793251844836251392
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.311333687,747,724.688666313,691,672.688666313,643,888,788.688666313,820,656,633,657,0.402932522548,0.0045203414445,0.0599527237695,0.999999984619,0.000167721963702,-5.08570189429e-05,6.70243742709e-06,1793251844852918016
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.26381298,747,724.73618702,691,672.73618702,643,888.26381298,788.73618702,820,656.26381298,633,656.73618702,0.403193967398,0.00452000532279,0.0599522797485,0.999999985869,0.000160855523111,-4.86797773947e-05,4.19619255482e-06,1793251844869584896
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.83947612,747,724.16052388,691,672.16052388,643,888.83947612,788.16052388,820,656.83947612,633,656.16052388,0.403474322639,0.00452001591536,0.0599524173313,0.999999986911,0.000154805803551,-4.70115538404e-05,1.71885598638e-06,1793251844886251520
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724.424451055,691.424451055,672,643,889,788,820,657,633,656.424451055,0.403768597224,0.00451967233261,0.0599455626452,0.999999987362,0.000147892997839,-5.83338669447e-05,-1.29222352118e-06,1793251844902918400
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,725,691.98711869,672,643,889,788,820,657,633,657,0.404069349021,0.00451921732038,0.0599359087847,0.999999987295,0.000140657892435,-7.48680370649e-05,-4.52448789135e-06,1793251844919584768
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,725,691.405108342,672,643,889,788,820,657,633,657,0.404418478922,0.00451988989924,0.0599220381178,0.999999986022,0.000133927962827,-9.97414211082e-05,-8.41065400564e-06,1793251844936251392
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.825293994,747.174706006,725,691,672,642.825293994,888.825293994,788,820,657,633.174706006,657,0.404779147398,0.0045201948756,0.0599096354855,0.999999984447,0.000126494299308,-0.000122296743051,-1.21879744368e-05,1793251844952918016
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.250508599,747.749491401,725,691,672,642.250508599,888.250508599,788,820,657,633.749491401,657,0.405166239336,0.00451965803663,0.0599005946767,0.999999983243,0.000117449075578,-0.000139543664493,-1.57160360858e-05,1793251844969584640
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,748,724.675821588,691,672,642.324178412,888.324178412,788,820,656.675821588,633.675821588,657,0.405599337078,0.00451889618552,0.0599064368057,0.999999985304,0.000108451355399,-0.000131401858288,-1.90589496058e-05,1793251844986251520
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,748,724.10121052,691,672,642.89878948,888.89878948,788,820,656.10121052,633.10121052,657,0.406067975031,0.00451796050913,0.059923776225,0.999999989432,9.94903314099e-05,-0.000103646883218,-2.22588338021e-05,1793251845002918144
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.488037121,747.511962879,724.488037121,691.488037121,672.488037121,643,889,788,820,656.488037121,633,657,0.406582048157,0.00451659902262,0.0599526553073,0.999999994199,8.98005326909e-05,-5.36258601796e-05,-2.57471023878e-05,1793251845019585024
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747.078324034,725,691.921675966,673,643,889.078324034,788.078324034,820,657,633,657,0.407111353622,0.00451493535837,0.059982434517,0.999999996376,7.99194939708e-05,-3.02429464063e-06,-2.91889310571e-05,1793251845036251648
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747.65530534,725,691.34469466,673,643,889.65530534,788.65530534,820,657,633,657,0.407675793626,0.00451192743954,0.0600022373453,0.999999996833,6.98128721963e-05,2.09660788355e-05,-3.19425650085e-05,1793251845052918272
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.76848926,747.76848926,725,691,672.76848926,643,890,788.76848926,820,657,633,657,0.408230613531,0.00451063946406,0.0600084972586,0.999999997349,6.02937219575e-05,2.08854051321e-05,-3.50693744504e-05,1793251845069585152
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.193435275,747.193435275,725,691,672.193435275,643,890,788.193435275,820,657,633,657,0.40877115795,0.00451190374582,0.0599946605785,0.999999997804,5.16463326434e-05,-1.49147604238e-05,-3.87499460166e-05,1793251845086251520
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.391283988,747,724.608716012,691.391283988,672,642.608716012,890,788.391283988,820,657,633,657,0.409340751889,0.00451298170002,0.0599816955631,0.999999997204,4.24549894226e-05,-4.37014082568e-05,-4.33627241691e-05,1793251845102918144
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.980902379,747,724.019097621,691.980902379,672,642.019097621,890,788.980902379,820,657,633,657,0.409925070461,0.00451396520829,0.0599691723785,0.999999995906,3.29879265814e-05,-6.89330363859e-05,-4.84480199714e-05,1793251845119585024
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,691.439604164,672,642.560395836,889.439604164,789,820,657,633,657,0.410617445932,0.00451302586735,0.0599816649991,0.999999997857,1.67063710507e-05,-3.30546911864e-05,-5.39801615337e-05,1793251845136251648
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.860874088,747,724.139125912,691.278251823,672.139125912,643,889.278251823,789,820,657,633.139125912,657,0.411316954147,0.00451185160632,0.0599906961642,0.999999998156,-1.19625464532e-05,-6.56537470653e-06,-5.91708003576e-05,1793251845152918272
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.283481235,747,724.716518765,692.433037529,672.716518765,643,890.433037529,789,820,657,633.716518765,657,0.412027537021,0.00451014007358,0.0599861853687,0.999999994756,-7.89348852845e-05,-1.60968044574e-05,-6.32385356749e-05,1793251845169585152
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,725,692.707567267,672.707567267,643,890.707567267,789,820.292432733,656.707567267,633.707567267,657,0.412715956126,0.0045147553704,0.0599651406018,0.999999995473,-5.56690350979e-05,-5.78080094644e-05,-5.11120174927e-05,1793251845186251776
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725,692.133079633,672.133079633,643,890.133079633,789,820.866920367,656.133079633,633.133079633,657,0.413382998092,0.00452547297052,0.0599281486194,0.999999989712,5.46326306948e-05,-0.000130556996814,-2.33659462072e-05,1793251845202918400
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,724.547149577,692.452850423,671.547149577,643,890.905700846,789,821,656.452850423,633,657,0.414114861033,0.00452713341253,0.0599153500345,0.99999998589,6.79940266686e-05,-0.000151984198083,-2.23276317434e-05,1793251845219585024
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.041510902,747.041510902,724.041510902,692.958489098,671.083021804,643,892,789,821,657,633,657,0.414876669988,0.00452513087651,0.0599145191292,0.99999998705,5.13598175387e-05,-0.000149723562542,-2.90588164192e-05,1793251845236251648
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.620851852,747.620851852,724.620851852,692.379148148,672.241703705,643,892,789,821,657,633,657,0.415773267237,0.00451104854554,0.0599742415368,0.999999998336,2.47597493856e-05,-4.10279361955e-05,-3.21286141318e-05,1793251845252918272
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.801223972,747.801223972,725,692.198776028,673,643,892.198776028,789,821.198776028,657,633,657,0.416655362392,0.00449580231133,0.0600162333433,0.99999999896,1.94590632469e-06,3.13009346076e-05,-3.31117980818e-05,1793251845269585152
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.225983082,747.225983082,725,692.774016918,673,643,892.774016918,789,821.774016918,657,633,657,0.417509991763,0.00447835174442,0.0600246448982,0.999999998848,-1.36971469216e-05,3.47542613592e-05,-3.0143113771e-05,1793251845286251776
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,693,672.286980522,643,893.713019478,788.643490261,822.356509739,657,633,657,0.418352504589,0.00447047339443,0.0600148273906,0.999999999189,-1.69567802634e-05,2.10601760947e-05,-2.98349595764e-05,1793251845302918144
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,693,671.112610375,643,894.887389625,788.056305187,822.943694813,657,633,657,0.419187177517,0.00446878863284,0.0599932149874,0.99999999943,-1.22038702333e-05,-3.72893580877e-06,-3.12482694652e-05,1793251845319584768
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.523919244,747,725,693,671.523919244,643,894.476080756,788,823,656.476080756,633.523919244,657,0.420033802084,0.00447466859646,0.0599615174061,0.999999997955,-2.12223822291e-06,-5.41782106252e-05,-3.39045458638e-05,1793251845336251392
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.896963751,747,725,693.103036249,672.103036249,643,894.103036249,788,823,656.103036249,633.896963751,657,0.420880157741,0.00447912241614,0.0599272421217,0.999999992997,6.2443841803e-06,-0.000112513624234,-3.61502030468e-05,1793251845352918272
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.319546634,747,725,693.680453366,672.680453366,643,894.680453366,788,823,656.680453366,633.319546634,657,0.421719439055,0.00447331636276,0.0598860236739,0.999999980407,4.11303591075e-06,-0.000194627025719,-3.58984167657e-05,1793251845369584896
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,694,672.487542686,643,895,788,823.256228657,657,633,657,0.422637869348,0.00447093986175,0.059880713338,0.999999978178,-1.34843795697e-05,-0.000205280152171,-3.6368608659e-05,1793251845386251776
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671.340060973,643,895,788,823.829969514,657,633,657,0.423654379206,0.00447281317625,0.0599198994386,0.999999989913,-5.02469624047e-05,-0.000127381488361,-3.77334580153e-05,1793251845402918400
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724.584539345,694,671.830921309,643,895.415460655,788,824,657,633,657,0.424652199334,0.00447138693796,0.0599747538779,0.999999996208,-6.79968372997e-05,-3.89260470909e-05,-3.80074401073e-05,1793251845419585024
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.994211091,747.005788909,724.005788909,694,672.988422182,643,896.005788909,788,824.005788909,657,633.005788909,657,0.425641994914,0.00446859813201,0.0600356460805,0.999999994859,-7.75541786484e-05,5.32573954128e-05,-3.78387991638e-05,1793251845436251904
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.414949434,747.585050566,724.585050566,694,671.829898868,643,896.585050566,788,824.585050566,657,633.585050566,657,0.426616639242,0.0044684942682,0.0600409376852,0.999999994101,-6.87886050992e-05,7.42944594788e-05,-3.93361334049e-05,1793251845452918528
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.326654275,747.836672863,725,694,671,643,897,788,825.163327137,657,634,657,0.4275810342,0.00446837061457,0.0600357483222,0.99999999443,-6.09284798047e-05,7.5795152336e-05,-4.10274031612e-05,1793251845469584896
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.478231934,747.260884033,725,694,671,643,897,788,825.739115967,657,634,657,0.428519545632,0.00446819698427,0.060004090622,0.999999997144,-5.53549482047e-05,2.79592494922e-05,-4.32084320285e-05,1793251845486251520
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.679652296,747.320347704,725,694,671,643,897.320347704,788,826,657,634,657,0.429426606132,0.00446695957041,0.0599655258383,0.999999997068,-5.02426433116e-05,-3.74455121439e-05,-4.40118528406e-05,1793251845502918144
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.093911392,747.906088608,725,694,671,643,897.906088608,788,826,657,634,657,0.430307610948,0.00446484086127,0.0599212388579,0.999999991119,-4.55124434323e-05,-0.000117405255132,-4.3673989069e-05,1793251845519584768
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,748,724.513330159,694.486669841,671,643,897.513330159,788,826,657,634,657,0.431306465179,0.0044637661297,0.0599316637151,0.999999994053,-4.53960181571e-05,-8.81082354063e-05,-4.54914738903e-05,1793251845536251392
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.933818065,724,695,671.13236387,643,897.066181935,788,826,657,634,657,0.432325608355,0.00446281287747,0.0599547910844,0.999999997133,-4.61378817083e-05,-3.67151548302e-05,-4.75086142353e-05,1793251845552918016
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.354956509,724,695,672.290086981,643,897.645043491,788,826,657,634,657,0.433327603479,0.00446125647521,0.0599953920405,0.999999997469,-4.67040616521e-05,2.42390318441e-05,-4.78843193959e-05,1793251845569584640
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.222570807,724.222570807,695,672.554858386,643,898,787.777429193,826.222570807,656.777429193,634,657,0.434309200101,0.00445851363576,0.0600137195174,0.999999996447,-4.79002634352e-05,4.97720343305e-05,-4.83052797966e-05,1793251845586251264
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.797983044,724.797983044,695,671.404033911,643,898,787.202016956,826.797983044,656.202016956,634,657,0.435258459138,0.00445388993758,0.0599967368613,0.999999997371,-5.0095238922e-05,1.91518541966e-05,-4.87979835697e-05,1793251845602918144
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.618917372,725,695,671.381082628,643,898.381082628,787.381082628,827,656,633.618917372,657.381082628,0.436176400589,0.0044501107689,0.0599692907905,0.999999996916,-5.23745954914e-05,-3.14748333752e-05,-4.9339563645e-05,1793251845619585024
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.031658761,725,695,671.968341239,643,898.968341239,787.968341239,827,656,633.031658761,657.968341239,0.437077398324,0.00444678851373,0.0599361837312,0.999999992941,-5.46996042259e-05,-9.29255792915e-05,-4.9907586952e-05,1793251845636252160
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643,898.452508568,787.452508568,827,656,633.547491432,657.452508568,0.437939369013,0.0044500985989,0.0599021581031,0.999999984875,-4.28994656103e-05,-0.000161062796829,-4.96844967896e-05,1793251845652918528
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643,898.125745584,787,827.125745584,656.125745584,634,657,0.43882010258,0.0044509543326,0.0598821037164,0.999999977673,-3.58059896127e-05,-0.000202247841786,-4.96709642215e-05,1793251845669585152
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,695,672,643,898.702443237,787,827.702443237,656.702443237,634,657,0.439776099106,0.00444165290478,0.0599123410665,0.999999986974,-4.84781094603e-05,-0.00014540994158,-5.05706152648e-05,1793251845686251776
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,724.722572824,695,672.277427176,643,899,787,828,657,634,657.277427176,0.440727622242,0.00443635461167,0.0599547621418,0.999999994441,-5.47423215177e-05,-7.44401184385e-05,-5.08024943401e-05,1793251845702918400
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724.149415698,695,672.850584302,643,899,787,828,657,634,657.850584302,0.441674376803,0.00443532355372,0.0600101707404,0.999999997199,-5.41758742467e-05,1.1593953197e-05,-5.03225461556e-05,1793251845719585024
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.562448905,747,724,695,672.562448905,643,899.437551095,786.562448905,828,657,634,658,0.442559498933,0.00443260935482,0.0600161362245,0.999999996901,-5.48436688261e-05,2.42262577577e-05,-5.10298442845e-05,1793251845736251648
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.028747066,747,724.028747066,695,672,643.028747066,899.971252934,786.028747066,828,656.971252934,634,657.971252934,0.443420889321,0.00442932880368,0.0600045220871,0.999999997011,-5.60583066942e-05,1.06784347305e-05,-5.21612889641e-05,1793251845752918528
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.607688187,747,724.607688187,695,672,643.607688187,899.392311813,786.607688187,828,656.392311813,634,657.392311813,0.444244009719,0.00442656771343,0.0599901240296,0.999999996773,-5.94095694094e-05,-8.57073073823e-06,-5.33982057943e-05,1793251845769585152
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,725,695,672,644,899,787,828,656.184886263,634,657.184886263,0.445044738825,0.00442525266493,0.0599760908217,0.99999999618,-6.00157199358e-05,-3.36438851195e-05,-5.39121181954e-05,1793251845786251776
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,725,695,672,644,899,787,828,656.758420404,634,657.758420404,0.445798399535,0.00442697732828,0.0599628245587,0.999999994578,-5.48513935286e-05,-7.09596018095e-05,-5.29062092045e-05,1793251845802918400
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.340821315,724.659178685,695,672,644,899,787,828.340821315,656.659178685,634,658,0.446548400666,0.00442481683166,0.0599434975144,0.999999991834,-5.10871752219e-05,-0.000105144303209,-5.16339699281e-05,1793251845819585024
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.929674971,724.070325029,695,672,644,899,787,828.929674971,656.070325029,634,658,0.447295738498,0.00441982891397,0.0599197597437,0.999999988182,-4.8341884376e-05,-0.000137050409361,-5.01679091318e-05,1793251845836251904
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,748,724.511199335,695,672.511199335,644,899.511199335,787,828.488800665,656,634,658,0.448081769572,0.0044173797767,0.0599473213918,0.999999993156,-5.66011584511e-05,-8.84230491972e-05,-5.16372829975e-05,1793251845852918272
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.908753864,748,725,695,673,644,900,786.908753864,828,656,634,658,0.448855643558,0.00441569152129,0.0599761633666,0.999999995672,-6.54798829355e-05,-3.91135880961e-05,-5.32736958802e-05,1793251845869584896
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.331283684,748,725,695,673,644,900,786.331283684,828,656,634,658,0.449536772281,0.00441622300235,0.0599747536475,0.999999995145,-6.97064600465e-05,-4.43710921081e-05,-5.36787679097e-05,1793251845886251776
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.2446292,748,724.7553708,695,672.7553708,644,900,786.2446292,828.2446292,656,634,658,0.450190335088,0.00441497496558,0.0599602735966,0.999999990464,-0.000108024489825,-6.61699075787e-05,-5.49986688466e-05,1793251845902918912
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.818446443,748,724.181553557,695,672.181553557,644,900,786.818446443,828.818446443,656,634,658,0.450806803451,0.00441133230052,0.0599282053062,0.999999973795,-0.000192218066725,-0.000110227724712,-5.75496192468e-05,1793251845919585536
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,724.405060985,694.594939015,672.405060985,644,900,787,829,656,634.405060985,658,0.451422351704,0.00440749100933,0.0599144279343,0.999999965842,-0.000221129437152,-0.00012624916898,-5.8978292245e-05,1793251845936252160
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,724.997598623,694.002401377,672.997598623,644,900,787,829,656,634.997598623,658,0.45203747415,0.00440355778656,0.0599091162483,0.999999964658,-0.00022445424111,-0.000129294385362,-5.98875356667e-05,1793251845952918784
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725,694.575407741,673,644,900,787,829,656,634.424592259,658,0.452622143389,0.00440332710727,0.0599294889978,0.999999967786,-0.000226554084882,-9.66220372818e-05,-6.13710934345e-05,1793251845969585408
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+204,3.400000000,POSE1_TO_POSE2_PRESS,769,747.875890829,725,694.124109171,672,643.124109171,900,787,829,656.124109171,633.875890829,658,0.454600589699,0.00440535962894,0.0599008728685,0.999999961022,-0.000224944017624,-0.00015162887785,-6.60696930035e-05,1793251846036251648
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+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,694.634892388,671.365107612,643,901,787,829,657,634,657.634892388,0.45591205278,0.00440982112833,0.0599157393609,0.999999968273,-0.0002149568237,-0.000113174709344,-6.66314564993e-05,1793251846086251776
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.210550563,748,725,694.789449437,671.210550563,643,901,787,829,657,633.789449437,658,0.456305656118,0.00441250306774,0.0599255933743,0.999999976257,-0.000187030301314,-9.5048204774e-05,-5.89223094886e-05,1793251846102918400
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.784317926,748,725,694.215682074,671.784317926,643,901,787,829,657,633.215682074,658,0.456657034861,0.00441591097641,0.0599243668541,0.999999986921,-0.000124322419219,-9.54890300599e-05,-3.98086771083e-05,1793251846119585024
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.633353067,748,725,694,671.633353067,643,901,787,829,657,633.366646933,658,0.456951493296,0.00441933580484,0.0599032505821,0.999999986075,-0.000101887740129,-0.000127565376816,-3.45905146471e-05,1793251846136251648
+211,3.516666667,POSE1_TO_POSE2_PRESS,768.045867151,748,725,694,671.045867151,643,901,787,829,657,633.954132849,658,0.457211667493,0.00442277082469,0.0598701543037,0.999999977944,-0.000103710432801,-0.000178696448246,-3.77418774328e-05,1793251846152918528
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.692207918,748,725,694.692207918,671,643,901,787.307792082,829,656.692207918,633.692207918,658,0.457932576919,0.00442600472823,0.0598006845092,0.999999954631,-0.000113853159417,-0.000275073101497,-4.59382766719e-05,1793251846202918144
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,694.622516064,670,642,901,786.377483936,829,656.377483936,633.622516064,658,0.459622496551,0.0044334576134,0.0597872805967,0.999999946853,-0.000107735031574,-0.000303630908625,-4.99600946078e-05,1793251846602918400
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,694.79962122,670,642,901,786,829,656.20037878,634,657.79962122,0.459623885466,0.00443437970011,0.0597873616035,0.999999947067,-0.00010630081474,-0.000303445080424,-4.98634481538e-05,1793251846619585024
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,694.224792405,670,642,901,786,829,656.775207595,634,657.224792405,0.459626117833,0.00443414682774,0.0597880568819,0.999999947364,-0.000105802349646,-0.000302679091038,-4.96312320055e-05,1793251846636251648
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.648640783,748,725,693.648640783,670,642,901,786.351359217,829,657,634.351359217,657.351359217,0.459626472184,0.00443484685311,0.0597873043594,0.99999994721,-0.000105512980722,-0.000303270663563,-4.97366383926e-05,1793251846652918016
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.071639682,748,725,693.071639682,670,642,901,786.928360318,829,657,634.928360318,657.928360318,0.45962562048,0.00443614598274,0.0597856220633,0.999999946765,-0.00010535789278,-0.000304734058496,-5.00588650161e-05,1793251846669584640
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,748,725,693.518451848,670,642,901.518451848,786.481548152,829,656.481548152,634.481548152,657.481548152,0.459624420117,0.00443527631485,0.0597847978321,0.999999945902,-0.000106946503104,-0.000307028183923,-4.99251142852e-05,1793251846686251520
+244,4.066666667,POSE1_TO_POSE2_PRESS,768.107116185,748,725,694,670,642,901.892883815,786,829,656,634,657,0.459623395667,0.0044343684502,0.0597842150689,0.999999945178,-0.000108071800031,-0.000309022655057,-4.97004426428e-05,1793251846702918400
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.681460784,748,725,694,670,642,901.318539216,786,829,656,634,657,0.459623354121,0.00443463502526,0.0597841549868,0.999999945352,-0.000106097982575,-0.000309196396127,-4.93611325396e-05,1793251846719584768
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.743705584,748,725,694,670,642,901,786.256294416,829,656,634,657,0.459623884948,0.00443521461564,0.0597838112986,0.99999994552,-0.000104684224434,-0.000309137908408,-4.93387472614e-05,1793251846736251392
+247,4.116666667,POSE1_TO_POSE2_PRESS,768.16826291,748,725,694,670,642,901,786.83173709,829,656,634,657,0.459625128519,0.0044361839855,0.0597831144525,0.999999945684,-0.000103967874722,-0.000308790239953,-4.97110096524e-05,1793251846752918272
+248,4.133333333,POSE1_TO_POSE2_PRESS,768,748,725,694,670,642,901,787,829,656,633.583629591,657.416370409,0.459625227893,0.00443614025754,0.0597833215731,0.999999945796,-0.000103836969974,-0.000308492172461,-4.95742092267e-05,1793251846769585152
+249,4.150000000,HOLD_POSE2,768,748,725,694,670,643,901,786,829,656,634,658,0.459625540223,0.00443464378517,0.0597828592182,0.999999945837,-0.000101474489882,-0.000309222799328,-4.90981987498e-05,1793251846814885888
+250,4.166666667,HOLD_POSE2,768.576173752,748,725,694,670,642.423826248,901,786.576173752,829,656.576173752,633.423826248,658,0.459625600673,0.00443519959627,0.0597828854274,0.999999945835,-0.000101314772196,-0.000309202223346,-4.95932013814e-05,1793251846831552512
+251,4.183333333,HOLD_POSE2,769,748,725,694,670,642,901,787,829,657,633.151899744,658,0.459625515574,0.0044354350866,0.0597828420146,0.99999994573,-0.000101470728544,-0.000309466500312,-4.97366602347e-05,1793251846848218880
+252,4.200000000,HOLD_POSE2,769,748,725,694,670,642,901,787,829,657,633.72638021,658,0.459625025562,0.00443477945389,0.0597826049152,0.999999945338,-0.00010250488095,-0.000310523229988,-4.89021345153e-05,1793251846864885504
+253,4.216666667,HOLD_POSE2,769,748,725,694.3110405,670,642,901,787,829,657,634,658,0.459624441714,0.00443461698693,0.0597822736644,0.999999945015,-0.000103092028944,-0.000311411635952,-4.86299315813e-05,1793251846881551872
+254,4.233333333,HOLD_POSE2,769,748,725,694.904958863,670,642,901,787,829,657,634,658,0.459623772525,0.0044349030329,0.059781856787,0.999999944755,-0.000103272645726,-0.000312146958726,-4.88691369176e-05,1793251846898218496
+255,4.250000000,HOLD_POSE2,769,748,725,694.517496954,670,642,901,787,829,657,634,658,0.459625710267,0.00443625607842,0.059782879356,0.999999945736,-0.000100817918644,-0.000309784190359,-4.89655836073e-05,1793251846914885120
+256,4.266666667,HOLD_POSE2,769,748,725,694,669.942663744,642,901,786.942663744,829,656.942663744,634,658,0.45962781315,0.00443761151378,0.0597839126273,0.999999946754,-9.81625243574e-05,-0.000307331102401,-4.90281486983e-05,1793251846931551744
+257,4.283333333,HOLD_POSE2,769,748,725,694,669.364117316,642,901,786.364117316,829,656.364117316,634,658,0.459626902514,0.00443714082807,0.0597825503313,0.999999946101,-9.82469104568e-05,-0.00030942229277,-4.90299476801e-05,1793251846948218368
+258,4.300000000,HOLD_POSE2,768.78201,748,725,694,669.21799,642,901,786.21799,829,656.21799,634,658,0.459626160308,0.00443695590037,0.0597817181623,0.999999945662,-9.82281306912e-05,-0.000310862615174,-4.8913130304e-05,1793251846964884992
+259,4.316666667,HOLD_POSE2,768.193856081,748,725,694,669.806143919,642,901,786.806143919,829,656.806143919,634,658,0.45962570411,0.00443725621197,0.0597817861901,0.999999945592,-9.80341672815e-05,-0.000311197713106,-4.85948931567e-05,1793251846981551360
+260,4.333333333,HOLD_POSE2,768,748,725,694,670,642,901,787,829,657,634,658,0.459624679776,0.00443652132118,0.0597811822511,0.999999945017,-9.89639638016e-05,-0.000312762397178,-4.84880440153e-05,1793251846998218240
+261,4.350000000,HOLD_POSE2,768,748,725,694,670,642,901,787,829,657,634,658,0.459623376118,0.00443527747421,0.0597802479403,0.999999944189,-0.000100446255737,-0.000314931606062,-4.84851235443e-05,1793251847014885120
+262,4.366666667,HOLD_POSE2,768.540796065,748,725,694,670,642,901,787,829,657,633.459203935,658,0.459624873192,0.00443563443141,0.0597809811617,0.999999944923,-9.91024053296e-05,-0.000313050288853,-4.82902431589e-05,1793251847031551744
+263,4.383333333,HOLD_POSE2,769,748,725,693.885398105,670,642,901,787,829,657,633,658,0.459626205451,0.00443576715232,0.0597816781278,0.999999945547,-9.8207203301e-05,-0.000311359562229,-4.81217817735e-05,1793251847048218624
+264,4.400000000,HOLD_POSE2,769,748,725,693.310966842,670,642,901,787,829,657,633,658,0.459626193705,0.00443460993754,0.0597818231491,0.999999945371,-9.98010549984e-05,-0.000311420909673,-4.81061158398e-05,1793251847064885248
+265,4.416666667,HOLD_POSE2,769,748,725,693.543746657,669.728126671,642,901,787,829,656.728126671,633,658,0.459627033082,0.00443431246083,0.0597827472332,0.999999945661,-0.000100697076106,-0.000310204659707,-4.8067288824e-05,1793251847081551872
+266,4.433333333,HOLD_POSE2,769,748,725,694.72927698,669.13536151,642,901,787,829,656.13536151,633,658,0.45962887704,0.00443502973222,0.0597845908442,0.999999946499,-0.000100769448332,-0.000307480462724,-4.80011248062e-05,1793251847098218496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,787,829,657,634,658,0.459627905412,0.00443615929746,0.0597824690699,0.999999946244,-9.61471293431e-05,-0.000309834223203,-4.76467734631e-05,1793251847130990592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,787,829,657,634,658,0.459627283504,0.00443691454373,0.059781300892,0.999999945757,-9.72700535577e-05,-0.00031091938311,-4.85206181908e-05,1793251847147656960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,669.843167753,642,901.156832247,787,829,656.843167753,634,658,0.459627025751,0.00443722843043,0.0597808259017,0.999999945439,-9.82115526694e-05,-0.000311580416981,-4.89244491009e-05,1793251847164323584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,669.253584486,642,901.746415514,787,829,656.253584486,634,658,0.459627772816,0.00443632446315,0.0597822636403,0.999999945598,-9.86524413517e-05,-0.000311071149849,-4.80313596921e-05,1793251847180990208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,669.330111954,642,901.669888046,786.669888046,829.330111954,656.330111954,634,658,0.459627782746,0.00443562291896,0.0597828450491,0.99999994568,-9.9511310542e-05,-0.000310580339335,-4.77310502962e-05,1793251847197656832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,669.909365463,642,901.090634537,786.090634537,829.909365463,656.909365463,634,658,0.459627236347,0.00443507414724,0.0597827801698,0.999999945703,-0.000100685637272,-0.0003101034584,-4.78781229174e-05,1793251847214323456
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747.513290977,725,694,670,642,901.486709023,786,830,657,634,658,0.459626939135,0.0044363672671,0.0597822751113,0.999999945705,-9.91652994934e-05,-0.000310600646188,-4.77754985922e-05,1793251847230990336
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.06344699,747.06344699,725,694,670,642,901.93655301,786.06344699,829.93655301,657,634,658,0.459626095908,0.0044376142691,0.0597814197939,0.99999994554,-9.74213073753e-05,-0.000311709424197,-4.76010867709e-05,1793251847247656704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.638159828,747.638159828,725,694,670,642,901.361840172,786.638159828,829.361840172,657,634,658,0.459620480348,0.00443573653834,0.0597783999792,0.999999944073,-9.79028358425e-05,-0.00031629053499,-4.72214264109e-05,1793251847264323584
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.781936051,748,725,694,670,642,901,787,829,657,634,658,0.459609523119,0.00443537662124,0.0597727829611,0.999999941355,-9.816776264e-05,-0.000324656532521,-4.74421864019e-05,1793251847280990208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.193207869,748,725,694,670,642,901,787,829,657,634,658,0.459589486142,0.00443759667793,0.0597627512274,0.999999936391,-9.80645107194e-05,-0.000339456064979,-4.86835385514e-05,1793251847297656832
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,787,829,656.608909316,634,657.608909316,0.459549790376,0.00443783787647,0.0597456425291,0.999999926302,-9.76484129384e-05,-0.000368084137521,-4.87228375688e-05,1793251847314323456
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,787,829,656.026774543,634,657.026774543,0.459500491476,0.00443711242177,0.0597250767998,0.999999912734,-9.70794928174e-05,-0.000403467321695,-4.81749450956e-05,1793251847330990080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.548271164,748,725,694,669.451728836,642.548271164,901,787,829,656.548271164,633.451728836,657.548271164,0.459436144137,0.00443766540405,0.0597054005029,0.999999901132,-9.67991159838e-05,-0.000431277773339,-4.8641432809e-05,1793251847347656704
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.877740521,748,725,694,669.122259479,642.877740521,901,786.877740521,829,656.877740521,633,657.877740521,0.45936842987,0.00443839509584,0.0596875480388,0.999999890276,-9.59791542154e-05,-0.000455888744247,-4.89962051492e-05,1793251847364323328
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.306380763,748,725,694,669.693619237,642.306380763,901,786.306380763,829,656.306380763,633,657.306380763,0.459291012736,0.00443954749566,0.0596762376078,0.999999883984,-9.31260154347e-05,-0.000470088051034,-4.87609671173e-05,1793251847380989952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,786.276532029,829,656.276532029,633.276532029,657,0.459207035519,0.00444060613173,0.0596699660556,0.999999880728,-8.97011617422e-05,-0.000477664076204,-4.83258786515e-05,1793251847397656832
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670,642,901,786.872802926,829,656.872802926,633.872802926,657,0.45911547324,0.00444155635383,0.0596695206841,0.999999881157,-8.56152655351e-05,-0.000477581962107,-4.76597140757e-05,1793251847414323712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.451844211,748.451844211,725.451844211,694,670,642,901,787,829.451844211,657,634,657.451844211,0.459009052945,0.00444349640227,0.0596695064637,0.999999881269,-8.21583187686e-05,-0.00047800377371,-4.71731331272e-05,1793251847430990336
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,749,726,694,670,642,901,786.973614351,829.973614351,657,634,658,0.458897229804,0.00444562817321,0.0596695783806,0.999999881283,-7.88688273067e-05,-0.000478571589787,-4.67122253103e-05,1793251847447656960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,749,726,694,670,642,901,786.395470868,829.395470868,657,634,658,0.458756677635,0.00444615635936,0.059669006722,0.99999988122,-7.55146214301e-05,-0.000479335067577,-4.5769857628e-05,1793251847464323584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.814984971,748.814984971,725.814984971,694,670,642,901,786.370030058,829,657,634,658,0.458605582403,0.00444645759174,0.0596671147946,0.99999988009,-7.28445765517e-05,-0.000482197444977,-4.47145203127e-05,1793251847480990464
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.229428023,748.229428023,725.229428023,694,670,642,901,787.541143953,829,657,634,658,0.458431662344,0.0044462674883,0.0596623645967,0.999999876634,-7.16556829131e-05,-0.000489603762741,-4.34146134004e-05,1793251847497656832
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.353188211,748,725.353188211,694,670.353188211,642,901,787.646811789,829,657,634,658,0.45823789505,0.00444686115373,0.0596616152965,0.999999876121,-6.74763147913e-05,-0.000491369797814,-4.19626472693e-05,1793251847514323712
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.933910016,748,725.933910016,694,670.933910016,642,901,787.066089984,829,657,634,658,0.458031341602,0.00444795974468,0.0596634434845,0.999999877494,-6.1370400361e-05,-0.000489502207849,-4.04127202646e-05,1793251847530990592
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725.489075703,694,671,642,901,787,829,656.489075703,634,658,0.457799678861,0.00444982401405,0.0596636112025,0.9999998787,-5.62574011149e-05,-0.000487784861761,-3.87449458196e-05,1793251847547656960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.912930899,748,725,694,670.912930899,642,900.912930899,787,829,656.087069101,634,658,0.457559647689,0.00445168911292,0.0596641444731,0.999999880287,-5.08700754184e-05,-0.000485250188317,-3.7030740266e-05,1793251847564323584
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.338985411,748,725,694,670.338985411,642,900.338985411,787,829,656.661014589,634,658,0.457290852846,0.00445300900626,0.0596679142627,0.999999884188,-4.32357317032e-05,-0.000478037259049,-3.51415267198e-05,1793251847580990208
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.242551563,642.242551563,900.242551563,787,829,657,634,658,0.457009832255,0.00445512441034,0.0596755197474,0.999999889878,-3.62745549802e-05,-0.000466718378269,-3.31896705866e-05,1793251847597656832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,694,670.835041012,642.835041012,900.835041012,787,829,657,634,658,0.45671117315,0.00445838752637,0.0596886591274,0.999999898042,-3.02845810058e-05,-0.000449475693564,-3.1147437844e-05,1793251847614323456
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,901,787,829,657,634,658,0.456384622239,0.00446017149996,0.0597083348118,0.999999911085,-2.09372038695e-05,-0.000420246614751,-2.80039852399e-05,1793251847630990080
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,725,694,671,643,901,787,829,657,634,658,0.45604730952,0.00446138475901,0.059730532473,0.999999924999,-1.02944015426e-05,-0.000386392688215,-2.44356363852e-05,1793251847647656704
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747.431194112,725,694,671,643,900.431194112,787,829,657,634,658,0.455679673387,0.00446192359099,0.0597594897438,0.999999939447,-2.84965512468e-06,-0.000347404745259,-2.01778415062e-05,1793251847664323584
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.146985191,747.293970382,725,694,671.146985191,643,900,787,829,657,634,657.853014809,0.45530083539,0.00446362102131,0.0597863748438,0.999999951069,6.20560031586e-06,-0.000312350961695,-1.61115257785e-05,1793251847680989952
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.736149165,748.472298329,725,694,671.736149165,643,900,787,829,657,634,657.263850835,0.454889216306,0.00446882429825,0.0598068216187,0.999999957872,2.02025652092e-05,-0.000289287772847,-1.26421061921e-05,1793251847697656832
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.680321336,748.680321336,725,693.680321336,672,643,900,787,829,656.680321336,634,657,0.454427186908,0.00447176491408,0.059810199882,0.999999957524,3.18361682611e-05,-0.000289585808227,-8.89624163065e-06,1793251847714323456
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.101361713,748.101361713,725,693.101361713,672,643,900,787,829,656.101361713,634,657,0.453924271301,0.00447287035968,0.0597997344334,0.999999951436,4.15529269598e-05,-0.000308831369793,-4.92616117134e-06,1793251847730990336
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.476341616,748,725,693.476341616,672,643,899.523658384,787,828.523658384,656.476341616,634,657,0.453362167623,0.00447701306083,0.0597729631817,0.99999993823,5.46389081534e-05,-0.000347200236075,-2.47256474184e-06,1793251847747656960
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.946519146,748.053480854,725,694,672.053480854,643,899.053480854,787,828.053480854,657,634,657,0.452790570332,0.00448169347482,0.0597465377817,0.999999924028,6.8469741118e-05,-0.000383740282423,-1.9148480217e-07,1793251847764323840
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.372276064,748.627723936,725,694,672.627723936,643,899.627723936,787,828.627723936,657,634,657,0.452248846959,0.00448533305638,0.0597571773251,0.999999930716,8.25906973437e-05,-0.000362952606978,3.54368041353e-06,1793251847780990464
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,748.79262564,725,693.79262564,673,643,899.79262564,787,829,657,633.79262564,657,0.451698423075,0.004489731257,0.0597747050872,0.999999939696,9.70329966667e-05,-0.000333374425499,7.411050854e-06,1793251847797657088
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,748.20300816,725,693.20300816,673,643,899.20300816,787,829,657,633.20300816,657,0.451131961991,0.00449552778321,0.0598049295685,0.999999952299,0.000112067611255,-0.000287593130842,1.15221085555e-05,1793251847814323456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,748,725,693,672.62054154,643,899,787,828.62054154,657,633.37945846,657,0.450495265684,0.00449848090155,0.0598062795509,0.999999951723,0.000126382877132,-0.00028341144921,1.60802083413e-05,1793251847830990080
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,748,725,693,672.041829847,643,899,787,828.041829847,657,633.958170153,657,0.449821688953,0.00449994094929,0.0597924675637,0.999999944615,0.000140320413338,-0.000301073681573,2.08730493233e-05,1793251847847656704
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,748,725,693.531979057,672,643,899.531979057,787,828,657,634,657,0.449080114925,0.00450680708725,0.0597661162185,0.999999928198,0.000158091966301,-0.000343535684723,2.43886083555e-05,1793251847864323584
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747.891674852,725,693.891674852,672,643,899.891674852,787,828,657,634,657,0.44834146203,0.00451331439475,0.0597451286156,0.999999913293,0.00017521162239,-0.000376749765352,2.78416098185e-05,1793251847880990464
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747.302367284,725,693.302367284,672,643,899.302367284,787,828,657,634,657,0.447639303031,0.00451635821905,0.0597522948973,0.999999916896,0.000188110379403,-0.000360322093306,3.14587137946e-05,1793251847897657344
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768.28210633,747.28210633,725,693,672.28210633,643,898.71789367,787.28210633,828,657,633.71789367,657,0.446930556842,0.00452088045367,0.0597721340448,0.999999923758,0.000202171450605,-0.000332197259502,3.54422227565e-05,1793251847914323712
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.86148617,747.86148617,725,693,672.86148617,643,898.13851383,787.86148617,828,657,633.13851383,657,0.446214869222,0.00452696058432,0.0598053274034,0.999999933006,0.000217457328094,-0.000291746374767,3.98118365291e-05,1793251847930990336
+316,5.266666667,POSE2_TO_POSE3_RETREAT,769,747.580621323,725,693.419378677,672.580621323,643,898,788,828,657,633,657,0.44539252859,0.00454899303611,0.059793864589,0.99999992024,0.000248098248623,-0.00031066596801,3.81318761833e-05,1793251847947656704
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769,747.029479863,725,693.970520137,672.029479863,643,898,788,828,657,633,657,0.44453667915,0.00457603747871,0.0597683714416,0.999999898564,0.000283563502674,-0.000348238918205,3.45512258241e-05,1793251847964323328
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769,747,725,694,672,643,898,788,827.427529802,657,633,657,0.443689464761,0.00459208358306,0.0597688291472,0.999999892955,0.000310235216516,-0.000341382942638,3.60744985244e-05,1793251847980990208
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.82774786,747,725,694,672.17225214,643,897.82774786,788,827,657,633,657,0.44284824051,0.00460052803749,0.0597760686736,0.999999891321,0.00032892994057,-0.000328037628376,3.94331833433e-05,1793251847997656832
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.240118187,747,725,694,672.759881813,643,897.240118187,788,827,657,633,657,0.442020284488,0.00459214028192,0.0597961257834,0.999999898062,0.000329586882753,-0.000305098129909,4.65223386654e-05,1793251848014323712
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.342594414,747,724.657405586,694,672.657405586,643,897,788,827,657,633,657,0.441142687643,0.00459146587314,0.0597981061914,0.999999894489,0.000331818581315,-0.000313815677957,4.93778734732e-05,1793251848030990336
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.921909468,747,724.078090532,694,672.078090532,643,897,788,827,657,633,657,0.440230790778,0.00459612111491,0.0597875962362,0.999999883317,0.000335138380729,-0.000344407127784,4.9308125725e-05,1793251848047656960
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,747,724.498765023,694,672,643,896.501234977,788,826.501234977,657,633,657,0.439336461606,0.00459121593037,0.0597998904812,0.99999991546,0.000254774691001,-0.00032156147107,2.77099658742e-05,1793251848064323840
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.924980373,747.075019627,724.924980373,694,672,643,895.849960746,788,826,656.924980373,633,657,0.4384318886,0.00458398496338,0.0598113623406,0.999999939882,0.00017386662642,-0.000299928873344,7.02009935008e-06,1793251848080990208
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.23052701,748,724,693.76947299,671.76947299,643,894,788,825.76947299,656.23052701,633,656.76947299,0.436469338904,0.00456393991274,0.0597681808273,0.99999990977,0.000181475650171,-0.000383536555749,2.06502587157e-05,1793251848114323456
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.820428865,748,724,693.179571135,671.179571135,643,894,788,825.179571135,656.820428865,633,656.179571135,0.435528323634,0.00456536388318,0.0597304712098,0.999999891139,0.000191376556376,-0.000424888618028,2.37946023471e-05,1793251848130990080
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.59590264,747.59590264,724.40409736,693,671.80819472,642.59590264,894,788.40409736,825,656.59590264,633,656,0.434599916454,0.00456856126188,0.0597320099781,0.999999899316,0.000198792471381,-0.000401532598142,2.49238223206e-05,1793251848147656704
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.014962056,747.014962056,724.985037944,693,672.970075889,642.014962056,894,788.985037944,825,656.014962056,633,656,0.433677026949,0.00457253472879,0.0597507248349,0.999999917445,0.000205120890444,-0.000349858681916,2.51711729879e-05,1793251848164323584
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,747,724.440830825,693,672.440830825,642.559169175,893.440830825,789,824.440830825,656.559169175,633,656,0.432720277506,0.00457483086409,0.0597716123637,0.999999925232,0.000197292026857,-0.000331639355859,2.50630023362e-05,1793251848180990208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.133352419,747,724.133352419,693,672,643,893.133352419,789,824,657,633,656,0.431764858959,0.00457652267518,0.0597939464207,0.999999934519,0.000190193608557,-0.000306841850251,2.52219875083e-05,1793251848197657088
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.708303982,747,724.708303982,693,672,643,893.708303982,789,824,657,633,656,0.430816811933,0.00457636009245,0.059820880482,0.999999949106,0.000186753437464,-0.000257331878911,2.62967876075e-05,1793251848214323712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,747.2926849,724.7073151,693.2926849,672.2926849,643,893.414630199,789,823.7073151,657,633,656,0.429841085774,0.00457747848919,0.0598247156487,0.99999994878,0.000186227672475,-0.000258800945577,2.7957245079e-05,1793251848230990080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747.886776114,724.113223886,693.886776114,672.886776114,643,892.226447771,789,823.113223886,657,633,656,0.428836855758,0.00457991603598,0.059804763619,0.999999932827,0.000188703157114,-0.000312768124634,3.02208112431e-05,1793251848247656704
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,747.534196862,724,693.534196862,672.534196862,643,892,789,823,657,633,656,0.427853924204,0.00458014776848,0.0597676211458,0.999999917018,0.000181982382045,-0.000363299223706,2.93171696473e-05,1793251848264323328
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,747.04110648,724.04110648,693,672.08221296,643,892,789.04110648,822.95889352,657,633,656.04110648,0.426879810538,0.00457979791832,0.0597313792366,0.999999902004,0.000173359895288,-0.000406396704645,2.79173585347e-05,1793251848280989952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,747.61412277,724.61412277,693,673.22824554,643,892,789.61412277,822.38587723,657,633,656.61412277,0.425954907924,0.00457864312413,0.0597591659159,0.999999919255,0.000168148585172,-0.000363773547414,2.97469850451e-05,1793251848297657088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769.192349198,748,725,693,673.807650802,643,892.192349198,789.807650802,821.807650802,657,633,656.807650802,0.425028085884,0.00457932818631,0.0597879788858,0.999999933293,0.000165139162999,-0.000324270037495,3.14956741989e-05,1793251848314323712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769.781318943,748,725,693,673.218681057,643,892.781318943,789.218681057,821.218681057,657,633,656.218681057,0.424097305851,0.00458380699866,0.0598189080531,0.999999943165,0.000166669993144,-0.000291199176625,3.30774724057e-05,1793251848330990592
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,747.523852427,725,692.476147573,673,642.523852427,892,789,821,657,633,656.476147573,0.421319163661,0.00457908156369,0.0598206162537,0.999999947801,0.000143201439784,-0.000287508500246,3.50726442456e-05,1793251848380990208
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747.901198345,725,692,672.901198345,642.901198345,891.901198345,789,821,656.901198345,633,656.098801655,0.420365061418,0.00458427816748,0.0597826471092,0.999999925647,0.000143777344338,-0.000356162556633,3.43794053253e-05,1793251848397656832
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747.326310363,725,692,672.326310363,642.326310363,891.326310363,789,821,656.326310363,633,656.673689637,0.419435225071,0.00458030219628,0.0597312043918,0.99999989858,0.000127189310008,-0.000430825816119,3.24253394163e-05,1793251848414323456
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.332626889,747.667373111,724.667373111,692,672.332626889,643,890.334746221,789,821,656.332626889,633,657,0.412994365745,0.00456996200054,0.0598104788668,0.999999905683,0.000293982995364,-0.000317577531433,3.67797682723e-05,1793251848547656960
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.911442012,747.088557988,724.088557988,692,672.911442012,643,889.177115976,789,821,656.911442012,633,657,0.412190675434,0.00456741637183,0.05976884662,0.999999880077,0.000282750304336,-0.000398092992454,3.76894476803e-05,1793251848564323584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769.51299506,747,724,692,672.51299506,643,889.48700494,789,820.51299506,657,633,657,0.411477339245,0.00456713438206,0.0597417487712,0.999999870133,0.000268826893934,-0.000431527898445,3.53569217693e-05,1793251848580990208
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747.061668435,724,692,672.123336869,642.938331565,890,789,820,656.938331565,633,657,0.410791769851,0.00456698947686,0.0597248227314,0.999999867398,0.00025501935381,-0.000446187854748,3.29455123228e-05,1793251848597656576
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747.633749856,724,692,673.267499711,642.366250144,890,789,820,656.366250144,633,657,0.410200932642,0.00456459487658,0.0597703560111,0.999999898463,0.000246193663438,-0.000375841520864,3.47285409589e-05,1793251848614323712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.213917435,747.786082565,724,692,673.786082565,642.213917435,889.786082565,788.786082565,820,656.213917435,633,657,0.409610250979,0.00456195748045,0.0598128609662,0.99999992374,0.000235629760689,-0.000309311204132,3.6413340381e-05,1793251848630990848
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.808473226,747.191526774,724,692,673.191526774,642.808473226,889.191526774,788.191526774,820,656.808473226,633,657,0.409019846155,0.00455888806083,0.0598499774052,0.999999943502,0.000221972936391,-0.000249571004789,3.792335362e-05,1793251848647657728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769.60769141,747,724,692,673,642.60769141,889.39230859,788,820,657,633,657,0.408436910029,0.00455782884112,0.0598565280438,0.999999948926,0.000209657538909,-0.000238355716248,3.71301264861e-05,1793251848664324096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.028950539,747,724,692,673,642.028950539,889.971049461,788,820,657,633,657,0.407857523115,0.00455772490525,0.0598485532533,0.999999948481,0.000197979611202,-0.000250200355762,3.52423571915e-05,1793251848680990464
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,747.54730533,724,692,672.45269467,642,890,788,820,657,633,657,0.407309655453,0.00455569435223,0.0598303761533,0.9999999433,0.000186827868648,-0.000278093054097,3.40511411781e-05,1793251848697657088
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.125611214,747.874388786,724.125611214,692,672,642.125611214,889.748777572,788,820,657,633,657,0.406781547683,0.00455357438209,0.0598158873108,0.999999939154,0.000176729354947,-0.000298925330185,3.31894046294e-05,1793251848714323712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769.711915839,747.288084161,724.711915839,692,672,642.711915839,888.576168322,788,820,657,633,657,0.406319824191,0.00455149854579,0.0598168959095,0.999999942654,0.000170392054687,-0.000290763399038,3.34015479712e-05,1793251848730990592
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769.705400491,747,724.705400491,692,672.294599509,643,888.294599509,788,820,656.705400491,633,656.705400491,0.405862982007,0.00455001840421,0.0598195935776,0.999999945409,0.000166547600114,-0.000283364626745,3.39006157869e-05,1793251848747656960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.126214739,747,724.126214739,692,672.873785261,643,888.873785261,788,820,656.126214739,633,656.126214739,0.405410855245,0.00454911371014,0.0598239229047,0.999999947486,0.00016511126125,-0.000276703074483,3.46768556701e-05,1793251848764323584
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.453444961,747.453444961,724,692,672.546555039,643,888.546555039,788,820,656,633,656.453444961,0.404984459991,0.00454834894104,0.0598126292508,0.999999942865,0.00016666291613,-0.000292020642315,3.48856584474e-05,1793251848780990464
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747.967115535,724.032884465,692,672,642.967115535,888,788,820,656.032884465,633,657,0.404566944413,0.00454759880758,0.0597963345468,0.999999935174,0.00017078651859,-0.000315053841198,3.4990531905e-05,1793251848797657088
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747.393468533,724.606531467,692,672,642.393468533,888,788,820,656.606531467,633,657,0.404177547077,0.00454644821029,0.0597693855547,0.999999912302,0.00020351304169,-0.00036425690212,3.59863581414e-05,1793251848814323712
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.815170835,747,724.815170835,691.815170835,672,642.184829165,888.184829165,788.184829165,820,657,633,657,0.403821565025,0.00454502369723,0.0597546752331,0.999999898617,0.000224590973614,-0.000388550175793,3.67804576142e-05,1793251848830990336
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.226717157,747,724.226717157,691.226717157,672,642.773282843,888.773282843,788.773282843,820,657,633,657,0.40353855434,0.00454300101509,0.0597666913651,0.999999910818,0.000220231050582,-0.000358446182144,3.71340321749e-05,1793251848847656960
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.356024285,747,724.356024285,691,672.356024285,643,888.643975715,789,820,657,633,656.643975715,0.403270545854,0.00454234390992,0.059783863557,0.999999921903,0.000217328660441,-0.000327900883122,3.79832114269e-05,1793251848864323584
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.935185658,747,724.935185658,691,672.935185658,643,888.064814342,789,820,657,633,656.064814342,0.40301193992,0.00454254267555,0.0598042672944,0.99999993192,0.000215339773902,-0.000297078994308,3.91430093641e-05,1793251848880990464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747.51074413,724.48925587,691,672.48925587,642.48925587,888.51074413,789,820,657,633.51074413,656,0.402794599359,0.00454248093728,0.0598253946309,0.999999941747,0.000214183672505,-0.000262729780704,4.00509196089e-05,1793251848897657088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747.914068473,724,691.085931527,672.085931527,642.085931527,889,788.914068473,820,657,633.914068473,656,0.402582102061,0.00454199401459,0.0598427718136,0.999999948884,0.000212893920616,-0.000235018604614,4.091045257e-05,1793251848914323712
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747.338408182,724,691.661591818,672.661591818,642.661591818,889,788.338408182,820,657,633.338408182,656,0.402367571803,0.00453927102323,0.0598382570047,0.99999994636,0.000210244419054,-0.00024767114196,4.16751754657e-05,1793251848930990336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.756359314,672.756359314,642.756359314,889,788,820,656.756359314,632.756359314,656,0.402165626437,0.00453780974112,0.0598323395934,0.999999942905,0.000208751740277,-0.000262331688967,4.236618606e-05,1793251848947656960
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.165198039,672.165198039,642.165198039,889,788,820,656.165198039,632.165198039,656,0.401981631736,0.0045381481173,0.0598244215592,0.999999938096,0.000208909113388,-0.00027985639026,4.29520559477e-05,1793251848964323328
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.004428671,747,724,691,672.995571329,642.995571329,888.004428671,788.995571329,820,656.995571329,632.995571329,656.995571329,0.40167886943,0.0045343268232,0.0598231865631,0.999999938716,0.000195464767091,-0.00028736143016,4.22585106556e-05,1793251848997656576
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.570083298,747.570083298,724,691.570083298,672.429916702,643,888,788.429916702,820,657,633,657,0.401565249568,0.0045304673702,0.0598253362137,0.999999950781,0.00012793818311,-0.000285354770117,2.53304174684e-05,1793251849014323456
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769.85226603,748,724,691.85226603,672.14773397,643,888,788.14773397,820,657,633,657,0.401460319782,0.00452661844238,0.0598280920523,0.999999957439,7.60691846558e-05,-0.000281369503815,1.2926879971e-05,1793251849030990080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.265186731,748,724,691.265186731,672.734813269,643,888,788.734813269,820,657,633,657,0.401380488763,0.00452283713701,0.0598326143572,0.999999960417,7.21332427129e-05,-0.00027158086519,1.43557467084e-05,1793251849047656960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.317808638,747.682191362,724,691,672.364382725,643,888,788.682191362,820,657,633,657,0.401304707165,0.00452243754312,0.0598335868601,0.99999996118,7.25635349824e-05,-0.000268599589232,1.51170246753e-05,1793251849064323840
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.897439581,747.102560419,724,691,671.205120838,643,888,788.102560419,820,657,633,657,0.401232261618,0.00452482392562,0.0598316349076,0.999999960168,7.65908892558e-05,-0.00027122646499,1.53283189071e-05,1793251849080990464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,671.952108782,643,888,788,820,657,633,656.523945609,0.401171060785,0.00452257780604,0.0598278392482,0.999999958232,7.67071338576e-05,-0.000278190623569,1.62056489305e-05,1793251849097656832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.946040099,643,888,788,820,657,633,656.053959901,0.401114126314,0.00451989750756,0.059823827129,0.999999956113,7.63044942824e-05,-0.000285762122679,1.70999385869e-05,1793251849114323456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.372857387,643,888,788,820,657,633,656.627142613,0.401074983388,0.00452262223814,0.059821546069,0.999999954629,7.89995351705e-05,-0.00029020551847,1.67796488692e-05,1793251849130990080
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.793933846,747,724,691,672.206066154,642.793933846,888,788,820.206066154,656.793933846,633,657,0.401041183817,0.00452419966206,0.0598200285265,0.999999953633,8.16012574707e-05,-0.000292906767547,1.67602071764e-05,1793251849147656704
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.204325169,747,724,691,672.795674831,642.204325169,888,788,820.795674831,656.204325169,633,657,0.401017329616,0.00452364165074,0.059819932088,0.999999953581,8.40292895322e-05,-0.000292365429774,1.73007216568e-05,1793251849164323328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.378116484,747,724,691,672.621883516,642.378116484,888,788,820.621883516,656,633,656.621883516,0.401002963236,0.00452178256668,0.0598221272389,0.999999954862,8.20813264359e-05,-0.000288481581988,1.77834970739e-05,1793251849180990208
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.956757272,747,724,691,672.043242728,642.956757272,888,788,820.043242728,656,633,656.043242728,0.400993628478,0.00451923349235,0.0598255376751,0.999999956811,7.78126673335e-05,-0.000282825120415,1.82356520531e-05,1793251849197657088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.533931394,643,888,788,820,656.533931394,633,656,0.40098371716,0.00452121014932,0.0598268236172,0.999999956862,8.18606917885e-05,-0.000281486660143,1.8464643473e-05,1793251849214323712
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.889180783,642.889180783,888.110819217,788,820,657,633,656.110819217,0.400974806381,0.00452260348588,0.0598275487099,0.999999956737,8.51274685575e-05,-0.000280940027205,1.87413160431e-05,1793251849230990336
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.312997928,642.312997928,888.687002072,788,820,657,633,656.687002072,0.400970292721,0.0045200123028,0.0598266391836,0.999999956594,8.22928020469e-05,-0.000282253994873,1.92939059543e-05,1793251849247656704
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747.268667375,724,691.268667375,672.268667375,642.268667375,888.731332625,788,820,657,633,656.731332625,0.400967924141,0.00451928934244,0.0598270226758,0.999999956786,8.19383780714e-05,-0.000281673256141,1.93645977195e-05,1793251849264323328
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747.856852865,724,691.856852865,672.856852865,642.856852865,888.143147135,788,820,657,633,656.143147135,0.400968106642,0.00452078820343,0.0598289439164,0.999999957373,8.4533632375e-05,-0.000278839199636,1.88621824306e-05,1793251849280989952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747.560869521,724,691.560869521,672.560869521,643,888,788,819.560869521,656.560869521,633,656.439130479,0.400968797607,0.00451998163152,0.0598306684162,0.999999958354,8.31974642375e-05,-0.00027569379412,1.90534536694e-05,1793251849297656832
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.019264129,642.980735871,888,788,819.019264129,656,633,657,0.400969524954,0.00451854052578,0.0598322490375,0.999999959379,8.08321097544e-05,-0.00027263502936,1.94388527326e-05,1793251849314323200
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,672.592392539,642.407607461,888,788,819.592392539,656,633,657,0.400966596145,0.00452017611214,0.0598315124265,0.999999958389,8.52336170104e-05,-0.000274946571517,1.8990549154e-05,1793251849330990080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.829267773,747,724,691,672.829267773,642,888,788,820,656.170732227,633,656.829267773,0.400965380979,0.00452198044542,0.0598316886838,0.999999957932,8.9020444421e-05,-0.00027542973566,1.87254087091e-05,1793251849347656960
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.238094964,747,724,691,672.238094964,642,888,788,820,656.761905036,633,656.238094964,0.400968385785,0.00452420033025,0.0598341129462,0.999999958822,9.1293577551e-05,-0.000271410385259,1.8911320888e-05,1793251849364323584
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,642,888,788,820,657,633,656,0.400968431942,0.00452334332706,0.0598342105412,0.99999995911,8.99842496505e-05,-0.00027076596219,1.92071876867e-05,1793251849380990208
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,747,724,691,672,642,888,788,820,657,633,656,0.400966482962,0.00452041145139,0.0598327391685,0.999999958988,8.62591205504e-05,-0.000272397391866,1.95772014092e-05,1793251849397656832
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.501770097,747,724,691,672.501770097,642.501770097,887.498229903,788,820,656.498229903,633.501770097,656.501770097,0.400967050123,0.00452003867465,0.0598334037746,0.999999959276,8.522197767e-05,-0.0002716725905,1.94821770729e-05,1793251849414323200
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,673.077696418,643,887.077696418,788.077696418,820,656.077696418,633.922303582,657,0.400967802239,0.0045200822633,0.0598342521415,0.999999959576,8.4818734472e-05,-0.000270701806948,1.93530815455e-05,1793251849430989824
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80606c10aae44d8202518a2480c6ab9f0ec371d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,417 @@
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+344,5.733333333,pose2_to_pose3_retreat,0.601551344686,0.0100052306418,1.05002101269,0.572122686371,0.01867763315,1.04963238827
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+346,5.766666667,pose2_to_pose3_retreat,0.600076552665,0.0100051689871,1.050020841,0.570647895522,0.0186775754469,1.04963221602
+347,5.783333333,pose2_to_pose3_retreat,0.599376655843,0.0100052155034,1.05002101517,0.56994799885,0.0186776222573,1.04963238535
+348,5.800000000,pose2_to_pose3_retreat,0.598693445845,0.0100051572573,1.0500211518,0.56926478963,0.018677566421,1.04963251684
+349,5.816666667,pose2_to_pose3_retreat,0.598019247808,0.0100051864088,1.0500210241,0.568590589938,0.0186775900984,1.04963239226
+350,5.833333333,pose2_to_pose3_retreat,0.597346353064,0.0100051519311,1.05002073958,0.56791769499,0.0186775556314,1.04963212342
+351,5.850000000,pose2_to_pose3_retreat,0.596671006707,0.0100052665071,1.05002093468,0.567242350512,0.0186776768128,1.04963232363
+352,5.866666667,pose2_to_pose3_retreat,0.596009366427,0.0100051226067,1.05002103118,0.566580710595,0.0186775334157,1.0496324039
+353,5.883333333,pose2_to_pose3_retreat,0.595365166813,0.0100051396516,1.05002111889,0.565936510904,0.0186775501379,1.04963249021
+354,5.900000000,pose2_to_pose3_retreat,0.594752185835,0.0100051749018,1.05002092856,0.565323528654,0.018677581163,1.04963230197
+355,5.916666667,pose2_to_pose3_retreat,0.594173447882,0.0100051479137,1.0500208479,0.564744791373,0.0186775564269,1.0496322206
+356,5.933333333,pose2_to_pose3_retreat,0.593631228508,0.0100051326735,1.05002086862,0.564202572572,0.0186775431518,1.04963224182
+357,5.950000000,pose2_to_pose3_retreat,0.59311136654,0.0100051509212,1.05002081059,0.563682708717,0.0186775550903,1.04963218592
+358,5.966666667,pose2_to_pose3_retreat,0.592609706462,0.0100050026261,1.05002106648,0.563181050527,0.0186774127739,1.04963243222
+359,5.983333333,pose2_to_pose3_retreat,0.592115378972,0.0100051960729,1.05002104083,0.562686721341,0.0186776006482,1.04963241069
+360,6.000000000,pose2_to_pose3_retreat,0.591631890923,0.0100051735763,1.0500211224,0.562203234388,0.0186775820257,1.04963249564
+361,6.016666667,pose2_to_pose3_retreat,0.591170465738,0.0100051061066,1.05002106335,0.561741809858,0.0186775168904,1.04963243914
+362,6.033333333,pose2_to_pose3_retreat,0.590730610843,0.0100050975575,1.05002101606,0.561301955545,0.0186775103323,1.04963239222
+363,6.050000000,pose2_to_pose3_retreat,0.590312619785,0.0100051134238,1.05002102535,0.560883964835,0.0186775272913,1.04963239958
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+365,6.083333333,pose2_to_pose3_retreat,0.589537347269,0.0100051015068,1.0500209196,0.560108691933,0.0186775138809,1.04963228975
+366,6.100000000,pose2_to_pose3_retreat,0.589171554498,0.0100051439862,1.05002090228,0.559742898586,0.0186775546387,1.04963227759
+367,6.116666667,pose2_to_pose3_retreat,0.588823151918,0.0100051135397,1.05002100651,0.559394497809,0.0186775302713,1.04963238095
+368,6.133333333,pose2_to_pose3_retreat,0.588503723542,0.0100051207187,1.05002091783,0.559075068733,0.0186775349203,1.0496322888
+369,6.150000000,pose2_to_pose3_retreat,0.588211396725,0.0100051150552,1.05002078411,0.558782742275,0.0186775307537,1.0496321615
+370,6.166666667,pose2_to_pose3_retreat,0.58794634427,0.0100051744711,1.05002094475,0.558517688879,0.018677586769,1.04963231758
+371,6.183333333,pose2_to_pose3_retreat,0.587710637142,0.0100052395367,1.05002103835,0.558281980232,0.0186776465769,1.04963240877
+372,6.200000000,pose2_to_pose3_retreat,0.587499435366,0.0100052571355,1.05002095835,0.558070777806,0.0186776620833,1.04963233135
+373,6.216666667,pose2_to_pose3_retreat,0.587300060911,0.0100051968111,1.05002078903,0.557871404301,0.0186776051562,1.0496321659
+374,6.233333333,pose2_to_pose3_retreat,0.587112176314,0.0100050452273,1.05002090094,0.557683520555,0.0186774563169,1.04963227463
+375,6.250000000,pose2_to_pose3_retreat,0.586936955409,0.0100051825431,1.05002099828,0.557508298178,0.0186775886758,1.04963237285
+376,6.266666667,pose2_to_pose3_retreat,0.586772168163,0.0100051445405,1.05002090997,0.557343510319,0.0186775488409,1.04963229004
+377,6.283333333,pose2_to_pose3_retreat,0.586618831642,0.0100051676049,1.05002080672,0.557190173966,0.0186775723697,1.04963218453
+378,6.300000000,pose2_to_pose3_retreat,0.586482790708,0.0100051535574,1.05002088794,0.557054134295,0.0186775624536,1.04963226227
+379,6.316666667,pose2_to_pose3_retreat,0.586363438325,0.0100051207085,1.05002102114,0.556934782821,0.0186775326031,1.04963239361
+380,6.333333333,pose2_to_pose3_retreat,0.58626188577,0.0100051519573,1.05002103479,0.556833229588,0.0186775614733,1.04963240571
+381,6.350000000,pose2_to_pose3_retreat,0.586173948426,0.0100051216966,1.05002101307,0.556745291378,0.0186775284196,1.04963238767
+382,6.366666667,pose2_to_pose3_retreat,0.586098789604,0.0100051046423,1.05002101843,0.556670135241,0.0186775204215,1.04963239168
+383,6.383333333,pose2_to_pose3_retreat,0.586032502476,0.0100051792583,1.05002108162,0.556603846341,0.0186775893435,1.04963246191
+384,6.400000000,pose2_to_pose3_retreat,0.585974523647,0.0100051646976,1.05002088484,0.556545867289,0.0186775740753,1.04963226617
+385,6.416666667,pose2_to_pose3_retreat,0.585923529205,0.0100051106656,1.05002086555,0.556494873215,0.0186775213105,1.04963224726
+386,6.433333333,pose2_to_pose3_retreat,0.58587975507,0.0100050854393,1.05002111389,0.556451100087,0.0186774993021,1.04963249116
+387,6.450000000,pose2_to_pose3_retreat,0.585844247582,0.0100050634041,1.05002117842,0.556415593357,0.0186774796028,1.04963255038
+388,6.466666667,pose2_to_pose3_retreat,0.585816599881,0.0100050856028,1.05002104601,0.556387944223,0.0186774971394,1.04963242241
+389,6.483333333,pose2_to_pose3_retreat,0.585797013624,0.0100052009984,1.05002106769,0.556368356182,0.0186776066896,1.04963244878
+390,6.500000000,pose2_to_pose3_retreat,0.585782481407,0.010005128912,1.0500208655,0.556353823659,0.0186775336905,1.04963224943
+391,6.516666667,pose2_to_pose3_retreat,0.585772105989,0.0100052114523,1.05002089966,0.556343450092,0.0186776221807,1.04963227621
+392,6.533333333,pose2_to_pose3_retreat,0.585764749512,0.0100051793762,1.05002088583,0.55633609312,0.018677588558,1.04963226535
+393,6.550000000,pose2_to_pose3_retreat,0.585759420827,0.0100051074561,1.05002085936,0.556330764539,0.0186775172431,1.04963224454
+394,6.566666667,pose2_to_pose3_retreat,0.585755841452,0.0100050419563,1.05002084595,0.556327187727,0.0186774606024,1.04963223478
+395,6.583333333,pose2_to_pose3_retreat,0.585753814119,0.0100050995766,1.05002093178,0.556325159906,0.0186775164491,1.04963231791
+396,6.600000000,pose2_to_pose3_retreat,0.585753097474,0.0100051214726,1.05002096363,0.556324443057,0.0186775376086,1.04963234872
+397,6.616666667,pose2_to_pose3_retreat,0.585752621058,0.0100051183602,1.05002095993,0.556323966627,0.0186775344032,1.04963234404
+398,6.633333333,pose2_to_pose3_retreat,0.585752312516,0.0100051021436,1.05002093754,0.556323658173,0.0186775184451,1.04963232078
+399,6.650000000,pose2_to_pose3_retreat,0.58575227865,0.0100051003636,1.05002093508,0.556323624316,0.0186775166935,1.04963231823
+400,6.666666667,pose2_to_pose3_retreat,0.585752234286,0.0100050980319,1.05002093186,0.556323579966,0.018677514399,1.04963231488
+401,6.683333333,pose2_to_pose3_retreat,0.585751865225,0.0100050786345,1.05002090508,0.55632321101,0.0186774953108,1.04963228706
+402,6.700000000,pose2_to_pose3_retreat,0.585751810147,0.0100050757397,1.05002090108,0.556323155948,0.0186774924621,1.04963228291
+403,6.716666667,pose2_to_pose3_retreat,0.585751516394,0.0100050603004,1.05002087976,0.556322862279,0.018677477269,1.04963226077
+404,6.733333333,pose2_to_pose3_retreat,0.585751394953,0.0100050571496,1.05002087526,0.556322740808,0.0186774740077,1.04963225603
+405,6.750000000,pose2_to_pose3_retreat,0.585751264365,0.010005103485,1.05002093678,0.556322609204,0.0186775169583,1.04963231895
+406,6.766666667,pose2_to_pose3_retreat,0.585751246084,0.0100051099713,1.05002094539,0.556322590781,0.0186775229707,1.04963232776
+407,6.783333333,pose2_to_pose3_retreat,0.585751245695,0.0100051101092,1.05002094558,0.556322590389,0.0186775230986,1.04963232795
+408,6.800000000,pose2_to_pose3_retreat,0.585751195034,0.0100051280847,1.05002096944,0.556322539334,0.018677539761,1.04963235236
+409,6.816666667,pose2_to_pose3_retreat,0.585751139185,0.010005147901,1.05002099575,0.556322483051,0.0186775581297,1.04963237926
+410,6.833333333,pose2_to_pose3_retreat,0.585751077957,0.0100051696261,1.05002102459,0.556322421345,0.0186775782678,1.04963240876
+411,6.850000000,pose2_to_pose3_retreat,0.585751005997,0.0100051951589,1.05002105849,0.556322348826,0.0186776019354,1.04963244344
+412,6.866666667,pose2_to_pose3_retreat,0.585750953477,0.0100052137939,1.05002108323,0.556322295897,0.0186776192092,1.04963246874
+413,6.883333333,pose2_to_pose3_retreat,0.585750913955,0.0100052336239,1.05002109174,0.55632225636,0.018677639017,1.04963247791
+414,6.900000000,pose2_to_pose3_retreat,0.585750871405,0.0100052633834,1.05002108626,0.556322214218,0.0186776702044,1.04963247347
+415,6.916666667,pose2_to_pose3_retreat,0.585750810386,0.0100052882341,1.05002109988,0.556322153603,0.0186776962985,1.04963248416
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83f6e072bdeefb6ca90ec2c4f0b9d895f1cfdc4c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc96db1d4ac5787ff214a013c320d088ff027909bf0c7fdbbd3a033dea836df7
+size 26142769
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5334d75928e7ba99d17715c098167f597c5a5b32
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/franka_data.csv
@@ -0,0 +1,412 @@
+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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+17,0.283333333,BASELINE,770,747.12979341,724.12979341,691.87020659,675,643,888,789,820,657,633,656.87020659,0.400937587209,0.00455133431588,0.0499283145599,0.999999975049,6.87324169357e-05,-0.000211215711526,-2.3765253395e-05,1793251851148279552
+18,0.300000000,BASELINE,770,747,724,691.548835946,675,643,888,788.548835946,820,657.451164054,633,657,0.400936698942,0.00455166921698,0.0499275278806,0.99999997478,7.06374751749e-05,-0.000211863627818,-2.37547965685e-05,1793251851164946176
+19,0.316666667,BASELINE,770,747.028711133,724,691,675,643,888,788.028711133,820,658,633,656.971288867,0.400935283073,0.00455203398149,0.04992664033,0.999999974385,7.28868987033e-05,-0.000212971231533,-2.36837516091e-05,1793251851181613056
+20,0.333333333,BASELINE,770,747.604442878,724,691,675,643,888,788.604442878,820,658,633,656.395557122,0.400936431786,0.00455113672704,0.0499271295829,0.999999974642,7.08395989261e-05,-0.000212488634238,-2.33557462966e-05,1793251851198279680
+21,0.350000000,BASELINE,770.18384983,748,724,691,675,643,888,788.81615017,819.81615017,658,633,656.18384983,0.400936958115,0.00455067436279,0.0499275315069,0.999999974738,7.00437054818e-05,-0.000212327638479,-2.31396338884e-05,1793251851214946304
+22,0.366666667,BASELINE,770.771325288,748,724,691,675,643,888,788.228674712,819.228674712,658,633,656.771325288,0.400936118058,0.00455116676069,0.049927741708,0.999999974483,7.19951614195e-05,-0.000212872689789,-2.31691722477e-05,1793251851231613184
+23,0.383333333,BASELINE,770.646214455,748,724,691,675,643,888.353785545,788.353785545,819.353785545,658,633,657,0.4009367436,0.00455163801017,0.0499280715068,0.999999974681,7.24294113219e-05,-0.000211782124455,-2.32257820364e-05,1793251851248280064
+24,0.400000000,BASELINE,770.066950483,748,724,691,675,643,888.933049517,788.933049517,819.933049517,658,633,657,0.400938303214,0.00455209578116,0.0499284775288,0.999999975168,7.18966992679e-05,-0.000209649130294,-2.3299645284e-05,1793251851264946688
+25,0.416666667,BASELINE,769.489643141,748,724,691,675,643,888.489643141,789,820,657.489643141,633,657,0.400936930933,0.00455137392424,0.0499273144495,0.999999974718,7.14366152927e-05,-0.00021192539338,-2.34039465784e-05,1793251851281613056
+26,0.433333333,BASELINE,769.087120077,748,724,691,675,643,887.912879923,789,820,657.087120077,633,657,0.400935618809,0.00455084443445,0.0499262572758,0.999999974272,7.11819626987e-05,-0.000214089918572,-2.35331038465e-05,1793251851298279680
+27,0.450000000,BASELINE,769.662267822,748,724,691,675,643,887.337732178,789,820,657.662267822,633,657,0.400936789971,0.00455225609627,0.0499269420316,0.999999974566,7.20249239128e-05,-0.000212400691779,-2.37792165551e-05,1793251851314946304
+28,0.466666667,BASELINE,770,747.756919568,724.243080432,691,675.243080432,643,887.243080432,788.756919568,820,657.756919568,633,657,0.400937498242,0.00455332957793,0.0499272802223,0.999999974813,7.18826607336e-05,-0.000211266421955,-2.39348568383e-05,1793251851331612672
+29,0.483333333,BASELINE,770,747.168048517,724.831951483,691,675.831951483,643,887.831951483,788.168048517,820,657.168048517,633,657,0.400937548035,0.0045539219861,0.0499271254114,0.999999974995,7.03388805285e-05,-0.000210921598391,-2.39617968425e-05,1793251851348279552
+30,0.500000000,BASELINE,770,747,724.585738853,691,675.585738853,643,888,788.414261147,820,657.414261147,633,657,0.400937396982,0.00455331082582,0.0499274333181,0.999999975003,7.06370561405e-05,-0.000210819364363,-2.36435147035e-05,1793251851364946176
+31,0.516666667,BASELINE,770,747,724.006049384,691,675.006049384,643,888,788.993950616,820,657.993950616,633,657,0.400937165725,0.00455221904042,0.0499279260034,0.999999974942,7.16707863142e-05,-0.000210814004454,-2.3187373823e-05,1793251851381612800
+32,0.533333333,BASELINE,770,747.568246702,724,690.431753298,675,643,888,789,820,657.431753298,633.568246702,657,0.400938426988,0.00455214264457,0.0499284790092,0.999999975142,7.15978805134e-05,-0.000209852588689,-2.3507736112e-05,1793251851398279424
+33,0.550000000,BASELINE,770,748,724.145745131,690.145745131,675,643,888,789,819.854254869,657.145745131,633.854254869,657,0.400939418767,0.00455227710081,0.0499287490443,0.999999975251,7.17386964432e-05,-0.000209257211102,-2.3710260629e-05,1793251851414946048
+34,0.566666667,BASELINE,770,748,724.733119367,690.733119367,675,643,888,789,819.266880633,657.733119367,633.266880633,657,0.400939546272,0.00455301802329,0.0499281597089,0.999999975082,7.25624828176e-05,-0.000209801533532,-2.35309064111e-05,1793251851431612672
+35,0.583333333,BASELINE,770,748,724.683907595,691,675.316092405,643,888,788.683907595,819.316092405,658,633,657,0.400937924726,0.00455301927114,0.0499273533069,0.999999974736,7.30133210406e-05,-0.000211306646511,-2.33865562589e-05,1793251851448279296
+36,0.600000000,BASELINE,770,748,724.104599448,691,675.895400552,643,888,788.104599448,819.895400552,658,633,657,0.400934846713,0.0045524045789,0.0499263661497,0.999999974238,7.31535988252e-05,-0.000213611826851,-2.32713545922e-05,1793251851464945920
+37,0.616666667,BASELINE,770,748,724,691.474055121,675.525944879,643,888,788.474055121,819.525944879,658,633,657,0.400936040336,0.00455157582385,0.0499269509728,0.999999974611,7.17081822844e-05,-0.000212353709345,-2.32927653393e-05,1793251851481612800
+38,0.633333333,BASELINE,770,747.947922271,724,691.947922271,675,642.947922271,888,788.947922271,819.052077729,657.947922271,633,657,0.400937977139,0.00455082370807,0.0499277963126,0.999999975114,7.00722181347e-05,-0.000210514889384,-2.33643717809e-05,1793251851498279424
+39,0.650000000,BASELINE,770,747.374781444,724,691.374781444,675,642.374781444,888,788.374781444,819.625218556,657.374781444,633,657,0.400937932346,0.00455131033951,0.0499277825773,0.999999975067,7.00256386344e-05,-0.000210721696163,-2.36370275426e-05,1793251851514946304
+40,0.666666667,BASELINE,770,747,724,691,675,642.204028613,888,788,820,657.204028613,633,657,0.400937900709,0.00455197860867,0.0499277758551,0.999999974989,7.08273911754e-05,-0.000210803139737,-2.38209130425e-05,1793251851531613184
+41,0.683333333,BASELINE,770,747,724,691,675,642.793550116,888,788,820,657.793550116,633,657,0.400937893929,0.00455299006517,0.0499277823835,0.999999974848,7.32319873811e-05,-0.000210647721306,-2.38370754588e-05,1793251851548279552
+42,0.700000000,BASELINE,770,747,724,691,675,643,888,788,820,658,633,657,0.400937598588,0.00455252514769,0.0499273429562,0.999999974807,7.24379853453e-05,-0.000211133032383,-2.36992841314e-05,1793251851564946176
+43,0.716666667,BASELINE,770,747,724,691,675,643,888,788,820,658,633,657,0.400937147732,0.00455126456379,0.0499266631887,0.999999974816,6.99201536799e-05,-0.000211963653622,-2.34785220788e-05,1793251851581613056
+44,0.733333333,BASELINE,770,747,724,691,675,643,888,788,820,658,633,657,0.400938852262,0.00455134465047,0.0499277910936,0.999999975204,7.0609360515e-05,-0.00020991885377,-2.3227021418e-05,1793251851598279680
+45,0.750000000,BASELINE,770,747,724,691,675,643,888,788,820,658,633,657,0.400939830053,0.00455138600338,0.0499284750885,0.999999975411,7.12693363929e-05,-0.000208723266347,-2.30811986516e-05,1793251851614946304
+46,0.766666667,BASELINE,770,747,724,691,675,643,888,788,820,658,633,657,0.400937025739,0.00455079808158,0.0499266775227,0.999999974741,7.06884574394e-05,-0.00021207166022,-2.33867146276e-05,1793251851631612672
+47,0.783333333,BASELINE,770,747,724,691,675,643,888,788.267199436,819.732800564,657.732800564,633,657,0.400936680321,0.0045504795564,0.0499267266589,0.999999974748,6.99454143141e-05,-0.000212290988884,-2.33071358424e-05,1793251851648279552
+48,0.800000000,BASELINE,770,747,724,691,675,643,888,788.8548434,819.1451566,657.1451566,633,657,0.400939283786,0.00455048411071,0.0499289904911,0.99999997557,6.90078923287e-05,-0.000208757720928,-2.27657241304e-05,1793251851664946432
+49,0.816666667,BASELINE,770,747,724,691,675,642.562756413,888,789,819,657,633,657,0.400939871226,0.00455100264893,0.049929125931,0.999999975748,6.94340140894e-05,-0.000207753474345,-2.285341278e-05,1793251851681613056
+50,0.833333333,BASELINE,770,747,724,690.982291113,675,642,888,789,819,657,633,656.982291113,0.400939767022,0.00455162903227,0.0499285650958,0.999999975708,7.02320197274e-05,-0.00020764684773,-2.313518128e-05,1793251851698279680
+51,0.850000000,BASELINE,770,747,724,690.408565207,675,642,888,789,819,657,633,656.408565207,0.40093871165,0.0045503475182,0.0499280650888,0.999999975396,6.86609128133e-05,-0.000209674706352,-2.30309302771e-05,1793251851714946304
+52,0.866666667,BASELINE,770,747,724,690.165534981,674.834465019,642.165534981,888,788.834465019,819,657,632.834465019,656,0.400938286956,0.00455014912248,0.0499278682839,0.999999975179,6.84579327356e-05,-0.000210770315776,-2.30684988803e-05,1793251851731613184
+53,0.883333333,BASELINE,770,747,724,690.740561011,674.259438989,642.740561011,888,788.259438989,819,657,632.259438989,656,0.400939422398,0.00455263008362,0.0499284215234,0.999999975201,7.16393473386e-05,-0.000209559779879,-2.34568927897e-05,1793251851748279552
+54,0.900000000,BASELINE,770,747.326261323,724,690.673738677,674.326261323,643,888,788.326261323,819,657,632.326261323,656.326261323,0.400940643137,0.00455308678696,0.0499291259946,0.999999975447,7.2088749112e-05,-0.000208248000756,-2.32825434317e-05,1793251851764946176
+55,0.916666667,BASELINE,770,747.920736761,724,690.079263239,674.920736761,643,888,788.920736761,819,657,632.920736761,656.920736761,0.400941933995,0.00455187938085,0.0499299547909,0.999999975879,7.029220752e-05,-0.000206852991289,-2.26455719886e-05,1793251851781612800
+56,0.933333333,BASELINE,770,747.499455236,724,690.500544764,674.499455236,642.499455236,888,789,819,657.500544764,633,656.499455236,0.400940519005,0.00455128908655,0.0499288423711,0.999999975755,6.85987470242e-05,-0.000207984317928,-2.29671731846e-05,1793251851798279680
+57,0.950000000,BASELINE,770,747.077510686,724,691,674.077510686,642.077510686,888,789,819,657.922489314,633,656,0.400938858277,0.00455094013353,0.0499276724533,0.999999975544,6.74173251205e-05,-0.000209334905166,-2.337127729e-05,1793251851814946304
+58,0.966666667,BASELINE,770,747.650731484,724,691,674.650731484,642.650731484,888,789,819,657.349268516,633,656,0.400938288261,0.00455152747182,0.0499280447816,0.999999975352,6.94091624698e-05,-0.000209602078713,-2.3359876837e-05,1793251851831612928
+59,0.983333333,BASELINE,770,747.769337768,724,691,675,642.769337768,888,789,819,657,633,656,0.400938203572,0.00455144841492,0.0499282714101,0.999999975303,6.9754442382e-05,-0.000209723290465,-2.33472959424e-05,1793251851848279552
+60,1.000000000,BASELINE,770,747.178942316,724,691,675,642.178942316,888,789,819,657,633,656,0.400938875781,0.00455033007011,0.0499282708102,0.999999975478,6.75318058549e-05,-0.000209616865049,-2.33328740683e-05,1793251851864946176
+61,1.016666667,BASELINE,770,747.403654729,724,691,675,642.403654729,888,789,819,657.403654729,633,656.403654729,0.400938357905,0.00455118042915,0.0499277377123,0.999999975157,6.97127230691e-05,-0.000210413527634,-2.35068596074e-05,1793251851881612800
+62,1.033333333,BASELINE,770,747.982860186,724,691,675,642.982860186,888,789,819,657.982860186,633,656.982860186,0.400937322458,0.00455288698382,0.0499269730294,0.999999974606,7.38087599816e-05,-0.000211602946072,-2.37627841322e-05,1793251851898279424
+63,1.050000000,BASELINE,770,747.444103,724,691,675,642.444103,888,789,819.555897,657.444103,633,657,0.400937453478,0.00455231146057,0.0499271154892,0.999999974839,7.13443114357e-05,-0.000211345910589,-2.37750720153e-05,1793251851914946304
+64,1.066666667,BASELINE,769.870114019,747.129885981,724,691,675,642.129885981,888.129885981,788.870114019,820,657.129885981,633,657,0.400937810752,0.00455200347142,0.0499272965119,0.999999975042,6.93975594793e-05,-0.000211032458537,-2.37595240053e-05,1793251851931612672
+65,1.083333333,BASELINE,769.292191738,747.707808262,724,691,675,642.707808262,888.707808262,788.292191738,820,657.707808262,633,657,0.400938825777,0.00455285837942,0.049927515134,0.999999975083,6.99266709378e-05,-0.000210676550812,-2.36735851116e-05,1793251851948279296
+66,1.100000000,BASELINE,769.292059126,747.707940874,724,691,675,643,888.707940874,788,820,657.707940874,633,657,0.400939628812,0.00455253851665,0.0499277881082,0.999999975268,6.9503203789e-05,-0.000209940843168,-2.36165137295e-05,1793251851964946176
+67,1.116666667,BASELINE,769.882781645,747.117218355,724,691,675,643,888.117218355,788,820,657.117218355,633,657,0.400940215063,0.00455101731825,0.0499281166633,0.9999999756,6.81056175593e-05,-0.000208816747297,-2.35889626386e-05,1793251851981613056
+68,1.133333333,BASELINE,770,747,724,691,674.535883195,643,888,788,820,657,633,657,0.400939609711,0.00455111426005,0.0499283775679,0.999999975564,6.86817424014e-05,-0.0002087906729,-2.37066972659e-05,1793251851998279680
+69,1.150000000,BASELINE,770,747,724,691,674.042817141,643,888,788.042817141,820,657,633,656.957182859,0.400938726745,0.00455151112099,0.0499285280411,0.999999975426,6.96363151059e-05,-0.000209120326122,-2.38127208689e-05,1793251852014946048
+70,1.166666667,BASELINE,770,747,724,691,674.617653446,643,888,788.617653446,820,657,633,656.382346554,0.400938059649,0.00455065724689,0.0499275144536,0.999999975179,6.92221778425e-05,-0.000210492553305,-2.33263366009e-05,1793251852031612672
+71,1.183333333,BASELINE,769.803360162,747,724,691,675,642.803360162,888.196639838,789,820,657.196639838,633,656.196639838,0.400937615338,0.00455062251711,0.0499268448935,0.999999974943,7.0020457517e-05,-0.000211381186417,-2.30092292812e-05,1793251852048279552
+72,1.200000000,BASELINE,769.216130256,747,724,691,675,642.216130256,888.783869744,789,820,657.783869744,633,656.783869744,0.40093761355,0.00455221487167,0.0499268586823,0.999999974728,7.32269877568e-05,-0.000211309246153,-2.30283604288e-05,1793251852064946176
+73,1.216666667,BASELINE,769.36582379,747,724,691,675,642.36582379,888.63417621,788.63417621,820,657.63417621,633,657,0.40093775093,0.00455181311093,0.0499272807532,0.999999974845,7.24458619236e-05,-0.000211025388424,-2.30294336476e-05,1793251852081612800
+74,1.233333333,BASELINE,769.944705115,747,724,691,675,642.944705115,888.055294885,788.055294885,820,657.055294885,633,657,0.400937969362,0.00455024996775,0.0499279406096,0.999999975151,6.9342305821e-05,-0.000210618108948,-2.30199898407e-05,1793251852098279424
+75,1.250000000,BASELINE,770,747,724,691.520759708,675,643,887.479240292,788,819.479240292,657,633,656.479240292,0.40093717505,0.00455145203997,0.0499275157886,0.999999974847,7.09071271523e-05,-0.000211526214536,-2.31171319416e-05,1793251852114946560
+76,1.266666667,BASELINE,770,747.096607419,724,692,675,643,887.096607419,788.096607419,819.096607419,657,633,656.193214837,0.40093657278,0.00455234989801,0.0499269563765,0.999999974582,7.21564288569e-05,-0.000212347001913,-2.31984688099e-05,1793251852131613440
+77,1.283333333,BASELINE,770,747.672910158,724,692,675,643,887.672910158,788.672910158,819.672910158,657,633,657.345820316,0.400937455147,0.00455028716634,0.0499262974547,0.999999974843,6.93910120757e-05,-0.000212044448369,-2.31454340138e-05,1793251852148280064
+78,1.300000000,BASELINE,770,747.745270057,724,691.745270057,675,642.745270057,888,789,819.745270057,657,633,657.745270057,0.400937892635,0.0045493790871,0.0499262641128,0.999999975045,6.864837082e-05,-0.00021134745094,-2.30073956431e-05,1793251852164946432
+79,1.316666667,BASELINE,770,747.156209241,724,691.156209241,675,642.156209241,888,789,819.156209241,657,633,657.156209241,0.400937746222,0.00454998647945,0.049927051839,0.999999975174,7.05606053639e-05,-0.000210132749308,-2.27577908117e-05,1793251852181612800
+80,1.333333333,BASELINE,770,747.425581349,724,691,675,642.425581349,888,788.574418651,819,657,633,657,0.400938952263,0.00455085508094,0.0499277299016,0.999999975431,7.01841716667e-05,-0.00020898759223,-2.31469374393e-05,1793251852198279680
+81,1.350000000,BASELINE,770,747.99526865,724,691,675,643,888,788,819,657.00473135,633,657,0.40094063243,0.00455181618921,0.0499283621688,0.99999997573,6.90199665728e-05,-0.000207875944657,-2.37599238184e-05,1793251852214946304
+82,1.366666667,BASELINE,770,747.418166354,724,691,675,643,888,788,819,657.581833646,633,657,0.400940624581,0.00455256444146,0.0499282420011,0.999999975509,7.24736618494e-05,-0.000207781940461,-2.35653437865e-05,1793251852231612928
+83,1.383333333,BASELINE,770,747.158009085,724,691,675,642.841990915,888,788.158009085,819.158009085,658,633.158009085,656.841990915,0.400940295367,0.00455306777722,0.0499280140175,0.999999975254,7.48191531398e-05,-0.000208200657496,-2.339351014e-05,1793251852248279552
+84,1.400000000,BASELINE,770,747.731746051,724,691,675,642.268253949,888,788.731746051,819.731746051,658,633.731746051,656.268253949,0.400939120631,0.00455292672857,0.0499275023666,0.999999974929,7.42489185679e-05,-0.000209968363472,-2.32815230521e-05,1793251852264946432
+85,1.416666667,BASELINE,770,748,724,691.314413212,675,642.314413212,888,789,820,658,633.685586788,656,0.400937270283,0.00455229265508,0.0499261744511,0.999999974555,7.25334766463e-05,-0.000212348406838,-2.31690070733e-05,1793251852281613056
+86,1.433333333,BASELINE,770,748,724,691.904922213,675,642.904922213,888,789,820,658,633.095077787,656,0.400934826658,0.00455122564152,0.0499241297491,0.999999974128,6.98123934051e-05,-0.000215266162151,-2.30560266659e-05,1793251852298279680
+87,1.450000000,BASELINE,770,748,724,691.514000563,675,643,888,789,820,658,633,656.485999437,0.400935349182,0.00455146577995,0.0499247019572,0.999999974287,7.05084637617e-05,-0.000214280417508,-2.32068354466e-05,1793251852314946304
+88,1.466666667,BASELINE,770,747.935081491,724,691,675,643,888,789,820,657.935081491,633,657,0.400936293705,0.00455198948209,0.0499256464895,0.999999974499,7.19175095713e-05,-0.000212798061,-2.3402394693e-05,1793251852331612672
+89,1.483333333,BASELINE,770,747.358903889,724,691,675,643,888,789,820,657.358903889,633,657,0.400936078721,0.00455277078271,0.0499255681271,0.999999974252,7.37769681961e-05,-0.000213304285936,-2.35517009824e-05,1793251852348279296
+90,1.500000000,BASELINE,770,747.220845509,724,691,675,642.779154491,888,788.779154491,819.779154491,657,633,657,0.400936418447,0.0045530629268,0.0499258398581,0.999999974313,7.41009025952e-05,-0.000212903657288,-2.35446910476e-05,1793251852364946176
+91,1.516666667,BASELINE,770,747.806494925,724,691,675,642.193505075,888,788.193505075,819.193505075,657,633,657,0.40093767447,0.00455254705701,0.0499266898915,0.999999974883,7.18883793578e-05,-0.00021100504146,-2.3279469964e-05,1793251852381612800
+92,1.533333333,BASELINE,770,747.610505172,724,691,675,642.389494828,888,788.389494828,819,657.389494828,633,657,0.400938672611,0.00455199823229,0.0499273751979,0.999999975197,7.08136591184e-05,-0.000209890123795,-2.31910692105e-05,1793251852398279680
+93,1.550000000,BASELINE,770,747.028812627,724,691,675,642.971187373,888,788.971187373,819,657.971187373,633,657,0.400939543501,0.00455143314577,0.0499279792193,0.999999975386,7.03003919321e-05,-0.000209161924823,-2.31899211031e-05,1793251852414946560
+94,1.566666667,BASELINE,770,747.54493802,724,691,675,643,888,788.45506198,819.54493802,657.45506198,633,657,0.400938953663,0.00455114101684,0.0499277703442,0.999999975225,7.1412824557e-05,-0.000209583152983,-2.29092500382e-05,1793251852431612928
+95,1.583333333,BASELINE,770,748,724,691.118923982,675,643,888,788,820,657,633.118923982,657,0.400938770027,0.00455066180484,0.0499277176362,0.999999975187,7.17046097399e-05,-0.000209684233754,-2.27287545731e-05,1793251852448279296
+96,1.600000000,BASELINE,770,748,724,691.695407894,675,643,888,788,820,657,633.695407894,657,0.400940442138,0.00454940806078,0.0499284287726,0.999999975689,6.85129898928e-05,-0.000208323079098,-2.29897310098e-05,1793251852464945920
+97,1.616666667,BASELINE,770,747.720954563,724,691.720954563,675,643,888,788.279045437,820,657,633.720954563,657,0.400941024095,0.00454904991998,0.0499284212827,0.999999975881,6.72537147629e-05,-0.00020779327814,-2.31572667833e-05,1793251852481612800
+98,1.633333333,BASELINE,770,747.129303062,724,691.129303062,675,643,888,788.870696938,820,657,633.129303062,657,0.400940384786,0.00454969509617,0.0499276087377,0.999999975735,6.81591864882e-05,-0.000208194817376,-2.32201238256e-05,1793251852498279424
+99,1.650000000,BASELINE,770,747,724,691,675,642.549099309,888,788.549099309,819.549099309,657,633,657,0.400940241902,0.00455059560083,0.0499273808384,0.999999975609,6.97484634747e-05,-0.000208268511978,-2.32651180478e-05,1793251852514946304
+100,1.666666667,BASELINE,770,747.027865043,724,691,675,642.027865043,888,788,819,657,633,657,0.400940201617,0.004551528634,0.0499273199572,0.999999975484,7.14040032117e-05,-0.000208304911917,-2.32985947533e-05,1793251852531613184
+101,1.683333333,BASELINE,770,747.604084558,724,691,675,642.604084558,888,788,819,657,633,657,0.400939448288,0.00455169658681,0.0499273282028,0.999999975312,7.06001834741e-05,-0.000209411694151,-2.32037274788e-05,1793251852548280064
+102,1.700000000,BASELINE,770.184075599,747.815924401,724,691,675,643,888,788,819.184075599,657,633,657,0.400939842626,0.00455184301668,0.0499279202588,0.999999975423,7.02720988305e-05,-0.000209002858951,-2.31051719056e-05,1793251852564946688
+103,1.716666667,BASELINE,770.772348159,747.227651841,724,691,675,643,888,788,819.772348159,657,633,657,0.400942757035,0.00455194218605,0.0499297942576,0.999999976149,7.09886431365e-05,-0.000205265999857,-2.29985175034e-05,1793251852581613312
+104,1.733333333,BASELINE,770.644867117,747,724,691,675,642.644867117,888.355132883,788,820,657,633,657,0.40094182279,0.00455137303273,0.0499294182048,0.999999976049,7.10260945798e-05,-0.000205739431341,-2.29915069938e-05,1793251852598279680
+105,1.750000000,BASELINE,770.065546687,747,724,691,675,642.065546687,888.934453313,788,820,657,633,657,0.400938458975,0.00455038198205,0.0499276217441,0.999999975426,7.06348497635e-05,-0.000208870725938,-2.30473994632e-05,1793251852614946048
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,747,724,691,676,643,888,788,820,657,633,657,0.40094116479,0.00455197363395,0.0499284929754,0.999999975809,7.20708121263e-05,-0.000206488015952,-2.3464812615e-05,1793251852646106368
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675.419218276,643,888,788,819.419218276,657,633.580781724,657,0.400941404588,0.00455249543614,0.0499281591935,0.999999975715,7.28443976722e-05,-0.00020667168295,-2.34784397441e-05,1793251852662773248
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747.164373537,724,691,675,643,888.164373537,788,819,657,633.835626463,657,0.400941086707,0.00455248686481,0.0499278749621,0.999999975579,7.30502266834e-05,-0.000207261450681,-2.34104826443e-05,1793251852679440128
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747.755256981,724,691,675,643,888.755256981,788,819,657,633.244743019,657,0.400939321785,0.00455110210153,0.0499277193022,0.999999975335,7.17828638148e-05,-0.000208904952455,-2.31308340397e-05,1793251852696106752
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747.66054561,724,691,675,643,888.66054561,788.33945439,819,657,633,657,0.400938907991,0.00455111585963,0.0499278761167,0.999999975362,7.12996815525e-05,-0.000208946252894,-2.30839365265e-05,1793251852712773120
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747.081075681,724,691,675,643,888.081075681,788.918924319,819,657,633,657,0.400939449527,0.00455211846012,0.0499282538702,0.999999975582,7.13709642251e-05,-0.000207854696428,-2.32016086458e-05,1793251852729439744
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642.505580833,888,789,819,657,633,657,0.400941361671,0.00455110280462,0.0499287568509,0.999999976012,6.97130300768e-05,-0.000206364002509,-2.30202481813e-05,1793251852746106368
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747.070726095,724,691,675,642.070726095,888,788.929273905,819.070726095,657.070726095,633,657,0.40094424192,0.00455008150053,0.0499295374353,0.999999976533,6.82637438167e-05,-0.000204333994965,-2.28478653938e-05,1793251852762772992
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747.657680211,724,691,675,642.657680211,888,788.342319789,819.657680211,657.657680211,633,657,0.400952560958,0.00455141534769,0.0499321955525,0.999999977487,7.03905622837e-05,-0.00019884146724,-2.30960673714e-05,1793251852779439616
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747.758627878,724,691,675,643,888,788.241372122,820,657.758627878,633,657,0.400966539426,0.00455200768543,0.0499362642536,0.999999979343,7.12637053132e-05,-0.000188933195357,-2.32447270905e-05,1793251852796106240
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747.179500857,724,691,675,643,888,788.820499143,820,657.179500857,633,657,0.400988437201,0.00455156242008,0.0499423068015,0.999999982315,7.03825651154e-05,-0.000172845920274,-2.32540961123e-05,1793251852812772864
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747.398702541,724,691,675,643,888,789,820,657,633,657,0.401017830793,0.00455096533896,0.0499484405554,0.999999985458,6.96856946072e-05,-0.000153847870389,-2.36327634969e-05,1793251852829439744
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747.976491124,724,691,675,643,888,789,820,657,633,657,0.401050591299,0.0045503000664,0.0499546152772,0.999999988406,6.90715927994e-05,-0.000133542380352,-2.41773093817e-05,1793251852846106368
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747.448286315,724,691,675,643,888,788.448286315,819.448286315,657.551713685,633,657,0.40109846803,0.00455126467944,0.0499597838901,0.999999991401,6.74472190975e-05,-0.000109603113215,-2.52359347035e-05,1793251852862772992
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788,819.129739199,658,633,657,0.401148975661,0.00455171960782,0.0499644372754,0.999999993607,6.61079535855e-05,-8.79466600508e-05,-2.60793895172e-05,1793251852879439872
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788,819.718056925,658,633,657,0.401206516382,0.00455012865138,0.0499674203597,0.999999994681,6.59278913287e-05,-7.49038342656e-05,-2.60852308136e-05,1793251852896106496
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.301687506,819.698312494,657.698312494,633,657,0.401271187742,0.00454973383997,0.0499692644443,0.999999995075,6.57858455849e-05,-6.9682652425e-05,-2.58193155897e-05,1793251852912773120
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.881004679,819.118995321,657.118995321,633,657,0.401342421112,0.00455043978803,0.0499700603578,0.999999994955,6.56787847747e-05,-7.16593843374e-05,-2.53033148631e-05,1793251852929439488
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.54229821,819.45770179,657.45770179,633,656.54229821,0.40142910476,0.00454874256584,0.0499701715571,0.999999995115,6.41989969377e-05,-7.10700113335e-05,-2.44478686082e-05,1793251852946106368
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.033586966,819.966413034,657.966413034,633,656.033586966,0.401521242794,0.00454654100553,0.0499701162823,0.999999995338,6.23088890908e-05,-6.99168626298e-05,-2.35256439506e-05,1793251852962772992
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.60730709,819.39269291,657.39269291,633,656.60730709,0.401636866752,0.00454621926599,0.0499702303101,0.99999999549,5.95268334587e-05,-7.03650299328e-05,-2.29406481816e-05,1793251852979439872
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888.186505219,789,819,657.186505219,632.813494781,657,0.401761483817,0.00454517830147,0.0499710190117,0.999999995718,5.62447759877e-05,-7.00777234355e-05,-2.21201657963e-05,1793251852996106496
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888.777586421,789,819,657.777586421,632.222413579,657,0.40190560914,0.00454257715997,0.0499732712479,0.999999996113,5.18780911339e-05,-6.81949921687e-05,-2.07888547302e-05,1793251853012773376
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,691.363276757,675,643,888.636723243,789.363276757,819,657.636723243,632.363276757,657,0.40207372436,0.00454103663035,0.0499742287185,0.999999996327,4.95254874642e-05,-6.71532078782e-05,-1.95657806178e-05,1793251853029439744
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724,691.945714891,675,643,888.054285109,789.945714891,819,657.054285109,632.945714891,657,0.402256312466,0.00454013595743,0.0499744050697,0.999999996441,4.83879592066e-05,-6.66187586402e-05,-1.8408004692e-05,1793251853046106368
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,724,691.480593447,675,643,888,789.480593447,819.519406553,657,633,657,0.402456330161,0.00453912332919,0.0499708405059,0.999999996092,4.65074029125e-05,-7.32556076267e-05,-1.69129394577e-05,1793251853062772992
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,789,819.905651318,657.094348682,633,657,0.402663954737,0.00453769352496,0.0499675482912,0.999999995756,4.38903262202e-05,-7.95341658624e-05,-1.53480944662e-05,1793251853079439616
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,789,819.319504825,657.680495175,633,657,0.402901892587,0.00453414914849,0.0499676799493,0.999999995984,3.78321807809e-05,-8.01030089696e-05,-1.36002247034e-05,1793251853096106496
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888.264883585,789,819,657.735116415,633,657,0.40316990082,0.00453106042945,0.0499718132283,0.999999996837,3.24257945712e-05,-7.16638429021e-05,-1.17967372951e-05,1793251853112772864
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888.847165326,789,819,657.152834674,633,657,0.403473941035,0.00452851770452,0.0499807414707,0.99999999819,2.78003826609e-05,-5.2430782148e-05,-9.92660585101e-06,1793251853129439744
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,889,789,819,657,633,657,0.40380978201,0.00452530890439,0.0499879687012,0.9999999991,2.13989257578e-05,-3.57883362576e-05,-7.79111914597e-06,1793251853146106624
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,691.001536982,675,643,889,789,819,657,633,657,0.40415702027,0.00452186270475,0.0499945920871,0.99999999968,1.43736616352e-05,-2.00698085144e-05,-5.55979850338e-06,1793251853162773248
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,724,691.575650307,675,643,889,789,819,657,633,657,0.404533991484,0.00451828537437,0.0500017831193,0.999999999929,1.04270646148e-05,-5.0782387737e-06,-2.80787513416e-06,1793251853179439872
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,724,692,675,643,889.154203666,789,819.154203666,657,633,657,0.404919268545,0.00451450129071,0.0500080616597,0.999999999943,6.89307977184e-06,8.09273812621e-06,1.65951409815e-08,1793251853196106240
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,724,692,675,643,889.745337594,789,819.745337594,657,633,657,0.405328079842,0.00451013138004,0.0500117546879,0.999999999855,4.52821661993e-06,1.61051314521e-05,3.04662386337e-06,1793251853212772864
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.32914916,747,724,692,675,643,889.67085084,789,820,657,633.32914916,657,0.405741330317,0.00450641673259,0.0499999815525,0.999999999963,-3.22456159427e-08,-6.17217700914e-06,6.02020885648e-06,1793251853229439744
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.907418771,747,724,692,675,643,889.092581229,789,820,657,633.907418771,657,0.406157940679,0.00450319802845,0.0499765026679,0.999999998621,-6.25447335453e-06,-5.13746052878e-05,8.95107405293e-06,1793251853246106368
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.031131663,747.484434169,724,691.515565831,675,643,889,789,820,657.484434169,633.515565831,657,0.406633636464,0.00449789840804,0.049957830582,0.999999996612,-1.13835417306e-05,-8.06825737124e-05,1.16823404324e-05,1793251853262773248
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.060818451,748,724.060818451,691,675,643,889.060818451,789,820,658,633,657,0.407126413833,0.00449230119287,0.0499424842866,0.999999994465,-1.54769273535e-05,-0.000103050882346,1.44981686265e-05,1793251853279440128
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.633900983,748,724.633900983,691,675,643,889.633900983,789,820,658,633,657,0.407668202332,0.00448753839609,0.0499474330278,0.999999995475,-1.26020475017e-05,-9.24869088553e-05,1.83467148475e-05,1793251853296107008
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747.786056053,725,691.213943947,675,643,889.786056053,789,820,657.786056053,633,657,0.408233635893,0.00448177595232,0.0499599041762,0.999999997496,-3.47804248091e-07,-6.71483209917e-05,2.23210607023e-05,1793251853312773888
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747.193701963,725,691.806298037,675,643,889.193701963,789,820,657.193701963,633,657,0.408840891272,0.00447424539824,0.0499856804688,0.999999999119,2.84960469762e-05,-1.56773563496e-05,2.65179124924e-05,1793251853329440000
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724.61158601,692,675,643,890.16524197,789,820,657.38841399,633,657,0.409468526968,0.00446688217855,0.0500034036113,0.999999999002,3.07901303593e-05,1.14081578582e-05,3.02994004026e-05,1793251853346106624
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724.034444704,692,675,643,891.896665887,789,820,657.965555296,633,657,0.410106065283,0.00445960026554,0.0500172137906,0.999999998867,2.0183888696e-05,2.66449712014e-05,3.38790661572e-05,1793251853362773248
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,724,692.540331011,675,643,891.459668989,789,820,658,633,657,0.410737930851,0.00445371582128,0.0499988459145,0.999999999353,-7.99802807082e-06,-1.57565243539e-05,3.13294810752e-05,1793251853379439872
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747.114497244,724,692.885502756,675,643,891,789,820,657.885502756,633,657,0.411376199196,0.0044475256685,0.0499772656461,0.999999997143,-3.37345831097e-05,-6.10721652692e-05,2.90984971972e-05,1793251853396106496
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747.686826602,724,692.313173398,675,643,891,789,820,657.313173398,633,657,0.412041509412,0.00443975843667,0.0499510067222,0.999999993189,-4.5232482166e-05,-0.00010341228738,2.969703267e-05,1793251853412773120
+153,2.550000000,POSE1_TO_POSE2_PRESS,770.270254123,748,724,692,675,643,891.270254123,789,820,657,633,657,0.412762383129,0.00443290814718,0.049949607311,0.999999993726,-4.6676800655e-05,-9.71452069242e-05,3.05430774296e-05,1793251853429439744
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.867093144,748,724,692,675,643,891.867093144,789,820,657,633,657,0.413550401888,0.0044271659231,0.0499782490343,0.999999998334,-3.59720086569e-05,-3.21394227502e-05,3.1688221439e-05,1793251853446106880
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.552547496,748,724,692,675,643,892.894905007,789,820,657.447452504,633.447452504,657,0.41432021853,0.00442691830943,0.0499832407009,0.999999998503,-3.2977572252e-05,-2.80607326736e-05,3.34425129274e-05,1793251853462773504
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747.97687003,724.02312997,692,675,643,893.97687003,789,820.02312997,657.97687003,633.97687003,657,0.415086155527,0.0044288571842,0.0499804048445,0.999999997969,-3.18518572935e-05,-4.25131765512e-05,3.52289988635e-05,1793251853479439872
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747.400254045,724.599745955,692,675,643,893.400254045,789,820.599745955,657.400254045,633.400254045,657,0.415884036557,0.00444545035919,0.0499523886498,0.999999995758,-2.25869406261e-05,-8.27327239152e-05,3.36100108786e-05,1793251853496106496
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.819871915,747,724.819871915,692.180128085,675,643,893.180128085,789,821.180128085,657,633,657,0.416693963472,0.0044569165027,0.0499376289924,0.999999994252,-1.50880632696e-05,-0.000101010723831,3.26232920451e-05,1793251853512772864
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.230942539,747,724.230942539,692.769057461,675,643,893.769057461,789,821.769057461,657,633,657,0.417531228513,0.00445674683015,0.0499529550928,0.999999996971,-1.15972186464e-05,-6.94923063114e-05,3.30715103485e-05,1793251853529439488
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.351739762,747,724.351739762,692.648260238,675,643,894.351739762,789,822.351739762,657,633,657.351739762,0.418384942141,0.00444984619791,0.0499694700571,0.999999998381,-1.35685714029e-05,-4.34986196503e-05,3.40949018419e-05,1793251853546106112
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.930391961,747,724.930391961,692.069608039,675,643,894.930391961,789,822.930391961,657,633,657.930391961,0.419249266959,0.00443860332566,0.0499867519742,0.999999998967,-1.90636672867e-05,-2.10690184659e-05,3.54893459107e-05,1793251853562772992
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,747,724.493587963,692.506412037,674.493587963,643,895.506412037,789,823,657,633,657.493587963,0.42010162287,0.00443795959826,0.0499668902605,0.999999997578,-2.67260449025e-05,-5.35894378032e-05,3.54579283042e-05,1793251853579439616
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.916845529,747,724,692.916845529,674,643,896,789,823.083154471,657.083154471,633.083154471,657.083154471,0.420968874351,0.00443820025197,0.0499501038341,0.999999995747,-3.43800456583e-05,-7.79722847643e-05,3.52627757163e-05,1793251853596106240
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.33359442,747,724,692.33359442,674,643,896,789,823.66640558,657.66640558,633.66640558,657.66640558,0.421935551431,0.00443504311409,0.0499823585645,0.999999998537,-4.02013362318e-05,-8.22543196705e-06,3.52555095166e-05,1793251853612772864
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,724.249423767,692.249423767,674.249423767,643,896.249423767,788.750576233,824.249423767,658,633.750576233,657.750576233,0.422882431816,0.00443383581289,0.0500001728554,0.999999998066,-4.29581413485e-05,2.74511002988e-05,3.56278492962e-05,1793251853629439488
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,724.832130801,692.832130801,674.832130801,643,896.832130801,788.167869199,824.832130801,658,633.167869199,657.167869199,0.423802859734,0.00443523390827,0.0499986916486,0.999999998313,-4.16201423389e-05,1.76024388654e-05,3.65074236791e-05,1793251853646106112
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,724.58744557,693,674.58744557,643,897,788.41255443,825,657.58744557,633,657,0.424735913032,0.004436944874,0.0499959966106,0.999999998328,-4.21195817515e-05,1.43784871415e-05,3.69335755809e-05,1793251853662772992
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.007945983,693,674.007945983,643,897,788.992054017,825,657.007945983,633,657,0.425674075289,0.00443878244643,0.0499928103813,0.999999998273,-4.33625630011e-05,1.38353051879e-05,3.7176244521e-05,1793251853679439616
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.563840766,747,724.563840766,693,674.563840766,643,897.563840766,789,825.563840766,657,633,657,0.426624899481,0.00443438466803,0.0500087626937,0.999999998114,-3.97652945925e-05,2.48530868787e-05,3.9656605472e-05,1793251853696106240
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.860068763,747,725,693,674.860068763,643,898,788.860068763,826,657.139931237,633.139931237,657,0.427560461455,0.00443093209901,0.0500113226503,0.999999998418,-3.49118310571e-05,1.45304182863e-05,4.16488266361e-05,1793251853712773120
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.269782101,747,725,693,674.269782101,643,898,788.269782101,826,657.730217899,633.730217899,657,0.428446336832,0.00443080058944,0.0499699242499,0.999999996663,-2.62319930354e-05,-6.49917478316e-05,4.19698933593e-05,1793251853729439744
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.314362765,747.314362765,725,693.314362765,674,643,898,788,826,657.685637235,634,657,0.429390213068,0.00443080016101,0.0499536743195,0.999999995079,-2.62900670825e-05,-8.61657985145e-05,4.15483785921e-05,1793251853746106368
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.893337795,747.893337795,725,693.893337795,674,643,898,788,826,657.106662205,634,657,0.430382911005,0.00443091006906,0.0499585929084,0.999999996917,-3.37032070417e-05,-5.82258006629e-05,4.05018021034e-05,1793251853762772992
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,748,724.529135732,694,674.470864268,643,898.470864268,788.470864268,826,657,634,657,0.43131945271,0.00442913284244,0.0499523542777,0.999999995873,-4.06178547445e-05,-7.0193679776e-05,4.09567166937e-05,1793251853779439616
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.952204138,747.952204138,724.047795862,694,674.952204138,643,899,788.952204138,826.047795862,657,634,657,0.43224508776,0.00442708543148,0.0499440624056,0.999999994058,-4.70356618813e-05,-8.9087463901e-05,4.16545143482e-05,1793251853796106240
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.378220718,747.378220718,724.621779282,694,674.378220718,643,899,788.378220718,826.621779282,657,634,657,0.433190264071,0.00442675528716,0.0499409050431,0.999999994323,-4.92230529018e-05,-8.50111124919e-05,4.12932615236e-05,1793251853812772864
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.201319915,725,694,674.201319915,643,899,787.798680085,827,657,633.798680085,657,0.434141375956,0.00442594346542,0.0499488860975,0.999999995516,-4.94460185836e-05,-6.91449179223e-05,4.17383292766e-05,1793251853829439232
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.791597393,725,694,674.791597393,643,899,787.208402607,827,657,633.208402607,657,0.435103955758,0.00442420102492,0.0499783869873,0.999999997526,-4.58736417756e-05,-3.05003070219e-05,4.37412382747e-05,1793251853846106112
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.62644306,725,694,674.62644306,643,899,787.37355694,827,657,633.37355694,657.37355694,0.435999356109,0.00442663242204,0.049971088863,0.999999996481,-3.57520464126e-05,-6.06749200674e-05,4.55786080996e-05,1793251853862772992
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.049022936,725,694,674.049022936,643,899,787.950977064,827,657,633.950977064,657.950977064,0.436858094207,0.0044313416295,0.0499437082185,0.999999990393,-2.20563118405e-05,-0.000128406610324,4.73256370915e-05,1793251853879439872
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.527968596,747,724.472031404,694.527968596,674,643.527968596,899,787.472031404,827,657,634,658,0.437790728175,0.00443143250477,0.0499538267235,0.999999994608,-2.93455344211e-05,-8.86280124465e-05,4.54667391292e-05,1793251853896106496
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,747,724,694.895335627,674.104664373,643.895335627,899.104664373,787.104664373,827.104664373,657,634,658,0.438720336998,0.00443095866274,0.0499660712854,0.999999997232,-3.74834025461e-05,-4.6906079671e-05,4.3935537515e-05,1793251853912773120
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,747,724,694.319791564,674.680208436,643.319791564,899.680208436,787.680208436,827.680208436,657,634,658,0.439605491861,0.00442987186684,0.0499722288146,0.999999997289,-4.06802139252e-05,-4.13157160893e-05,4.53837306887e-05,1793251853929439744
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.736265458,747,724,694,674.736265458,643,899.736265458,787.736265458,828,657,634,658,0.440474465857,0.00442754615892,0.0499696300297,0.99999999718,-3.55226271113e-05,-4.68514968915e-05,4.67218753565e-05,1793251853946106112
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.142758695,747,724,694,674.142758695,643,899.142758695,787.142758695,828,657,634,658,0.441323207319,0.0044236713223,0.0499560823971,0.999999996456,-1.9918746445e-05,-6.62993479e-05,4.79224158499e-05,1793251853962772736
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724,694,674,643,899.437785917,787,828,657,634,658,0.442176869682,0.00442225465161,0.0499708011163,0.999999997884,-2.52853138324e-05,-3.72812106706e-05,4.69261736441e-05,1793251853979439360
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,724,694,674.01413929,643.01413929,900,787.01413929,828,657,634,657.98586071,0.443029638214,0.00442166889329,0.0499937610544,0.999999998271,-3.70899498464e-05,5.53346202965e-06,4.53039074059e-05,1793251853996106240
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,724,694,674.587094691,643.587094691,900,787.587094691,828,657,634,657.412905309,0.443785481572,0.00442315308248,0.0499886142906,0.999999998002,-4.084830822e-05,-1.30447243284e-05,4.64375379933e-05,1793251854012772864
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747.164608172,724.164608172,694,674.835391828,644,900,787.835391828,828,657,634,657.164608172,0.44453537139,0.00442474017752,0.049975299877,0.999999997194,-4.27622504428e-05,-3.96068565252e-05,4.70637188113e-05,1793251854029439744
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.753880945,724.753880945,694,674.246119055,644,900,787.246119055,828,657,634,657.753880945,0.445269902123,0.00442659275468,0.0499409141405,0.999999994363,-3.99178741018e-05,-8.67663854721e-05,4.63807549127e-05,1793251854046106368
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,748,725,694.338443618,674,644,900,787.338443618,828,657,634,658,0.446027148646,0.00442715526218,0.0499379322653,0.999999995348,-3.78601155621e-05,-7.61501102828e-05,4.55072795043e-05,1793251854062772992
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,748,725,694.919628048,674,644,900,787.919628048,828,657,634,658,0.446800687496,0.00442679249712,0.049957474081,0.999999998058,-3.63665404733e-05,-2.40954808336e-05,4.44971641432e-05,1793251854079439616
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,748,725,695,674.495240369,643.504759631,900,787.504759631,828,657,634,658,0.447483576826,0.00442533253265,0.0499559496362,0.999999998048,-3.39252713078e-05,-2.71746306697e-05,4.48802494616e-05,1793251854096106240
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.932065775,724.932065775,694.932065775,674.932065775,643.067934225,900.067934225,787,828.067934225,657,634,658,0.448144488771,0.00442377977918,0.0499498249244,0.999999997642,-3.20603047164e-05,-4.03112638677e-05,4.54208604981e-05,1793251854112772864
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747.37397704,724.37397704,694.37397704,674.37397704,643.62602296,900.62602296,787,828.62602296,657,634,658,0.448751794689,0.00442282799571,0.0499349014456,0.999999996404,-3.54507799505e-05,-6.21741841388e-05,4.54848435099e-05,1793251854129439744
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.79835262,747.20164738,724,694.20164738,674.20164738,644,901,787.20164738,828.79835262,657,634,658,0.449372537425,0.00442145027253,0.0499297183985,0.99999999567,-3.91007097942e-05,-7.0917253332e-05,4.58496845441e-05,1793251854146106624
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.1871089,747.8128911,724,694.8128911,674.8128911,644,901,787.8128911,828.1871089,657,634,658,0.450020573634,0.00441920735921,0.04994432061,0.999999996562,-4.32776565493e-05,-5.30106159076e-05,4.68256436047e-05,1793251854162773248
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.401184007,748,724.401184007,695,675,644,901,788,828.401184007,657,634,658,0.450629535558,0.00441802095833,0.0499673721437,0.999999997684,-4.1713626385e-05,-2.38266485215e-05,4.82178722543e-05,1793251854179440128
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.979352114,748,724.979352114,695,675,644,901,788,828.979352114,657,634,658,0.451221259744,0.0044173006424,0.0499941511345,0.999999997999,-3.76169391811e-05,1.03323644312e-05,4.97937401151e-05,1793251854196106752
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725,694.447375184,675.552624816,643.447375184,901,787.447375184,829,657,634,658,0.451713746582,0.00441625042586,0.0499873707885,0.999999997793,-3.79809192694e-05,-1.93952581498e-05,5.0940063924e-05,1793251854212773120
+201,3.350000000,POSE1_TO_POSE2_PRESS,769.129361486,748,725,694,675.741277029,643,901,787,829,657,634,658,0.452191411535,0.00441561913843,0.0499756344686,0.999999996512,-3.82141376243e-05,-5.32652876908e-05,5.17585285348e-05,1793251854229439744
+202,3.366666667,POSE1_TO_POSE2_PRESS,769.719070419,748,725,694,674.561859163,643,901,787,829,657,634,658,0.45262941016,0.00441652213618,0.0499506846743,0.999999993609,-3.73941365337e-05,-9.34566720687e-05,5.14668809411e-05,1793251854246106368
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.69655454,748,725,694,674.30344546,643,901,787,829,657,634,658,0.453080076865,0.00441692349252,0.0499422806319,0.999999992685,-3.76611471022e-05,-0.000102874680948,5.12684645401e-05,1793251854262772992
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.117032345,748,725,694,674.882967655,643,901,787,829,657,634,658,0.453542269046,0.00441686845206,0.0499489300282,0.999999994382,-3.89171283215e-05,-8.42948620081e-05,5.11548705696e-05,1793251854279439616
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,748,724.541163202,694,675,643,901,787,828.541163202,657,634,658,0.453966298018,0.00441587030395,0.0499636657241,0.999999996286,-3.9224612929e-05,-5.71273542689e-05,5.12431799373e-05,1793251854296106496
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747.96619925,724.03380075,694,674.96619925,643,901,787,828.03380075,657,634,658,0.454376776774,0.00441476156638,0.0499793269104,0.999999997476,-3.91180311452e-05,-2.96554618609e-05,5.13628195334e-05,1793251854312773120
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,747.390927485,724.609072515,694,674.390927485,643,901,787,828.609072515,657,634,658,0.45472489051,0.00441570432501,0.0499770344845,0.999999997519,-3.62232437613e-05,-3.21194675818e-05,5.11658968316e-05,1793251854329440000
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747.189245304,725,694,674,643,901,787.189245304,829,657.189245304,634,658,0.455044655025,0.00441673933367,0.049965946064,0.999999996919,-3.37522887018e-05,-4.93563314169e-05,5.0855640624e-05,1793251854346106624
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,747.779811317,725,694,674,643,901,787.779811317,829,657.779811317,634,658,0.45530430107,0.00441796997107,0.0499362045268,0.999999993423,-3.21801287237e-05,-9.79210733581e-05,5.03050450691e-05,1793251854362772992
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901.363665968,788,829,657.636334032,634,658,0.455553245396,0.0044189244401,0.0499063638632,0.999999987737,-3.19485065364e-05,-0.000144968752294,4.98842020742e-05,1793251854379439616
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901.943530782,788,829,657.056469218,634,658,0.45579582759,0.00441971472758,0.0498764642664,0.999999979982,-3.251383178e-05,-0.000191114544173,4.95404966811e-05,1793251854396106240
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,902,787.481145045,829,657,634,658,0.456023783635,0.00442133851551,0.049871990284,0.999999978782,-3.12201303001e-05,-0.000197606337777,4.91228923013e-05,1793251854412773120
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901.904424886,787,828.904424886,657,634,657.904424886,0.456245556357,0.00442299896517,0.0498715181368,0.999999978725,-2.9850807606e-05,-0.000198189057072,4.87866572515e-05,1793251854429439744
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901.31801951,787,828.31801951,657,634,657.31801951,0.456443678415,0.00442438587205,0.0498775099064,0.999999980254,-2.91231676411e-05,-0.000190396734072,4.8909243386e-05,1793251854446106368
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,748,725,693.7336218,674,642.7336218,901.2663782,787,828.2663782,657,634,657.2663782,0.456629336074,0.00442570970675,0.049880111726,0.999999981069,-2.84990191048e-05,-0.000186175664066,4.8875241691e-05,1793251854462772992
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,748,725,693.151603079,674,642.151603079,901.848396921,787,828.848396921,657,634,657.848396921,0.456800224234,0.00442695880501,0.049878696679,0.999999981092,-2.79975011018e-05,-0.000186186292786,4.86556937856e-05,1793251854479439616
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,748,725,693,674,642.425326576,902,787,829,657,634,658,0.456943591234,0.00442831096446,0.049875750414,0.999999980657,-2.71037240225e-05,-0.000188687439434,4.84554457626e-05,1793251854496106240
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,747.999535433,725,693.000464567,674,642.999535433,902,787,829,657,634,658,0.457077243041,0.00442969781198,0.0498722665303,0.999999980051,-2.60733344322e-05,-0.000192065838874,4.82618157429e-05,1793251854512773120
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,747.423349305,725,693.576650695,674,642.423349305,902,787,829,657,634,658,0.457184182691,0.00442908619898,0.0498709071439,0.999999979385,-2.69648644832e-05,-0.000195482156684,4.78452443705e-05,1793251854529439744
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,747.155919224,725,694,674,642,902,787,829,657,634,657.844080776,0.457283972046,0.00442861865109,0.0498696033634,0.999999978731,-2.74803875021e-05,-0.000198804499848,4.7537970392e-05,1793251854546106112
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,747.743725736,725,694,674,642,902,787,829,657,634,657.256274264,0.457363955476,0.00442855015535,0.0498684536082,0.999999978132,-2.69543925133e-05,-0.000201866538079,4.75334439807e-05,1793251854562772736
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747.672768287,725,694,674,642.327231713,902,787,829,657,634,657.327231713,0.457435174325,0.00442978858995,0.0498679714984,0.999999977677,-2.73354339756e-05,-0.000204130667978,4.72203216463e-05,1793251854579439616
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747.092586559,725,694,674,642.907413441,902,787,829,657,634,657.907413441,0.457499618164,0.00443203728129,0.0498680054781,0.999999977335,-2.8417614284e-05,-0.000205778015302,4.66686547565e-05,1793251854596106496
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747,725,694,674,642.517204228,902,787,829,657,634,657.517204228,0.457549215659,0.00443168300638,0.0498655445689,0.999999976746,-2.93833263032e-05,-0.00020848994202,4.66538583646e-05,1793251854612773376
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,747.057490763,725,694,674,642,902,787,829,657,634,657.057490763,0.457594463387,0.00443097631218,0.0498628025027,0.999999976173,-2.99437098222e-05,-0.000211120757362,4.67425670074e-05,1793251854629439744
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747.634209065,725,694,674,642,902,787,829,657,634,657.634209065,0.4576258868,0.00443155066772,0.0498617997457,0.999999976236,-2.70431073452e-05,-0.000211193330775,4.68453817808e-05,1793251854646106368
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673.784563945,642.215436055,902,787,829,657.215436055,634,658,0.45765247473,0.00443270724912,0.0498609565353,0.999999976153,-2.48095651356e-05,-0.000211930330844,4.65243024667e-05,1793251854662772992
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673.195518008,642.804481992,902,787,829,657.804481992,634,658,0.457670676948,0.00443487352838,0.0498603900113,0.999999975825,-2.37328411019e-05,-0.000213819581692,4.5468104695e-05,1793251854679439616
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,748,725,693.612604273,673.387395727,643,902,787,829,657.612604273,634,658,0.457684038707,0.00443418335816,0.0498585837041,0.999999975044,-2.518062467e-05,-0.000217230776235,4.57063076591e-05,1793251854696105984
+230,3.833333333,POSE1_TO_POSE2_PRESS,769,748,725,693.032737239,673.967262761,643,902,787,829,657.032737239,634,658,0.457694995563,0.00443207400711,0.0498561614306,0.999999974018,-2.78826690686e-05,-0.000221398123844,4.65876127383e-05,1793251854712772864
+231,3.850000000,POSE1_TO_POSE2_PRESS,769.540637011,748,725,693.540637011,674,642.459362989,902,787,829,657.540637011,634,658,0.457702356565,0.00443474840035,0.049855595366,0.999999973998,-2.55201823552e-05,-0.000221901940033,4.59542426478e-05,1793251854729439488
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.885812684,747.885812684,725,694,673.885812684,642.114187316,902,787,829,657.885812684,634,658,0.457708792178,0.00443718374255,0.0498551667382,0.999999974005,-2.33627785228e-05,-0.000222224702261,4.53899306535e-05,1793251854746106112
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.309980134,747.309980134,725,694,673.309980134,642.690019866,902,787,829,657.309980134,634,658,0.457712356403,0.0044374954255,0.0498548447275,0.999999973898,-2.32596280481e-05,-0.000222701706712,4.54712174594e-05,1793251854762772736
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,747.274411809,725,694,673,642.725588191,902,787,829,657,633.725588191,658,0.45771416729,0.00443692340393,0.0498538472817,0.999999973552,-2.36159603867e-05,-0.000224203985468,4.55021101669e-05,1793251854779439360
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747.868783958,725,694,673,642.131216042,902,787,829,657,633.131216042,658,0.457713933808,0.00443532099525,0.0498520622881,0.999999972924,-2.45080432616e-05,-0.00022690171982,4.54742440692e-05,1793251854796105984
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.55103155,787,829,657,633,658,0.457715083699,0.0044357607719,0.0498513911205,0.999999972892,-2.30897431236e-05,-0.000227225979355,4.52799226601e-05,1793251854812772864
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.02504028,787,829,657,633.02504028,658,0.457716613585,0.00443671858825,0.0498510780126,0.999999973029,-2.11726794469e-05,-0.000226856608631,4.5046644679e-05,1793251854829440000
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.599070037,787,829,657,633.599070037,658,0.457717882005,0.00443634935998,0.0498516967619,0.999999973188,-2.26711379434e-05,-0.000226022338629,4.49931808972e-05,1793251854846106368
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673.178265874,642.178265874,902,787,829,657,633.821734126,657.821734126,0.457718426651,0.00443674991328,0.0498516818762,0.999999973178,-2.28287004353e-05,-0.000226105420232,4.47064886542e-05,1793251854862772992
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673.769427233,642.769427233,902,787,829,657,633.230572767,657.230572767,0.457717294904,0.0044389334177,0.0498501993791,0.999999972776,-1.98805090805e-05,-0.000228313251442,4.3879597796e-05,1793251854879439872
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,693.647324339,674,642.647324339,902,787.352675661,829,657,633.352675661,657.352675661,0.457716759208,0.00443931607088,0.0498495710983,0.999999972485,-1.9938757555e-05,-0.000229598531013,4.37804049205e-05,1793251854896106496
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,725,693.069135733,674,642.069135733,902,787.930864267,829,657,633.930864267,657.930864267,0.457716604647,0.00443854719776,0.049849489033,0.999999972268,-2.19194271412e-05,-0.000230293899261,4.41465271875e-05,1793251854912773376
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747.493007098,725,693,673.493007098,642.506992902,902,787.493007098,829,657,634,657.493007098,0.457716566643,0.00443958240218,0.049849053475,0.999999972154,-1.9253325052e-05,-0.000231047060753,4.40280127918e-05,1793251854929439744
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.084392472,725,693,673.084392472,642.915607528,901.915607528,787,829,657,634,657.084392472,0.457716736574,0.00444070521765,0.049848723057,0.999999972113,-1.64490851976e-05,-0.000231469954865,4.38661065297e-05,1793251854946106368
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747.671020349,725,693,673.671020349,642.328979651,901.328979651,787,829,657,634,657.671020349,0.457718049757,0.00444089128485,0.049849304055,0.999999972479,-1.65784952686e-05,-0.000229880654542,4.38376726256e-05,1793251854962772992
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+247,4.116666667,HOLD_POSE2,769.425969491,748,725,694,674,642,902.148061018,787,829,657,633.425969491,657.574030509,0.457717117265,0.00443838828612,0.0498480237056,0.999999971899,-2.20468977703e-05,-0.000231904974059,4.40041689551e-05,1793251855017548800
+248,4.133333333,HOLD_POSE2,769,748,725,694,674,642,902.851206597,787.148793403,829,657,633.148793403,658,0.457717486857,0.00443741802283,0.049847872958,0.999999971825,-2.27106724123e-05,-0.000232137872136,4.41175639778e-05,1793251855034215936
+249,4.150000000,HOLD_POSE2,769,748,725,694,674,642,902.274336507,787.725663493,829,657,633.725663493,658,0.457718937884,0.00443869367093,0.0498484185189,0.999999972207,-2.16364584057e-05,-0.000230612267097,4.39896998894e-05,1793251855050882560
+250,4.166666667,HOLD_POSE2,769,748,725,694,674,642.309442949,901.690557051,787.690557051,828.690557051,657,634,658,0.457718973767,0.00443939012536,0.0498482126569,0.99999997219,-2.08767507097e-05,-0.000230780635477,4.38668679688e-05,1793251855067549184
+251,4.183333333,HOLD_POSE2,769,748,725,694,674,642.899487762,901.100512238,787.100512238,828.100512238,657,634,658,0.4577177264,0.00443956136877,0.049847325407,0.99999997181,-2.04022363822e-05,-0.00023248509356,4.37485992092e-05,1793251855084215552
+252,4.200000000,HOLD_POSE2,769,747.518317921,725,693.518317921,673.518317921,642.518317921,901.963364158,787,828.481682079,657,634,658,0.457717679284,0.00444090580367,0.0498469870241,0.999999971759,-1.74251392745e-05,-0.000232941529179,4.37681323335e-05,1793251855100881920
+253,4.216666667,HOLD_POSE2,769,747.061815976,725,693.061815976,673.061815976,642,902.938184024,787,828.938184024,657,634,658,0.457718131795,0.00444223323213,0.0498470395438,0.999999971844,-1.46604874208e-05,-0.000232769895268,4.37611554268e-05,1793251855117548544
+254,4.233333333,HOLD_POSE2,769,747.638216097,725,693.638216097,673.638216097,642,902.361783903,787,828.361783903,657,634,658,0.457720691966,0.00444141387192,0.0498494079902,0.999999972566,-1.79417416239e-05,-0.000229503047165,4.3297965983e-05,1793251855134215168
+255,4.250000000,HOLD_POSE2,769,748,725,694,673.781645714,642,902,787,828.218354286,657,634,658,0.457721399061,0.00444066172549,0.049849856594,0.99999997272,-2.04679055688e-05,-0.00022866953919,4.30189392463e-05,1793251855150881792
+256,4.266666667,HOLD_POSE2,769,748,725,694,673.19520623,642,902,787,828.80479377,657,634,658,0.457718982379,0.00444002288305,0.0498470688713,0.99999997194,-2.17211949426e-05,-0.000231937972919,4.30503601672e-05,1793251855167548672
+257,4.283333333,HOLD_POSE2,768.613775762,748,725,694,673.386224238,642,902,787,829,657,634,658,0.457718123352,0.00444026778249,0.0498466855437,0.999999971763,-2.08600755655e-05,-0.000232754855432,4.31750937386e-05,1793251855184215552
+258,4.300000000,HOLD_POSE2,768.034844494,748,725,694,673.965155506,642,902,787,829,657,634,658,0.457718041518,0.0044409536259,0.0498475018916,0.999999971888,-1.8943969615e-05,-0.000232348533929,4.33463857674e-05,1793251855200882432
+259,4.316666667,HOLD_POSE2,768.543059233,748,725,693.456940767,674,642.543059233,902,787,829,657,633.456940767,658,0.45772024098,0.00443958130955,0.0498487761498,0.999999972309,-2.08506880834e-05,-0.00023033140022,4.35326411532e-05,1793251855217548800
+260,4.333333333,HOLD_POSE2,769,747.879479903,725,693.120520097,673.879479903,642.879479903,902,787,829,657,633,658,0.457721808319,0.00443872542872,0.049849607266,0.999999972569,-2.19501707906e-05,-0.000229079491252,4.36143039594e-05,1793251855234215424
+261,4.350000000,HOLD_POSE2,769,747.303443994,725,693.696556006,673.303443994,642.303443994,902,787,829,657,633,658,0.4577204343,0.00444031964199,0.0498486526516,0.999999972175,-1.90733137795e-05,-0.000231109714248,4.32970284731e-05,1793251855250882048
+262,4.366666667,HOLD_POSE2,769,747.277630292,725,693.722369708,673,642,902,787,829,657,633,657.722369708,0.45771963238,0.00444060798201,0.0498480131093,0.999999972,-1.82673459171e-05,-0.000231950379606,4.32008888354e-05,1793251855267548672
+263,4.383333333,HOLD_POSE2,769,747.864313165,725,693.135686835,673,642,902,787,829,657,633,657.135686835,0.457719467309,0.0044394426495,0.0498477242988,0.999999972077,-1.97666513087e-05,-0.000231466852671,4.33509132955e-05,1793251855284215296
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,642,902,788,829,657,634,658,0.457719729006,0.00444217922215,0.0498466698466,0.999999972027,-1.73945919048e-05,-0.000232047595709,4.23958603467e-05,1793251855316842240
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.574997973,674,642,902,788,828.425002027,657,634,658,0.457721263956,0.00444277878417,0.0498481015198,0.999999972407,-1.62557593078e-05,-0.000230430739021,4.27071873225e-05,1793251855333508608
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.150291968,748,725,694,673.849708032,642,902.150291968,787.849708032,828.150291968,657.150291968,634,658,0.457722153707,0.00444281149618,0.0498490023176,0.999999972612,-1.57423471378e-05,-0.000229528160407,4.29537195355e-05,1793251855350175232
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.72642485,748,725,694,673.27357515,642,902.72642485,787.27357515,828.72642485,657.72642485,634,658,0.457721215334,0.00444123808174,0.0498483989204,0.999999972331,-1.70010161419e-05,-0.000230649434273,4.30166607648e-05,1793251855366842112
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.690154504,748,725,693.690154504,673,642,902.690154504,787,829,657.690154504,634,658,0.457720518134,0.00444083280129,0.0498479822579,0.999999972096,-1.71739391431e-05,-0.00023163436501,4.31171554332e-05,1793251855383508736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.10014424,748,725,693.10014424,673,642,902.10014424,787,829,657.10014424,634,658,0.457720039005,0.00444148375701,0.0498477344424,0.999999971904,-1.6365121873e-05,-0.000232496013135,4.32516062172e-05,1793251855400175360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.481308215,748,725,693.481308215,673,642,902,787,829,657,634,657.518691785,0.457719753302,0.00444188462795,0.0498477738362,0.999999971975,-1.54203967745e-05,-0.000232338036726,4.27972245255e-05,1793251855416841984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.9394514,748,725,693.9394514,673,642,902,787,829,657,634,657.0605486,0.457719364791,0.00444216326035,0.0498477902044,0.999999972057,-1.47492600448e-05,-0.00023211185965,4.23383894784e-05,1793251855433508608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.364143653,748,725,693.364143653,673,642,902,787,829,657,634,657.635856347,0.457717766071,0.00444183731752,0.0498471116516,0.99999997178,-1.6640265579e-05,-0.000233077971448,4.28650819518e-05,1793251855450175488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.210108631,748,725,693.210108631,673.210108631,642,902,787,829,657,634,658,0.457711036723,0.00444144999666,0.0498436211045,0.999999970546,-1.82450647658e-05,-0.000238174414459,4.29858377875e-05,1793251855466842112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.782540756,748,725,693.782540756,673.782540756,642,902,787,829,657,634,658,0.457695459825,0.00444095683201,0.0498352813919,0.999999967565,-1.93563129521e-05,-0.000250393439726,4.24065729142e-05,1793251855483508736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769.630337625,748,725,694,674,642,901.630337625,787,829,657,634,658,0.457666552907,0.00444180516139,0.0498229330076,0.999999962332,-1.80198068799e-05,-0.000270632353607,4.20542903103e-05,1793251855500175360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.034217046,748,725,694,674,642,901.034217046,787,829,657,634,658,0.457629479908,0.00444347530098,0.0498081288774,0.999999955265,-1.51837865699e-05,-0.000295784318096,4.18410588313e-05,1793251855516841728
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642.54241989,901.54241989,787,829,657,634,658,0.457567438334,0.00444279625914,0.0497861960075,0.999999945015,-1.59792844252e-05,-0.000328600921985,4.16756008908e-05,1793251855533508352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642.882332571,901.882332571,787,828.882332571,657.117667429,634,658,0.457501656995,0.00444273370501,0.0497652624748,0.999999934542,-1.60368038643e-05,-0.000359107131389,4.12493144283e-05,1793251855550174976
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642.307872698,901.307872698,787,828.307872698,657.692127302,634,658,0.457427260147,0.00444561973645,0.0497498936444,0.999999927375,-1.237096166e-05,-0.000378832349566,3.9799181591e-05,1793251855566841600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642,901.274169416,787,828.274169416,657.725830584,634,658,0.457347163922,0.00444767088804,0.0497395829095,0.99999992247,-9.88195495098e-06,-0.000391734347746,3.88228266813e-05,1793251855583508480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642,901.864967974,787,828.864967974,657.135032026,634,658,0.457260485681,0.00444875786449,0.0497351136019,0.999999920517,-8.75203664376e-06,-0.000396756435002,3.83936222453e-05,1793251855600175104
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725.44457107,694,674,642,902,787,829,657,634,658,0.457160135984,0.0044503401816,0.0497364297777,0.999999921484,-6.04752842018e-06,-0.000394422649505,3.77779326899e-05,1793251855616841984
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.020872532,748,725.979127468,693.979127468,674,642,901.979127468,787.020872532,829,657,634,658,0.457054697369,0.00445200328913,0.0497394125091,0.999999923225,-2.97776015913e-06,-0.000390080249881,3.71238302607e-05,1793251855633508864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.5975816,748,725.4024184,693.4024184,674,642,901.4024184,787.5975816,829,657,634,658,0.456921605701,0.00445190970829,0.0497411293561,0.999999923154,-2.60430656904e-06,-0.000390284763914,3.69181222394e-05,1793251855650175488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,748,725,693.176942383,674,642,901.176942383,787.823057617,829,657,634,658,0.456778775997,0.00445282804408,0.0497408822732,0.999999921826,-6.78208720439e-07,-0.000393715934791,3.65419374428e-05,1793251855666841856
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,748,725,693.762425608,674,642,901.762425608,787.237574392,829,657,634,658,0.456613462239,0.00445608278603,0.0497361006885,0.999999917499,4.83277688906e-06,-0.000404597107575,3.57721402195e-05,1793251855683508480
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.654430739,748,725,694,674,642,902,787.345569261,829,657,634,658,0.456428752067,0.00445820412932,0.0497335365818,0.999999915332,9.36428944377e-06,-0.000409902911725,3.50476726387e-05,1793251855700175104
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.072884637,748,725,694,674,642,902,787.927115363,829,657,634,658,0.456230796763,0.0044595515157,0.0497324867107,0.999999914697,1.32269555705e-05,-0.000411401497921,3.43541589677e-05,1793251855716841984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.505620517,748,725,693.494379483,674.505620517,642,901.494379483,787.494379483,829,657,634,658,0.456000640109,0.00446275786005,0.0497332488932,0.999999914741,1.90780148236e-05,-0.000411141531862,3.34172122858e-05,1793251855733508608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.916839012,748,725,693,675,642.083160988,901,787,829,657,634,658,0.455762806981,0.00446618140139,0.0497351298945,0.999999915433,2.51694585813e-05,-0.000409208297658,3.24041494184e-05,1793251855750174976
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769.342422973,748,725,693,675,642.657577027,901,787,829,657,634,658,0.455506883103,0.00446931449663,0.0497420862802,0.999999919482,3.09978737752e-05,-0.000398879107085,3.11474973685e-05,1793251855766841856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.237459048,675,643,901,787.237459048,829,657,634,658,0.455235225486,0.00447346946116,0.0497464466195,0.999999922453,3.82544846721e-05,-0.000390832035275,2.96963414698e-05,1793251855783508480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.825408851,675,643,901,787.825408851,829,657,634,658,0.454940344807,0.00447913270975,0.0497469751808,0.999999923918,4.76191193042e-05,-0.000386153382961,2.79580969846e-05,1793251855800175360
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,675,643,901,787.59083451,829,657,634,658,0.454616097927,0.00448337162883,0.049754487182,0.999999928142,5.63511224736e-05,-0.000373927679821,2.68250230182e-05,1793251855816841984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,675,643,901,787.008848962,829,657,634,658,0.454279447592,0.00448700895083,0.0497649487927,0.999999933297,6.48159195583e-05,-0.000358514313548,2.59475561893e-05,1793251855833508864
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.56556222,748,725,694,675,643,901,787,829,657,634,658,0.453906772246,0.00449119390626,0.0497861469637,0.999999944186,7.17848613759e-05,-0.000325387526379,2.44563388841e-05,1793251855850175488
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769.861261875,748,725,693.861261875,675,643,900.861261875,787,828.861261875,657,634,658,0.453522143436,0.00449564720284,0.0498060322696,0.999999952729,7.97590695721e-05,-0.000296053283935,2.30776631631e-05,1793251855866841856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769.291559964,748,725,693.291559964,675,643,900.291559964,787,828.291559964,657,634,658,0.453102111279,0.00450090778528,0.0498213244785,0.999999956604,9.09276880492e-05,-0.000279349408403,2.20780124487e-05,1793251855883508480
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,748,725,693,675,643,900.292158991,787,828.292158991,657,634,658,0.452648944348,0.00450733691256,0.0498262824807,0.99999995581,0.000101409306498,-0.000278702171379,2.0540786517e-05,1793251855900175360
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,748,725,693,675,643,900.890571269,787,828.890571269,657,634,658,0.452161044107,0.00451499095812,0.0498204077366,0.999999950172,0.000111170784128,-0.000294886173109,1.84400516123e-05,1793251855916842240
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.527043527,748,724.527043527,693.472956473,675,643,900.054087055,787,828.527043527,657,633.527043527,657.527043527,0.451612028264,0.00452206700527,0.0497943697609,0.99999993758,0.000121467166349,-0.000331441608025,1.52559553756e-05,1793251855933509120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.051357919,748,724.051357919,693.948642081,674.948642081,643,899.051357919,787,828,657,633.051357919,657.051357919,0.451050372836,0.00452907369236,0.0497668830351,0.999999923964,0.000131654862325,-0.000366880600652,1.17308096535e-05,1793251855950176000
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,769,747.795217671,725,693,674.409564658,643,899.795217671,787,828,657,634,657.795217671,0.449945575533,0.00454387549448,0.0497830075469,0.99999993959,0.00014858075943,-0.000314213926151,3.52396337603e-06,1793251855983508992
+305,5.083333333,POSE2_TO_POSE3_RETREAT,769,747.207343708,725,693,675.585312585,643,899.207343708,787,828,657,634,657.207343708,0.449386980932,0.00455024898732,0.0498117027255,0.99999995103,0.000159893581634,-0.000269019045391,1.43979782442e-06,1793251856000175360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,769,747.374853584,725,693,675.625146416,643,899,787,828,657,634,657,0.448772591734,0.00455694948166,0.0498200604205,0.999999953128,0.000171001776887,-0.000253968098449,-1.52507202056e-06,1793251856016842240
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,747.472480312,725,693,675,643,899,787,827.472480312,656.472480312,634,657,0.447412698944,0.00457054199631,0.0497887414652,0.999999937136,0.000190545495026,-0.000298910233098,-8.58898298846e-06,1793251856050175488
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,747.912747799,724,693,675,643,896.087252201,789,826,657,633,657,0.438657421234,0.00456955305017,0.0498016301174,0.999999954276,6.54792102774e-05,-0.000293058328859,-3.57269936808e-05,1793251856233508864
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769.494369613,747.505630387,724.494369613,693,675,643,896,789,826,657,633,657,0.43773963744,0.00457442182848,0.0497847691876,0.999999940527,9.68567535424e-05,-0.000329965505652,-2.62161464135e-05,1793251856250175488
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,769.352024871,747.647975129,724.352024871,693,675,643,894.704049742,789,825.352024871,657,633.647975129,656.352024871,0.435902131317,0.00457708989659,0.049792942781,0.999999938477,0.000123185348139,-0.000327767142412,-2.09819339268e-05,1793251856283508736
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769.227296338,748,724,693,674.772703662,643,894,789,825,657,633.772703662,656.227296338,0.434972425044,0.0045721976409,0.0497950423072,0.99999993973,0.000117390727391,-0.000325851436847,-2.40860227806e-05,1793251856300175360
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,747.024133579,724,693,674.975866421,642.024133579,893.024133579,789,824.024133579,657,633,656.024133579,0.43219963935,0.00455883254675,0.0498051058498,0.999999950008,4.68090927435e-05,-0.00031124629007,-3.0293495083e-05,1793251856350175488
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,747.940961537,724,692,675.059038463,643,892.059038463,790,820,657,633,657,0.420916175313,0.00457646632514,0.0497872454429,0.9999999405,0.000105861174253,-0.000326464290118,-3.48512067297e-05,1793251856550175232
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.671755806,642.671755806,890,789.671755806,820,657,633,656.328244194,0.411999232349,0.00458341638113,0.0497875279019,0.999999934061,0.000109004282531,-0.000344285003356,-3.82711277632e-05,1793251856733508352
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,643,890,789,819.363736469,657,633,657,0.409323870148,0.0045825025297,0.0497857239149,0.999999931743,9.26011295608e-05,-0.000355611462336,-3.84721633195e-05,1793251856800175616
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747.024885785,724,691,675,643,888.049771569,789,820,657,633,657,0.404108155428,0.00458895346157,0.0498414687441,0.999999952388,0.000110642720177,-0.000285699955169,-3.68455128221e-05,1793251856983508480
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747.602120903,724,691,675,643,889.204241806,789,820,657,633,657,0.403790737695,0.0045861338687,0.0498523895946,0.999999956455,0.000109272519868,-0.00027177477542,-3.58966316475e-05,1793251857000175104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770.181708706,748,724,691,675,642.818291294,889.636582588,789,820,657.181708706,633,656.818291294,0.403480996654,0.00458489603659,0.0498573902643,0.999999957352,0.000110311935351,-0.000268112326839,-3.52443342912e-05,1793251857016841728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.766515571,748,724,691,675,642.233484429,888.466968857,789,820,657.766515571,633,656.233484429,0.403188285445,0.00458716714434,0.0498492577478,0.999999951323,0.000116696783901,-0.000287216472534,-3.52499713703e-05,1793251857033508352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,771,747.650260074,724.349739926,691,675,642.349739926,888.349739926,789,819.650260074,657.650260074,633,656.349739926,0.402908543348,0.0045862351525,0.0498378838093,0.999999945416,0.000113945226646,-0.000308136007665,-3.51757467141e-05,1793251857050174976
+369,6.150000000,POSE2_TO_POSE3_RETREAT,771,747.068087378,724.931912622,691,675,642.931912622,888.931912622,789,819.068087378,657.068087378,633,656.931912622,0.40263742033,0.00458317442107,0.0498243556615,0.999999939324,0.000105121729239,-0.000330262029681,-3.50484469412e-05,1793251857066841600
+370,6.166666667,POSE2_TO_POSE3_RETREAT,771,747.508381571,724.491618429,691,675,643,888.491618429,788.491618429,819.508381571,657,633,657,0.402407894158,0.00457297015504,0.049817575384,0.999999937548,8.36780642708e-05,-0.00034177929299,-3.30033131607e-05,1793251857083508480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770.916150959,748,724,691,675,643,888,788.083849041,820,657,633,657,0.40219151237,0.00456256133638,0.0498124386297,0.999999936343,6.3435249597e-05,-0.000349751907229,-3.10308392679e-05,1793251857100175360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770.342121676,748,724,691,675,643,888,788.657878324,820,657,633,657,0.402019765416,0.00455648768378,0.0498116852512,0.999999938134,5.99839208693e-05,-0.000345216541859,-3.09680431139e-05,1793251857116842240
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747.760733409,724,691,675,643,888.239266591,788.760733409,820,657,633,656.760733409,0.401864145832,0.0045550613749,0.0498141421635,0.999999940795,6.23019891893e-05,-0.000336973566486,-3.1273822262e-05,1793251857133508864
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747.168488837,724,691,675,643,888.831511163,788.168488837,820,657,633,656.168488837,0.401732318157,0.00456049105909,0.0498213350568,0.999999944561,7.31313592809e-05,-0.000323260940583,-3.21233420321e-05,1793251857150175232
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,643,888.585844422,788,820,657,633,656.414155578,0.401620515988,0.00456073719099,0.0498309617946,0.999999950366,7.50481186811e-05,-0.000304272235571,-3.24643104809e-05,1793251857166841856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,643,888.007017123,788,820,657,633,656.992982877,0.401516676132,0.00455892229903,0.0498415562492,0.999999956676,7.34211492595e-05,-0.000283185717619,-3.26030746417e-05,1793251857183508480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747.567257616,724,691,675.567257616,643,888,788.567257616,820,657,633,657,0.401421123657,0.00455965764516,0.0498405978593,0.999999956081,7.34687231828e-05,-0.000285238880673,-3.28644165522e-05,1793251857200175360
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770.144772004,747.855227996,724,691,676,643,888,789,820,657.144772004,633,657,0.401331210533,0.00456050890221,0.049839085325,0.999999955352,7.37798686533e-05,-0.000287679497061,-3.3073007072e-05,1793251857216841984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770.732366473,747.267633527,724,691,676,643,888,789,820,657.732366473,633,657,0.401258235754,0.00456161897583,0.0498363114492,0.999999954475,7.48343592982e-05,-0.000290436659195,-3.31156427028e-05,1793251857233508352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,771,747.315469484,724,690.684530516,675.684530516,643,888,788.684530516,820,657.684530516,633,656.684530516,0.401197801351,0.00456273917101,0.0498352987047,0.999999954511,7.56250011719e-05,-0.000290073218628,-3.34141027192e-05,1793251857250174976
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,771,748,724,690.945939192,675,643,887.527030404,788,819.527030404,657,633,656.472969596,0.401112469796,0.00456310554915,0.0498389105662,0.999999956965,7.60075957269e-05,-0.000281360985834,-3.3583884215e-05,1793251857283508480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770.94948437,748,724,692,675,642.94948437,887.05051563,788.05051563,819.05051563,657,633,657,0.401081116449,0.00456199595248,0.0498424981399,0.999999958723,7.56219814634e-05,-0.00027520527431,-3.311683454e-05,1793251857300175360
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770.375496859,748,724,692,675,642.375496859,887.624503141,788.624503141,819.624503141,657,633,657,0.401058092359,0.00456163411002,0.0498444183675,0.999999959895,7.49226605795e-05,-0.000271082321435,-3.33265232646e-05,1793251857316841984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747.796337777,724,691.796337777,675,642.203662223,887.796337777,788.796337777,820,657,633,657,0.401037795614,0.00456122514436,0.0498460859269,0.999999960903,7.39797486311e-05,-0.000267590291498,-3.33995220345e-05,1793251857333508608
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747.207395353,724,691.207395353,675,642.792604647,887.207395353,788.207395353,820,657,633,657,0.401022658354,0.00456072703292,0.0498472754985,0.999999961625,7.25760207103e-05,-0.000265291817071,-3.32139361007e-05,1793251857350175232
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,643,887.375365039,788.375365039,820,657,633,657,0.401011896757,0.00456163906,0.0498472481235,0.999999961717,7.30878219988e-05,-0.000264786009253,-3.33431913242e-05,1793251857366841856
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,643,887.954765081,788.954765081,820,657,633,657,0.401003513614,0.00456331758792,0.04984655926,0.999999961468,7.46408364591e-05,-0.000265254630924,-3.36435829395e-05,1793251857383508480
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747.53196213,724,691,675,643,888,788.46803787,819.46803787,657,633,656.46803787,0.40099853971,0.00456366129644,0.049846479211,0.999999961557,7.53210180622e-05,-0.000264716713189,-3.37270074569e-05,1793251857400175104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,748,724,691,675,643,888,788.108339274,819.108339274,657.108339274,633,656.108339274,0.400994319741,0.00456378445899,0.049846585263,0.999999961647,7.5848788929e-05,-0.000264226019632,-3.37181462861e-05,1793251857416841728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,748,724,691,675,643,888,788.681996025,819.681996025,657.681996025,633,656.681996025,0.400992097933,0.00456344587032,0.0498472691849,0.999999961623,7.60394178849e-05,-0.000264304248141,-3.3391832099e-05,1793251857433508352
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,748,724,691,675.262984131,642.737015869,888,788.737015869,820,657.737015869,633,657,0.400990575366,0.00456293010935,0.0498478463948,0.999999961867,7.57007781895e-05,-0.000263515727545,-3.31002236173e-05,1793251857450175232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,748,724,691,675.853091716,642.146908284,888,788.146908284,820,657.146908284,633,657,0.400989922577,0.00456219396539,0.0498482908668,0.99999996244,7.47037862879e-05,-0.000261649066008,-3.28517851877e-05,1793251857466841856
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,748,724,691,675.564170566,642.435829434,888,788,820,657.435829434,633,657,0.400991088222,0.00456235199541,0.0498492411752,0.999999962928,7.42169060338e-05,-0.000259888696137,-3.30625909307e-05,1793251857483508480
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,747.984112508,724,691,675.015887492,643,888,788.015887492,820,657.984112508,633,657,0.400992795191,0.00456275916575,0.0498503453013,0.999999963375,7.39396286842e-05,-0.000258198787103,-3.33978881882e-05,1793251857500175104
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747.412336985,724,691,675.587663015,643,888,788.587663015,820,657.412336985,633,657,0.400992352579,0.00456151297988,0.0498509647257,0.999999963429,7.50799326392e-05,-0.000257741471461,-3.2762758326e-05,1793251857516842240
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747.16086539,724,691,675.83913461,643,888,788.83913461,820,657,633,657,0.400991742473,0.00456071681667,0.0498512975515,0.999999963453,7.59394154986e-05,-0.000257454262044,-3.23269197183e-05,1793251857533509120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,747.737757829,724,691,675.262242171,643,888,788.262242171,820,657,633,657,0.400990699195,0.0045610844937,0.0498508891813,0.999999963401,7.60726440494e-05,-0.000257606978174,-3.24064844461e-05,1793251857550175744
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,748,724.32414539,691,675,643,888,788.32414539,820,657,633.32414539,657,0.40099054834,0.00456122221793,0.0498511742039,0.999999963671,7.45745788774e-05,-0.000256990937922,-3.24503141608e-05,1793251857566842368
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,748,724.918446539,691,675,643,888,788.918446539,820,657,633.918446539,657,0.400991141263,0.00456116829028,0.0498520371278,0.999999964201,7.17169281335e-05,-0.000255734185282,-3.24643608794e-05,1793251857583508736
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770.496323404,747.503676596,724.503676596,691,675,642.503676596,888,788.503676596,819.503676596,657.496323404,633.503676596,657,0.400990589325,0.00456063681401,0.0498518739593,0.999999964173,7.15814355429e-05,-0.000255888094849,-3.24153644298e-05,1793251857600175360
+402,6.700000000,POSE2_TO_POSE3_RETREAT,771,747.0716137,724,691,675,642,888,788.0716137,819.0716137,657.9283863,633,657,0.400989847381,0.00456018295146,0.0498515023921,0.999999964035,7.2015610204e-05,-0.000256312486996,-3.23795971978e-05,1793251857616841984
+403,6.716666667,POSE2_TO_POSE3_RETREAT,771,747.647084846,724,691,675,642,888,788.647084846,819.647084846,657.352915154,633,657,0.400989049758,0.00456080956316,0.0498508128309,0.999999963737,7.34115954545e-05,-0.00025706132758,-3.25074562947e-05,1793251857633508608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770.771548324,747.771548324,724,691,675,642,888,788.771548324,820,657,633,657,0.400989536129,0.00456075367034,0.0498511483919,0.999999963931,7.30738230807e-05,-0.000256404671829,-3.24807988078e-05,1793251857650175232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770.1808324,747.1808324,724,691,675,642,888,788.1808324,820,657,633,657,0.400992058574,0.00455961550504,0.0498531095267,0.999999964896,6.99867675187e-05,-0.000253519268819,-3.22091186952e-05,1793251857666842112
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.401868083,747,724,691,675,642.401868083,888,788,820,657,633,657,0.400992011644,0.00455988323146,0.049853372495,0.999999964853,7.1268687266e-05,-0.000253328162512,-3.22540779276e-05,1793251857683508736
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770.981032279,747,724,691,675,642.981032279,888,788,820,657,633,657,0.400990831158,0.00456077120909,0.0498528862663,0.99999996436,7.4478111217e-05,-0.000254325725884,-3.24387320857e-05,1793251857700175104
+408,6.800000000,POSE2_TO_POSE3_RETREAT,771,747,724,690.444489628,675,643,888,788,820,657,633.555510372,656.444489628,0.400990483537,0.00456202616743,0.049852755087,0.999999964334,7.48806580974e-05,-0.000254312703734,-3.24064243212e-05,1793251857716841728
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770.869935899,747.130064101,724,690.130064101,675,643,888,788,819.869935899,657,633.869935899,656.130064101,0.400990304919,0.0045625060791,0.0498526927446,0.999999964369,7.47220206581e-05,-0.000254233791823,-3.23031522443e-05,1793251857733508608
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770.29458003,747.70541997,724,690.70541997,675,643,888,788,819.29458003,657,633.29458003,656.70541997,0.400990608358,0.00456028997447,0.0498528249168,0.999999964557,7.29674698764e-05,-0.000254046445596,-3.19820748347e-05,1793251857750175488
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b340e7398c9cbef89b6d0ef9e046e3bdf96d8d9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_01/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
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+1,0.016666667,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+2,0.033333333,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+3,0.050000000,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+4,0.066666667,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+5,0.083333333,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+6,0.100000000,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+7,0.116666667,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+8,0.133333333,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
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+18,0.300000000,pose1_baseline,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
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+389,6.483333333,pose2_to_pose3_retreat,0.585758225537,0.0100052071929,1.04002119774,0.55632956798,0.0186776124463,1.03963257782
+390,6.500000000,pose2_to_pose3_retreat,0.585755410979,0.0100051348673,1.04002114749,0.556326754636,0.0186775440662,1.03963252377
+391,6.516666667,pose2_to_pose3_retreat,0.58575365607,0.010005225245,1.04002108067,0.556324998785,0.0186776311734,1.03963245525
+392,6.533333333,pose2_to_pose3_retreat,0.585752696457,0.01000528365,1.04002104178,0.556324038545,0.01867768741,1.03963241548
+393,6.550000000,pose2_to_pose3_retreat,0.585752500124,0.0100052955995,1.04002103382,0.556323842084,0.0186776989158,1.03963240734
+394,6.566666667,pose2_to_pose3_retreat,0.585752469953,0.0100052945381,1.04002103058,0.556323811927,0.0186776979004,1.03963240408
+395,6.583333333,pose2_to_pose3_retreat,0.585752346626,0.0100052722476,1.04002100477,0.556323688864,0.0186776765052,1.0396323783
+396,6.600000000,pose2_to_pose3_retreat,0.585752264562,0.010005257415,1.04002098759,0.556323606975,0.0186776622684,1.03963236114
+397,6.616666667,pose2_to_pose3_retreat,0.585752207513,0.0100052471039,1.04002097565,0.556323550048,0.0186776523713,1.03963234922
+398,6.633333333,pose2_to_pose3_retreat,0.585752032745,0.0100052155156,1.04002093908,0.556323375653,0.0186776220518,1.03963231268
+399,6.650000000,pose2_to_pose3_retreat,0.585751846424,0.0100051818393,1.04002090009,0.55632318973,0.0186775897281,1.03963227373
+400,6.666666667,pose2_to_pose3_retreat,0.585751646172,0.0100051456451,1.04002085818,0.556322989905,0.0186775549876,1.03963223187
+401,6.683333333,pose2_to_pose3_retreat,0.585751471878,0.0100051141426,1.04002082171,0.556322815984,0.0186775247503,1.03963219543
+402,6.700000000,pose2_to_pose3_retreat,0.585751364918,0.0100050948104,1.04002079932,0.556322709253,0.0186775061946,1.03963217307
+403,6.716666667,pose2_to_pose3_retreat,0.585751274584,0.0100050852314,1.04002079126,0.556322618988,0.0186774968473,1.03963216494
+404,6.733333333,pose2_to_pose3_retreat,0.585751179388,0.0100051243922,1.04002086189,0.55632252296,0.0186775331565,1.03963223488
+405,6.750000000,pose2_to_pose3_retreat,0.585751113543,0.0100051514785,1.04002091075,0.556322456541,0.0186775582705,1.03963228326
+406,6.766666667,pose2_to_pose3_retreat,0.58575101758,0.0100051909548,1.04002098196,0.55632235974,0.0186775948722,1.03963235377
+407,6.783333333,pose2_to_pose3_retreat,0.585750966125,0.0100052121219,1.04002102014,0.556322307836,0.018677614498,1.03963239157
+408,6.800000000,pose2_to_pose3_retreat,0.585750875879,0.0100052246577,1.04002103716,0.556322217766,0.0186776276686,1.03963240943
+409,6.816666667,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+410,6.833333333,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c090f7f1194f32b2f17e1578ed91b9442275c7d2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773bcd85c78e8d669b99115d99f6341e0aebc2ea187eacb38b464eb8e4284a6d
+size 26203354
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b43939a2be9531bbdbc7b72e5df98a839ac4ffd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
+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,771,748,724,691,675,642,888,789,820,657,633,656,0.400992695943,0.00456145439578,0.0498547714971,0.999999965355,7.65656734458e-05,-0.000249805554207,-3.20124881359e-05,1793251857901840128
+1,0.016666667,BASELINE,771,748,724,691,675,642.577781291,888,788.422218709,819.422218709,657,633,656.577781291,0.400991818178,0.00456097613153,0.0498546447584,0.999999965258,7.47202381824e-05,-0.000250728717212,-3.21855953585e-05,1793251857918506752
+2,0.033333333,BASELINE,770.845717082,747.845717082,724,691,675.308565836,642.845717082,888,788,819.154282918,657,633,657,0.400991115902,0.00456039402805,0.0498545527879,0.999999965225,7.33129199996e-05,-0.000251271337293,-3.22025073607e-05,1793251857935173120
+3,0.050000000,BASELINE,770.272688518,747.272688518,724,691,676.454622963,642.272688518,888,788,819.727311482,657,633,657,0.400990889929,0.00455953009014,0.0498545551832,0.999999965378,7.30947130863e-05,-0.000250781110301,-3.17954834973e-05,1793251857951839744
+4,0.066666667,BASELINE,770.310890187,747.310890187,724,691,676.378219626,642.310890187,888,788,819.689109813,657,633,657,0.400990432127,0.00456004030399,0.0498544117194,0.999999965328,7.40978665486e-05,-0.000250684744624,-3.17962362026e-05,1793251857968506624
+5,0.083333333,BASELINE,770.904047674,747.904047674,724,691,675.191904653,642.904047674,888,788,819.095952326,657,633,657,0.400989763841,0.00456179815491,0.0498541358252,0.999999965092,7.62099327849e-05,-0.000250945978458,-3.21672225254e-05,1793251857985173504
+6,0.100000000,BASELINE,770.516401096,748,724,691,675,643,888,788.483598904,819,657,633,656.516401096,0.400990853803,0.00456091280774,0.0498548677161,0.999999965198,7.53615780856e-05,-0.000250831063529,-3.1757735415e-05,1793251858001840128
+7,0.116666667,BASELINE,770.060353322,747.939646678,724,691.060353322,675,642.939646678,888,789,819.060353322,657,633,656.060353322,0.40099181238,0.00455971318153,0.0498554815509,0.999999965281,7.42039260187e-05,-0.000250903327797,-3.12798031624e-05,1793251858018506496
+8,0.133333333,BASELINE,770.635648498,747.364351502,724,691.635648498,675,642.364351502,888,789,819.635648498,657,633,656.635648498,0.400988754907,0.00456018426596,0.049853428742,0.999999964617,7.52818145056e-05,-0.000253191978208,-3.15029830068e-05,1793251858035173120
+9,0.150000000,BASELINE,770.78392412,747,724,691.78392412,675,642,888,788.78392412,820,657,633,657,0.40098754816,0.00456077272386,0.0498527312512,0.999999964423,7.59173223129e-05,-0.000253736959262,-3.1739694564e-05,1793251858051839744
+10,0.166666667,BASELINE,770.19463222,747,724,691.19463222,675,642,888,788.19463222,820,657,633,657,0.400989538071,0.00456156391447,0.0498543747272,0.999999965048,7.57887301202e-05,-0.000251270195617,-3.19997786836e-05,1793251858068506368
+11,0.183333333,BASELINE,770,747,724,691,675,642.387837658,888,788.387837658,820,657,633,657,0.400990360634,0.00456116671766,0.0498551474232,0.999999965429,7.44240784183e-05,-0.000250175328405,-3.18622763316e-05,1793251858085173248
+12,0.200000000,BASELINE,770,747,724,691,675,642.966943208,888,788.966943208,820,657,633,657,0.400990607503,0.00456018345005,0.0498554906814,0.999999965689,7.24498456281e-05,-0.00024975703204,-3.15286983383e-05,1793251858101840128
+13,0.216666667,BASELINE,770,747,724,691,675,643,887.456239042,789,820,657,633,656.456239042,0.400990856478,0.00456145357472,0.0498550613051,0.999999965525,7.45953738437e-05,-0.000249728232513,-3.19675557943e-05,1793251858118506752
+14,0.233333333,BASELINE,770,747.120034179,724,690.879965821,675,642.879965821,887.120034179,788.879965821,820,657,633,656.120034179,0.400990771704,0.00456217658376,0.0498546356697,0.999999965321,7.61718846908e-05,-0.000250031153101,-3.22490834165e-05,1793251858135173376
+15,0.250000000,BASELINE,770,747.694769487,724,690.305230513,675,642.305230513,887.694769487,788.305230513,820,657,633,656.694769487,0.400989422174,0.00456031030807,0.0498544013888,0.999999965083,7.46481411949e-05,-0.000251501340552,-3.17574921447e-05,1793251858151840000
+16,0.266666667,BASELINE,770,748,724,690.276248174,675,642,888,788,819.723751826,657,633,657,0.400989696367,0.00455932976385,0.0498545489376,0.999999965216,7.38377719396e-05,-0.000251234219222,-3.15834146953e-05,1793251858168506624
+17,0.283333333,BASELINE,770,748,724,690.86536411,675,642,888,788,819.13463589,657,633,657,0.400991809525,0.00455935236422,0.0498551289316,0.999999965769,7.38353422456e-05,-0.000248999490545,-3.17689408811e-05,1793251858185173248
+18,0.300000000,BASELINE,770,747.553879461,724,691,675,642.446120539,888,788,819,657,633,657,0.400991287622,0.00456049292935,0.0498550907769,0.999999965575,7.4581562093e-05,-0.000249537500956,-3.19038574361e-05,1793251858201839872
+19,0.316666667,BASELINE,770,747,724,691,675,643,887.975758801,788.024241199,819,657,633,656.975758801,0.40099005424,0.00456187806142,0.049854875883,0.99999996518,7.5491639339e-05,-0.000250829551703,-3.20162026241e-05,1793251858218506496
+20,0.333333333,BASELINE,770,747,724,691,675,643,887.401254765,788.598745235,819,657,633,656.401254765,0.400990390191,0.00456129694784,0.0498548058647,0.999999965272,7.50868778394e-05,-0.000250592558713,-3.19565154697e-05,1793251858235173120
+21,0.350000000,BASELINE,770,747,724,691,675,643,887.176568526,788.823431474,819,657,633.176568526,656,0.400990780896,0.00456045121909,0.0498546964062,0.999999965443,7.45440556374e-05,-0.000250092512702,-3.18069326613e-05,1793251858251839744
+22,0.366666667,BASELINE,770,747,724,691,675,643,887.762079313,788.237920687,819,657,633.762079313,656,0.400991298411,0.00455899262739,0.0498544956021,0.999999965795,7.36814774356e-05,-0.000248983221691,-3.14491466629e-05,1793251858268506368
+23,0.383333333,BASELINE,770,747.345434416,724,691,675,643,888.345434416,788,819,657.345434416,634,656,0.400990362728,0.0045583310263,0.0498540957711,0.999999965635,7.27950395069e-05,-0.000249905075701,-3.12925246714e-05,1793251858285173248
+24,0.400000000,BASELINE,770,747.927314042,724,691,675,643,888.927314042,788,819,657.927314042,634,656,0.400988432351,0.00455821495443,0.0498535597089,0.99999996512,7.18922698287e-05,-0.000252217221035,-3.12735967e-05,1793251858301840128
+25,0.416666667,BASELINE,770,748,724.503765025,691,675,643,888.496234975,788,819.503765025,657.496234975,633.496234975,656.503765025,0.400989245717,0.00455991033801,0.049853724595,0.999999965149,7.29719711526e-05,-0.000251725506722,-3.17918776984e-05,1793251858318506752
+26,0.433333333,BASELINE,770,747.92040578,724.92040578,691,675,643,888,788.07959422,820,657,633,657,0.40099046319,0.00456152130571,0.0498540657488,0.999999965298,7.42116529013e-05,-0.000250711266015,-3.22624077897e-05,1793251858335173120
+27,0.450000000,BASELINE,770,747.343619758,724.343619758,691,675,643,888,788.656380242,820,657,633,657,0.400991758409,0.00456098972155,0.0498548829496,0.999999965717,7.4682932543e-05,-0.000248933171981,-3.19556386821e-05,1793251858351839744
+28,0.466666667,BASELINE,770.232378201,747,724,691,675,643,888,788.767621799,819.767621799,657,633,657,0.400992051813,0.0045601659471,0.0498551611899,0.999999965959,7.35377492029e-05,-0.00024832072938,-3.17981274937e-05,1793251858368506624
+29,0.483333333,BASELINE,770.807214749,747,724,691,675,643,888,788.192785251,819.192785251,657,633,657,0.400990868833,0.00455891156858,0.0498546451579,0.999999965935,7.0010366309e-05,-0.000249426120401,-3.18605793839e-05,1793251858385173248
+30,0.500000000,BASELINE,770.605018632,747,724,691,675,642.605018632,888,788.394981368,819,657,633,657,0.400990015782,0.00455851363449,0.0498542802351,0.999999965576,7.07926798447e-05,-0.000250666046613,-3.16808814374e-05,1793251858401840128
+31,0.516666667,BASELINE,770.010727443,747,724,691,675,642.010727443,888,788.989272557,819,657,633,657,0.400989329213,0.00455854786713,0.0498539915629,0.999999965043,7.37496905594e-05,-0.000251973860004,-3.13789933184e-05,1793251858418506752
+32,0.533333333,BASELINE,770,747.565298483,724,691,675,642.565298483,888,788.434701517,819.565298483,657,633,657,0.400989025097,0.00455854524028,0.0498543600341,0.999999965215,7.19577485459e-05,-0.000251806624024,-3.13890768655e-05,1793251858435173376
+33,0.550000000,BASELINE,770,747.859242065,724,691,675,643,887.859242065,788,819.859242065,657,633,656.859242065,0.400988885085,0.00455865379541,0.0498546809457,0.999999965373,7.10307625902e-05,-0.000251431727186,-3.14740810229e-05,1793251858451840000
+34,0.566666667,BASELINE,770,747.284494053,724,691,675,643,887.284494053,788,819.284494053,657,633,656.284494053,0.400989229369,0.00455910724011,0.049854817974,0.999999965453,7.30398028718e-05,-0.000250500165651,-3.17724012342e-05,1793251858468506368
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+36,0.600000000,BASELINE,770.890049217,747.890049217,724,691,675,643,887.890049217,788,819,657,633,656,0.400990103562,0.0045594704776,0.0498547865725,0.999999965368,7.51032625949e-05,-0.000250313154481,-3.10987028489e-05,1793251858501839616
+37,0.616666667,BASELINE,770.530123814,748,724,691,675,643,888,788,819.469876186,657,633,656.469876186,0.400990277191,0.00455900887801,0.0498545481983,0.999999965439,7.22141204545e-05,-0.000250863642071,-3.12238120133e-05,1793251858518506496
+38,0.633333333,BASELINE,770.047034829,748,724,691,675,643,888,788,819.952965171,657.047034829,633,657,0.400990473436,0.00455850155075,0.0498543601923,0.999999965567,6.90244638372e-05,-0.000251222713211,-3.14514398266e-05,1793251858535173120
+39,0.650000000,BASELINE,770.623884872,748,724,691,675,643,888,788,819.376115128,657.623884872,633,657,0.400991680739,0.00455890384377,0.0498551831601,0.999999966074,7.17093981236e-05,-0.000248477986723,-3.11080552558e-05,1793251858551840000
+40,0.666666667,BASELINE,770.799695593,748,724,691,675,643,888,788,819,657.799695593,632.799695593,656.799695593,0.400992369416,0.00455952336541,0.04985589549,0.999999966317,7.36205002456e-05,-0.000246944486606,-3.10406165471e-05,1793251858568506624
+41,0.683333333,BASELINE,770.224082734,748,724,691,675,643,888,788,819,657.224082734,632.224082734,656.224082734,0.40099208635,0.00456054990623,0.0498564005188,0.999999966087,7.40816802814e-05,-0.000247680449926,-3.14902149825e-05,1793251858585173248
+42,0.700000000,BASELINE,770,747.639336771,724,691,675.360663229,643,888,788,819.360663229,657.360663229,632.360663229,656,0.400991831966,0.00456065782856,0.0498565323827,0.999999965994,7.37446556276e-05,-0.00024813130916,-3.17072005532e-05,1793251858601839872
+43,0.716666667,BASELINE,770,747.048768937,724,691,675.951231063,643,888,788,819.951231063,657.951231063,632.951231063,656,0.400991595866,0.00456018017795,0.0498564263727,0.999999965987,7.28988157562e-05,-0.000248400428902,-3.17759071466e-05,1793251858618506496
+44,0.733333333,BASELINE,770,747.531159237,724,691,675.468840763,643,888,788.531159237,820,658,633,656.531159237,0.400990302432,0.00456133225166,0.0498555862098,0.999999965506,7.53797837086e-05,-0.00024958451767,-3.18496267586e-05,1793251858635173120
+45,0.750000000,BASELINE,770,747.891034596,724,691,675,643,888,788.891034596,820,657.891034596,633,657,0.400989702148,0.00456203442871,0.0498551830182,0.999999965307,7.68278146861e-05,-0.000249944116022,-3.18023672267e-05,1793251858651840000
+46,0.766666667,BASELINE,770,747.318185202,724,691,675,643,888,788.318185202,820,657.318185202,633,657,0.400992457887,0.00456019680889,0.0498569214141,0.999999966509,7.26036250752e-05,-0.000246443103669,-3.12381581929e-05,1793251858668506624
+47,0.783333333,BASELINE,770,747.263375877,724,691,675,643,888,788.263375877,820,657.263375877,633,657,0.400993498972,0.00455907820876,0.0498574084562,0.999999967013,7.03442637076e-05,-0.000245085599108,-3.09515728002e-05,1793251858685172992
+48,0.800000000,BASELINE,770,747.855821681,724,691,675,643,888,788.855821681,820,657.855821681,633,657,0.400992397715,0.00455885797372,0.0498563320186,0.999999966673,7.05398186594e-05,-0.000246406258696,-3.1011858855e-05,1793251858701839616
+49,0.816666667,BASELINE,770,747.563139324,724,691,675,643,888,788.563139324,820,657.563139324,633,657,0.40099183102,0.00455920160743,0.049855942654,0.999999966372,7.09363123295e-05,-0.000247456868877,-3.1442734481e-05,1793251858718506240
+50,0.833333333,BASELINE,770.01417837,747,724,691,675,642.98582163,888,788,820,657.01417837,633,656.98582163,0.400991437465,0.00455973262327,0.0498557828101,0.999999966088,7.14612342003e-05,-0.000248387438511,-3.19659436989e-05,1793251858735173376
+51,0.850000000,BASELINE,770.589420863,747,724,691,675,642.410579137,888,788,820,657.589420863,633,656.410579137,0.400991091613,0.00456050195996,0.0498559606802,0.999999965977,7.45108151518e-05,-0.000248004885447,-3.14262220935e-05,1793251858751840000
+52,0.866666667,BASELINE,770.831618247,747.168381753,724,691,675,642.168381753,888,788.168381753,820,658,633,656.168381753,0.400990616261,0.00456097526884,0.0498558982911,0.999999965796,7.67835046564e-05,-0.000248077489659,-3.1157778865e-05,1793251858768506624
+53,0.883333333,BASELINE,770.243385773,747.756614227,724,691,675,642.756614227,888,788.756614227,820,658,633,656.756614227,0.400989818006,0.00456071044847,0.049855236829,0.999999965457,7.71190575033e-05,-0.000249285003759,-3.15657535161e-05,1793251858785173248
+54,0.900000000,BASELINE,770,748,724,691,675,643,888,788.660524667,820,658,633,656.660524667,0.400990287854,0.00456066706488,0.0498553063923,0.999999965602,7.57844120045e-05,-0.000249073908257,-3.1845789687e-05,1793251858801839872
+55,0.916666667,BASELINE,770,748,724,691,675,643,888,788.08145459,820,658,633,656.08145459,0.400991652703,0.00456077996685,0.0498558918985,0.999999966085,7.32709746664e-05,-0.000247861587069,-3.20355294787e-05,1793251858818506496
+56,0.933333333,BASELINE,770,748,724,691,675,643,888,788,820,658,633,656.496247495,0.400991419847,0.00456072651366,0.0498555639348,0.999999965922,7.37143591006e-05,-0.000248416006258,-3.18164356626e-05,1793251858835173376
+57,0.950000000,BASELINE,770,747.926616501,724,691,675.073383499,643,888,788,820,657.926616501,633,657,0.400990984691,0.00456059344007,0.0498552191039,0.999999965721,7.4258669111e-05,-0.000249096120864,-3.15428942152e-05,1793251858851840256
+58,0.966666667,BASELINE,770,747.351818637,724,691,675.648181363,643,888,788,820,657.351818637,633,657,0.400990954228,0.00456010239804,0.0498557807007,0.999999965987,7.21854987899e-05,-0.000248659059532,-3.13545870161e-05,1793251858868506880
+59,0.983333333,BASELINE,770,747.228286588,724,691,675.771713412,643,888,788,819.771713412,657,633,656.771713412,0.40099094122,0.0045593813466,0.0498559967279,0.999999966158,7.0910614085e-05,-0.000248353937597,-3.12454445188e-05,1793251858885173248
+60,1.000000000,BASELINE,770,747.816765905,724,691,675.183234095,643,888,788,819.183234095,657,633,656.183234095,0.400990955752,0.00455829738405,0.0498556675122,0.999999966183,7.08952716275e-05,-0.000248256990816,-3.12612088049e-05,1793251858901839872
+61,1.016666667,BASELINE,770,747.60139815,724,691,675,643,888,788,819.39860185,657,633,656.39860185,0.400990143334,0.00455801880831,0.0498552116191,0.999999966102,7.06562543082e-05,-0.000248627109533,-3.1445425559e-05,1793251858918506496
+62,1.033333333,BASELINE,770,747.022566082,724,691,675,643,888,788,819.977433918,657,633,656.977433918,0.400988957006,0.00455810439312,0.0498546984481,0.999999965973,7.03161010582e-05,-0.000249208414722,-3.17058091071e-05,1793251858935173120
+63,1.050000000,BASELINE,770,747.549821675,724,691,675,643,888,788.549821675,820,657,633,657,0.400989172724,0.00455838768194,0.0498547819418,0.999999965854,7.22934368708e-05,-0.000249156609321,-3.14022052086e-05,1793251858951839744
+64,1.066666667,BASELINE,770,747.876343211,724,690.876343211,675,643,888,789,819.876343211,657,633,657,0.400989811665,0.0045588005626,0.0498550550906,0.999999965809,7.3907623682e-05,-0.00024889131368,-3.11794940607e-05,1793251858968506624
+65,1.083333333,BASELINE,770,747.296200051,724,690.296200051,675,643,888,789,819.296200051,657,633,657,0.400991802995,0.00455966223189,0.0498559390087,0.999999966048,7.3834166994e-05,-0.00024793271811,-3.13398636803e-05,1793251858985173248
+66,1.100000000,BASELINE,770.28831514,747,724,690,675,643,888,789,819.28831514,657,633,657,0.40099216173,0.00456022443698,0.0498562664176,0.999999966167,7.37699789958e-05,-0.00024746430107,-3.13896064668e-05,1793251859001839616
+67,1.116666667,BASELINE,770.87739105,747,724,690,675,643,888,789,819.87739105,657,633,657,0.400990817397,0.00456047425093,0.0498560132947,0.999999966163,7.37154597913e-05,-0.000247507222039,-3.13239470082e-05,1793251859018506496
+68,1.133333333,BASELINE,770.542190038,747,724,690.457809962,675,643,888,789,820,657.457809962,633,657,0.400991009611,0.00456001727294,0.0498561567432,0.999999966278,7.31466652313e-05,-0.000247223256729,-3.12141137602e-05,1793251859035172864
+69,1.150000000,BASELINE,770,747.035838982,724,690.964161018,675,643,888,788.964161018,820,658,633,657,0.400991536211,0.00455937977943,0.0498563377008,0.999999966399,7.24382046902e-05,-0.000246955710939,-3.1096570612e-05,1793251859051839744
+70,1.166666667,BASELINE,770,747.612141636,724,690.387858364,675,643,888,788.387858364,820,658,633,657,0.400991014907,0.00455882163751,0.0498555123777,0.999999966141,7.1662022384e-05,-0.000248231490357,-3.10378559908e-05,1793251859068506368
+71,1.183333333,BASELINE,770,748,724.187568915,690.187568915,675,643,888,788,820,658,633,657,0.400990320379,0.0045587921932,0.0498548154228,0.999999965828,7.14959631208e-05,-0.000249535650341,-3.10423039783e-05,1793251859085172992
+72,1.200000000,BASELINE,770,748,724.761194589,690.761194589,675,643,888,788,820,658,633,657,0.400989269322,0.00455985092103,0.0498543826766,0.999999965405,7.25856668318e-05,-0.000250898223807,-3.11767540514e-05,1793251859101839872
+73,1.216666667,BASELINE,770,747.654611105,724.654611105,691,675,643,888,788.345388895,820,657.654611105,633,656.654611105,0.40099029987,0.00455958374105,0.0498553449559,0.999999965787,7.26386856245e-05,-0.000249360567654,-3.11359303526e-05,1793251859118506496
+74,1.233333333,BASELINE,770,747.06287892,724.06287892,691,675,643,888,788.93712108,820,657.06287892,633,656.06287892,0.400992815092,0.00455837087775,0.0498573022158,0.999999966734,7.19523048582e-05,-0.000245754367473,-3.09700953369e-05,1793251859135173376
+75,1.250000000,BASELINE,770,747,724,691,675,642.481972514,888.518027486,788.481972514,820,657,633,656.518027486,0.400991774346,0.0045579007883,0.0498566974014,0.999999966643,7.06880608914e-05,-0.000246496562797,-3.09387505119e-05,1793251859151840000
+76,1.266666667,BASELINE,770.09675973,747,724,691,675,642.09675973,888.90324027,788,820,657,633,657,0.400990726597,0.00455807932263,0.049855965283,0.999999966432,7.04282505653e-05,-0.000247416532286,-3.10086065782e-05,1793251859168506880
+77,1.283333333,BASELINE,770.671113775,747,724,691,675,642.671113775,888.328886225,788,820,657,633,657,0.40099173114,0.00456102348129,0.049856108386,0.999999966235,7.54653278588e-05,-0.000246662074844,-3.14990511048e-05,1793251859185173504
+78,1.300000000,BASELINE,771,747,724,691,675,642.753871856,888,788,819.753871856,657.246128144,633,657,0.400992268103,0.00456242472621,0.0498565251887,0.999999966216,7.73770143513e-05,-0.000246119784273,-3.17237980768e-05,1793251859201839872
+79,1.316666667,BASELINE,771,747,724,691,675,642.177972809,888,788,819.177972809,657.822027191,633,657,0.400992178587,0.00456175872231,0.0498573087037,0.999999966457,7.51011949939e-05,-0.000245861762197,-3.15925543428e-05,1793251859218506752
+80,1.333333333,BASELINE,770.590727009,747,724,691.409272991,675,642.409272991,888,788,819,657.590727009,633,657,0.400992230954,0.00455987961161,0.0498572152881,0.999999966652,7.30115364668e-05,-0.000245740236652,-3.12736185486e-05,1793251859235173376
+81,1.350000000,BASELINE,770,747.001548912,724,691.998451088,675,642.998451088,888,788.001548912,819,657,633,657,0.400992347097,0.00455746881704,0.0498567312588,0.999999966823,7.10154210088e-05,-0.000245679773876,-3.08729945926e-05,1793251859251840000
+82,1.366666667,BASELINE,770,747.577228331,724,691.422771669,675,642.422771669,888,788.577228331,819,657,633,657,0.400992581527,0.00455909060864,0.049856838163,0.999999966692,7.28307537549e-05,-0.000245624722985,-3.13090730516e-05,1793251859268507136
+83,1.383333333,BASELINE,770,747.844030748,724,691,675,642.155969252,888,789,819.155969252,657,633,657,0.400992701385,0.00456043802114,0.0498568630537,0.999999966554,7.43142954378e-05,-0.000245696171019,-3.16806776261e-05,1793251859285173760
+84,1.400000000,BASELINE,770,747.256825007,724,691,675,642.743174993,888,789,819.743174993,657,633,657,0.400992504464,0.00456102680832,0.0498566611867,0.999999966402,7.48804745834e-05,-0.000246117373571,-3.18740196536e-05,1793251859301840128
+85,1.416666667,BASELINE,770,747.325750834,724,691,675,643,888,788.674249166,820,657,633,657,0.400991598714,0.00456068601314,0.0498558502688,0.999999966185,7.35934788256e-05,-0.000247392360804,-3.18065234123e-05,1793251859318506496
+86,1.433333333,BASELINE,770,747.904727538,724,691,675,643,888,788.095272462,820,657,633,657,0.400990141948,0.00455962259722,0.0498545658988,0.999999965909,7.08658978423e-05,-0.000249331046595,-3.15362617611e-05,1793251859335173376
+87,1.450000000,BASELINE,770.483869812,747.516130188,724,691,675,643,888,788,820,657,633,657,0.400990454006,0.00455842547236,0.049854956084,0.999999966084,7.03370515178e-05,-0.000248792148985,-3.14287329165e-05,1793251859351840000
+88,1.466666667,BASELINE,770.93748177,747.06251823,724,691,675,642.93748177,888,788.06251823,820,657.06251823,633,657,0.400991069841,0.00455747135224,0.0498557177927,0.999999966346,7.03061166697e-05,-0.000247753177698,-3.1347250334e-05,1793251859368506880
+89,1.483333333,BASELINE,770.363143381,747.636856619,724,691,675,642.363143381,888,788.636856619,820,657.636856619,633,657,0.400991320402,0.00455872225233,0.0498568208557,0.999999966596,7.08060037249e-05,-0.000246615325137,-3.12165958532e-05,1793251859385173504
+90,1.500000000,BASELINE,770,748,724,691,675,642.216179405,888,788.783820595,819.783820595,657.783820595,633,657,0.40099106746,0.0045591732204,0.0498567651596,0.999999966548,7.10967550189e-05,-0.000246728645403,-3.12005991205e-05,1793251859401840128
+91,1.516666667,BASELINE,770,748,724,691,675,642.804072647,888,788.195927353,819.195927353,657.195927353,633,657,0.400989948761,0.00455824872986,0.0498547170129,0.999999965986,7.10279037533e-05,-0.000248993318977,-3.13817528726e-05,1793251859418506752
+92,1.533333333,BASELINE,770,747.613867629,724,691,675,643,888,788,819,657,633,657,0.400989485458,0.00455847290737,0.0498542139838,0.999999965708,7.24025058272e-05,-0.00024972297701,-3.13172481319e-05,1793251859435173376
+93,1.550000000,BASELINE,770,747.034723785,724,691,675,643,888,788,819,657,633,657,0.40098934976,0.00455927125606,0.0498544832945,0.999999965569,7.44986300391e-05,-0.000249685344974,-3.11299489688e-05,1793251859451840000
+94,1.566666667,BASELINE,770,747,724,691,675,642.457533663,888,788,819,657,633,656.457533663,0.400990407493,0.00455797700449,0.0498556333344,0.999999966172,7.32401398817e-05,-0.000247673363864,-3.08212065916e-05,1793251859468506624
+95,1.583333333,BASELINE,770,747,724,691,675,642.119057528,888,788,819,656.880942472,632.880942472,656,0.400991305871,0.00455715299067,0.0498565908328,0.999999966688,7.19446685725e-05,-0.00024597832638,-3.06937929031e-05,1793251859485173248
+96,1.600000000,BASELINE,770,747,724,691,675,642.693833329,888,788,819,656.306166671,632.306166671,656,0.400991302927,0.00455863979238,0.0498565963194,0.999999966714,7.13266269727e-05,-0.000245978468578,-3.12901023529e-05,1793251859501839872
+97,1.616666667,BASELINE,770,747,724,691,675,643,888,788,819,656.275294218,632.275294218,656.275294218,0.400991414141,0.00455919069385,0.049856646438,0.999999966657,7.15939463923e-05,-0.000246112381016,-3.14503858202e-05,1793251859518506752
+98,1.633333333,BASELINE,770,747,724,691,675,643,888,788,819,656.864374881,632.864374881,656.864374881,0.400991655475,0.00455867483539,0.049856747429,0.999999966505,7.28704199476e-05,-0.000246398767739,-3.111367718e-05,1793251859535173888
+99,1.650000000,BASELINE,770,747,724,691,675,642.553513294,887.553513294,788,819,657,633,657,0.400992114034,0.00455841830382,0.0498571891575,0.999999966748,7.15645170394e-05,-0.000245790780594,-3.1132283627e-05,1793251859551840768
+100,1.666666667,BASELINE,770.026269208,747,724,690.973730792,675,642.026269208,887,788.026269208,819,657,633,657,0.400992560131,0.00455829121546,0.0498576981654,0.999999967065,6.97717295454e-05,-0.000245001735525,-3.12357639638e-05,1793251859568507392
+101,1.683333333,BASELINE,770.600937341,747,724,690.399062659,675,642.600937341,887,788.600937341,819,657,633,657,0.400991389778,0.00455924719025,0.0498574841804,0.999999966527,7.39387510326e-05,-0.000246017274034,-3.08925339203e-05,1793251859585174528
+102,1.700000000,BASELINE,770.824305633,747,724,690.175694367,675,642.824305633,887,789,819,657,633,657,0.400990640927,0.00455970685978,0.0498572425649,0.99999996622,7.59611150503e-05,-0.000246664236206,-3.07533942419e-05,1793251859601841408
+103,1.716666667,BASELINE,770.249346677,747,724,690.750653323,675,642.249346677,887,789,819,657,633,657,0.400990849938,0.00455903867789,0.049856938159,0.99999996647,7.31097549152e-05,-0.000246473610325,-3.10780489653e-05,1793251859618507776
+104,1.733333333,BASELINE,770,747,724,691,675,642.335755658,887.335755658,788.664244342,819,657.335755658,633,657,0.400991844099,0.00455869362668,0.0498570706939,0.999999966789,7.23301177951e-05,-0.000245397367097,-3.11559091648e-05,1793251859635174400
+105,1.750000000,BASELINE,770,747,724,691,675,642.92862563,887.92862563,788.07137437,819,657.92862563,633,657,0.400993439512,0.00455859602178,0.0498575378284,0.999999967163,7.31369603972e-05,-0.000243642937518,-3.10447795681e-05,1793251859651840768
+106,1.766666667,BASELINE,770,747.507645605,724,691,675,643,888,788.507645605,819.507645605,657.492354395,633,657,0.400992488259,0.00455902527882,0.0498574988547,0.999999966805,7.43746732318e-05,-0.000244748338964,-3.09267942378e-05,1793251859668507392
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,748,724,691,675,643,889,789,820,658,633,656,0.400993973286,0.00455720896502,0.0498582926978,0.999999967481,6.93123530784e-05,-0.000243475532869,-3.08857889127e-05,1793251859711764992
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747.411744818,724.588255182,691,675,642.411744818,888.411744818,789,820,658,633,656,0.400992048446,0.00455817614493,0.049856870064,0.999999966823,7.12840864074e-05,-0.000245582706249,-3.09967370285e-05,1793251859728431616
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747.174572929,724.825427071,691,675,642.174572929,888,788.825427071,820,657.825427071,633,656.174572929,0.40099127561,0.00455911432891,0.0498562936248,0.999999966455,7.3136781246e-05,-0.000246519883574,-3.1112915442e-05,1793251859745098496
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747.756371347,724.243628653,691,675,642.756371347,888,788.243628653,820,657.243628653,633,656.756371347,0.400993190051,0.00455998487439,0.0498576911,0.999999966775,7.47117959266e-05,-0.000244727816758,-3.12412945701e-05,1793251859761764864
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747.665021851,724,691,675,643,887.665021851,788.334978149,820,657,632.665021851,657,0.400992954933,0.00456002128815,0.0498576258308,0.999999966633,7.47064869744e-05,-0.000245313238453,-3.12149740043e-05,1793251859778431488
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747.088714428,724,691,675,643,887.088714428,788.911285572,820,657,632.088714428,657,0.400991171203,0.00455945676596,0.0498565067522,0.999999966156,7.35626608212e-05,-0.000247611481149,-3.10772026848e-05,1793251859795098112
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747.484226869,724,691,675,643,887.484226869,788.515773131,820,657.484226869,632.484226869,657,0.400991143282,0.00455992861503,0.0498567627497,0.999999966257,7.46902036989e-05,-0.000246860682275,-3.11136655153e-05,1793251859811764736
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,748,724,691,675,642.941668557,888,788,819.941668557,657.941668557,633,657,0.400991466254,0.0045603829234,0.0498572375805,0.999999966451,7.57210960792e-05,-0.000245748032804,-3.11815552444e-05,1793251859828431104
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,748,724,691,675,642.351369852,888,788,819.351369852,657.351369852,633,657,0.400992075898,0.00455895763786,0.0498574264803,0.999999966557,7.21017304741e-05,-0.000246394607623,-3.12469471624e-05,1793251859845097728
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747.764976675,724,691,675,642.235023325,888,788.235023325,819,657.235023325,633,657,0.40099914554,0.00455893954126,0.0498598820644,0.999999967667,7.14766881512e-05,-0.000242024278738,-3.13105489403e-05,1793251859861764608
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747.184327038,724,691,675,642.815672962,888,788.815672962,819,657.815672962,633,657,0.401015715281,0.00456099086289,0.0498656710442,0.999999970163,7.5255110853e-05,-0.000230276069583,-3.13715181218e-05,1793251859878431488
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724.392122473,691,675,643,888,788.607877527,819.392122473,658,633,657,0.401051202674,0.00456087135579,0.0498772479174,0.999999975516,7.46618294508e-05,-0.000205974816144,-3.11186497496e-05,1793251859895098112
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724.966618582,691,675,643,888,788.033381418,819.966618582,658,633,657,0.401095488547,0.00455974221042,0.0498915167029,0.999999981475,7.20352968995e-05,-0.00017583522146,-3.0719817535e-05,1793251859911764736
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747.541793696,724.458206304,691,675,642.458206304,887.458206304,788.541793696,819.458206304,657.458206304,633,657,0.401162907421,0.00455788284372,0.0499094576595,0.999999986958,7.02052656551e-05,-0.000142279068405,-3.01976269467e-05,1793251859928431104
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,748,724,691,675.120665321,642,887,789,819.120665321,657,633,657,0.401232730493,0.00455655358349,0.0499254962275,0.999999990664,6.93851089623e-05,-0.000113945631884,-2.95578483207e-05,1793251859945097472
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,748,724,691,675.713848388,642,887,789,819.713848388,657,633,657,0.401306379923,0.00455747658884,0.0499331980647,0.999999991266,7.23271423156e-05,-0.000106889366174,-2.84874025893e-05,1793251859961764096
+123,2.050000000,POSE1_TO_POSE2_PRESS,770.299070592,747.700929408,724,691,675.700929408,642.299070592,887.299070592,788.700929408,819.700929408,657,633,657,0.401388129331,0.00455666107317,0.0499374651261,0.999999991909,7.12812203732e-05,-0.000101696125307,-2.75424691263e-05,1793251859978430976
+124,2.066666667,POSE1_TO_POSE2_PRESS,770.876873281,747.123126719,724,691,675.123126719,642.876873281,887.876873281,788.123126719,819.123126719,657,633,657,0.401477427866,0.00455422526569,0.0499385309952,0.999999992605,6.65185465011e-05,-9.823921347e-05,-2.67145124515e-05,1793251859995097344
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.548676473,747,724,691,675,643,888,788.451323527,819.451323527,657,633,657,0.401588645346,0.00455285120095,0.0499396599217,0.999999992884,6.40934427487e-05,-9.72722003178e-05,-2.57313687574e-05,1793251860011763968
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,724,691.02557121,675,642.97442879,888,788.97442879,819.97442879,657,633,656.97442879,0.401706858737,0.00455179266316,0.0499408737477,0.999999993069,6.22755263576e-05,-9.68146459489e-05,-2.47202853681e-05,1793251860028430592
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,724,691.615381406,675,642.384618594,888,788.384618594,819.384618594,657,633,656.384618594,0.401848466724,0.0045513520872,0.0499435841277,0.99999999362,5.98876817096e-05,-9.27205296926e-05,-2.40199952263e-05,1793251860045096960
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724,692,675,642.201088531,888,788,819.201088531,657,633,656.201088531,0.401999707598,0.0045506481821,0.0499456797194,0.999999993947,5.7857505215e-05,-9.07260007836e-05,-2.29746434203e-05,1793251860061763328
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,692,675,642.779104648,888,788,819.779104648,657,633,656.779104648,0.402169004687,0.00454945068343,0.0499466229293,0.999999993884,5.64977550585e-05,-9.26670144765e-05,-2.12824956838e-05,1793251860078430208
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,723.64390154,691.64390154,675,642.64390154,888,788,819.64390154,657.35609846,633,657,0.402357885048,0.00454598500729,0.0499445776219,0.999999993667,5.20962705952e-05,-9.78455067903e-05,-1.94695289959e-05,1793251860095096576
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,723.067540013,691.067540013,675,642.067540013,888,788,819.067540013,657.932459987,633,657,0.40255887857,0.00454111636027,0.049940683781,0.999999993281,4.58133352237e-05,-0.000105026526803,-1.75818301354e-05,1793251860111763712
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,723.506092812,691,675,642,887.493907188,788,819.506092812,657.493907188,633,657,0.402802289334,0.00453984594682,0.049943684822,0.999999993878,4.2556746492e-05,-0.000100887886507,-1.5971913306e-05,1793251860128430336
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642.082099928,887.082099928,788,820,657,633,657,0.403056176974,0.00453874332622,0.0499479118293,0.999999994656,3.9403334628e-05,-9.44942761694e-05,-1.43351612348e-05,1793251860145096960
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642.675137484,887.675137484,788,820,657,633,657,0.403340226191,0.00453571252139,0.0499540727634,0.999999995854,3.43920317533e-05,-8.34180835871e-05,-1.2301933556e-05,1793251860161763584
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.261810091,820,657,633,657,0.403647421911,0.00453239683671,0.0499618122295,0.999999997216,2.88102975447e-05,-6.80883968322e-05,-1.01212712376e-05,1793251860178430208
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.840772274,820,657,633,657,0.403982656879,0.00452873605383,0.0499714639007,0.999999998583,2.25375532489e-05,-4.76061034617e-05,-7.76200933615e-06,1793251860195096832
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747.415163833,724,691,675,643,888,788.584836167,820,657.415163833,633,657,0.404343197224,0.00452521578768,0.0499784010635,0.999999999253,1.84738629492e-05,-3.35548166239e-05,-5.12520027678e-06,1793251860211763456
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747.987821496,724,691,675,643,888,788.012178504,820,657.987821496,633,657,0.404713337244,0.00452174882712,0.049984308468,0.99999999964,1.52481850385e-05,-2.19431547433e-05,-2.38310280031e-06,1793251860228430080
+139,2.316666667,POSE1_TO_POSE2_PRESS,770.57563051,747.42436949,724,691,675,643,888.57563051,788,819.42436949,657.42436949,633,657,0.405125420822,0.00451716064975,0.0499862322194,0.999999999839,7.91798320046e-06,-1.60938365254e-05,4.26622223973e-07,1793251860245096960
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.837450137,747,724,691,674.837450137,643,889,788,819.162549863,657,633,656.837450137,0.40553942853,0.00451247563284,0.0499816575329,0.99999999972,1.21358886806e-06,-2.3385943261e-05,3.35816793029e-06,1793251860261763328
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.25368933,747,724,691,674.25368933,643,889,788,819.74631067,657,633,656.25368933,0.405956060481,0.00450760280923,0.0499604679242,0.999999997897,-3.6380611699e-06,-6.44066111087e-05,6.60157596288e-06,1793251860278430208
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,724,691.324053952,674.324053952,643,889,788.324053952,819.675946048,657,633,656.324053952,0.40639949636,0.00450312230018,0.0499419611382,0.999999995273,-9.02125468598e-06,-9.63574944123e-05,9.34664769587e-06,1793251860295096832
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,724,691.89717229,674.89717229,643,889,788.89717229,819.10282771,657,633,656.89717229,0.406863533494,0.00449894331938,0.0499255163385,0.99999999246,-1.48129873266e-05,-0.000121337443091,1.17087038472e-05,1793251860311763456
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724,692,675,643,889.47271349,789,819.47271349,657,633,657,0.407386129183,0.00449280095186,0.0499230277764,0.999999991882,-2.16769113094e-05,-0.000124622283802,1.53263621271e-05,1793251860328430336
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,724,692,675,643,890,789,820,657.05009683,633,657,0.407928602696,0.00448642427882,0.0499257875859,0.999999992341,-2.84306331328e-05,-0.000118913860228,1.92247858743e-05,1793251860345097216
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,724,692,675,643,890,789,820,657.641665542,633,657,0.408547537707,0.00448215508046,0.0499522923845,0.999999996973,-3.14593840102e-05,-6.72726294666e-05,2.31905669614e-05,1793251860361764096
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,724,692,675,642.772104297,890,789,820,657.772104297,633,657,0.409174837929,0.00447645740615,0.0499755267954,0.999999999298,-1.81118198015e-06,-2.55146982134e-05,2.73965518886e-05,1793251860378430720
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,724,692,675,642.194076166,890,789,820,657.194076166,633,657,0.409814990184,0.00446856506256,0.0499937366745,0.999999996443,7.80409541339e-05,1.05881181294e-06,3.1971578823e-05,1793251860395097088
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747.38222267,724,691.61777733,675,642.38222267,890,789,820,657.38222267,633,657,0.410439912092,0.00446151775233,0.0499905259684,0.999999994474,9.79473823346e-05,-1.21408961809e-05,3.61947671557e-05,1793251860411763712
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747.957647384,724,691.042352616,675,642.957647384,890,789,820,657.957647384,633,657,0.411057135499,0.00445489758123,0.0499764878014,0.999999994325,8.75530591651e-05,-4.54447682346e-05,4.02401115819e-05,1793251860428430336
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747.455515482,724.544484518,691.544484518,675,643,890.544484518,789,820.544484518,657.455515482,633,657.544484518,0.41171545425,0.00444958207483,0.0499471398448,0.999999991521,7.06392718984e-05,-0.000100755852476,4.26120864024e-05,1793251860445096960
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,724.869762176,692,675,643,891.260475648,789,820.869762176,657,633,657.869762176,0.412406568197,0.00444285507595,0.0499295200583,0.999999989952,3.75124204907e-05,-0.000130484072482,4.07683798858e-05,1793251860461763584
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,724.290866259,692,675,643,892.418267482,789,820.290866259,657,633,657.290866259,0.413199410883,0.00443090852317,0.0499564930839,0.999999996275,-4.96826686271e-05,-6.60581701803e-05,2.4860012655e-05,1793251860478430208
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,724.28643906,692,675.28643906,643,893,789,820,657,633,657,0.413977999742,0.0044207245324,0.0499714405837,0.999999995164,-8.86628937382e-05,-3.76103240528e-05,1.99166844169e-05,1793251860495097088
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,724.862138185,692,675.862138185,643,893,789,820,657,633,657,0.414742194489,0.00441232046083,0.049974244127,0.999999995509,-7.89534200057e-05,-4.54948580843e-05,2.60463830585e-05,1793251860511763712
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747.438158624,724.561841376,692,675.561841376,643,893,789,820,657,633,657,0.415508011397,0.00442133173154,0.0499544996761,0.999999994485,-6.30313453799e-05,-7.86210675708e-05,2.96043166933e-05,1793251860528430336
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747.985383209,724,692,675,643,893,789,820.014616791,657,633,657,0.416276696306,0.00443598967106,0.0499286314617,0.999999991516,-4.47665054131e-05,-0.000118001323802,3.22332855782e-05,1793251860545096960
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747.395682121,724,692,675,643,893,789,820.604317879,657,633,657,0.417138126172,0.00445706469624,0.0499411599594,0.999999995364,-1.12910459144e-05,-9.07407284707e-05,3.01727148041e-05,1793251860561763584
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747,724.190518565,692,675,643,893.190518565,789,821.190518565,657,633,657,0.418004095803,0.00446937651433,0.049956158415,0.999999997632,1.08617702176e-05,-6.16122854177e-05,2.86824239535e-05,1793251860578430208
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747,724.769580499,692,675,643,893.769580499,789,821.769580499,657,633,657,0.418879323775,0.00446381665533,0.0499761940996,0.999999999138,9.92319672464e-06,-2.86745574547e-05,2.83551616079e-05,1793251860595096832
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.65333701,747,724.65333701,692,674.65333701,643,894,788.65333701,822,657,633,657,0.419734515809,0.00445821474564,0.0499696644686,0.999999998672,-2.05961391519e-06,-4.2872315552e-05,2.85127553983e-05,1793251860611763456
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.077562766,747,724.077562766,692,674.077562766,643,894,788.077562766,822,657,633,657,0.42057646596,0.00445258504466,0.0499455776907,0.99999999546,-2.13416144638e-05,-8.82221464712e-05,2.89907929348e-05,1793251860628430336
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.497453368,747,724,692.497453368,674.497453368,643,894.497453368,788,822.497453368,657,633,657,0.421520008276,0.00444962629373,0.0499657015139,0.999999998491,-2.79606521885e-05,-3.72887478859e-05,2.90980859218e-05,1793251860645096960
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724,692.925700156,675,643,895.074299844,788.074299844,823.074299844,657,633.074299844,657.074299844,0.422475616059,0.00444761445115,0.0499896146049,0.999999998902,-3.06906913865e-05,1.9933313422e-05,2.92586212719e-05,1793251860661763584
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,724,692.335320786,675,643,895.664679214,788.664679214,823.664679214,657,633.664679214,657.664679214,0.423405171753,0.00444929149837,0.0499920402158,0.999999999202,-2.01012796429e-05,1.67194353609e-05,3.01898800827e-05,1793251860678430208
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,724,692.25003146,674.74996854,643,896.25003146,789,824.25003146,657,633.74996854,657.74996854,0.424336484766,0.00445300251247,0.0499899197688,0.999999999371,-1.44533917052e-05,1.03574427513e-05,3.06754614645e-05,1793251860695097088
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,724,692.828774723,674.171225277,643,896.828774723,789,824.828774723,657,633.171225277,657.171225277,0.425270108223,0.00445938754598,0.0499818227027,0.999999999415,-1.53020335465e-05,-1.43319100471e-07,3.05751189874e-05,1793251860711763712
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,747,724,693,674.405456703,643,897,789,825,657,633.405456703,657,0.426223476545,0.00445732768395,0.0499931133055,0.999999999318,-1.62963521333e-05,7.24756455783e-06,3.23544064851e-05,1793251860728430080
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,747,724,693,674.981272567,643,897,789,825,657,633.981272567,657,0.427185140933,0.00445171956274,0.05001254995,0.999999998994,-1.73518790962e-05,2.2155911727e-05,3.49234507758e-05,1793251860745096704
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,747,724,693.567658414,673.864683172,643,897,788.432341586,825,657.567658414,634,657,0.428047482943,0.00444805255606,0.0499759910195,0.99999999779,-8.01401036599e-06,-5.50975114777e-05,3.63358061953e-05,1793251860761763584
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,747,724,694,673,643,897.153077597,788,825.153077597,658,633.846922403,657,0.428949697218,0.00444564864656,0.049947616592,0.999999993551,-4.47399952631e-06,-0.000107340868327,3.68143148135e-05,1793251860778430208
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,747,724,694,673,643,897.734794977,788,825.734794977,658,633.265205023,657,0.429972909014,0.00444659887507,0.0499474309257,0.99999999596,-1.81471899592e-05,-8.08770325838e-05,3.47867963738e-05,1793251860795096832
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.688334079,747,724,694,673.623331842,643,898,787.688334079,826,657.688334079,633,657,0.430946689618,0.00444866372576,0.0499460793453,0.999999996412,-2.18957944456e-05,-7.43108238981e-05,3.42766304603e-05,1793251860811763456
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.115523983,747,724,694,674.768952035,643,898,787.115523983,826,657.115523983,633,657,0.431879051885,0.00445166251582,0.0499437508479,0.999999995673,-1.73286099972e-05,-8.44167935641e-05,3.50378509356e-05,1793251860828430080
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.460152846,747,724,694,674.539847154,643,898,787,826,657,633,657,0.432825210408,0.00445273620627,0.0499409307417,0.999999995677,-1.9932311255e-05,-8.38744417109e-05,3.48518747172e-05,1793251860845096960
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.962401969,747,724,694,674.037598031,643,898.037598031,787,826.037598031,657,633,657,0.433774890899,0.0044528355582,0.0499399638479,0.999999996015,-2.44513421358e-05,-7.85731632828e-05,3.46080666583e-05,1793251860861763584
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.3695371,747,724,694,674.6304629,643,898.6304629,787,826.6304629,657,633,657,0.434725111234,0.00444572785548,0.0499682003153,0.999999997936,-3.0502630846e-05,-4.2718119259e-05,3.70441234991e-05,1793251860878430208
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,724,694,674.782797209,643,898.782797209,787.217202791,827,657,633,657,0.435652327506,0.00444146047642,0.0499759675251,0.999999997873,-2.72441362708e-05,-4.44263533805e-05,3.92080903325e-05,1793251860895096832
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,724,694,674.206192136,643,898.206192136,787.793807864,827,657,633,657,0.436541479444,0.00444189293826,0.0499498645583,0.999999993263,-8.58088030315e-06,-0.000108289989027,4.09218341447e-05,1793251860911763456
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724,694.369618351,674,643,898.369618351,788,827,657,633.369618351,657,0.43746566595,0.0044449352395,0.0499466258006,0.999999993662,-8.13197260204e-06,-0.000104868925446,4.01668037469e-05,1793251860928430080
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724,694.944986495,674,643,898.944986495,788,827,657,633.944986495,657,0.438409354559,0.00444943032007,0.0499561145139,0.99999999707,-1.78221685665e-05,-6.39935140931e-05,3.80375184921e-05,1793251860945096960
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.52072373,747,724,695,674.52072373,643,899,787.47927627,827.52072373,657,634,657.52072373,0.439308903842,0.00445063691165,0.0499666788345,0.999999997764,-2.31326624477e-05,-4.87649091062e-05,3.94761544284e-05,1793251860961763584
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.900846964,747,724,695,674.900846964,643,899,787,828,657.099153036,634,658,0.440194057126,0.00445105146867,0.0499734937949,0.999999998059,-2.1639817352e-05,-4.14510241647e-05,4.11818772517e-05,1793251860978429952
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.309241057,747,724,695,674.309241057,643,899,787,828,657.690758943,634,658,0.441030888141,0.00444925904353,0.0499611224215,0.999999997241,1.13427401914e-05,-5.99796203943e-05,4.23406548375e-05,1793251860995096832
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747.275556374,724,694.724443626,674.275556374,643,899.275556374,787,828,657.724443626,634,658,0.441892907835,0.00444672347052,0.0499655983107,0.999999997844,1.62163861339e-05,-4.78164577919e-05,4.19939271754e-05,1793251861011763200
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747.852897244,724,694.147102756,674.852897244,643,899.852897244,787,828,657.147102756,634,658,0.442782513673,0.00444337401516,0.0499885250264,0.999999999151,-9.69435587065e-06,-2.04021929763e-06,3.99983965246e-05,1793251861028430080
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747.572427938,724.427572062,694,675,643,900.427572062,787,828,657,634,657.572427938,0.443584255229,0.00444184050207,0.0499906630613,0.999999998867,-2.68948239592e-05,-4.93076685496e-06,3.89736626813e-05,1793251861045096960
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,747,725,694.001374951,674.998625049,643.001374951,900.998625049,787.001374951,828,657,634,657.001374951,0.444355836518,0.00444092981287,0.0499856225583,0.999999998123,-4.10645091743e-05,-2.45276410886e-05,3.82829546509e-05,1793251861061763840
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,725,694.592141776,674.407858224,643.592141776,900.407858224,787.592141776,828,657,634,657.592141776,0.445076559598,0.00444084857481,0.0499502851621,0.999999996083,-3.26635720266e-05,-7.26990593901e-05,3.84927127023e-05,1793251861078430208
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.179263624,747,725,695,674.358527247,643.820736376,900.179263624,787.820736376,828,657,634,657.820736376,0.44581891013,0.00444112026312,0.0499314181136,0.999999994926,-2.30564329012e-05,-9.01917296136e-05,3.84971777562e-05,1793251861095096832
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.758257841,747,725,695,675.516515682,643.241742159,900.758257841,787.241742159,828,657,634,657.241742159,0.446609486729,0.00444217892348,0.0499492774266,0.999999998447,-1.07596454364e-05,-3.92754708513e-05,3.80438708186e-05,1793251861111763456
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.663926761,747.336073239,724.663926761,695,675.663926761,643,900.663926761,787,828,657,633.663926761,657.336073239,0.44734844886,0.00444384030367,0.0499535653962,0.999999998933,-5.46156496955e-06,-2.45477217799e-05,3.87387043119e-05,1793251861128430336
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.086956376,747.913043624,724.086956376,695,675.086956376,643,900.086956376,787,828,657,633.086956376,657.913043624,0.448050413716,0.0044459337131,0.049948125432,0.999999998537,-5.18015527906e-06,-3.57598832696e-05,4.0256524426e-05,1793251861145096960
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.485028047,747.514971953,724.485028047,695,675,643.485028047,900.485028047,787,828.485028047,657,633.485028047,658,0.448696671307,0.00444788078932,0.0499346985405,0.999999997433,-2.99290738844e-06,-5.81083970371e-05,4.18076944558e-05,1793251861161763584
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747.058315369,725,694.941684631,675,644,900.941684631,787.058315369,828.941684631,657,634,658,0.449332085079,0.00444948558545,0.0499231638357,0.99999999604,-7.24905425836e-07,-7.76878537236e-05,4.3399503634e-05,1793251861178430208
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747.651674822,725,694.348325178,675,644,900.348325178,787.651674822,828.348325178,657,634,658,0.449958707561,0.00444818821381,0.0499419940294,0.99999999753,-8.19010568271e-07,-5.37293227855e-05,4.53098783417e-05,1793251861195097088
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.761124367,748,725,694.238875633,675,644,900.238875633,787.761124367,828.238875633,657,634,658,0.450577801005,0.00444604524831,0.0499635714633,0.999999998487,-1.75519602809e-06,-2.78730952009e-05,4.74006253597e-05,1793251861211763712
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.182678342,748,725,694.817321658,675,644,900.817321658,787.182678342,828.817321658,657,634,658,0.451186191596,0.00444270024053,0.0499890541975,0.999999998755,-3.88842925203e-06,6.80775073078e-07,4.97477780112e-05,1793251861228430592
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,725,695,675,643.606069505,900.606069505,787.393930495,829,657,634,658,0.451728823728,0.00443869471561,0.0499875728639,0.999999998456,-7.73277414469e-06,-1.77285736837e-05,5.21012650541e-05,1793251861245096960
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,748,725,695,675,643.030308628,900.030308628,787.969691372,829,657,634,658,0.452241103134,0.00443438430898,0.0499736454617,0.999999996769,-1.23669339002e-05,-5.78151959877e-05,5.44576760715e-05,1793251861261763584
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,747.444486027,725,694.444486027,674.444486027,643,901.111027947,787.444486027,828.444486027,656.444486027,634,658,0.4527040513,0.00443144731821,0.0499520828626,0.999999994407,-2.07806830587e-05,-8.84521633665e-05,5.414108532e-05,1793251861278430464
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.140138359,725,694.140138359,674.140138359,643,901.859861641,787.140138359,828.140138359,656.140138359,634,658,0.453165810806,0.00442861698258,0.0499381723666,0.999999992421,-3.791692269e-05,-0.000105502337471,5.0892968406e-05,1793251861295097088
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,747.719258156,725,694.719258156,674.719258156,643,901.280741844,787.719258156,828.719258156,656.719258156,634,658,0.453632433554,0.00442588168538,0.0499495609523,0.999999992571,-8.17183682727e-05,-8.16368861088e-05,3.89271493233e-05,1793251861311763712
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,747.703379755,725,694.703379755,674.703379755,643,901,787.703379755,829,657,634,658,0.454083006909,0.00442090321016,0.0499623767717,0.999999991522,-0.00011336505461,-5.51835472987e-05,3.25452451104e-05,1793251861328430336
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,747.127671517,725,694.127671517,674.127671517,643,901,787.127671517,829,657,634,658,0.45451847947,0.00441381414398,0.0499765354649,0.99999999024,-0.000133575407143,-2.62952841037e-05,3.14172096056e-05,1793251861345096960
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747.449017916,725,694,674,643,901,787,829,657,634,658,0.45488699645,0.00441206531987,0.0499690967628,0.999999989936,-0.000132076095632,-4.00990524671e-05,3.28032502066e-05,1793251861361763584
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901,787,829,657,634,658,0.455232802774,0.00441224219293,0.0499544615657,0.99999998977,-0.000121208954984,-6.74940823601e-05,3.48175367097e-05,1793251861378429952
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901,787,829,657,634,658,0.455501620612,0.0044209838083,0.0499177304063,0.999999990642,-4.2886940796e-05,-0.000125120124124,3.49626434424e-05,1793251861395096576
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.200436767,748,725,694,674,643,901,787,829,657,634,658,0.455767284193,0.0044324633858,0.0498874512423,0.999999984477,1.2662763407e-05,-0.000172171806883,3.5237231523e-05,1793251861411763712
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.780259621,748,725,694,674,643,901,787,829,657,634,658,0.456026977376,0.00444912536851,0.0498693843996,0.999999979204,2.51091007506e-05,-0.000199208371119,3.57569019758e-05,1793251861428431360
+211,3.516666667,POSE1_TO_POSE2_PRESS,769.642752827,748,725,694,674,643,901.357247173,787,829,657,634,658,0.456278181496,0.00446220563526,0.0498637534361,0.999999977043,3.55625116805e-05,-0.000208286441612,3.55740658415e-05,1793251861445097728
+212,3.533333333,POSE1_TO_POSE2_PRESS,769.067495463,748,725,694,674,643,901.932504537,787,829,657,634,658,0.456524205187,0.00447310016041,0.0498657114697,0.999999977084,4.47997398941e-05,-0.000206405338713,3.4962524918e-05,1793251861461763840
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901.492842118,787,829,657,634,657.492842118,0.456757590549,0.00446588798066,0.0498760615559,0.999999981088,3.27450779164e-05,-0.000188159475368,3.67075213168e-05,1793251861478431232
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747.9156092,725,694,674,642.9156092,901.0843908,787,829,657,634,657.0843908,0.456980768139,0.00445784652179,0.0498859723063,0.999999984486,1.96957793389e-05,-0.000170778436682,3.840228713e-05,1793251861495098368
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,747.322336901,725,694,674,642.322336901,901.677663099,787,829,657,634,657.677663099,0.457152522742,0.00445931806708,0.0498865071075,0.999999984379,1.77154844367e-05,-0.000171729670873,3.79052545161e-05,1793251861511764736
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,747.263629008,725,694,674,642.263629008,901.736370992,787,829,657,634,658,0.457309525972,0.00445998534824,0.0498842705129,0.999999983703,1.51308460605e-05,-0.000175913500414,3.76868125148e-05,1793251861528431104
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,747.840902334,725,694,674,642.840902334,901.159097666,787,829,657,634,658,0.457448979211,0.00445969578138,0.0498787367372,0.999999982298,1.18272091696e-05,-0.000183943208493,3.77998149569e-05,1793251861545097472
+218,3.633333333,POSE1_TO_POSE2_PRESS,768.584313341,748,725,694,673.584313341,642.584313341,901.415686659,787,829,657,634,658,0.457567758811,0.00445888216919,0.0498723039386,0.999999980646,9.99719018088e-06,-0.000192775302304,3.80281030245e-05,1793251861561764096
+219,3.650000000,POSE1_TO_POSE2_PRESS,768.010475986,748,725,694,673.010475986,642.010475986,901.989524014,787,829,657,634,658,0.457678672988,0.00445786918054,0.049865529101,0.999999978844,8.72781879584e-06,-0.0002019126688,3.83002522544e-05,1793251861578430464
+220,3.666666667,POSE1_TO_POSE2_PRESS,768.580126956,748,725,693.419873044,673.580126956,642,901.419873044,787,829,657,634,658,0.457770176801,0.00445897899047,0.0498621659556,0.999999977818,1.01281108173e-05,-0.000206918540585,3.80264593909e-05,1793251861595097088
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,693,674,642,901,787,829,657,634,657.832419863,0.457856118967,0.00445930230144,0.0498593109209,0.999999977082,1.01146166917e-05,-0.000210489007837,3.77829774537e-05,1793251861611763968
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,725,693,674,642,901,787,829,657,634,657.253464121,0.45792929444,0.00445759801317,0.0498575474585,0.999999977068,6.50869571443e-06,-0.000210724439684,3.76388240862e-05,1793251861628431104
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,693.323861091,673.676138909,642,901.323861091,787,829,657.323861091,634,657.323861091,0.457992881504,0.00445545750693,0.0498576799018,0.999999977427,4.51842288974e-06,-0.000208959995902,3.82141939911e-05,1793251861645097984
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,693.899916651,673.100083349,642,901.899916651,787,829,657.899916651,634,657.899916651,0.458049001968,0.00445297731239,0.0498592887092,0.999999978075,3.78627404287e-06,-0.000205638225292,3.93498651793e-05,1793251861661764608
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747.052322618,725,694,673,642.052322618,901.052322618,787,829,657,634,658,0.458126413564,0.00445662765537,0.0498582648077,0.999999977656,6.06829265783e-06,-0.00020795264874,3.75214559707e-05,1793251861695097344
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,747.642268364,725,694,673,642.642268364,901.642268364,787,829,657,634,658,0.458151357689,0.00445768539152,0.0498586390216,0.999999977504,6.93010975373e-06,-0.000208671209968,3.7415887365e-05,1793251861711763968
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+233,3.883333333,POSE1_TO_POSE2_PRESS,770,748,725,694,673,642,901,787,828,657,634,657.870528225,0.458223750626,0.00446504242245,0.0498608778357,0.999999978105,2.09678835352e-05,-0.000204997432604,3.64183433966e-05,1793251861811763712
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+236,3.933333333,POSE1_TO_POSE2_PRESS,769.135045602,748,725,694,673,642,901,787,828.864954398,656.135045602,633.135045602,657.864954398,0.458225671345,0.00446650914698,0.0498568365404,0.999999977127,1.97570561195e-05,-0.000209904623933,3.59953265962e-05,1793251861861764352
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,693,673,642,902,787.988722561,828.011277439,657,634,658,0.458226631851,0.00446772448037,0.0498568405811,0.999999976957,2.02130521891e-05,-0.000210621822461,3.6273435225e-05,1793251861895097344
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,748,725,693,673,642,902,787.397544685,828.602455315,657,634,658,0.458228107125,0.00446611766467,0.0498580677714,0.99999997716,2.10037206295e-05,-0.000209512192336,3.66626614942e-05,1793251861911764224
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,747.81044529,725,693,673,642,902,787,829,657,634,658,0.458229203676,0.00446579693733,0.0498583870297,0.999999977208,2.16582906068e-05,-0.000209202585425,3.6725714449e-05,1793251861928431104
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747.231719385,725,693,673,642,902,787,829,657,634,658,0.458229522675,0.0044681166538,0.0498568422301,0.999999976942,2.20334393523e-05,-0.000210535491138,3.61191071086e-05,1793251861945097984
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747.345501682,725,693,673.345501682,642,901.654498318,787,829,657,634,658,0.458229420712,0.00446873713337,0.0498564190014,0.999999976866,2.34921064091e-05,-0.000210762495035,3.5982811293e-05,1793251861961764608
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747.921717844,725,693,673.921717844,642,901.078282156,787,829,657,634,658,0.458229037644,0.00446822291922,0.0498567447204,0.999999976914,2.56743107808e-05,-0.000210251014594,3.6160573826e-05,1793251861978430720
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.50701782,748,725,693.50701782,673.49298218,642,901.50701782,787,829,657,634,657.49298218,0.458228803716,0.00446723818517,0.049856630933,0.9999999768,2.24335733624e-05,-0.000211112396284,3.64330212632e-05,1793251861995097088
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.907484484,748,725,694,673,642,902,787.092515516,829,657,634,657,0.458228508204,0.00446663893408,0.0498563067578,0.999999976618,1.9667289159e-05,-0.000212220944826,3.66039206203e-05,1793251862011763712
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+247,4.116666667,HOLD_POSE2,770,748,725,694,673,642,902,787,829,657,634,658,0.458230374715,0.00446976693397,0.0498570797381,0.999999976823,2.51389506987e-05,-0.00021078901728,3.59208626122e-05,1793251862066790144
+248,4.133333333,HOLD_POSE2,769.424186727,747.424186727,725,694,673,642,902,787,829,657,634,658,0.458229508017,0.00446832544756,0.0498562839518,0.999999976541,2.5814477103e-05,-0.000211991672568,3.61971540103e-05,1793251862083456768
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+251,4.183333333,HOLD_POSE2,769.670868415,748,725,694,673.329131585,642,902,787,829,657,634,658,0.458231163888,0.00446984195315,0.049856179365,0.999999976668,2.56253210737e-05,-0.000211432241219,3.60990696254e-05,1793251862133455872
+252,4.200000000,HOLD_POSE2,769.08870401,748,725,694,673.91129599,642,902,787,829,657,634,658,0.458231789435,0.00446820364182,0.0498564803351,0.999999976766,2.49794219849e-05,-0.000210991513044,3.64093215846e-05,1793251862150122240
+253,4.216666667,HOLD_POSE2,769.485935631,748,725,694,674,641.514064369,902,787,828.514064369,657,633.514064369,658,0.458231510351,0.00446837512502,0.0498557337008,0.999999976629,2.52778588092e-05,-0.000211612672033,3.63613486971e-05,1793251862166789120
+254,4.233333333,HOLD_POSE2,769.94046064,748,725,694,673.94046064,641.05953936,902,787,828.05953936,657,633.05953936,657.94046064,0.458231017502,0.00446883646065,0.0498548163259,0.999999976423,2.57411608493e-05,-0.000212550825279,3.62559603673e-05,1793251862183456000
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+256,4.266666667,HOLD_POSE2,769,748,725,693.782222649,673,642,901.782222649,787,829,657,634,657,0.458230147338,0.00446946964922,0.0498542839661,0.999999975964,2.63944637371e-05,-0.000214644846814,3.61045586726e-05,1793251862216789760
+257,4.283333333,HOLD_POSE2,769,748,725,693.190847846,673,642,901.190847846,787,829,657,634,657,0.458231935566,0.00447050932023,0.0498562272337,0.999999976681,2.63036097258e-05,-0.000211323747916,3.58919866983e-05,1793251862233456640
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+260,4.333333333,HOLD_POSE2,769.084752476,747.542376238,725,694,673,642,901,787,829,657,634,658,0.458229882828,0.00447001618808,0.0498543860771,0.999999975864,2.71890985248e-05,-0.000215053196715,3.5846250849e-05,1793251862283456512
+261,4.350000000,HOLD_POSE2,769.877418445,748,725,694,673,642,901.122581555,787,828.877418445,657,634,658,0.458230161182,0.00446853663344,0.0498541074781,0.999999975923,2.49215336223e-05,-0.0002150165342,3.60693310162e-05,1793251862300122880
+262,4.366666667,HOLD_POSE2,769.291925039,748,725,694,673,642,901.708074961,787,828.291925039,657,634,658,0.4582302334,0.00446958357569,0.0498542375326,0.99999997593,2.63833054616e-05,-0.00021487577342,3.56627984928e-05,1793251862316789504
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,747,725,694,674,642,901,787,829,657,634,658,0.458228493264,0.00446988338783,0.0498527450131,0.999999975411,2.6694780526e-05,-0.000217201653208,3.58948043056e-05,1793251862354724096
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.658676265,748,725,694,673.658676265,642,901.658676265,787,829,657,634,657.658676265,0.458231517464,0.00447213468477,0.0498545725686,0.999999975952,3.12216801618e-05,-0.000214124921398,3.5666727822e-05,1793251862421391616
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.069091032,748,725,694,673.069091032,642,901.069091032,787,829,657,634,657.069091032,0.458231975636,0.00447218510702,0.0498545364422,0.999999975968,3.00638751765e-05,-0.000214152085324,3.60410934963e-05,1793251862438057472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,673.513564356,642,901,787,829,657,634,657,0.458232689758,0.00447276695809,0.0498556103198,0.999999976261,2.97179128406e-05,-0.000212899821564,3.5609918524e-05,1793251862454723840
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,673.330365611,642,901.669634389,787,829,657,634,657,0.458230902217,0.00447199700318,0.049854550969,0.999999976014,2.99119298237e-05,-0.000214069128274,3.53710740527e-05,1793251862488056832
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747.106615157,725,694,673,642,901,787,828.893384843,657,634,658,0.457851725973,0.00447843285577,0.049738001062,0.999999923808,3.92780938261e-05,-0.000387119879152,3.12898086787e-05,1793251862638057216
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.475335997,747.475335997,725,694.475335997,673,642,901.475335997,787,829,657,634,658,0.457758525532,0.00447937322343,0.0497327827391,0.99999992051,4.05053470707e-05,-0.000395456851806,3.08804631669e-05,1793251862654723584
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.945443025,747.945443025,725,694.945443025,673,642,901.945443025,787,829,657,634,657.945443025,0.457661126886,0.0044799595422,0.0497299128641,0.999999918486,4.10106630317e-05,-0.000400516170552,3.05427304829e-05,1793251862671390464
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.368944133,747.368944133,725,694.368944133,673,642,901.368944133,787,829,657,634,657.368944133,0.457542533833,0.00448020838291,0.0497306980499,0.999999917193,4.25983882018e-05,-0.000403570757188,3.04921946231e-05,1793251862688057600
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.20653834,747,724.79346166,694,673.20653834,642,901.20653834,787,829,657,634,657.20653834,0.457413962325,0.00448129971887,0.0497320525625,0.99999991675,4.52111983298e-05,-0.000404409409531,3.01511974235e-05,1793251862704724480
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747.366736462,724.366736462,694,674,642,901.633263538,787,829,657,634,658,0.457107112326,0.00448578410185,0.0497371246523,0.99999991866,5.38362864477e-05,-0.000398710844239,2.85006778007e-05,1793251862738056960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747.961237622,724.961237622,694,674,642,901.038762378,787,829,657,634,658,0.456937732277,0.00448724885636,0.0497400407624,0.999999919364,5.78743266217e-05,-0.000396424453286,2.77472868979e-05,1793251862754723584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,748,725,694,674,642,901,787,828.46028861,657,634,657.46028861,0.456728068718,0.00449185059233,0.0497386732238,0.999999915571,6.50908468283e-05,-0.000404821540515,2.72099887643e-05,1793251862771389952
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.311400103,748,725,693.311400103,674,642,901,787,828,657,634,657.688599897,0.456267516284,0.00449727468321,0.049736418856,0.999999912756,7.42684600331e-05,-0.000410260551876,2.56631412087e-05,1793251862804724224
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.730444713,747.730444713,725,693.269555287,674.269555287,642,901,787,828,657,634,657.730444713,0.456005303725,0.0044994441742,0.0497351318127,0.999999911984,7.97797004036e-05,-0.000411166527487,2.46645990197e-05,1793251862821391104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.139422739,747.139422739,725,693.860577261,674.860577261,642,901,787,828,657,634,657.139422739,0.45571907745,0.00450263335849,0.0497332279446,0.999999909686,8.86434369008e-05,-0.000414986811541,2.35961533177e-05,1793251862838057984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.44158275,747,725,693.55841725,674.55841725,642,901,787,828,657,634,657.44158275,0.455412567097,0.00450753364181,0.0497349098072,0.999999912298,9.72199546171e-05,-0.000406785640447,2.1867485656e-05,1793251862854724352
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747,724.401459981,693.598540019,674.598540019,642,900.401459981,787,828,657,634,657.401459981,0.45474264289,0.00451714715442,0.0497406583603,0.999999915796,0.000112236651941,-0.000394302009865,1.83309467354e-05,1793251862888057088
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.179272048,724.179272048,694,674.820727952,642.179272048,900,787,828.179272048,657,634,657,0.454381208178,0.00452124032866,0.0497505477,0.9999999203,0.000118529647426,-0.000380872188557,1.69524949905e-05,1793251862904723712
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747.763903911,724.763903911,694,674.236096089,642.763903911,900,787,828.763903911,657,634,657,0.454006813912,0.00452503419704,0.0497761186319,0.999999934635,0.000124144779751,-0.000339203759389,1.61083683265e-05,1793251862921390336
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,747.654606789,725,693.654606789,674.345393211,643,900,787,828.654606789,657,633.654606789,657.345393211,0.453599229635,0.00452973982071,0.0498004677135,0.999999945049,0.000131906275309,-0.000303779057193,1.48454020619e-05,1793251862938057216
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,747.075246184,725,693.075246184,674.924753816,643,900,787,828.075246184,657,633.075246184,657.924753816,0.453169162595,0.00453506306262,0.0498239891232,0.999999952803,0.000141121705665,-0.000272583815924,1.32987161517e-05,1793251862954724096
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.080975082,747.080975082,724,693,675,642,900,787,828,657,634,657,0.452158440988,0.00454989815597,0.0498228805656,0.999999944438,0.000159999212468,-0.000292311786489,8.84831391193e-06,1793251862988057856
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.656130171,747.656130171,724,693,675,642,900,787,828,657,634,657,0.451585550402,0.00455775542676,0.0497916351943,0.999999928466,0.000170536213893,-0.000337565591793,5.86715827605e-06,1793251863004724224
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.17632454,747.17632454,724.82367546,693,674.17632454,642,900,787,828,657,634,657,0.450437353459,0.00457094469601,0.049763424459,0.999999919041,0.000189447826472,-0.000354996311749,-2.19061144463e-06,1793251863038056960
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.984654132,747,725,693,675.969308265,642,899.015345868,787,828,657,634,657.984654132,0.449276923102,0.00458613860253,0.0498098609731,0.999999941816,0.000214405075479,-0.000265187768838,-8.57776117397e-06,1793251863071390464
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,769,748,724,693,674.285733803,642.285733803,898.285733803,787,827.285733803,656.285733803,633,657,0.447224172806,0.00460553543269,0.0497855667551,0.999999924735,0.000241987919433,-0.000302648281458,-1.93623243801e-05,1793251863121391616
+310,5.166666667,POSE2_TO_POSE3_RETREAT,769,747.703583912,724,693,674,642.296416088,898,787.296416088,827.296416088,656.296416088,633.296416088,657,0.446468865515,0.00461358002778,0.0497557595977,0.999999908131,0.000246593820052,-0.000349814448143,-2.36680671636e-05,1793251863138058240
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,769,747,724,693,674.466321983,642.533678017,898,788,827.067356035,657,633.533678017,657,0.44493543817,0.00462126493644,0.0497458191106,0.99999991842,0.000145071539787,-0.000375740121853,-3.05699314921e-05,1793251863171390464
+313,5.216666667,POSE2_TO_POSE3_RETREAT,769,747,724,693,675,642,898,788,826.045602782,657,633,656.954397218,0.444178350597,0.00461821114572,0.0497729241304,0.999999939596,3.19895947419e-05,-0.000344535202423,-3.28519192068e-05,1793251863188057088
+314,5.233333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,675,642,898,788,826.62210827,657,633,656.37789173,0.443347929341,0.00458966487949,0.0497643395956,0.999999931854,1.1553543653e-05,-0.000367453965856,-3.37152663262e-05,1793251863204723712
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.802637966,747,724,693,674.605275933,642,898,788,827,657,633,656,0.442529609157,0.00456716983535,0.0497605810873,0.999999928775,-2.17151440666e-06,-0.000375787183032,-3.50737702529e-05,1793251863221390336
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.229765826,747,724,693,673.459531652,642,898,788,827,657,633,656,0.44173431308,0.00455618812712,0.0497660047999,0.999999935797,-3.12792640196e-06,-0.000356369266341,-3.73743823459e-05,1793251863238057216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.354439477,747.354439477,724,693,673.708878955,642.354439477,897.645560523,788,826.645560523,657,633,656.354439477,0.440915830508,0.00455995664705,0.0497921193772,0.999999951696,1.05474288373e-05,-0.000307914853589,-4.1053329426e-05,1793251863254723840
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.895628107,747,724,692.895628107,675,642.104371893,895.895628107,788,825.895628107,657,633,656,0.438256570155,0.00458564082473,0.0497955993636,0.999999950188,4.5347408936e-05,-0.000307863084654,-5.27980364594e-05,1793251863304723968
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.254708589,747,724,692,675,643,894.490582823,788.254708589,825,657,633,656,0.436399592871,0.00458474149905,0.0497791823525,0.999999935866,4.22600461723e-05,-0.000352881605643,-4.42351327934e-05,1793251863338057216
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,674.585190623,642,893.585190623,788.585190623,823.414809377,657,632.414809377,656,0.43265226319,0.0045818704479,0.0497824195505,0.999999930818,0.000131220475133,-0.00034716665697,-2.48922788702e-05,1793251863404724480
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,769.642477961,747,724,692.642477961,675,642,892.642477961,789,821.357522039,657,632.642477961,656.642477961,0.425944533437,0.00459144349751,0.049763536392,0.999999921999,0.000106270626865,-0.000378758462115,-3.53580481192e-05,1793251863521390336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769.782133736,747,724,693,675.217866264,642,892.782133736,789.217866264,820.782133736,657,633,656.782133736,0.425028955224,0.00459094861419,0.049773012984,0.999999931646,0.000112879159548,-0.000350159592467,-3.68080498888e-05,1793251863538057472
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769.204428588,747,724,693,675.795571412,642,892.204428588,789.795571412,820.204428588,657,633,656.204428588,0.424153606338,0.00458604778874,0.0498145235595,0.999999954726,0.000114945642429,-0.000275643248765,-3.68202697446e-05,1793251863554724352
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769.383045434,747,724,692.616954566,676,642,892,789.616954566,820,657,633,656.383045434,0.42325398986,0.00458514760085,0.0498302655166,0.999999961992,0.000116571614165,-0.000247098116513,-3.70158130217e-05,1793251863571391232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769.975869442,747,724,692.024130558,676,642,892,789.024130558,820,657,633,656.975869442,0.422341083049,0.00458643840148,0.0498318950357,0.999999962645,0.000117956335784,-0.000243729572171,-3.7311755236e-05,1793251863588057600
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.448596572,642,892,789.551403428,820.551403428,657,633,656.448596572,0.421383478793,0.00458928500387,0.0498063245958,0.999999949369,0.000123483331822,-0.000290861865798,-3.75861505786e-05,1793251863604724224
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.126363269,642.126363269,891.873636731,789.873636731,820.873636731,657,633,656,0.420441529427,0.00459245138116,0.0497889175655,0.999999937597,0.000126950262828,-0.000327528590003,-3.76050687844e-05,1793251863621390592
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.701890022,642.701890022,891.298109978,789.298109978,820.298109978,657,633,656,0.419561967553,0.004596519758,0.0498046301431,0.999999940825,0.000122469850149,-0.000319378234657,-3.67191329765e-05,1793251863638056960
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769.716480532,747,724,692.283519468,675.716480532,643,891,789,820,657,633,656.283519468,0.418683326617,0.00459954859838,0.0497987240702,0.99999993388,0.000122417839018,-0.000340506072372,-3.61802937507e-05,1793251863654723840
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.128293215,747,724,692.871706785,675.128293215,643,891,789,820,657,633,656.871706785,0.41780567537,0.00460146036056,0.04976958676,0.999999914009,0.000127124554313,-0.00039309603193,-3.60144418381e-05,1793251863671390464
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.545976143,675,642.545976143,891,789,820,657,633,657,0.416988884316,0.00459751603593,0.049774473494,0.999999921431,0.000123114450426,-0.000374905191993,-3.77747463356e-05,1793251863688057088
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.034383981,747,724,692.034383981,675.034383981,642,891,789,820,657,633,657,0.416189384712,0.00459215533909,0.0497890344912,0.9999999356,0.000116570768196,-0.000337066607396,-3.99564339565e-05,1793251863704724480
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.609718891,747,724,692.609718891,675.609718891,642,891,789,820,657,633,657,0.415394821996,0.00459021266794,0.0498064718771,0.999999948081,0.000108423741442,-0.000300761142914,-4.03140401601e-05,1793251863721391104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.815372453,747,724,692.815372453,675.815372453,642,891,789,820,657,633,657,0.41459782199,0.00458892623765,0.0498103618129,0.999999951145,0.00010289147099,-0.00029239186463,-4.03889362099e-05,1793251863738057728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769.241362662,747,724,692.241362662,675.241362662,642,891,789,820,657,633,657,0.413795681557,0.0045890238287,0.0497856799782,0.99999993511,0.000102873759025,-0.0003429404119,-3.98675924388e-05,1793251863754724096
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769.342258984,747,724,692,675,642.342258984,890.657741016,789,820,657,633,657,0.413044270248,0.00459150799578,0.0497732673445,0.999999926719,0.000111255952703,-0.000364098492226,-4.02043606363e-05,1793251863771390720
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.932854783,747,724,692,675,642.932854783,890.067145217,789,820,657,633,657,0.412329667104,0.00459572381845,0.0497697570185,0.999999925025,0.000125732963294,-0.000363931388522,-4.11637591476e-05,1793251863788057088
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,643,890,789,820,657,633,656.487253914,0.411645576637,0.00459742165644,0.0497959106574,0.999999936543,0.000130923304229,-0.000328927240751,-3.97520357431e-05,1793251863804723712
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,674.909199812,642.909199812,889.909199812,789,820,657,632.909199812,656.090800188,0.410962021207,0.00459855218581,0.0498180324883,0.999999945109,0.000131481098044,-0.000301695804544,-3.83918933131e-05,1793251863821390336
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,674.33362347,642.33362347,889.33362347,789,820,657,632.33362347,656.66637653,0.410260425792,0.00459837832784,0.0497983134714,0.999999935043,0.000113665984873,-0.000339820424398,-3.89309955561e-05,1793251863838056960
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,674.479713017,642,889,789,819.760143491,657,632.239856509,656.760143491,0.409605042345,0.00459540204789,0.0497856545952,0.999999929171,0.000102932864516,-0.000359855897329,-3.95896355285e-05,1793251863854723328
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.62089162,642,889,789,819.18955419,657,632.81044581,656.18955419,0.409013379608,0.00458856157074,0.0497827307911,0.999999930991,0.000101964947862,-0.000354948646333,-4.04131034411e-05,1793251863871390208
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.601437121,642.398562879,889,789,819,657,633,656.398562879,0.408458633216,0.00458310976536,0.0497985590312,0.999999939796,0.000101845487261,-0.000329330233697,-3.97081017138e-05,1793251863888057088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.004600429,642.995399571,889,789,819,657,633,656.995399571,0.407922251614,0.00457834878447,0.049823715885,0.999999951007,0.000102148109466,-0.000293408600408,-3.82427294011e-05,1793251863904723456
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.42672075,675,642.42672075,889,789,819.57327925,657,633,657,0.40738462008,0.00458181493842,0.0498226428581,0.999999949427,9.9881647545e-05,-0.000299491988808,-3.8396725462e-05,1793251863921390336
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642.150777306,889,788.849222694,820,657,633,657,0.406846452766,0.00458445549277,0.0498151853436,0.999999944397,9.74621200904e-05,-0.000316570006921,-3.8599858043e-05,1793251863938057216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642.727613235,889,788.272386765,820,657,633,657,0.406306798783,0.00458458252525,0.0497902626262,0.999999928589,9.46664590871e-05,-0.000363794060627,-3.8906292704e-05,1793251863954723840
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.309671355,674.690328645,642.690328645,889,788,820,657,633,656.690328645,0.405817426568,0.00458786785393,0.0497755874585,0.999999918759,9.66113572687e-05,-0.000389313304782,-3.97850681255e-05,1793251863971390720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.89640167,674.10359833,642.10359833,889,788,820,657,633,656.10359833,0.405373040832,0.0045939788694,0.0497700806425,0.999999915693,0.000102797572776,-0.000395413534093,-4.1175909464e-05,1793251863988057344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747.476051513,724,691.523948487,674,642,888.523948487,788,820,657,633,656,0.404985618462,0.00459724190807,0.0497814951766,0.999999923308,0.000109686127504,-0.00037363051869,-4.18617498067e-05,1793251864004724224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747.945868864,723.945868864,691,674.054131136,642,888.054131136,788,820,657,633,656.054131136,0.40461416509,0.00459954369248,0.0497977237433,0.99999993282,0.000116189622147,-0.00034507014001,-4.22656927824e-05,1793251864021390848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747.368291559,723.368291559,691,674.631708441,642,888.631708441,788,820,657,633,656.631708441,0.404279015677,0.00459845556858,0.0498254167854,0.999999944563,0.000117513273979,-0.000308789846689,-4.14055443505e-05,1793251864038057728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747.208397841,723.208397841,691,675,642,888.791602159,788.208397841,820,657,633,657,0.403949447562,0.00459798530328,0.0498468041845,0.999999952678,0.000119324578488,-0.000280584584619,-4.09522377816e-05,1793251864054724352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747.783524687,723.783524687,691,675,642,888.216475313,788.783524687,820,657,633,657,0.403629701198,0.00459860231741,0.0498570951981,0.999999956174,0.000121994031979,-0.000266589398191,-4.12148731094e-05,1793251864071390720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747.632066558,724,691,675,642.367933442,888,788.632066558,820,657.367933442,633,657,0.403328428698,0.00459945019605,0.0498558546597,0.999999954394,0.000123554927138,-0.000272382467465,-4.18825302451e-05,1793251864088057088
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747.04205536,724,691,675,642.95794464,888,788.04205536,820,657.95794464,633,657,0.403038306648,0.00460043742025,0.0498476538927,0.999999949256,0.000124446717418,-0.000290119357028,-4.27946510001e-05,1793251864104723968
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,674.462530133,642.462530133,888,788,819.462530133,657.462530133,633,656.462530133,0.402772885325,0.00460065749844,0.0498329381831,0.999999941458,0.000126447927449,-0.000314956106496,-4.35691012176e-05,1793251864121391104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770.11544862,747,724,691,674,642,888,788,819,657,633,656.11544862,0.402518516845,0.00459991900136,0.0498192155032,0.999999932895,0.000136487885638,-0.00033737702816,-4.19152980754e-05,1793251864138057984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770.690475061,747,724,691,674,642,888,788,819,657,633,656.690475061,0.40230060076,0.00459559899024,0.0498114363458,0.999999923099,0.000178189535198,-0.00034801184979,-3.06371668875e-05,1793251864154724608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770.728740482,747.271259518,724,691,674.271259518,642,887.728740482,788,819.271259518,657,633,657,0.402107497276,0.00458618928053,0.0498096316121,0.999999925681,0.000164773720044,-0.000347658334843,-2.49197402784e-05,1793251864171390976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770.141243295,747.858756705,724,691,674.858756705,642,887.141243295,788,819.858756705,657,633,657,0.401943320639,0.0045708459381,0.0498147919352,0.999999939934,8.71012861261e-05,-0.00033449448086,-2.56850518212e-05,1793251864188057344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747.557943153,724,691,674.557943153,642,887.442056847,788.442056847,820,657,633,656.557943153,0.401801580409,0.00456711897864,0.0498195155753,0.999999945193,6.98246421408e-05,-0.000322526184743,-2.6737278398e-05,1793251864204723968
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,674.023799487,642.023799487,888,788.976200513,819.976200513,657,633,656.023799487,0.401668175286,0.00456722007835,0.0498242087592,0.999999948704,7.17498060904e-05,-0.000310910338596,-2.7900650569e-05,1793251864221390592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,674.600222633,642.600222633,888,788.399777367,819.399777367,657,633,656.600222633,0.4015634186,0.00457083602068,0.049831404075,0.999999952092,7.56720620847e-05,-0.000298691813212,-2.9536188183e-05,1793251864238057216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770.17543013,747.17543013,724,691,674.82456987,642.82456987,888,788.17543013,819.17543013,657,633,656.82456987,0.401463989471,0.00457283579174,0.0498365858816,0.999999954637,7.77263793445e-05,-0.000289370292044,-3.08181914259e-05,1793251864254723584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770.74788634,747.74788634,724,691,674.25211366,642.25211366,888,788.74788634,819.74788634,657,633,656.25211366,0.401376617459,0.00457117791154,0.0498372107977,0.999999955585,7.55532558209e-05,-0.000286605150561,-3.1300090357e-05,1793251864271390208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770.668061774,747.668061774,724,691,674.331938226,642.331938226,888,788.668061774,820,657,633,656.331938226,0.401298919701,0.00457137833979,0.049837867442,0.999999955983,7.66892765547e-05,-0.000284834931901,-3.19580682225e-05,1793251864288056832
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770.074883879,747.074883879,724,691,674.925116121,642.925116121,888,788.074883879,820,657,633,656.925116121,0.401228835695,0.0045730412806,0.049838549057,0.999999955944,8.04296362914e-05,-0.000283847730045,-3.27546225329e-05,1793251864304723712
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747.505294307,724,691,675,642.494705693,887.494705693,788.505294307,820,657,633,657,0.401179412899,0.00457176273365,0.0498393871729,0.99999995689,8.10397791558e-05,-0.000280333070539,-3.26427817442e-05,1793251864321390080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747.917131886,724,691,675,642,887.082868114,788.917131886,820,657,633,656.917131886,0.401135068584,0.00457043376817,0.0498405111199,0.999999958029,8.10771521452e-05,-0.00027624752713,-3.25048238292e-05,1793251864338056704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747.34385523,724,691,675,642,887.65614477,788.34385523,820,657,633,656.34385523,0.401103112388,0.00457132149618,0.0498431927855,0.999999959518,8.04013450434e-05,-0.000270944584196,-3.29890137181e-05,1793251864354723328
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770.236129201,747.236129201,724,691,675,642,888,788,820,657,633,656.236129201,0.401073971778,0.00457205713098,0.0498453866531,0.999999960458,8.05270867385e-05,-0.000267385213761,-3.32226149375e-05,1793251864371389952
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770.826167163,747.826167163,724,691,675,642,888,788,820,657,633,656.826167163,0.401049051148,0.00457256480953,0.0498468494122,0.999999960608,8.1854184089e-05,-0.000266439097664,-3.30806356208e-05,1793251864388056576
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770.591930566,748,723.591930566,691,675,642,887.591930566,788,819.591930566,657,633,657,0.401033239416,0.00457171837171,0.0498477001125,0.999999961439,8.0667966694e-05,-0.000263664486166,-3.31162508238e-05,1793251864404723456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770.013426274,748,723.013426274,691,675,642,887.013426274,788,819.013426274,657,633,657,0.401021232119,0.00457030637173,0.0498482951793,0.999999962539,7.8432034663e-05,-0.000260126182705,-3.32260404089e-05,1793251864421390080
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,748,723.562095863,691,674.437904137,642.562095863,887,788.562095863,819,657,633,657,0.401012318553,0.00456998894698,0.049848065249,0.999999962608,7.79399378593e-05,-0.000260033218541,-3.30508992335e-05,1793251864438056448
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20f0c20634fb0867384d4426e5d515f2411b1750
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.596195798936,0.0100051196689,1.04002099598,0.566767143176,0.0186775309508,1.03963237387
+348,5.800000000,pose2_to_pose3_retreat,0.595583635612,0.010005058878,1.04002113596,0.566154980829,0.0186774731599,1.03963250678
+349,5.816666667,pose2_to_pose3_retreat,0.59498992402,0.0100050220473,1.040021138,0.565561269059,0.0186774359777,1.03963251451
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+352,5.866666667,pose2_to_pose3_retreat,0.593309790523,0.0100052040353,1.04002095009,0.563881133441,0.0186776108006,1.03963232729
+353,5.883333333,pose2_to_pose3_retreat,0.592789624367,0.0100051802642,1.04002111341,0.563360968118,0.0186775899985,1.03963249373
+354,5.900000000,pose2_to_pose3_retreat,0.592293490147,0.0100051840974,1.04002101045,0.56286483348,0.0186775924519,1.03963239167
+355,5.916666667,pose2_to_pose3_retreat,0.591824136714,0.0100050948789,1.04002081659,0.562395480808,0.0186775058245,1.03963219797
+356,5.933333333,pose2_to_pose3_retreat,0.591374097445,0.0100051117623,1.04002087129,0.561945442205,0.0186775245868,1.03963224416
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+358,5.966666667,pose2_to_pose3_retreat,0.590501835906,0.0100052630509,1.04002113979,0.561073179546,0.0186776721988,1.03963251549
+359,5.983333333,pose2_to_pose3_retreat,0.590086058558,0.0100052177854,1.04002095872,0.560657401514,0.0186776243191,1.03963232791
+360,6.000000000,pose2_to_pose3_retreat,0.589694944358,0.0100050220801,1.04002100843,0.560266290707,0.0186774403128,1.0396323817
+361,6.016666667,pose2_to_pose3_retreat,0.589331131783,0.0100050741417,1.04002092391,0.559902475503,0.0186774831805,1.03963229108
+362,6.033333333,pose2_to_pose3_retreat,0.5890005855,0.0100050332458,1.04002089092,0.559571930113,0.0186774457415,1.0396322677
+363,6.050000000,pose2_to_pose3_retreat,0.588696318971,0.0100050094767,1.04002082072,0.559267664116,0.0186774237477,1.03963219682
+364,6.066666667,pose2_to_pose3_retreat,0.588412497345,0.0100050720668,1.04002086359,0.55898384221,0.0186774851409,1.03963223421
+365,6.083333333,pose2_to_pose3_retreat,0.588142758101,0.0100052088042,1.04002101734,0.558714101497,0.0186776167165,1.03963238396
+366,6.100000000,pose2_to_pose3_retreat,0.587886276605,0.0100053016746,1.04002115677,0.558457618454,0.0186777044091,1.03963252503
+367,6.116666667,pose2_to_pose3_retreat,0.587641261956,0.0100050792037,1.0400210289,0.558212606823,0.0186774923541,1.03963240114
+368,6.133333333,pose2_to_pose3_retreat,0.587408489033,0.0100050778727,1.04002078061,0.55797983312,0.018677488775,1.03963216183
+369,6.150000000,pose2_to_pose3_retreat,0.587192757964,0.0100051361238,1.0400208969,0.557764101759,0.0186775457142,1.03963227094
+370,6.166666667,pose2_to_pose3_retreat,0.586994461592,0.010005203603,1.04002091611,0.557565805599,0.0186776137764,1.03963228707
+371,6.183333333,pose2_to_pose3_retreat,0.58681687889,0.0100051060539,1.04002114386,0.557388223374,0.0186775180731,1.03963251989
+372,6.200000000,pose2_to_pose3_retreat,0.586659484472,0.0100050568924,1.04002099577,0.557230829165,0.0186774695882,1.03963237106
+373,6.216666667,pose2_to_pose3_retreat,0.586521747794,0.0100050129913,1.04002089037,0.557093093197,0.0186774280804,1.03963226539
+374,6.233333333,pose2_to_pose3_retreat,0.58640254608,0.010005019423,1.04002101872,0.55697389216,0.0186774368296,1.0396323942
+375,6.250000000,pose2_to_pose3_retreat,0.586298805935,0.0100051903666,1.04002103672,0.556870151358,0.0186776052788,1.03963240632
+376,6.266666667,pose2_to_pose3_retreat,0.586207390699,0.0100051927328,1.04002092799,0.556778734926,0.0186776036828,1.03963230034
+377,6.283333333,pose2_to_pose3_retreat,0.58612652974,0.0100051863019,1.04002082187,0.556697873812,0.0186775967816,1.0396321954
+378,6.300000000,pose2_to_pose3_retreat,0.586055974319,0.0100051638061,1.04002093177,0.556627317453,0.0186775711746,1.03963230684
+379,6.316666667,pose2_to_pose3_retreat,0.585994490227,0.010005105577,1.04002096862,0.556565834106,0.0186775155213,1.0396323447
+380,6.333333333,pose2_to_pose3_retreat,0.585942066532,0.0100051111529,1.04002098863,0.556513411145,0.0186775234968,1.03963236259
+381,6.350000000,pose2_to_pose3_retreat,0.585898678883,0.0100052645131,1.04002116861,0.556470021378,0.0186776695427,1.03963253971
+382,6.366666667,pose2_to_pose3_retreat,0.585862997277,0.0100053620635,1.0400210925,0.556434339125,0.0186777656209,1.03963247974
+383,6.383333333,pose2_to_pose3_retreat,0.585834769947,0.0100052673734,1.04002099687,0.556406113076,0.0186776752594,1.03963238376
+384,6.400000000,pose2_to_pose3_retreat,0.585811992999,0.0100051318604,1.04002078755,0.556383338294,0.0186775467602,1.03963216687
+385,6.416666667,pose2_to_pose3_retreat,0.585794436816,0.0100050914014,1.04002080883,0.556365782652,0.0186775078916,1.03963218265
+386,6.433333333,pose2_to_pose3_retreat,0.585780591219,0.0100051495307,1.04002103363,0.556351935432,0.0186775604874,1.03963240696
+387,6.450000000,pose2_to_pose3_retreat,0.58577017713,0.0100051869071,1.04002102355,0.556341518825,0.0186775894229,1.03963239916
+388,6.466666667,pose2_to_pose3_retreat,0.585763690921,0.0100051749394,1.040021045,0.556335034171,0.0186775824522,1.03963241445
+389,6.483333333,pose2_to_pose3_retreat,0.585759304616,0.0100051598451,1.04002109859,0.556330648865,0.018677570651,1.03963246589
+390,6.500000000,pose2_to_pose3_retreat,0.585756443735,0.0100051455171,1.04002116635,0.556327788447,0.0186775579246,1.03963253434
+391,6.516666667,pose2_to_pose3_retreat,0.585754903203,0.0100051551208,1.04002120681,0.556326247684,0.0186775668684,1.0396325775
+392,6.533333333,pose2_to_pose3_retreat,0.585754336493,0.0100051633908,1.04002122278,0.556325680759,0.0186775744793,1.0396325951
+393,6.550000000,pose2_to_pose3_retreat,0.585753707953,0.0100051725631,1.0400212405,0.55632505198,0.0186775829206,1.03963261462
+394,6.566666667,pose2_to_pose3_retreat,0.585753058453,0.0100051820413,1.0400212588,0.556324402233,0.0186775916435,1.03963263479
+395,6.583333333,pose2_to_pose3_retreat,0.585752528816,0.0100051455032,1.04002115773,0.556323872665,0.0186775553293,1.03963253349
+396,6.600000000,pose2_to_pose3_retreat,0.585751984812,0.0100050753284,1.04002096838,0.556323328931,0.0186774860041,1.03963234262
+397,6.616666667,pose2_to_pose3_retreat,0.585751426087,0.0100050245311,1.04002081396,0.556322770192,0.0186774350605,1.03963218602
+398,6.633333333,pose2_to_pose3_retreat,0.585751229978,0.0100051062581,1.04002094722,0.556322572713,0.0186775119692,1.03963231554
+399,6.650000000,pose2_to_pose3_retreat,0.585751171922,0.0100051304525,1.04002098667,0.556322514251,0.0186775347372,1.03963235389
+400,6.666666667,pose2_to_pose3_retreat,0.585751170739,0.0100051309456,1.04002098747,0.55632251306,0.0186775352012,1.03963235467
+401,6.683333333,pose2_to_pose3_retreat,0.585751132816,0.0100051467499,1.04002101324,0.556322474871,0.0186775500738,1.03963237972
+402,6.700000000,pose2_to_pose3_retreat,0.585751059164,0.0100051774439,1.04002106329,0.556322400705,0.0186775789581,1.03963242837
+403,6.716666667,pose2_to_pose3_retreat,0.585751024658,0.0100051851839,1.04002106311,0.55632236626,0.0186775869448,1.03963242906
+404,6.733333333,pose2_to_pose3_retreat,0.585750977818,0.0100051936432,1.04002105558,0.556322319596,0.0186775960764,1.03963242318
+405,6.750000000,pose2_to_pose3_retreat,0.585750964965,0.0100051959645,1.04002105351,0.556322306791,0.0186775985822,1.03963242157
+406,6.766666667,pose2_to_pose3_retreat,0.58575092,0.0100052040852,1.04002104628,0.556322261996,0.0186776073484,1.03963241592
+407,6.783333333,pose2_to_pose3_retreat,0.58575089476,0.0100052086436,1.04002104222,0.556322236851,0.018677612269,1.03963241276
+408,6.800000000,pose2_to_pose3_retreat,0.585750864681,0.0100052140758,1.04002103739,0.556322206886,0.018677618133,1.03963240898
+409,6.816666667,pose2_to_pose3_retreat,0.585750838248,0.0100052188498,1.04002103314,0.556322180552,0.0186776232863,1.03963240567
+410,6.833333333,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
+411,6.850000000,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65ec50f0c395acce500dab5fd2555b1055f69fe8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1603ed19c662b1e1ff26e59b5abb369713825d4450516dff4a6eff2297a47e9
+size 26386937
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4b401dbcc43d022e881f1d9803a1daec1e263d4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+9,0.150000000,BASELINE,770.777520928,747.222479072,724.222479072,691,675,643,887.777520928,789,819.222479072,657,633,657,0.400997099226,0.0045732956744,0.0498571544692,0.999999966202,8.22795099171e-05,-0.000244435780478,-3.28193785398e-05,1793251865117951744
+10,0.166666667,BASELINE,770.185210042,747.814789958,724.814789958,691,675,643,887.185210042,789,819.814789958,657,633,657,0.400996706408,0.00457330382218,0.0498564813028,0.999999966199,8.18698746127e-05,-0.000244601041281,-3.27051129651e-05,1793251865134618368
+11,0.183333333,BASELINE,770.398992956,748,724.601007044,691,675,642.601007044,887.398992956,788.601007044,819.601007044,657.398992956,633,657,0.400995816517,0.00457244023774,0.0498563537819,0.999999966097,8.05171029506e-05,-0.000245479505706,-3.26037528235e-05,1793251865151284992
+12,0.200000000,BASELINE,770.979507332,748,724.020492668,691,675,642.020492668,887.979507332,788.020492668,819.020492668,657.979507332,633,657,0.400994700484,0.00457118005965,0.0498564745018,0.999999965946,7.87352523729e-05,-0.00024668244137,-3.25082639849e-05,1793251865167951616
+13,0.216666667,BASELINE,771,747.446282343,724,691,675,642,888,788,819,657.446282343,633,657,0.400997197664,0.00457194669975,0.0498575622208,0.999999966607,8.07505596633e-05,-0.000243338954619,-3.24302715978e-05,1793251865184618496
+14,0.233333333,BASELINE,770.873524531,747,724,691,675,642,887.873524531,788,819.126475469,657,633,657,0.40099901448,0.00457242762443,0.0498583446173,0.999999967105,8.19800558858e-05,-0.000240872070947,-3.24072489163e-05,1793251865201285376
+15,0.250000000,BASELINE,770.305036681,747,724,691,675,642,887.305036681,788,819.694963319,657,633,657,0.400997991445,0.0045716508168,0.0498579362934,0.999999966977,7.99776614785e-05,-0.000242050201891,-3.25740993683e-05,1793251865217952000
+16,0.266666667,BASELINE,770,747.277775636,724,691,675,642.277775636,887,788.277775636,819.722224364,657,633,657,0.40099670359,0.00457137112154,0.0498573900042,0.999999966658,7.88950443585e-05,-0.000243695070034,-3.27349757458e-05,1793251865234618624
+17,0.283333333,BASELINE,770,747.877173486,724,691,675,642.877173486,887,788.877173486,819.122826514,657,633,657,0.400995109113,0.00457166700732,0.0498566839719,0.99999996612,7.88773904763e-05,-0.000245880349256,-3.28889350375e-05,1793251865251284992
+18,0.300000000,BASELINE,770,748,724,691,675,642.5418169,887.4581831,788.5418169,819,657.4581831,633,656.5418169,0.400995369663,0.0045721920814,0.0498561013788,0.999999965901,8.00177695839e-05,-0.000246384653446,-3.30016680894e-05,1793251865267951872
+19,0.316666667,BASELINE,770,747.96565982,724,691,675,642.03434018,888,788,819,657.96565982,633,656,0.400996196888,0.00457278355863,0.0498557130413,0.999999965818,8.1381579174e-05,-0.000246264837624,-3.30891984506e-05,1793251865284618240
+20,0.333333333,BASELINE,770,747.39128505,724,691,675,642.60871495,888,788,819,657.39128505,633,656,0.400998417113,0.00457349037946,0.0498578792651,0.999999966571,8.15654835604e-05,-0.000243143189422,-3.29474831361e-05,1793251865301285120
+21,0.350000000,BASELINE,770,747,724,691,675,643,888,788,819.187225086,657,633,656.187225086,0.400999566957,0.00457384892027,0.0498590855701,0.999999967035,8.16112450903e-05,-0.000241223739578,-3.2885938455e-05,1793251865317952000
+22,0.366666667,BASELINE,770,747,724,691,675,643,888,788,819.77457293,657,633,656.77457293,0.400998429269,0.0045734631443,0.0498582404113,0.999999966894,8.13617785282e-05,-0.000241873534106,-3.29957281777e-05,1793251865334618624
+23,0.383333333,BASELINE,770,747,724,691,675,642.641738295,888,788,819.641738295,657,633,656.641738295,0.400998145358,0.00457258145521,0.0498578977214,0.999999966845,8.11400996995e-05,-0.000242179121795,-3.27983343782e-05,1793251865351284992
+24,0.400000000,BASELINE,770,747,724,691,675,642.060328561,888,788,819.060328561,657,633,656.060328561,0.400998393234,0.00457139088007,0.0498578680007,0.999999966852,8.09357288026e-05,-0.000242270315779,-3.24096072816e-05,1793251865367951616
+25,0.416666667,BASELINE,770,747,724,691,675,642,888,788,819.516171682,657,632.483828318,656,0.400996554421,0.00457043147129,0.0498576186212,0.999999966718,7.96158706403e-05,-0.000243282394367,-3.22359581611e-05,1793251865384618496
+26,0.433333333,BASELINE,770,747,724,690.908381402,675,642.091618598,888,788,819.908381402,657,632.091618598,656.091618598,0.400994847466,0.00456992750028,0.0498572880485,0.999999966543,7.87160172331e-05,-0.000244294317796,-3.2218279352e-05,1793251865401285376
+27,0.450000000,BASELINE,770,747,724,690.335481639,675,642.664518361,888,788,819.335481639,657,632.664518361,656.664518361,0.400995102254,0.00457167539564,0.049856664552,0.999999966253,8.07009061052e-05,-0.000244745362111,-3.28891209655e-05,1793251865417952000
+28,0.466666667,BASELINE,770,747,724,690.245723016,675,642.754276984,888,788.245723016,819.245723016,657,633,656.754276984,0.400995472462,0.00457232718126,0.0498565735946,0.999999966284,8.10537609569e-05,-0.000244467207969,-3.31267405935e-05,1793251865434618624
+29,0.483333333,BASELINE,770,747,724,690.838662789,675,642.161337211,888,788.838662789,819.838662789,657,633,656.161337211,0.40099600576,0.0045714301185,0.0498572351371,0.999999966772,7.91004842927e-05,-0.0002431586663,-3.27521996441e-05,1793251865451284992
+30,0.500000000,BASELINE,770,747,724,691,675,642,887.582887657,788.582887657,819.582887657,657,633,656.417112343,0.400995752812,0.00457081431923,0.049857482151,0.999999966826,7.8146461222e-05,-0.000243258346392,-3.26476219156e-05,1793251865467951872
+31,0.516666667,BASELINE,770,747,724,691,675,642,887.0098547,788.0098547,819.0098547,657,633,656.9901453,0.400995205957,0.00457030365898,0.0498575742101,0.999999966719,7.75659688199e-05,-0.00024388443338,-3.26439590496e-05,1793251865484618496
+32,0.533333333,BASELINE,770,747.567053213,724,691,675,642.567053213,887.567053213,788,819,657,633,657,0.400997128001,0.00457196794971,0.0498584251915,0.999999967112,8.0511720563e-05,-0.000241264283099,-3.29429348602e-05,1793251865501285376
+33,0.550000000,BASELINE,770.14383959,748,724,691,675,643,888,788.14383959,819.14383959,657,633,656.85616041,0.400998458638,0.0045730918552,0.049859011337,0.999999967354,8.24470518365e-05,-0.000239573700968,-3.315560357e-05,1793251865517952000
+34,0.566666667,BASELINE,770.720056708,748,724,691,675,643,888,788.720056708,819.720056708,657,633,656.279943292,0.40099788166,0.00457247697692,0.0498587614747,0.999999967155,8.11596097556e-05,-0.000240848124238,-3.30929169826e-05,1793251865534618624
+35,0.583333333,BASELINE,770.693903106,747.693903106,724,691,675,642.693903106,888,788.693903106,820,657,633,656.306096894,0.400997713178,0.00457208407538,0.0498585333245,0.999999967166,8.03105394932e-05,-0.000241105750066,-3.29705500401e-05,1793251865551285248
+36,0.600000000,BASELINE,770.098581229,747.098581229,724,691,675,642.098581229,888,788.098581229,820,657,633,656.901418771,0.400997930677,0.00457190091525,0.0498583256897,0.999999967376,7.98756780606e-05,-0.000240402623975,-3.2791792287e-05,1793251865567951872
+37,0.616666667,BASELINE,770,747.478105898,724,691,675,642.478105898,888,788,819.521894102,657,633,657,0.400997610907,0.00457161225236,0.0498583673927,0.999999967327,8.00586969836e-05,-0.00024055391552,-3.27168160165e-05,1793251865584618496
+38,0.633333333,BASELINE,770,747.94904682,724,691,675,643,888,788,819.05095318,657,633,656.94904682,0.400997307269,0.00457132887211,0.0498585027692,0.999999967244,8.03645337453e-05,-0.000240807721016,-3.26249512803e-05,1793251865601285632
+39,0.650000000,BASELINE,770,747.377646141,724,691,675,643,888,788,819.622353859,657,633,656.377646141,0.400998257485,0.00457131331203,0.049859089521,0.999999967339,8.06723695563e-05,-0.0002403766578,-3.21502108232e-05,1793251865617952256
+40,0.666666667,BASELINE,770,747,724,690.797263828,675,642.797263828,888,788,819.797263828,657,633,656.202736172,0.400997963997,0.00457141991939,0.0498588127341,0.999999967155,8.06414092243e-05,-0.000241151133988,-3.21419952203e-05,1793251865634618880
+41,0.683333333,BASELINE,770,747,724,690.199375489,675,642.199375489,888,788,819.199375489,657,633,656.800624511,0.400995246414,0.00457176464275,0.0498568528276,0.999999966423,7.99501028217e-05,-0.00024427532168,-3.30430811597e-05,1793251865651285504
+42,0.700000000,BASELINE,770,747,724,690.38576283,675,642.38576283,887.61423717,788,819,657,632.61423717,656.61423717,0.400995923647,0.00457122277054,0.0498570815662,0.99999996669,7.88288270172e-05,-0.00024354544236,-3.30382210112e-05,1793251865667951872
+43,0.716666667,BASELINE,770,747,724,690.964522311,675,642.964522311,887.035477689,788,819,657,632.035477689,656.035477689,0.400998299303,0.00457023733569,0.0498584052813,0.999999967453,7.74924380899e-05,-0.000240887378135,-3.25801171632e-05,1793251865684618496
+44,0.733333333,BASELINE,770,747,724,691,675,643,887.537423851,788,819,657,632.537423851,656,0.400998836459,0.00457285852692,0.0498589244589,0.999999967495,7.98597970742e-05,-0.000239885728814,-3.29698493843e-05,1793251865701285120
+45,0.750000000,BASELINE,770,747,724,691,675,642.886715108,887.886715108,788,819,657,633,656.113284892,0.400998827808,0.00457505327494,0.0498591337485,0.999999967382,8.20794843204e-05,-0.000239560503443,-3.33013983244e-05,1793251865717951744
+46,0.766666667,BASELINE,770,747,724,691,675,642.296792854,887.296792854,788,819,657,633,656.703207146,0.400997027858,0.00457446285549,0.0498582602592,0.999999966842,8.2660228725e-05,-0.000241626170457,-3.31551979684e-05,1793251865734618368
+47,0.783333333,BASELINE,770,747,724,691,675,642.287444634,887.287444634,788,819,657,633,656.712555366,0.400996300157,0.00457383123335,0.0498578123156,0.99999996667,8.18360703939e-05,-0.00024264029896,-3.29893643518e-05,1793251865751285248
+48,0.800000000,BASELINE,770,747,724,691,675,642.865926377,887.865926377,788,819,657,633,656.134073623,0.400996658106,0.0045731578935,0.0498577952361,0.99999996687,7.95894509588e-05,-0.0002425897471,-3.28036520811e-05,1793251865767951872
+49,0.816666667,BASELINE,770,747.444488035,724,691,675,643,888,788.444488035,819,657,633,656.444488035,0.400999058134,0.00457227178654,0.0498593265098,0.999999967436,8.09516407525e-05,-0.00023982846589,-3.25197694287e-05,1793251865784618496
+50,0.833333333,BASELINE,769.977087336,748,724,691,675,642.977087336,887.977087336,788.977087336,819.022912664,657,633,657,0.401001806852,0.00457132530157,0.0498611407423,0.999999968039,8.31734056558e-05,-0.000236571638534,-3.22183098182e-05,1793251865801284864
+51,0.850000000,BASELINE,769.402541339,748,724,691,675,642.402541339,887.402541339,788.402541339,819.597458661,657,633,657,0.400998118124,0.00457047058484,0.0498585211362,0.999999967233,7.98778532665e-05,-0.000241073240108,-3.22067207845e-05,1793251865817951744
+52,0.866666667,BASELINE,769.176161763,747.823838237,724,691,675,642,887,788.176161763,819.823838237,657,633,657,0.400995743272,0.00457034790315,0.0498567868355,0.999999966609,7.88177841836e-05,-0.000243987469232,-3.22434524894e-05,1793251865834618624
+53,0.883333333,BASELINE,769.764593674,747.235406326,724,691,675,642,887,788.764593674,819.235406326,657,633,657,0.400996443276,0.00457193839801,0.0498571244095,0.999999966462,8.29894013134e-05,-0.000243186781403,-3.23932688847e-05,1793251865851285248
+54,0.900000000,BASELINE,770,747,724,691,675,642.347662492,887,788.652337508,819.347662492,657,633,657,0.400998033696,0.00457252447951,0.0498581699065,0.999999966948,8.27480667947e-05,-0.000241218998913,-3.27246984671e-05,1793251865867951872
+55,0.916666667,BASELINE,770,747,724,691,675,642.927155041,887,788.072844959,819.927155041,657,633,657,0.401000217868,0.00457244079296,0.0498596874644,0.99999996785,7.95640654121e-05,-0.000238472968501,-3.31772322656e-05,1793251865884618496
+56,0.933333333,BASELINE,770,747,724,691,675,642.495656089,887,788,819.495656089,657,633,657,0.400998993345,0.00457272675241,0.049858718216,0.999999967413,7.94869796642e-05,-0.000240328027387,-3.31349341603e-05,1793251865901284864
+57,0.950000000,BASELINE,770,747,724,691,675,642,887.08043977,788,819,657,633,657,0.400997309645,0.00457297262639,0.0498574870503,0.999999966815,7.99339158594e-05,-0.000242676878479,-3.30023565396e-05,1793251865917951744
+58,0.966666667,BASELINE,770,747,724,691,675,642,887.651885392,788,819,657,633,657,0.40099581468,0.00457264940689,0.0498568396233,0.999999966427,8.08527823532e-05,-0.000244001810779,-3.27529883595e-05,1793251865934618624
+59,0.983333333,BASELINE,770,747.231571903,724,690.768428097,675,642,888,788,819.231571903,657,633,656.768428097,0.400994816417,0.00457240910298,0.0498565354977,0.999999966245,8.09408638971e-05,-0.000244735172455,-3.2620333846e-05,1793251865951285248
+60,1.000000000,BASELINE,770,747.824103895,724,690.175896105,675,642,888,788,819.824103895,657,633,656.175896105,0.40099459238,0.00457229804277,0.0498567664891,0.999999966386,7.97339689197e-05,-0.0002445464303,-3.26696054049e-05,1793251865967951616
+61,1.016666667,BASELINE,770,748,724,690.407921133,675,642,888,788.407921133,820,657,633,656.407921133,0.400995494901,0.00457258908331,0.0498571733578,0.999999966578,7.98138416337e-05,-0.000243738216039,-3.26290763148e-05,1793251865984618496
+62,1.033333333,BASELINE,770,748,724,690.988059124,675,642,888,788.988059124,820,657,633,656.988059124,0.400996873034,0.00457304988345,0.0498576544788,0.999999966791,8.04369642591e-05,-0.000242668471969,-3.25506350265e-05,1793251866001285120
+63,1.050000000,BASELINE,770,747.436587255,724,691,675,642.563412745,888,788.436587255,819.436587255,657,633,657,0.400997198795,0.00457151860223,0.0498587356511,0.999999967228,7.89709523804e-05,-0.000241376962889,-3.23356204518e-05,1793251866017951744
+64,1.066666667,BASELINE,770,747,724,691,674.858856952,643,888,788,819.141143048,657,633,657,0.400997229809,0.00457048597328,0.0498593483817,0.999999967522,7.79261981104e-05,-0.000240507406645,-3.22535445779e-05,1793251866034618624
+65,1.083333333,BASELINE,770,747,724,691,674.273327174,643,888,788,819.726672826,657,633,657,0.400996402449,0.00457115515271,0.0498584465275,0.999999967364,7.83459979844e-05,-0.000240981035973,-3.25990607746e-05,1793251866051285248
+66,1.100000000,BASELINE,770,747,724,691,674.310244154,642.689755846,887.689755846,788,819.689755846,657,633,656.689755846,0.400996308521,0.00457206584619,0.049858000784,0.999999967304,7.83349087397e-05,-0.000241189595813,-3.29084225894e-05,1793251866067951872
+67,1.116666667,BASELINE,770,747,724,691,674.892100866,642.107899134,887.107899134,788,819.107899134,657,633,656.107899134,0.400996856699,0.00457318798037,0.0498579543564,0.999999967331,7.79465846587e-05,-0.000241166092587,-3.31861319473e-05,1793251866084618752
+68,1.133333333,BASELINE,770,747.468785491,724,691,675,642.468785491,887,788,819,657,633,656.468785491,0.400997266979,0.00457213550706,0.0498580523454,0.999999967393,7.8108130572e-05,-0.000240889098205,-3.29463374431e-05,1793251866101285376
+69,1.150000000,BASELINE,770,747.955661432,724,691,675,643,887.044338568,788,819,657,633,657,0.400997743749,0.00457080052413,0.0498583031738,0.999999967489,7.84788424206e-05,-0.000240414210387,-3.26108622366e-05,1793251866117952000
+70,1.166666667,BASELINE,770,747.379558282,724,691,675,643,887.620441718,788,819,657,633,657,0.400999394451,0.00457201473826,0.0498599927427,0.999999967899,7.98568080066e-05,-0.000238258048985,-3.25408223653e-05,1793251866134618624
+71,1.183333333,BASELINE,770,747.199870742,724,691,675,643,888,788,819.199870742,657,633,657,0.400999726331,0.00457271118954,0.0498605367674,0.999999967955,8.0315047597e-05,-0.000237867727761,-3.25305485962e-05,1793251866151285504
+72,1.200000000,BASELINE,770,747.785722644,724,691,675,643,888,788,819.785722644,657,633,657,0.400997511362,0.00457240776133,0.0498588685703,0.999999967334,7.89971550052e-05,-0.000240887515268,-3.26356923546e-05,1793251866167952896
+73,1.216666667,BASELINE,770,748,724,691,675,642.630189375,888,788,820,657,633,657,0.400996323561,0.00457147093106,0.049857945144,0.999999967158,7.71532376443e-05,-0.000242196781867,-3.27492000555e-05,1793251866184619776
+74,1.233333333,BASELINE,770,748,724,691,675,642.047118636,888,788,820,657,633,657,0.400995728101,0.00457016883441,0.0498574512076,0.999999967239,7.50059756386e-05,-0.000242519635622,-3.28675310168e-05,1793251866201285888
+75,1.250000000,BASELINE,770,747.472952811,724,691,675,642.527047189,888,788,819.472952811,657,633,657,0.400995642273,0.00457126997096,0.0498577463638,0.999999966912,7.85806346236e-05,-0.000242754628775,-3.27178211916e-05,1793251866217952512
+76,1.266666667,BASELINE,770,747.09039925,724,691,675,643,888,788,819.09039925,657.09039925,633,656.90960075,0.400995765736,0.00457247579456,0.0498581229764,0.999999966624,8.20051600656e-05,-0.000242822835909,-3.26086112554e-05,1793251866234619136
+77,1.283333333,BASELINE,770,747.606513137,724,691,675,643,888,788,819.606513137,657.606513137,633,656.393486863,0.400996663807,0.00457317963315,0.0498585564901,0.999999966755,8.23536805314e-05,-0.000242141978331,-3.28011003458e-05,1793251866251286016
+78,1.300000000,BASELINE,770,748,724,691,675,643,888,788.159140265,819.840859735,658,633,656.159140265,0.400997505586,0.0045736154455,0.0498588287459,0.999999967002,8.19310922184e-05,-0.000241242487654,-3.29404980473e-05,1793251866267952896
+79,1.316666667,BASELINE,770,748,724,691,675,643,888,788.828931333,819.171068667,658,633,656.828931333,0.400998166733,0.00457319121255,0.0498585835554,0.999999967621,7.90341626164e-05,-0.00023964144513,-3.29095355549e-05,1793251866284619520
+80,1.333333333,BASELINE,770,748,724,691,675,643,888,789,819,657.571731074,633,656.571731074,0.400999320589,0.00457224490231,0.0498593785499,0.99999996804,7.75886043112e-05,-0.000238401335638,-3.26319367563e-05,1793251866301286400
+81,1.350000000,BASELINE,770,748,724,691.00343724,675,642.99656276,888.00343724,789,819.00343724,657.00343724,633,656.00343724,0.401000626642,0.00457112715054,0.0498605224568,0.999999968385,7.66668748381e-05,-0.000237299935825,-3.22702915619e-05,1793251866317953024
+82,1.366666667,BASELINE,770,748,724,691.578138064,675,642.421861936,888.578138064,789,819.578138064,657.578138064,633,656.578138064,0.400999139187,0.00457127887028,0.0498603558029,0.9999999678,8.00643947288e-05,-0.000238675681837,-3.20006023473e-05,1793251866334620416
+83,1.383333333,BASELINE,770.157843286,747.842156714,724.157843286,692,675,642.157843286,888.842156714,788.842156714,820,657.842156714,633,657,0.400997952377,0.00457140874305,0.0498599743396,0.999999967329,8.20386707937e-05,-0.000239986394625,-3.1906004651e-05,1793251866351287296
+84,1.400000000,BASELINE,770.751361653,747.248638347,724.751361653,692,675,642.751361653,888.248638347,788.248638347,820,657.248638347,633,657,0.400997595399,0.00457147831438,0.0498589999647,0.999999967203,8.00845457141e-05,-0.000241117604659,-3.22946901124e-05,1793251866367953152
+85,1.416666667,BASELINE,770.664434337,747.335565663,725,691.664434337,675,643,888,788,820,657,633,657,0.400997810269,0.00457265024043,0.0498586667218,0.999999967041,8.16335618043e-05,-0.000241233019769,-3.25543689324e-05,1793251866384619264
+86,1.433333333,BASELINE,770.086945469,747.913054531,725,691.086945469,675,643,888,788,820,657,633,657,0.400998437408,0.00457461689972,0.0498587956978,0.999999966844,8.57081377915e-05,-0.000240616106112,-3.27210414897e-05,1793251866401286144
+87,1.450000000,BASELINE,770.490105473,747.509894527,724.509894527,691,675,643,888,788.490105473,819.509894527,657,633,657,0.400998236464,0.00457382513811,0.0498595049952,0.999999967245,8.35308533183e-05,-0.000239719136148,-3.26805321902e-05,1793251866417952768
+88,1.466666667,BASELINE,770.931812478,747,724.068187522,691,675,643,888,789,819.068187522,657,633,657,0.400997761162,0.00457265148564,0.0498600281338,0.99999996762,8.07766017618e-05,-0.000239104463908,-3.26190024068e-05,1793251866434619392
+89,1.483333333,BASELINE,770.345302512,747,724.654697488,691,675,643,888,789,819.654697488,657,633,657,0.40099631602,0.00457229134099,0.0498583543328,0.999999967056,8.20597148391e-05,-0.000241012977231,-3.26768232745e-05,1793251866451285760
+90,1.500000000,BASELINE,770,747,724.762014188,691,675.237985812,643,888,789,820,657,633,657,0.400995772414,0.00457234654258,0.0498576803511,0.99999996689,8.2037707265e-05,-0.000241695827366,-3.27523796154e-05,1793251866467952384
+91,1.516666667,BASELINE,770,747,724.183337879,691,675.816662121,643,888,789,820,657,633,657,0.400996519408,0.00457299633646,0.0498584376689,0.999999967299,8.01473436533e-05,-0.000240624069383,-3.28533253101e-05,1793251866484619520
+92,1.533333333,BASELINE,770,747,724,691,675.605795915,642.605795915,888,789,820,657,633,657,0.400997732829,0.00457294701206,0.0498595061251,0.999999967616,8.08103268556e-05,-0.000239117965668,-3.25543069951e-05,1793251866501286144
+93,1.550000000,BASELINE,770,747,724,691,675.028779952,642.028779952,888,789,820,657,633,657,0.400999162554,0.00457257347208,0.0498607188715,0.999999967888,8.26574227568e-05,-0.000237410434317,-3.20698056484e-05,1793251866517952768
+94,1.566666667,BASELINE,770,747.547533498,724,691,675,642,888,788.452466502,819.452466502,657,633,656.452466502,0.400998225043,0.00457361354824,0.0498600341814,0.999999967714,8.20700197688e-05,-0.000238304184058,-3.23801249583e-05,1793251866534619392
+95,1.583333333,BASELINE,770,748,724,691,675,642,888,788.123183682,819,657,633,656.123183682,0.400997729678,0.0045740729199,0.0498594690477,0.999999967628,8.10509449649e-05,-0.000238977650713,-3.26375087108e-05,1793251866551286016
+96,1.600000000,BASELINE,770,748,724,691,675,642,888,788.696544885,819,657,633,656.696544885,0.400999304292,0.00457213889745,0.0498597048514,0.999999967951,7.89213649322e-05,-0.000238347042387,-3.25489550881e-05,1793251866567952640
+97,1.616666667,BASELINE,770,747.720519295,724,691,675,642,888,789,819,657,633.279480705,657,0.40099985289,0.00457189592717,0.0498600854791,0.999999968004,7.94861701283e-05,-0.000237949995016,-3.24753674848e-05,1793251866584619264
+98,1.633333333,BASELINE,770,747.126818781,724,691,675,642,888,789,819,657,633.873181219,657,0.400999247942,0.00457355420488,0.0498606289323,0.999999967745,8.30802694188e-05,-0.000237815539974,-3.24186061635e-05,1793251866601285888
+99,1.650000000,BASELINE,770,747,724,691,675,642,887.546145046,788.546145046,819.453854954,657,633.546145046,657,0.400998529875,0.0045725463977,0.0498600196471,0.999999967736,8.10798919447e-05,-0.000238530768088,-3.25238369953e-05,1793251866617952768
+100,1.666666667,BASELINE,770,747.030874552,724,691,675,642.030874552,887,788,819.969125448,657,633,657,0.400997879298,0.00457090646995,0.0498592029319,0.999999967793,7.78836177633e-05,-0.000239334937679,-3.26512150736e-05,1793251866634619392
+101,1.683333333,BASELINE,770,747.60585561,724,691,675,642.60585561,887,788,819.39414439,657,633,657,0.400998959616,0.00457088903943,0.0498602487607,0.999999968008,8.03924350175e-05,-0.000237639134829,-3.2393446964e-05,1793251866651286272
+102,1.700000000,BASELINE,770,747.814349292,724,691,675,642.814349292,887,788,819,657.185650708,633,657,0.400999694593,0.00457089143552,0.0498609654242,0.999999968116,8.16301727652e-05,-0.000236778198682,-3.22476278113e-05,1793251866667953152
+103,1.716666667,BASELINE,770,747.224061778,724,691,675,642.224061778,887,788,819,657.775938222,633,657,0.400999676878,0.00457093704486,0.049860964652,0.99999996801,8.00975164961e-05,-0.00023773690459,-3.23458081295e-05,1793251866684619776
+104,1.733333333,BASELINE,770.359415851,747.359415851,724,691,675,642,887.359415851,788,819.359415851,658,633,657,0.400999610041,0.00457114044533,0.0498609483587,0.999999968098,7.90276737759e-05,-0.000237707134148,-3.24736285845e-05,1793251866701286144
+105,1.750000000,BASELINE,770.938727159,747.938727159,724,691,675,642,887.938727159,788,819.938727159,658,633,657,0.400999513151,0.00457144038453,0.0498609225693,0.999999968305,7.82409864682e-05,-0.000237072600658,-3.26195832839e-05,1793251866717952512
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,788,820,657,633,657,0.4009975909,0.00457223581283,0.0498590136565,0.999999967473,8.02341480071e-05,-0.000239894700299,-3.26605262786e-05,1793251866749201920
+107,1.783333333,POSE1_TO_POSE2_PRESS,770.582617204,747,724,691,674.417382796,642.582617204,888,788,820,657,633,656.417382796,0.40099952787,0.00457224213899,0.0498604595584,0.999999968057,8.01548518218e-05,-0.000237491520851,-3.25433618759e-05,1793251866765868800
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.83163649,747,724,691,674.16836351,642.83163649,888,788,819.83163649,657.16836351,633,656.16836351,0.401000518269,0.00457229795148,0.0498611510103,0.999999968326,8.04485788468e-05,-0.000236270986055,-3.24265940605e-05,1793251866782535680
+109,1.816666667,POSE1_TO_POSE2_PRESS,770.237985932,747,724,691,674.762014068,642.237985932,888,788,819.237985932,657.762014068,633,656.762014068,0.400999117623,0.00457247876664,0.0498599367185,0.999999967811,8.16845643069e-05,-0.000238037816925,-3.23108280022e-05,1793251866799202304
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,788,819,657.653693354,633,657,0.400998062423,0.00457263374516,0.0498591493104,0.999999967563,8.1062663788e-05,-0.000239266219937,-3.24601445942e-05,1793251866815869184
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,788,819,657.075662517,633,657,0.400997238371,0.0045727714356,0.049858647543,0.999999967494,7.91975958213e-05,-0.000240134344574,-3.27868359654e-05,1793251866832535808
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747.500151167,724,691,675,642.500151167,888,788,819.500151167,657,633,657,0.400998761921,0.00457325147944,0.0498596539992,0.999999967897,7.9500599829e-05,-0.000238332015903,-3.2922368063e-05,1793251866849202432
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747.922780752,724,691,675,643,888,788,819.922780752,657.077219248,633,656.922780752,0.401000278823,0.00457367652644,0.0498607681525,0.999999968288,8.00718285915e-05,-0.000236484246355,-3.29777693135e-05,1793251866865869056
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747.335215341,724,691,675,643,888,788,819.335215341,657.664784659,633,656.335215341,0.40099941498,0.00457339731768,0.0498610927958,0.999999968162,8.02576693963e-05,-0.000236994325999,-3.269386151e-05,1793251866882536192
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,691,674.751673826,643,888,788,819,657.751673826,632.751673826,656,0.400999014487,0.00457301556342,0.0498609704816,0.999999968001,8.01215101931e-05,-0.000237740407214,-3.25122765525e-05,1793251866899203072
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,724,691,674.173477598,643,888,788,819,657.173477598,632.173477598,656,0.400999229497,0.00457249759039,0.0498602544405,0.999999967796,7.95576145097e-05,-0.000238799986761,-3.24666146344e-05,1793251866915869440
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,724,691,674.404513596,642.595486404,887.595486404,788,819,657,632.404513596,656.404513596,0.401010300088,0.0045722501782,0.0498638716072,0.999999969382,7.94271529145e-05,-0.000232140138523,-3.22366377382e-05,1793251866932536064
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,691,674.982416955,642.017583045,887.017583045,788,819,657,632.982416955,656.982416955,0.40102602379,0.00457211873854,0.04986934615,0.999999971652,7.94824774395e-05,-0.000222171452861,-3.19276564935e-05,1793251866949202688
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747.556263759,723.443736241,691,675,642,887,788,819,657.556263759,633,657,0.401071585115,0.00457139895119,0.0498840483544,0.999999978239,7.75059667246e-05,-0.000190964644537,-3.23764152572e-05,1793251866965869056
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,748,723.133857131,691,675,642,887,788,819,657.866142869,633,657,0.401122804325,0.00457069259768,0.0498995384997,0.999999983798,7.61245110637e-05,-0.000159862739954,-3.24469303757e-05,1793251866982535680
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,748,723.724675244,691,675,642,887,788,819,657.275324756,633,657,0.401190142024,0.00457009513175,0.0499167299953,0.999999987919,7.6992114401e-05,-0.000131394104778,-3.11450252055e-05,1793251866999202304
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747.69022219,724,691,675,642.30977781,887.30977781,788,819.30977781,657,633,657,0.401263408931,0.00456946010479,0.0499296242288,0.999999990415,7.69772559502e-05,-0.000111089180044,-3.00586338308e-05,1793251867015868928
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747.110107501,724,691,675,642.889892499,887.889892499,788,819.889892499,657,633,657,0.401341850133,0.00456879229911,0.049938768327,0.999999991879,7.61922907842e-05,-9.79085633441e-05,-2.91603171106e-05,1793251867032535552
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,788.465516335,819.534483665,657,633,657,0.401428362481,0.00456796930299,0.0499399614123,0.999999992186,7.39015073881e-05,-9.67362565489e-05,-2.84289049966e-05,1793251867049202432
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.039860374,747,724,691.039860374,674.960139626,642.960139626,888,788.960139626,819.039860374,657,633,657,0.40151853522,0.00456701887776,0.0499392898408,0.999999992234,7.1219167295e-05,-9.84473525648e-05,-2.77222141832e-05,1793251867065868800
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.611168158,747,724,691.611168158,674.388831842,642.388831842,888,788.388831842,819.611168158,657,633,657,0.401632301307,0.00456485420109,0.0499385917198,0.999999992217,6.80196220547e-05,-0.000101094988895,-2.68238112593e-05,1793251867082535936
+127,2.116666667,POSE1_TO_POSE2_PRESS,770.808892146,747,724,691.808892146,674.191107854,642.191107854,888,788.191107854,820,657,633,657,0.401757737099,0.00456248491665,0.0499390239698,0.999999992458,6.47279090494e-05,-0.000101131824619,-2.58045727406e-05,1793251867099203072
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.210559075,747,724,691.210559075,674.789440925,642.789440925,888,788.789440925,820,657,633,657,0.401908039454,0.00455967964077,0.0499418648889,0.999999993254,6.12397993027e-05,-9.56053939258e-05,-2.45278498837e-05,1793251867115870208
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642.626069223,888,789,819.626069223,657,633,657,0.402072977081,0.00455899459205,0.0499434256822,0.999999993526,5.96710776585e-05,-9.40664625805e-05,-2.31980018162e-05,1793251867132536576
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642.049096107,888,789,819.049096107,657,633,657,0.402245861594,0.00455946081468,0.0499442913746,0.999999993529,5.91445727974e-05,-9.46927207784e-05,-2.18393069358e-05,1793251867149202432
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747.524822592,724,691,674.475177408,642.524822592,888,789,819.524822592,657,633,657,0.402446717637,0.00455808904135,0.0499440145704,0.999999993448,5.70748541129e-05,-9.71509785447e-05,-2.02033037502e-05,1793251867165869056
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,748,724.101409673,691,674.101409673,643,888.101409673,789,820,657.101409673,633,657,0.402656881611,0.00455592300738,0.0499435010593,0.999999993341,5.39385559339e-05,-0.000100352959838,-1.8396962486e-05,1793251867182535680
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,748,724.692246238,691,674.692246238,643,888.692246238,789,820,657.692246238,633,657,0.402899412273,0.0045507487099,0.0499423579802,0.999999993147,4.63473997985e-05,-0.000106321992628,-1.58930050851e-05,1793251867199202304
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747.723388427,724.723388427,691,675,642.723388427,888.723388427,789,819.723388427,657.723388427,633,657,0.403166769931,0.00454784926625,0.0499453255563,0.999999993881,4.15981351238e-05,-0.000101558117287,-1.38988173416e-05,1793251867215869440
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747.146058331,724.146058331,691,675,642.146058331,888.146058331,789,819.146058331,657.146058331,633,657,0.403461118266,0.00454742293232,0.0499527620352,0.999999995502,3.99384357872e-05,-8.5125950733e-05,-1.24588262934e-05,1793251867232536832
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747.430843128,724,691.430843128,675,642,888,789,819,657,633,657,0.403790642663,0.00454388345199,0.0499636242524,0.999999997306,3.59356922356e-05,-6.31925852658e-05,-1.01228656802e-05,1793251867249203712
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747.992434673,724,691.992434673,675,642.007565327,888.007565327,788.992434673,819,657,633,657,0.404132456625,0.00453930975882,0.0499755647367,0.999999998704,3.1143600227e-05,-3.9562822317e-05,-7.48783079552e-06,1793251867265870080
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747.418265117,724,691.418265117,675,642.581734883,888.581734883,788.418265117,819,657,633,657,0.404502471134,0.0045362424204,0.0499813695475,0.999999999227,2.66636442959e-05,-2.84170632239e-05,-5.17953993318e-06,1793251867282536704
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747.160691744,724,691.160691744,675,643,889,788.160691744,819,657.160691744,633,657,0.404885547789,0.00453290683068,0.0499853295643,0.999999999563,2.17569722019e-05,-1.98450346955e-05,-2.73517935013e-06,1793251867299203328
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747.752492041,724,691.752492041,675,643,889,788.752492041,819,657.752492041,633,657,0.4053036679,0.00452885156895,0.0499843403127,0.999999999711,1.57054941273e-05,-1.81778882547e-05,7.42327205267e-08,1793251867315870208
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.336311789,748,724.336311789,692,675,643,889,789,819.336311789,657.663688211,633,657,0.405716989779,0.00452399684819,0.0499707825132,0.999999998982,1.04041747486e-05,-4.38024180245e-05,3.17328087173e-06,1793251867332536576
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.914394467,748,724.914394467,692,675,643,889,789,819.914394467,657.085605533,633,657,0.406126862304,0.0045185674046,0.0499481893213,0.999999995998,5.64213566031e-06,-8.90466369318e-05,6.48054553828e-06,1793251867349202944
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.509381716,748,724.509381716,692,675,643,889.490618284,789,819.509381716,657,633,657,0.406591130748,0.00451425553308,0.0499327033975,0.999999993424,7.34888163292e-07,-0.000114302420154,9.30199668025e-06,1793251867365869824
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747.932163676,724.067836324,692,675,643,890,789,819.067836324,657,633,657,0.407071768886,0.00450995110365,0.0499209071488,0.999999991214,-4.04406976408e-06,-0.000131943409811,1.21402747721e-05,1793251867382536704
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747.344857536,724.655142464,692,675,643,890,789,819.655142464,657,633,657,0.407605354451,0.00450421605055,0.049927904743,0.999999992899,-7.64733970212e-06,-0.000117879447571,1.57540809093e-05,1793251867399203584
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,890.239211103,789,819.760788897,657,633,657,0.408179329629,0.00449827085626,0.0499424920329,0.999999995729,-1.37705164386e-05,-8.9304814083e-05,1.94210152819e-05,1793251867415870464
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,890.818674706,789,819.181325294,657,633,657,0.40881075473,0.00449202675868,0.0499678748621,0.999999998653,-2.34779939093e-05,-4.00902857786e-05,2.31635187064e-05,1793251867432536832
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747.394362329,724.605637671,692,675,643,890.605637671,789,819.394362329,657,633.394362329,657,0.409443207406,0.00448502500739,0.049986829903,0.99999999914,-2.90483865102e-05,-1.00804290231e-05,2.78475582136e-05,1793251867449203200
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747.968330231,724.031669769,692,675,643,890.031669769,789,819.968330231,657,633.968330231,657,0.410076128055,0.00447767819587,0.0500028575169,0.999999998858,-3.27346143574e-05,1.11829874106e-05,3.29604041203e-05,1793251867465869312
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,748,724.545858064,692,675,643,890.545858064,789.545858064,820,657,633.454141936,657,0.410697369793,0.00447281684131,0.0499877278031,0.999999996268,7.41617947217e-05,-2.48543815184e-05,3.67002965233e-05,1793251867482535680
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747.874086478,725,692,675,643,891,789.874086478,820,657,633.125913522,657,0.411324510178,0.00446798316583,0.0499684479485,0.999999984149,0.000160242372056,-6.6365264093e-05,4.02568030202e-05,1793251867499202304
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747.285507387,725,692,675,643,891,789.285507387,820,657,633.714492613,657,0.411975830953,0.0044627178529,0.0499406044557,0.999999981691,0.000146106261182,-0.00011569245277,4.34340808513e-05,1793251867515869952
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,891,789,820,657,633.702157408,657,0.412712074049,0.00445558281876,0.0499423695575,0.999999985417,0.000126349372131,-0.000105050254984,4.65366215242e-05,1793251867532536832
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,891,789,820,657,633.123733425,657,0.413528317942,0.00444668642082,0.0499720273112,0.999999992922,0.000101297450177,-3.79141483814e-05,4.95687566371e-05,1793251867549203200
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,891.45366115,789,820,657.45366115,633.45366115,657,0.414299764192,0.00443592736901,0.0499769176249,0.999999998784,3.81068736941e-07,-3.66813605959e-05,3.29548661109e-05,1793251867565869824
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747.031265361,724.968734639,692,675,643,892.031265361,789,820.031265361,657.968734639,634,657,0.415058831709,0.00442613310463,0.0499737131891,0.999999992032,-0.000113199496293,-5.44831682127e-05,1.23754331284e-05,1793251867582536192
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747.617564685,724.382435315,692,675,643,892.617564685,789,820.617564685,657.382435315,634,657,0.415814560856,0.00444246435945,0.0499464566318,0.99999999203,-8.51064407878e-05,-9.18222762733e-05,1.63060453695e-05,1793251867599202816
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,748,724.201251958,692.201251958,675,643,893.201251958,789,821,657,633.798748042,657,0.416605391723,0.00446153901706,0.0499328846438,0.999999992987,-4.66613659973e-05,-0.000107170333027,1.90465558937e-05,1793251867615869696
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,748,724.780039161,692.780039161,675,643,893.780039161,789,821,657,633.219960839,657,0.417462071031,0.00448576011425,0.0499449839961,0.999999996444,1.12034043891e-05,-8.12646427711e-05,1.95545147828e-05,1793251867632536320
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747.64248541,724.64248541,693,675,643,894,789,821.35751459,657,633.35751459,657.35751459,0.418342855399,0.0044877336894,0.0499618650285,0.999999997944,2.78035748932e-05,-5.36800745737e-05,2.1404913853e-05,1793251867649202944
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,747.06581412,724.06581412,693,675,643,894,789,821.93418588,657,633.93418588,657.93418588,0.419238416155,0.00447606951676,0.0499816772337,0.999999999213,1.91085140888e-05,-2.50663540326e-05,2.4078229713e-05,1793251867665869824
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,747,724,693,674.48878576,643,894.51121424,789,822.51121424,657,633.48878576,657.48878576,0.420096140371,0.00446998512519,0.0499647642742,0.999999998294,1.93867623407e-06,-5.29560342947e-05,2.4590558024e-05,1793251867682535680
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,724,692.909975644,674.090024356,643,895,789,823.090024356,657,633.090024356,657,0.420962837252,0.00446501332838,0.0499502984159,0.999999996873,-1.50995151966e-05,-7.35826065995e-05,2.47319809481e-05,1793251867699201536
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724,692.321556225,674.678443775,643,895,789,823.678443775,657,633.678443775,657,0.42190619489,0.00446222140696,0.0499755739801,0.999999999288,-2.53643589258e-05,-1.3698705119e-05,2.43612826111e-05,1793251867715868160
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,724,692.262695611,675,643,895.262695611,789,824,657,633.737304389,657,0.422841511418,0.00446265774818,0.0499897003082,0.999999999392,-1.87358331253e-05,1.59351108369e-05,2.47054023834e-05,1793251867732534784
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,724,692.841925802,675,643,895.841925802,789,824,657,633.158074198,657,0.423767138953,0.00446698397802,0.0499903923884,0.999999999589,8.24832501299e-06,9.119151154e-06,2.59108409105e-05,1793251867749201664
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,724,693,674.579981075,643,896.420018925,788.579981075,824.420018925,657.420018925,633.420018925,657.420018925,0.424723704013,0.00447304980292,0.0499873342305,0.999999999607,9.42775246398e-06,5.4452465977e-06,2.58310680127e-05,1793251867765868288
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,747,724,693,674.002314767,643,896.997685233,788.002314767,824.997685233,657.997685233,633.997685233,657.997685233,0.425691880925,0.00447976855673,0.0499828684806,0.999999999676,9.21785514518e-07,2.95066256966e-06,2.5268911501e-05,1793251867782534912
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.42862655,747.57137345,724,693,674.57137345,643,897,788,825,657.42862655,633.42862655,658,0.426644317886,0.00447229947033,0.0500005563699,0.999999999471,-5.90153507019e-06,1.41845023123e-05,2.8677213172e-05,1793251867799201280
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.149052939,747.850947061,724.149052939,693.149052939,674.850947061,643,897,788,825,657,633.149052939,657.850947061,0.427574239129,0.00446546313278,0.0500032211135,0.99999999948,-7.08662743689e-06,2.14436415127e-06,3.13953172994e-05,1793251867815868160
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.738574358,747.261425642,724.738574358,693.738574358,674.261425642,643,897,788,825,657,633.738574358,657.261425642,0.428437810924,0.00446066532121,0.0499612273563,0.999999996345,8.36988468155e-06,-7.88362593538e-05,3.2026603342e-05,1793251867832534784
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.677739916,747,724.677739916,694,674,643,897.322260084,788,825.322260084,657,634,657,0.429382544926,0.00445726827431,0.049946046478,0.999999994774,5.20748819091e-06,-9.70421161714e-05,3.17440353338e-05,1793251867849201408
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.09870408,747,724.09870408,694,674,643,897.90129592,788,825.90129592,657,634,657,0.430391948662,0.00445498735223,0.0499522300138,0.999999997319,-1.27903928616e-05,-6.52292460836e-05,3.07333115488e-05,1793251867865868032
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724,694,674.478967147,643,898,788,826,657,634,657,0.431363302814,0.00446010628947,0.0499469055262,0.999999996556,-1.02920382562e-05,-7.63579247837e-05,3.08495610962e-05,1793251867882534656
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,724,694,674.888416325,643,898,788,826,657,634,657,0.432325662883,0.00446619246498,0.0499403385323,0.999999995205,-4.31731392515e-06,-9.27401152864e-05,3.11492507232e-05,1793251867899201536
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,724,694,673.745235345,643,898,788,826,657,634,657,0.433277157347,0.00446716270216,0.0499441472178,0.99999999661,-5.14170305021e-06,-7.61118016573e-05,3.10038524159e-05,1793251867915868160
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747.206431852,724,694,673.412863703,643,898.206431852,788,826.206431852,657,634,657,0.43422682294,0.00446589899354,0.049954869541,0.99999999799,-6.20542727626e-06,-5.46177934004e-05,3.15975830874e-05,1793251867932535040
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.799450059,724,694,674.598900117,643,898.799450059,788,826.799450059,657,634,657,0.435173063756,0.00446045175933,0.0499785390819,0.999999999118,-7.71735614096e-06,-2.40117623069e-05,3.35754856747e-05,1793251867949201664
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.617502962,724.382497038,694.382497038,674.617502962,643,899,788,827,657,634,657.382497038,0.43607238783,0.00445884762623,0.0499678889431,0.999999997518,-1.45756490772e-06,-6.09770604712e-05,3.52623589424e-05,1793251867965868032
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.039551281,724.960448719,694.960448719,674.039551281,643,899,788,827,657,634,657.960448719,0.436947737557,0.00445920730464,0.049939701567,0.99999999051,8.77354810588e-06,-0.000132471072236,3.68005169897e-05,1793251867982534656
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724.46742209,695,674,643,899,787.46742209,827,657,634,658,0.437920012603,0.00446086939152,0.049953257659,0.999999995792,-1.7406758319e-06,-8.4508643336e-05,3.56472379635e-05,1793251867999202304
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.107882223,694.892117777,674.107882223,643,899,787,827,657,634,658,0.438880064456,0.00446268513972,0.0499672636724,0.999999998561,-1.20097673537e-05,-3.90310219684e-05,3.47963191223e-05,1793251868015869952
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,724.69933592,694.30066408,674.69933592,643,899,787,827,657,634,658,0.439753411392,0.00446476080194,0.0499695411043,0.999999998273,-1.43490422393e-05,-4.40259819866e-05,3.61869382649e-05,1793251868032535808
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,694.286270387,674.713729613,643,899,787,827.286270387,657,634,658,0.440623419959,0.00446562852074,0.0499665333878,0.999999998029,1.17395761664e-08,-5.09419377682e-05,3.6702039439e-05,1793251868049201920
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,725,694.868532126,674.131467874,643,899,787,827.868532126,657,634,658,0.441489976741,0.00446524727749,0.0499580610533,0.99999999705,3.16396667823e-05,-5.98441207604e-05,3.63118923189e-05,1793251868065868288
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724.555659551,695,674,643,899,787,828,657,634,658,0.442366044396,0.0044609719218,0.0499774082677,0.999999998993,1.51158749409e-05,-2.35928762515e-05,3.50469993773e-05,1793251868082535168
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.981686675,747,724,694.981686675,674.018313325,643,899.018313325,787,828,657,634,657.981686675,0.443241897148,0.00445575195208,0.0500033948195,0.999999999065,-1.46447255377e-05,2.29466677942e-05,3.36062816027e-05,1793251868099202048
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.406297521,747,724,694.406297521,674.593702479,643,899.593702479,787,828,657,634,657.406297521,0.444026836551,0.00445634359534,0.0499845479123,0.99999999904,-1.98879450586e-05,-1.81235294363e-05,3.45772871454e-05,1793251868115869184
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.347326871,747.173663435,724,694.173663435,674.826336565,643.173663435,900,787,828,657,634,657.173663435,0.444800562564,0.00445652750831,0.0499630385609,0.999999997673,-1.68107261796e-05,-5.60817512288e-05,3.50219545392e-05,1793251868132536064
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.529219506,747.764609753,724,694.764609753,674.235390247,643.764609753,900,787,828,657,634,657.764609753,0.445547344918,0.00445573171674,0.0499351318178,0.999999995649,6.25905077868e-06,-8.65624483791e-05,3.42019236424e-05,1793251868149202432
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.652278002,747.652278002,724.347721998,695,674.347721998,644,900,787.347721998,828,657,634,658,0.446316388864,0.00445482696407,0.0499369878698,0.999999997006,1.17565293729e-05,-6.81428538351e-05,3.47356230598e-05,1793251868165868800
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.074352213,747.074352213,724.925647787,695,674.925647787,644,900,787.925647787,828,657,634,658,0.447100170696,0.0044538500755,0.0499585479061,0.99999999918,5.62054736877e-06,-1.73496010423e-05,3.61655379887e-05,1793251868182535168
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,725,695,674.499025731,643.499025731,900,787.499025731,828,657,633.499025731,658,0.447800404134,0.00445814081861,0.0499511063022,0.999999998823,8.91574928292e-06,-2.97568355851e-05,3.7282860121e-05,1793251868199201792
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,725,695,674,643,900.155713756,787,828.077856878,657,633.077856878,658,0.44848576811,0.00446295308768,0.0499401756533,0.999999997918,1.33997537994e-05,-5.01153651906e-05,3.83845204418e-05,1793251868215868416
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747.252446825,725,695,674.252446825,643,901.49510635,787,828.747553175,657,634,658,0.449817488291,0.0044666588837,0.0499421041496,0.999999997544,1.85038879488e-05,-5.32952129419e-05,4.15837300054e-05,1793251868249202176
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747.831352273,725,695,674.831352273,643,900.337295455,787,828.168647727,657,634,658,0.450473128425,0.00446393897595,0.0499670328318,0.99999999864,1.89294980524e-05,-2.01114715974e-05,4.42503091666e-05,1793251868265869056
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,748,725,695,675,643,900.409234172,787.409234172,828.409234172,657,634,657.590765828,0.451084542782,0.00446144627107,0.0499853977759,0.999999998673,2.13215402866e-05,-8.06001463851e-07,4.69005780419e-05,1793251868282535936
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,748,725,695,675,643,900.986695364,787.986695364,828.986695364,657,634,657.013304636,0.451677776967,0.00445904696399,0.0500010645162,0.99999999839,2.45219388428e-05,1.27944244701e-05,4.95441423545e-05,1793251868299202816
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+203,3.383333333,POSE1_TO_POSE2_PRESS,769.312745854,748,725,694,674,643,901,787,828.312745854,657,634,658,0.453661887502,0.00444336103713,0.0499436474511,0.999999994792,4.22699581562e-06,-8.60202288474e-05,5.47599345845e-05,1793251868365868544
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+207,3.450000000,POSE1_TO_POSE2_PRESS,768.628412668,748,725,694.371587332,674,643,901,787,829,657,634,658,0.455328318972,0.00443545010811,0.0499455892772,0.999999994196,-6.29986850951e-05,-7.99129440622e-05,3.53910678756e-05,1793251868432535808
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901,787,829,657,634,658,0.455648343004,0.00443537932587,0.0499168250568,0.999999988655,-7.89346941541e-05,-0.000126319764096,2.24017158597e-05,1793251868449202176
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901,787,829,657,634,658,0.455940491546,0.00443147640972,0.0498836957188,0.999999983435,-3.76720387499e-05,-0.000176835090569,2.09741512658e-05,1793251868465868800
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+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901,787.948772008,829,657,634,658,0.456502634229,0.00445355376811,0.0498610554443,0.999999976247,-2.34291464661e-06,-0.000216686560417,2.33776958302e-05,1793251868499201536
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+214,3.566666667,POSE1_TO_POSE2_PRESS,769,748,725,694,674.690573523,642.309426477,901.690573523,787,829,657,634,657.309426477,0.457251080085,0.00448562858788,0.0498841927272,0.999999984127,2.38197550891e-05,-0.000175088534781,2.28728141482e-05,1793251868549201920
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,693.992898004,673.992898004,642,901,787,829,657,634,658,0.457930481884,0.00448206970184,0.0498665021086,0.999999979791,1.9146657472e-05,-0.000198347232914,2.66312790982e-05,1793251868615868672
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+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.910520183,725,694,673,642,902,787,829,657.910520183,634,658,0.458716879976,0.00448665644286,0.0498566641493,0.999999975744,2.85448434666e-05,-0.000216443120215,2.9136532393e-05,1793251869049202176
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747.323109139,725,694,673,642,902,787,829,657.323109139,634,658,0.458715699613,0.00448685880879,0.0498557507143,0.999999975425,2.75115118919e-05,-0.000218097903505,2.87333403311e-05,1793251869065868288
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747.255916908,725,694,673,642,902,787.255916908,829,657,633.744083092,657.744083092,0.458715747229,0.0044872987877,0.049855362092,0.999999975284,2.80222888944e-05,-0.000218701781635,2.85714165943e-05,1793251869082534912
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747.824692372,725,694,673,642,902,787.824692372,829,657,633.175307628,657.175307628,0.45871729605,0.00448802924864,0.0498556150534,0.999999975359,3.04207393034e-05,-0.000218020927875,2.87044434574e-05,1793251869099201536
+248,4.133333333,HOLD_POSE2,769,748,725,694,673,642,902,787,829,657,634,658,0.45871911502,0.00448978384009,0.0498557296375,0.999999975871,2.89023246369e-05,-0.000215971708561,2.79181915255e-05,1793251869132684800
+249,4.150000000,HOLD_POSE2,769.574626303,748,725,694,673,642,902,787,829,657,634.574626303,658,0.458719024217,0.0044885921095,0.0498556351552,0.999999975876,2.78419725926e-05,-0.000216088049981,2.78973795925e-05,1793251869149351424
+250,4.166666667,HOLD_POSE2,769.846237789,748,725,694,673.153762211,642,901.846237789,787,828.846237789,657.153762211,634.846237789,658,0.458718601547,0.00448809405013,0.0498553340393,0.999999975763,2.74960357035e-05,-0.000216656124088,2.78959829415e-05,1793251869166018048
+251,4.183333333,HOLD_POSE2,769.254249255,748,725,694,673.745750745,642,901.254249255,787,828.254249255,657.745750745,634.254249255,658,0.458717233045,0.00448957297161,0.0498544440124,0.99999997531,2.91862004514e-05,-0.000218511648198,2.79499203469e-05,1793251869182684416
+252,4.200000000,HOLD_POSE2,769,748,725,694,673.670142678,642,901,787,828.329857322,657.670142678,634,658,0.458717593134,0.00448961969822,0.0498542170085,0.99999997531,2.96479736713e-05,-0.000218423948404,2.81370136776e-05,1793251869199350528
+253,4.216666667,HOLD_POSE2,769,748,725,694,673.091969652,642,901,787,828.908030348,657.091969652,634,658,0.458719254501,0.00448858827229,0.0498544891266,0.999999975653,2.91850169556e-05,-0.000216873394776,2.84243464271e-05,1793251869216016640
+254,4.233333333,HOLD_POSE2,769,748,725,693.51612313,673,641.51612313,901.48387687,787,829,657,633.51612313,658,0.458718264509,0.00448852673763,0.0498543641654,0.999999975496,2.86306878975e-05,-0.000217723900658,2.80228275431e-05,1793251869232683264
+255,4.250000000,HOLD_POSE2,769,747.939308623,725,693.060691377,673,641.060691377,901.939308623,787,829,657,633.060691377,657.939308623,0.458717101164,0.00448856962496,0.0498542401272,0.999999975288,2.80706636382e-05,-0.000218804531507,2.75922224893e-05,1793251869249350144
+256,4.266666667,HOLD_POSE2,769,747.350235434,725,693.649764566,673,641.649764566,901.350235434,787,829,657,633.649764566,657.350235434,0.458718794921,0.00448792437361,0.0498547780454,0.999999975478,2.76115309388e-05,-0.000217934515811,2.80428100068e-05,1793251869266016768
+257,4.283333333,HOLD_POSE2,769,747.234546668,725,694,673.234546668,642,901,787,829,657,633.765453332,657.234546668,0.458718928018,0.00448717262385,0.049854575511,0.999999975401,2.73003408027e-05,-0.000218275428072,2.8427640475e-05,1793251869282683648
+258,4.300000000,HOLD_POSE2,769,747.813036201,725,694,673.813036201,642,901,787,829,657,633.186963799,657.813036201,0.458716772539,0.00448626470325,0.0498532871656,0.999999974931,2.72060959726e-05,-0.000220392063921,2.87160437478e-05,1793251869299351040
+259,4.316666667,HOLD_POSE2,768.609988838,748,725,693.609988838,673.609988838,642,901.390011162,787,829,657,633.390011162,658,0.458716994087,0.00448639956292,0.049853428941,0.99999997494,2.75302026163e-05,-0.000220311204025,2.87412634168e-05,1793251869316017920
+260,4.333333333,HOLD_POSE2,768.033737074,748,725,693.033737074,673.033737074,642,901.966262926,787,829,657,633.966262926,658,0.458718350728,0.00448703237756,0.0498542536367,0.999999975176,2.80540830985e-05,-0.000219180982221,2.86408060088e-05,1793251869332684800
+261,4.350000000,HOLD_POSE2,768.542636322,748,725,693,673,641.457363678,901.457363678,787,829,657,634,658.542636322,0.458717904965,0.00448884434939,0.04985403502,0.999999975135,2.81449500542e-05,-0.000219451840815,2.79099925105e-05,1793251869349350656
+262,4.366666667,HOLD_POSE2,769,748,725,693.121757984,673,641.121757984,901.121757984,787,829,657,634,658.878242016,0.458717428062,0.00449009356149,0.0498536107775,0.999999975029,2.84472271523e-05,-0.000219957848645,2.73959949432e-05,1793251869366016768
+263,4.383333333,HOLD_POSE2,769,748,725,693.711411879,673,641.711411879,901.711411879,787,829,657,634,658.288588121,0.458717262217,0.00448889839501,0.0498526456714,0.999999974744,2.96653969547e-05,-0.000221032676905,2.78658228168e-05,1793251869382683648
+264,4.400000000,HOLD_POSE2,769,748,725,694,673.294404034,642,902,787,828.705595966,657,634,658,0.458717364563,0.00448839207027,0.0498525350034,0.999999974638,3.01954781043e-05,-0.000221394055001,2.82454165809e-05,1793251869399350272
+265,4.416666667,HOLD_POSE2,769,748,725,694,673.871010509,642,902,787,828.128989491,657,634,658,0.458717723985,0.00448854603825,0.0498532433613,0.999999974704,3.00659884044e-05,-0.000221071551856,2.85385159657e-05,1793251869416017152
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,642,902,787,829,657,634,658,0.458719866037,0.00449019240919,0.049854090071,0.999999975306,3.12051328186e-05,-0.000218294394149,2.75848890194e-05,1793251869448641536
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,693.412586265,673,642,902,787,829,657,634,658,0.458718943242,0.00448959045498,0.0498532510476,0.999999975073,3.00181970235e-05,-0.000219494565046,2.78427133602e-05,1793251869465308160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.172082469,748,725,693.172082469,673,641.827917531,901.827917531,787.172082469,829,657,633.827917531,658,0.458718437319,0.0044892709034,0.0498528654019,0.999999974915,2.90612725483e-05,-0.000220336394942,2.78862640225e-05,1793251869481974784
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.750273221,748,725,693.750273221,673,641.249726779,901.249726779,787.750273221,829,657,633.249726779,658,0.458718915197,0.00448961781148,0.0498535497107,0.99999997494,2.86471660673e-05,-0.000220332553528,2.74241367575e-05,1793251869498640896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.672161939,748,725,693.672161939,673.327838061,641.327838061,901.327838061,787.672161939,829,657,633.327838061,657.672161939,0.458718780682,0.00448982830995,0.0498536815323,0.999999974826,2.97037305909e-05,-0.000220694504056,2.75536637522e-05,1793251869515307264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.095073005,748,725,693.095073005,673.904926995,641.904926995,901.904926995,787.095073005,829,657,633.904926995,657.095073005,0.458718180572,0.00448993509802,0.0498533933051,0.999999974602,3.18784265393e-05,-0.000221334561281,2.81330175566e-05,1793251869531974144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.481396228,673.518603772,641.518603772,902,787,829,657,634,657.481396228,0.458718547035,0.0044894796059,0.0498535811415,0.999999974825,3.17219792712e-05,-0.000220336865116,2.82013969511e-05,1793251869548640512
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,641.058974515,902,787.058974515,829,657,634,658,0.45871836417,0.00448894802199,0.0498534872797,0.999999974976,3.10929839674e-05,-0.00021974208728,2.8183039601e-05,1793251869565306880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,641.647611236,902,787.647611236,829,657,634,658,0.458711535431,0.00448872909668,0.0498500201036,0.999999973676,3.03494561595e-05,-0.000225667210031,2.82908505952e-05,1793251869581974016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769.232509189,748,725,693.767490811,673,641.767490811,901.767490811,787.767490811,828.767490811,657,634,658,0.458698946517,0.00448956826438,0.0498438675496,0.999999971438,3.06888684657e-05,-0.000235362210007,2.80481384558e-05,1793251869598641152
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.811830324,748,725,693.188169676,673,641.188169676,901.188169676,787.188169676,828.188169676,657,634,658,0.458677765696,0.00449198568928,0.0498337094719,0.999999967675,3.26436000843e-05,-0.000250680378397,2.72825841275e-05,1793251869615307520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.610184374,748,725,693.389815626,673.389815626,641.389815626,901,787,828.389815626,657,634,658,0.458638514135,0.00449159991772,0.0498162073897,0.99999996016,3.15062176123e-05,-0.000279224229606,2.68472577407e-05,1793251869631973888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.032841644,748,725,693.967158356,673.967158356,641.967158356,901,787,828.967158356,657,634,658,0.458590569351,0.00448986562343,0.0497951723546,0.999999949891,2.88813238497e-05,-0.000314130510283,2.65707927462e-05,1793251869648640000
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,673.456884721,642,901,787,829,657,634,658,0.458528489013,0.00449133006218,0.0497755097388,0.999999942252,3.24681186399e-05,-0.000337332400233,2.54883364483e-05,1793251869665306624
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747.878478052,725,694,673,641.878478052,901,787,829,657,634,658,0.458462036778,0.00449294860798,0.0497570400097,0.999999934629,3.54518168211e-05,-0.000359019017016,2.43077301713e-05,1793251869681973248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747.290343891,725,694,673,641.290343891,901,787,829,657,634,658,0.458382071298,0.00449441807695,0.0497428328011,0.999999927845,3.46811938642e-05,-0.000377598059696,2.29369164239e-05,1793251869698639872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.293449377,747.293449377,725,694,673.293449377,641.293449377,901,787,828.706550623,657,634,658,0.458296770117,0.00449578639306,0.0497349274577,0.999999923829,3.65652140452e-05,-0.000387949105432,2.23920861018e-05,1793251869715307008
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.873010265,747.873010265,725,694,673.873010265,641.873010265,901,787,828.126989735,657,634,658,0.458206266662,0.0044970560856,0.0497331663989,0.999999922743,4.10374965708e-05,-0.0003902778989,2.26525851115e-05,1793251869731974400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.551729991,748,725,693.551729991,673.551729991,642,901.448270009,787,828,657,634,658,0.458097153463,0.00449918402849,0.0497321743983,0.999999921619,4.50463355856e-05,-0.000392724817552,2.23484966946e-05,1793251869748641024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,748,725,693,673.022686501,642,901.977313499,787,828.022686501,657,633.977313499,658,0.457981754898,0.00450150934516,0.0497314540065,0.999999920509,4.89661011962e-05,-0.0003951018502,2.18793711615e-05,1793251869765307648
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,673.606090677,642,901.393909323,787,828.606090677,657,633.393909323,658,0.457840069856,0.00450276080626,0.0497321131084,0.999999920336,5.38984070058e-05,-0.000394932366279,2.12467239218e-05,1793251869781974016
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.189995362,674,642,901,787,829,657,633.189995362,658,0.457685188006,0.0045042297386,0.0497316949554,0.999999918951,5.76603730516e-05,-0.000397925508263,2.06899946765e-05,1793251869798640384
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,693.774940401,674,642,901,787,829,657,633.774940401,658,0.457502873531,0.00450615073548,0.0497290374766,0.999999915029,5.89895143077e-05,-0.000407492905866,2.02910787685e-05,1793251869815307008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642,901,787.354476977,828.645523023,657,634,658,0.45730467772,0.00450764296148,0.0497275845988,0.999999912327,6.24034403116e-05,-0.000413580308567,2.00977528883e-05,1793251869831973376
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,674,642,901,787.930631349,828.069368651,657,634,658,0.457096550264,0.00450886704949,0.0497268850357,0.999999910397,6.71211172749e-05,-0.000417491446168,2.00329957194e-05,1793251869848640000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,747.495667022,725,694,674,642,901,787.495667022,828,657,633.495667022,658,0.456863591029,0.00451321829244,0.0497311019561,0.999999910915,7.13671946025e-05,-0.000415613699992,1.84820888921e-05,1793251869865306880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,747,725,694,674,642,901,787,828.080287603,657,633.080287603,658,0.45662148321,0.00451778006377,0.0497356738705,0.999999911916,7.61960956097e-05,-0.000412405051921,1.68622601734e-05,1793251869881974016
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,694,674,642,901,787,828.672756847,657,633.672756847,658,0.456342696531,0.00452095423275,0.0497382173335,0.999999913924,8.5154828313e-05,-0.000405760992643,1.61004626104e-05,1793251869898640896
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747,724.741263068,694,674,642,900.741263068,787,828.741263068,657,634,658,0.456044372962,0.00452434270486,0.0497374253737,0.999999913447,9.3697848686e-05,-0.000405101138753,1.48353141475e-05,1793251869915307264
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747,724.163289521,694,674,642,900.163289521,787,828.163289521,657,634,658,0.455721944269,0.00452799558977,0.0497325180791,0.999999909942,0.000101727951422,-0.000411824759539,1.29491177933e-05,1793251869931973632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.41291204,724,694,674.41291204,642,900.41291204,787,828,657,633.58708796,657.58708796,0.455378782225,0.00453139557524,0.0497329859078,0.999999910998,0.000108665428126,-0.000407512145135,1.13986998745e-05,1793251869948640256
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747.988415834,724,694,674.988415834,642,900.988415834,787,828,657,633.011584166,657.011584166,0.455027456049,0.0045346959768,0.0497355702909,0.999999913776,0.000115172662919,-0.000398853808764,9.9805009702e-06,1793251869965306624
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.423841776,748,724.576158224,693.423841776,675,642,900.423841776,787,828,657,633.576158224,657,0.454644385435,0.00453908695455,0.0497432811172,0.999999916024,0.000123055003854,-0.000390802217485,9.16311353054e-06,1793251869981973248
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.161659656,747.838340344,725,693,675.161659656,642.161659656,900.161659656,787,828,657,634,657.161659656,0.454249831053,0.00454411503009,0.0497566220207,0.999999921975,0.000131640831259,-0.000372368556445,7.95622761362e-06,1793251869998640384
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.74072569,747.25927431,725,693,675.74072569,642.74072569,900.74072569,787,828,657,634,657.74072569,0.45382730929,0.00455073025156,0.0497842279144,0.99999993641,0.000141970128439,-0.000327096136778,5.71178684099e-06,1793251870015307776
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,747.319762181,724.680237819,693,675.680237819,643,900.680237819,787,828,657,633.680237819,658,0.453373986461,0.00455804587567,0.0498061405007,0.999999944628,0.000151526128377,-0.000296260153343,3.70002660605e-06,1793251870031974656
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,747.898774784,724.101225216,693,675.101225216,643,900.101225216,787,828,657,633.101225216,658,0.45289569131,0.00456592935901,0.0498234371836,0.999999948725,0.000160455171012,-0.000277128651892,1.87691423033e-06,1793251870048641536
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,674.679658452,642,896,788.339829226,826,657,633,656,0.440074563797,0.00458277334601,0.0498122150703,0.999999960217,5.92507552976e-06,-0.000277158228466,-5.21013539939e-05,1793251870348640512
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.03967123,675,642,888.96032877,789,820,657,633,657,0.407335794277,0.00459722916254,0.0498302373202,0.999999950525,0.000120262509565,-0.000287609476665,-4.20438634273e-05,1793251870998640384
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.289941676,747,724,691.710058324,675,642.289941676,889,788,819.710058324,657,633,657,0.40577444007,0.00460455140554,0.0497739702156,0.999999915731,0.000117743656874,-0.000390793705084,-4.42009478187e-05,1793251871048640256
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642,889,788,819.131503607,657,633,657,0.404924740753,0.00461283817276,0.0497782511412,0.999999916712,0.000129145930913,-0.000384416124264,-4.60660075725e-05,1793251871081974016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642,888.556037811,788,819.443962189,657,633,656.556037811,0.404574885104,0.00461343766813,0.0498017752709,0.999999929778,0.000132684728539,-0.000347457615787,-4.59470501032e-05,1793251871098640640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.980060655,675,642.019939345,888,788.019939345,820,657,633,656,0.404241737411,0.00461272862427,0.0498296153659,0.999999943748,0.000134676780069,-0.000303797129394,-4.55454787942e-05,1793251871115307264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.405005937,675,642.594994063,888,788.594994063,820,657,633,656,0.403929073137,0.00461364652053,0.049852502318,0.999999953253,0.000135800762806,-0.000270109779939,-4.57378559543e-05,1793251871131973632
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770.196926484,747.803073516,724,691,675,643,888.803073516,789,820,657,633,657,0.401033553616,0.00458257571546,0.0498491409154,0.999999960984,9.73090946526e-05,-0.000259892361863,-3.19256779286e-05,1793251871481973504
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747.617117137,724.382882863,691,675,643,888.617117137,789,820,657,633,656.617117137,0.401021358388,0.00458238240318,0.0498485712962,0.999999961063,9.69887222984e-05,-0.000259693574836,-3.20419090328e-05,1793251871498640128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747.036672754,724.963327246,691,675,643,888.036672754,789,820,657,633,656.036672754,0.401011640573,0.00458398443319,0.0498473004433,0.999999960841,9.78519709699e-05,-0.000260161496808,-3.25461822059e-05,1793251871515307008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,747,724.455957138,691,675,643,888,789,820,657,633,656.544042862,0.401007447089,0.00458483718004,0.0498491103379,0.999999961415,9.93377846244e-05,-0.000257366606947,-3.26174629481e-05,1793251871531973632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,747.124812272,724,691,674.875187728,643,888.124812272,789,820,657,633,657,0.40100363626,0.00458540246792,0.0498506078737,0.999999961843,0.000100470661633,-0.000255250162219,-3.26757523119e-05,1793251871548640256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,747.705711282,724,691,674.294288718,643,888.705711282,789,820,657,633,657,0.400999862289,0.00458510198412,0.0498502047635,0.999999961571,0.000100160416599,-0.000256416978413,-3.27932769209e-05,1793251871565306880
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,748,724.284672438,691,674.569344877,643,889,789,820,657,632.715327562,656.715327562,0.400996233416,0.00458520345622,0.0498496339903,0.999999961172,0.000100440484282,-0.000257844459611,-3.29320233782e-05,1793251871581973504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,748,724.861643897,691,675.723287794,643,889,789,820,657,632.138356103,656.138356103,0.400992753527,0.00458571765287,0.0498488910624,0.999999960638,0.00010132667955,-0.000259539589359,-3.30925602467e-05,1793251871598639872
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,748,724,691,674.013288264,643,888,788.013288264,819.013288264,657,633,656.013288264,0.400994645893,0.00458500467563,0.0498507776307,0.999999961379,0.000102275689535,-0.000256367788924,-3.25041436924e-05,1793251871631973888
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,747.490801012,724,691,674.490801012,642.509198988,888,788,820,657,633,657,0.400994773025,0.00458330033318,0.0498536943369,0.999999963255,9.75229750695e-05,-0.000250855664402,-3.24097309509e-05,1793251871731973376
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770.063388999,747.936611001,724,691,675,642,888,788.063388999,820,657,633,657,0.40099512241,0.00458400925176,0.0498539790768,0.999999963475,9.81131943191e-05,-0.000249721522162,-3.25980244488e-05,1793251871748639744
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8fd794702a4dd177d674e7f21b283a11424c0c17
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+368,6.133333333,pose2_to_pose3_retreat,0.587896663911,0.0100050405371,1.04002092016,0.55846800865,0.018677453214,1.03963229141
+369,6.150000000,pose2_to_pose3_retreat,0.587646732018,0.0100050872754,1.04002091732,0.558218077504,0.0186775023903,1.0396322866
+370,6.166666667,pose2_to_pose3_retreat,0.587410099933,0.0100050782619,1.04002082264,0.557981445309,0.0186774929619,1.03963219091
+371,6.183333333,pose2_to_pose3_retreat,0.587188880015,0.0100051734164,1.04002062009,0.557760223802,0.0186775835991,1.03963200788
+372,6.200000000,pose2_to_pose3_retreat,0.586989609303,0.0100051244955,1.04002095431,0.55756095297,0.0186775340331,1.0396323368
+373,6.216666667,pose2_to_pose3_retreat,0.58681201462,0.0100050745995,1.04002111915,0.557383359567,0.0186774881718,1.03963249478
+374,6.233333333,pose2_to_pose3_retreat,0.586657878392,0.0100050999353,1.04002098123,0.557229223389,0.0186775136388,1.03963235602
+375,6.250000000,pose2_to_pose3_retreat,0.586522529244,0.0100051412726,1.04002090931,0.557093874162,0.0186775547341,1.03963228476
+376,6.266666667,pose2_to_pose3_retreat,0.586405062367,0.0100051701546,1.0400209251,0.556976406807,0.0186775818746,1.03963229788
+377,6.283333333,pose2_to_pose3_retreat,0.586302364575,0.0100051870644,1.04002096658,0.556873708234,0.0186775959087,1.03963233445
+378,6.300000000,pose2_to_pose3_retreat,0.586211925183,0.0100052001391,1.04002105833,0.556783268999,0.0186776094627,1.03963242552
+379,6.316666667,pose2_to_pose3_retreat,0.586131081848,0.010005238933,1.04002103006,0.556702423451,0.0186776409815,1.03963240247
+380,6.333333333,pose2_to_pose3_retreat,0.586059101183,0.0100051478958,1.04002102295,0.556630444852,0.0186775571396,1.03963239932
+381,6.350000000,pose2_to_pose3_retreat,0.585996886697,0.0100050293498,1.04002096495,0.556568231335,0.0186774418154,1.03963233977
+382,6.366666667,pose2_to_pose3_retreat,0.585943931144,0.0100050234447,1.04002097366,0.556515276062,0.0186774366514,1.03963234383
+383,6.383333333,pose2_to_pose3_retreat,0.585900230052,0.0100050770603,1.04002108545,0.556471575652,0.0186774924231,1.03963245204
+384,6.400000000,pose2_to_pose3_retreat,0.585865634979,0.0100050043422,1.04002116863,0.556436980806,0.0186774204721,1.03963253511
+385,6.416666667,pose2_to_pose3_retreat,0.585837880154,0.0100052105682,1.0400208257,0.556409222154,0.0186776142763,1.0396322048
+386,6.433333333,pose2_to_pose3_retreat,0.585816385278,0.0100051348458,1.04002099241,0.556387728813,0.0186775435343,1.03963236639
+387,6.450000000,pose2_to_pose3_retreat,0.585799004627,0.0100050656474,1.04002094133,0.556370349153,0.0186774778624,1.03963231894
+388,6.466666667,pose2_to_pose3_retreat,0.585785343358,0.0100051105542,1.04002043255,0.556356686192,0.0186775179619,1.0396318311
+389,6.483333333,pose2_to_pose3_retreat,0.585775515311,0.0100051034542,1.04002088661,0.556346859185,0.0186775133112,1.03963226065
+390,6.500000000,pose2_to_pose3_retreat,0.585768521713,0.0100050968858,1.04002101897,0.556339865918,0.018677507496,1.03963238483
+391,6.516666667,pose2_to_pose3_retreat,0.585763541074,0.0100050908907,1.04002094751,0.556334885158,0.0186775011776,1.03963231559
+392,6.533333333,pose2_to_pose3_retreat,0.585759950769,0.0100051961236,1.04002103847,0.556331293551,0.0186776019243,1.03963240505
+393,6.550000000,pose2_to_pose3_retreat,0.585757294558,0.0100053130266,1.04002115654,0.556328635943,0.0186777139923,1.03963252091
+394,6.566666667,pose2_to_pose3_retreat,0.585755321146,0.0100052799421,1.04002112731,0.556326663017,0.0186776827019,1.03963249488
+395,6.583333333,pose2_to_pose3_retreat,0.585754098166,0.0100052187676,1.04002106953,0.556325440858,0.0186776244656,1.03963244074
+396,6.600000000,pose2_to_pose3_retreat,0.585753442859,0.0100051859885,1.04002103858,0.556324785989,0.0186775932609,1.03963241173
+397,6.616666667,pose2_to_pose3_retreat,0.585753272242,0.010005177454,1.04002103052,0.556324615486,0.0186775851364,1.03963240417
+398,6.633333333,pose2_to_pose3_retreat,0.58575312709,0.0100051778013,1.04002102859,0.556324470286,0.0186775853137,1.03963240207
+399,6.650000000,pose2_to_pose3_retreat,0.585753048833,0.0100051826319,1.04002103056,0.556324391915,0.0186775897361,1.03963240358
+400,6.666666667,pose2_to_pose3_retreat,0.585753012807,0.0100051848556,1.04002103146,0.556324355837,0.0186775917719,1.03963240427
+401,6.683333333,pose2_to_pose3_retreat,0.585752982565,0.0100051867224,1.04002103222,0.55632432555,0.0186775934809,1.03963240485
+402,6.700000000,pose2_to_pose3_retreat,0.585752966637,0.0100051877056,1.04002103263,0.556324309599,0.018677594381,1.03963240516
+403,6.716666667,pose2_to_pose3_retreat,0.585752881371,0.0100051929688,1.04002103477,0.556324224209,0.0186775991994,1.0396324068
+404,6.733333333,pose2_to_pose3_retreat,0.585752877901,0.0100051931829,1.04002103486,0.556324220734,0.0186775993955,1.03963240686
+405,6.750000000,pose2_to_pose3_retreat,0.585752664245,0.0100052063712,1.04002104023,0.556324006767,0.0186776114693,1.03963241097
+406,6.766666667,pose2_to_pose3_retreat,0.585752435079,0.010005220517,1.04002104599,0.556323777266,0.0186776244196,1.03963241538
+407,6.783333333,pose2_to_pose3_retreat,0.585752286726,0.0100052296743,1.04002104973,0.556323628697,0.018677632803,1.03963241824
+408,6.800000000,pose2_to_pose3_retreat,0.58575227458,0.010005230424,1.04002105003,0.556323616533,0.0186776334894,1.03963241847
+409,6.816666667,pose2_to_pose3_retreat,0.585752122832,0.0100052397909,1.04002105385,0.556323464564,0.0186776420647,1.03963242139
+410,6.833333333,pose2_to_pose3_retreat,0.585751797816,0.0100052598532,1.04002106202,0.556323139073,0.0186776604316,1.03963242764
+411,6.850000000,pose2_to_pose3_retreat,0.585751453105,0.0100052636728,1.04002101929,0.556322794181,0.0186776637119,1.03963238663
+412,6.866666667,pose2_to_pose3_retreat,0.585751101313,0.0100052540965,1.04002093602,0.556322442452,0.018677654557,1.039632308
+413,6.883333333,pose2_to_pose3_retreat,0.585750956256,0.0100052426314,1.04002106823,0.556322297989,0.0186776450566,1.03963243909
+414,6.900000000,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..495980f0283c2f3cc08885ed82378df74ba57259
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4fcd0abea194d6421165a9e2286daf39a675c65bb5e0ca8fa8da0381ae8c08c
+size 26451259
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e87d0ecef27f768d9d834ec4b2b1fef2b165384b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
+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,770,747,724,691,675,642,889,789,819,657,633,656,0.400997528707,0.00458340349233,0.0498570404605,0.999999965025,9.57810858283e-05,-0.000244323850076,-3.29023564566e-05,1793251872033888512
+1,0.016666667,BASELINE,770,747.593232325,724,691,675,642.593232325,888.406767675,789,819.593232325,657,633,656.593232325,0.400996535106,0.00458412548285,0.0498563365735,0.999999964802,9.52710480551e-05,-0.000245451135971,-3.27503429686e-05,1793251872050555392
+2,0.033333333,BASELINE,770,747.818537059,724.181462941,691,675,642.818537059,888.181462941,789,820,657,633,656.818537059,0.400995758451,0.0045844777798,0.0498558107557,0.999999964541,9.54983741862e-05,-0.000246439205953,-3.26514968199e-05,1793251872067222528
+3,0.050000000,BASELINE,770,747.241217427,724.758782573,691,675,642.241217427,888.758782573,789,820,657,633,656.241217427,0.400995455061,0.00458402359997,0.049855673391,0.999999964194,9.73342404131e-05,-0.000247123580254,-3.2668633811e-05,1793251872083889152
+4,0.066666667,BASELINE,770.335563832,747,724.664436168,691,675,642.335563832,888.664436168,789,819.664436168,657,633,656,0.400994872856,0.00458377213628,0.0498556745005,0.999999964185,9.68374966439e-05,-0.000247331844423,-3.28548727027e-05,1793251872100556032
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+6,0.100000000,BASELINE,771,747.487611689,724,691,675,643,888,788.512388311,819.487611689,657,633,656.487611689,0.400994182351,0.00458399797266,0.0498559434893,0.999999964401,9.57753329899e-05,-0.000246818388527,-3.32664288614e-05,1793251872133889280
+7,0.116666667,BASELINE,771,748,724,691,675,642.935091386,888,788.064908614,819.935091386,657.064908614,633,657,0.400994495557,0.00458419555049,0.0498561000269,0.999999964405,9.69878207939e-05,-0.000246324125905,-3.32802579185e-05,1793251872150555648
+8,0.133333333,BASELINE,771,748,724,691,675,642.343366596,888,788.656633404,819.343366596,657.656633404,633,657,0.400995326718,0.00458266306175,0.0498560599853,0.999999964942,9.42442661453e-05,-0.000245263447843,-3.28605851204e-05,1793251872167222016
+9,0.150000000,BASELINE,770.757727751,748,724,691,675,642.242272249,888.242272249,788.757727751,819,657.757727751,633,657,0.400996042433,0.00458226466828,0.0498561612778,0.999999965063,9.40494131934e-05,-0.000244883872228,-3.25674127572e-05,1793251872183888896
+10,0.166666667,BASELINE,770.180503054,748,724,691,675,642.819496946,888.819496946,788.180503054,819,657.180503054,633,657,0.400996598541,0.00458343421347,0.049856457971,0.99999996461,9.73782569665e-05,-0.000245445951941,-3.24491330576e-05,1793251872200555520
+11,0.183333333,BASELINE,770,748,724,691,675,643,888.60416938,788,819,657,633,656.60416938,0.400996962212,0.00458356503252,0.049857024697,0.999999964861,9.71897508805e-05,-0.000244479885601,-3.25986533988e-05,1793251872217222144
+12,0.200000000,BASELINE,770,748,724,691,675,643,888.028241059,788,819,657,633,656.028241059,0.400997238327,0.00458322324502,0.0498577142844,0.999999965429,9.54008973852e-05,-0.00024281853305,-3.28700192091e-05,1793251872233888768
+13,0.216666667,BASELINE,770,748,724,691,675,643,888,788.558953643,819.558953643,657,633,656.558953643,0.400995506911,0.00458303539582,0.0498567531404,0.999999965058,9.36034028036e-05,-0.00024503549256,-3.28763210277e-05,1793251872250555648
+14,0.233333333,BASELINE,770,747.85550574,724,691,675,642.85550574,888,789,820,657,633,657,0.400994412328,0.00458301927944,0.0498560911651,0.999999964706,9.32672554326e-05,-0.000246606131322,-3.27830509332e-05,1793251872267222272
+15,0.250000000,BASELINE,770,747.276683145,724,691,675,642.276683145,888,789,820,657,633,657,0.400995543123,0.00458349550688,0.0498565843003,0.99999996457,9.7325040135e-05,-0.000245632909741,-3.24315658458e-05,1793251872283888896
+16,0.266666667,BASELINE,770,747,724,691,674.699296267,642.300703733,888.300703733,789,820,657.300703733,633,656.699296267,0.400995573313,0.00458430305757,0.0498562955787,0.999999964308,9.9356681392e-05,-0.000245861116091,-3.2627456466e-05,1793251872300555520
+17,0.283333333,BASELINE,770,747,724,691,674.123224176,642.876775824,888.876775824,789,820,657.876775824,633,656.123224176,0.400994595628,0.0045854140163,0.0498552908743,0.99999996394,9.95328888614e-05,-0.000247189525793,-3.33246044356e-05,1793251872317222144
+18,0.300000000,BASELINE,770,747.451779556,724,691,674.451779556,643,888.548220444,789,819.548220444,657.548220444,633,656.451779556,0.400994023798,0.00458412112585,0.049855591741,0.99999996412,9.79948274525e-05,-0.000247134580071,-3.28840022638e-05,1793251872333888768
+19,0.316666667,BASELINE,770,747.972795667,724.027204333,691,675,643,888.027204333,789,819,657.027204333,633,657,0.400993607888,0.00458233348663,0.0498562150436,0.999999964432,9.61359532651e-05,-0.000246695050762,-3.21841638581e-05,1793251872350555392
+20,0.333333333,BASELINE,770,747.382642105,724.617357895,691,675,643,888.617357895,789,819,657.617357895,633,657,0.400994133199,0.00458384356647,0.0498561591427,0.999999964459,9.72911893988e-05,-0.00024608667235,-3.25263661134e-05,1793251872367222272
+21,0.350000000,BASELINE,770,747,724.796611031,691,675,643,888.796611031,789,819.203388969,657.796611031,633,657,0.400995021438,0.00458502336006,0.0498565729025,0.999999964653,9.79083061987e-05,-0.000245011371742,-3.28243639769e-05,1793251872383889152
+22,0.366666667,BASELINE,770,747,724.218181708,691,675,643,888.218181708,789,819.781818292,657.218181708,633,657,0.400996578899,0.0045855941201,0.0498578526958,0.999999965155,9.75331543778e-05,-0.000243075087113,-3.30408508394e-05,1793251872400555776
+23,0.383333333,BASELINE,770.360808998,747.360808998,724,691,675,642.639191002,888,789,820,657,633,657,0.400996621794,0.00458537922658,0.0498577221683,0.999999965194,9.70928547774e-05,-0.000243092428306,-3.303889511e-05,1793251872417222400
+24,0.400000000,BASELINE,770.940139758,747.940139758,724,691,675,642.059860242,888,789,820,657,633,657,0.400995747403,0.00458468850683,0.0498567374888,0.999999964952,9.6613098787e-05,-0.000244292970842,-3.2904640982e-05,1793251872433889024
+25,0.416666667,BASELINE,771,747.485690166,724,691,675,642.514309834,888,788.485690166,820,657.514309834,633,657,0.400994720672,0.00458390860625,0.0498564726116,0.999999964851,9.53356437485e-05,-0.000245215907811,-3.28333147325e-05,1793251872450555136
+26,0.433333333,BASELINE,770.909745105,747.090254895,724,691,674.909745105,643,888,788.090254895,819.909745105,658,633,657,0.40099408231,0.00458324395275,0.0498564238048,0.999999964816,9.44937229255e-05,-0.000245689854393,-3.27844901422e-05,1793251872467222016
+27,0.450000000,BASELINE,770.320704046,747.679295954,724,691,674.320704046,643,888,788.679295954,819.320704046,658,633,657,0.400995687241,0.00458327299495,0.0498571107029,0.999999965065,9.65667411032e-05,-0.000243859279945,-3.28199449264e-05,1793251872483888640
+28,0.466666667,BASELINE,770,747.735893993,724,691.264106007,674.264106007,642.735893993,888,789,819.264106007,657.735893993,633,657,0.400996283958,0.00458389614304,0.0498571050718,0.999999965077,9.77020731461e-05,-0.000243342684184,-3.29385311714e-05,1793251872500555520
+29,0.483333333,BASELINE,770,747.156140677,724,691.843859323,674.843859323,642.156140677,888,789,819.843859323,657.156140677,633,657,0.400995675703,0.00458522933906,0.0498562717615,0.999999964811,9.77167258827e-05,-0.000244396495203,-3.31564722991e-05,1793251872517222912
+30,0.500000000,BASELINE,770,747,724,692,675,642.421263796,888.421263796,788.578736204,819.578736204,657,633,657,0.400996095234,0.00458431900392,0.0498569482785,0.999999965061,9.68794037573e-05,-0.000243728945759,-3.29829358666e-05,1793251872533889792
+31,0.516666667,BASELINE,770,747,724,692,675,642.997802488,888.997802488,788.002197512,819.002197512,657,633,657,0.4009968936,0.00458258171882,0.0498581813073,0.999999965499,9.57280496404e-05,-0.000242426914833,-3.26651035313e-05,1793251872550556416
+32,0.533333333,BASELINE,770.571226272,747.571226272,724,691.428773728,675.571226272,643,888.428773728,788,819.571226272,657,633,657,0.400995614465,0.00458345249711,0.0498570855727,0.999999965108,9.52494266078e-05,-0.000244218543369,-3.27033254511e-05,1793251872567222784
+33,0.550000000,BASELINE,770.850891109,747.850891109,724,691,675.850891109,643,888.149108891,788,820,657.149108891,633,656.850891109,0.400994833754,0.00458383921312,0.0498564232054,0.999999964891,9.49939914431e-05,-0.000245202409874,-3.27227221979e-05,1793251872583888896
+34,0.566666667,BASELINE,770.259755231,747.259755231,724,691,675.259755231,643,888.740244769,788,820,657.740244769,633,656.259755231,0.400995554166,0.00458276136504,0.0498570719507,0.999999965207,9.53925569251e-05,-0.000243756610112,-3.26822739871e-05,1793251872600555264
+35,0.583333333,BASELINE,770.325033172,747,724.325033172,691,675,643,888.674966828,788,820,657.674966828,633,656.325033172,0.400995490476,0.00458258700183,0.0498572018685,0.999999965209,9.56071552385e-05,-0.000243654611045,-3.27777222221e-05,1793251872617222144
+36,0.600000000,BASELINE,770.904846122,747,724.904846122,691,675,643,888.095153878,788,820,657.095153878,633,656.904846122,0.400994812162,0.00458312084216,0.0498569250993,0.999999964963,9.56775494999e-05,-0.000244605960442,-3.29796939383e-05,1793251872633888768
+37,0.616666667,BASELINE,771,747.479642143,725,691,675,643,888.479642143,788,820,657.479642143,633.479642143,657,0.400995500945,0.00458317832669,0.0498569383171,0.999999965124,9.57111004399e-05,-0.000243954253118,-3.28381407075e-05,1793251872650555904
+38,0.633333333,BASELINE,770.946562521,748,724.946562521,691.053437479,675,643,888.946562521,788.053437479,820,657.946562521,633.946562521,657,0.400996388222,0.00458323797729,0.0498570404815,0.999999965334,9.58758151612e-05,-0.000243047695185,-3.26640995775e-05,1793251872667223040
+39,0.650000000,BASELINE,770.37291969,748,724.37291969,691.62708031,675,643,888.37291969,788.62708031,820,657.37291969,633.37291969,657,0.400996594927,0.00458422915227,0.0498574542871,0.999999965261,9.73878054776e-05,-0.000242724059273,-3.28303581141e-05,1793251872683889664
+40,0.666666667,BASELINE,770,748,724.208799506,692,675,643,888.208799506,789,819.791200494,657.208799506,633,657,0.400996782261,0.00458452660218,0.0498576830205,0.999999965284,9.72573677379e-05,-0.000242676129042,-3.28870103049e-05,1793251872700556288
+41,0.683333333,BASELINE,770,748,724.805523591,692,675,643,888.805523591,789,819.194476409,657.805523591,633,657,0.400996933605,0.0045835351936,0.0498575679114,0.99999996548,9.40754944733e-05,-0.000243140427102,-3.27400269681e-05,1793251872717222912
+42,0.700000000,BASELINE,770.387705523,747.612294477,725,691.612294477,674.612294477,643,888.612294477,789,819.387705523,658,633,657,0.400997513542,0.00458203378828,0.0498581398922,0.999999965912,9.22826470978e-05,-0.000242081576183,-3.25039220914e-05,1793251872733889280
+43,0.716666667,BASELINE,770.962856681,747.037143319,725,691.037143319,674.037143319,643,888.037143319,789,819.962856681,658,633,657,0.400998300694,0.0045802858127,0.0498590440634,0.999999966457,9.11613580586e-05,-0.000240286321949,-3.22247292498e-05,1793251872750555648
+44,0.733333333,BASELINE,770.451005268,747,725,691,674.548994732,643,888,789,819.451005268,657.451005268,633,657,0.400997142242,0.00458152355601,0.0498580390915,0.999999966024,9.11840310014e-05,-0.000242029138324,-3.25554276286e-05,1793251872767222272
+45,0.750000000,BASELINE,770.133844481,747,724.866155519,691,674.866155519,643,888,788.866155519,819,657,633,656.866155519,0.400995868727,0.00458301871896,0.0498571223242,0.999999965554,9.16862347632e-05,-0.000243730819408,-3.28722207062e-05,1793251872783889152
+46,0.766666667,BASELINE,770.711900974,747,724.288099026,691,674.288099026,643,888,788.288099026,819,657,633,656.288099026,0.400994659127,0.00458468410544,0.0498569357388,0.999999965196,9.35178214528e-05,-0.000244485299446,-3.30031194939e-05,1793251872800556032
+47,0.783333333,BASELINE,771,747.289946742,724,691,674.289946742,643,888,788,819.289946742,657.289946742,633,656.289946742,0.400994509519,0.00458431249557,0.0498570213342,0.99999996514,9.46688368061e-05,-0.000244309108749,-3.27146235071e-05,1793251872817222656
+48,0.800000000,BASELINE,771,747.867981923,724,691,674.867981923,643,888,788,819.867981923,657.867981923,633,656.867981923,0.400995413109,0.00458191694488,0.049857377366,0.999999965386,9.51436429028e-05,-0.000243208212184,-3.20094207111e-05,1793251872833889280
+49,0.816666667,BASELINE,771,747.557205937,724,691,675,642.557205937,888.442794063,788.442794063,819.557205937,657.557205937,633,657,0.400996580125,0.00458124950124,0.0498580888018,0.999999965817,9.40291926904e-05,-0.000241848048946,-3.21644684386e-05,1793251872850555904
+50,0.833333333,BASELINE,770.982877206,747,724,691,675,642.017122794,889,789,819.017122794,657,633.017122794,657,0.400997775042,0.00458117111333,0.0498588717853,0.999999966269,9.25908901516e-05,-0.00024047716067,-3.25658616043e-05,1793251872867222272
+51,0.850000000,BASELINE,770.392800646,747,724,691,675,642.607199354,889,789,819.607199354,657,633.607199354,657,0.400997294494,0.00458368758165,0.0498585288147,0.999999965736,9.60565928657e-05,-0.000241315266869,-3.26900957518e-05,1793251872883888896
+52,0.866666667,BASELINE,770.193701429,747.193701429,724,691,675,643,888.806298571,789,820,657.193701429,633.806298571,657,0.400996656821,0.00458513129667,0.0498583241989,0.999999965452,9.72080511409e-05,-0.000242009066951,-3.28259441848e-05,1793251872900555520
+53,0.883333333,BASELINE,770.773086228,747.773086228,724,691,675,643,888.226913772,789,820,657.773086228,633.226913772,657,0.400995706296,0.00458443902779,0.0498583950643,0.999999965679,9.37515638685e-05,-0.000242415535756,-3.29849180821e-05,1793251872917222144
+54,0.900000000,BASELINE,770.651214411,747.651214411,724.348785589,691,675,643,888,789,819.651214411,657.651214411,633,656.651214411,0.400996140925,0.00458357183537,0.0498584007965,0.999999965873,9.24740823945e-05,-0.000242106448652,-3.29561588636e-05,1793251872933888512
+55,0.916666667,BASELINE,770.077887684,747.077887684,724.922112316,691,675,643,888,789,819.077887684,657.077887684,633,656.077887684,0.400997467289,0.00458259203072,0.0498583645973,0.999999966053,9.25994011023e-05,-0.000241336701053,-3.28065408401e-05,1793251872950555136
+56,0.933333333,BASELINE,770.496904247,747.496904247,724.503095753,691,675,643,888,789,819.496904247,657,633,656.496904247,0.400996195269,0.00458225878076,0.0498577274214,0.999999965708,9.32041549026e-05,-0.000242566649828,-3.25296475336e-05,1793251872967221760
+57,0.950000000,BASELINE,770.925837773,747.925837773,724,691,675,642.925837773,888.074162227,789,820,657,633,657,0.400994866734,0.00458197669813,0.0498571482952,0.999999965353,9.38167959319e-05,-0.000243823834336,-3.2279777584e-05,1793251872983888640
+58,0.966666667,BASELINE,770.332942259,747.332942259,724,691,675,642.332942259,888.667057741,789,820,657,633,657,0.400996000108,0.00458134154928,0.049857636044,0.99999996552,9.39574113273e-05,-0.000243072628081,-3.23588782582e-05,1793251873000555264
+59,0.983333333,BASELINE,770,747,724.25462358,691.25462358,675,642.25462358,888.74537642,789,819.74537642,657,633,656.74537642,0.400996086303,0.0045815756696,0.0498576618407,0.999999965466,9.46533180334e-05,-0.00024300881842,-3.24897715876e-05,1793251873017221888
+60,1.000000000,BASELINE,770,747,724.835363373,691.835363373,675,642.835363373,888.164636627,789,819.164636627,657,633,656.164636627,0.400994831295,0.00458292313041,0.0498570959793,0.999999965127,9.60604295073e-05,-0.00024382541091,-3.26869998075e-05,1793251873033888512
+61,1.016666667,BASELINE,770,747,724.587618409,691.587618409,675,643,888.412381591,788.587618409,819.412381591,657,633,656.412381591,0.400995261229,0.00458335067762,0.0498573846263,0.999999965259,9.57476314688e-05,-0.000243385695254,-3.28409836248e-05,1793251873050555392
+62,1.033333333,BASELINE,770,747,724.012072716,691.012072716,675,643,888.987927284,788.012072716,819.987927284,657,633,656.987927284,0.400996357832,0.00458341424905,0.0498580113706,0.999999965576,9.47543289329e-05,-0.000242448905002,-3.2977857224e-05,1793251873067222016
+63,1.050000000,BASELINE,770.569379031,747.569379031,724,691,675,643,888.430620969,788.569379031,820,657,633,657,0.400997605313,0.00458297436734,0.0498591325521,0.999999966124,9.53538554905e-05,-0.000239960591256,-3.28373660602e-05,1793251873083888640
+64,1.066666667,BASELINE,770.849024206,748,724.150975794,691,675,643,888,789,819.849024206,657,633,657,0.400997689845,0.0045823470958,0.0498593348309,0.999999966319,9.53057800093e-05,-0.000239196873313,-3.26032018423e-05,1793251873100555776
+65,1.083333333,BASELINE,770.267374774,748,724.732625226,691,675,643,888,789,819.267374774,657,633,657,0.400994447732,0.00458121604626,0.0498568856284,0.999999965497,9.33130031822e-05,-0.000243447565318,-3.21187779503e-05,1793251873117222400
+66,1.100000000,BASELINE,770.313103528,748,724.686896472,691,675.313103528,642.686896472,888,789,819.313103528,657,633,657,0.400994003536,0.00458134053871,0.0498566422516,0.999999965346,9.2925621885e-05,-0.000244206691467,-3.21908065525e-05,1793251873133889024
+67,1.116666667,BASELINE,770.892585439,748,724.107414561,691,675.892585439,642.107414561,888,789,819.892585439,657,633,657,0.40099593972,0.00458253320587,0.0498582755203,0.999999965774,9.39040594336e-05,-0.000241995305775,-3.27362470163e-05,1793251873150555648
+68,1.133333333,BASELINE,771,747.532133448,724,691.467866552,675.532133448,642.467866552,888,788.532133448,820,657,633,657,0.400996387315,0.00458277276711,0.0498588368774,0.999999965829,9.49852130103e-05,-0.000241340420513,-3.27788313903e-05,1793251873167222016
+69,1.150000000,BASELINE,770.956827317,747.043172683,724,691.956827317,675,642.956827317,888,788,819.956827317,657,633,657,0.400996390981,0.00458269017853,0.0498590329752,0.999999965794,9.57125643648e-05,-0.000241211409145,-3.26824536954e-05,1793251873183888640
+70,1.166666667,BASELINE,770.369150739,747.630849261,724,691.369150739,675,642.369150739,888,788,819.369150739,657,633,657,0.400995067647,0.0045812797819,0.0498576985056,0.999999965691,9.16829048928e-05,-0.000243248001662,-3.2276549013e-05,1793251873200555264
+71,1.183333333,BASELINE,770.216521979,747.783478021,724.216521979,691,675,642.216521979,888,788.216521979,819.216521979,657.216521979,633,657,0.400994302141,0.00458117770578,0.0498569612119,0.999999965523,9.04837661494e-05,-0.000244395099012,-3.2204756325e-05,1793251873217221888
+72,1.200000000,BASELINE,770.798809715,747.201190285,724.798809715,691,675,642.798809715,888,788.798809715,819.798809715,657.798809715,633,657,0.400994478962,0.00458328574612,0.0498572327142,0.999999965264,9.40661624078e-05,-0.000244039592308,-3.26973715256e-05,1793251873233888512
+73,1.216666667,BASELINE,770.624953145,747,725,691,675,643,888,788.624953145,820,657.624953145,633,657,0.400995989128,0.00458348632513,0.0498581584548,0.999999965637,9.41630236036e-05,-0.00024243730664,-3.29128584596e-05,1793251873250555392
+74,1.233333333,BASELINE,770.051910292,747,725,691,675,643,888,788.051910292,820,657.051910292,633,657,0.400998203198,0.0045826799106,0.0498594295831,0.999999966343,9.2419789182e-05,-0.000240176817245,-3.29820428765e-05,1793251873267222016
+75,1.250000000,BASELINE,770,747.524792801,724.475207199,691,675,643,888,788.524792801,820,657,633,657,0.400997447519,0.00458286157058,0.0498592921588,0.999999966222,9.27320607925e-05,-0.000240573740302,-3.2883251642e-05,1793251873283888640
+76,1.266666667,BASELINE,770,748,724,691,675,643,888,789,819.895821207,657.104178793,633,657,0.400996433237,0.00458297455644,0.0498589497073,0.999999966007,9.32290327282e-05,-0.000241287406848,-3.27864209034e-05,1793251873300555264
+77,1.283333333,BASELINE,770,748,724,691,675,643,888,789,819.305619725,657.694380275,633,657,0.40099559257,0.00458230799001,0.0498583053172,0.999999965738,9.36324671636e-05,-0.000242243841284,-3.27767964698e-05,1793251873317221888
+78,1.300000000,BASELINE,770.279284232,748,724,691,675,643,888,789,819,657.720715768,633,656.720715768,0.400995630005,0.00458195983288,0.0498578238323,0.999999965698,9.40600501727e-05,-0.000242250088758,-3.27419862086e-05,1793251873333888768
+79,1.316666667,BASELINE,770.858499004,748,724,691,675,643,888,789,819,657.141500996,633,656.141500996,0.400996610458,0.00458195362375,0.0498575172955,0.999999965902,9.45135669318e-05,-0.000241235905889,-3.26801282383e-05,1793251873350555392
+80,1.333333333,BASELINE,770.566036376,748,724,691,675,642.566036376,888,789,819.433963624,657,633,656.433963624,0.400996186489,0.0045822622312,0.0498574383515,0.999999965675,9.46398628732e-05,-0.000242122211203,-3.27053207572e-05,1793251873367222016
+81,1.350000000,BASELINE,770,747.991580373,724,691,675,642.008419627,888,788.991580373,820,657,633,656.991580373,0.400995330762,0.0045826481727,0.0498574431617,0.999999965321,9.46337266682e-05,-0.000243575263042,-3.27544823198e-05,1793251873383888640
+82,1.366666667,BASELINE,770,747.403093223,724,691,675,642.596906777,888,788.403093223,820,657,633,656.403093223,0.40099600811,0.0045813504908,0.0498581492974,0.999999965945,9.27915106455e-05,-0.000241746868351,-3.2516213659e-05,1793251873400555520
+83,1.383333333,BASELINE,770,747,724,691,675,642.817491005,888,788,820,657,633,656,0.40099662283,0.0045809348982,0.0498588077484,0.999999966332,9.23258277415e-05,-0.000240323363048,-3.25023970609e-05,1793251873417222144
+84,1.400000000,BASELINE,770,747,724,691,675,642.238161252,888,788,820,657,633,656,0.400997101384,0.00458243719085,0.0498593625211,0.99999996621,9.48530759744e-05,-0.000239780189431,-3.29765960251e-05,1793251873433889024
+85,1.416666667,BASELINE,770,747.340410021,724,691,674.659589979,642.340410021,888,788.340410021,819.659589979,657,633,656,0.400996580355,0.00458327550787,0.0498589178706,0.99999996588,9.58376308677e-05,-0.000240748793446,-3.30885746342e-05,1793251873450555648
+86,1.433333333,BASELINE,770,747.918451784,724,691,674.081548216,642.918451784,888,788.918451784,819.081548216,657,633,656,0.400995361544,0.00458365032,0.0498577755475,0.999999965404,9.57452698867e-05,-0.000242772731732,-3.29476962243e-05,1793251873467222016
+87,1.450000000,BASELINE,770,748,724,691,674.491366127,642.508633873,888,788.508633873,819,657,632.508633873,656,0.400996104226,0.00458329731791,0.0498582886099,0.999999965737,9.554292872e-05,-0.000241490323312,-3.28761533173e-05,1793251873483888640
+88,1.466666667,BASELINE,770.065563862,748,724,691,675,642.065563862,888.065563862,788,819,657,632.065563862,656.065563862,0.400996929413,0.00458289730742,0.0498589667785,0.999999966112,9.53038522062e-05,-0.000240034022877,-3.28290439085e-05,1793251873500555520
+89,1.483333333,BASELINE,770.656803884,748,724,691,675,642.656803884,888.656803884,788,819,657,632.656803884,656.656803884,0.400995833002,0.00458307885683,0.0498587887461,0.999999965785,9.4915073528e-05,-0.000241537641867,-3.28865284344e-05,1793251873517222144
+90,1.500000000,BASELINE,770.757344497,747.757344497,724.242655503,691,674.757344497,642.757344497,888.757344497,788,819,657,633,657,0.400995868799,0.00458350563284,0.0498591131267,0.999999965824,9.47885682756e-05,-0.000241413046463,-3.29756962388e-05,1793251873533888768
+91,1.516666667,BASELINE,770.178948376,747.178948376,724.821051624,691,674.178948376,642.178948376,888.178948376,788,819,657,633,657,0.400997471131,0.00458427170686,0.049860132651,0.999999966368,9.50249472304e-05,-0.000239035636966,-3.31087013442e-05,1793251873550556160
+92,1.533333333,BASELINE,770.398606047,747.398606047,724.601393953,691,674.398606047,642.398606047,888,788.398606047,819,657,633,657,0.400996969055,0.00458284437612,0.0498595846583,0.999999966318,9.36922386839e-05,-0.000239826822879,-3.26859271042e-05,1793251873567222784
+93,1.550000000,BASELINE,770.975783449,747.975783449,724.024216551,691,674.975783449,642.975783449,888,788.975783449,819,657,633,657,0.400995524227,0.00458043442298,0.0498583344345,0.999999965996,9.16565953121e-05,-0.0002420375063,-3.20141695218e-05,1793251873583888896
+94,1.566666667,BASELINE,770.453125528,747.453125528,724,691,675,643,888,789,819,657.546874472,633,657,0.400996697821,0.00458115937853,0.0498588233044,0.999999966213,9.11162300456e-05,-0.000241317197874,-3.22017841511e-05,1793251873600555520
+95,1.583333333,BASELINE,770,747,724,691,675,643,888,789,819,657.877625017,633,657,0.400997563938,0.00458169739824,0.0498592598618,0.999999966368,9.08643144893e-05,-0.000240753972924,-3.23335988209e-05,1793251873617222144
+96,1.600000000,BASELINE,770,747,724,691,675,643,888,789,819,657.284122206,633,657,0.400996804833,0.00458098718601,0.0498592018077,0.999999966191,9.14707851718e-05,-0.000241289671312,-3.21056986368e-05,1793251873633888768
+97,1.616666667,BASELINE,770,747,724.301484941,691,674.698515059,643,888.301484941,788.698515059,819.301484941,657,633,656.698515059,0.40099648434,0.00458118783583,0.0498591761234,0.999999966122,9.1978735561e-05,-0.000241365628176,-3.22123077919e-05,1793251873650555136
+98,1.633333333,BASELINE,770,747,724.879841005,691,674.120158995,643,888.879841005,788.120158995,819.879841005,657,633,656.120158995,0.400996566649,0.00458222498317,0.0498591801662,0.999999966154,9.2396209009e-05,-0.000241019377674,-3.26261163065e-05,1793251873667221760
+99,1.650000000,BASELINE,770.456256645,747,724.543743355,691,674.456256645,643,888.543743355,788,819.543743355,657,633,656.456256645,0.400996145248,0.00458195653169,0.0498588118647,0.999999966093,9.22796840455e-05,-0.000241315216891,-3.26414348252e-05,1793251873683888896
+100,1.666666667,BASELINE,770.967182995,747,724,691,674.967182995,643,888,788,819.032817005,657.032817005,633.032817005,657,0.400995671253,0.00458142018939,0.0498584090418,0.999999966006,9.21902500111e-05,-0.000241719606056,-3.25640192663e-05,1793251873700556032
+101,1.683333333,BASELINE,770.379573273,747,724,691,674.379573273,643,888,788,819.620426727,657.620426727,633.620426727,657,0.400996541261,0.00458214320603,0.0498590733597,0.999999965893,9.49262279866e-05,-0.000241112469362,-3.26855350178e-05,1793251873717222656
+102,1.700000000,BASELINE,770,747,724.205204013,691,674.205204013,642.794795987,888,788.205204013,819.794795987,658,633.794795987,657,0.400996540263,0.00458275859028,0.0498592579142,0.999999965731,9.63745770691e-05,-0.000241209416194,-3.26907275349e-05,1793251873733889024
+103,1.716666667,BASELINE,770,747,724.784813307,691,674.784813307,642.215186693,888,788.784813307,819.215186693,658,633.215186693,657,0.400994950069,0.00458317759365,0.0498585671157,0.99999996549,9.5473580671e-05,-0.000242590999726,-3.24836823118e-05,1793251873750555392
+104,1.733333333,BASELINE,770,747,725,691,674.636871235,642,888,789,819.363128765,657.636871235,633,657,0.400994498882,0.00458284143327,0.0498579950748,0.999999965461,9.40671535361e-05,-0.000243247148644,-3.25486708876e-05,1793251873767221760
+105,1.750000000,BASELINE,770,747,725,691,674.059319715,642,888,789,819.940680285,657.059319715,633,657,0.400994720263,0.00458205935868,0.0498574931585,0.999999965558,9.23622761198e-05,-0.000243474938105,-3.27742918202e-05,1793251873783888384
+106,1.766666667,BASELINE,770,747.512974948,724.487025052,691,674.512974948,642,888,788.487025052,819.487025052,657,633,656.487025052,0.400995930129,0.00458181515927,0.0498584705061,0.999999965982,9.29264446935e-05,-0.000241564975787,-3.23599949083e-05,1793251873800555264
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,748,724,691,674,642,888,788,819,657,633,656,0.400997392162,0.00458039629622,0.0498601633883,0.999999966511,9.19905828842e-05,-0.000239689671812,-3.2635378767e-05,1793251873845017344
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747.376437082,724,691,674.623562918,642,888,788.623562918,819.623562918,657,633,656.623562918,0.400996881188,0.00458196785884,0.0498596002822,0.999999966411,9.30314878642e-05,-0.000239719155885,-3.25314235979e-05,1793251873861683968
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,789,820,657,633,657,0.400996482898,0.00458246067123,0.0498594356772,0.999999966403,9.3185187566e-05,-0.000239696321299,-3.24932153707e-05,1793251873878350336
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,789,820,657,633,657,0.400996256254,0.00458131026557,0.0498598780933,0.999999966537,9.19874421275e-05,-0.000239593791737,-3.25551568878e-05,1793251873895016960
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747.376434959,724,691,675,642.376434959,888,789,819.623565041,657.376434959,633,657,0.400995977128,0.0045804014164,0.0498593877437,0.999999966461,9.07347928726e-05,-0.000240393625087,-3.24824802895e-05,1793251873911683840
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747.949003862,724,691,675,642.949003862,888,789,819.050996138,657.949003862,633,657,0.400995670657,0.00457961842551,0.0498584113951,0.999999966275,8.94535371483e-05,-0.000241663616678,-3.23396635976e-05,1793251873928350464
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747.458220479,724,690.458220479,674.458220479,643,888,789,819.541779521,658,633,656.458220479,0.400995782765,0.00458090542342,0.0498583491324,0.999999966309,9.07982681356e-05,-0.000241001999257,-3.24862611488e-05,1793251873945016832
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747,724,690.132219008,674.132219008,642.867780992,888,789,820,657.867780992,633,656.132219008,0.400996048268,0.00458225636642,0.0498585978569,0.999999966304,9.26591189901e-05,-0.000240296031802,-3.26251267274e-05,1793251873961683200
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,724,690.70818714,674.70818714,642.29181286,888,789,820,657.29181286,633,656.70818714,0.400996691235,0.004583142663,0.0498595903536,0.9999999661,9.53904496441e-05,-0.000240075066386,-3.26430726233e-05,1793251873978350080
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747.284593209,724,691.284593209,675,642,888.284593209,789,819.715406791,657,633,656.715406791,0.400998555456,0.00458246056339,0.0498606345504,0.9999999664,9.45610025248e-05,-0.000239176052055,-3.24462241261e-05,1793251873995016704
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747.861448983,724,691.861448983,675,642,888.861448983,789,819.138551017,657,633,656.138551017,0.401001673842,0.00458016780163,0.0498617318404,0.999999967208,9.00748199063e-05,-0.000237580716434,-3.20287928515e-05,1793251874011683328
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,748,724,691.552776569,674.552776569,642.447223431,888.552776569,789,819,657,633,656.447223431,0.401015369337,0.00458032779908,0.0498660047656,0.999999969201,9.07987997654e-05,-0.000228733698828,-3.2165267692e-05,1793251874028349952
+119,1.983333333,POSE1_TO_POSE2_PRESS,770.035457631,748,724,691,674,643,888,788.964542369,819.035457631,657,632.964542369,657,0.401034487766,0.00458116760593,0.0498720532623,0.999999971812,9.296914524e-05,-0.000216058621773,-3.24380386999e-05,1793251874045016832
+120,2.000000000,POSE1_TO_POSE2_PRESS,770.618142867,748,724,691,674,643,888,788.381857133,819.618142867,657,632.381857133,657,0.401085698754,0.00458053316394,0.0498900121162,0.999999979106,9.2043555966e-05,-0.000179681818041,-3.21120412591e-05,1793251874061683456
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.802060514,748,724,691,674.197939486,643,888,788.197939486,820,657,632.197939486,656.802060514,0.401144238713,0.00457995935758,0.0499080748567,0.999999984831,9.07884568247e-05,-0.000145238488072,-3.16380424948e-05,1793251874078350080
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.227756249,748,724,691,674.772243751,643,888,788.772243751,820,657,632.772243751,656.227756249,0.401216714085,0.0045795008445,0.0499263351318,0.999999989019,8.89068231972e-05,-0.000114471484849,-3.08826320292e-05,1793251874095016960
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747.654281618,724,691,675,643,888,788.654281618,819.654281618,657.345718382,633.345718382,656.345718382,0.401292347688,0.004578653604,0.0499380031557,0.999999990927,8.87422107133e-05,-9.68373458434e-05,-2.98853968735e-05,1793251874111683584
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747.08135227,724,691,675,643,888,788.08135227,819.08135227,657.91864773,633.91864773,656.91864773,0.401370056922,0.0045775508864,0.0499453386588,0.999999991706,8.9706048738e-05,-8.78343111699e-05,-2.87292311989e-05,1793251874128350208
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,724,691.509505538,674.490494462,643,888,788.509505538,819.509505538,657.490494462,633.490494462,657,0.401460865603,0.00457661260375,0.0499472031548,0.999999992424,8.50443322038e-05,-8.43896670836e-05,-2.82602424686e-05,1793251874145017088
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747.100610273,724,691.899389727,674.100610273,643,888.100610273,789,819.899389727,657,633,657,0.401558073512,0.00457576345145,0.0499474533803,0.999999992905,8.06147107183e-05,-8.31773063153e-05,-2.77857126595e-05,1793251874161683712
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747.678803096,724,691.321196904,674.678803096,643,888.678803096,789,819.321196904,657,633,657,0.401675367118,0.00457520821323,0.0499443387473,0.999999992415,8.17060708226e-05,-8.81947769513e-05,-2.67450554528e-05,1793251874178350080
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747.744094325,724,691,674.744094325,642.744094325,888.744094325,789,819,657,633,656.744094325,0.401806896673,0.0045740507846,0.0499440032568,0.999999992378,8.09763301297e-05,-8.96297841201e-05,-2.55448838383e-05,1793251874195016960
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747.168354391,724,691,674.168354391,642.168354391,888.168354391,789,819,657,633,656.168354391,0.401956218494,0.00457214073057,0.0499471411754,0.99999999292,7.79705537702e-05,-8.65873812344e-05,-2.414534911e-05,1793251874211683584
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,724,691,674.415871215,642.415871215,888,789,819,657,633,656.415871215,0.402119621835,0.00457044436832,0.0499479177737,0.999999993008,7.62637192058e-05,-8.74149528603e-05,-2.29496949942e-05,1793251874228350464
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888.003545686,788.996454314,819,657,633,656.996454314,0.402289084022,0.00456883256251,0.0499477109349,0.999999992907,7.50682102902e-05,-8.98516610596e-05,-2.18355524624e-05,1793251874245016832
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888.581829002,788.418170998,819,657,633,656.418170998,0.402497378079,0.00456661245221,0.049946270848,0.999999992955,6.97442531692e-05,-9.38845841814e-05,-2.02767604155e-05,1793251874261683456
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.159797925,747,724,691,675,643,888.840202075,788.159797925,819,657,633.159797925,656.159797925,0.402717017791,0.00456469893668,0.049944929892,0.999999992895,6.51831996068e-05,-9.80455387506e-05,-1.86509943217e-05,1793251874278350336
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.736945866,747,724,691,675,643,888.263054134,788.736945866,819,657,633.736945866,656.736945866,0.402966289407,0.00456358616534,0.0499438478394,0.99999999264,6.26146476876e-05,-0.000102540878561,-1.68503093536e-05,1793251874295016960
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.686886812,747,724,691,675,643,888.313113188,789,819.313113188,657,633.686886812,657,0.403243470875,0.0045610231928,0.0499487133591,0.999999993679,5.95420522036e-05,-9.42500702883e-05,-1.46023793517e-05,1793251874311683584
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.111540795,747,724,691,675,643,888.888459205,789,819.888459205,657,633.111540795,657,0.403544026877,0.00455724567436,0.0499585599808,0.999999995526,5.60473195121e-05,-7.52508408867e-05,-1.19798809746e-05,1793251874328350208
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,889.47515547,788.52484453,819.52484453,657.47515547,633,657,0.403867749178,0.00455477392337,0.0499666068185,0.999999996863,5.18489975538e-05,-5.90337999977e-05,-1.00752034039e-05,1793251874345016832
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747.063515366,724,691,674.936484634,643,890,788,819,658,633,657,0.404202914809,0.00455218413836,0.0499742297711,0.999999997907,4.7264916628e-05,-4.34108140801e-05,-8.17131450477e-06,1793251874361683456
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747.643212079,724,691,674.356787921,643,890,788,819,658,633,657,0.404585801881,0.00454608306594,0.0499819254262,0.999999998782,4.09209418237e-05,-2.71780257135e-05,-4.87089963911e-06,1793251874378350080
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747.778753187,724,691.221246813,674.221246813,643,890,788.221246813,819.221246813,657.778753187,633,657,0.404983021151,0.00454128644238,0.0499855361579,0.999999999178,3.59204065481e-05,-1.8728321647e-05,-1.8162227837e-06,1793251874395016704
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747.203378673,724,691.796621327,674.796621327,643,890,788.796621327,819.796621327,657.203378673,633,657,0.405403180502,0.00453857772056,0.0499826085598,0.999999999194,3.30701815286e-05,-2.2736225743e-05,8.4512543502e-07,1793251874411683328
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.3785618,747.3785618,724,691.6214382,675,643,889.6214382,789.3785618,820,657,633,657,0.405812184279,0.00453451660498,0.0499670512551,0.999999998226,2.84060339755e-05,-5.22255584602e-05,3.65141125761e-06,1793251874428349952
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.964092087,747.964092087,724,691.035907913,675,643,889.035907913,789.964092087,820,657,633,657,0.406215089085,0.00452971610421,0.0499445889975,0.999999995146,2.2750172731e-05,-9.56461775555e-05,6.53693806029e-06,1793251874445016576
+144,2.400000000,POSE1_TO_POSE2_PRESS,770.45716829,747.45716829,724,691.54283171,675,643,889,789.45716829,819.45716829,657,633,657,0.406687443947,0.00452432932328,0.0499304828357,0.99999999302,1.59229143054e-05,-0.00011670489558,9.29243304557e-06,1793251874461683456
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747.121323392,724,692,675,643,889,789,819.121323392,657,633,657,0.407180688928,0.00451891487516,0.0499210730924,0.999999991509,9.17865708305e-06,-0.000129412157445,1.2244917129e-05,1793251874478350080
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747.700553886,724,692,675,643,889,789,819.700553886,657,633,657,0.407735653945,0.00451354056723,0.049927328441,0.999999993127,3.03651037196e-06,-0.000116112791312,1.59729551274e-05,1793251874495017472
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747.722125747,724,691.722125747,674.722125747,642.722125747,889.277874253,789,820,657,633,657,0.408329707621,0.00450702649722,0.0499450663126,0.99999999643,-5.30196004185e-06,-8.19576557313e-05,1.987520497e-05,1793251874511684608
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747.146849772,724,691.146849772,674.146849772,642.146849772,889.853150228,789,820,657,633,657,0.408965596859,0.00449929256927,0.0499750936351,0.99999999926,-1.59910992809e-05,-2.54811230122e-05,2.39639090361e-05,1793251874528350976
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,724.43746352,691.43746352,674.43746352,642.43746352,890,789.43746352,820,657,633,657,0.409586531852,0.00449401289302,0.0499904645235,0.999999999334,-2.30923890108e-05,-4.2873481217e-06,2.79286876168e-05,1793251874545017344
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,890.024641687,789.975358313,820,657,633,657,0.410202676405,0.00448950941544,0.0499996422781,0.999999999228,-2.2830183451e-05,2.76046184309e-06,3.18698518394e-05,1793251874561683968
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,725,692,675,643,890.606555186,789.393444814,820,657,633,657,0.410826405392,0.00448353518189,0.04998237378,0.999999991929,0.000116145750152,-3.66033335557e-05,3.62376046265e-05,1793251874578350848
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725,692,674.814165125,643,891,789,820,657,633,657,0.411466352213,0.00447754709257,0.0499623685596,0.999999975124,0.000205538845906,-7.67319727218e-05,4.02264681951e-05,1793251874595017728
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,692,674.240383816,643,891,789,820,657,633,657,0.412140155093,0.00447153007889,0.0499366501962,0.99999997372,0.000191423450228,-0.000118457286039,4.3424368363e-05,1793251874611684096
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747.33494403,725,692,674.33494403,643,891,789,820,657,633.33494403,657,0.412899819818,0.00446429575358,0.0499454899073,0.999999980016,0.000170080198057,-9.44011325046e-05,4.61525184032e-05,1793251874628350720
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747.911387008,725,692,674.911387008,643,891,789,820,657,633.911387008,657,0.413721392107,0.00445618373033,0.0499792464313,0.999999988259,0.00014352556645,-2.29157004575e-05,4.85419727321e-05,1793251874645017344
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747.502063977,725,692,675,643,891.497936023,789.497936023,820,657,633.502063977,657.497936023,0.414476520979,0.00444283040013,0.0499786684075,0.999999998913,1.64131653989e-05,-3.3017622604e-05,2.85220415476e-05,1793251874661683712
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747,724.914927658,692,674.914927658,643,892.085072342,789.914927658,820.085072342,657.085072342,633,657.914927658,0.415225349928,0.00443422532,0.0499692938605,0.999999992932,-0.000102728324186,-5.92485392871e-05,8.47491195892e-06,1793251874678350080
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747,724.335052293,692,674.335052293,643,892.664947707,789.335052293,820.664947707,657.664947707,633,657.335052293,0.416007735188,0.00445877478387,0.0499450311574,0.999999993196,-6.92688567135e-05,-9.30922197072e-05,1.19452815527e-05,1793251874695016960
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,747.242943406,724.242943406,692.242943406,674.242943406,643,893,789,821.242943406,657.757056594,633.242943406,657,0.416824201408,0.00447944317031,0.0499385636125,0.9999999946,-3.44458167755e-05,-9.6930311577e-05,1.47387741569e-05,1793251874711683840
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,747.818366655,724.818366655,692.818366655,674.818366655,643,893,789,821.818366655,657.181633345,633.818366655,657,0.417687309027,0.00449480011244,0.0499564496064,0.999999998077,2.24333618797e-06,-5.97042971816e-05,1.66059275429e-05,1793251874728350720
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,747.606683386,725,692.606683386,675,643,893.393316614,789,822,657,634,657.393316614,0.41856336807,0.0044901365685,0.0499700781454,0.999999998797,1.94742576824e-05,-4.036054088e-05,1.99576123475e-05,1793251874745017600
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,747.031951745,725,692.031951745,675,643,893.968048255,789,822,657,634,657.968048255,0.419445400859,0.00447623868999,0.0499817429574,0.999999998899,2.77301807464e-05,-2.92648744033e-05,2.39940286955e-05,1793251874761684224
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,747,725,692,674.442824003,643,894.557175997,789,822.557175997,657,634,657.442824003,0.420293709799,0.00447426122143,0.049960522578,0.999999998024,1.06576101777e-05,-5.73499851454e-05,2.34525485732e-05,1793251874778350592
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,725,692.144399837,674.144399837,643,895.144399837,789,823,657,633.855600163,657,0.421171399875,0.00447232438553,0.0499512397703,0.999999997687,-7.07720916679e-06,-6.36588595659e-05,2.28655350764e-05,1793251874795017216
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,725,692.723343874,674.723343874,643,895.723343874,789,823,657,633.276656126,657,0.422143480938,0.00446839814052,0.049983706418,0.999999999484,-2.23180273719e-05,2.50459265986e-06,2.29524662271e-05,1793251874811683840
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,747,725,693.299723201,675,643,896,788.700276799,823.299723201,657,633.299723201,657,0.423084135253,0.00446923090504,0.0499957320071,0.999999999321,-1.48824085638e-05,2.41444378448e-05,2.35321273888e-05,1793251874828350464
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,747,725,693.873755351,675,643,896,788.126244649,823.873755351,657,633.873755351,657,0.423996027679,0.00447441915076,0.0499890497878,0.999999999597,1.33068558013e-05,5.03594736815e-06,2.45627388594e-05,1793251874845017344
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.540589717,747,725,693.540589717,674.540589717,643,896.459410283,788.459410283,824.459410283,657,633.540589717,657,0.424946048821,0.00447982541287,0.0499886888122,0.999999999574,1.39278763472e-05,6.73241925325e-06,2.47465580351e-05,1793251874861683968
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,693.047602904,674.047602904,643,897.047602904,788.952397096,825,657,633.047602904,657.047602904,0.425906869085,0.00448421957797,0.0499911717262,0.999999999569,6.64787489945e-06,1.39598552772e-05,2.49501000228e-05,1793251874878350848
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725,693.627530649,674.627530649,643,897.627530649,788.372469351,825,657,633.627530649,657.627530649,0.426868243604,0.00447660851519,0.050005527697,0.999999999452,-2.07146794827e-06,1.7445872415e-05,2.80438867329e-05,1793251874895017472
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,724.793771782,693.793771782,674.587543564,643,898,788,825,657,633.793771782,657.793771782,0.427802178909,0.00446947526869,0.0499988215181,0.999999999495,-1.23176936147e-06,-8.80531582355e-06,3.05034163587e-05,1793251874911683840
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,724.2172829,693.2172829,673.4345658,643,898,788,825,657,633.2172829,657.2172829,0.428686849988,0.00446319989056,0.0499543005056,0.999999995442,1.67701642817e-05,-8.8446469819e-05,3.18242050425e-05,1793251874928350464
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,724,693.357507825,673,643,898,788,825.357507825,657,633.357507825,657.357507825,0.429647648016,0.00446125574174,0.0499439628191,0.999999994781,1.17166994885e-05,-9.65654816914e-05,3.12344841585e-05,1793251874945016832
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,724,693.931271317,673,643,898,788,825.931271317,657,633.931271317,657.931271317,0.43065449503,0.00446193154388,0.0499543025501,0.999999997652,-7.28292380494e-06,-6.14209103377e-05,2.94891003985e-05,1793251874961683456
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.522764512,747,724,693.477235488,674.045529025,643,898,788,826,657,634,658,0.431610257222,0.00446980585006,0.0499434633532,0.999999996201,-2.8444844102e-06,-8.22322157481e-05,2.87691338358e-05,1793251874978350336
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,747,724,693.112598615,674.887401385,643,898,788,826,657,634,658,0.432562974906,0.00447621411448,0.0499342790079,0.999999994567,2.29417640178e-06,-0.000100258644992,2.8447605946e-05,1793251874995017216
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,747,724,693.685776734,674.314223266,643,898,788,826,657,634,658,0.433531675666,0.00447261849629,0.0499436531761,0.999999996702,-2.74992060507e-06,-7.57453844254e-05,2.91850670702e-05,1793251875011683840
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.739304855,747.260695145,724.260695145,694,674,643,898,788,826.260695145,657,634,658,0.434494333704,0.00446852527998,0.0499594050359,0.999999998263,-1.47365079965e-06,-5.04643010363e-05,3.0422828179e-05,1793251875028350464
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.162274647,747.837725353,724.837725353,694,674,643,898,788,826.837725353,657,634,658,0.435449659456,0.00446382826317,0.0499828957732,0.999999999157,7.47193503799e-06,-2.42515158821e-05,3.22676679215e-05,1793251875045017088
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,748,725,694.425454931,674,643,898.425454931,788,827,657,634,658,0.436361497486,0.00446260459663,0.0499669268472,0.999999996966,9.45292249699e-06,-6.94469319202e-05,3.39843686612e-05,1793251875061683712
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.016979202,748,724.983020798,695,674,643,899,787.983020798,827,657,634,657.983020798,0.437258674227,0.00446280868492,0.0499371008205,0.999999989738,8.41056464024e-06,-0.000138521168555,3.5559520062e-05,1793251875078350336
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.595556354,748,724.404443646,695,674,643,899,787.404443646,827,657,634,657.404443646,0.438233694372,0.00446528816843,0.0499595884332,0.999999996728,-2.50223945939e-06,-7.33117057261e-05,3.41110874447e-05,1793251875095016704
+183,3.050000000,POSE1_TO_POSE2_PRESS,769.826562129,747.826562129,724.173437871,694.826562129,674.173437871,643,899,787,827.173437871,657,634,657,0.439181949988,0.00446760523705,0.0499739730181,0.999999998896,-8.78346909375e-06,-3.1629543183e-05,3.36290668916e-05,1793251875111683584
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.250296333,747.250296333,724.749703667,694.250296333,674.749703667,643,899,787,827.749703667,657,634,657,0.440068042073,0.00446954507962,0.0499695374566,0.99999999837,-4.30737315113e-06,-4.45920456703e-05,3.53916416546e-05,1793251875128350464
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.323392995,747,724.676607005,694.323392995,674.35321401,643,899.323392995,787,827.676607005,657,634,657,0.440941235757,0.00446809083765,0.049966446231,0.999999998132,5.36037435039e-06,-4.95038920384e-05,3.54371584033e-05,1793251875145017088
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.895103951,747,724.104896049,694.895103951,673.209792098,643,899.895103951,787,827.104896049,657,634,657,0.441804525337,0.00446403044098,0.0499643872566,0.999999998072,1.90145417187e-05,-4.82340253413e-05,3.41642286252e-05,1793251875161683712
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,724,694.514696446,673.485303554,643,900,787,827.485303554,657,633.514696446,657,0.442698321431,0.00446112058653,0.0499878266018,0.999999999425,3.22354482401e-06,-7.0142421508e-06,3.30166048555e-05,1793251875178350336
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.922365634,747,724,694.077634366,674,643,900,787,828,657,633.077634366,657.077634366,0.443580526596,0.00445911612953,0.0500091400478,0.999999998965,-1.51403787079e-05,2.83108257303e-05,3.22476927446e-05,1793251875195017216
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.343108346,747,724,694.656891654,674,643,900,787,828,657,633.656891654,657.656891654,0.444343545754,0.00446129128855,0.0499796961973,0.999999998877,-7.37733500969e-06,-3.24553852071e-05,3.37438385243e-05,1793251875211683840
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747.233905824,724.233905824,695,673.766094176,643,900,787,828,657,634,657.766094176,0.445114812434,0.00446283885784,0.0499546909244,0.999999996982,1.49734395172e-06,-6.97098184556e-05,3.42793142432e-05,1793251875228350208
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747.807660981,724.807660981,695,673.192339019,643,900,787,828,657,634,657.192339019,0.445898062317,0.00446347458204,0.0499361346002,0.99999999672,1.19871548369e-05,-7.28032389717e-05,3.34190017407e-05,1793251875245016832
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747.609039002,725,695,673.781921996,643,900.390960998,787,828,657,634,657.390960998,0.446670077873,0.00446132796535,0.0499437742124,0.999999998181,1.2048896019e-05,-4.81312932309e-05,3.42832802304e-05,1793251875261683712
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747.020925775,725,695,674.95814845,643,900.979074225,787,828,657,634,657.979074225,0.447436428181,0.00445777828101,0.0499646238064,0.999999999283,6.85201180383e-06,-9.457940807e-06,3.60172284897e-05,1793251875278350336
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747,725,695.558006392,674.441993608,643,900.441993608,787,828,657,634,658,0.448146156397,0.00446189945023,0.0499481713841,0.999999998485,1.14000778488e-05,-3.88951045237e-05,3.72339326032e-05,1793251875295017216
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,747,724.864156975,695.864156975,674,643,900,787,828,657,633.864156975,658,0.448846553107,0.00446550610299,0.0499349288857,0.999999997194,1.58419848663e-05,-6.23075499955e-05,3.84506359233e-05,1793251875311684352
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,724.288769166,695.288769166,674,643,900,787,828,657,633.288769166,658,0.449523515378,0.00446653222043,0.0499365256835,0.999999997347,1.87770717411e-05,-5.80950933982e-05,3.97290837816e-05,1793251875328351488
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.287136,747.287136,724.287136,695,674,643,900.287136,787,828,657,633.287136,658,0.450191596663,0.00446817485946,0.0499498029305,0.999999998063,2.19893250191e-05,-4.09383355986e-05,4.13987927443e-05,1793251875345018368
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.863562371,747.863562371,724.863562371,695,674,643,900.863562371,787,828,657,633.863562371,658,0.450850730287,0.00447043864576,0.0499748482648,0.999999998673,2.54808240773e-05,-1.07401562209e-05,4.34626983234e-05,1793251875361684992
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.549991947,747.549991947,724.549991947,695,674.450008053,643,900.549991947,787,828,657,634,658,0.451447961715,0.004466210025,0.0499876107119,0.999999998562,2.60939323477e-05,-3.62401833317e-06,4.6702372263e-05,1793251875378351104
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.038819314,747.038819314,724.038819314,695,674.961180686,643,900.038819314,787.038819314,828.038819314,657,634,658,0.452022260994,0.00446040724286,0.0499939508416,0.999999998384,2.57598438826e-05,-7.55983071693e-06,5.01112941996e-05,1793251875395017472
+201,3.350000000,POSE1_TO_POSE2_PRESS,769.617323426,747.617323426,724.617323426,695,674.382676574,643,900.617323426,787.617323426,828.617323426,657,634,658,0.452544610452,0.00446070892978,0.0499639571795,0.999999996251,2.4666310442e-05,-6.56369146108e-05,5.08043611943e-05,1793251875411683840
+202,3.366666667,POSE1_TO_POSE2_PRESS,769.804937671,748,725,695,674,643,901,787.804937671,829,657,634,658,0.453065665391,0.0044588988586,0.0499449273138,0.999999993651,2.12638864307e-05,-9.80573243534e-05,5.1298740499e-05,1793251875428350720
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.228693996,748,725,695,674,643,901,787.228693996,829,657,634,658,0.453584190735,0.00445296209218,0.0499473223622,0.999999995362,1.33495403579e-05,-8.03407162e-05,5.1404854343e-05,1793251875445017600
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,748,725,694.654881322,674.345118678,643,901,787,828.654881322,657,634,657.654881322,0.4540826487,0.00444893585201,0.0499566597722,0.999999997,8.30781984457e-06,-5.70279639724e-05,5.17607906113e-05,1793251875461684224
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,748,725,694.082668325,674.917331675,643,901,787,828.082668325,657,634,657.082668325,0.454567901938,0.00444616677296,0.0499705653815,0.999999998169,5.15633926087e-06,-3.00328489942e-05,5.22811145152e-05,1793251875478350848
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,747.492740805,725,694,674.492740805,643,901,787.507259195,828.507259195,657,634,657.507259195,0.454979493561,0.00444425884473,0.0499650965326,0.99999999781,-1.63837332558e-06,-4.0937508681e-05,5.19703757986e-05,1793251875495017472
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.097573953,747.097573953,725,694,674,643,901,787.902426047,829,657.097573953,634,657.902426047,0.455368349929,0.00444231681095,0.0499516005667,0.999999996469,-1.95088427827e-05,-6.60913477923e-05,4.81003611516e-05,1793251875511683840
+208,3.466666667,POSE1_TO_POSE2_PRESS,769.67507969,747.67507969,725,694,674,643,901,787.32492031,829,657.67507969,634,657.32492031,0.455706563012,0.0044394917514,0.0499147144925,0.999999987248,-8.88309735627e-05,-0.000129852274999,2.7413807392e-05,1793251875528350208
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.748497716,748,725,694,674,643,901,787,828.748497716,657.748497716,634,657.251502284,0.456034068002,0.00443746946459,0.0498858696761,0.999999979614,-9.79956187509e-05,-0.000175805432278,1.61678064521e-05,1793251875545016832
+210,3.500000000,POSE1_TO_POSE2_PRESS,769.173468497,748,725,694,674,643,901,787,828.173468497,657.173468497,634,657.826531503,0.456347798311,0.00443647984697,0.0498673689575,0.99999997964,-2.977500989e-05,-0.00019885106683,1.70659240912e-05,1793251875561683456
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,724.588315821,693.588315821,673.588315821,643,901,787,828.411684179,657,634,658,0.45664620135,0.00444119522957,0.0498626072593,0.999999978892,-5.24366826598e-06,-0.00020455522442,1.85788115769e-05,1793251875578350336
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,724.001184916,693.001184916,673.001184916,643,901,787,828.998815084,657,634,658,0.456937947949,0.00444840447896,0.049863799081,0.999999979242,4.43937201706e-07,-0.000202734468838,2.03539952591e-05,1793251875595017216
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,724.5784436,693.5784436,673.5784436,643,901,787,828.4215564,657,634,658,0.457212531238,0.00446990114962,0.0498739652816,0.99999998255,2.04264466622e-05,-0.000184557451273,2.05365858913e-05,1793251875611683840
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673.843653929,642.843653929,901,787,828,657,634,658,0.457475139838,0.00448784652718,0.0498824219389,0.999999984577,3.69632791086e-05,-0.000170439531026,2.07177611579e-05,1793251875628350720
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673.26400831,642.26400831,901,787,828,657,634,658,0.457705327597,0.00449617695236,0.0498862500915,0.99999998481,4.41711094497e-05,-0.00016731141992,2.08951044645e-05,1793251875645017600
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,747.687687337,725,693.687687337,673,642,901,787,828.312312663,657,634,657.687687337,0.457908214728,0.004495773974,0.0498822583934,0.99999998406,4.1386984958e-05,-0.000172312476671,2.17922778312e-05,1793251875661684224
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,747.11414723,725,693.11414723,673,642,901,787,828.88585277,657,634,657.11414723,0.458088266804,0.00448806612104,0.0498717259433,0.999999982323,3.02452968301e-05,-0.000184113007284,2.32915380946e-05,1793251875678350592
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,747.472629782,725,693.472629782,673.472629782,642,901.472629782,787,829,657,634,657,0.45824428229,0.00448594934248,0.0498662807928,0.999999981108,2.57089321368e-05,-0.000191180705509,2.39412004894e-05,1793251875695016960
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,747.93831584,725,694,673.93831584,642,902,787,829,656.93831584,634,657.06168416,0.458392120166,0.00448515548151,0.0498625760599,0.999999980127,2.30558445783e-05,-0.00019651720755,2.44165417657e-05,1793251875711683328
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,747.357771087,725,694,673.357771087,642,902,787,829,656.357771087,634,657.642228913,0.458521409356,0.00448380376872,0.0498628782246,0.99999997999,2.24385699939e-05,-0.000197183523046,2.52012769472e-05,1793251875728350208
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,747,725,693.779661236,673.220338764,642,902,787,829,656.220338764,634,658,0.458640449218,0.00448285546425,0.049862905007,0.999999979899,2.13700259068e-05,-0.000197708132064,2.56233688376e-05,1793251875745017088
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747,725,693.205461856,673.794538144,642,902,787,829,656.794538144,634,658,0.458743028806,0.00448255502736,0.0498624895296,0.999999979881,1.95767501008e-05,-0.000198005162628,2.54630611868e-05,1793251875761684224
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747.36768183,725,693.36768183,673.63231817,642,902,787,829,657,633.63231817,658,0.458828731738,0.00448285905847,0.049861940688,0.999999979471,2.00130692149e-05,-0.000199962404805,2.59424514219e-05,1793251875778350848
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747.940237333,725,693.940237333,673.059762667,642,902,787,829,657,633.059762667,658,0.458905030946,0.00448349990135,0.0498613175352,0.999999978833,2.16917266768e-05,-0.000202844723046,2.67782836642e-05,1793251875795017728
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.465691035,787,829,657,633.534308965,658,0.45896258693,0.00448390317684,0.0498584280142,0.999999977957,2.31653735937e-05,-0.000206963463756,2.67561328378e-05,1793251875811684096
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.12651447,787,829,657,634,658,0.459014379479,0.00448450689926,0.0498553761578,0.999999977005,2.42198155577e-05,-0.000211415059047,2.65976410964e-05,1793251875828350464
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.703158844,787,829,657,634,658,0.459053438079,0.00448592230658,0.04985268648,0.999999975925,2.38677635343e-05,-0.000216538242227,2.63098235613e-05,1793251875845017088
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673.277437619,642,902,787,828.722562381,657,634,658,0.459085116101,0.00448721518511,0.0498492149884,0.999999974517,2.62082437324e-05,-0.000222674739599,2.63518512806e-05,1793251875861683712
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673.849206713,642,902,787,828.150793287,657,634,658,0.459108964121,0.00448837807369,0.0498449140768,0.999999972725,3.1405211055e-05,-0.000229886254031,2.67438093561e-05,1793251875878350336
+230,3.833333333,POSE1_TO_POSE2_PRESS,768.575702931,747.575702931,725,694,673.575702931,641.575702931,901.575702931,787,828.424297069,657.424297069,633.575702931,658,0.459128923968,0.00448857431082,0.0498432198184,0.999999972167,3.20621183655e-05,-0.000232190306353,2.69313534809e-05,1793251875895016960
+231,3.850000000,POSE1_TO_POSE2_PRESS,768.000595966,747.000595966,725,693.999404034,673.000595966,641.000595966,901,787,829,657.999404034,633,658,0.459147482614,0.00448842392337,0.0498424589689,0.999999972067,3.10903188147e-05,-0.000232738539557,2.70448594682e-05,1793251875911683584
+232,3.866666667,POSE1_TO_POSE2_PRESS,768.595729146,747.595729146,725,693.404270854,673.595729146,641.595729146,901,787,829,657.404270854,633,658,0.459157603909,0.00448790382453,0.049841405949,0.999999971584,2.76643635092e-05,-0.000235312836556,2.6343146501e-05,1793251875928350208
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,748,725,693.184905779,673.815094221,642,901,787,829,657,633.184905779,658,0.45916724092,0.00448793602334,0.0498410174587,0.999999971368,2.59986374336e-05,-0.000236470523348,2.5894147907e-05,1793251875945016832
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,748,725,693.761465613,673.238534387,642,901,787,829,657,633.761465613,658,0.459175852153,0.00448913805922,0.0498420365269,0.999999971744,2.80613021002e-05,-0.000234627648487,2.59804307193e-05,1793251875961683712
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747.663019182,725,693.663019182,673,641.663019182,901,787,829,657,634,658,0.459179586644,0.00449047012211,0.0498417909214,0.999999971422,3.18805572036e-05,-0.000235477610965,2.6251429139e-05,1793251875978350080
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,747.088241082,725,693.088241082,673,641.088241082,901,787,829,657,634,658,0.459179879766,0.00449189394129,0.0498406528735,0.999999970586,3.69393858445e-05,-0.000238227828009,2.66527758458e-05,1793251875995016704
+237,3.950000000,POSE1_TO_POSE2_PRESS,768.499772259,747.500227741,725,693.500227741,673,641,901.500227741,787,828.499772259,657,634,657.499772259,0.459181629951,0.00449045706478,0.0498405762062,0.999999970494,3.44994342368e-05,-0.00023896662079,2.67538186538e-05,1793251876011683584
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.089113056,747.910886944,725,694,673,641,901.910886944,787,828,657,634,657.089113056,0.459183159285,0.00448908102288,0.0498403847543,0.999999970434,3.16646626042e-05,-0.000239611135231,2.67685578175e-05,1793251876028350208
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.666671541,747.333328459,725,694,673,641,901.333328459,787,828,657,634,657.666671541,0.459182029624,0.00449088224098,0.0498385090283,0.999999969845,3.41203367302e-05,-0.000241738447398,2.66087822983e-05,1793251876045016832
+240,4.000000000,POSE1_TO_POSE2_PRESS,768.757687083,747.242312917,725,694,673,641.242312917,901.242312917,787,828,657,634,658,0.459181033904,0.00449229034958,0.0498369737205,0.999999969358,3.51008073708e-05,-0.000243648698444,2.62136019101e-05,1793251876061683456
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.184662238,747.815337762,725,694,673,641.815337762,901.815337762,787,828,657,634,658,0.459180220985,0.00449316193692,0.0498359030199,0.999999969018,3.40679003097e-05,-0.000245262701428,2.54971378006e-05,1793251876078350080
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.38951103,748,725,694,673,641.61048897,902,787.38951103,828.38951103,657,634,657.61048897,0.4591817383,0.00449392079696,0.0498361388753,0.999999969242,3.49182701026e-05,-0.000244240894978,2.53495523037e-05,1793251876095017216
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.964230344,748,725,694,673,641.035769656,902,787.964230344,828.964230344,657,634,657.035769656,0.459184363616,0.00449462605635,0.049836995984,0.99999996973,3.66641177084e-05,-0.000241965789591,2.54724624571e-05,1793251876111684096
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673,641,902,787.442663299,828.442663299,657,634,657.557336701,0.459183876676,0.00449228960269,0.0498366899444,0.999999969417,3.42284341468e-05,-0.000243515872435,2.63627847591e-05,1793251876128350720
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,748,725,693.852585077,673,641.147414923,902,787,828.147414923,657,634,658,0.459183687825,0.00449102777741,0.0498365384896,0.999999969207,3.28783124681e-05,-0.000244507961203,2.68589708536e-05,1793251876145017344
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,748,725,693.274907061,673,641.725092939,902,787,828.725092939,657,634,658,0.459184971895,0.00449349171339,0.0498370635417,0.999999969474,3.55066617676e-05,-0.000243130430949,2.60561251265e-05,1793251876161683968
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747.699819664,725,693.300180336,673.300180336,641.699819664,902,787,829,657,634,658,0.45918635746,0.00449458451411,0.0498375387977,0.999999969699,3.70730070235e-05,-0.000241997422529,2.57969897368e-05,1793251876178350592
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,747.127084407,725,693.872915593,673.872915593,641.127084407,902,787,829,657,634,658,0.459187835179,0.00449443236459,0.0498379688402,0.99999996989,3.76750841271e-05,-0.000241086432592,2.60315272586e-05,1793251876195017216
+249,4.150000000,HOLD_POSE2,769,748,725,693,673,642,902,787,829,657,634,658,0.459184974946,0.00449287540331,0.0498360015327,0.999999969105,3.66566949502e-05,-0.000244444006818,2.63241920116e-05,1793251876226970368
+250,4.166666667,HOLD_POSE2,768.419749474,748,725,693.580250526,673,641.419749474,902,787.580250526,829,657,634,658,0.459185286035,0.00449308879333,0.0498363269139,0.999999968987,3.75062809741e-05,-0.000244799173223,2.63086778237e-05,1793251876243637248
+251,4.183333333,HOLD_POSE2,768.159190542,748,725,693.840809458,673,641.159190542,902,788,829,657,634,657.840809458,0.459185437681,0.00449355565677,0.0498364852945,0.999999968938,3.78870175088e-05,-0.000244966161821,2.60930000253e-05,1793251876260304128
+252,4.200000000,HOLD_POSE2,768.734703378,748,725,693.265296622,673,641.734703378,902,788,829,657,634,657.265296622,0.459185172345,0.00449468541542,0.0498362069279,0.999999969068,3.70415978727e-05,-0.0002446410194,2.53538453113e-05,1793251876276970496
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+256,4.266666667,HOLD_POSE2,769,748,725,693.062664637,673,641.062664637,902,787,829,657,634,658,0.459186752426,0.00449218229562,0.0498375644626,0.999999969156,3.68024070482e-05,-0.000244156114519,2.68607737965e-05,1793251876343638016
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+260,4.333333333,HOLD_POSE2,769,748,725,693,673,641.623919397,902,787.376080603,829,657,634,657.623919397,0.459184612393,0.00449585620373,0.0498341136814,0.999999968324,3.80335801015e-05,-0.000247470543643,2.57544512255e-05,1793251876410303744
+261,4.350000000,HOLD_POSE2,769,748,725,693,673,641.035018952,902,787.964981048,829,657,634,657.035018952,0.459186981389,0.00449405059264,0.0498349122292,0.999999968779,3.54038351102e-05,-0.000245938258653,2.65064143498e-05,1793251876426970112
+262,4.366666667,HOLD_POSE2,769,748,725,693.546696347,673,641.546696347,902,787.453303653,829,657,634,657.546696347,0.459187587693,0.00449518380773,0.0498354653829,0.999999968978,3.69881375625e-05,-0.00024493889321,2.60985037666e-05,1793251876443636480
+263,4.383333333,HOLD_POSE2,769,748,725,694,673,642,902,787,829,657,634,658,0.459187865051,0.00449663403607,0.0498359188181,0.99999996908,3.89426211653e-05,-0.000244262787003,2.56840306752e-05,1793251876460303104
+264,4.400000000,HOLD_POSE2,769,748,725,694,673,642,902,787,829,657,634,658,0.459187371882,0.00449854908093,0.0498360739524,0.999999968906,4.12646501141e-05,-0.000244612500215,2.55060981933e-05,1793251876476969728
+265,4.416666667,HOLD_POSE2,769,748,725,694,673,642,901.728630661,787,828.728630661,657,633.728630661,658,0.459187315151,0.00449873268787,0.0498359403509,0.999999968777,4.18806267821e-05,-0.000245013599775,2.56915554668e-05,1793251876493636352
+266,4.433333333,HOLD_POSE2,769,748,725,694,673,642,901.154881286,787,828.154881286,657,633.154881286,658,0.459187744732,0.00449698699695,0.0498354850184,0.999999968702,4.05955921276e-05,-0.000245471957834,2.62819288239e-05,1793251876510302976
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,641,902,787,829,657,634,658,0.459186846449,0.00449794542966,0.0498365249606,0.999999968429,4.23531268254e-05,-0.00024629260234,2.62275577686e-05,1793251876542871040
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,641,902,787,829,657,634,658,0.459187019691,0.00449878659604,0.049836172544,0.999999968445,4.24504749089e-05,-0.000246265470196,2.57346614849e-05,1793251876559537664
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,748.156110268,725,694,673.156110268,641.156110268,901.843889732,787.156110268,828.843889732,657,633.843889732,658,0.459187246521,0.00449982611667,0.0498360142428,0.999999968486,4.30994495305e-05,-0.000246026322787,2.53470434982e-05,1793251876576204288
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,748.741051488,725,694,673.741051488,641.741051488,901.258948512,787.741051488,828.258948512,657,633.258948512,658,0.459187620559,0.00450141051156,0.0498363891719,0.999999968594,4.52637283034e-05,-0.000245204774811,2.52486222161e-05,1793251876592870912
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,748.368433932,725,693.684216966,673.684216966,641.684216966,901.315783034,787.684216966,828.315783034,657.315783034,633.315783034,658,0.459188241643,0.00450116258529,0.0498369834062,0.999999968772,4.58571389405e-05,-0.000244351428554,2.53878789985e-05,1793251876609537536
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.235190778,725,693.117595389,673.117595389,641.117595389,901.882404611,787.117595389,828.882404611,657.882404611,633.882404611,658,0.459189058963,0.00449945917613,0.0498377518431,0.999999969008,4.52027487979e-05,-0.000243472823758,2.57159325652e-05,1793251876626204416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747.468276416,725,693.468276416,673,641.468276416,902,787,829,657.531723584,634,658,0.459187354865,0.00449986019689,0.0498361535373,0.999999968432,4.52781501574e-05,-0.000245827122649,2.56044603683e-05,1793251876642870784
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.94193397,673,642,901.94193397,787,829,657,634,658,0.459184991512,0.00450057854875,0.0498340366795,0.999999967682,4.53575604846e-05,-0.000248861873043,2.54088316649e-05,1793251876659537408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.362238305,673,642,901.362238305,787,829,657,634,658,0.459182637853,0.00449919660562,0.0498328296039,0.999999967367,4.37560353525e-05,-0.000250403467336,2.54912461309e-05,1793251876676204288
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,725,693.21564129,673,641.78435871,901,787.21564129,829,657,634,658,0.459176635077,0.00449863853971,0.049830185285,0.999999966439,4.26700654961e-05,-0.000254276069547,2.54048001105e-05,1793251876692871168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.790495637,673,641.209504363,901,787.790495637,829,657,634,658,0.45916455364,0.00449945288019,0.049825146821,0.999999964456,4.24429025085e-05,-0.000262031640768,2.50370680082e-05,1793251876709537792
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,641,901,787.626303387,829,657,634,658,0.459136119363,0.00450007343731,0.0498120782245,0.9999999585,4.29544041415e-05,-0.000283814128793,2.46057036808e-05,1793251876726204416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,694,673,641,901,787.038316108,829,657,634,658,0.459098307796,0.00450058287238,0.0497944048697,0.99999994956,4.38894817677e-05,-0.000313640140462,2.41378503652e-05,1793251876742871296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.457278202,673.542721798,641,901.542721798,787,828.457278202,657,634,658,0.459039493125,0.00449942866303,0.0497725518439,0.999999939389,4.3670617074e-05,-0.000344575468376,2.41368606094e-05,1793251876759537920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,693,673.877976239,641,901.877976239,787,828,657,633.877976239,658,0.458976880056,0.00449884864825,0.0497518715347,0.999999929263,4.36524472001e-05,-0.000372824801907,2.38672841706e-05,1793251876776204288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725,693,673.303316512,641,901.303316512,787,828,657,633.303316512,658,0.458905607999,0.00450082872867,0.0497366220535,0.999999922378,4.46771146769e-05,-0.000390823855828,2.24806918212e-05,1793251876792870912
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.271624527,673,641,901.271624527,787,828,657,633.271624527,658,0.458829378799,0.00450260484189,0.0497265846283,0.999999917698,4.60775648815e-05,-0.000402517321653,2.14753553651e-05,1793251876809538048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.84687999,673,641,901.84687999,787,828,657,633.84687999,658,0.458747608346,0.00450415295367,0.0497223734137,0.999999915744,4.78980774764e-05,-0.000407162190254,2.08961995252e-05,1793251876826205696
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.567008502,748,725,693.567008502,673.432991498,641.432991498,901.567008502,787,828.432991498,657,634,657.567008502,0.458652937989,0.00450610037069,0.0497232513835,0.999999915792,5.24580911905e-05,-0.000406496331001,2.05983250237e-05,1793251876842872320
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.022651571,748,725,693,674,642,901,787,829,657,634,657.022651571,0.458552500027,0.00450815228814,0.0497260530362,0.999999916618,5.78368125927e-05,-0.000403737636937,2.03858822376e-05,1793251876859538688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.602733732,748,725,693,674,642,901,787,829,657,634,657.602733732,0.458425276237,0.00450921152126,0.0497307667371,0.999999919312,5.89093734241e-05,-0.000396881818819,1.97650131805e-05,1793251876876205056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,693.181053478,674,642,901,787,829,657,634,657.818946522,0.458287414737,0.00451023078687,0.0497335876888,0.999999920687,6.07367233814e-05,-0.000393146359544,1.93323886649e-05,1793251876892871424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,725,693.75554335,674,642,901,787,829,657,634,657.24445665,0.458126437085,0.00451116320136,0.0497322956209,0.999999919269,6.42042599274e-05,-0.000396191564793,1.93088270908e-05,1793251876909538048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,748,725,693.669400304,674,642,901,787.330599696,828.669400304,657,634,657,0.457946739902,0.0045136874194,0.0497307470034,0.999999917515,6.99815934767e-05,-0.000399646914185,1.88521297601e-05,1793251876926205184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,748,725,693.09392431,674,642,901,787.90607569,828.09392431,657,634,657,0.457753177084,0.00451739069172,0.0497290083586,0.999999915468,7.74698017376e-05,-0.000403406059017,1.80746073248e-05,1793251876942872064
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,642,901,787.502716709,828.497283291,657,634,657.497283291,0.457524486569,0.00451978482398,0.0497259648805,0.999999910189,8.21598930594e-05,-0.000415423655624,1.71824403926e-05,1793251876959538944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,642,901,787,828.910976536,657,634,658,0.457284383534,0.00452201627824,0.0497239357487,0.999999905467,8.65136946597e-05,-0.000425811538803,1.63323112797e-05,1793251876976205312
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,693,674,642,901,787,828.333159249,657,634,658,0.457019237509,0.00452475651267,0.0497288733732,0.999999908109,9.20176141272e-05,-0.0004184071671,1.58357703146e-05,1793251876992871424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747.757358037,725,693,674.242641963,642,901,787,828.242641963,657,633.757358037,658,0.456740195677,0.00452830149637,0.0497331218697,0.999999909815,9.88170318488e-05,-0.000412776561516,1.48817042075e-05,1793251877009538048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747.184302219,725,693,674.815697781,642,901,787,828.815697781,657,633.184302219,658,0.456442231468,0.00453294233449,0.0497364319568,0.999999910276,0.000107380573496,-0.00040956135434,1.33046105071e-05,1793251877026204928
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747.400422633,725.400422633,693,675,642,901,787.400422633,829,657,633.400422633,657.599577367,0.456118950863,0.0045366287902,0.0497356473997,0.999999909377,0.000114441178233,-0.000409885102214,1.19656690476e-05,1793251877042871808
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,747.990679583,725.990679583,693,675,642,901,787.990679583,829,657,633.990679583,657.009320417,0.455783668145,0.00453986278751,0.0497329216338,0.999999907822,0.000120789263062,-0.000411886615258,1.07396320096e-05,1793251877059538944
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.430153815,748,725.430153815,693.569846185,675,642,900.430153815,788,828.430153815,657,634,657.569846185,0.455399270787,0.00454634184513,0.0497318268767,0.999999908507,0.000129610273865,-0.000407583196538,7.94857146165e-06,1793251877076206080
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.147799891,748,725,693.852200109,675,642,900,787.852200109,828,657,633.852200109,658,0.455003792262,0.00455263435745,0.0497329825764,0.999999909453,0.000138539422205,-0.000402331760188,5.45653340799e-06,1793251877092872960
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.722762298,748,725,693.277237702,675,642,900,787.277237702,828,657,633.277237702,658,0.454578565057,0.00455823725695,0.0497405667858,0.999999911222,0.000147666435171,-0.000394632772116,3.90128123607e-06,1793251877109539584
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.696136924,748,724.696136924,693,675.303863076,642.303863076,900,787,828,657,633.303863076,658,0.454152487969,0.00456166202109,0.0497575847871,0.999999920218,0.000154189038577,-0.000368486990633,2.75232947386e-06,1793251877126205952
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.109320099,748,724.109320099,693,675.890679901,642.890679901,900,787,828,657,633.890679901,658,0.453725619432,0.00456305853166,0.0497833874259,0.999999934605,0.000158286447064,-0.000325163769117,1.9817197251e-06,1793251877142872576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.471053328,748,724.471053328,693.471053328,675.528946672,642.528946672,900,787,828,657,634,657.528946672,0.453241394048,0.00456957305733,0.0498064734374,0.999999941799,0.000167587443933,-0.000297181683744,2.03562725419e-07,1793251877159538944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,769.049657791,748,725,693.950342209,675,642,900,787,828,657,634,657.049657791,0.452736652768,0.00457731675445,0.0498262758315,0.99999994582,0.000178308480711,-0.000276699314297,-1.82546711176e-06,1793251877176205312
+306,5.100000000,POSE2_TO_POSE3_RETREAT,769.625151689,748,725,693.374848311,675,642,900,787,828,657,634,657.625151689,0.452153716496,0.00458566861186,0.0498178933877,0.999999937131,0.000191451365703,-0.000298440841964,-4.06840808276e-06,1793251877192871680
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769.599688076,748,725,693,675,642,899.799844038,787,828,656.799844038,633.799844038,657.799844038,0.451550849093,0.0045931622467,0.0498013562103,0.999999926583,0.00020322118391,-0.000324784378395,-7.06957422213e-06,1793251877209538304
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768.451509045,748,725,693,675,642,899.225754522,787,828,656.225754522,633.225754522,657.225754522,0.450910746168,0.00459905254023,0.0497695842708,0.99999991267,0.000212425822978,-0.00035972543659,-1.14872647681e-05,1793251877226205184
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747.64094125,725,693,675,642,899,787,828,656.35905875,633.35905875,657,0.450293684082,0.00460474975208,0.0497650726556,0.999999912856,0.000221775212104,-0.000353364630092,-1.53856155871e-05,1793251877242871808
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.049177977,725,693,675,642,899,787,828,656.950822023,633.950822023,657,0.449691554695,0.00461032182825,0.0497782283474,0.999999921814,0.000231218412716,-0.000320236250683,-1.89473842514e-05,1793251877259538688
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,724.468552055,693.531447945,675,642,899,787,828,657,633.468552055,657,0.449043964569,0.00461848946388,0.0498019352901,0.999999930288,0.00024426146696,-0.000281540622706,-2.2244646337e-05,1793251877276204800
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,747,724,694,674.659854817,643,898,788,827,657,633,657,0.442828583992,0.00456777839174,0.0497649422531,0.999999930639,-4.9938005752e-05,-0.000366735310375,-4.16325217939e-05,1793251877409538816
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,747,724,694,673.508802186,643,898,788,827,657,633,657,0.44199282508,0.00457204466397,0.049765141104,0.999999933544,-3.64267155435e-05,-0.00035977093866,-4.63588062295e-05,1793251877426205184
+321,5.350000000,POSE2_TO_POSE3_RETREAT,769,747,724,693.672882767,673.654234466,642.672882767,897.345765534,788.327117233,826.672882767,657,633,657,0.441159411137,0.00457810971269,0.0497867015014,0.999999947686,-1.93533626711e-05,-0.000318873919579,-5.07206960541e-05,1793251877442871552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769,747,724,693.086617492,674.826765017,642.086617492,896.173234983,788.913382508,826.086617492,657,633,657,0.440327854959,0.00458559978367,0.0498251848926,0.999999966974,5.41918515467e-07,-0.000251094857814,-5.47939056271e-05,1793251877459537920
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,675,642,895.506282926,788.506282926,826,657,633,656.506282926,0.439416472282,0.00459292814117,0.0498198873299,0.999999963101,1.7414627228e-05,-0.000264867286117,-5.77887386164e-05,1793251877476204544
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,746.868838156,724,692.868838156,675,642,892.131161844,789,823.868838156,657,633.868838156,656,0.431882837302,0.00459814941742,0.0498048977709,0.99999994176,0.000135130184415,-0.000311897144979,-3.0647646464e-05,1793251877609538048
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642,889.517983129,789,820,657,633,657,0.411672756918,0.00461458795619,0.0497988836863,0.999999934315,0.000154598674445,-0.000324890344809,-4.37594816822e-05,1793251877992872448
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642,889,789,819.360577721,657,632.360577721,657,0.410293398765,0.00461300552194,0.0498045319641,0.999999937065,0.000123223724611,-0.000330037901807,-4.19566746339e-05,1793251878026205440
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642,889,789,819.216200443,657,632.216200443,656.783799557,0.409640216972,0.00461069611712,0.0497925905885,0.999999931773,0.000107006961097,-0.000351048875104,-4.20534546786e-05,1793251878042872320
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642.84956091,888,788.15043909,820,657,632.84956091,657,0.405392675488,0.00460724633546,0.0497704529707,0.999999912978,0.000124525086514,-0.000395502925627,-4.59883677197e-05,1793251878176206336
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.651089802,747.651089802,724,691,675,642.348910198,888,788.348910198,819.348910198,657,633,657,0.400995054841,0.00458660902302,0.049852234881,0.999999962176,0.000104633015968,-0.000252401729939,-3.15011888157e-05,1793251878859538688
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,747.976017437,724,691,674.976017437,643,888,788.976017437,819,657,633,656.976017437,0.400994680953,0.00458775028372,0.0498536064461,0.999999962332,0.000107187763405,-0.000250669026,-3.18132128905e-05,1793251878926204672
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770,747.444412319,724,691,674.444412319,642.444412319,888,788.444412319,819.555587681,657,633,656.444412319,0.400995511996,0.00458537898858,0.0498536450209,0.999999962837,0.00010361017275,-0.000250243523891,-3.11440721924e-05,1793251878942871552
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,770.715967931,747,724,691.284032069,675,642,888,788,819,657,633,656.715967931,0.400993248449,0.00458511664781,0.0498533714144,0.999999962547,0.00010277105796,-0.000251739769454,-3.11712506706e-05,1793251878992872192
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..255c8e84ce1de62fdf88d640e11c8083a2288295
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.585753623527,0.0100051886671,1.0400210327,0.556324967142,0.0186775976,1.03963240619
+398,6.633333333,pose2_to_pose3_retreat,0.585752773176,0.0100051676041,1.04002104253,0.556324117071,0.01867757738,1.03963241365
+399,6.650000000,pose2_to_pose3_retreat,0.585752241,0.0100051544223,1.04002104868,0.55632358507,0.0186775647257,1.03963241832
+400,6.666666667,pose2_to_pose3_retreat,0.585751868926,0.0100051467392,1.04002105045,0.556323213091,0.0186775573164,1.03963241909
+401,6.683333333,pose2_to_pose3_retreat,0.585751607876,0.0100051682379,1.04002100716,0.556322951603,0.0186775773411,1.03963237597
+402,6.700000000,pose2_to_pose3_retreat,0.58575158977,0.010005169729,1.04002100416,0.556322933467,0.0186775787299,1.03963237298
+403,6.716666667,pose2_to_pose3_retreat,0.585751474396,0.0100051792306,1.04002098503,0.5563228179,0.01867758758,1.03963235393
+404,6.733333333,pose2_to_pose3_retreat,0.585751467934,0.0100051797628,1.04002098395,0.556322811428,0.0186775880757,1.03963235286
+405,6.750000000,pose2_to_pose3_retreat,0.585751381251,0.0100051869015,1.04002096958,0.5563227246,0.018677594725,1.03963233854
+406,6.766666667,pose2_to_pose3_retreat,0.5857512446,0.0100051981554,1.04002094692,0.556322587721,0.0186776052072,1.03963231597
+407,6.783333333,pose2_to_pose3_retreat,0.585751143249,0.0100052079737,1.04002096086,0.556322486145,0.0186776142675,1.03963232997
+408,6.800000000,pose2_to_pose3_retreat,0.585751111673,0.0100052123329,1.04002099236,0.556322454451,0.0186776182266,1.03963236149
+409,6.816666667,pose2_to_pose3_retreat,0.585751079043,0.0100052168377,1.04002102492,0.556322421698,0.0186776223178,1.03963239406
+410,6.833333333,pose2_to_pose3_retreat,0.585751013458,0.0100052258919,1.04002109036,0.556322355869,0.0186776305409,1.03963245953
+411,6.850000000,pose2_to_pose3_retreat,0.585750971542,0.0100052316786,1.04002113219,0.556322313796,0.0186776357963,1.03963250137
+412,6.866666667,pose2_to_pose3_retreat,0.585750902626,0.0100052337233,1.04002113595,0.556322244807,0.0186776376396,1.0396325062
+413,6.883333333,pose2_to_pose3_retreat,0.58575083325,0.0100052259075,1.04002105381,0.5563221756,0.0186776305096,1.03963242651
+414,6.900000000,pose2_to_pose3_retreat,0.585750815183,0.0100052238722,1.04002103242,0.556322157578,0.0186776286528,1.03963240576
+415,6.916666667,pose2_to_pose3_retreat,0.585750812262,0.010005223543,1.04002102896,0.556322154663,0.0186776283525,1.03963240241
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66c71b194a3eac482f4ff45cbd8953adadf2cc6d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500fcb3f768096a34d6cd07b51067d5687e4de7e2cbcc9dfb28bb5064f7a4bea
+size 26394647
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b229da278dce2ba16a787a2c402a786e5f08ddf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/franka_data.csv
@@ -0,0 +1,416 @@
+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,771,747,725,691,674,643,889,789,819,657,633,656,0.400993858082,0.00458331266925,0.0498535538078,0.999999963233,9.97197968679e-05,-0.000250221561733,-3.1295916577e-05,1793251879156780800
+1,0.016666667,BASELINE,770.42063446,747,724.42063446,691,674.57936554,643,888.42063446,788.42063446,819,657,633,656.57936554,0.400995235083,0.0045847512888,0.0498547642764,0.999999963394,0.000103142536201,-0.000248166057096,-3.14353609966e-05,1793251879173446912
+2,0.033333333,BASELINE,770,747,724,691,674.842598581,642.842598581,888,788.157401419,819,657,633,656.842598581,0.400996233978,0.00458592824625,0.0498556099691,0.999999963524,0.000105453526991,-0.000246649878023,-3.15359773558e-05,1793251879190113024
+3,0.050000000,BASELINE,770,747,724,691,674.268086154,642.268086154,888,788.731913846,819,657,633,656.268086154,0.400996230901,0.00458641180404,0.0498554890123,0.999999963613,0.00010481840432,-0.00024656290183,-3.15337000653e-05,1793251879206779392
+4,0.066666667,BASELINE,770,747,724.31366241,691,674,642,888,788.68633759,819,657,633,656,0.400996418568,0.00458686090346,0.0498555150595,0.999999963639,0.000104849364779,-0.000246432639305,-3.16035803075e-05,1793251879223446016
+5,0.083333333,BASELINE,770,747,724.901741687,691,674,642,888,788.098258313,819,657,633,656,0.400996773113,0.00458727985595,0.0498556697176,0.999999963612,0.000105463067865,-0.000246264506457,-3.17365897088e-05,1793251879240112640
+6,0.100000000,BASELINE,770,747.483148231,724.516851769,691,674.483148231,642.483148231,888,788,819,657,633.483148231,656.483148231,0.400995883576,0.00458587874249,0.049855571457,0.999999963812,0.000103832961423,-0.000246180641196,-3.14645425437e-05,1793251879256779776
+7,0.116666667,BASELINE,770,747.937297156,724.062702844,691,675,643,888,788.062702844,819,657,633.937297156,656.937297156,0.400994927608,0.00458428784564,0.049855464486,0.999999964024,0.000101965427537,-0.000246141022403,-3.115016448e-05,1793251879273446656
+8,0.133333333,BASELINE,770,747.361939858,724.638060142,691,675,643,888,788.638060142,819,657,633.361939858,656.361939858,0.400995468918,0.00458413037577,0.0498557011094,0.999999963991,0.000101836766321,-0.00024632495294,-3.11540235753e-05,1793251879290113536
+9,0.150000000,BASELINE,770,747.214113652,724.785886348,691,675,642.785886348,888,788.785886348,819.214113652,657,633,656.214113652,0.400995543928,0.00458391890843,0.049855513982,0.999999963871,0.000101752457716,-0.000246851274929,-3.11407710764e-05,1793251879306780160
+10,0.166666667,BASELINE,770,747.791347826,724.208652174,691,675,642.208652174,888,788.208652174,819.791347826,657,633,656.791347826,0.400994828126,0.00458361586549,0.0498546082053,0.999999963599,0.00010174336779,-0.000247958266842,-3.10984986109e-05,1793251879323446528
+11,0.183333333,BASELINE,770.377625748,747.622374252,724,691,675,642.377625748,888,788,819.622374252,657,633,657,0.40099438575,0.00458525335501,0.0498543921891,0.999999963317,0.00010349968117,-0.000248337274911,-3.13564365818e-05,1793251879340112896
+12,0.200000000,BASELINE,770.96902334,747.03097666,724,691,675,642.96902334,888,788,819.03097666,657,633,657,0.400994098158,0.00458798936918,0.0498545666423,0.999999963022,0.000106255379583,-0.000248304175461,-3.17843220142e-05,1793251879356779520
+13,0.216666667,BASELINE,770.453783779,747.546216221,724,691,675,643,888,788.546216221,819.546216221,657,633,656.453783779,0.40099479994,0.00458664316139,0.0498551804848,0.999999963398,0.000104786655601,-0.000247434270314,-3.16116227984e-05,1793251879373445888
+14,0.233333333,BASELINE,770,747.877798233,724,690.877798233,674.877798233,642.877798233,888,788.877798233,820,657,633,656.122201767,0.400995676942,0.00458533526568,0.0498558608099,0.999999963798,0.000103685749666,-0.000246309710832,-3.13823375638e-05,1793251879390112512
+15,0.250000000,BASELINE,770,747.303374869,724,690.303374869,674.303374869,642.303374869,888,788.303374869,820,657,633,656.696625131,0.400996999993,0.00458500415582,0.0498566972859,0.999999964156,0.000104810090749,-0.000244413940103,-3.10664972998e-05,1793251879406779392
+16,0.266666667,BASELINE,770,747.276005522,724,690.276005522,674.276005522,642,888,788,819.723994478,657,633,657,0.400997458216,0.00458531683086,0.049856905296,0.999999964337,0.000105186323629,-0.000243488999107,-3.12253168641e-05,1793251879423446272
+17,0.283333333,BASELINE,770,747.860934102,724,690.860934102,674.860934102,642,888,788,819.139065898,657,633,657,0.400996948469,0.00458635007119,0.0498564098867,0.999999964324,0.000104725225825,-0.000243650673039,-3.19154061281e-05,1793251879440112896
+18,0.300000000,BASELINE,770.445179749,748,724,691,674.554820251,642,888,788.445179749,819,657,633,656.554820251,0.400996808708,0.00458616457949,0.0498562851149,0.999999964207,0.000104728338573,-0.000244132733914,-3.1902576564e-05,1793251879456779520
+19,0.316666667,BASELINE,770.971154645,747.971154645,724,691,674,642,888,789,819,657,633.028845355,656.028845355,0.400996700433,0.00458565882382,0.0498562572914,0.999999964052,0.000104806720495,-0.000244761162486,-3.16857762933e-05,1793251879473445888
+20,0.333333333,BASELINE,770.394459785,747.394459785,724,691,674,642,888,789,819,657,633.605540215,656.605540215,0.400994998394,0.00458629000882,0.0498558751673,0.999999963808,0.000103564743865,-0.000246271572585,-3.17590271877e-05,1793251879490113024
+21,0.350000000,BASELINE,770,747,724,691,674.181396853,642,888,788.818603147,819,656.818603147,633.818603147,657,0.400994324932,0.00458659326724,0.0498559410643,0.999999963691,0.000103485848815,-0.000246787311364,-3.16887540503e-05,1793251879506780160
+22,0.366666667,BASELINE,770,747,724,691,674.755439027,642,888,788.244560973,819,656.244560973,633.244560973,657,0.400995877892,0.00458618670708,0.0498569767322,0.999999963851,0.00010592451988,-0.000245150018986,-3.1307813773e-05,1793251879523446272
+23,0.383333333,BASELINE,770,747,724,691,674.663111406,642,888,788,819.336888594,656.336888594,633.336888594,656.663111406,0.400996110854,0.00458512935057,0.0498566468532,0.999999963992,0.000105301558632,-0.000244851364279,-3.12171905274e-05,1793251879540112896
+24,0.400000000,BASELINE,770,747,724,691,674.07616356,642,888,788,819.92383644,656.92383644,633.92383644,656.07616356,0.400995364033,0.00458358893328,0.0498553033823,0.999999964119,0.000102406067486,-0.000245546327887,-3.13420582414e-05,1793251879556779520
+25,0.416666667,BASELINE,770,747,724,691,674.506323473,642,887.493676527,788,819.493676527,657,633.493676527,656.506323473,0.400994755204,0.00458488985016,0.0498553179677,0.999999963863,0.000102570917255,-0.000246525343196,-3.12933641265e-05,1793251879573446656
+26,0.433333333,BASELINE,770.086901509,747,724,691,675,642,887.086901509,788,819.086901509,657,633,656.913098491,0.400994399934,0.00458630290124,0.0498554891579,0.999999963608,0.000103209286272,-0.000247295378371,-3.12570005068e-05,1793251879590113536
+27,0.450000000,BASELINE,770.660513383,747,724,691,675,642,887.660513383,788,819.660513383,657,633,656.339486617,0.400995349529,0.00458597110704,0.049855403296,0.999999963684,0.000103943924659,-0.000246657756812,-3.14346427391e-05,1793251879606779648
+28,0.466666667,BASELINE,770.764919466,747,724,691,674.764919466,642,888,788,819.764919466,657,633,656.235080534,0.400996135439,0.00458598843555,0.049855737292,0.999999963929,0.000104265894019,-0.000245507019706,-3.1585317254e-05,1793251879623446272
+29,0.483333333,BASELINE,770.188967177,747,724,691,674.188967177,642,888,788,819.188967177,657,633,656.811032823,0.400996683999,0.00458651199942,0.0498566800908,0.999999964417,0.000103989484504,-0.000243612254222,-3.16968879968e-05,1793251879640112640
+30,0.500000000,BASELINE,770,747,724,690.602595984,674,642,888,788,819.397404016,657,633,656.602595984,0.400996108577,0.00458633365959,0.0498567503029,0.999999964208,0.000104601775746,-0.000244231054997,-3.15179705522e-05,1793251879656779264
+31,0.516666667,BASELINE,770,747,724,690.011137192,674,642,888,788,819.988862808,657,633,656.011137192,0.400994984307,0.00458581257594,0.0498563944257,0.999999963656,0.000105648024928,-0.000246077245368,-3.11972059728e-05,1793251879673445632
+32,0.533333333,BASELINE,770.568702234,747,724,690.568702234,674,642.568702234,887.431297766,788,820,657,633,656.568702234,0.400996635373,0.00458378192572,0.0498573133114,0.999999964578,0.000101281508117,-0.000244202569961,-3.08570843152e-05,1793251879690112512
+33,0.550000000,BASELINE,770.853379554,747,724,691,674,643,887.146620446,788.146620446,819.853379554,657,633,656.853379554,0.40099740146,0.00458254663841,0.0498576559081,0.999999965089,9.88748875047e-05,-0.000243107894696,-3.07141783083e-05,1793251879706779392
+34,0.566666667,BASELINE,770.280399728,747,724,691,674,643,887.719600272,788.719600272,819.280399728,657,633,656.280399728,0.400995439223,0.0045837084412,0.0498562515664,0.999999964378,0.000102469543633,-0.000244489041852,-3.11458384122e-05,1793251879723446528
+35,0.583333333,BASELINE,770,747,724,690.699195558,674.300804442,643,888,789,819,657,633,656.300804442,0.400994754439,0.0045849754921,0.0498558242175,0.999999964103,0.000104104477982,-0.000244878427025,-3.14708843895e-05,1793251879740113408
+36,0.600000000,BASELINE,770,747,724,690.110109362,674.889890638,643,888,789,819,657,633,656.889890638,0.400995293925,0.0045863434097,0.0498563331885,0.999999964259,0.000103861275491,-0.000244317338086,-3.16937547081e-05,1793251879756779776
+37,0.616666667,BASELINE,770,747,724,690.471057383,674.528942617,643,888,788.528942617,819,657,633,656.528942617,0.400996337917,0.00458570274272,0.0498568883027,0.999999964826,0.000100961070219,-0.000243213312705,-3.1652985606e-05,1793251879773446400
+38,0.633333333,BASELINE,770.050098778,747,724,691,674.050098778,642.949901222,888.050098778,788,819,657,633.050098778,656.050098778,0.400997397724,0.00458475668083,0.0498574297915,0.999999965388,9.80673506925e-05,-0.000242094682663,-3.15593538395e-05,1793251879790112768
+39,0.650000000,BASELINE,770.625942052,747,724,691,674.625942052,642.374057948,888.625942052,788,819,657,633.625942052,656.625942052,0.400997406405,0.00458545135454,0.0498577169737,0.999999965022,0.00010165156304,-0.000242132592225,-3.15469883344e-05,1793251879806779648
+40,0.666666667,BASELINE,770.797824581,747,724,691,675,642,888.797824581,788,819.202175419,657,633.797824581,657,0.400997814034,0.00458600143254,0.0498581911254,0.999999964923,0.000103725273726,-0.000241651271064,-3.16276501379e-05,1793251879823446272
+41,0.683333333,BASELINE,770.220868117,747,724,691,675,642,888.220868117,788,819.779131883,657,633.220868117,657,0.400998961212,0.00458628346738,0.0498590118703,0.999999965338,0.000102998903979,-0.000240207430162,-3.18807605618e-05,1793251879840112896
+42,0.700000000,BASELINE,770,747,724,690.637744479,675,642.362255521,888,788,819.637744479,657,633,657,0.400999333769,0.00458563515584,0.0498591854588,0.99999996551,0.000102504300807,-0.00023971100634,-3.18043117123e-05,1793251879856779520
+43,0.716666667,BASELINE,770,747,724,690.0507956,675,642.9492044,888,788,819.0507956,657,633,657,0.400999225858,0.00458440978571,0.0498589576407,0.999999965533,0.000102153453676,-0.00023980222945,-3.15234497362e-05,1793251879873445888
+44,0.733333333,BASELINE,770,747.530058588,724,690.530058588,675,643,888,788.530058588,819.530058588,657,633,657,0.400997800251,0.00458426372512,0.0498581469049,0.999999965347,0.000100081450702,-0.000241442291466,-3.15630866072e-05,1793251879890113024
+45,0.750000000,BASELINE,770,748,724.109464504,691,675,642.890535496,888,789,819.890535496,657,633,657,0.400996282506,0.00458439860216,0.0498572280552,0.999999965034,9.89140952575e-05,-0.000243199340606,-3.16418008256e-05,1793251879906780416
+46,0.766666667,BASELINE,770,748,724.685161104,691,675,642.314838896,888,789,819.314838896,657,633,657,0.400994904046,0.0045852945272,0.0498560839465,0.999999964293,0.000102294344761,-0.000244829672963,-3.17576256106e-05,1793251879923446528
+47,0.783333333,BASELINE,769.734254046,747.734254046,724.734254046,690.734254046,675,642,888,788.734254046,819.265745954,657,633,656.734254046,0.400994835815,0.00458563987725,0.0498560273095,0.999999964114,0.000104146657962,-0.00024479139662,-3.16514943062e-05,1793251879940112896
+48,0.800000000,BASELINE,769.147769308,747.147769308,724.147769308,690.147769308,675,642,888,788.147769308,819.852230692,657,633,656.147769308,0.400996348948,0.00458532071778,0.0498572831828,0.999999964626,0.00010415484783,-0.000242739213907,-3.12774758665e-05,1793251879956779520
+49,0.816666667,BASELINE,769.433135647,747,724.433135647,690.433135647,675,642.433135647,888,788,819.566864353,657,633,656.433135647,0.400996960686,0.00458534567941,0.0498573669449,0.999999964785,0.00010405442177,-0.00024212266357,-3.12962956444e-05,1793251879973446400
+50,0.833333333,BASELINE,770,747,724.987815786,691,675,642.987815786,888,788,819,657,633,657,0.400997249176,0.00458547359978,0.0498570729966,0.999999964828,0.000103890154937,-0.000241996976173,-3.14447177738e-05,1793251879990112768
+51,0.850000000,BASELINE,770,747,724.407693006,691,675,642.407693006,888,788,819,657,633,657,0.400996622359,0.00458499793089,0.0498575753413,0.999999964923,0.000102455391523,-0.000242211998686,-3.14666116704e-05,1793251880006779904
+52,0.866666667,BASELINE,770,747,724,691,674.829406524,642,888,788,819.170593476,657,633,657,0.400996229035,0.00458465022763,0.0498576757145,0.999999964934,0.000101451284457,-0.000242587401735,-3.14695610318e-05,1793251880023447040
+53,0.883333333,BASELINE,770,747,724,691,674.255461822,642,888,788,819.744538178,657,633,657,0.400996387783,0.00458460508633,0.0498568256663,0.999999964751,0.000101465421374,-0.000243342008518,-3.14277179319e-05,1793251880040113664
+54,0.900000000,BASELINE,770,747,724,691,674,642,888,788,819.67395055,657,633,656.67395055,0.400996460649,0.00458493020699,0.0498568509651,0.999999964803,0.000102033217334,-0.000242876035287,-3.15414226225e-05,1793251880056779776
+55,0.916666667,BASELINE,770,747,724,691,674,642,888,788,819.086370002,657,633,656.086370002,0.400996464628,0.00458555232253,0.049857578398,0.999999965041,0.000103045114815,-0.000241431009207,-3.1779895458e-05,1793251880073446144
+56,0.933333333,BASELINE,770.495862658,747.495862658,724,691,674.495862658,642,887.504137342,788,819.495862658,657,633,656.495862658,0.400997030985,0.00458473757257,0.049858395883,0.999999965223,0.000102183366508,-0.00024106849551,-3.15904220516e-05,1793251880090113024
+57,0.950000000,BASELINE,770.923740957,748,724,690.923740957,675,642,887,788,819.923740957,657,633,657,0.400997714217,0.0045838644121,0.0498590828407,0.999999965401,0.000100985788252,-0.00024086013882,-3.1404203834e-05,1793251880106779392
+58,0.966666667,BASELINE,770.349320187,748,724,690.349320187,675,642,887,788,819.349320187,657,633,657,0.400998527863,0.004584227162,0.0498588157586,0.999999965621,9.97035620317e-05,-0.000240440230321,-3.17209882952e-05,1793251880123446016
+59,0.983333333,BASELINE,770,747.774850712,724,690.225149288,675,642.225149288,887.225149288,788,819,657,633,656.774850712,0.400998910298,0.00458517246805,0.0498586012131,0.999999965677,0.000100042094419,-0.000240025534777,-3.20144441143e-05,1793251880140112896
+60,1.000000000,BASELINE,770,747.200305566,724,690.799694434,675,642.799694434,887.799694434,788,819,657,633,656.200305566,0.400998623564,0.00458702180856,0.049858468196,0.999999965477,0.000102895785982,-0.000239618928846,-3.22716976422e-05,1793251880156780288
+61,1.016666667,BASELINE,770,747,724.386253708,690.613746292,675,643,888,788,819,657,633,656.386253708,0.400997615148,0.00458613783299,0.049858005469,0.999999965258,0.000102312770733,-0.000240838955814,-3.1824192269e-05,1793251880173446912
+62,1.033333333,BASELINE,770,747,724.979243311,690.020756689,675,643,888,788,819,657,633,656.979243311,0.400996220463,0.00458379089519,0.0498573662703,0.999999965023,9.9890314956e-05,-0.000242929611105,-3.09994763602e-05,1793251880190113536
+63,1.050000000,BASELINE,770,747,724.443241499,690.556758501,675,643,888,788,819,657,633,657,0.400995140129,0.00458398974608,0.0498561302054,0.999999964707,9.9268003772e-05,-0.000244448010768,-3.12716212327e-05,1793251880206779904
+64,1.066666667,BASELINE,770,747,724,691.133457206,675,643,888,788.133457206,819.133457206,657,633,657,0.400994475249,0.00458437361216,0.0498554297816,0.999999964489,9.91195456196e-05,-0.000245362514722,-3.1527063926e-05,1793251880223446272
+65,1.083333333,BASELINE,770,747,724,691.709309996,675,643,888,788.709309996,819.709309996,657,633,657,0.400995149753,0.00458506467355,0.0498565767162,0.999999964616,0.000100325404951,-0.00024434398126,-3.1595252697e-05,1793251880240112896
+66,1.100000000,BASELINE,770,747,724,691.709033294,674.709033294,642.709033294,888,789,820,657,633,656.709033294,0.400995912084,0.00458529098975,0.0498573104311,0.999999964758,0.000101638468131,-0.00024321679182,-3.1613774605e-05,1793251880256779520
+67,1.116666667,BASELINE,770,747,724,691.121460204,674.121460204,642.121460204,888,789,820,657,633,656.121460204,0.400996763945,0.00458504355277,0.049857622917,0.999999964914,0.000103060812969,-0.000241978840434,-3.15816669749e-05,1793251880273446144
+68,1.133333333,BASELINE,770,747,724,691,674.91937707,642,888,789,819.540311465,657,632.540311465,656.459688535,0.400996737273,0.00458483903451,0.0498576426972,0.999999964899,0.000102568158931,-0.000242250771505,-3.15682248587e-05,1793251880290113280
+69,1.150000000,BASELINE,770,747,724,691,675.961038088,642,888,788.961038088,819,657,632.038961912,656.961038088,0.400996447935,0.00458464837376,0.0498575654584,0.999999964833,0.00010153144361,-0.000242960140321,-3.15660781772e-05,1793251880306780160
+70,1.166666667,BASELINE,770,747,724,691,675.384542491,642,888,788.384542491,819,657,632.615457509,656.384542491,0.400995693134,0.00458449460063,0.0498572020075,0.999999964676,9.98732187631e-05,-0.000244276424399,-3.16526637349e-05,1793251880323447040
+71,1.183333333,BASELINE,770,747,724,691,675,642,888,788.190140821,819.190140821,657,633,656.190140821,0.400995246043,0.0045842082427,0.049857038125,0.999999964594,9.95788353625e-05,-0.000244748449947,-3.15345036897e-05,1793251880340113664
+72,1.200000000,BASELINE,770,747,724,691,675,642,888,788.761193658,819.761193658,657,633,656.761193658,0.400995415393,0.00458365627556,0.0498572740407,0.999999964662,0.0001020166561,-0.000243529159699,-3.10061736613e-05,1793251880356779776
+73,1.216666667,BASELINE,770,747.345514968,724,691,675,642,888,788.654485032,819.654485032,657,633,657,0.400995830443,0.00458413556619,0.0498572509473,0.999999964853,0.000101684715642,-0.000242858415862,-3.11997715491e-05,1793251880373446400
+74,1.233333333,BASELINE,770,747.939373125,724,691,675,642,888,788.060626875,819.060626875,657,633,657,0.400996422092,0.00458535608623,0.0498570416879,0.999999965131,9.93619746632e-05,-0.000242581946665,-3.19122641551e-05,1793251880390113024
+75,1.250000000,BASELINE,770,747.480212796,724,691,674.480212796,642,888,788.519787204,819.519787204,657,633,657,0.400996410637,0.00458576666467,0.0498576336962,0.999999965083,0.00010096756056,-0.000242153825768,-3.16316871508e-05,1793251880406779392
+76,1.266666667,BASELINE,770,747,724.098128039,691,674.098128039,642,888,788.901871961,819.901871961,657,633,656.901871961,0.400996435339,0.00458595151603,0.04985816749,0.999999965015,0.000102454828749,-0.000241852740634,-3.13186907802e-05,1793251880423446272
+77,1.283333333,BASELINE,770,747,724.673818003,691,674.673818003,642,888,788.326181997,819.326181997,657,633,656.326181997,0.400996969715,0.0045854859833,0.0498579746025,0.999999965044,0.000101192606735,-0.000242253817107,-3.13974159993e-05,1793251880440113664
+78,1.300000000,BASELINE,770.254150224,747,724.745849776,690.745849776,675,642,888,788,819,657,633,656.254150224,0.400997534246,0.00458537927903,0.0498580802029,0.999999965139,0.000101075212385,-0.000241899581672,-3.14825220435e-05,1793251880456780544
+79,1.316666667,BASELINE,770.840551226,747,724.159448774,690.159448774,675,642,888,788,819,657,633,656.840551226,0.4009981382,0.0045857416715,0.0498585760167,0.999999965319,0.000102454452198,-0.000240557926382,-3.15759697389e-05,1793251880473447168
+80,1.333333333,BASELINE,770.578546901,747,724,690,674.578546901,642,888,788,819.421453099,657,633,657,0.400997370514,0.00458543219064,0.0498579570202,0.999999965087,0.000102305729035,-0.000241563487183,-3.17168598024e-05,1793251880490113280
+81,1.350000000,BASELINE,770,747,724,690.000301595,674.000301595,642,888,788,819.999698405,657,633,656.999698405,0.400996091538,0.00458487193522,0.0498569224797,0.9999999647,0.000101585892977,-0.000243444520261,-3.18753404073e-05,1793251880506779648
+82,1.366666667,BASELINE,770,747,724,690.579667134,674.579667134,642,888,788,819.420332866,657,633,656.420332866,0.400996656636,0.00458458440031,0.0498574064431,0.999999964931,9.99393444533e-05,-0.000243185180073,-3.17895789485e-05,1793251880523446272
+83,1.383333333,BASELINE,770,747,724,691.157697541,675,642.157697541,888,788,819,657,633,656.157697541,0.400997019629,0.00458457620153,0.0498578275844,0.999999965079,9.94662094432e-05,-0.000242784466133,-3.16883918142e-05,1793251880540112896
+84,1.400000000,BASELINE,770,747,724,691.732199235,675,642.732199235,888,788,819,657,633,656.732199235,0.400996848446,0.00458530630496,0.0498580826834,0.999999965006,0.000102094477076,-0.000242010092747,-3.15464336666e-05,1793251880556779520
+85,1.416666667,BASELINE,770,747,724,691.686479631,675,642.686479631,888,788.313520369,819,657,633,656.686479631,0.400997222037,0.0045854304108,0.04985831921,0.999999965111,0.000102802175168,-0.000241276790644,-3.15392257613e-05,1793251880573446144
+86,1.433333333,BASELINE,770,747,724,691.099204031,675,642.099204031,888,788.900795969,819,657,633,656.099204031,0.400998071305,0.00458502538029,0.0498585395198,0.999999965375,0.000101832897659,-0.000240579350624,-3.16496771537e-05,1793251880590113536
+87,1.450000000,BASELINE,770,747,724,691,675,642,888.480298503,789,819,657,633,656,0.40099686538,0.00458582789637,0.0498579417329,0.99999996492,0.000102904018402,-0.000242012701636,-3.16404168488e-05,1793251880606780160
+88,1.466666667,BASELINE,770,747.058250018,724,691.058250018,674.941749982,642.058250018,889,789,819.058250018,657,633,656.058250018,0.400995503909,0.00458664677466,0.0498572967129,0.999999964449,0.000103814983323,-0.000243564531361,-3.16299021343e-05,1793251880623446784
+89,1.483333333,BASELINE,770,747.636459631,724,691.636459631,674.363540369,642.636459631,889,789,819.636459631,657,633,656.636459631,0.400996482792,0.0045854208043,0.0498577143821,0.999999965177,9.95943608171e-05,-0.000242307957391,-3.18253881817e-05,1793251880640113152
+90,1.500000000,BASELINE,770,747.785935258,724,691.785935258,674,643,888.785935258,789,820,657,633,657,0.400997000888,0.00458456193829,0.049857975382,0.999999965528,9.77344373293e-05,-0.000241612151771,-3.18700487318e-05,1793251880656779776
+91,1.516666667,BASELINE,770,747.209353923,724,691.209353923,674,643,888.209353923,789,820,657,633,657,0.400996738645,0.00458432476014,0.0498579710639,0.999999965262,9.98723354848e-05,-0.000241866002121,-3.16592877255e-05,1793251880673446400
+92,1.533333333,BASELINE,770,747.373819418,724,691,674.373819418,642.626180582,888,788.626180582,819.626180582,657,633,657,0.400996670868,0.0045841656597,0.0498579797569,0.999999965228,0.000100494330952,-0.000241760767436,-3.15734495692e-05,1793251880690113280
+93,1.550000000,BASELINE,770,747.960750873,724,691,674.960750873,642.039249127,888,788.039249127,819.039249127,657,633,657,0.400996713954,0.00458405107086,0.0498579958676,0.999999965328,0.000100252120286,-0.000241450820715,-3.15588291032e-05,1793251880706779904
+94,1.566666667,BASELINE,770,748,724,691,675,642.543036538,888,788.543036538,819.543036538,657,633,656.456963462,0.400997919751,0.00458364733988,0.0498581344603,0.999999965545,0.000100099438527,-0.000240633665682,-3.13992063474e-05,1793251880723446784
+95,1.583333333,BASELINE,770,747.876895911,724,691,675,642.876895911,887.876895911,789,819.876895911,657,633,656.123104089,0.400998462244,0.00458370331142,0.0498580460234,0.999999965575,0.000100211728156,-0.000240466012916,-3.13672423982e-05,1793251880740113920
+96,1.600000000,BASELINE,770,747.303720453,724,691,675,642.303720453,887.303720453,789,819.303720453,657,633,656.696279547,0.400996275046,0.0045855157226,0.0498570954705,0.999999964888,0.000101269302149,-0.000242805846376,-3.18399933012e-05,1793251880756780544
+97,1.616666667,BASELINE,770,747,724,691,675,642.269529956,887.269529956,788.730470044,819,657.269529956,633,657,0.400994998025,0.00458559521467,0.0498566621779,0.999999964523,0.000101988513642,-0.00024400755551,-3.18217389276e-05,1793251880773446656
+98,1.633333333,BASELINE,770,747,724,691,675,642.842864814,887.842864814,788.157135186,819,657.842864814,633,657,0.400994746923,0.00458372141978,0.0498568119236,0.999999964526,0.000102326334498,-0.000243926409887,-3.12500402563e-05,1793251880790113024
+99,1.650000000,BASELINE,770,747,724,690.567115927,674.567115927,642.567115927,888,788,819.432884073,657.567115927,633,657,0.400995024271,0.00458437068853,0.0498573363058,0.999999964591,0.000103555959512,-0.000243139795335,-3.12566390488e-05,1793251880806779392
+100,1.666666667,BASELINE,770,747,724,690.028261138,674.028261138,642,888,788,819.971738862,657,633,656.971738862,0.400995451269,0.00458585002814,0.0498579273553,0.999999964664,0.000104956648676,-0.000242212673848,-3.14619415619e-05,1793251880823446016
+101,1.683333333,BASELINE,770,747,724,690.605357285,674.605357285,642,888,788,819.394642715,657,633,656.394642715,0.400994909875,0.00458495029012,0.049857066249,0.99999996449,0.000103140697273,-0.000243729403926,-3.12860056623e-05,1793251880840112640
+102,1.700000000,BASELINE,770,747,724,691,675,642.181255994,888,788,819,657,633,656.181255994,0.400995063596,0.00458465392527,0.0498568630084,0.999999964477,0.000102438786188,-0.000244080327452,-3.12453477271e-05,1793251880856779520
+103,1.716666667,BASELINE,770,747,724,691,675,642.754564597,888,788,819,657,633,656.754564597,0.400996720835,0.00458566264304,0.0498580827167,0.999999964821,0.000104146519307,-0.000241909637626,-3.14972929863e-05,1793251880873447168
+104,1.733333333,BASELINE,770.337798838,747,724,691,675,642.662201162,888,788,819.337798838,657.337798838,633,657,0.400996841185,0.00458574089389,0.0498582550797,0.999999964933,0.000103459644238,-0.000241743637543,-3.14807154877e-05,1793251880890114304
+105,1.750000000,BASELINE,770.928463157,747,724,691,675,642.071536843,888,788,819.928463157,657.928463157,633,657,0.400995811069,0.00458512262686,0.0498576434334,0.999999964869,0.000100980241717,-0.000243078284302,-3.12631304079e-05,1793251880906780928
+106,1.766666667,BASELINE,770.509671766,747,724,690.509671766,675,642,888,788.490328234,819.509671766,657.509671766,633,657,0.400997204878,0.00458396285266,0.0498587166887,0.999999965613,9.92599634877e-05,-0.000240700389162,-3.13934973474e-05,1793251880923447040
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,788,819,657,633,657,0.400994007094,0.00458508539839,0.0498562985811,0.999999964266,0.000102821358179,-0.000244730362622,-3.16548199648e-05,1793251880966594816
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.587588233,747.587588233,724,691,674.412411767,642.587588233,888,788,819.587588233,657,633,657,0.400996138653,0.00458571330213,0.0498578285435,0.999999964796,0.000103431611656,-0.000242302421643,-3.16151456995e-05,1793251880983261184
+109,1.816666667,POSE1_TO_POSE2_PRESS,771,747.827607907,724,691,674.172392093,642.827607907,888,788,820,657,633.172392093,657,0.400997880127,0.00458589629771,0.0498589215615,0.999999965263,0.00010377524912,-0.000240225923944,-3.15515349631e-05,1793251880999927808
+110,1.833333333,POSE1_TO_POSE2_PRESS,771,747.249359081,724,691,674.750640919,642.249359081,888,788,820,657,633.750640919,657,0.400998703236,0.00458503186156,0.0498589858971,0.999999965596,0.000103491201865,-0.0002389768165,-3.14315714143e-05,1793251881016594432
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.670611165,747,724,691,675,642,888,788.329388835,819.670611165,657,633.670611165,657,0.400997840731,0.00458449257938,0.049858205077,0.999999965418,0.000102097275384,-0.000240310806836,-3.14633716703e-05,1793251881033261056
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.091484884,747,724,691,675,642,888,788.908515116,819.091484884,657,633.091484884,657,0.400995700218,0.00458419982388,0.0498567834732,0.999999964843,9.98618559002e-05,-0.000243603261464,-3.16102368692e-05,1793251881049927936
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,642,888,788.51497493,819,657,633,656.51497493,0.400995282795,0.00458469953277,0.0498570182499,0.999999964833,0.000100253937279,-0.000243490883858,-3.15536197063e-05,1793251881066594048
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,747.062203959,724,691,675,642.062203959,888,788.062203959,819.062203959,657.062203959,633,656.062203959,0.400995374483,0.00458535135386,0.0498575654361,0.999999964931,0.000101153603329,-0.000242724559418,-3.14788647312e-05,1793251881083260416
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747.64916686,724,691,675,642.64916686,888,788.64916686,819.64916686,657.64916686,633,656.64916686,0.400997034005,0.00458603219886,0.0498581266345,0.999999965041,0.000102176836537,-0.000241830201343,-3.15731429127e-05,1793251881099927296
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747.766908149,724,691,675,643,888,789,820,657.766908149,633,657,0.401003682377,0.00458558890332,0.0498605838002,0.999999966138,0.000102313560512,-0.000237206505937,-3.14361943778e-05,1793251881116593920
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747.187496828,724,691,675,643,888,789,820,657.187496828,633,657,0.401017743001,0.00458347540025,0.0498658579258,0.999999968633,0.000101133140919,-0.000227041895605,-3.09556975114e-05,1793251881133260288
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,789,819.610650485,657,633.389349515,657,0.401050942858,0.00458270953554,0.0498776126604,0.999999973853,9.96962748212e-05,-0.000203490380978,-3.07618532097e-05,1793251881149926912
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,724,691,675,643,888,789,819.03503121,657,633.96496879,657,0.401093299168,0.00458258839799,0.0498924678012,0.999999979656,9.81367212755e-05,-0.000173534399999,-3.07051470766e-05,1793251881166593536
+120,2.000000000,POSE1_TO_POSE2_PRESS,770.539345892,747,724,691,675,643,888,789,819,657.539345892,633.460654108,657,0.401158583448,0.00458362261623,0.0499099865054,0.999999984725,9.9160218693e-05,-0.000140677640216,-3.04505941931e-05,1793251881183260928
+121,2.016666667,POSE1_TO_POSE2_PRESS,771,747.117024177,724.117024177,691,675.117024177,643,888,789,819,658,633,657,0.401227248267,0.00458400154132,0.0499264182031,0.99999998833,9.97379128511e-05,-0.000111804777034,-2.98731633498e-05,1793251881199927808
+122,2.033333333,POSE1_TO_POSE2_PRESS,771,747.708410395,724.708410395,691,675.708410395,643,888,789,819,658,633,657,0.40130359359,0.00458142072438,0.049937744025,0.999999989837,9.78300173269e-05,-9.98427533936e-05,-2.80389041033e-05,1793251881216593920
+123,2.050000000,POSE1_TO_POSE2_PRESS,770.706299401,748,725,691.293700599,675.706299401,643,888,788.706299401,819.293700599,657.706299401,633,657,0.401387343624,0.00457993180614,0.0499446531396,0.999999990968,9.57543298399e-05,-9.03195621501e-05,-2.714123163e-05,1793251881233260544
+124,2.066666667,POSE1_TO_POSE2_PRESS,770.126938367,748,725,691.873061633,675.126938367,643,888,788.126938367,819.873061633,657.126938367,633,657,0.401478295659,0.0045795048956,0.0499472664554,0.9999999918,9.35154438792e-05,-8.31684400748e-05,-2.71545066272e-05,1793251881249926912
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,748,725,691.551211729,675,643,888,788,820,657,633,656.551211729,0.401583202772,0.00457830805426,0.0499459520468,0.999999991684,9.10235998185e-05,-8.75320467336e-05,-2.61819500559e-05,1793251881266593536
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,748,724.97601264,691,674.97601264,642.97601264,888,788.02398736,819.97601264,657.02398736,633,656,0.401693235914,0.00457691736032,0.0499437057824,0.999999991295,8.85008833124e-05,-9.46342702501e-05,-2.49516420924e-05,1793251881283260160
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,748,724.38926671,691,674.38926671,642.38926671,888,788.61073329,819.38926671,657.61073329,633,656,0.401831670232,0.00457604680065,0.0499454516813,0.999999991863,8.69189655705e-05,-9.01909333195e-05,-2.41635204451e-05,1793251881299927040
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.194782909,748,724,691,674,642,888,788.805217091,819,657.805217091,633,656.194782909,0.401979825321,0.00457459033847,0.0499470645143,0.9999999923,8.47490797957e-05,-8.76473464271e-05,-2.31278682874e-05,1793251881316593920
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.77351755,748,724,691,674,642,888,788.22648245,819,657.22648245,633,656.77351755,0.402147141762,0.00457197895842,0.0499484150506,0.999999992505,8.14202047155e-05,-8.88485050393e-05,-2.16042895928e-05,1793251881333260544
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.648055286,747.648055286,724,691,674.351944714,642.351944714,888,788.351944714,819,657,633,657,0.40233039138,0.00457057666512,0.0499453980238,0.999999992053,7.87701929903e-05,-9.63265507021e-05,-2.02778107526e-05,1793251881349927168
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.069825759,747.069825759,724,691,674.930174241,642.930174241,888,788.930174241,819,657,633,657,0.402523885339,0.00456995176063,0.049939572848,0.999999991073,7.65566599008e-05,-0.000107840355935,-1.90780582082e-05,1793251881366593792
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747.506406262,724,691,675,643,888,788.493593738,819,657.506406262,633,657,0.402765197163,0.00456752583823,0.0499428048343,0.999999991851,7.19644510596e-05,-0.000104080791213,-1.69081990446e-05,1793251881383260416
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747.916075219,724.083924781,691,675,643,888.083924781,788.083924781,819,657.916075219,633,657,0.403017164516,0.00456481745927,0.0499472792117,0.99999999285,6.73579853506e-05,-9.77131846803e-05,-1.46518801723e-05,1793251881399926784
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747.329202583,724.670797417,691,675,643,888.670797417,788.670797417,819,657.329202583,633,657,0.403293631147,0.00456189873567,0.0499517443153,0.999999993934,6.46239080724e-05,-8.82871320521e-05,-1.26758920055e-05,1793251881416593408
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.255150667,747,725,691,675,643,889,788.744849333,819,657,633,657,0.403593058691,0.00455928483072,0.0499579092484,0.999999995195,6.17262797466e-05,-7.54244206433e-05,-1.05501028337e-05,1793251881433260032
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.836285084,747,725,691,675,643,889,788.163714916,819,657,633,657,0.403921821375,0.00455706036616,0.049966245905,0.999999996556,5.86196966707e-05,-5.81709906642e-05,-8.23292610265e-06,1793251881449926912
+137,2.283333333,POSE1_TO_POSE2_PRESS,770.586928273,747.413071727,724.586928273,691,675.413071727,642.586928273,889,788.413071727,819.413071727,657,633.413071727,656.586928273,0.404279474304,0.00455351770441,0.0499744992117,0.999999997547,5.53267083246e-05,-4.25865649481e-05,-5.54989681888e-06,1793251881466593792
+138,2.300000000,POSE1_TO_POSE2_PRESS,770.011846872,747.988153128,724.011846872,691,675.988153128,642.011846872,889,788.988153128,819.988153128,657,633.988153128,656.011846872,0.404648458183,0.00454945803638,0.0499827198279,0.999999998264,5.19606105693e-05,-2.7656734999e-05,-2.72337761066e-06,1793251881483260928
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747.438972802,724,691,674.877945604,642.561027198,889,789,819.438972802,657,633.438972802,656.561027198,0.405063330863,0.00454500420415,0.0499856754625,0.999999998761,4.63845282936e-05,-1.80699380914e-05,-2.90792276642e-07,1793251881499927808
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.139090559,747,724,691,674.139090559,642.860909441,889,789,819,657,633,657,0.405476294355,0.00454043709514,0.0499828672768,0.999999998981,4.03420464439e-05,-2.01304115422e-05,2.24660976231e-06,1793251881516594176
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.734324181,747,724,691,674.734324181,642.265675819,889,789,819,657,633,657,0.405879831275,0.00453552568851,0.0499615199989,0.999999997644,3.29224659915e-05,-6.00191815577e-05,5.15492758653e-06,1793251881533260544
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.681412715,747,724,691,674.681412715,642.318587285,889,789,819,657,633,657,0.406313117654,0.00453045678312,0.0499425136528,0.999999995168,2.67405015885e-05,-9.42493513645e-05,8.15837029239e-06,1793251881549926912
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.105993525,747,724,691,674.105993525,642.894006475,889,789,819,657,633,657,0.406770386861,0.0045252609082,0.0499253944668,0.999999992027,2.15562513162e-05,-0.000123917795805,1.1238499063e-05,1793251881566593536
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,724.470614958,691.470614958,674,643,889.470614958,789,819.470614958,657,633.470614958,657,0.407284033531,0.0045214962952,0.0499205931318,0.999999991077,1.55491453307e-05,-0.000131916467795,1.42025900263e-05,1793251881583260416
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,692,674,642.95157817,890,789,819.95157817,657,633.95157817,657,0.407817600581,0.00451765522532,0.0499209339709,0.999999991329,8.89313632932e-06,-0.000130259474452,1.72081717361e-05,1793251881599927296
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,692,674,642.363405943,890,789,819.363405943,657,633.363405943,657,0.408431321417,0.00450935957127,0.0499475911233,0.999999996925,-2.92505783171e-06,-7.55127645452e-05,2.09683006863e-05,1793251881616593664
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747.221479532,725,692,674.442959065,642.221479532,890.221479532,789,819.221479532,657,633,657,0.409054638608,0.00450189251956,0.0499718370595,0.999999999128,-1.40846969613e-05,-3.03451542377e-05,2.49873021374e-05,1793251881633260288
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747.8010509,725,692,675.602101799,642.8010509,890.8010509,789,819.8010509,657,633,657,0.409693471309,0.00449576516657,0.049992184499,0.999999999275,-2.41795725337e-05,-6.65196902768e-07,2.94248528503e-05,1793251881649926912
+149,2.483333333,POSE1_TO_POSE2_PRESS,770.378040293,747.621959707,725,692,675.621959707,643,891,789,819.621959707,657.378040293,633,657,0.41032065212,0.00449049443372,0.0499941354757,0.999999999298,-1.57672283324e-05,-5.29015492689e-06,3.35796352749e-05,1793251881666593280
+150,2.500000000,POSE1_TO_POSE2_PRESS,770.953680086,747.046319914,725,692,675.046319914,643,891,789,819.046319914,657.953680086,633,657,0.410941742534,0.0044856714515,0.049986470726,0.999999998903,2.3187341167e-06,-2.78460969367e-05,3.75866161808e-05,1793251881683259904
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.472932762,747,725,692.527067238,674.472932762,643,891,789,819.527067238,657.472932762,633,657,0.411584751327,0.00447724010542,0.0499556432212,0.999999988476,0.000115766160118,-8.89969739305e-05,4.1532937599e-05,1793251881699926528
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725,692.896661422,674.103338578,643,891.103338578,789.103338578,820,657,633,657,0.412253830574,0.00446888929117,0.0499320259199,0.999999967715,0.00021205062379,-0.000132547914339,4.51070790122e-05,1793251881716593408
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,692.305855122,674.694144878,643,891.694144878,789.694144878,820,657,633,657,0.413036841149,0.004462407873,0.0499519819664,0.999999978248,0.000188009502342,-7.71448527293e-05,4.69506183487e-05,1793251881733260032
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725,692,675.27995186,643,892,789.72004814,820,657,633.27995186,657,0.413820954176,0.00445114904974,0.0499689154722,0.999999993056,0.000103417752361,-4.35696965587e-05,3.59796952312e-05,1793251881749926656
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725,692,675.860392847,643,892,789.139607153,820,657,633.860392847,657,0.414606250628,0.00443476235015,0.0499826047062,0.999999998312,-4.61666247962e-05,-3.34237333851e-05,1.12542404094e-05,1793251881766593280
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,747,725,692,675.562218748,643,892.437781252,789,820,657,633.562218748,657,0.415372367967,0.00443783422596,0.0499620203273,0.999999994774,-7.5061974029e-05,-6.86652381138e-05,1.01105427402e-05,1793251881783260160
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,747.014430493,725,692,675,643,893,789,820.014430493,657,633,657,0.416134621108,0.00444773415766,0.0499315463214,0.999999990967,-6.48711606858e-05,-0.000116590809395,1.62585709868e-05,1793251881799926784
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,747.600088861,725,692,675,643,893,789,820.600088861,657,633,657,0.416984343125,0.00448398737552,0.04993924952,0.999999994906,-2.04277927985e-05,-9.76325679477e-05,1.54257116449e-05,1793251881816593408
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,748,725,692,675,643.183452633,893.183452633,789,821.183452633,657,633.183452633,657,0.417844806928,0.00450602552149,0.0499523141591,0.999999997189,1.96681200778e-05,-7.05711449456e-05,1.59889081988e-05,1793251881833260032
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,748,725,692,675,643.76187614,893.76187614,789,821.76187614,657,633.76187614,657,0.418728397592,0.00449745882053,0.0499769219016,0.999999998199,5.04040222525e-05,-2.60636902973e-05,1.95577930494e-05,1793251881849926912
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.659784422,748,725,692.340215578,674.659784422,643.659784422,894.340215578,789,822.340215578,657,633.659784422,657,0.419588663996,0.00448854292206,0.04997344817,0.999999998119,4.44673579814e-05,-3.63529719744e-05,2.15385135808e-05,1793251881866593280
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.081503836,748,725,692.918496164,674.081503836,643.081503836,894.918496164,789,822.918496164,657,633.081503836,657,0.42043260927,0.00447938267386,0.0499503244953,0.999999996055,1.28691547225e-05,-8.4986136152e-05,2.24079198816e-05,1793251881883259904
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.493586659,747.506413341,724.506413341,693,674.493586659,643,895,789,823,657.493586659,633,657,0.421373601567,0.00447557068538,0.0499680418308,0.999999999049,-3.60028475059e-06,-3.75780623465e-05,2.18548032875e-05,1793251881899926784
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,747,724.069892332,693,675,643,895,789,823.069892332,657.930107668,633.069892332,657,0.42232832142,0.00447277261882,0.0499900706205,0.999999999515,-1.33471454383e-05,1.833551774e-05,2.13313446355e-05,1793251881916593408
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,747,724.659116001,693,675,643,895,789,823.659116001,657.340883999,633.659116001,657,0.423266734705,0.00447098849788,0.049994347024,0.999999999498,8.41461789379e-06,2.03669473714e-05,2.27624262585e-05,1793251881933260032
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.75587045,747,724.75587045,692.75587045,674.75587045,643,895.4882591,788.75587045,824.24412955,657,633.75587045,657,0.424204985927,0.00447409116084,0.0499921656797,0.999999999429,1.94520326634e-05,1.47535460353e-05,2.33488127128e-05,1793251881949926400
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.17663585,747,724.17663585,692.17663585,674.17663585,643,896.6467283,788.17663585,824.82336415,657,633.17663585,657,0.425143014826,0.00448390167991,0.049981120092,0.999999999615,1.57686461205e-05,-1.3535517339e-06,2.27757264001e-05,1793251881966593024
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,724.400915201,692.400915201,674,643,897.400915201,788,825,657,633.400915201,657,0.426105925479,0.00448496241207,0.0499931288901,0.999999999638,7.29004788807e-06,7.49542867585e-06,2.47867778526e-05,1793251881983259904
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,724.977727577,692.977727577,674,643,897.977727577,788,825,657,633.977727577,657,0.427079752674,0.00448218426994,0.0500152525494,0.999999999232,-3.29239701102e-06,2.72936174558e-05,2.79315916211e-05,1793251881999926528
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747.552546308,725,693,674,643,898,788,825,657,634,657.552546308,0.427967565763,0.00447670931219,0.0499823528475,0.999999998267,2.2119081428e-05,-4.58257593448e-05,2.96208639556e-05,1793251882016593152
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,748,725,693.130339576,673.869660424,643,898,788,825.130339576,657.130339576,634,657.869660424,0.428879259884,0.00447191793399,0.0499539525285,0.999999993693,3.78706026573e-05,-0.000101302800002,3.02889875459e-05,1793251882033259776
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,748,725,693.718870891,673.281129109,643,898,788,825.718870891,657.718870891,634,657.281129109,0.429887048978,0.00446991035546,0.0499491379815,0.999999996181,1.45818049927e-05,-8.16414307305e-05,2.75729053759e-05,1793251882049926656
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.303174132,747.696825868,724.696825868,694,673.303174132,643,898,788,826,657.696825868,634,657,0.430872109326,0.00447019408822,0.0499468071005,0.999999996909,2.25121754569e-06,-7.38429278304e-05,2.68936443861e-05,1793251882066593024
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.883610632,747.116389368,724.116389368,694,673.883610632,643,898,788,826,657.116389368,634,657,0.431836383459,0.004472573298,0.0499467476112,0.99999999665,-5.77375197596e-08,-7.68933939244e-05,2.80771211874e-05,1793251882083259648
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.540567101,747,724,694,674,643,898,787.540567101,826,657,634,657,0.432797841933,0.00447642535572,0.0499435151589,0.999999996555,1.87680154134e-06,-7.81415345938e-05,2.79522884205e-05,1793251882099926784
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.034109079,747,724,694,674,643,898,787.034109079,826.034109079,657,634,657.034109079,0.433759288033,0.00448003156185,0.0499414194264,0.999999996674,5.07774448222e-06,-7.65628348502e-05,2.76484443738e-05,1793251882116593152
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.608962533,747,724,694,674,643,898,787.608962533,826.608962533,657,634,657.608962533,0.434731732587,0.0044738837772,0.0499699610364,0.999999998796,1.14822964721e-05,-3.73356320497e-05,2.97088266609e-05,1793251882133260800
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.809835665,747,724,694.190164335,674,643,898,787.809835665,827,657,634,658,0.435682544095,0.00447013899348,0.0499805556663,0.999999998818,1.75477365143e-05,-3.25703656326e-05,3.1540601873e-05,1793251882149927936
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.215128716,747,724,694.784871284,674,643,898,787.215128716,827,657,634,658,0.43658733512,0.00447150618863,0.0499529711221,0.999999994085,2.28917741531e-05,-0.000101117061081,3.28860543856e-05,1793251882166593792
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,724,694.633147102,674,643,898.366852898,787,827,657,634,658,0.43753094344,0.00447203260792,0.0499507403971,0.99999999471,1.43418322118e-05,-9.65330969381e-05,3.24784046012e-05,1793251882183260672
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,724,694.058377698,674,643,898.941622302,787,827,657,634,658,0.438496551685,0.0044720825114,0.0499628791323,0.99999999824,-2.08262243644e-06,-5.05018038119e-05,3.10771714549e-05,1793251882199928064
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,724.517570543,694.517570543,674.517570543,643,899,787,827,657,634,658,0.439414689059,0.00447384012283,0.0499688952278,0.999999998514,-4.16822317762e-06,-4.37387749919e-05,3.22740201827e-05,1793251882216594688
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,724.903994449,695,674.903994449,643,899,787.096005551,827,657,633.903994449,658,0.440319965756,0.00447549326012,0.0499718753204,0.999999998501,-3.0485644092e-07,-4.34524773435e-05,3.33109086067e-05,1793251882233261312
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,724.313435879,695,674.313435879,643,899,787.686564121,827,657,633.313435879,658,0.441186637955,0.00447561373601,0.0499627815835,0.999999997714,2.58531687384e-05,-5.36618583231e-05,3.20108006044e-05,1793251882249927168
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.27146906,747,724,694.72853094,674,643,899.27146906,787.72853094,827.27146906,657,633.27146906,658,0.442079882931,0.00447334581129,0.0499708695801,0.999999998491,2.83727756442e-05,-3.52393409377e-05,3.11658174553e-05,1793251882266593536
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.849979496,747,724,694.150020504,674,643,899.849979496,787.150020504,827.849979496,657,633.849979496,658,0.443003182627,0.00446837651865,0.0499983907425,0.999999999395,4.1564702138e-06,1.55668952501e-05,3.08355970995e-05,1793251882283260160
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.574109414,747.425890586,724.425890586,694.425890586,674,643,899.574109414,787,828,657,634,658,0.443823082557,0.00446841191383,0.0499916362229,0.999999999485,2.97179969696e-06,-3.1878881023e-06,3.18096685012e-05,1793251882299926784
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,748,724.999111112,695,673.999111112,643,899.000888888,787,827.999111112,657,634,658,0.444606782868,0.00447019483932,0.0499728696274,0.999999998329,9.84739889468e-06,-4.62657352483e-05,3.32370611601e-05,1793251882316593664
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,748,724.425894,695,673.425894,643,899.574106,787,827.425894,657,634,658,0.445391813709,0.00446896238815,0.0499465929616,0.99999999697,1.45091864562e-05,-6.92190707784e-05,3.2520252547e-05,1793251882333260544
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.152907806,748,724.152907806,695.152907806,673.305815612,643,900,787,827.152907806,657,634,658,0.446180518837,0.00446756964845,0.0499319307497,0.999999996539,1.69074192535e-05,-7.48777485932e-05,3.20840568606e-05,1793251882349927680
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.747854453,748,724.747854453,695.747854453,674.495708906,643,900,787,827.747854453,657,634,658,0.446979846088,0.00446571353283,0.0499508445788,0.999999998925,1.27619772298e-05,-3.05395698263e-05,3.24590806376e-05,1793251882366594304
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.667943193,747.667943193,725,696,674.667943193,643,900,787,828,657,634,658,0.447736934613,0.00446693059407,0.0499512162552,0.999999998945,1.45760840947e-05,-2.77210710487e-05,3.35966333132e-05,1793251882383260672
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.091643782,747.091643782,725,696,674.091643782,643,900,787,828,657,634,658,0.448462954621,0.00447040811419,0.0499379493493,0.999999997624,2.077370545e-05,-5.5442152984e-05,3.52950600228e-05,1793251882399927040
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,747.485420147,725,695.514579853,674.485420147,643,900.485420147,787,828,657,634,658,0.449163818821,0.00447348155284,0.0499355577785,0.999999997198,2.28074781726e-05,-6.09489558338e-05,3.69893446117e-05,1793251882416593664
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,748,725,694.93660033,674.93660033,643,900.93660033,787,828,657,634,658,0.449856759038,0.00447599468882,0.0499385685308,0.999999997306,2.41418708517e-05,-5.74814722113e-05,3.87355678341e-05,1793251882433260288
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,748,725,694.352285707,674.352285707,643,900.352285707,787,828,657,634,658,0.450523675924,0.00447453196852,0.0499690704289,0.99999999871,2.61990099169e-05,-1.47908845467e-05,4.09149732717e-05,1793251882449926912
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747.768657766,725,694.231342234,674,643.231342234,900,787,828,657,634,657.768657766,0.451170697579,0.00447208714271,0.0499901672911,0.999999998635,2.78214795987e-05,8.51267441104e-06,4.33908714915e-05,1793251882466593536
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747.186072455,725,694.813927545,674,643.813927545,900,787,828,657,634,657.186072455,0.451787512573,0.00446815120255,0.0499969846407,0.99999999851,2.87839978342e-05,2.38122526315e-06,4.63169296776e-05,1793251882483260672
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,725,694.609033003,674,643.609033003,900.390966997,787,828,657,634,657.390966997,0.452349681736,0.00446620032579,0.0499758278578,0.999999997493,2.98356142678e-05,-4.25105107623e-05,4.81288018307e-05,1793251882499927808
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,725,694.034596018,674,643.034596018,900.965403982,787,828,657,634,657.965403982,0.452886207177,0.00446518098398,0.0499415435897,0.999999992726,3.0929042005e-05,-0.000105591376762,4.94178174223e-05,1793251882516594944
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,747,724.457807664,694,674,643,901,787.542192336,828,657,633.457807664,657.457807664,0.453423317232,0.00446310482016,0.0499408415212,0.999999993628,2.92996391326e-05,-9.7299582891e-05,4.91850342793e-05,1793251882533261568
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747,724.120978808,694,674.120978808,643,901,787.879021192,828,657,633.120978808,657.120978808,0.453952937095,0.00446037031583,0.0499455175473,0.999999995251,2.61228121058e-05,-8.00482577272e-05,4.90634795734e-05,1793251882549928192
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,747,724.706864896,694,674.706864896,643,901,787.293135104,828,657,633.706864896,657.706864896,0.454453629212,0.00445536615298,0.0499625905581,0.999999997551,1.7669976585e-05,-4.59436875896e-05,4.97441408876e-05,1793251882566594816
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,747.290248954,725,694,674.709751046,643,901,787.290248954,828.290248954,657,634,658,0.454916997162,0.00445249710153,0.0499651163831,0.999999997938,7.6183566608e-06,-4.0795506919e-05,4.90168963857e-05,1793251882583260928
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,747.871127662,725,694,674.128872338,643,901,787.871127662,828.871127662,657,634,658,0.455342991947,0.00445176596302,0.0499530759355,0.999999996804,-4.03414472348e-06,-6.46417079867e-05,4.68798989026e-05,1793251882599927296
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,748,725,694,674,643,901,787.551693757,829,657,634,658,0.455720449114,0.00444844662278,0.0499223027592,0.999999991266,-5.83493850303e-05,-0.000114259628249,3.17539294303e-05,1793251882616594176
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,747.975778256,725,694,674,643,901,787,829,657,634,658,0.456082458756,0.00444446694606,0.0498869332104,0.999999978011,-0.000121822515629,-0.000170140801341,1.37967061224e-05,1793251882633261312
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,747.404562735,725,694,674,643,901,787,829,657,634,658,0.456408135571,0.00444223947129,0.049868377618,0.999999972679,-0.000117417352183,-0.000201529479948,1.55328885823e-05,1793251882649927936
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,747.173123725,725,694,674,643,901,787,829,657,634,658,0.456733490381,0.00444133491251,0.0498571521585,0.999999970691,-0.000102472457119,-0.000218702035991,1.69386315166e-05,1793251882666594560
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,747.76651881,725,694,674,643,901,787,829,657,634,658,0.457058063448,0.00444364183593,0.0498637211713,0.999999977654,-6.19415412729e-05,-0.000201363839983,1.7542206458e-05,1793251882683260672
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725.352011422,694,674,643,901,787,829,657,634,658,0.457361282587,0.00445137376689,0.049871850285,0.999999982035,-1.7360921991e-05,-0.000187721878187,1.97034404159e-05,1793251882699927040
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,725.932377644,694,674,643,901,787,829,657,634,658,0.457650649161,0.0044626249774,0.0498809914589,0.999999983721,2.98468013477e-05,-0.000176477714036,2.28751499055e-05,1793251882716593408
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,748,725.492214825,694,673.492214825,642.492214825,901,787,829,657,634,658,0.457903538681,0.00448396249399,0.0498807085967,0.999999983478,5.16849822247e-05,-0.000172977653446,2.12234895105e-05,1793251882733260288
+214,3.566666667,POSE1_TO_POSE2_PRESS,769.083715552,748,725,694,673.083715552,642,901,787,829.083715552,657,634,658,0.458143740926,0.00450367115128,0.0498785652125,0.999999982661,6.770801573e-05,-0.000172389506363,1.93686034004e-05,1793251882749926912
+215,3.583333333,POSE1_TO_POSE2_PRESS,769.666664043,748,725,694,673.666664043,642,901,787,829.666664043,657,634,658,0.458336971853,0.00450573354427,0.0498727385134,0.999999980659,6.90053581671e-05,-0.00018307581742,2.0095268509e-05,1793251882766593792
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.749269406,748,725,694,673.749269406,642,901,787,829.749269406,657,634,658,0.458519028566,0.00450308962352,0.0498665029818,0.999999978893,6.47457969917e-05,-0.000193792259115,2.16197763706e-05,1793251882783260672
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.163709819,748,725,694,673.163709819,642,901,787,829.163709819,657,634,658,0.458686163073,0.00449416082825,0.0498597214902,0.999999977379,5.30654722282e-05,-0.000204548937013,2.42097340847e-05,1793251882799927552
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.41458398,787,829,657,634,658,0.458831598838,0.00449263451884,0.0498571305779,0.99999997647,5.00837999556e-05,-0.000209632621253,2.46034884537e-05,1793251882816594176
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.990058087,787,829,657,634,658,0.458968613836,0.00449398093734,0.0498561659294,0.999999975853,5.04778669389e-05,-0.000212514752099,2.41449487731e-05,1793251882833260544
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,902,787,829,657,634,658,0.459078641192,0.00449239409642,0.0498535263527,0.999999975189,4.70398389537e-05,-0.000216333474321,2.46923765492e-05,1793251882849927168
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.839624472,787,829,657,634,658,0.459181447061,0.00449119198097,0.0498502934633,0.999999974126,4.39250346476e-05,-0.00022177929946,2.51437546635e-05,1793251882866593536
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,725,694,673,642,901.261442606,787,829,657,634,658,0.459266675659,0.00449112648136,0.0498455915995,0.999999972027,4.1827788715e-05,-0.000231421117753,2.52988348745e-05,1793251882883260160
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,748,725,693.682338315,673,642,901,787,829,657,634,658,0.459339967789,0.00449219419611,0.049840332639,0.999999969831,4.26267934648e-05,-0.000240565335619,2.54657008375e-05,1793251882899927040
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,748,725,693.102472573,673,642,901,787,829,657,634,658,0.459403407336,0.00449419728775,0.0498346138397,0.999999967547,4.5816418935e-05,-0.000249298825588,2.5642295003e-05,1793251882916593664
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,748,725,693.47238759,673,641.52761241,901.47238759,787,829,657,634,657.52761241,0.459454573506,0.00449221622231,0.0498328730061,0.999999966952,4.26114173304e-05,-0.000252184539295,2.61571345578e-05,1793251882933260800
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,748,725,694,673,641,901.952671959,787,829,657,634,657,0.4595023043,0.0044898218015,0.0498322715443,0.999999966758,3.86610011189e-05,-0.000253529702664,2.66777537846e-05,1793251882949927936
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,748,725,694,673,641,901.364536138,787,829,657,634,657,0.459540883507,0.00449247625058,0.0498349324358,0.999999967119,4.18773961505e-05,-0.000251614533485,2.64347803138e-05,1793251882966594304
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,748,725,693.779590492,673,641,901.220409508,787,829,657,633.779590492,657.220409508,0.459574851282,0.00449432679077,0.049836840258,0.999999967386,4.4436007496e-05,-0.000250126484313,2.62857678477e-05,1793251882983260672
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,748,725,693.199845848,673,641,901.800154152,787,829,657,633.199845848,657.800154152,0.459601301005,0.00449486671261,0.0498375203461,0.999999967516,4.59222293798e-05,-0.00024933477195,2.62899406687e-05,1793251882999927040
+230,3.833333333,POSE1_TO_POSE2_PRESS,769,747.621846435,725,693.378153565,672.621846435,641.378153565,901.621846435,787,829,657,633.378153565,658,0.459619444817,0.00449509972928,0.0498372517259,0.999999967294,4.71063593318e-05,-0.000249995250866,2.63762675961e-05,1793251883016593920
+231,3.850000000,POSE1_TO_POSE2_PRESS,769,747.04476512,725,693.95523488,672.04476512,641.95523488,901.04476512,787,829,657,633.95523488,658,0.459633219303,0.0044951712984,0.0498364840373,0.999999966884,4.81315737217e-05,-0.00025141965529,2.65058117057e-05,1793251883033260288
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,747,725,693.470616431,672.529383569,642,901.529383569,787.529383569,829,657.529383569,634,658,0.459639718705,0.00449567370395,0.0498351898773,0.999999966249,4.89053927411e-05,-0.000253755776182,2.6789624012e-05,1793251883049926912
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,747.103533986,725,693.103533986,673,641.896466014,902,787.896466014,828.896466014,657.896466014,634,658,0.459645260767,0.00449644498103,0.0498338286236,0.999999965638,4.97117455281e-05,-0.000255986454193,2.68961247785e-05,1793251883066593792
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,747.678815813,725,693.678815813,673,641.321184187,902,787.321184187,828.321184187,657.321184187,634,658,0.459649228382,0.00449827627302,0.0498323633912,0.999999965246,5.07626651055e-05,-0.000257387338983,2.6135601888e-05,1793251883083260672
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.262523233,748,725,694,673,641,901.737476767,787,828.262523233,657,634,658,0.459652461532,0.00449917551461,0.0498315277318,0.999999964998,5.1175955271e-05,-0.000258297473481,2.58528801436e-05,1793251883099927552
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.856880842,748,725,694,673,641,901.143119158,787,828.856880842,657,634,658,0.459654766308,0.00449889662695,0.0498314878647,0.999999964934,5.07832698385e-05,-0.000258587290441,2.617410806e-05,1793251883116593920
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.561771042,748,725,694,672.561771042,641,901.438228958,787,828.561771042,657,633.561771042,657.561771042,0.459655936158,0.00449806092566,0.0498308136352,0.999999964739,4.96202051672e-05,-0.00025953596256,2.64591240022e-05,1793251883133260544
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,747.98465984,725,693.98465984,672.01534016,641,901.98465984,787,828.01534016,657,633.01534016,657,0.459656729597,0.00449714213309,0.0498299595828,0.999999964505,4.83519703758e-05,-0.000260649664715,2.67099519118e-05,1793251883149927424
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,747.411572106,725,693.411572106,672.588427894,641,901.411572106,787,828.588427894,657,633.588427894,657,0.459656925002,0.00449962334947,0.0498298827902,0.999999964456,5.21437961955e-05,-0.000260165812126,2.61353411003e-05,1793251883166593792
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,747.166371054,725,693,672.833628946,641,901,787,828.833628946,657,634,657.166371054,0.459657343506,0.00450202278478,0.0498298984022,0.999999964385,5.56143338987e-05,-0.000259755744182,2.57705062058e-05,1793251883183260160
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,747.756686715,725,693,672.243313285,641,901,787,828.243313285,657,634,657.756686715,0.459658330505,0.00450421382648,0.0498301494789,0.999999964287,5.82661690792e-05,-0.000259533693368,2.59402196736e-05,1793251883199926784
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,747.659159711,725,693.340840289,672.340840289,641.340840289,901.340840289,787,828,657,633.659159711,658,0.459658156868,0.00450530675901,0.0498295027773,0.999999963948,5.87279361432e-05,-0.000260737394364,2.58862975438e-05,1793251883216593664
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,747.079326932,725,693.920673068,672.920673068,641.920673068,901.920673068,787,828,657,633.079326932,658,0.459657169407,0.0045056297125,0.0498282265661,0.999999963439,5.76540576677e-05,-0.000262940812789,2.56755652235e-05,1793251883233260800
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,747.49720301,725,694,673,642,902,787,828.49720301,657,633.49720301,658,0.459657333455,0.00450446380095,0.0498278323816,0.999999963339,5.73890045795e-05,-0.000263384588425,2.56361554659e-05,1793251883249927680
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,747.928280333,725,694,673,641.928280333,902,787,829,657,634,658,0.459657549243,0.0045035664105,0.0498276181635,0.999999963267,5.74319015239e-05,-0.000263653812752,2.55681053019e-05,1793251883266594048
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,747.36399583,725,694,673,641.36399583,902,787,829,657,634,658,0.459656866936,0.004506133862,0.0498276798349,0.999999962944,5.87093512049e-05,-0.000264639640205,2.51168670284e-05,1793251883283260672
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747.213731419,725,693.786268581,673,641.213731419,901.786268581,787,829,657,634,658,0.45965710338,0.00450675264137,0.049828018894,0.9999999629,5.90229153099e-05,-0.000264724128095,2.52320126672e-05,1793251883299927040
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,747.815889026,725,693.184110974,673,641.815889026,901.184110974,787,829,657,634,658,0.459659009523,0.00450382998914,0.0498288620653,0.999999963365,5.75847558874e-05,-0.000263170560812,2.63764797296e-05,1793251883316593664
+249,4.150000000,HOLD_POSE2,769,748,725,694,673,642,902,787,829,657,634,658,0.459659785308,0.00450540765283,0.0498277918675,0.999999963527,5.92958470551e-05,-0.000262269204872,2.53965825281e-05,1793251883350622208
+250,4.166666667,HOLD_POSE2,769.574557208,748,725,693.425442792,672.425442792,641.425442792,902,787,829,657,634,657.425442792,0.459659229397,0.00450743222656,0.0498274597049,0.999999963186,6.12911028436e-05,-0.000263102932006,2.54651079544e-05,1793251883367288832
+251,4.183333333,HOLD_POSE2,769.846513805,748,725,693.153486195,672.153486195,641,902,787,829,657,634,657.153486195,0.459659001345,0.00450883361743,0.0498274807757,0.999999962973,6.25269342157e-05,-0.00026361330781,2.55426803042e-05,1793251883383955456
+252,4.200000000,HOLD_POSE2,769.255111429,748,725,693.744888571,672.744888571,641,902,787,829,657,634,657.744888571,0.459659708721,0.00450845698656,0.0498285096674,0.999999963137,6.15960288891e-05,-0.000263201120184,2.56460647255e-05,1793251883400621824
+253,4.216666667,HOLD_POSE2,769,748,725,693.670615689,673,641,902,787,828.670615689,657,634,658,0.459659758512,0.00450908167233,0.0498285632858,0.999999963066,6.1680159914e-05,-0.000263465624603,2.54742695029e-05,1793251883417288448
+254,4.233333333,HOLD_POSE2,769,748,725,693.091359382,673,641,902,787,828.091359382,657,634,658,0.459659309456,0.00451046596014,0.0498278770587,0.999999962818,6.25343008297e-05,-0.000264243469805,2.50937221127e-05,1793251883433954816
+255,4.250000000,HOLD_POSE2,769,748,725,693.48418044,672.51581956,641,901.51581956,787,828.48418044,657,634,658,0.459660981805,0.00450997288033,0.0498287038544,0.999999963056,6.45943413679e-05,-0.000262820622572,2.53043987494e-05,1793251883450621440
+256,4.266666667,HOLD_POSE2,769,748,725,694,672,641,901,787,828.94097658,657,634,658,0.4596625617,0.00450922256758,0.0498294982603,0.99999996326,6.65947999601e-05,-0.000261511198588,2.56277973294e-05,1793251883467287808
+257,4.283333333,HOLD_POSE2,769,748,725,694,672,641,901,787,828.366141658,657,634,658,0.459659862141,0.00450929641108,0.0498275336848,0.99999996242,6.61012217498e-05,-0.000264794223294,2.59688001181e-05,1793251883483954176
+258,4.300000000,HOLD_POSE2,769,748,725,694,672.214392311,641,901,787,828.214392311,657,633.785607689,658,0.459658671289,0.00450940287347,0.0498264211648,0.999999962043,6.53985662949e-05,-0.000266373740573,2.61212831521e-05,1793251883500620544
+259,4.316666667,HOLD_POSE2,769,748,725,694,672.804924907,641,901,787,828.804924907,657,633.195075093,658,0.459660127388,0.004509566564,0.0498268035324,0.999999962491,6.43290956201e-05,-0.000264964541338,2.5943017936e-05,1793251883517287424
+260,4.333333333,HOLD_POSE2,769,747.61233841,725,694,673,641,901,787,828.61233841,657,633.38766159,658,0.459659900979,0.0045088961376,0.0498266590109,0.999999962459,6.45694891318e-05,-0.000265025550243,2.5971195513e-05,1793251883533954560
+261,4.350000000,HOLD_POSE2,769,747.033447319,725,694,673,641,901,787,828.033447319,657,633.966552681,658,0.459658844607,0.00450781424986,0.0498262545804,0.999999962189,6.5456025168e-05,-0.000265811797676,2.61012091945e-05,1793251883550621952
+262,4.366666667,HOLD_POSE2,769,747,725,693.458870726,673,641,901.541129274,787,828.541129274,657,634,658,0.45965986988,0.00451016628396,0.0498264862727,0.999999962169,6.66008785265e-05,-0.000265651623115,2.5598157203e-05,1793251883567288064
+263,4.383333333,HOLD_POSE2,769,747,725,693.11844046,673,641,901.88155954,787,828.88155954,657,633.88155954,657.88155954,0.459660750787,0.00451209720187,0.0498268363535,0.999999962173,6.73505308796e-05,-0.000265485650006,2.52121528643e-05,1793251883583954176
+264,4.400000000,HOLD_POSE2,769,747,725,693.707673275,673,641,901.292326725,787,828.292326725,657,633.292326725,657.292326725,0.459660550457,0.00451151720304,0.0498275019664,0.999999962215,6.6466323589e-05,-0.000265527316268,2.54457127527e-05,1793251883600620544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,725,694,672,641,901,787,828,657,634,658,0.459662052573,0.00451039539722,0.0498284955667,0.999999962701,6.59345170598e-05,-0.000263818360511,2.55169468039e-05,1793251883638819328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,724.401061458,693.401061458,672.598938542,641,901.598938542,787,828,657,633.401061458,657.401061458,0.459660816062,0.00451062478166,0.0498275213306,0.99999996229,6.62284326902e-05,-0.000265300918687,2.54609528707e-05,1793251883655486720
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747.187588323,724.187588323,693,673,641,902,787,828,657,633,657.187588323,0.459660174585,0.0045114445151,0.0498269560368,0.999999962089,6.68187711922e-05,-0.000265937096443,2.52034964016e-05,1793251883672153856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747.755384728,724.755384728,693,673,641,902,787,828,657,633,657.755384728,0.459660739134,0.00451346078075,0.049827219596,0.999999962311,6.80099060546e-05,-0.000264857812269,2.4537711284e-05,1793251883688820480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.34147305,748,725,693,672.65852695,641.34147305,901.65852695,787,828.34147305,657,633.34147305,658,0.459660891477,0.00451328699752,0.0498275061381,0.999999962382,6.82328503733e-05,-0.000264490622068,2.49920099753e-05,1793251883705486592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.941406458,748,725,693,672.058593542,641.941406458,901.058593542,787,828.941406458,657,633.941406458,658,0.459660731824,0.00451145556999,0.049827810076,0.999999962338,6.77229728832e-05,-0.000264662414619,2.62940981918e-05,1793251883722152960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.477334847,747.477334847,725,693,672.522665153,641.477334847,901,787,829,657,634,658,0.459660690624,0.00451168838433,0.0498272386138,0.999999962417,6.67191513489e-05,-0.000264658511537,2.58763378579e-05,1793251883738819584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747.100872989,725,693,672.899127011,641,901,787,828.899127011,657,634,658,0.459660438997,0.00451195593042,0.0498264363978,0.999999962421,6.57348942789e-05,-0.000264943247187,2.53555802823e-05,1793251883755485952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,747.674258184,725,693,672.325741816,641,901,787,828.325741816,657,634,658,0.459659141629,0.00451133957347,0.049824997116,0.999999962007,6.50927170299e-05,-0.000266669112557,2.52243431784e-05,1793251883772152576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,748,725,693,672.254346223,641,901,786.745653777,828,657,633.745653777,657.745653777,0.459655737962,0.00451102635018,0.0498233276493,0.999999961302,6.4766140985e-05,-0.000269389576883,2.51192098689e-05,1793251883788819456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,748,725,693,672.843250912,641,901,786.156749088,828,657,633.156749088,657.156749088,0.459649563741,0.00451111185877,0.0498213554052,0.999999960204,6.48546962001e-05,-0.000273418303086,2.5048412623e-05,1793251883805485824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747.574304622,725,693,673,641,901,786.425695378,828,657,633.425695378,657.425695378,0.459628901392,0.00451168596826,0.0498114942605,0.999999955747,6.57110423828e-05,-0.000289096283469,2.47381266876e-05,1793251883822152448
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,747.581194341,725,693,673,641,901,787,828.581194341,657,633.418805659,658,0.4595521869,0.00451380710003,0.0497781560205,0.999999939006,6.92099221261e-05,-0.00034151177741,2.38325872407e-05,1793251883855485696
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,693,674.077830598,642,893,789.077830598,821.922169402,657,633,656.922169402,0.428100931116,0.00460551016043,0.0497734789169,0.999999923716,0.000158562592406,-0.000355119935519,-3.62725706108e-05,1793251884788818944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,693,674.653757924,642,893,789.653757924,821.346242076,657,633,656.346242076,0.427098562983,0.00461116858433,0.0497638980299,0.999999913447,0.000137988820186,-0.000390769117316,-3.69408274562e-05,1793251884805485568
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,747,724,692.76808747,674.76808747,642,893,789.76808747,820.76808747,657,633,656.23191253,0.42614182591,0.00461329201047,0.0497589766079,0.999999911534,0.000126258926944,-0.000399398480795,-3.83509598527e-05,1793251884822152448
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,747,724,692.186575232,674.186575232,642,893,789.186575232,820.186575232,657,633,656.813424768,0.425253875849,0.00461008655688,0.0497610791585,0.999999923537,0.000127860856794,-0.000367296456452,-4.08794428176e-05,1793251884838819328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769.398357448,747,724,692,674.796714896,642.398357448,893,789,820,657,633,656.601642552,0.424343311446,0.00460633764919,0.0497940366237,0.999999944073,0.000129945599753,-0.000305386338457,-4.13259149061e-05,1793251884855485952
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769.984905971,747,724,692,675.969811942,642.984905971,893,789,820,657,633,656.015094029,0.423422063684,0.00460233200442,0.0498415704938,0.999999964111,0.000132258431442,-0.00022939435259,-4.07888080494e-05,1793251884872152576
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,676,642.43977027,892.43977027,789.56022973,820,656.43977027,632.43977027,656,0.422477594314,0.00460603555784,0.0498260412961,0.999999955526,0.000142044688774,-0.000258990348237,-4.11717744297e-05,1793251884888818944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.86451764,642.13548236,891.86451764,789.86451764,820,656.13548236,632.13548236,656.13548236,0.421539270425,0.00460890778258,0.0498102296864,0.999999946266,0.00014982190755,-0.000288625030105,-4.14369191851e-05,1793251884905485568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.28853233,642.71146767,891.28853233,789.28853233,820,656.71146767,632.71146767,656.71146767,0.420622922068,0.00460841498976,0.0497989156783,0.999999939997,0.000150425189182,-0.000309317649056,-4.12399671759e-05,1793251884922152192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.294022145,642.705977855,891,789,820,657,633,656.705977855,0.419723978743,0.00460966069942,0.0497963093908,0.999999936482,0.000141878536498,-0.000324440987593,-4.05583882465e-05,1793251884938818816
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.883170416,642.116829584,891,789,820,657,633,656.116829584,0.418842505858,0.00461265143925,0.0498024435198,0.999999935749,0.000124147593699,-0.000333974133187,-3.93903627543e-05,1793251884955485440
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.535203515,642,891,789,820,657,633,656.464796485,0.41794948745,0.00461424843659,0.0497840210497,0.999999924315,0.000135422057874,-0.000362485562915,-4.04475501711e-05,1793251884972152320
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,747,724,692.044176193,675,642.044176193,891,789,820,657,633,657,0.417062848677,0.00461496457022,0.0497632336308,0.999999911726,0.000151906249308,-0.000389500489622,-4.19801090744e-05,1793251884988818688
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,747,724,692.618922758,675,642.618922758,891,789,820,657,633,657,0.416287131537,0.00460924176528,0.0497869950107,0.999999930073,0.000144791871827,-0.000342161348684,-4.26113851829e-05,1793251885005485568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,747,724,692.802207622,675.197792378,643,890.802207622,789,820,657,633,656.802207622,0.415516643757,0.00460588268736,0.0498056941712,0.999999943524,0.000133341802643,-0.000305451298145,-4.32624864866e-05,1793251885022152192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,747,724,692.215225089,675.784774911,643,890.215225089,789,820,657,633,656.215225089,0.414756445496,0.00460717464351,0.0498144325581,0.999999950659,0.000113360521564,-0.000289655784136,-4.39525974887e-05,1793251885038818816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,676,642.631036686,890,789,820,657,633,656.368963314,0.413962638192,0.00460956430047,0.0497997671323,0.999999941612,0.000119276430571,-0.000317158675519,-4.42568285207e-05,1793251885055485696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,676,642.048465949,890,789,820,657,633,656.951534051,0.413149373333,0.00461258945967,0.0497715523154,0.999999920841,0.000140185245754,-0.000369728722558,-4.43376582653e-05,1793251885072152064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.473739938,642,890,789.526260062,820,657,633,656.473739938,0.412427382895,0.00461689465988,0.0497824529395,0.999999925533,0.000154857963853,-0.000350691953696,-4.43643028565e-05,1793251885088818688
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.100517597,642,890,790,820,657,633,656,0.41172017493,0.00462016087312,0.049797023779,0.999999932612,0.000162126707091,-0.000326409374537,-4.41446775876e-05,1793251885105485568
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,747,724,692,675.675924913,642,890,790,820,657,633,656,0.411043675938,0.00461796968788,0.0498121652669,0.999999942243,0.000137089249171,-0.00030804162968,-4.2784793925e-05,1793251885122152448
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.741552096,747,724,692,675.483104191,642.258447904,890,789.741552096,820,657,633,656.258447904,0.41037544852,0.00461495237734,0.0498110488906,0.999999941292,0.000122590685224,-0.000317229736907,-4.1856450553e-05,1793251885138819072
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.149853991,747,724,692,674.299707983,642.850146009,890,789.149853991,820,657,633,656.850146009,0.409717886761,0.0046108698371,0.0497889691531,0.999999926233,0.000121681277735,-0.000361949157733,-4.1484547794e-05,1793251885155485696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.864095029,747,724,692.432047514,674.432047514,643,889.567952486,789,819.567952486,657,633,657,0.409120888789,0.00460660348584,0.0497905132972,0.99999993014,0.000121400455068,-0.000350973396903,-4.24123926695e-05,1793251885172152320
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770.989471642,747,724,692.989471642,675,642.989471642,889,789,819.010528358,657,633,657,0.40854485448,0.00460236770142,0.0498002219014,0.999999940039,0.000121451002012,-0.000321337870804,-4.37456640832e-05,1793251885188818944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770.41623584,747,724,692.41623584,675,642.41623584,889,789,819.58376416,657,633,657,0.407991436142,0.00460309754351,0.0498180695522,0.999999944699,0.000127817975035,-0.000303972715588,-4.31874252371e-05,1793251885205485568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.838796338,674.838796338,642.161203662,889,788.838796338,820,657,632.838796338,656.838796338,0.407448599317,0.00460333353333,0.0498295051227,0.999999947174,0.0001313009439,-0.000294240052729,-4.28347644075e-05,1793251885222152192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,724,691.250211926,674.250211926,642.749788074,889,788.250211926,820,657,632.250211926,656.250211926,0.406933815919,0.0046022602295,0.0498239410852,0.999999944558,0.000127137885309,-0.00030474253653,-4.30271288665e-05,1793251885238819072
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.332979336,674.332979336,643,889,788.332979336,820,657,632,656,0.406421039285,0.00460257466215,0.0498057131656,0.999999934477,0.000125867727542,-0.000336598478294,-4.36442956979e-05,1793251885255485696
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.912182559,674.912182559,643,889,788.912182559,820,657,632,656,0.405909746599,0.00460391526625,0.0497781208504,0.999999917154,0.000126736745456,-0.000384244381962,-4.45755855134e-05,1793251885272152064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,724,692,675,642.510914766,888.510914766,789,820,657,632.489085234,656.489085234,0.405459107643,0.00460894239739,0.0497735410512,0.999999912603,0.000130329529112,-0.000394604075288,-4.5774058089e-05,1793251885288818688
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,724,691.934561115,675,642,888.065438885,789,820,656.934561115,632.934561115,656.934561115,0.405028326538,0.00461406477766,0.0497758830549,0.999999912751,0.000134264579259,-0.000392774082174,-4.69014729704e-05,1793251885305485568
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,724,691.359281725,675,642,888.640718275,789,820,656.359281725,632.359281725,656.359281725,0.404667806984,0.00461479621987,0.0498001113926,0.999999928982,0.000137073752553,-0.000347889531852,-4.7103251621e-05,1793251885322152448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642,888.783258098,789,820,656.216741902,632.216741902,656.216741902,0.404322596155,0.00461610253639,0.0498251026915,0.999999942013,0.000139967402252,-0.000306873476577,-4.70203469756e-05,1793251885338818816
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642,888.205996595,789,820,656.794003405,632.794003405,656.794003405,0.404002849268,0.00461836507522,0.0498513630664,0.999999951624,0.000143001566522,-0.000272292122664,-4.64639118655e-05,1793251885355485440
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,747.379879019,724,691,675,642,888,788.620120981,820,657,633,657,0.40369089644,0.00461980625353,0.0498582353775,0.999999952977,0.000145073830157,-0.000266162554262,-4.64447310446e-05,1793251885372152320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,747.970534232,724,691,675,642,888,788.029465768,820,657,633,657,0.403383268124,0.00462079169946,0.0498543502075,0.999999950123,0.00014661238275,-0.000275819479975,-4.67236461857e-05,1793251885388818944
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747.452044161,724,691,675,642,888.547955839,788.547955839,820,657,633,657,0.40309033578,0.0046227642628,0.0498418544063,0.999999942255,0.000151825042252,-0.000300334098222,-4.73040088231e-05,1793251885405485568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642,888.875763045,789,820,657,633,656.875763045,0.402806830844,0.00462460785438,0.0498292504364,0.999999934145,0.000155458706111,-0.000324416486626,-4.79127599504e-05,1793251885422152192
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642,888.301097493,789,820,657,633,656.301097493,0.402554707891,0.00462579594058,0.0498178934398,0.999999927963,0.00015266821205,-0.000344103446443,-4.85670509521e-05,1793251885438819072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747,724,690.719052132,675,642,888,788.719052132,820,657,633,656.280947868,0.402332244896,0.00462547904215,0.0498115639046,0.999999925544,0.000148320713924,-0.000352861592158,-4.90092695064e-05,1793251885455485696
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,724,690.12888436,675,642,888,788.12888436,820,657,633,656.87111564,0.402142426581,0.00462350571106,0.0498107677496,0.999999927563,0.000142259529232,-0.000349591146349,-4.92180745483e-05,1793251885472152320
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770.452223415,747,724,690.452223415,675,642,888,788,819.547776585,657,633,657,0.401982038538,0.00462185764911,0.0498165804851,0.99999993412,0.000132224893154,-0.000335634768081,-4.03109825667e-05,1793251885488818944
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770.969300061,747,724.030699939,691,675,642,888,788,819,657,633,657,0.401831389754,0.00461944338717,0.049824173616,0.999999941386,0.000121231368054,-0.000318854839126,-2.93573523713e-05,1793251885505485568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770.392599314,747,724.607400686,691,675,642,888,788,819,657,633,657,0.401707708947,0.00460178586456,0.0498305901941,0.999999946751,0.000112928876417,-0.000304958580887,-2.73047689745e-05,1793251885522152192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,724.816988143,691,674.816988143,642,888,788,819,657,633,657,0.401590441021,0.00458786632404,0.0498358914682,0.999999950994,0.000104946527084,-0.000293812418008,-2.59137270527e-05,1793251885538818816
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,724.243700582,691,674.243700582,642,888,788,819,657,633,657,0.401486848685,0.0045819180922,0.0498388143375,0.999999953271,9.76468874275e-05,-0.000288530879245,-2.59334331501e-05,1793251885555485440
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,747,724,691,674.342061259,642,888,788,819,657,633,656.657938741,0.401395899744,0.00458292685745,0.0498403157369,0.99999995421,9.86111251827e-05,-0.000284812634996,-2.71657028135e-05,1793251885572152064
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,724,691,674.937046795,642,888,788,819,657,633,656.062953205,0.401314299475,0.00458907971077,0.0498407660843,0.999999954154,0.000105685774152,-0.000282250309267,-2.92945568018e-05,1793251885588818688
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,724,691,675,642.514955277,888,788,819,657,633,656,0.401249962645,0.00458662396986,0.0498404296421,0.999999954619,0.000103714100414,-0.0002813469733,-2.9158253876e-05,1793251885605485568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747.090554692,724,691,675,642.909445308,888,788,819,657,633,656.090554692,0.401190983723,0.00458431834384,0.0498403071581,0.999999955191,0.000101533045475,-0.000280116294375,-2.90606847384e-05,1793251885622152192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747.664614403,724,691,675,642.335385597,888,788,819,657,633,656.664614403,0.401149705835,0.00458825302301,0.0498418241585,0.999999956016,0.00010394936376,-0.000276089683803,-3.06010234293e-05,1793251885638818816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747.755676026,724.244323974,691,674.755676026,642,888.244323974,788,819.244323974,657,633,656.755676026,0.401113100885,0.00458930141945,0.0498434153991,0.999999957007,0.000104570435634,-0.00027215674432,-3.13463591278e-05,1793251885655485440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747.168027291,724.831972709,691,674.168027291,642,888.831972709,788,819.831972709,657,633,656.168027291,0.401083062365,0.00458629400275,0.0498451109621,0.999999958243,0.000102668821875,-0.000268355431971,-3.09745542112e-05,1793251885672152064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,724.583845277,691,674,642,888.583845277,788.416154723,819.583845277,657,632.583845277,656.416154723,0.401060071536,0.00458712728673,0.0498471225074,0.999999959059,0.000104731983552,-0.000264451567403,-3.12723736562e-05,1793251885688818944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,724.001051442,691,674,642,888.001051442,788.998948558,819.001051442,657,632.001051442,656.998948558,0.401039902786,0.00458949848664,0.0498492605803,0.999999959688,0.00010838274388,-0.000260506638361,-3.18383280192e-05,1793251885705485568
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d12f0fee97d56e2a76ca396b66cbe24cda65b534
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,416 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91a53c688ff35b1b0ba28e00c25fd35e21fe6d2c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ba9c384aaa99da443c2679a6f1113a7690e13d8d0b545c80dd289836828ccbd
+size 26050371
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de8070af321bb60f38892abece712942fd4a1ad3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+6,0.100000000,BASELINE,770.520899729,747,725,692,671,642,890.520899729,788,820,656.520899729,633,656.520899729,0.401023687843,0.00448420211777,0.0698499178286,0.999999987348,2.01814150976e-05,-0.000156705532837,1.84192476056e-05,1793251887787497472
+7,0.116666667,BASELINE,770,747,725.056405948,692,671,642.056405948,890,788,820,656.056405948,633,656.056405948,0.401022457294,0.00448415577943,0.0698491045152,0.999999987122,2.01249226997e-05,-0.000158156300319,1.83569625965e-05,1793251887804164096
+8,0.133333333,BASELINE,770,747,725.630820606,692,671,642.630820606,890,788,820,656.630820606,633,656.630820606,0.401024606046,0.00448551691401,0.0698504520933,0.99999998741,2.27837746774e-05,-0.000155971721606,1.82508888443e-05,1793251887820830208
+9,0.150000000,BASELINE,770,747,725.78942256,692,671,643,890,788,820,657,633,657,0.40102597822,0.00448641108385,0.0698512175441,0.999999987606,2.39613926921e-05,-0.00015455153208,1.80766712433e-05,1793251887837496576
+10,0.166666667,BASELINE,770,747,725.200056226,692,671,643,890,788,820,657,633,657,0.401025953478,0.0044864652725,0.0698509358581,0.999999987653,2.24745513229e-05,-0.000154506334032,1.77798757883e-05,1793251887854162944
+11,0.183333333,BASELINE,770.382422869,747,725,692,671,643,890,788,820.382422869,657,633,656.617577131,0.401026359986,0.00448639738056,0.069851458485,0.999999987774,2.19262888195e-05,-0.000153807783189,1.77215892137e-05,1793251887870829568
+12,0.200000000,BASELINE,770.961362844,747,725,692,671,643,890,788,820.961362844,657,633,656.038637156,0.401026988103,0.00448626675462,0.0698523944273,0.999999987933,2.18603373033e-05,-0.000152773491437,1.77858660856e-05,1793251887887496192
+13,0.216666667,BASELINE,770.463914156,747,725,692,670.463914156,643,890,788,820.463914156,657,633,656.536085844,0.401026537526,0.00448626935176,0.069852433514,0.999999987885,2.35282205638e-05,-0.000152810052368,1.80507639393e-05,1793251887904163584
+14,0.233333333,BASELINE,770,747,725.111260133,692,670.111260133,643,890,788,820,657,633,656.888739867,0.401026163264,0.00448609973919,0.0698523933329,0.999999987821,2.4979205112e-05,-0.00015296743008,1.83066188525e-05,1793251887920830208
+15,0.250000000,BASELINE,770,747,725.689595079,692,670.689595079,643,890,788,820,657,633,656.310404921,0.401026433209,0.00448516718891,0.0698522896207,0.999999987765,2.49991379864e-05,-0.00015331052884,1.84642842128e-05,1793251887937496576
+16,0.266666667,BASELINE,770,747,726,692,671,642.727730094,890,788,820.272269906,657,633,656.272269906,0.401026702969,0.00448516747821,0.0698522957969,0.999999987756,2.51701457854e-05,-0.000153353145399,1.83729170293e-05,1793251887954163200
+17,0.283333333,BASELINE,770,747,726,692,671,642.14002742,890,788,820.85997258,657,633,656.85997258,0.401026972515,0.00448624848993,0.069852429282,0.999999987801,2.5516178367e-05,-0.000153047644389,1.79930382436e-05,1793251887970829824
+18,0.300000000,BASELINE,770,747,725.558537316,692,671,642,890,788,820.558537316,656.558537316,633,657,0.40102678054,0.00448677023144,0.0698526620952,0.999999987822,2.55826886741e-05,-0.000152892068608,1.80212070817e-05,1793251887987496192
+19,0.316666667,BASELINE,770,747,725,692,671,642.020885789,890.020885789,788,820,656.020885789,633,657,0.401026412437,0.0044870725542,0.0698528922298,0.99999998783,2.55906890495e-05,-0.000152823826363,1.81728766358e-05,1793251888004163072
+20,0.333333333,BASELINE,770,747,725,692,671,642.597018458,890.597018458,788,820,656.597018458,633,657,0.40102519973,0.00448619222647,0.0698522251942,0.999999987655,2.63675586905e-05,-0.000153830644219,1.82147064622e-05,1793251888020829696
+21,0.350000000,BASELINE,770,747,725,692,671,642.82381303,890.82381303,788,820,656.82381303,633,656.82381303,0.401024101062,0.00448602955907,0.0698513501691,0.999999987464,2.66284560662e-05,-0.000155038599457,1.80522655648e-05,1793251888037496064
+22,0.366666667,BASELINE,770,747,725,692,671,642.237579161,890.237579161,788,820,656.237579161,633,656.237579161,0.401023267799,0.00448753713104,0.0698499910818,0.999999987239,2.56885106839e-05,-0.000156714669536,1.74144173313e-05,1793251888054162944
+23,0.383333333,BASELINE,770,747,725,692,671,642.344657611,890,788,820,656.344657611,633,656.344657611,0.401023510365,0.00448776914525,0.0698500148636,0.999999987263,2.49919350389e-05,-0.000156686605627,1.72577416845e-05,1793251888070829824
+24,0.400000000,BASELINE,770,747,725,692,671,642.924170753,890,788,820,656.924170753,633,656.924170753,0.401024486019,0.00448713197297,0.0698509809556,0.999999987459,2.4461195558e-05,-0.000155497316135,1.74289451201e-05,1793251888087496448
+25,0.416666667,BASELINE,770,747,725.503691969,692,671,642.496308031,890,788,820,657,633,656.496308031,0.401025273243,0.00448585775605,0.0698519441485,0.99999998761,2.28025015426e-05,-0.000154745128995,1.77211866621e-05,1793251888104163072
+26,0.433333333,BASELINE,770,747,725.917683976,692,671,642.082316024,890,788,820,656.917683976,633,656.082316024,0.401025935411,0.00448457689397,0.0698526842827,0.999999987743,2.11365605482e-05,-0.000154092661043,1.79819388784e-05,1793251888120829440
+27,0.450000000,BASELINE,770,747,725.34441779,692,671,642.65558221,890,788,820,656.34441779,633,656.65558221,0.401026020914,0.00448382840544,0.0698520966521,0.999999987827,2.04401953492e-05,-0.000153642461551,1.79462011815e-05,1793251888137496320
+28,0.466666667,BASELINE,770,747,725,692,670.765120348,642.765120348,889.765120348,788,820,656.234879652,633,657,0.401026302188,0.00448380381577,0.069852096297,0.999999987929,2.08811254847e-05,-0.000152925999308,1.78780677645e-05,1793251888154162944
+29,0.483333333,BASELINE,770,747,725,692,670.176745875,642.176745875,889.176745875,788,820,656.823254125,633,657,0.401026878098,0.00448486869687,0.069852979794,0.999999988054,2.30336897136e-05,-0.000151808810579,1.77611786607e-05,1793251888170829568
+30,0.500000000,BASELINE,770,747,725,692,670.810850748,642.405425374,889.405425374,788,820,656.594574626,633,657,0.401026864405,0.00448587183331,0.0698529421958,0.999999988027,2.43544986141e-05,-0.000151809230761,1.75333411757e-05,1793251888187496192
+31,0.516666667,BASELINE,770,747,725,692,671.969866111,642.984933056,889.984933056,788,820,656.015066944,633,657,0.401026597547,0.0044868484577,0.0698525090962,0.999999987935,2.5318166796e-05,-0.000152289531982,1.72578644696e-05,1793251888204162816
+32,0.533333333,BASELINE,770,747,725,692,671.437260291,643,890,788,820,656.562739709,633,656.437260291,0.401026033498,0.00448561897052,0.0698530099737,0.999999987823,2.42206730812e-05,-0.000153140407845,1.77311268816e-05,1793251888220829440
+33,0.550000000,BASELINE,770,747,725,692,671,643,890,788,820,656.857895538,633,656,0.401025719793,0.00448492448818,0.069853410353,0.999999987745,2.37378077841e-05,-0.000153689515688,1.80616491832e-05,1793251888237496064
+34,0.566666667,BASELINE,770,747,725,692,671,643,890,788,820,656.273540542,633,656,0.401026209884,0.00448607829345,0.0698534203769,0.999999987773,2.53389890106e-05,-0.000153268690448,1.78857415294e-05,1793251888254162688
+35,0.583333333,BASELINE,770,747,725,692,671,642.692599746,890,788,820,656.307400254,633,656.307400254,0.401026850353,0.00448608313292,0.0698534908375,0.999999987917,2.42330528281e-05,-0.000152516718256,1.7793593646e-05,1793251888270829568
+36,0.600000000,BASELINE,770,747,725,692,671,642.114663642,890,788,820,656.885336358,633,656.885336358,0.401027623167,0.00448507679433,0.0698536144869,0.999999988155,2.07446454477e-05,-0.000151473311246,1.77751607781e-05,1793251888287496192
+37,0.616666667,BASELINE,769.5356127,747,725,692,670.5356127,642.4643873,890,788,820,657,633,657,0.40102637682,0.00448497743766,0.0698529853235,0.999999987873,2.16375003732e-05,-0.000153199993912,1.776530397e-05,1793251888304162816
+38,0.633333333,BASELINE,769.043560664,747,725.043560664,692,670.043560664,642.956439336,890,788,820,656.956439336,633,656.956439336,0.401024814735,0.00448519499091,0.0698522656964,0.999999987504,2.35610149542e-05,-0.000155308278087,1.77559083896e-05,1793251888320829696
+39,0.650000000,BASELINE,769.620853579,747,725.620853579,692,670.620853579,642.379146421,890,788,820,656.379146421,633,656.379146421,0.401025507399,0.00448654498824,0.0698527206497,0.999999987724,2.48261019246e-05,-0.000153691549021,1.77261561093e-05,1793251888337496064
+40,0.666666667,BASELINE,770,747,726,692,671,642,890,788,820,656.200935071,633,656.200935071,0.401025878232,0.00448692145799,0.06985282128,0.999999987818,2.49204007479e-05,-0.000153067267713,1.77174540146e-05,1793251888354162688
+41,0.683333333,BASELINE,770,747,726,692,671,642,890,788,820,656.78635237,633,656.78635237,0.401025633255,0.00448543511668,0.0698522439255,0.999999987672,2.27744373348e-05,-0.00015434200057,1.77490307155e-05,1793251888370829312
+42,0.700000000,BASELINE,770,747,726,692,671,642,890,788,820,657,633,656.629977788,0.401025384551,0.00448524769784,0.0698520239157,0.999999987619,2.29579720428e-05,-0.000154662932876,1.7719922058e-05,1793251888387496192
+43,0.716666667,BASELINE,770,747,726,692,671,642,890,788,820,657,633,656.047312189,0.401025133704,0.00448580674039,0.0698520092638,0.999999987619,2.44802166455e-05,-0.000154435737562,1.76559388982e-05,1793251888404162816
+44,0.733333333,BASELINE,770,747,725.470098682,692,671,642,890,788,820,657,633,656,0.401025868308,0.00448519534807,0.0698530915286,0.999999987869,2.32952911408e-05,-0.000152964076954,1.79047733019e-05,1793251888420829952
+45,0.750000000,BASELINE,770,747,725,692,671,642.10585039,890,788,820,657,633,656.10585039,0.401026571604,0.00448469694632,0.0698539664479,0.99999998808,2.23025995222e-05,-0.000151705328648,1.80976114263e-05,1793251888437497088
+46,0.766666667,BASELINE,770,747,725,692,671,642.678349133,890,788,820,657,633,656.678349133,0.401026752936,0.00448515268385,0.069853499901,0.999999988038,2.32121236542e-05,-0.000151870074319,1.79217094649e-05,1793251888454163200
+47,0.783333333,BASELINE,770,747,725,692,671,642.740710967,889.740710967,788,820,656.740710967,633,657,0.401026243891,0.00448623844155,0.0698531390079,0.999999987894,2.44713791233e-05,-0.00015263785983,1.77660349418e-05,1793251888470829312
+48,0.800000000,BASELINE,770,747,725,692,671,642.148947274,889.148947274,788,820,656.148947274,633,657,0.401024849608,0.00448813204581,0.0698529135898,0.999999987616,2.61790794747e-05,-0.00015417889622,1.76362971286e-05,1793251888487495936
+49,0.816666667,BASELINE,770,747,725,692,670.566760569,642.433239431,889,788,820,656.433239431,633,656.566760569,0.401025622727,0.00448815538529,0.0698531961081,0.999999987699,2.76535041633e-05,-0.000153378418557,1.76611924892e-05,1793251888504162560
+50,0.833333333,BASELINE,770,747,725.012107417,692,670,642.987892583,889.012107417,788,820,657,633,656.012107417,0.401027096885,0.0044875347755,0.069853637457,0.999999987899,2.89401714776e-05,-0.00015182405481,1.77375268485e-05,1793251888520829440
+51,0.850000000,BASELINE,770,747,725.586455461,692,670,642.413544539,889.586455461,788,820,657,633,656.586455461,0.401027270979,0.00448622407724,0.0698535205913,0.999999987999,2.51515754322e-05,-0.000151835275128,1.77872083071e-05,1793251888537496320
+52,0.866666667,BASELINE,770,747,725.835825478,692,670.164174522,642,890.164174522,788,820,657,633,657,0.40102731843,0.00448556357375,0.0698535366803,0.999999988047,2.28222721331e-05,-0.000151887215019,1.77734418912e-05,1793251888554162944
+53,0.883333333,BASELINE,770,747,725.249437076,692,670.750562924,642,890.750562924,788,820,657,633,657,0.401027040189,0.00448657520106,0.0698538946944,0.999999987993,2.42458878884e-05,-0.000152043874993,1.7596504154e-05,1793251888570829568
+54,0.900000000,BASELINE,770,747,725.333509554,692,671,642.333509554,890.666490446,788,820,657,633.333509554,657,0.401025839541,0.00448601603712,0.069853292148,0.999999987851,2.38760509775e-05,-0.000153040166152,1.7515644013e-05,1793251888587495936
+55,0.916666667,BASELINE,770,747,725.913908296,692,671,642.913908296,890.086091704,788,820,657,633.913908296,657,0.401023956056,0.00448429405376,0.0698519785215,0.999999987641,2.21785636663e-05,-0.000154658016293,1.75059078383e-05,1793251888604162560
+56,0.933333333,BASELINE,770,747,725.508837367,692,671,642.508837367,890,788,820,657,633.508837367,657,0.401024284148,0.00448520677247,0.0698517518653,0.999999987572,2.38139270486e-05,-0.000154838787625,1.76886404936e-05,1793251888620829440
+57,0.950000000,BASELINE,770.067588443,747,725.067588443,692,671,642,890,788,820,657,633,657,0.401024838392,0.00448637920942,0.0698516785683,0.99999998752,2.5803669869e-05,-0.000154837843737,1.78693182145e-05,1793251888637496320
+58,0.966666667,BASELINE,770.641908125,747,725.641908125,692,671,642,890,788,820,657,633,657,0.40102420033,0.00448605849353,0.0698513357085,0.999999987434,2.60983354604e-05,-0.000155351032907,1.77832675524e-05,1793251888654162944
+59,0.983333333,BASELINE,770.777888821,747,725.777888821,692,670.777888821,642.222111179,890,788,820,657,633,657,0.401024211818,0.00448592997638,0.0698516087751,0.999999987472,2.5790109769e-05,-0.000155171062309,1.77125843319e-05,1793251888670829568
+60,1.000000000,BASELINE,770.187942303,747,725.187942303,692,670.187942303,642.812057697,890,788,820,657,633,657,0.401025299019,0.00448611975693,0.0698529018692,0.99999998771,2.44834439673e-05,-0.000153843159211,1.76673509113e-05,1793251888687496192
+61,1.016666667,BASELINE,770,747,725,692,670.395775537,643,890,788.395775537,820.395775537,657,633,657,0.401025565267,0.00448639642123,0.0698530552337,0.999999987758,2.42185410884e-05,-0.000153592141003,1.74951766364e-05,1793251888704163072
+62,1.033333333,BASELINE,770,747,725,692,670.976581351,643,890,788.976581351,820.976581351,657,633,657,0.401025447708,0.00448671370482,0.0698526757595,0.999999987718,2.44406761799e-05,-0.000153844580749,1.72636558422e-05,1793251888720829696
+63,1.050000000,BASELINE,770,747.551231836,725,692.551231836,671,642.448768164,890,788.448768164,820.448768164,657,633.551231836,657,0.401025508843,0.00448688637443,0.0698531237116,0.999999987652,2.66540881123e-05,-0.000153860440546,1.76624416643e-05,1793251888737497344
+64,1.066666667,BASELINE,770,747.874053885,725,692.874053885,671,642.125946115,890,788,820.125946115,657,633.874053885,657,0.401025437412,0.00448660451377,0.069853310276,0.999999987573,2.79330316226e-05,-0.000154117813422,1.79525283501e-05,1793251888754164480
+65,1.083333333,BASELINE,770,747.298187884,725,692.298187884,671,642.701812116,890,788,820.701812116,657,633.298187884,657,0.401024865599,0.00448472063058,0.0698524388901,0.99999998746,2.55748811572e-05,-0.000155273456996,1.77597033742e-05,1793251888770830592
+66,1.100000000,BASELINE,770,747,725,692,671,643,890,788,820.716532692,657,633,656.716532692,0.401024749388,0.00448400637579,0.0698522382986,0.999999987469,2.36236702196e-05,-0.000155532915141,1.76794971919e-05,1793251888787496960
+67,1.116666667,BASELINE,770,747,725,692,671,643,890,788,820.128660746,657,633,656.128660746,0.40102512243,0.00448454814005,0.0698527580474,0.999999987612,2.21094561384e-05,-0.000154829994157,1.77202280118e-05,1793251888804163584
+68,1.133333333,BASELINE,770.453931324,747,725,692,671,643,890,788,820,657,633.453931324,656,0.40102447227,0.00448638082819,0.0698522044841,0.999999987476,2.43138754907e-05,-0.000155404126459,1.74898971297e-05,1793251888820830464
+69,1.150000000,BASELINE,770.965265719,747,725,692,671,643,890,788.034734281,820,657,633.965265719,656,0.401023676015,0.00448833742305,0.0698514980157,0.999999987285,2.73088070571e-05,-0.000156168145716,1.72232650974e-05,1793251888837497344
+70,1.166666667,BASELINE,770.389291004,747,725,692,671,643,890,788.610708996,820,657,633.389291004,656,0.401025070357,0.00448658883142,0.0698530948188,0.999999987591,2.63868708497e-05,-0.00015431566107,1.75743833e-05,1793251888854163712
+71,1.183333333,BASELINE,770,747,725.185230095,692,671,642.814769905,890,788.814769905,820,656.814769905,633,656.185230095,0.401026249457,0.00448580244677,0.0698542775909,0.999999987878,2.59889670561e-05,-0.000152494781774,1.77028184739e-05,1793251888870830080
+72,1.200000000,BASELINE,770,747,725.756720079,692,671,642.243279921,890,788.243279921,820,656.243279921,633,656.756720079,0.40102697971,0.00448702254979,0.0698545969853,0.999999988132,2.66838266688e-05,-0.000150739808694,1.73668933096e-05,1793251888887496704
+73,1.216666667,BASELINE,770,747,726,691.65731581,671,642.34268419,890,788,820,656.34268419,633,656.65731581,0.401026626822,0.0044868645088,0.0698542495364,0.99999998804,2.66989147435e-05,-0.000151336421057,1.74531459589e-05,1793251888904163328
+74,1.233333333,BASELINE,770,747,726,691.060623045,671,642.939376955,890,788,820,656.939376955,633,656.060623045,0.401025471074,0.00448568494293,0.0698534078018,0.999999987689,2.62101341833e-05,-0.000153676104516,1.7852330443e-05,1793251888920829952
+75,1.250000000,BASELINE,770,747,725.483388384,691.516611616,671,643,890.516611616,788,820,656.483388384,633,656,0.401025410018,0.00448508811653,0.0698534860782,0.999999987681,2.41610303589e-05,-0.000154050384562,1.79547958823e-05,1793251888937497088
+76,1.266666667,BASELINE,770,747,725,692.091187669,671,643,890.908812331,788,820,656,633,656.091187669,0.401025471548,0.00448492513066,0.0698536280386,0.999999987698,2.28146388467e-05,-0.000154152529414,1.79235937663e-05,1793251888954164224
+77,1.283333333,BASELINE,770,747,725,692.663347294,671,643,890.336652706,788,820,656,633,656.663347294,0.401025526684,0.0044867028532,0.0698535571281,0.999999987652,2.61054341349e-05,-0.000153991624657,1.73643470209e-05,1793251888970830336
+78,1.300000000,BASELINE,770,747,725,692.756524886,671,642.756524886,890,788,820,656.243475114,633,656.756524886,0.401025654223,0.00448721151123,0.0698536085579,0.999999987675,2.69797932348e-05,-0.00015370421799,1.7250964569e-05,1793251888987496704
+79,1.316666667,BASELINE,770,747,725,692.165006731,671,642.165006731,890,788,820,656.834993269,633,656.165006731,0.401025885261,0.00448590606555,0.0698538348706,0.999999987804,2.43999025212e-05,-0.000153235979266,1.77749366855e-05,1793251889004163072
+80,1.333333333,BASELINE,770,747,725.416529264,692.416529264,671,642,890.416529264,788,820,657,633,656.416529264,0.401025091893,0.00448523878092,0.0698532514534,0.999999987655,2.36132359824e-05,-0.000154326479211,1.77704362208e-05,1793251889020829696
+81,1.350000000,BASELINE,770,747,725.994203456,692.994203456,671,642,890.994203456,788,820,657,633,656.994203456,0.401023902207,0.00448481838498,0.0698523547716,0.999999987398,2.3520323557e-05,-0.000156020016771,1.75614827559e-05,1793251889037496576
+82,1.366666667,BASELINE,770,747,725.430723501,692.430723501,671,642,890.430723501,788.569276499,820,657,633,657,0.401023686401,0.00448478486198,0.0698521322408,0.999999987365,2.26381632484e-05,-0.00015634123228,1.77238213984e-05,1793251889054163456
+83,1.383333333,BASELINE,770.14439447,747,725.14439447,692,671,642.14439447,890,788.85560553,820,657,633,657,0.401023978137,0.00448451395817,0.0698522647629,0.99999998744,2.1216336613e-05,-0.000156052848832,1.78197965311e-05,1793251889070829824
+84,1.400000000,BASELINE,770.719725348,747,725.719725348,692,671,642.719725348,890,788.280274652,820,657,633,657,0.401025755141,0.00448352290295,0.0698534365256,0.999999987822,1.82077837553e-05,-0.000153986667941,1.77064822205e-05,1793251889087496448
+85,1.416666667,BASELINE,770.696708639,747,726,692,671,642.696708639,890,788,820,657,633.303291361,657,0.401026383263,0.00448430099101,0.0698539834998,0.999999987932,1.96918919785e-05,-0.000153100467706,1.75817931291e-05,1793251889104163072
+86,1.433333333,BASELINE,770.105320084,747,726,692,671,642.105320084,890,788,820,657,633.894679916,657,0.401025920057,0.0044867595926,0.0698539369858,0.999999987768,2.54435899406e-05,-0.000153335134052,1.74462991126e-05,1793251889120829696
+87,1.450000000,BASELINE,770,747,726,692,671,642.476810561,890,788,820.476810561,657,633.523189439,656.523189439,0.401025810261,0.00448683335686,0.0698537972872,0.999999987771,2.49073221904e-05,-0.000153397036109,1.75479791642e-05,1793251889137496320
+88,1.466666667,BASELINE,770,747,725.943525236,692,671,643,890,788.056474764,821,657,633,656.056474764,0.401025798421,0.00448630099831,0.0698536598104,0.999999987815,2.31212014055e-05,-0.000153374584902,1.76707376876e-05,1793251889154162944
+89,1.483333333,BASELINE,770,747,725.368092293,692,671,643,890,788.631907707,821,657,633,656.631907707,0.40102598304,0.00448494728744,0.0698537282894,0.999999987904,2.23698533705e-05,-0.000152920984129,1.75149548363e-05,1793251889170829568
+90,1.500000000,BASELINE,770,747.211267914,725,692,671,643,890,788.788732086,821,657,633,657,0.401026198057,0.00448477407634,0.0698538203009,0.999999987924,2.29216681521e-05,-0.000152705094268,1.75422844191e-05,1793251889187495936
+91,1.516666667,BASELINE,770,747.797600138,725,692,671,643,890,788.202399862,821,657,633,657,0.401026467042,0.00448669660875,0.0698539540898,0.999999987816,2.57869903097e-05,-0.000152911213062,1.78946938526e-05,1793251889204162560
+92,1.533333333,BASELINE,770,747.61803554,725,692,670.61803554,642.61803554,890,788,820.61803554,657,633.38196446,657,0.401026265776,0.00448694512592,0.0698540351359,0.999999987783,2.54501581865e-05,-0.000153188396882,1.78525852965e-05,1793251889220829440
+93,1.550000000,BASELINE,770,747.034708594,725,692,670.034708594,642.034708594,890,788,820.034708594,657,633.965291406,657,0.401025816606,0.00448631114266,0.0698540883772,0.999999987789,2.3425227525e-05,-0.000153503044495,1.76024963674e-05,1793251889237496064
+94,1.566666667,BASELINE,770.539874524,747,725.539874524,692,670.539874524,642.539874524,890,788,820,657,633.460125476,656.460125476,0.401024189394,0.00448551229079,0.0698524101361,0.999999987422,2.3717498429e-05,-0.000155839626322,1.755740509e-05,1793251889254162944
+95,1.583333333,BASELINE,770.885800504,747,725.885800504,692,671,643,890.114199496,788,820,657,633.114199496,656.114199496,0.401022926777,0.00448489983309,0.0698512164603,0.999999987162,2.39299810683e-05,-0.000157466261101,1.7532726443e-05,1793251889270829824
+96,1.600000000,BASELINE,770.310283534,747,725.310283534,692,671,643,890.689716466,788,820,657,633.689716466,656.689716466,0.401023438039,0.00448508246316,0.0698524227299,0.999999987454,2.32279561026e-05,-0.000155708275162,1.75381157969e-05,1793251889287496448
+97,1.616666667,BASELINE,770,747,725,692,671,643,890.727193773,788,820,656.727193773,633.727193773,657,0.401023621122,0.00448526871049,0.069853042987,0.99999998757,2.28498015049e-05,-0.000155019207324,1.75390129089e-05,1793251889304163072
+98,1.633333333,BASELINE,770,747,725,692,671,643,890.135245013,788,820,656.135245013,633.135245013,657,0.401023420285,0.00448545918948,0.069852977697,0.999999987483,2.28505268995e-05,-0.000155580614092,1.75346547692e-05,1793251889320829696
+99,1.650000000,BASELINE,770,747,725.445284341,692,671,643,890,788,820,656.445284341,633,657,0.401023346391,0.00448677344471,0.069852734067,0.9999999874,2.49142476144e-05,-0.000155810337541,1.73779998595e-05,1793251889337497088
+100,1.666666667,BASELINE,770,747,726,692,671,642.977719578,890,788,820,657,633,657,0.401023372659,0.00448831220632,0.0698524692938,0.999999987326,2.74482118489e-05,-0.000155879027762,1.71911620282e-05,1793251889354164480
+101,1.683333333,BASELINE,770,747,726,692,671,642.404472394,890,788,820,657,633,657,0.401024946189,0.00448717332155,0.06985298766,0.999999987579,2.65034046817e-05,-0.000154394484114,1.73732068218e-05,1793251889370831104
+102,1.700000000,BASELINE,770.173879916,747,725.826120084,692,671,642.173879916,890.173879916,788,820,656.826120084,633,656.826120084,0.401026007669,0.00448681315335,0.0698535213973,0.99999998774,2.6432987072e-05,-0.000153353297442,1.74387388264e-05,1793251889387497728
+103,1.716666667,BASELINE,770.764466688,747,725.235533312,692,671,642.764466688,890.764466688,788,820,656.235533312,633,656.235533312,0.401025842012,0.00448831919583,0.0698540919718,0.999999987685,2.84580624621e-05,-0.000153374625252,1.72250454693e-05,1793251889404164096
+104,1.733333333,BASELINE,770.651458208,747,725,692,671,643,890.651458208,788,820,656.348541792,633,656.348541792,0.401025328915,0.00448831802431,0.0698540603891,0.999999987661,2.79958875946e-05,-0.000153619669929,1.71558220946e-05,1793251889420830464
+105,1.750000000,BASELINE,770.07170272,747,725,692,671,643,890.07170272,788,820,656.92829728,633,656.92829728,0.401024585334,0.00448731700579,0.0698536293509,0.999999987657,2.58837348241e-05,-0.000154013122645,1.7182436384e-05,1793251889437496576
+106,1.766666667,BASELINE,770,747,725.504643813,692,671,642.495356187,890,788,820,657,633,657,0.401025247532,0.00448684436615,0.0698541867433,0.999999987771,2.67808328801e-05,-0.00015308546931,1.75077763813e-05,1793251889454162944
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,789,820,657,633,657,0.401025695169,0.00448426767753,0.0698541386258,0.999999987872,2.30145297609e-05,-0.000153001070926,1.78059131198e-05,1793251889497639680
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,747,725.593516485,692,670.406483515,642.406483515,890,788.406483515,820,656.406483515,633,656.406483515,0.401024915189,0.00448496802858,0.0698536981494,0.999999987755,2.35034134671e-05,-0.000153705858697,1.76561157642e-05,1793251889514306304
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,726,692,670.182155663,642,889.817844337,788,820,656.182155663,633,656.182155663,0.401024306261,0.00448545243595,0.0698532232892,0.999999987623,2.42837783502e-05,-0.000154457748968,1.75358630816e-05,1793251889530973184
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,726,692,670.760194975,642,889.239805025,788,820,656.760194975,633,656.760194975,0.401024069084,0.0044854675274,0.069852673702,0.999999987456,2.56976269611e-05,-0.00015531200846,1.74798205779e-05,1793251889547639808
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725.66244284,692,671,642.33755716,889.33755716,788,820,657,633,657,0.401024113177,0.00448573777758,0.0698529620034,0.999999987484,2.53757965136e-05,-0.000155186880241,1.74802626509e-05,1793251889564306432
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725.085560765,692,671,642.914439235,889.914439235,788,820,657,633,657,0.401024356686,0.00448618893295,0.0698538443602,0.999999987648,2.38233855282e-05,-0.000154367375115,1.75207517715e-05,1793251889580973056
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746.511965659,725.488034341,692,671,643,890,788.488034341,820,656.511965659,633,656.511965659,0.4010237601,0.00448634050605,0.0698529933581,0.999999987367,2.49171338108e-05,-0.000155995969275,1.76168054109e-05,1793251889597639424
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.063168331,726,692,671,643,890,788.936831669,820.063168331,656,633,656,0.401023247176,0.00448646577606,0.0698521917168,0.99999998703,2.63184031282e-05,-0.000157903799002,1.7725102062e-05,1793251889614306304
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.656005602,726,692,671,643,890,788.343994398,820.656005602,656,633,656,0.401024662479,0.00448680794561,0.0698543350291,0.999999986918,2.6434310562e-05,-0.000158578300495,1.78549212023e-05,1793251889630973184
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,725.757648702,692,671,643,890,788,820.757648702,656.242351298,633,656.242351298,0.401030377307,0.00448648281875,0.0698574649651,0.999999986773,2.59581898033e-05,-0.000159531422971,1.81901157463e-05,1793251889647640064
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,725.180276851,692,671,643,890,788,820.180276851,656.819723149,633,656.819723149,0.401042035692,0.00448523523751,0.0698619587856,0.999999986579,2.46636636311e-05,-0.000160869704276,1.88092162531e-05,1793251889664306944
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,788,820,657,633.394769952,657,0.401069367916,0.00448472845366,0.0698721767174,0.999999987866,2.32032300785e-05,-0.000152839846949,1.92133260422e-05,1793251889680973312
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,890,788,820,657,633.968761258,657,0.401103815896,0.00448455798383,0.0698849933353,0.999999989697,2.1667476226e-05,-0.00014055695454,1.95198323866e-05,1793251889697639936
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,725.557634944,691.442365056,671,643,890,788,820,657,633.442365056,657,0.401160718974,0.00448439948666,0.0698984459954,0.999999991806,2.1437120392e-05,-0.000124764634397,1.90192233548e-05,1793251889714306816
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,726,691.144937017,671,643,890,788,820,657,633,657,0.401222583777,0.0044846033772,0.0699098878884,0.999999993438,2.0971164627e-05,-0.000111118795196,1.83543395932e-05,1793251889730973440
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,726,691.724950233,671,643,890,788,820,657,633,657,0.401295463197,0.00448589302516,0.0699151839132,0.999999994196,1.95724395842e-05,-0.000104522658656,1.73357793141e-05,1793251889747639808
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725.697996367,692,671,643,890,788,820,657,633,657,0.401376645927,0.0044866521718,0.0699179639713,0.999999994555,1.83330579593e-05,-0.000101504769059,1.58427997086e-05,1793251889764306432
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725.123612492,692,671,643,890,788,820,657,633,657,0.401465317498,0.00448693285365,0.0699184748522,0.999999994582,1.72373899181e-05,-0.000101714138297,1.39219364001e-05,1793251889780973056
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.450156855,747,725,692,671,643,890,788.450156855,820,657,633,657,0.401570865486,0.00448664773353,0.0699169503326,0.999999994131,1.60362691534e-05,-0.000106487006882,1.19063991456e-05,1793251889797639680
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.975431168,747,725,692,671,643,890,788.975431168,820,657,633,657,0.401682490479,0.004486251267,0.0699150268498,0.999999993551,1.46909346878e-05,-0.000112187117101,9.81554612439e-06,1793251889814307072
+127,2.116666667,POSE1_TO_POSE2_PRESS,770.38224592,747,725,692,671,643,890,788.38224592,820,657,633,657,0.401827652761,0.00448686873718,0.0699167877017,0.999999993829,1.06772110885e-05,-0.000110384444586,6.58245592973e-06,1793251889830973696
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.794676695,890,788,820.205323305,656.794676695,633,656.794676695,0.401983726672,0.00448708246284,0.0699190633343,0.999999994082,6.25626788084e-06,-0.000108565873199,3.36070868642e-06,1793251889847640320
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.217284402,890,788,820.782715598,656.217284402,633,656.217284402,0.402159573668,0.00448656455783,0.0699222718075,0.999999994305,1.09739724796e-06,-0.000106718491459,1.59516502078e-07,1793251889864306688
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,725.359123872,692,671,642,890,788,820.640876128,656.359123872,633,656.359123872,0.402355261067,0.00448533227053,0.0699261196617,0.999999994646,-5.28422838358e-06,-0.000103292519671,-3.37050691923e-06,1793251889880973056
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,725.934938458,692,671,642,890,788,820.065061542,656.934938458,633,656.934938458,0.402562919925,0.00448366893412,0.0699303533104,0.999999995006,-1.24036491086e-05,-9.89140468242e-05,-7.09894317606e-06,1793251889897639680
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,725.47802846,692.52197154,670.47802846,642,890,788,820,657,633.52197154,656.47802846,0.402803087672,0.00448441426292,0.0699309503511,0.999999994841,-1.93482964389e-05,-9.89483693248e-05,-1.23818305699e-05,1793251889914306304
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.108688152,747,725,693,670.108688152,642.108688152,890,788,820,657,633.891311848,656.108688152,0.403056073543,0.00448535580453,0.0699322657645,0.999999994796,-2.58175381057e-05,-9.71016552839e-05,-1.76883005373e-05,1793251889930972928
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.687849204,747,725,693,670.687849204,642.687849204,890,788,820,657,633.312150796,656.687849204,0.403346619294,0.00448581854793,0.0699386959824,0.999999995708,-3.0325287409e-05,-8.46793839155e-05,-2.22397305002e-05,1793251889947639808
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.734345065,747,725.265654935,693,671,643,890.265654935,788,820,657,633,657,0.403655525215,0.00448694278324,0.069945936284,0.999999996613,-2.97926153347e-05,-7.2278329315e-05,-2.57335187304e-05,1793251889964306688
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.158123818,747,725.841876182,693,671,643,890.841876182,788,820,657,633,657,0.403985895244,0.00448884034165,0.069954123621,0.999999997541,-2.33673926435e-05,-5.9902079118e-05,-2.79908610237e-05,1793251889980973312
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,725.581163376,693,671,643,891,788,820.418836624,657,633,657,0.404337556522,0.00448716670519,0.0699584970139,0.999999998021,-1.35136622782e-05,-5.52401306446e-05,-2.69151269457e-05,1793251889997639680
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,725.003923385,693,671,643,891,788,820.996076615,657,633,657,0.40469727011,0.00448414244828,0.0699614279787,0.999999998264,-2.3632757324e-06,-5.34957194873e-05,-2.45788284612e-05,1793251890014306304
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,642.416831438,891,788,820.416831438,657,633,657,0.405110994577,0.0044833007626,0.0699672289603,0.999999998699,-4.28482693784e-06,-4.36630821048e-05,-2.60039629024e-05,1793251890030972928
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725.168793488,693,670.831206512,642,891,788,820,657,633,657,0.405532645543,0.00448419342953,0.069971343636,0.999999998888,-1.07445848443e-05,-3.68614772743e-05,-2.73889387519e-05,1793251890047639552
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725.750663201,693,670.249336799,642,891,788,820,657,633,657,0.405972789875,0.00448929390179,0.0699712834704,0.999999998489,-2.80914533109e-05,-3.76129577292e-05,-2.86126438611e-05,1793251890064306176
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725.672458704,693,670.327541296,642.327541296,891,788,820,657,633,657,0.406422037244,0.00449445421059,0.069960579243,0.999999997627,-2.47690900288e-05,-5.71340373813e-05,-2.94679578762e-05,1793251890080972800
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725.099323317,693,670.900676683,642.900676683,891,788,820,657,633,657,0.406878110216,0.00449965938602,0.0699418939802,0.999999995415,-5.94870970715e-06,-9.07287703706e-05,-3.00470482689e-05,1793251890097639680
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,725.475235251,693.475235251,671,643,891,788.475235251,820.475235251,657,633,657,0.407394668203,0.00450472820825,0.0699331296192,0.999999994523,8.7910585548e-06,-9.92897131374e-05,-3.19015138583e-05,1793251890114306560
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,726,694,670.948223613,642.948223613,891,788.948223613,821,656.948223613,633.051776387,657,0.407931922763,0.00450999383793,0.0699285450589,0.999999994245,2.20452506108e-05,-9.93228132178e-05,-3.4040621965e-05,1793251890130973696
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,726,694,670.354038084,642.354038084,891,788.354038084,821,656.354038084,633.645961916,657,0.408553167335,0.00451762066188,0.0699459613587,0.999999996815,2.86977537593e-05,-6.49935016912e-05,-3.63608692825e-05,1793251890147640832
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,726,694,670.232508282,642,891,788.232508282,821,656.232508282,634,657,0.409172656644,0.0045239668873,0.0699574059457,0.999999998088,2.83553081383e-05,-3.96414750311e-05,-3.80527121893e-05,1793251890164307968
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,726,694,670.807792557,642,891,788.807792557,821,656.807792557,634,657,0.409789558214,0.00452842518622,0.0699600467172,0.999999998711,1.77005391697e-05,-2.75242380884e-05,-3.88181280248e-05,1793251890180974592
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,726,694,671,642.382989445,891,789,821,656.617010555,634,657,0.410421415877,0.00453579018698,0.0699567239943,0.999999998393,2.4995767578e-05,-3.14052497201e-05,-4.00422951478e-05,1793251890197640704
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,726,694,671,642.958142469,891,789,821,656.041857531,634,657,0.411060777689,0.00454461361482,0.0699504091095,0.999999997348,4.12973430596e-05,-4.33133255111e-05,-4.14966390498e-05,1793251890214306560
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,726,694,671,643,891.543904141,788.456095859,821,656.543904141,634,657,0.411755693405,0.00455061909939,0.0699623217338,0.999999997201,5.71855161087e-05,-2.3415403044e-05,-4.21913566908e-05,1793251890230973440
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725.870735376,694.129264624,671,642.870735376,892.129264624,788,821,657,634,657,0.412476773651,0.00455689125611,0.0699804933735,0.999999996573,7.0648644193e-05,6.0814306076e-06,-4.27252312771e-05,1793251890247640832
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725.289687354,694.710312646,671,642.289687354,892.710312646,788,821,657,634,657,0.413274059984,0.00456486845404,0.0700155402836,0.999999994386,7.57495743961e-05,6.04017190977e-05,-4.29053349576e-05,1793251890264307968
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,747,725.288939504,694.711060496,671,642.288939504,893.288939504,788,821.577879008,657,633.711060496,657,0.414046812127,0.00457212159644,0.0700304797008,0.999999992521,8.07072292658e-05,8.08651291724e-05,-4.36556678913e-05,1793251890280974336
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,747,725.865159172,694.134840828,671,642.865159172,893.865159172,788,822.730318345,657,633.134840828,657,0.414795171073,0.00457865484242,0.0700254271038,0.999999993042,8.55224323814e-05,6.76661028656e-05,-4.49729554403e-05,1793251890297640704
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.559217228,747,725.559217228,694.440782772,671,643,894,788,823,657,633,656.559217228,0.415527433378,0.00458566992163,0.0699748854732,0.999999994065,9.66994799975e-05,-1.94928430988e-05,-4.62517227157e-05,1793251890314307072
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894.016662379,788,823,656.983337621,633.016662379,656.016662379,0.416258032347,0.00459269156227,0.0699124434909,0.999999984978,0.00010930425872,-0.000125853902101,-4.75068165583e-05,1793251890330973440
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894.607643815,788,823,656.392356185,633.607643815,656.607643815,0.417100797744,0.00459486570013,0.0699188169676,0.999999986765,0.000104130275941,-0.000115279920385,-4.83515701958e-05,1793251890347640064
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747.194448647,725.194448647,695,671,643,895,788,823.194448647,656.194448647,633.805551353,657.194448647,0.417966419123,0.00459641161275,0.0699344696399,0.999999989605,0.000101946514449,-8.93725363978e-05,-4.90928551553e-05,1793251890364306688
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747.773003149,725.773003149,695,671,643,895,788,823.773003149,656.773003149,633.226996851,657.773003149,0.418877189221,0.00459671655498,0.0699684520528,0.999999992635,0.000105669513163,-3.31761809494e-05,-4.96297522028e-05,1793251890380973312
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747.651009724,726,695,671.348990276,643,895,788,824,656.651009724,633,657.651009724,0.419788715427,0.00459229003728,0.0699979820931,0.999999993436,0.000102431872944,1.23090713247e-05,-4.9838901819e-05,1793251890397640192
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747.076680345,726,695,671.923319655,643,895,788,824,656.076680345,633,657.076680345,0.420700729809,0.004584808469,0.070024637285,0.99999999298,9.46998261727e-05,5.08782822941e-05,-4.98364285858e-05,1793251890414307328
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.509931254,747,726,695,671.490068746,643,896.019862509,788,824.509931254,656.509931254,633,657.509931254,0.421595459976,0.00457711507471,0.0700349584093,0.999999992944,8.49329587666e-05,6.65547658665e-05,-4.96823161075e-05,1793251890430973696
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.903127766,747.096872234,726,695,671,643,897,788,825.096872234,657,633.096872234,657.903127766,0.422477429839,0.00457199355673,0.0700291246836,0.999999994105,7.84115970381e-05,5.61433225265e-05,-4.98990258449e-05,1793251890447640320
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.32396915,747.67603085,726,695,671,643,897,788,825.67603085,657,633.67603085,657.32396915,0.423309130336,0.00457983883621,0.0699553929904,0.999999992412,8.96092183531e-05,-6.65874136028e-05,-5.20782304894e-05,1793251890464306944
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.254275397,747.745724603,725.745724603,695.254275397,671,643,897,788,825.745724603,657,634,657,0.424184816543,0.00458661117035,0.0698951262516,0.999999981897,9.29791458424e-05,-0.000156525637373,-5.5321663642e-05,1793251890480973312
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.83135959,747.16864041,725.16864041,695.83135959,671,643,897,788,825.16864041,657,634,657,0.425116343793,0.0045920213754,0.0698519535897,0.999999973493,8.64116285652e-05,-0.000204832987711,-5.9916161736e-05,1793251890497639936
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.59314022,747,725,696,671,643,896.59314022,787.59314022,825,656.59314022,634,657,0.426095233517,0.00459310005388,0.0698857336438,0.999999983127,8.61297395923e-05,-0.000151182107632,-5.89263593199e-05,1793251890514306560
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.018294077,747,725,696,671,643,896.018294077,787.018294077,825,656.018294077,634,657,0.427093678448,0.00459239030901,0.0699512863346,0.999999993005,8.84430930221e-05,-5.54341836067e-05,-5.56308814114e-05,1793251890530973184
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.567673989,747,725,696,671,643,897.135347978,787.567673989,825.567673989,656.567673989,634,657,0.428067828718,0.0045958381043,0.0700002402498,0.999999993628,9.78203924556e-05,7.7586218853e-06,-5.5815789644e-05,1793251890547640064
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.847001009,747,725,696,671.152998991,643,898,788,826,657,634,657,0.429048020985,0.00459797017623,0.0700403446506,0.999999991021,0.000103600051211,6.37969620915e-05,-5.61732089677e-05,1793251890564306688
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.26450748,747,725,696,671.73549252,643,898,788,826,657,634,657,0.430047415867,0.00459602515783,0.0700571385525,0.99999998825,9.86287026042e-05,0.000102755434302,-5.66937520581e-05,1793251890580973056
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,696,671.685356137,643,898,787.685356137,826,657,634,657,0.430967828595,0.00459635836122,0.0700201363398,0.999999992532,0.000100426418861,3.99261949771e-05,-5.70564930535e-05,1793251890597639680
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671.108984924,643,898,787.108984924,826,657,634,657,0.431822542266,0.00459858663727,0.0699383853922,0.999999986757,0.000107854783596,-0.000107572195902,-5.72879700299e-05,1793251890614306304
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671.465257127,643,898.465257127,787,826,657,633.534742873,657,0.432724843437,0.00459912940962,0.0699002599225,0.999999979555,0.000104531977082,-0.000162739581439,-5.89803344523e-05,1793251890630972928
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.959768969,747,725,696.040231031,671.959768969,642.959768969,898.959768969,787,826.040231031,656.959768969,633.040231031,657.040231031,0.433643613332,0.00459888828217,0.0698790582124,0.99999997598,9.87180748378e-05,-0.000185991270201,-6.08517239705e-05,1793251890647639552
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.367954782,747,725,696.632045218,671.367954782,642.367954782,898.367954782,787,826.632045218,656.367954782,633.632045218,657.632045218,0.434636038531,0.00459328810793,0.0699504179884,0.999999991599,9.31215874358e-05,-6.6846870387e-05,-6.0507181462e-05,1793251890664306176
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.219207594,747,725,697,671.219207594,642.219207594,898.438415187,787,827,656.219207594,634,657.780792406,0.435619950909,0.00458913733204,0.0700066938876,0.999999993982,8.76321163522e-05,2.68788024622e-05,-6.02810223739e-05,1793251890680972800
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.79872394,747,725,697,671.79872394,642.79872394,899.59744788,787,827,656.79872394,634,657.20127606,0.436589871026,0.00458736891299,0.0700381766207,0.99999999169,8.23185473419e-05,7.88240526979e-05,-6.02494495972e-05,1793251890697639424
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,697,671.625076696,643,899.625076696,787,827,657,634,657,0.437520710277,0.00458734439709,0.0700353896513,0.999999991173,8.13930531138e-05,8.55115399534e-05,-6.09603233531e-05,1793251890714306304
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,697,671.050642458,643,899.050642458,787,827,657,634,657,0.438430753056,0.0045882478784,0.0700143664695,0.999999992326,8.28026205565e-05,6.81156491483e-05,-6.20662811595e-05,1793251890730972928
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.476152106,747,725,697,671,643,899,787,827.523847894,657,634,657.523847894,0.439212032016,0.00459134810358,0.069941945111,0.999999993263,8.34394052249e-05,-5.1462493007e-05,-6.21648990018e-05,1793251890747639808
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.101504723,747,725,697,671,643,898.898495277,787,828,656.898495277,634,657.898495277,0.4399896204,0.0045941808605,0.0698747553227,0.999999981228,8.4654024272e-05,-0.000162834903557,-6.21442485325e-05,1793251890764306432
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.694466457,747,725,697,671,643,898.305533543,787,828,656.305533543,634,657.305533543,0.440809616703,0.00459469027659,0.0698569557255,0.999999976696,8.90281124808e-05,-0.000186644139231,-6.20176931821e-05,1793251890780973056
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,725,697,671,643,898.279101154,786.720898846,827.720898846,656,634,657,0.441682116025,0.00459374755484,0.0698874036215,0.99999998488,9.00576733888e-05,-0.000135292489325,-6.18548185496e-05,1793251890797639424
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+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,725,697,671,643,899,786.429601621,827.429601621,656,634,657,0.443472695969,0.00459091964318,0.0700156588505,0.999999992807,8.55598715313e-05,5.85830559457e-05,-6.0280450479e-05,1793251890830972928
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+189,3.150000000,POSE1_TO_POSE2_PRESS,769,747,725,696.404461851,671,643,899,786.404461851,828,656,634,657.595538149,0.445050117309,0.00458947131321,0.0700271115956,0.999999993556,7.71006217869e-05,5.7227770738e-05,-6.05600759955e-05,1793251890864306176
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,899,786,828.183127425,656.183127425,634,658,0.4457763146,0.00458839068335,0.0700021961623,0.999999995178,7.35835700819e-05,1.94206868248e-05,-6.2065761679e-05,1793251890880973056
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,747,725,696.339008588,671.339008588,643,899.339008588,786.339008588,828.660991412,656.660991412,633.660991412,657.660991412,0.447136462582,0.00458913795243,0.0699432730431,0.999999992761,8.24732452309e-05,-6.36295121791e-05,-6.02335921553e-05,1793251890914306048
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,747,725,696.913897224,671.913897224,643,899.913897224,786.913897224,828.086102776,656.086102776,633.086102776,657.086102776,0.447767828078,0.00458919446561,0.069913849266,0.999999986324,8.98046242585e-05,-0.000127004931622,-5.61917700684e-05,1793251890930972672
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,725,696.335551877,671.664448123,643.664448123,900.664448123,787,828.664448123,656.335551877,634,657.335551877,0.449755380496,0.0045839441804,0.069962030847,0.999999994009,7.94533078456e-05,-4.88687527962e-05,-5.72839597053e-05,1793251890980973056
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747,725,696,672,644,900.517905181,786.75895259,829,656,633.75895259,657.24104741,0.450386932174,0.00458221832348,0.0699969015082,0.999999995315,7.82406836896e-05,4.85895608457e-06,-5.67814451395e-05,1793251890997639680
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747,725,696,672,644,899.371803408,786.185901704,829,656,633.185901704,657.814098296,0.450955079298,0.00458010655379,0.0700110241244,0.999999995086,7.70982606601e-05,2.69437308734e-05,-5.6203037156e-05,1793251891014306560
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747.390183038,725,696.390183038,672,643.609816962,899.390183038,786,829,656,633.390183038,658,0.451466763117,0.00458065515452,0.0699893901822,0.999999995561,7.51281482805e-05,-5.04009184942e-06,-5.66413584503e-05,1793251891030973184
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747.967724632,725,696.967724632,672,643.032275368,899.967724632,786,829,656,633.967724632,658,0.451951334371,0.00458248121488,0.0699505866146,0.999999993712,7.27605947435e-05,-6.29866360075e-05,-5.75678938155e-05,1793251891047639552
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.144927755,725,696.144927755,672,643,900,786.855072245,828.855072245,656.855072245,634,658,0.452845520862,0.00458265212455,0.0698852175232,0.999999984022,7.59089920455e-05,-0.000150932710555,-5.84216874259e-05,1793251891080973056
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768.808068764,747,725,696,670,642.808068764,900,786.191931236,829,656,634,658,0.457663362582,0.00458286443498,0.0698211631255,0.999999956955,9.07118460927e-05,-0.000274895354539,-4.78896207435e-05,1793251891714306048
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.226319363,747,725,696,670,642.226319363,900,786.773680637,829,656,634,658,0.457665132946,0.00458440030241,0.0698217739645,0.999999957302,8.99206450679e-05,-0.000273756855407,-4.86565293599e-05,1793251891730972928
+242,4.033333333,POSE1_TO_POSE2_PRESS,768.351389062,747.351389062,725,696,670,642.351389062,900.351389062,786.648610938,829,656.351389062,634,658,0.457664881785,0.00458384666014,0.0698214908625,0.999999957232,8.80584408562e-05,-0.000274652652494,-4.84441346866e-05,1793251891747639808
+243,4.050000000,POSE1_TO_POSE2_PRESS,768.926524382,747.926524382,725,696,670,642.926524382,900.926524382,786.073475618,829,656.926524382,634,658,0.457663343423,0.00458196252684,0.0698206385455,0.999999956889,8.55142776118e-05,-0.000276843783527,-4.76081706412e-05,1793251891764306432
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,748,725,696,670,642.490986404,900.490986404,786,829,657,634,658,0.457662120303,0.00458359511322,0.0698189284982,0.99999995602,8.74721328781e-05,-0.000279341607129,-4.77156142696e-05,1793251891780972800
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.907786377,748,724.907786377,696,670,642,900.092213623,786,829,657,634,658,0.4576612402,0.00458526270678,0.0698175585294,0.999999955271,8.97200371923e-05,-0.00028126839723,-4.79171960203e-05,1793251891797639424
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.326529066,748,724.326529066,696,670,642,900.673470934,786,829,657,634,658,0.457661934371,0.00458438431028,0.0698186583765,0.999999955623,9.00091943679e-05,-0.000279928553566,-4.7885226797e-05,1793251891814306048
+247,4.116666667,HOLD_POSE2,769,748,724,696,670,642,900,786,829,656,634,658,0.457661530014,0.0045816707222,0.0698183804667,0.999999955909,8.76652090689e-05,-0.00027975995118,-4.72350228196e-05,1793251891852517632
+248,4.133333333,HOLD_POSE2,769,748,724,696,670,642.576155388,900,786,829,656.576155388,634,658,0.457662115848,0.00458159982436,0.0698182983504,0.999999955698,8.84021057306e-05,-0.000280287332591,-4.71931007312e-05,1793251891869184256
+249,4.150000000,HOLD_POSE2,768.844730848,747.844730848,724.155269152,696.155269152,670,642.844730848,900,786,828.844730848,656.844730848,634,658,0.457662327245,0.00458175552506,0.0698180011605,0.999999955456,8.92548798872e-05,-0.000280888814504,-4.7154364904e-05,1793251891885851136
+250,4.166666667,HOLD_POSE2,768.257384494,747.257384494,724.742615506,696.742615506,670,642.257384494,900,786,828.257384494,656.257384494,634,658,0.457661496677,0.0045825417957,0.0698171054721,0.999999955124,9.04301137787e-05,-0.000281696500645,-4.71244956757e-05,1793251891902517760
+251,4.183333333,HOLD_POSE2,768,747.325308423,725,696.674691577,670,642.325308423,900.325308423,786,828.325308423,656.325308423,634,658,0.457661041827,0.00458394187437,0.0698166834659,0.999999954934,9.0706069198e-05,-0.000282245357942,-4.73520195577e-05,1793251891919184384
+252,4.200000000,HOLD_POSE2,768,747.904371424,725,696.095628576,670,642.904371424,900.904371424,786,828.904371424,656.904371424,634,658,0.457660880054,0.00458582074968,0.0698166309524,0.999999954854,9.02805486151e-05,-0.000282592317544,-4.77803211515e-05,1793251891935851008
+253,4.216666667,HOLD_POSE2,768,748,725,695.518340403,670,642.518340403,900.518340403,786,829,657,634,657.518340403,0.457661394946,0.00458512897164,0.0698162919242,0.999999954901,9.02378057786e-05,-0.000282428284663,-4.78447047239e-05,1793251891952517632
+254,4.233333333,HOLD_POSE2,768,748,725,695.058139434,670,642.058139434,900,786,829,656.941860566,634,657.058139434,0.45766208942,0.00458394277596,0.0698160321833,0.999999954998,9.01851853105e-05,-0.000282116855933,-4.77545424197e-05,1793251891969184256
+255,4.250000000,HOLD_POSE2,768,748,725,695.630574454,670,642.630574454,900,786,829,656.369425546,634,657.630574454,0.457663188425,0.00458288117909,0.069816975157,0.999999955313,8.93753981e-05,-0.000281395720599,-4.69340720088e-05,1793251891985851648
+256,4.266666667,HOLD_POSE2,768.420070675,748,725,696,670,642.789964662,900.210035338,786,829,656,634,658,0.45766392043,0.00458300445907,0.0698176111456,0.999999955451,8.96000403528e-05,-0.00028087006703,-4.67120992552e-05,1793251892002518784
+257,4.283333333,HOLD_POSE2,769.604562877,748,725,696,670,642.197718561,900.802281439,786,829,656,634,658,0.457663984592,0.00458528391294,0.0698176884994,0.999999955267,9.17070805774e-05,-0.000280700140511,-4.75792397336e-05,1793251892019185408
+258,4.300000000,HOLD_POSE2,769.2284227,748,724.61421135,696,670,642,901,786.38578865,829,656,634,658,0.457663621016,0.00458453417884,0.0698170134889,0.999999955152,9.07022970773e-05,-0.000281408970817,-4.77312820689e-05,1793251892035851520
+259,4.316666667,HOLD_POSE2,768.070167209,748,724.035083604,696,670,642,901,786.964916396,829,656,634,658,0.457663043077,0.00458226635866,0.069815961429,0.999999955067,8.81380143281e-05,-0.000282558192624,-4.75249509845e-05,1793251892052517888
+260,4.333333333,HOLD_POSE2,768.542121534,748,724.542121534,696,670,642,901,786.457878466,829,656,634,658,0.457662968721,0.00458204502318,0.0698169014855,0.999999955298,8.76847496865e-05,-0.000281950516744,-4.71074590776e-05,1793251892069184512
+261,4.350000000,HOLD_POSE2,769,748,724.88227695,696,670,642,901,786,829,656,634,658,0.457663035608,0.00458222048878,0.0698176433484,0.999999955464,8.7625878094e-05,-0.000281418779904,-4.68833207587e-05,1793251892085851392
+262,4.366666667,HOLD_POSE2,769,748,724.312358819,696,670,642,901,786,829,656,634,658,0.457663520294,0.00458341321345,0.0698171304578,0.999999955299,8.85590306565e-05,-0.000281613930114,-4.7454193227e-05,1793251892102518016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,748,725,696,670,642,901,786,829,657,634,658,0.457665387064,0.00458124465312,0.0698196327058,0.999999956208,8.66968052517e-05,-0.000278966100877,-4.73899691239e-05,1793251892139524864
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768.42437313,748,725,696,669.42437313,642,901,786,829,656.42437313,634,658,0.457664738362,0.00458067808418,0.0698183633603,0.999999956001,8.55540303603e-05,-0.000280147392569,-4.68655910494e-05,1793251892156192256
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,748,724.846193875,696,669.153806125,642,900.846193875,786,829,656,634,657.846193875,0.457664027629,0.00458030116059,0.069817128487,0.999999955714,8.48640000047e-05,-0.000281419341362,-4.66228164007e-05,1793251892172859648
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,748,724.260853251,696,669.739146749,642,900.260853251,786,829,656,634,657.260853251,0.457663142859,0.00458045632566,0.0698159903325,0.999999955208,8.54442366635e-05,-0.000282945647441,-4.71701375649e-05,1793251892189526016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,724.321913654,696,670,642,900,785.678086346,829,656,633.678086346,657,0.457663629692,0.00458127604687,0.0698163539817,0.999999955171,8.68566477339e-05,-0.000282645518144,-4.71674463756e-05,1793251892206192128
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,724.902611527,696,670,642,900,785.097388473,829,656,633.097388473,657,0.457665219149,0.00458263000029,0.0698179249209,0.999999955508,8.89380381786e-05,-0.000280877129644,-4.67226039233e-05,1793251892222858496
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.525741775,724.525741775,696,670,642,900,785.94851645,829,656,633.474258225,657,0.45766459199,0.00458374326362,0.0698177716853,0.999999955339,8.96226742798e-05,-0.000281225844355,-4.69247149214e-05,1793251892239525120
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.044882564,747.044882564,724.044882564,696,670,642,900.089765128,786.955117436,829,656,634,657.044882564,0.457663644283,0.00458463713169,0.0698173488912,0.999999955128,8.99916151132e-05,-0.000281812406234,-4.72019805084e-05,1793251892256191488
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.625066015,747.625066015,724.625066015,696,670,642,901.250132029,786.374933985,829,656,634,657.625066015,0.457664200618,0.00458349278166,0.0698178548129,0.999999955617,8.99521313605e-05,-0.000280147728828,-4.68207883802e-05,1793251892272858112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.791006735,747.791006735,725,696,670,642,901.58201347,786,829,656,634,657.791006735,0.457661357282,0.00458269902982,0.06981647009,0.999999955194,8.97759126789e-05,-0.00028172493581,-4.67362123928e-05,1793251892289524736
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.200240664,747.200240664,725,696,670,642,900.400481328,786,829,656,634,657.200240664,0.457652303686,0.0045825457239,0.069811631683,0.999999953069,8.93499171575e-05,-0.000289224167781,-4.71934719762e-05,1793251892306191616
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.383264154,747.383264154,725,696,670,642,900,786,829,656.383264154,633.616735846,657,0.457628438104,0.00458261422529,0.0697999544052,0.999999947595,8.97555826287e-05,-0.000307453569677,-4.71795669612e-05,1793251892322858496
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.963045841,747.963045841,725,696,670,642,900,786,829,656.963045841,633.036954159,657,0.45759697772,0.00458279645769,0.0697847705167,0.999999939954,9.05876796708e-05,-0.000331184834183,-4.69240737487e-05,1793251892339525120
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,748,724.462822373,696,670,642,900,786,829,656.462822373,633,657.537177627,0.457545623344,0.00458153735856,0.0697663195389,0.999999929957,8.98030166594e-05,-0.000360408463909,-4.61185927729e-05,1793251892356191488
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,748,724,696,670,642,900.111130271,786,829,656,633,657.888869729,0.457490405891,0.00458078871953,0.0697485658887,0.999999920095,8.92631968069e-05,-0.000386995137473,-4.55789089046e-05,1793251892372858112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,748,724,696,670,642,900.685940466,786,829,656,633,657.314059534,0.457424720906,0.00458257932695,0.0697346497626,0.999999914451,9.02041933471e-05,-0.000401019306222,-4.63044580693e-05,1793251892389524736
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.731240399,748,724.268759601,696,670,642,901,786,829,656,633.268759601,657,0.457350416364,0.00458317388658,0.0697242551271,0.999999908999,9.20212758659e-05,-0.000414020842704,-4.60478829722e-05,1793251892406191360
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.138774981,748,724.861225019,696,670,642,901,786,829,656,633.861225019,657,0.457265730053,0.00458232787384,0.0697181019297,0.999999903854,9.48935546037e-05,-0.00042579067535,-4.46083944207e-05,1793251892422857984
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.441519439,747.558480561,725,696,670,642,900.558480561,786,829,656,634,657.441519439,0.457171342164,0.00458231162138,0.0697158491299,0.999999902809,9.64685333165e-05,-0.000428033524841,-4.3166937248e-05,1793251892439524864
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747.018136882,725,696,670,642,900,786,829,656.018136882,634,658,0.45707318196,0.00458250219279,0.0697148867607,0.999999903028,9.76615830269e-05,-0.00042739623845,-4.1687690489e-05,1793251892456191744
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747.596171287,725,696,670,642,900,786,829,656.596171287,634,658,0.456950177201,0.00458124235296,0.0697169304407,0.999999902796,9.9314283818e-05,-0.000427807963909,-3.90604426464e-05,1793251892472858368
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.82748744,748,725,696,670,642.17251256,900,786,829,657,634,658,0.45681877521,0.00458015859996,0.0697196861485,0.99999990313,0.000100809812402,-0.000426914042679,-3.63481835065e-05,1793251892489525248
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.255071122,748,725,696,670,642.744928878,900,786,829,657,634,658,0.456667907498,0.00457948303647,0.0697240924176,0.999999904783,0.000101940997684,-0.000422993483686,-3.34388588639e-05,1793251892506191616
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,724.692121823,696,670,642.692121823,900,786,829,656.692121823,634,658,0.456497097771,0.004578382955,0.0697250846014,0.999999904246,0.000105404921272,-0.000423646895838,-3.03399836292e-05,1793251892522858240
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,724.136781729,696,670,642.136781729,900,786,829,656.136781729,634,658,0.456310259322,0.00457694166047,0.069723332661,0.999999901919,0.000110743820017,-0.000427976708672,-2.70887538145e-05,1793251892539525120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.465489006,748,724.465489006,696,670.465489006,642.465489006,900,786,829,656.465489006,634,658,0.45609532703,0.00457689795857,0.0697216404979,0.999999899179,0.000117536628891,-0.000432751341266,-2.35149736014e-05,1793251892556192000
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768.922882009,748,725,696,671,643,900,786,829,656.922882009,634,657.922882009,0.455867651726,0.00457690114179,0.0697202202856,0.999999896634,0.000123744482868,-0.000437065926438,-1.9794760396e-05,1793251892572858624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.349707931,748,725,696,671,643,900,786,829,656.349707931,634,657.349707931,0.455617063009,0.00457426807311,0.0697204237219,0.999999896597,0.000123133438062,-0.000437486248893,-1.58106490306e-05,1793251892589525248
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.23090267,747.76909733,725,696,671,643,900,786,829,656,634,657,0.455345611261,0.00457188469541,0.0697191614678,0.999999895821,0.000125286620838,-0.000438781703117,-1.15044760982e-05,1793251892606191616
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.82315084,747.17684916,725,696,671,643,900,786,829,656,634,657,0.455041510438,0.00456989206568,0.0697156055174,0.999999893859,0.000131765614174,-0.000441446673415,-6.69430101195e-06,1793251892622858240
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,747.405846183,725,696,671.405846183,643,900.405846183,786,828.594153817,656,634,657.405846183,0.454722050281,0.00456971930903,0.0697136928748,0.999999894105,0.000139619388213,-0.000438512627963,-1.92387513903e-06,1793251892639524608
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,747.984474556,725,696,671.984474556,643,900.984474556,786,828.015525444,656,634,657.984474556,0.454396051154,0.00457032133279,0.0697124798431,0.999999895206,0.000148058451847,-0.000433194895576,2.82962805178e-06,1793251892656191232
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.439164669,748,724.439164669,696,671.439164669,642.439164669,900.439164669,786,828.560835331,656.560835331,633.439164669,657.439164669,0.454051784513,0.00456712997783,0.0697330427955,0.999999908952,0.000151187154055,-0.000398955340274,8.51361358121e-06,1793251892672857856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,724,696,671.136985038,642.136985038,900,786.136985038,829,657,633.136985038,657.136985038,0.453693691293,0.00456415469433,0.0697508495206,0.999999919956,0.000154256224933,-0.000368904144275,1.42041147432e-05,1793251892689524736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,724,696,671.712658909,642.712658909,900,786.712658909,829,657,633.712658909,657.712658909,0.453292932046,0.00456220631041,0.0697579068127,0.999999924435,0.000157603211114,-0.000354819674803,1.98333232319e-05,1793251892706191360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.295693573,748,724.295693573,695.704306427,672,643,899.704306427,786.704306427,828.704306427,656.704306427,634,658,0.452854685371,0.00456040481249,0.069758915879,0.999999924501,0.00016173528032,-0.000352417106704,2.53284333308e-05,1793251892722857984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.886063783,748,724.886063783,695.113936217,672,643,899.113936217,786.113936217,828.113936217,656.113936217,634,658,0.452379080144,0.00455874969517,0.069753897521,0.999999920245,0.00016664973294,-0.000361656262436,3.06899069007e-05,1793251892739524608
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769,748,725,695,672,642.534437182,899,786,828,656,633.534437182,657.534437182,0.451869019485,0.00455700634595,0.0697459566885,0.99999991468,0.000164699472325,-0.000377348904105,3.35028225372e-05,1793251892756191232
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.957713402,747.957713402,724.957713402,695,672,642.042286598,899,786,828,656,633,657,0.451348839912,0.00455562922635,0.0697386003085,0.999999909596,0.000159041791536,-0.000392819319208,3.47331809311e-05,1793251892772858112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768.383197826,747.383197826,724.383197826,695,672,642.616802174,899,786,828,656,633,657,0.450805008972,0.00455912712763,0.0697473963889,0.999999917081,0.000127383885331,-0.000386068282971,2.37160600796e-05,1793251892789524736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768.192354344,747,724,695,672,643,899,786,828,656,633.192354344,657,0.450249300035,0.00456863898667,0.0697564299761,0.999999921275,0.000114626881931,-0.000379518368962,1.6629324106e-05,1793251892806191360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.769982713,747,724,695,672,643,899,786,828,656,633.769982713,657,0.449669800226,0.00459019643627,0.0697659392741,0.999999920383,0.00013972723668,-0.000373371291497,1.7414910132e-05,1793251892822857984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.642554312,747,724,695,672,642.642554312,898.642554312,786,828,656,633.642554312,657,0.449068147587,0.00459863303462,0.0697846871578,0.999999930341,0.000144185822077,-0.000343787406253,1.83758594593e-05,1793251892839524864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.048583717,747,724,695,672,642.048583717,898.048583717,786,828,656,633.048583717,657,0.448451836252,0.00459838745121,0.0698095482933,0.999999946091,0.000134985568743,-0.000298695182112,1.94528481449e-05,1793251892856192256
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,672,642,898,786,828,656,633,657,0.447767223901,0.0045927319735,0.0698023565248,0.999999944734,0.000113413683495,-0.000311877971988,2.00457914863e-05,1793251892872858624
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.899879891,642.100120109,898,786,827.899879891,656,633,657,0.447065961279,0.00458817488133,0.0697864679035,0.999999938225,9.41716542982e-05,-0.000338022212034,2.0564274579e-05,1793251892889525248
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.326833752,642.673166248,898,786,827.326833752,656,633,657,0.446314789758,0.00459108250093,0.0697429862558,0.999999915279,9.11406791795e-05,-0.000400869859647,2.09347160089e-05,1793251892906191616
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.256008781,724,695,671,643,897.743991219,786,827.256008781,656,633,657,0.445578132145,0.00459054919675,0.069721625496,0.999999904451,8.69827910441e-05,-0.000427864388729,2.15487780695e-05,1793251892922857728
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747.851855588,724,695,671,643,897.148144412,786,827.851855588,656,633,657,0.444860740867,0.00458544824988,0.0697296290311,0.999999913507,8.13289858035e-05,-0.000407265822293,2.24862336774e-05,1793251892939524352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747.565670738,724,695,671.434329262,642.565670738,897,786.434329262,827.565670738,656,633.434329262,657,0.444101249555,0.00458405695218,0.0697606678326,0.99999992764,0.000140441582128,-0.000352764549249,2.35139004137e-05,1793251892956190976
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,724.01234377,695,671.98765623,642,897.01234377,787,827.01234377,656.01234377,633.98765623,657,0.443327129948,0.00458381321095,0.069798887823,0.999999934232,0.000218820438237,-0.000288179267013,2.4620297846e-05,1793251892972857856
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724.588805808,695,671.411194192,642,897.588805808,787,827.588805808,656.588805808,633.411194192,657,0.442521135504,0.00457991506936,0.0698169464132,0.999999942023,0.000198262364424,-0.000275435523025,2.79605510655e-05,1793251892989524736
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.168204787,747,725,695.168204787,671,642.168204787,897.831795213,787,827.663590425,656.831795213,633,657,0.441715504867,0.00457541973237,0.06983051087,0.999999949992,0.000174787905272,-0.000261849078384,3.00162320422e-05,1793251893006191360
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.754910977,747,725,695.754910977,671,642.754910977,897.245089023,787,826.490178045,656.245089023,633,657,0.440910779446,0.00456943854548,0.0698328937107,0.999999958908,0.000144057343912,-0.000246165955889,2.88758368235e-05,1793251893022857984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.66293265,747.33706735,724.66293265,695.66293265,671,642.66293265,897,787,826.33706735,656.33706735,633,657,0.44004313192,0.00456619772362,0.0698215901291,0.999999957306,0.000125187579734,-0.000262472251513,2.87206419766e-05,1793251893039524864
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.084040514,747.915959486,724.084040514,695.084040514,671,642.084040514,897,787,826.915959486,656.915959486,633,657,0.439130341746,0.00456492294291,0.0698004673935,0.999999947459,0.000114827198545,-0.000301728958667,2.9272266939e-05,1793251893056191488
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747.508201052,724,695.491798948,671,642,896.508201052,787,826.508201052,657,633,656.508201052,0.43816487846,0.00456382454745,0.0697377371828,0.999999913783,0.000123894587856,-0.000395301501995,2.86617819675e-05,1793251893072858112
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.066994065,747.066994065,724,695.933005935,671,642,895.933005935,787.066994065,826,656.933005935,633.066994065,656.066994065,0.437202251241,0.00456204648406,0.0696791870513,0.99999987491,0.00013366957901,-0.000481171541879,2.80569886619e-05,1793251893089524736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.641235545,747.641235545,724,695.358764455,671,642,895.358764455,787.641235545,826,656.358764455,633.641235545,656.641235545,0.436328828711,0.00455489548826,0.0697057883638,0.999999895607,0.000123820603106,-0.000438878707647,2.89896151666e-05,1793251893106192384
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769,747.778450539,724,695,671,642,894.778450539,787.778450539,825.778450539,656,633.778450539,656.778450539,0.435462040189,0.00454926688624,0.069744584523,0.999999919619,0.000114205367407,-0.000383139254984,3.03923296351e-05,1793251893122859264
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,747.188026057,724,695,671,642,894.188026057,787.188026057,825.188026057,656,633.188026057,656.188026057,0.434606297006,0.00454617303552,0.0698036848403,0.999999947443,0.000104979302292,-0.000305011468518,3.25777304075e-05,1793251893139525120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642,893.604956549,787.790086902,825,656,633,656,0.433703621759,0.00454044290578,0.0698334168374,0.999999959039,0.000102497614147,-0.000265017368555,3.43772089453e-05,1793251893156192000
+325,5.416666667,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642,893.025323785,788.949352429,825,656,633,656,0.432779016931,0.00453348093976,0.0698494260921,0.999999964544,0.000103167326645,-0.000242841746453,3.59963600992e-05,1793251893172859136
+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,747,724.550034239,695,671,642,893,788.449965761,824.449965761,656,633,656.550034239,0.431797828681,0.00452895127914,0.0698361685166,0.999999961658,9.68268566632e-05,-0.000256942936988,3.59131292748e-05,1793251893189526016
+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,747,724.87494645,695,671,642,893,788,824,656,633,656.87494645,0.43080163779,0.00452493685401,0.0698073512918,0.999999950931,9.04894360736e-05,-0.00029782394275,3.53701325529e-05,1793251893206192896
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724.300442632,695,671,642,893,788,824,656,633,656.300442632,0.429760817289,0.00452237484304,0.0697274172104,0.999999903782,8.53140179236e-05,-0.000428996770101,3.34542322898e-05,1793251893222859520
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,747,724.282585832,695,671,642,893,788,823.717414168,656,633,656.282585832,0.42879666065,0.00451516642841,0.0697044183371,0.999999888125,7.5924565965e-05,-0.000465745598974,3.2671492999e-05,1793251893239526144
+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,747,724.874959495,695,671,642,893,788,823.125040505,656,633,656.874959495,0.427916547682,0.00450286434277,0.0697438353181,0.999999917941,6.19154342999e-05,-0.000398981075584,3.3130994397e-05,1793251893256192512
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,747,725,695,671,642.455376513,892.544623487,788,823,656,633,657,0.42703135766,0.00449820132389,0.0698047819089,0.999999951404,5.85915618623e-05,-0.000304136632252,3.5485152876e-05,1793251893272858624
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,671,643,892,788.032610319,822.967389681,656,633,656.967389681,0.426140122389,0.00449514215856,0.0698669147188,0.999999975781,5.7324000207e-05,-0.00020904152309,3.81362189627e-05,1793251893289524992
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,747,725,695,671,643,892,788.610109568,822.389890432,656,633,656.389890432,0.425170575677,0.00448472984236,0.0698526153293,0.999999970714,4.26447834102e-05,-0.000235295525914,3.7277870627e-05,1793251893306191872
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.809454769,747,725,695,671,643,892.190545231,789,821.809454769,656.190545231,633,656.190545231,0.424206997247,0.00447653548612,0.0698297127805,0.99999996108,3.20608746225e-05,-0.000274740319901,3.64599538103e-05,1793251893322858752
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.222916511,747,725,695,671,643,892.777083489,789,821.222916511,656.777083489,633,656.777083489,0.423255821985,0.00447295051482,0.0697889310564,0.999999940567,2.99878736188e-05,-0.000341598353985,3.57260619763e-05,1793251893339525888
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.359088872,747,725,695,671.359088872,643,892.640911128,789,821,656.640911128,633,657,0.422268563552,0.00446745118615,0.069728874297,0.999999899754,2.63700644341e-05,-0.000445492003058,3.65279024003e-05,1793251893356192512
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.938315365,747,725,695,671.938315365,643,892.061684635,789,821,656.061684635,633,657,0.421259184572,0.00446077827058,0.069657001077,0.999999835386,2.18052182212e-05,-0.000572090140047,3.82712153729e-05,1793251893372858880
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,672,642.484761621,892,789,821,656.515238379,633,657,0.420424879002,0.00444959829393,0.069701504807,0.99999987944,-2.74473702677e-06,-0.000489742134345,3.55672710281e-05,1793251893389525248
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,747,725,694.90812529,672.09187471,642.09187471,891.90812529,789,821,657,633,656.90812529,0.419613035168,0.00443949687615,0.0697630777454,0.999999926839,-2.48303059161e-05,-0.000380252182204,3.33690025603e-05,1793251893406191872
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,747,725,694.331553005,672.668446995,642.668446995,891.331553005,789,821,657,633,656.331553005,0.418809606704,0.00443791954302,0.0698415248315,0.999999965572,-2.13482089226e-05,-0.000258954683414,3.66348936002e-05,1793251893422858240
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,747,725,694,672.500892984,642.750446492,891,788.750446492,821,657,633,656.249553508,0.417989116748,0.00443533963119,0.0698791319149,0.999999977974,-1.62428059787e-05,-0.000205636527103,3.87640873059e-05,1793251893439524864
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,747,725,694,671.326408881,642.16320444,891,788.16320444,821,657,633,656.83679556,0.417145539744,0.00443140305919,0.0698614754891,0.999999969343,-8.94079326135e-06,-0.000244306051757,3.93551355403e-05,1793251893456191488
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,725,694,671,642,891,788,821,656.581332227,633,656.581332227,0.416304473864,0.00444247191268,0.0698288471692,0.999999960409,4.87444677854e-07,-0.000278875218638,3.7550193364e-05,1793251893472858112
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,725,694,671,642,891,788,821,656.001526721,633,656.001526721,0.4154643744,0.00445931608562,0.0697904564338,0.999999950706,1.07340292634e-05,-0.000311866234206,3.48230773764e-05,1793251893489524992
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,747,724.425470779,694.574529221,671,642,891,788,821,656.574529221,633,656,0.41460579363,0.00447374006996,0.0697572704997,0.999999925236,3.1169408062e-05,-0.00038378840185,3.5548676193e-05,1793251893506192384
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,693,671,642,890,788.213036801,820.213036801,656,633,656.786963199,0.409088036396,0.00445499983723,0.0697989319531,0.999999947323,3.54942483629e-06,-0.000322793834382,3.38482380075e-05,1793251893639525632
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,747,725,693,671,642,890,788.79970705,820.79970705,656,633,656.20029295,0.408464280118,0.00446104958464,0.0697657228576,0.999999929155,8.92465888762e-06,-0.000374922407244,3.23088824391e-05,1793251893656193024
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747,725,693,671,642,890,788.617025101,821,656.382974899,633,656.382974899,0.407896886464,0.00446621291221,0.0697656813414,0.99999992966,1.70103631182e-05,-0.000373368097963,3.14016397978e-05,1793251893672859392
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,725,693,671,642,890,788.035520959,821,656.964479041,633,656.964479041,0.407358710408,0.00447091673172,0.0697828334671,0.999999940011,2.65011405855e-05,-0.000343985280438,3.08220762028e-05,1793251893689525248
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.540452565,747,725,692.459547435,671,642,890,788,820.459547435,657,633,657,0.406863052124,0.00447083196417,0.0697987989026,0.999999946799,2.02096964834e-05,-0.000324079002479,3.11004886882e-05,1793251893706192128
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.115892117,890,788,820.115892117,656.884107883,633,656.884107883,0.406371834531,0.00447068364849,0.0698095724147,0.999999950346,1.44548661199e-05,-0.000313207919673,3.16216312232e-05,1793251893722858752
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.690642289,890,788,820.690642289,656.309357711,633,656.309357711,0.40588724689,0.00447151721771,0.0698000949431,0.999999943012,1.48900286985e-05,-0.000335669311678,3.28828218686e-05,1793251893739525888
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.726523595,747,725,692,671,643,889.726523595,788,820.726523595,656,633,656,0.405441729287,0.00447263674832,0.069799920922,0.999999942146,1.75060111587e-05,-0.0003380880623,3.3122738155e-05,1793251893756192768
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.134266375,747,725,692,671,643,889.134266375,788,820.134266375,656,633,656,0.405041754137,0.00447408961295,0.069810591572,0.999999948936,2.26640905582e-05,-0.000317143883637,3.21721945477e-05,1793251893772859136
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.446133288,747,725,692.446133288,671,642.553866712,889,788,820,656.446133288,633,656.446133288,0.40468325902,0.00447250989951,0.0698275367918,0.99999995914,2.6959127656e-05,-0.000282937133974,3.06413659578e-05,1793251893789526016
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,725,692.977019672,671,642.022980328,889.022980328,788,820.022980328,656.977019672,633,657,0.404337384894,0.00446996596255,0.0698457119862,0.999999968806,3.04628073893e-05,-0.000246205710993,2.90345380876e-05,1793251893806192896
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,725,692.402008065,671,642.597991935,889.597991935,788,820.597991935,656.402008065,633,657,0.404002573739,0.00446561602997,0.0698492457698,0.999999970001,2.10344278372e-05,-0.000242226553838,2.96886359e-05,1793251893822859520
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.826412068,746.826412068,725,692,671,642.826412068,889.826412068,788,821,656,633,656.826412068,0.403672754726,0.00446279072583,0.0698471308269,0.99999996898,1.32079944155e-05,-0.00024690648746,3.00593750997e-05,1793251893839525888
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.249458206,746.249458206,725,692,671,642.249458206,889.249458206,788,821,656,633,656.249458206,0.403354535991,0.0044635081983,0.0698318899491,0.999999962603,9.10400132511e-06,-0.000271707533505,2.97716743607e-05,1793251893856192000
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.335916647,746.335916647,725,692,671,642.335916647,889.335916647,788,820.664083353,656.335916647,633,656.335916647,0.403062258897,0.00446357832988,0.0698217353217,0.999999957638,3.00906736333e-06,-0.000289590657136,2.91761217725e-05,1793251893872858368
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.927705954,746.927705954,725,692,671,642.927705954,889.927705954,788,820.072294046,656.927705954,633,656.927705954,0.402789741899,0.00446315537243,0.0698154549644,0.999999953924,-4.6023960251e-06,-0.000302204300009,2.83460738699e-05,1793251893889524736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.494525567,747,725,692,671,642.494525567,890,788,820,656.494525567,633,657,0.40255619139,0.00446488223725,0.0698095725273,0.99999995146,-3.94866372784e-06,-0.000310281526292,2.81109110307e-05,1793251893906191360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642.081039785,889.918960215,788,820,656,633,657,0.402333124939,0.00446752484381,0.0698038553135,0.999999949104,-1.44274183382e-06,-0.000317820309027,2.79214575668e-05,1793251893922857984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642.655072627,889.344927373,788,820,656,633,657,0.402140848641,0.0044739182477,0.0697988063399,0.999999946494,5.33361495084e-06,-0.000325923955909,2.75064574632e-05,1793251893939524608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,643,889,788,820,656,633,656.763803866,0.401961798718,0.00448234832465,0.0697967765934,0.999999945126,1.99141832483e-05,-0.000329580516585,2.69735628441e-05,1793251893956191232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,643,889,788,820,656,633,656.172005118,0.401802661636,0.00449384469301,0.0697992924128,0.999999945271,4.62443000092e-05,-0.000326541812615,2.62631733879e-05,1793251893972858112
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.410891961,747,725,692,671,642.589108039,889.410891961,788,820,656,633,656,0.401668578037,0.00449868544356,0.0698003743361,0.999999945805,6.17616885424e-05,-0.000322329875718,2.60745124389e-05,1793251893989524736
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.99014168,747,725,692,671,642.00985832,889.99014168,788,820,656,633,656,0.401544759786,0.00450079913905,0.0698008687385,0.999999946559,7.2848698508e-05,-0.000317637221641,2.60996231319e-05,1793251894006191360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.434768754,747,725,692,671,642,889.434768754,788,820,656.565231246,633,656,0.401442420452,0.00449557690146,0.0697992047523,0.999999946259,6.08234584822e-05,-0.000321139856767,2.55237516431e-05,1793251894022857728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642.14028509,889,787.85971491,820,657,633,656.14028509,0.401346343644,0.00449170659907,0.0697978853949,0.999999945965,5.01161150393e-05,-0.000323956644456,2.47267071833e-05,1793251894039524352
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642.715451373,889,787.284548627,820,657,633,656.715451373,0.401268527748,0.00449242100911,0.0697977502267,0.999999946173,4.47347193623e-05,-0.000324207456214,2.32762868753e-05,1793251894056191232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.298583247,746.701416753,725,692,671,642.701416753,889,787.298583247,820,656.701416753,633,656.701416753,0.401200753053,0.00449241593799,0.069798314955,0.999999946746,4.10655704795e-05,-0.000322970428551,2.26142393249e-05,1793251894072857600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.889514437,746.110485563,725,692,671,642.110485563,889,787.889514437,820,656.110485563,633,656.110485563,0.401142809859,0.00449170641068,0.0697995649638,0.99999994769,3.90729109548e-05,-0.000320276632008,2.27241007958e-05,1793251894089524224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,746.47023774,725,692,671,642,889,788,820,656,633,656,0.401103708079,0.00449157928472,0.0698029350278,0.999999949529,3.79711328708e-05,-0.000314609480179,2.28069724849e-05,1793251894106191104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,747,725,691.951796463,671,642,889,788,820.048203537,656,633,656.048203537,0.401069879853,0.00449153241522,0.0698068105235,0.999999951574,3.70372868034e-05,-0.000308152335317,2.28641622066e-05,1793251894122857728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,747,725,691.378298753,671,642,889,788,820.621701247,656,633,656.621701247,0.401046302709,0.00449090062322,0.0698108810172,0.999999953943,3.57008968329e-05,-0.000300537595624,2.27091218109e-05,1793251894139524608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,725,691.200374238,671,642.200374238,889,788,820.799625762,656.200374238,633,657,0.401025300198,0.00449017608753,0.069814300616,0.999999955735,3.41941079584e-05,-0.000294696836045,2.27026136337e-05,1793251894156191488
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,725,691.789076974,671,642.789076974,889,788,820.210923026,656.789076974,633,657,0.401009287365,0.00448927181307,0.0698164587698,0.999999956494,3.23570833504e-05,-0.000292294078946,2.2983963296e-05,1793251894172858112
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,747,725,691.627867383,671,642.627867383,889,788,820.372132617,657,633,656.627867383,0.400996513471,0.00449025961969,0.0698170479659,0.999999956617,3.39283926855e-05,-0.000291699363302,2.29613849647e-05,1793251894189524480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,747,725,691.047964658,671,642.047964658,889,788,820.952035342,657,633,656.047964658,0.400985547949,0.00449230381826,0.0698167611773,0.999999956376,3.74026524697e-05,-0.000292114118418,2.27691167099e-05,1793251894206191104
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,725.529276022,691.529276022,671,642,889.529276022,788,821,657,633,656,0.400980417345,0.00449063224874,0.0698176534274,0.999999957095,3.69001838899e-05,-0.000289708554228,2.27256092969e-05,1793251894222857984
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,747,725.893943832,692,671,642,889.893943832,788.106056168,820.893943832,656.893943832,633,656,0.400976214414,0.0044892841612,0.0698186351377,0.999999957788,3.6150123613e-05,-0.000287407750608,2.26614440696e-05,1793251894239524608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747,725.318140486,692,671,642,889.318140486,788.681859514,820.318140486,656.318140486,633,656,0.400973790004,0.00449085286142,0.0698195422001,0.999999958006,3.58916568584e-05,-0.000286697341308,2.24463682292e-05,1793251894256191232
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.736660695,747,725,692,670.736660695,642.263339305,889.263339305,788.736660695,820,656.263339305,633,656.263339305,0.400972117907,0.00449196220821,0.0698204648782,0.999999958242,3.74277200479e-05,-0.000285683816428,2.23767722511e-05,1793251894272857856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.148172028,747,725,692,670.148172028,642.851827972,889.851827972,788.148172028,820,656.851827972,633,656.851827972,0.400971374702,0.004492504384,0.0698214068374,0.999999958487,4.11795187855e-05,-0.000284296029668,2.24868026185e-05,1793251894289524480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.434067423,746.565932577,725,692,670.434067423,643,889.565932577,788,820,657,633,656.565932577,0.400972203666,0.0044926762767,0.0698227673737,0.999999959214,4.14174107727e-05,-0.000281682487016,2.26194115869e-05,1793251894306191872
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,746.014034337,725,692,671,642.985965663,889.014034337,788.014034337,820,657,633,656.014034337,0.40097350661,0.00449271309684,0.0698242249635,0.999999960066,4.04920246726e-05,-0.000278766899396,2.27483335723e-05,1793251894322859520
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,746.587245318,725,692,671,642.412754682,889.587245318,788.587245318,820,657,633,656.587245318,0.400972615258,0.00449233284834,0.0698239372939,0.999999959665,4.03314417413e-05,-0.000280251503021,2.24276238484e-05,1793251894339525632
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,670.838654458,642,889.838654458,788.838654458,820,656.838654458,633,657,0.400971613116,0.00449174905716,0.0698237396319,0.999999959405,3.97975099612e-05,-0.00028126992165,2.22195574674e-05,1793251894356192000
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,670.262266795,642,889.262266795,788.262266795,820,656.262266795,633,657,0.400970325977,0.00449064167684,0.0698237735035,0.999999959512,3.83031829042e-05,-0.000281089135008,2.2301252641e-05,1793251894372858624
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.676394856,747,725,692,670.323605144,642.323605144,889,788,820,656.323605144,633,657,0.400970470643,0.00449056496426,0.0698246528708,0.999999959891,3.80521451306e-05,-0.000279762783388,2.24163781452e-05,1793251894389525248
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.082604304,747,725,692,670.917395696,642.917395696,889,788,820,656.917395696,633,657,0.400971810756,0.00449134878003,0.069826238162,0.999999960494,3.88391583647e-05,-0.000277479973124,2.25594154003e-05,1793251894406191872
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.495484334,747,725,692,671,643,889,788,820,656.504515666,633,656.504515666,0.400972303905,0.00449288739193,0.0698258027457,0.999999960386,4.07129617204e-05,-0.000277627875467,2.21954179576e-05,1793251894422858496
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,888.92915017,788,820,656,633,656.07084983,0.400972581329,0.0044940422027,0.0698252416322,0.999999960222,4.22155573432e-05,-0.000278021123745,2.18510001116e-05,1793251894439524864
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,888.355104674,788,820,656,633,656.644895326,0.400972298653,0.00449160488182,0.0698261069118,0.999999960493,3.98344394293e-05,-0.000277367203192,2.22275569818e-05,1793251894456191488
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,888.224235863,788,820,656.224235863,633,657,0.400972287921,0.00449064953561,0.0698268902595,0.999999960742,3.88562556468e-05,-0.000276597977672,2.23436905008e-05,1793251894472858368
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,888.812164629,788,820,656.812164629,633,657,0.400972718261,0.00449209783517,0.0698275407202,0.999999960962,4.01535201305e-05,-0.000275641736473,2.20374379188e-05,1793251894489524736
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,788,820,657,633,657.396032845,0.400973275443,0.00449314516448,0.0698271475992,0.999999961035,4.130050691e-05,-0.000275233580698,2.16920651881e-05,1793251894506191872
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,889,788,820,657,633,657.977994683,0.400973892175,0.0044940042467,0.0698262645389,0.999999961039,4.23769414273e-05,-0.00027508273942,2.13283263986e-05,1793251894522859008
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.445906965,747,725,692,671,643,889.554093035,788.554093035,820,656.445906965,633.554093035,657.445906965,0.400972516735,0.00449314662612,0.0698261146135,0.999999960911,4.07099194596e-05,-0.00027579413032,2.14099154999e-05,1793251894539525120
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769.129174892,747,725,692,671,642.870825108,889.870825108,788.870825108,820,656,633.870825108,657,0.40097113138,0.00449225990655,0.0698259094242,0.999999960714,3.89312568134e-05,-0.000276758031265,2.14767607104e-05,1793251894556191488
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769.701559643,747,725,692,671,642.298440357,889.298440357,788.298440357,820,656,633.298440357,657,0.400969980625,0.00449150481867,0.0698254157666,0.999999960307,3.7139461393e-05,-0.000278472055651,2.14329723327e-05,1793251894572858880
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29df0f50a13bd0614c94df512634d84af348d437
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+357,5.950000000,pose2_to_pose3_retreat,0.590556620553,0.0100051526332,1.06002089765,0.561127964837,0.0186775640848,1.05963227597
+358,5.966666667,pose2_to_pose3_retreat,0.590154846275,0.010005201431,1.06002115113,0.560726189552,0.0186776094234,1.05963252855
+359,5.983333333,pose2_to_pose3_retreat,0.589775854455,0.0100051931394,1.06002115194,0.560347198304,0.0186776031355,1.05963253072
+360,6.000000000,pose2_to_pose3_retreat,0.589419335238,0.0100051473536,1.06002105017,0.559990679256,0.0186775579112,1.05963242871
+361,6.016666667,pose2_to_pose3_retreat,0.589086662208,0.0100051197699,1.06002100745,0.559658006019,0.018677529435,1.05963238175
+362,6.033333333,pose2_to_pose3_retreat,0.58877862196,0.0100051092917,1.06002103588,0.559349966364,0.0186775207128,1.0596324045
+363,6.050000000,pose2_to_pose3_retreat,0.588489435595,0.0100049219569,1.06002099101,0.559060781127,0.0186773375063,1.05963236638
+364,6.066666667,pose2_to_pose3_retreat,0.588213845421,0.0100051735857,1.06002099829,0.558785189538,0.0186775843362,1.05963237371
+365,6.083333333,pose2_to_pose3_retreat,0.587949136464,0.0100051824886,1.06002101145,0.558520479816,0.0186775905685,1.05963238521
+366,6.100000000,pose2_to_pose3_retreat,0.587696516434,0.0100050793096,1.06002106573,0.558267861079,0.01867749184,1.05963244089
+367,6.116666667,pose2_to_pose3_retreat,0.587460560452,0.0100050530401,1.06002108479,0.558031905691,0.0186774674384,1.05963245672
+368,6.133333333,pose2_to_pose3_retreat,0.587242134601,0.0100051015803,1.06002106845,0.557813478829,0.0186775124125,1.05963243735
+369,6.150000000,pose2_to_pose3_retreat,0.587044359371,0.0100051122912,1.06002112043,0.557615703565,0.0186775233598,1.05963249725
+370,6.166666667,pose2_to_pose3_retreat,0.586865227518,0.0100051561375,1.06002113594,0.557436570879,0.018677564063,1.05963250561
+371,6.183333333,pose2_to_pose3_retreat,0.586704624953,0.0100051735689,1.0600209845,0.557275969155,0.0186775848093,1.05963236448
+372,6.200000000,pose2_to_pose3_retreat,0.586560427766,0.0100051934239,1.06002096726,0.557131772613,0.0186776069165,1.05963234879
+373,6.216666667,pose2_to_pose3_retreat,0.586432516576,0.0100050681752,1.06002088656,0.557003861931,0.0186774834094,1.05963226852
+374,6.233333333,pose2_to_pose3_retreat,0.586319363096,0.0100051652738,1.0600208063,0.556890706912,0.018677574998,1.05963218188
+375,6.250000000,pose2_to_pose3_retreat,0.58621972287,0.0100052099024,1.060020898,0.556791066674,0.018677619384,1.05963226937
+376,6.266666667,pose2_to_pose3_retreat,0.586133402406,0.0100051855529,1.06002100869,0.556704746341,0.0186775956033,1.05963238303
+377,6.283333333,pose2_to_pose3_retreat,0.5860580765,0.0100051975551,1.06002095669,0.556629419323,0.0186776041058,1.05963233702
+378,6.300000000,pose2_to_pose3_retreat,0.58599359192,0.0100051487402,1.06002087793,0.556564935568,0.0186775580901,1.05963225821
+379,6.316666667,pose2_to_pose3_retreat,0.585939393242,0.0100050850884,1.06002101562,0.556510736333,0.0186774920939,1.0596323857
+380,6.333333333,pose2_to_pose3_retreat,0.585895213816,0.0100051747085,1.06002108043,0.556466557104,0.0186775829176,1.05963246244
+381,6.350000000,pose2_to_pose3_retreat,0.585860041002,0.0100052635483,1.06002109154,0.556431384117,0.0186776712284,1.05963247485
+382,6.366666667,pose2_to_pose3_retreat,0.585832478427,0.0100052400954,1.06002105607,0.556403821961,0.0186776489318,1.05963243343
+383,6.383333333,pose2_to_pose3_retreat,0.585811631377,0.0100052050746,1.06002101569,0.556382975326,0.0186776151798,1.05963238989
+384,6.400000000,pose2_to_pose3_retreat,0.585794988465,0.0100052328257,1.06002099287,0.556366332371,0.0186776430021,1.05963237199
+385,6.416666667,pose2_to_pose3_retreat,0.58578211937,0.0100051035689,1.06002075849,0.556353463844,0.0186775152947,1.05963212914
+386,6.433333333,pose2_to_pose3_retreat,0.585772223774,0.010005125521,1.06002081877,0.556343567136,0.0186775332142,1.05963218369
+387,6.450000000,pose2_to_pose3_retreat,0.585764990153,0.0100052145709,1.06002093725,0.556336332118,0.0186776175095,1.05963230188
+388,6.466666667,pose2_to_pose3_retreat,0.585759911724,0.0100053056907,1.06002089844,0.55633125322,0.0186777074222,1.05963227166
+389,6.483333333,pose2_to_pose3_retreat,0.585756547461,0.0100051878971,1.06002090011,0.556327891083,0.0186775967819,1.05963227197
+390,6.500000000,pose2_to_pose3_retreat,0.585754615626,0.010005088353,1.06002090556,0.556325960897,0.0186775027394,1.05963227537
+391,6.516666667,pose2_to_pose3_retreat,0.585753565857,0.0100051284923,1.06002083609,0.556324909502,0.0186775375581,1.05963221026
+392,6.533333333,pose2_to_pose3_retreat,0.585753219779,0.0100051417251,1.06002081319,0.556324562889,0.0186775490368,1.05963218879
+393,6.550000000,pose2_to_pose3_retreat,0.585753069637,0.0100051474659,1.06002080325,0.556324412515,0.0186775540167,1.05963217948
+394,6.566666667,pose2_to_pose3_retreat,0.585753005121,0.0100051499328,1.06002079898,0.556324347899,0.0186775561566,1.05963217547
+395,6.583333333,pose2_to_pose3_retreat,0.585752871086,0.0100051550578,1.06002079011,0.556324213657,0.0186775606022,1.05963216716
+396,6.600000000,pose2_to_pose3_retreat,0.585752649593,0.0100051635269,1.06002077545,0.55632399182,0.0186775679487,1.05963215342
+397,6.616666667,pose2_to_pose3_retreat,0.58575243285,0.0100051718144,1.06002076111,0.556323774742,0.0186775751376,1.05963213998
+398,6.633333333,pose2_to_pose3_retreat,0.585752393057,0.0100051733359,1.06002075848,0.556323734887,0.0186775764575,1.05963213751
+399,6.650000000,pose2_to_pose3_retreat,0.585752269312,0.0100051780675,1.06002075029,0.556323610951,0.0186775805618,1.05963212983
+400,6.666666667,pose2_to_pose3_retreat,0.585752058998,0.0100051668465,1.0600207485,0.556323400892,0.0186775701743,1.05963212731
+401,6.683333333,pose2_to_pose3_retreat,0.58575188501,0.010005146651,1.0600207539,0.556323227444,0.0186775517444,1.05963213118
+402,6.700000000,pose2_to_pose3_retreat,0.585751798124,0.0100051365658,1.06002075659,0.556323140828,0.0186775425409,1.05963213312
+403,6.716666667,pose2_to_pose3_retreat,0.585751705108,0.0100051257691,1.06002075947,0.5563230481,0.0186775326881,1.05963213519
+404,6.733333333,pose2_to_pose3_retreat,0.585751579606,0.0100051112016,1.06002076336,0.556322922988,0.0186775193941,1.05963213798
+405,6.750000000,pose2_to_pose3_retreat,0.585751558726,0.0100051087781,1.06002076401,0.556322902173,0.0186775171824,1.05963213845
+406,6.766666667,pose2_to_pose3_retreat,0.585751447997,0.0100050959254,1.06002076744,0.556322791788,0.0186775054534,1.05963214091
+407,6.783333333,pose2_to_pose3_retreat,0.585751199069,0.0100050681529,1.06002078916,0.55632254342,0.0186774794672,1.05963216003
+408,6.800000000,pose2_to_pose3_retreat,0.585751002614,0.0100050533387,1.060020895,0.556322346064,0.018677461378,1.05963226111
+409,6.816666667,pose2_to_pose3_retreat,0.585750930961,0.0100050447774,1.06002086973,0.556322274264,0.0186774523596,1.05963223678
+410,6.833333333,pose2_to_pose3_retreat,0.585750930662,0.0100050427652,1.06002082966,0.556322274078,0.018677450807,1.05963219839
+411,6.850000000,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..327e1f6914ab3682b25c9d84fe604d4429b6d9fd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5acdfea230cb57cefa766ede0990d5a132a82350c6ad2d583dc95941a4fa18ec
+size 26186894
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2191df81c68621834030116a57c53c303f4f958
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+26,0.433333333,BASELINE,769.084838985,747,725,692,671,642.084838985,889,788,820.084838985,656,633,656,0.400973403623,0.00449152020061,0.0698299657224,0.99999996252,3.88461398458e-05,-0.00027018828815,2.11879627046e-05,1793251895157885184
+27,0.450000000,BASELINE,769.657054825,747,725,692,671,642.657054825,889,788,820.657054825,656,633,656,0.400971960333,0.00449264396798,0.0698292775209,0.99999996233,3.93500588694e-05,-0.000270827286868,2.10537316179e-05,1793251895174551552
+28,0.466666667,BASELINE,769.769531244,746.769531244,725,692,671,642.769531244,889,788,820.769531244,656,633,656,0.400971459548,0.0044927607064,0.0698286321081,0.999999962152,3.91350764824e-05,-0.000271516288377,2.10402093663e-05,1793251895191217920
+29,0.483333333,BASELINE,769.194325236,746.194325236,725,692,671,642.194325236,889,788,820.194325236,656,633,656,0.400972368572,0.00449137112173,0.0698280506989,0.999999961991,3.78447548201e-05,-0.000272280084476,2.12072444921e-05,1793251895207884544
+30,0.500000000,BASELINE,769.39226295,746.39226295,725,691.60773705,671,642,889,788,820,656,633,656,0.400972745453,0.0044914079734,0.0698284697213,0.999999962102,3.75222398715e-05,-0.000271913758748,2.12260856754e-05,1793251895224551168
+31,0.516666667,BASELINE,769.9846583,746.9846583,725,691.0153417,671,642,889,788,820,656,633,656,0.400972850835,0.00449217259238,0.0698293991634,0.999999962353,3.76934995614e-05,-0.000270970845291,2.11693183633e-05,1793251895241217792
+32,0.533333333,BASELINE,769.435606165,747,725,691.564393835,671,642,889,788,820,656,633,656,0.400971271856,0.00449408151571,0.0698288601259,0.999999961989,4.04305881596e-05,-0.000271920378186,2.112841907e-05,1793251895257884928
+33,0.550000000,BASELINE,769.142613968,746.857386032,725,692,671,642.142613968,889,788,820,656,633,656.142613968,0.400970696238,0.00449501618388,0.0698286849765,0.999999961893,4.16419706752e-05,-0.000272097792541,2.10641260364e-05,1793251895274552064
+34,0.566666667,BASELINE,769.717262857,746.282737143,725,692,671,642.717262857,889,788,820,656,633,656.717262857,0.400973295867,0.00449290727918,0.0698297304621,0.999999962666,3.80247238409e-05,-0.000269783731408,2.09276859686e-05,1793251895291218176
+35,0.583333333,BASELINE,770,746.296591103,725,692,671,643,889,788,820,656.296591103,633,656.703408897,0.400973689315,0.00449237874648,0.069829742238,0.99999996271,3.72357374706e-05,-0.000269741392304,2.08246917184e-05,1793251895307884544
+36,0.600000000,BASELINE,770,746.880451706,725,692,671,643,889,788,820,656.880451706,633,656.119548294,0.40097194592,0.00449338091581,0.0698287527929,0.999999962052,3.91861213468e-05,-0.00027189937669,2.07540920966e-05,1793251895324551168
+37,0.616666667,BASELINE,770,747,725,692,671,642.537742485,889,788,820,657,633,656.462257515,0.400973124995,0.0044933570897,0.069829669702,0.999999962449,3.96796648014e-05,-0.000270347932961,2.09655274927e-05,1793251895341217792
+38,0.633333333,BASELINE,770,747,725,692,671,642.043143451,889,788,820,656.956856549,633,656.956856549,0.400974663326,0.00449309724515,0.0698308144638,0.999999962988,3.97830161972e-05,-0.000268311535789,2.12230468391e-05,1793251895357884416
+39,0.650000000,BASELINE,770,747,725,692,671,642.619202416,889,788,820,656.380797584,633,656.380797584,0.400971344753,0.00449318509683,0.0698287108051,0.999999961974,3.96999276815e-05,-0.00027208223336,2.11528298155e-05,1793251895374551040
+40,0.666666667,BASELINE,769.805510106,747,725,692,671,642.805510106,889,788,820,656.194489894,633,656.194489894,0.400970580597,0.00449302257042,0.06982832514,0.999999961755,3.94081040731e-05,-0.000272936147605,2.1043255725e-05,1793251895391217664
+41,0.683333333,BASELINE,769.231727212,747,725,692,671,642.231727212,889,788,820,656.768272788,633,656.768272788,0.400974798048,0.0044923717582,0.0698312898954,0.999999963094,3.87092065696e-05,-0.000268101768633,2.0856927728e-05,1793251895407884544
+42,0.700000000,BASELINE,769.353253883,747,725,692,670.646746117,642,889,788,820,656.646746117,633,657,0.400975767577,0.00449236353476,0.0698319084492,0.999999963389,3.83560230326e-05,-0.000267044627709,2.09118970712e-05,1793251895424551168
+43,0.716666667,BASELINE,769.945821225,747,725,692,670.054178775,642,889,788,820,656.054178775,633,657,0.400974536787,0.00449279063605,0.069830937558,0.999999962987,3.82370450338e-05,-0.000268546394192,2.113033441e-05,1793251895441217536
+44,0.733333333,BASELINE,770,747,725,692,670.523845379,642,889,788,820,656,633,656.476154621,0.40097342543,0.00449381534733,0.0698301824296,0.999999962582,3.94568811945e-05,-0.000269908607211,2.07029717067e-05,1793251895457884416
+45,0.750000000,BASELINE,770,747,725,692,671,642,889.095252896,788,820,656.095252896,633,656,0.400972619087,0.00449476724032,0.0698296810023,0.999999962282,4.06346703709e-05,-0.000270868725839,2.03621607686e-05,1793251895474551040
+46,0.766666667,BASELINE,770,747,725,692,671,642,889.642222571,788,820,656.642222571,633,656,0.400973202209,0.00449508861429,0.069830279732,0.999999962499,4.09741472323e-05,-0.000269988594297,2.0739994128e-05,1793251895491217920
+47,0.783333333,BASELINE,770,747,725,692,671,642.209707042,889.790292958,788,820,656.790292958,633,656.209707042,0.400973505407,0.00449510417932,0.0698306298227,0.999999962647,4.08886401624e-05,-0.00026942911892,2.102485735e-05,1793251895507884544
+48,0.800000000,BASELINE,770,747,725,692,671,642.815986714,889.184013286,788,820,656.184013286,633,656.815986714,0.400973279246,0.00449454143544,0.0698305097172,0.999999962668,3.99994548659e-05,-0.0002694760296,2.11339067414e-05,1793251895524550912
+49,0.816666667,BASELINE,770,747,725,691.584170991,671,643,889,788,820,656.415829009,633,657,0.400972563862,0.00449356921189,0.0698301625292,0.999999962637,3.91385244415e-05,-0.000269715639853,2.11504770921e-05,1793251895541217792
+50,0.833333333,BASELINE,770,747,725,691.012376934,671,642.987623066,889,788,820,656.987623066,633,656.987623066,0.400971663871,0.00449245134991,0.0698297362239,0.999999962582,3.83172671498e-05,-0.000270038301551,2.11287480629e-05,1793251895557884672
+51,0.850000000,BASELINE,770,747,725,691.586718505,671,642.413281495,889,788,820,656.413281495,633,656.413281495,0.400972061712,0.00449282286555,0.0698302107219,0.999999962489,3.87382822047e-05,-0.000270319088841,2.11978594546e-05,1793251895574551296
+52,0.866666667,BASELINE,769.83922501,747,725,692,671,642,889,788,820,656.16077499,633,656.16077499,0.400972141859,0.00449296902038,0.0698303734565,0.999999962372,3.9302153578e-05,-0.00027066416855,2.12725408856e-05,1793251895591217920
+53,0.883333333,BASELINE,769.265900092,747,725,692,671,642,889,788,820,656.734099908,633,656.734099908,0.400971406803,0.00449253689751,0.0698297362037,0.999999962195,4.02325953957e-05,-0.000271174223114,2.13615150782e-05,1793251895607884544
+54,0.900000000,BASELINE,769.318573794,747,725,692,671,642,889,788,820,657,633,657,0.400971463988,0.00449287671202,0.0698297869248,0.999999962256,3.99969777406e-05,-0.000271005805345,2.10933940874e-05,1793251895624551168
+55,0.916666667,BASELINE,769.912690697,747,725,692,671,642,889,788,820,657,633,657,0.400972206403,0.00449388419612,0.0698304326931,0.999999962521,3.87528035985e-05,-0.000270250558441,2.05164117906e-05,1793251895641217792
+56,0.933333333,BASELINE,770,747,725,692,671,642.490717,889,788,820,657,633,656.509283,0.400971387297,0.00449484688079,0.0698293547737,0.99999996194,4.16109659298e-05,-0.000271963154469,2.06099897398e-05,1793251895657884416
+57,0.950000000,BASELINE,770,747,725,692,671,642.934527987,889,788,820,656.934527987,633,656.065472013,0.400970713461,0.00449557492164,0.0698283808133,0.999999961402,4.45700166307e-05,-0.000273455452235,2.07986379167e-05,1793251895674550784
+58,0.966666667,BASELINE,770,747,725,692,671,642.363627862,889,788,820,656.363627862,633,656.636372138,0.400973237746,0.00449455114737,0.0698305017351,0.999999962424,4.28521753055e-05,-0.0002699650992,2.08294227337e-05,1793251895691217664
+59,0.983333333,BASELINE,769.783918574,746.783918574,725,692.216081426,671,642.216081426,889,788,820,656.216081426,633.216081426,656.783918574,0.400974216814,0.00449372071027,0.0698313456255,0.999999962887,4.19166464603e-05,-0.000268390576175,2.08700164648e-05,1793251895707884544
+60,1.000000000,BASELINE,769.188754841,746.188754841,725,692.811245159,671,642.811245159,889,788,820,656.811245159,633.811245159,656.188754841,0.400972485034,0.00449322945396,0.069829949157,0.999999962386,4.23535667136e-05,-0.000270177087693,2.09278184632e-05,1793251895724551424
+61,1.016666667,BASELINE,769,746.395447085,725,692.209105831,671,642.604552915,889,788,820,657,633.604552915,656.395447085,0.400972611023,0.00449265151169,0.0698301513697,0.999999962486,4.15922444729e-05,-0.000269934271652,2.08090995718e-05,1793251895741217792
+62,1.033333333,BASELINE,769,746.974557812,725,691.050884377,671,642.025442188,889,788,820,657,633.025442188,656.974557812,0.400973599844,0.00449203330853,0.0698310960828,0.999999962864,4.02744038003e-05,-0.000268748943329,2.06083963337e-05,1793251895757884160
+63,1.050000000,BASELINE,769.54907782,747,725,691.54907782,670.45092218,642,889,788,820,657,633,657,0.400973282506,0.00449176150975,0.0698307179386,0.999999962739,3.83578567782e-05,-0.000269460156995,2.10317098881e-05,1793251895774551040
+64,1.066666667,BASELINE,769.876808209,747,725,692,670.123191791,642,889,788,820,656.876808209,633,656.876808209,0.400973182792,0.00449204483169,0.06983039668,0.999999962671,3.73414379445e-05,-0.000269839153315,2.12425459415e-05,1793251895791217408
+65,1.083333333,BASELINE,769.303407213,747,725,692,670.696592787,642,889,788,820,656.303407213,633,656.303407213,0.400974097739,0.00449429869106,0.0698305054641,0.999999962904,3.97151155892e-05,-0.000268685555511,2.05720813671e-05,1793251895807884032
+66,1.100000000,BASELINE,769.278839556,747,725,691.721160444,671,642.278839556,889,788,820,656.278839556,633,656.278839556,0.400974100582,0.00449508372182,0.0698309176321,0.999999962913,4.12299067036e-05,-0.000268435783082,2.04177949775e-05,1793251895824551168
+67,1.116666667,BASELINE,769.871026778,747,725,691.128973222,671,642.871026778,889,788,820,656.871026778,633,656.871026778,0.400973078442,0.00449421814724,0.0698316707298,0.999999962675,4.1779518635e-05,-0.000269201690056,2.08435670447e-05,1793251895841218048
+68,1.133333333,BASELINE,770,747,725,691.454823687,671,642.545176313,889.454823687,788,820,656.545176313,633,656.545176313,0.400972864661,0.00449383782117,0.069830900299,0.999999962493,4.2308097955e-05,-0.000269770878999,2.113593592e-05,1793251895857884672
+69,1.150000000,BASELINE,770,747,725,692,671,642.035488524,889.964511476,788,820,656.035488524,633,656.035488524,0.400972822287,0.00449364889819,0.0698297503785,0.999999962319,4.2845748173e-05,-0.000270314837345,2.13513558861e-05,1793251895874551552
+70,1.166666667,BASELINE,770,747,725,692,671,642.604193556,889.395806444,788,820,656.604193556,633,656.604193556,0.400971973614,0.00449430580657,0.0698292721996,0.999999962027,4.36076770593e-05,-0.00027130266239,2.09686993049e-05,1793251895891217920
+71,1.183333333,BASELINE,769.824147738,747,725,691.824147738,671,642.824147738,889,788,820,656.824147738,633,656.824147738,0.400971714603,0.004494401358,0.069829395936,0.99999996203,4.37542757966e-05,-0.000271279975139,2.07788002809e-05,1793251895907884544
+72,1.200000000,BASELINE,769.245727248,747,725,691.245727248,671,642.245727248,889,788,820,656.245727248,633,656.245727248,0.400972805471,0.00449321182814,0.0698308976015,0.999999962711,4.24922356034e-05,-0.000268943981781,2.1030169708e-05,1793251895924551168
+73,1.216666667,BASELINE,769.341151335,747,725,691.341151335,671,642,889,788,820,656,633,656,0.400974063737,0.00449243007671,0.0698318863841,0.999999963324,4.0029948775e-05,-0.000267034106824,2.10133239136e-05,1793251895941217792
+74,1.233333333,BASELINE,769.934277032,747,725,691.934277032,671,642,889,788,820,656,633,656,0.400975445641,0.00449194951047,0.0698324963513,0.999999963882,3.66811599099e-05,-0.000265438963038,2.07983743532e-05,1793251895957884416
+75,1.250000000,BASELINE,770,747,725,692,671,642,889,788,820,656,633,656.511226029,0.400974280634,0.0044926579,0.0698314174751,0.999999963515,3.69640178459e-05,-0.000266797466665,2.05740703031e-05,1793251895974551040
+76,1.266666667,BASELINE,770,747,725,692,671,642.0865257,889.0865257,788,820,656.0865257,633,657,0.400972885521,0.00449335868533,0.069830225175,0.999999963012,3.7833905947e-05,-0.000268569852874,2.03809541028e-05,1793251895991217920
+77,1.283333333,BASELINE,770,747,725,692,671,642.663904797,889.663904797,788,820,656.663904797,633,657,0.400971985549,0.0044931758143,0.0698295833385,0.999999962401,3.94666193519e-05,-0.00027060211563,2.03713771393e-05,1793251896007884544
+78,1.300000000,BASELINE,769.760079392,747,725.239920608,692,671,642.760079392,889.760079392,788,820,657,633,656.760079392,0.400972429137,0.00449336673413,0.0698298361451,0.999999962395,4.08479608228e-05,-0.000270412145891,2.04606728178e-05,1793251896024550912
+79,1.316666667,BASELINE,769.185962611,747,725.814037389,692,671,642.185962611,889.185962611,788,820,657,633,656.185962611,0.400974744232,0.004494078324,0.06983133514,0.999999963231,4.18791549183e-05,-0.000267126728686,2.06876926338e-05,1793251896041217536
+80,1.333333333,BASELINE,769.402744552,747,725.597255448,692,671,642,889.402744552,787.597255448,820,656.597255448,633,656.402744552,0.400974373071,0.00449391104993,0.0698309606773,0.999999962992,4.29725530757e-05,-0.000267832250638,2.08702271617e-05,1793251896057884160
+81,1.350000000,BASELINE,769.998441942,747,725.001558058,692,671,642,889.998441942,787.001558058,820,656.001558058,633,656.998441942,0.400972714939,0.00449332271675,0.0698296886509,0.999999962235,4.40957529697e-05,-0.000270449810669,2.10314490377e-05,1793251896074550784
+82,1.366666667,BASELINE,769.427245284,747,725,692,671,642,889.427245284,788.145509431,820,656,633.572754716,656.427245284,0.400972979777,0.00449377067711,0.0698303997596,0.999999962552,4.17908408282e-05,-0.00026967423274,2.06449015808e-05,1793251896091217408
+83,1.383333333,BASELINE,769,747,725,692,670.853779372,642.146220628,889,788.853779372,820,656.146220628,633.853779372,656,0.400973366158,0.00449415638879,0.0698310971324,0.999999962875,4.01897487183e-05,-0.000268735734554,2.03825459909e-05,1793251896107884288
+84,1.400000000,BASELINE,769,747,725,692,670.282611503,642.717388497,889,788.282611503,820,656.717388497,633.282611503,656,0.400974091107,0.00449435329531,0.0698317394724,0.999999963226,4.06602281781e-05,-0.000267349616075,2.04852920831e-05,1793251896124550912
+85,1.416666667,BASELINE,769.301880608,747,725.301880608,692,670.301880608,642.698119392,889,788,820,656.698119392,633,656,0.400973697866,0.00449397298375,0.0698311373569,0.999999963116,4.03115513075e-05,-0.000267801532539,2.06167421007e-05,1793251896141217792
+86,1.433333333,BASELINE,769.899422416,747,725.899422416,692,670.899422416,642.100577584,889,788,820,656.100577584,633,656,0.400972209474,0.00449302734607,0.0698293164244,0.999999962553,3.91605945059e-05,-0.000270053616453,2.07763046736e-05,1793251896157884672
+87,1.450000000,BASELINE,770,747,725.520921406,691.520921406,671.479078594,642,889,788,820,656,633,656.479078594,0.400970887578,0.00449269413865,0.0698289156672,0.999999962139,3.89315274926e-05,-0.000271614307507,2.07838591328e-05,1793251896174551040
+88,1.466666667,BASELINE,770,747,725,691.055053827,671.944946173,642,889,788.055053827,820,656,633,657,0.400969905806,0.00449258669144,0.0698289014822,0.999999961842,3.87466179917e-05,-0.000272736617911,2.07061234557e-05,1793251896191217664
+89,1.483333333,BASELINE,770,747,725,691.630450832,671.369549168,642,889,788.630450832,820,656,633,657,0.400971820241,0.00449344154414,0.0698298244302,0.999999962374,3.72156379885e-05,-0.000271038081504,2.01130321083e-05,1793251896207884544
+90,1.500000000,BASELINE,770,747,725,691.793947088,671,642,889,788.793947088,820,656,633,656.793947088,0.400973310024,0.0044944761018,0.0698305868448,0.999999962711,3.79739939595e-05,-0.000269710792302,1.98225561883e-05,1793251896224551168
+91,1.516666667,BASELINE,770,747,725,691.217976911,671,642,889,788.217976911,820,656,633,656.217976911,0.400974037452,0.00449583327539,0.0698310610609,0.999999962687,4.28422891103e-05,-0.00026904998622,2.00753518161e-05,1793251896241217792
+92,1.533333333,BASELINE,770,747,725,691.368474934,671,642.368474934,889.368474934,788,820,656,633,656,0.400973869979,0.00449533365751,0.0698308051517,0.999999962679,4.26543644589e-05,-0.000269105353779,2.01117489366e-05,1793251896257884160
+93,1.550000000,BASELINE,770,747,725,691.961308972,671,642.961308972,889.961308972,788,820,656,633,656,0.400973157614,0.00449370346606,0.0698301046798,0.999999962683,3.9387780531e-05,-0.000269596789139,2.00163841328e-05,1793251896274550784
+94,1.566666667,BASELINE,770,747,725,692,671,642.46339249,889.46339249,788,820,656.53660751,633.53660751,656,0.400973100926,0.00449277719322,0.0698307907893,0.999999962829,3.88058165162e-05,-0.000269111558682,2.03943996344e-05,1793251896291217664
+95,1.583333333,BASELINE,770,747,725,692,671,642.111560396,889,788,820,657,633.888439604,656.111560396,0.400972906643,0.00449217266602,0.0698312773551,0.999999962888,3.85604264551e-05,-0.000268901776958,2.07152307351e-05,1793251896307884544
+96,1.600000000,BASELINE,770,747,725,692,671,642.690192324,889,788,820,657,633.309807676,656.690192324,0.40097194462,0.00449270942462,0.0698305231597,0.999999962543,3.89394014072e-05,-0.000270130721349,2.06582676391e-05,1793251896324551424
+97,1.616666667,BASELINE,770,747,725,692,671,642.726311325,889,788,820,656.726311325,633,656.726311325,0.40097171473,0.00449310164842,0.0698303017605,0.999999962417,3.9196765272e-05,-0.000270557061521,2.06798503503e-05,1793251896341217792
+98,1.633333333,BASELINE,770,747,725,692,671,642.137208986,889,788,820,656.137208986,633,656.137208986,0.40097232859,0.00449332730246,0.0698306943846,0.999999962545,3.93139779053e-05,-0.000270058437009,2.07919535107e-05,1793251896357884416
+99,1.650000000,BASELINE,769.555378713,747,725,691.555378713,671,642,889.444621287,788,820,656.444621287,633,656,0.40097208662,0.00449207508875,0.0698302947267,0.999999962503,3.84707143166e-05,-0.000270332418321,2.08557903154e-05,1793251896374551040
+100,1.666666667,BASELINE,769.0240478,747,725,691.0240478,671,642.0240478,889.9759522,788,820,657,633,656,0.40097164888,0.0044904529825,0.0698297069249,0.999999962433,3.73838367426e-05,-0.000270739525862,2.09055125244e-05,1793251896391217408
+101,1.683333333,BASELINE,769.598990596,747,725,691.598990596,671,642.598990596,889.401009404,788,820,657,633,656,0.40097267924,0.0044906368411,0.0698303199267,0.999999962948,3.7396941303e-05,-0.000268822328668,2.09676185981e-05,1793251896407884288
+102,1.700000000,BASELINE,770,747,725,692,671,643,889,788,820,657,633.173945025,656,0.400973359403,0.00449105805224,0.0698308666054,0.999999963264,3.74305767916e-05,-0.0002676374483,2.09806197912e-05,1793251896424551168
+103,1.716666667,BASELINE,770,747,725,692,671,643,889,788,820,657,633.748926197,656,0.400973232171,0.00449202648771,0.0698312603738,0.999999963129,3.7511547029e-05,-0.000268140949441,2.08804080105e-05,1793251896441217792
+104,1.733333333,BASELINE,769.667943668,747,725.332056332,692,671,642.667943668,889,788,820,656.667943668,633.667943668,656.332056332,0.400973245293,0.00449305547075,0.0698311388037,0.99999996295,3.91970561763e-05,-0.00026858119005,2.06854033654e-05,1793251896457884672
+105,1.750000000,BASELINE,769.078496875,747,725.921503125,692,671,642.078496875,889,788,820,656.078496875,633.078496875,656.921503125,0.400973367208,0.00449413138679,0.0698306177737,0.999999962731,4.21263091437e-05,-0.000268972394881,2.04169208787e-05,1793251896474551808
+106,1.766666667,BASELINE,769.501319301,747,725.498680699,692,671,642,889,788,820,656,632.498680699,656.498680699,0.400973706774,0.00449465600285,0.0698310428382,0.9999999629,4.10887176908e-05,-0.000268503236645,2.0429174036e-05,1793251896491218432
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,643,889,788,820,656,633,657,0.400972137696,0.00449273442878,0.0698302314743,0.999999962506,3.74087410358e-05,-0.000270519393875,2.018852727e-05,1793251896534622208
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.572478508,747,725,692,671,642.427521492,889,788,820,656.572478508,633,656.427521492,0.400972055163,0.00449301317872,0.0698304950745,0.999999962599,3.85827063165e-05,-0.000269985234409,2.05242192332e-05,1793251896551288832
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.151160513,889,788,820,656.848839487,633,656,0.400971893581,0.004493309603,0.0698304662135,0.999999962552,3.98188856899e-05,-0.000269963633294,2.0716395855e-05,1793251896567955712
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.748138619,889,788,820,656.251861381,633,656,0.400971498859,0.00449365815426,0.0698295747966,0.999999962096,4.12385533214e-05,-0.000271453720034,2.04853028612e-05,1793251896584622336
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725,692,670.666868802,643,889,788,820,656.333131198,633,656,0.400971801275,0.00449364440091,0.0698295516264,0.999999962106,4.10471901297e-05,-0.00027145664472,2.0366892394e-05,1793251896601288704
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725,692,670.09062313,643,889,788,820,656.90937687,633,656,0.400972612454,0.00449336624271,0.0698301620907,0.999999962455,3.96801191589e-05,-0.000270374259314,2.03307160676e-05,1793251896617955072
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.515487971,747,725,692,670.484512029,642.515487971,889,788,820,656.515487971,633,656,0.400970654675,0.00449290320814,0.0698294896055,0.999999962044,3.97893963586e-05,-0.000271853701094,2.06094428118e-05,1793251896634621952
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671,642,889,788,820,656,633,656,0.400968795226,0.0044925688247,0.0698289268422,0.999999961653,4.0115904785e-05,-0.000273216423272,2.08955751954e-05,1793251896651289088
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671,642,889,788,820,656,633,656,0.400972269755,0.00449364935748,0.0698313919316,0.999999962694,3.99370414443e-05,-0.000269420896375,2.07362997536e-05,1793251896667955200
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.238881807,747,725,692,671,642.238881807,889,788.238881807,820,656.238881807,633,656.238881807,0.400977625183,0.00449387575791,0.0698341269232,0.999999963802,3.93396803786e-05,-0.000265370410628,2.0651978499e-05,1793251896684621824
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.81678727,747,725,692,671,642.81678727,889,788.81678727,820,656.81678727,633,656.81678727,0.400985650003,0.00449288996434,0.0698372449627,0.999999965009,3.81483828099e-05,-0.000260958084834,2.06740330549e-05,1793251896701288704
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,788.607965071,820,657,633.392034929,657,0.401012326742,0.00449177097364,0.0698485615966,0.999999969874,3.6697370058e-05,-0.00024182127286,2.06862904462e-05,1793251896717955328
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,788.033951089,820,657,633.966048911,657,0.401047661535,0.00449059015395,0.0698636839439,0.999999975873,3.51257997529e-05,-0.000215849487677,2.06940000729e-05,1793251896734621952
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.445468776,889,788,820,657,633.445468776,656.445468776,0.401099931199,0.00449195842528,0.0698785509792,0.999999980721,3.7091119342e-05,-0.000191773780095,2.01486675468e-05,1793251896751288832
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,889.141433589,788,820,656.858566411,633,656.141433589,0.401157653453,0.00449302050329,0.0698922430547,0.999999984509,3.81667781533e-05,-0.000170716129415,1.95467729399e-05,1793251896767955456
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,889.720630627,788,820,656.279369373,633,656.720630627,0.401228957331,0.00449263885606,0.0699023480917,0.999999986599,3.5800565762e-05,-0.000158630987338,1.88774184583e-05,1793251896784621824
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,890,788,820,656,633,656.703343991,0.401306719892,0.00449277307014,0.0699092130436,0.999999988035,3.40279665757e-05,-0.00014984826096,1.78326531616e-05,1793251896801288448
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,890,788,820,656,633,656.130273888,0.401390500432,0.00449338794649,0.0699130589924,0.999999988938,3.28084763596e-05,-0.000144142615233,1.64380927313e-05,1793251896817955328
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,889.554688054,788,820.445311946,656.445311946,633,656.445311946,0.401484528434,0.00449447086466,0.0699094107973,0.999999988191,3.25502623959e-05,-0.000149539548996,1.40264280514e-05,1793251896834621952
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.021673139,889,788.021673139,820.978326861,657,633,657,0.401582747809,0.0044956220027,0.0699037449082,0.999999986932,3.23808146962e-05,-0.000157986454683,1.13134197368e-05,1793251896851288320
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.598937247,889,788.598937247,820.401062753,657,633,657,0.401711126684,0.00449499198364,0.0699028763029,0.999999986651,2.72369398543e-05,-0.000160883687166,8.54647133049e-06,1793251896867955200
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.818451744,889,788.818451744,820,657,633,657,0.401852886506,0.00449543245603,0.0699040856078,0.999999986895,2.359551914e-05,-0.000160075022542,5.492228388e-06,1793251896884622080
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.223670408,889,788.223670408,820,657,633,657,0.4020251035,0.00449830953949,0.0699100245714,0.99999998835,2.33739267878e-05,-0.000150831138643,1.78405717264e-06,1793251896901288704
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,889,788,820,656.640201057,633.359798943,657,0.402213963334,0.00450025489247,0.0699147932705,0.999999989569,2.09692424262e-05,-0.000142889076122,-2.22254753623e-06,1793251896917955328
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,889,788,820,656.06354944,633.93645056,657,0.402412853911,0.00450163868697,0.0699188566455,0.999999990619,1.72487972638e-05,-0.000135731627149,-6.4090200026e-06,1793251896934621952
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.511641274,889.511641274,788,820,656,634,656.488358726,0.402637524851,0.004502458999,0.0699211421753,0.99999999116,1.00665534912e-05,-0.000132091210979,-1.13928568281e-05,1793251896951288320
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,725,692.088894197,671,643,889.911105803,788,820,656,633.911105803,656,0.402871003626,0.00450346479548,0.0699232620547,0.99999999162,3.28776145174e-06,-0.000128358091603,-1.65061652488e-05,1793251896967955200
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,725,692.678789559,671,643,889.321210441,788,820,656,633.321210441,656,0.403136127369,0.00450590929585,0.0699256893281,0.999999992363,1.19922503858e-06,-0.000121647513173,-2.1792584995e-05,1793251896984621824
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,725,692.737260994,671,643,889.262739006,788,820,656.262739006,633,656,0.403432726929,0.00450808807247,0.0699339849949,0.99999999402,-2.40574533813e-06,-0.000105911897553,-2.71592711628e-05,1793251897001288704
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,725,692.160419869,671,643,889.839580131,788,820,656.839580131,633,656,0.40376695553,0.00450994917859,0.0699492962729,0.999999996286,-7.82359875323e-06,-7.93869314915e-05,-3.26219147863e-05,1793251897017955328
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.584728529,746.584728529,725,692,671,642.584728529,889.584728529,788,820,656.584728529,633,656,0.404103962576,0.0045113174735,0.0699519863681,0.999999996341,-1.05268928875e-05,-7.62985054504e-05,-3.72352539263e-05,1793251897034622464
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.009480139,746.009480139,725,692,671,642.009480139,889.009480139,788,820,656.009480139,633,656,0.404442039968,0.00451249592047,0.0699498143473,0.999999995682,-1.21844448681e-05,-8.22386450375e-05,-4.15214115122e-05,1793251897051289856
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,725,692,671,642,889.579663396,788.579663396,820,656.579663396,633,656,0.404828515147,0.00451512726421,0.0699560962821,0.999999996457,3.49774235151e-05,-6.9463271636e-05,-3.21968588618e-05,1793251897067955968
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.16613423,746.16613423,725,692.16613423,671,642.16613423,890,788.83386577,820.16613423,657,633,656.16613423,0.405225927568,0.00451166194101,0.0699602997732,0.999999995752,6.37252615365e-05,-6.16130479261e-05,-2.52945796491e-05,1793251897084621824
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.745380043,746.745380043,725,692.745380043,671,642.745380043,890,788.254619957,820.745380043,657,633,656.745380043,0.405648520071,0.00449297602767,0.0699589827331,0.999999996461,4.46503977815e-05,-6.67895744403e-05,-2.4982666601e-05,1793251897101288448
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.675796489,747,725,693,671,642.675796489,890.324203511,788,820.675796489,656.675796489,633,656.675796489,0.40609967786,0.00448402928866,0.0699548977153,0.999999996409,3.16157741423e-05,-7.43369109841e-05,-2.56080463782e-05,1793251897117955584
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.097304225,747,725,693,671,642.097304225,890.902695775,788,820.097304225,656.097304225,633,656.097304225,0.406573240854,0.00448272146091,0.0699486416364,0.999999995858,2.33188057682e-05,-8.37437909594e-05,-2.69685909707e-05,1793251897134623232
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.476097655,747,725,693,671,642,890.523902345,788.476097655,820,656.476097655,633,656.476097655,0.407062787684,0.00449611893872,0.0699337085462,0.999999994059,-2.71424118673e-06,-0.000104988052129,-2.91834137657e-05,1793251897151289856
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,642,890,788.950012635,820,656.950012635,633,657,0.407562367707,0.00451089411497,0.0699193323445,0.999999991364,-2.86357303291e-05,-0.000124339075745,-3.14826079373e-05,1793251897167956480
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,642,890,788.359723575,820,656.359723575,633,657,0.408135458428,0.00450841895734,0.069929940858,0.999999994616,-1.4585476275e-05,-9.73534494621e-05,-3.282654836e-05,1793251897184623360
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,693.226599672,671.226599672,642.226599672,890.226599672,788.226599672,820,656,633,657,0.408731147118,0.00451206156135,0.0699414386285,0.999999996918,3.17854045864e-06,-7.03826200862e-05,-3.46507618732e-05,1793251897201289984
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,725,693.806735503,671.806735503,642.806735503,890.806735503,788.806735503,820,656,633,657,0.40936209266,0.00452524897169,0.0699543237988,0.999999998006,2.67366926597e-05,-4.34348782e-05,-3.72242875337e-05,1793251897217956096
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.616553264,746.616553264,725,693.616553264,671.616553264,643,891,789,820,656.383446736,633,657,0.40999480378,0.0045325699278,0.0699530614986,0.999999997834,3.03367967697e-05,-4.3721465747e-05,-3.87275621039e-05,1793251897234622464
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.041552831,746.041552831,725,693.041552831,671.041552831,643,891,789,820,656.958447169,633,657,0.41062839689,0.00453696025223,0.0699447317227,0.999999997265,2.39667073628e-05,-5.76131679215e-05,-3.96961846356e-05,1793251897251288576
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.530274099,746.530274099,725,693,671,643,891,788.469725901,820.530274099,656.469725901,633,657,0.411303035893,0.00454337269776,0.0699492972315,0.999999996913,3.97876791651e-05,-5.45544486266e-05,-4.01833317395e-05,1793251897267955456
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725,693.105865451,671,643,891.105865451,788.105865451,820.894134549,656,633,657,0.41199297946,0.00455069901319,0.069958979252,0.999999996634,5.73682291789e-05,-4.21938267795e-05,-4.07561001917e-05,1793251897284622592
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725,693.699957279,671,643,891.699957279,788.699957279,820.300042721,656,633,657,0.412738758827,0.00456151346616,0.0699876250026,0.999999996279,7.50917773753e-05,6.97581927976e-06,-4.18966955786e-05,1793251897301289728
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.713220059,747,725,694,671,643,892.286779941,788.713220059,820.286779941,656,633,657,0.413499041203,0.00456865148928,0.0700103906334,0.999999995061,7.96509690122e-05,4.16193275851e-05,-4.24418535802e-05,1793251897317956352
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.133814659,747,725,694,671,643,892.866185341,788.133814659,820.866185341,656,633,657,0.414274122297,0.00457203814615,0.0700271562917,0.99999999471,7.07774735699e-05,6.14406137425e-05,-4.23794374396e-05,1793251897334622208
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.440356059,747,725,694,671,642.559643941,893.440356059,788,821,656,633,657,0.415017023451,0.00458195016961,0.0699914453017,0.999999995165,8.81319778748e-05,-2.68406295592e-06,-4.35471674477e-05,1793251897351288832
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.986755344,747,725,694.013244656,671,642.013244656,894,788.013244656,821.026489313,656.013244656,633,657,0.415751617415,0.00459362412807,0.0699405782269,0.999999988505,0.000112762159424,-9.07840449686e-05,-4.50791927226e-05,1793251897367955456
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.40134167,747,725,694.59865833,671,642.59865833,894,788.59865833,822.19731666,656.59865833,633,657,0.416544823505,0.00459675801345,0.0699157647346,0.999999984832,0.000111437346554,-0.000125559247316,-4.6389706404e-05,1793251897384622848
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725.183227584,695,671,642.816772416,894,788.816772416,823,656.816772416,633,657,0.417366974017,0.00460076378984,0.0699098576434,0.999999983908,0.000111265992563,-0.000132391875488,-4.77132375501e-05,1793251897401289984
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725.76595567,695,671,642.23404433,894,788.23404433,823,656.23404433,633,657,0.41825223349,0.00460667059474,0.06994517315,0.999999989277,0.000113609584259,-7.82998734812e-05,-4.90651512759e-05,1793251897417956352
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.345995557,746.654004443,725.654004443,695,671,642.345995557,894.345995557,788,823.345995557,656,633.345995557,657,0.419154517657,0.00461057340377,0.0699756848767,0.999999991015,0.000120428992921,-3.1872537436e-05,-4.95101372446e-05,1793251897434623232
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.924231042,746.075768958,725.075768958,695,671,642.924231042,894.924231042,788,823.924231042,656,633.924231042,657,0.420068229142,0.00461313108586,0.0700029721977,0.999999990255,0.000130252669565,9.41010180073e-06,-4.93463730345e-05,1793251897451289856
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.502080687,746.497919313,725,695,671,643,895.497919313,788,824,656,634,657,0.421009074916,0.00460181141098,0.0700250735853,0.999999991388,0.000114550286934,4.10206937808e-05,-4.91938865227e-05,1793251897467956224
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,896,788,824,656,634,657,0.421941925657,0.00458774298821,0.0700390519602,0.999999992558,9.43427401542e-05,5.96290173809e-05,-4.92719880572e-05,1793251897484623104
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,896,788,824,656,634,657,0.42278920988,0.00456902963695,0.0700010608315,0.99999999628,6.94912497051e-05,-3.48506315439e-06,-5.0970462593e-05,1793251897501289216
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,642.749844352,895.749844352,788,824,656,634,657,0.423633838033,0.00456316006314,0.0699423565272,0.999999992282,6.19036575376e-05,-9.39039984438e-05,-5.27782180824e-05,1793251897517955840
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,642.169371242,895.169371242,788,824,656,634,657,0.424474959101,0.00457425002372,0.0698563015516,0.999999971246,7.71121371676e-05,-0.000220377575883,-5.47302732352e-05,1793251897534622976
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,695.407488556,671,642.407488556,895.407488556,788,824.814977113,656.407488556,633.592511444,657,0.425426827171,0.00458002217861,0.0698611176563,0.999999974354,7.62377589389e-05,-0.000205918348971,-5.5478039117e-05,1793251897551289088
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,695.98285966,671,642.98285966,895.98285966,788,825.965719319,656.98285966,633.01714034,657,0.426424322212,0.00458360343263,0.0699033720404,0.999999987187,6.87373504612e-05,-0.000133395746481,-5.57296457838e-05,1793251897567954944
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.443165134,747,725,696,670.443165134,643,896.556834866,787.443165134,825.443165134,656.443165134,633.556834866,657,0.427449750463,0.00458765294305,0.069964371391,0.99999999356,8.38963170647e-05,-5.38289199319e-05,-5.42488148898e-05,1793251897584621824
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.134607579,747,725,696,670.134607579,643,897,787,825.134607579,656.134607579,633.865392421,657,0.428469288144,0.00459110271811,0.0700205262945,0.999999993725,9.56011285706e-05,2.37538897669e-05,-5.33510296657e-05,1793251897601288704
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.725395122,747,725,696,670.725395122,643,897,787,825.725395122,656.725395122,633.274604878,657,0.429465956201,0.00459247128714,0.0700583129985,0.999999989755,9.3242068025e-05,9.38799339684e-05,-5.46094376887e-05,1793251897617955584
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,695.690442383,671,643,897,787.309557617,826,657,633.309557617,657,0.430404017855,0.00459416138132,0.0700503223649,0.999999990597,9.48614185297e-05,8.20634748931e-05,-5.54249486018e-05,1793251897634622464
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,695.112033777,671,643,897,787.887966223,826,657,633.887966223,657,0.431291179757,0.00459613072022,0.0700025740819,0.999999993446,9.99360215124e-05,-9.2010494992e-07,-5.58558029022e-05,1793251897651289088
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,695.465582029,671,643,897.465582029,788,826,656.534417971,634,657,0.432153623481,0.00459575626351,0.0699295120744,0.999999985677,0.00010190621375,-0.000122981438428,-5.6000157434e-05,1793251897667955712
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,696.043585366,671,643,898,787.956414634,826,656.043585366,634,657,0.43302219812,0.00459477745453,0.069860619182,0.999999965257,0.000102364636135,-0.000236317640957,-5.62331880688e-05,1793251897684622592
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,696.628770269,671,643,898,787.371229731,826,656.628770269,634,657,0.434040740778,0.00459328520195,0.0699190952391,0.99999998618,9.33043705846e-05,-0.000124584702295,-5.84233488848e-05,1793251897701288704
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747,725,697,671,643,898.205631491,787,826.205631491,656.794368509,634,657,0.435050104148,0.00459073443617,0.0699736956575,0.99999999413,8.64929125767e-05,-2.68173611623e-05,-5.95007088319e-05,1793251897717955072
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747,725,697,671,643,898.768050538,787,826.768050538,656.231949462,634,657,0.436043540865,0.00458634706264,0.0700215715337,0.999999993696,8.35833205436e-05,4.67185355408e-05,-5.86472688845e-05,1793251897734621696
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.649865572,747,725,696.649865572,671,643,899,787,827,656,634,657,0.436993242978,0.00458108904233,0.0700404083174,0.999999991843,7.82247761246e-05,8.24897352142e-05,-5.82197138229e-05,1793251897751288832
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.053979389,747,725,696.053979389,671,643,899,787,827,656,634,657,0.437912248664,0.00457521993422,0.0700388631897,0.999999991572,7.11473655762e-05,9.17547096274e-05,-5.8091078319e-05,1793251897767955712
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747,725,696,671.531634802,643,899,787,827,656,634,657,0.438749105032,0.00457916929782,0.0699848005045,0.999999995564,7.16121450695e-05,1.28867753995e-05,-5.9819175669e-05,1793251897784622592
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.11566823,747,725,696.11566823,671.88433177,643,899,787,827.11566823,656,634,657,0.439569809966,0.00458364759661,0.0699249989357,0.999999992304,7.42061168685e-05,-7.83778646181e-05,-6.11810810378e-05,1793251897801289216
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.697454753,747,725,696.697454753,671.302545247,643,899,787,827.697454753,656,634,657,0.440358403381,0.00458631618349,0.0698631518308,0.999999977821,8.23527896222e-05,-0.000184221375142,-6.03220055316e-05,1793251897817955328
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.723152311,747,724.723152311,697,671.276847689,643,898.723152311,786.723152311,828,656,633.723152311,657.276847689,0.441217087533,0.00458725028265,0.0698615107181,0.999999976979,8.41757586887e-05,-0.000188008254832,-6.00845879324e-05,1793251897834621696
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.146352756,747,724.146352756,697,671.853647244,643,898.146352756,786.146352756,828,656,633.146352756,657.853647244,0.442151711756,0.00458630514316,0.069925100061,0.999999991738,7.91472822187e-05,-8.12214142649e-05,-6.05207084817e-05,1793251897851288320
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,724.429212591,697,671.570787409,643,898.429212591,786.429212591,828,656.429212591,633.429212591,657.570787409,0.443030238183,0.00458646731744,0.0699846666352,0.999999995065,7.9940806431e-05,4.31549592404e-06,-5.88247163458e-05,1793251897867955200
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.004455059,747,725,697,671.004455059,643.004455059,899,786.995544941,828,656.995544941,634,657,0.443889200211,0.00458699893623,0.0700423713936,0.999999991637,8.26882618573e-05,8.18796228291e-05,-5.64294895974e-05,1793251897884621824
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.592362817,747,725,697,671.592362817,643.592362817,899,786.407637183,828,656.407637183,634,657,0.444683844961,0.00458660799348,0.0700353705844,0.999999993092,8.20882214451e-05,6.15125452973e-05,-5.73984995838e-05,1793251897901288704
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.822139547,747,725,696.822139547,672,644,899.177860453,786.177860453,828,656.177860453,634,657.177860453,0.445457924102,0.00458622398147,0.0700202884724,0.999999994336,8.12931124904e-05,3.60732011428e-05,-5.84698560043e-05,1793251897917955328
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.242091692,747,725,696.242091692,672,644,899.757908308,786.757908308,828,656.757908308,634,657.757908308,0.446185499363,0.0045858556415,0.0699869324929,0.999999995009,8.0056904172e-05,-8.35822798687e-07,-5.97726437424e-05,1793251897934621696
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.336705106,747,725,696,672,643.663294894,899.663294894,787,828,656.663294894,634,657.663294894,0.44687646742,0.0045867221868,0.0699564150925,0.999999994218,7.61736987242e-05,-4.79994483181e-05,-5.88008301668e-05,1793251897951288320
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.914605685,747,725,696,672,643.085394315,899.085394315,787,828,656.085394315,634,657.085394315,0.447541212214,0.00458847333034,0.069927931083,0.999999990689,7.03943422154e-05,-0.000102508857027,-5.61996275777e-05,1793251897967955200
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.51233077,747.48766923,725,696,672,643.48766923,899.48766923,787,828,656,634,657,0.448190706672,0.00458864642643,0.0699110009125,0.999999986443,7.72780497632e-05,-0.00013429652976,-5.57316203086e-05,1793251897984621824
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.061917705,748,725,696,672,643.938082295,900,787,828.061917705,656,634,657.061917705,0.448843660527,0.00458844998175,0.069902069129,0.999999983233,8.55533619004e-05,-0.000152051150837,-5.56261238376e-05,1793251898001288192
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.653476051,748,725,696,672,643.346523949,900,787,828.653476051,656,634,657.653476051,0.449548824347,0.00458743297894,0.0699444190869,0.999999991199,8.69512216404e-05,-8.3467452766e-05,-5.54576866e-05,1793251898017954816
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747.760153779,725,696,672,643,900,787,828.760153779,656,634,657.760153779,0.450218683387,0.00458626974257,0.0699800753362,0.999999994243,8.8043235693e-05,-2.6728034025e-05,-5.52003259812e-05,1793251898034621440
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747.181120699,725,696,672,643,900,787,828.181120699,656,634,657.181120699,0.450838614887,0.00458489970504,0.0700062654414,0.999999994476,8.87027276908e-05,1.32613797398e-05,-5.481721152e-05,1793251898051288320
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,747,724.603999306,696,671.603999306,643,900,786.603999306,828,656,633.603999306,657,0.451383144717,0.00458562715867,0.0699911354791,0.99999999424,9.16211266844e-05,-9.85571121156e-06,-5.50238302511e-05,1793251898067954944
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,747,724.02774802,696,671.02774802,643,900,786.02774802,828,656,633.02774802,657,0.451893353461,0.00458730934289,0.0699571975556,0.99999999199,9.55677291286e-05,-6.16974574545e-05,-5.54988821085e-05,1793251898084621568
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,747.557750084,724,696,671.557750084,643.557750084,900,786,828,656,633.557750084,657.557750084,0.452355140307,0.00458935084275,0.0699193708589,0.999999987486,9.86868430762e-05,-0.000109968574341,-5.65291318255e-05,1793251898101288192
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747.858013635,724.141986365,696,671.858013635,643.858013635,900,786,828.141986365,656,634,658,0.45281454439,0.00459152639378,0.0698867650867,0.999999981352,0.000103288997544,-0.000152710443723,-5.7508281811e-05,1793251898117955328
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+205,3.416666667,POSE1_TO_POSE2_PRESS,768.122303752,747,725,696,671,643,900,786,828.122303752,656,633.122303752,657.122303752,0.454147271149,0.00459389242514,0.0698729792315,0.999999975366,0.000124374955266,-0.000174701680812,-5.72503184488e-05,1793251898167954944
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747.454063652,725,696,671.454063652,643,900,786,828.454063652,656,633.454063652,657,0.454535811018,0.00459639911487,0.0698813633231,0.99999997583,0.00013286464738,-0.000165891007349,-5.62793897087e-05,1793251898184621568
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.030477372,748,725,696,671.969522628,643,900,786,829,656,634,657,0.454909374406,0.00459968821811,0.0698890110541,0.999999975662,0.000141628463656,-0.000159842323423,-5.53859802035e-05,1793251898201288448
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.616869344,748,725,696,671.383130656,643,900,786,829,656,634,657,0.455208892366,0.0046005130343,0.0698738933152,0.999999970425,0.000137417434775,-0.000192603184406,-5.63118919124e-05,1793251898217955072
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.798871178,747.798871178,724.798871178,696,671,642.798871178,900,786,829,656,633.798871178,657,0.455501817203,0.00460096915642,0.0698567483439,0.999999966414,0.00011319165959,-0.000226031407429,-5.71818326047e-05,1793251898234621440
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768.359420468,747.359420468,724.359420468,696,670.640579532,642.359420468,900,786,828.640579532,656,633.359420468,657.359420468,0.45605613505,0.00460179147663,0.069832332391,0.99999996307,3.4302913158e-05,-0.000263258833647,-5.81227962954e-05,1793251898267954688
+212,3.533333333,POSE1_TO_POSE2_PRESS,768.936149427,747.936149427,724.936149427,696,670.063850573,642.936149427,900,786,828.063850573,656,633.936149427,657.936149427,0.456325918765,0.00460363861736,0.0698394730732,0.99999996698,4.45825199012e-05,-0.000246365086499,-5.79438616934e-05,1793251898284621312
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+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747.087997276,725,696,670,643,900.912002724,786.912002724,829,656.912002724,634,657.087997276,0.456789636766,0.00460448572073,0.069860016556,0.999999971063,8.69122504969e-05,-0.000219442202211,-4.65367136804e-05,1793251898317954816
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,747.677908715,725,696,670,643,900.322091285,786.322091285,829,656.322091285,634,657.677908715,0.456972347837,0.00460527180688,0.0698596436433,0.999999970228,9.52957118485e-05,-0.000220068755454,-4.50790935031e-05,1793251898334621440
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,748,725,696,670,643,900.262855848,786,829,656,634,658,0.457143431726,0.00460644238422,0.0698563308043,0.999999968674,0.000100911997587,-0.000224600572118,-4.49729255544e-05,1793251898351288064
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,748,725,696,670,643,900.841832673,786,829,656,634,658,0.457300532289,0.004608075366,0.0698494822923,0.999999966256,0.000103200366534,-0.000233829015043,-4.64920683039e-05,1793251898367954688
+218,3.633333333,POSE1_TO_POSE2_PRESS,768.582403647,748,725,696,670,642.582403647,900.582403647,786,829,656,633.582403647,658,0.457429991468,0.00460746598752,0.0698417036123,0.999999963047,0.000102652023583,-0.00024714777476,-4.78183154486e-05,1793251898384621568
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+220,3.666666667,POSE1_TO_POSE2_PRESS,768.579907983,748,725,695.420092017,670,642.579907983,900.579907983,786,829,656,633,657.420092017,0.457644938797,0.00460653055252,0.0698309768842,0.999999957857,0.000102181231924,-0.000267181619527,-4.95882418429e-05,1793251898417955072
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,748,724.834699147,695.165300853,670,643,900.834699147,786,829,656,633,657.165300853,0.457736423917,0.00460668165959,0.0698288307141,0.999999956834,0.000102572846418,-0.000270753110894,-5.00272090754e-05,1793251898434621440
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,748,724.255677553,695.744322447,670,643,900.255677553,786,829,656,633,657.744322447,0.457817719271,0.0046058493381,0.0698276248207,0.999999957013,0.000100986338005,-0.00027064001984,-5.0298483792e-05,1793251898451288064
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769,747.945400421,725,695.054599579,669,642.054599579,900.054599579,786,829,656,634,657.054599579,0.458036389912,0.00460430758706,0.0698247815881,0.999999956001,0.000103197088346,-0.000273588031452,-4.99894381904e-05,1793251898517955072
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+228,3.800000000,POSE1_TO_POSE2_PRESS,768.772914267,747,725,695.772914267,669,642.772914267,900.772914267,786,829,656,633.772914267,657.772914267,0.458079829921,0.00460386214803,0.0698166745088,0.999999952545,9.97002128831e-05,-0.000287183109021,-4.99601818115e-05,1793251898551288320
+229,3.816666667,POSE1_TO_POSE2_PRESS,768.19260765,747,725,695.19260765,669,642.19260765,900.19260765,786,829,656,633.19260765,657.19260765,0.458096120815,0.00460216245516,0.0698126589757,0.999999951192,9.93383990472e-05,-0.000292096365771,-4.92795075992e-05,1793251898567954944
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+231,3.850000000,POSE1_TO_POSE2_PRESS,768,747,725,695,669,642.957705741,900,786,829,656,633,657,0.458116926161,0.00460456210462,0.0698074176283,0.999999948725,0.000105262140047,-0.000298435441901,-4.90618118421e-05,1793251898601288192
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,747,724.466561123,695,669,642.466561123,900,786,829,656.533438877,633,657,0.458121053501,0.00460346802842,0.0698055043131,0.999999947695,0.00010379765745,-0.000302451939058,-4.85658965117e-05,1793251898617954816
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,747.11218085,724.11218085,695.11218085,669.11218085,642.11218085,900.11218085,786,829,657,633.11218085,657.11218085,0.458124529875,0.00460198334298,0.0698038380231,0.999999946845,0.000101786018652,-0.000306011846456,-4.80214271168e-05,1793251898634621696
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,747.703222812,724.703222812,695.703222812,669.703222812,642.703222812,900.703222812,786,829,657,633.703222812,657.703222812,0.458126960039,0.00459980582426,0.0698030802909,0.999999946767,9.91658418548e-05,-0.000307217439511,-4.74397163234e-05,1793251898651288320
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,747.711764237,725,696,669.711764237,642.711764237,901,786,829,656.711764237,634,658,0.458129526639,0.00459760653228,0.0698030355173,0.999999946985,9.68888618873e-05,-0.000307286294691,-4.70969737338e-05,1793251898667954944
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768.015790713,747.984209287,724,696,669.984209287,642,900.984209287,786,829,656,633.984209287,658,0.458130897619,0.00459671355407,0.069801686451,0.999999946453,9.23647352414e-05,-0.000310327915188,-4.75316138713e-05,1793251898717955072
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768.810908613,747.189091387,724.189091387,696,669,642.189091387,900.189091387,786.189091387,829,656,633.189091387,658,0.458129151546,0.00459583221184,0.0697985445093,0.999999945548,9.50253830358e-05,-0.000312552590554,-4.67470424269e-05,1793251898751288320
+241,4.016666667,POSE1_TO_POSE2_PRESS,768.230715953,747.769284047,724.769284047,696,669,642.769284047,900.769284047,786.769284047,829,656,633.769284047,658,0.458130834778,0.00459271877946,0.0697993246105,0.999999945964,9.31351460111e-05,-0.00031186568028,-4.62241045827e-05,1793251898767954944
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+256,4.266666667,HOLD_POSE2,769,747,724,695.060350233,669.060350233,642.060350233,901,786,828.939649767,656,633.060350233,657.060350233,0.458134388537,0.00457443467644,0.0697981534917,0.999999947655,6.94473602087e-05,-0.000312768830213,-4.5198868201e-05,1793251899035154688
+257,4.283333333,HOLD_POSE2,769,747,724,695.646840798,669.646840798,642.646840798,901,786,828.353159202,656,633.646840798,657.646840798,0.458134321456,0.00457331067639,0.0697974910356,0.999999947412,6.89350057698e-05,-0.000313656926633,-4.52020136933e-05,1793251899051821568
+258,4.300000000,HOLD_POSE2,768.768606114,747.231393886,724,696,669.768606114,642.768606114,900.768606114,786,828.231393886,656,633.768606114,657.768606114,0.458134549167,0.00457214769917,0.0697971001801,0.999999947329,6.77384032649e-05,-0.000314176939115,-4.52412683645e-05,1793251899068488192
+259,4.316666667,HOLD_POSE2,768.186985552,747.813014448,724,696,669.186985552,642.186985552,900.186985552,786,828.813014448,656,633.186985552,657.186985552,0.458135223061,0.00457092572811,0.0697971204065,0.999999947485,6.55061557839e-05,-0.000314139837337,-4.53351761547e-05,1793251899085155072
+260,4.333333333,HOLD_POSE2,767.608660297,747.608660297,724.391339703,696,669,642.391339703,900,786,829,656,633,657.391339703,0.458136411122,0.00457181064652,0.0697978397631,0.999999947715,6.8080331869e-05,-0.000312869894609,-4.52486587953e-05,1793251899101821696
+261,4.350000000,HOLD_POSE2,767.031896371,747.031896371,724.968103629,696,669,642.968103629,900,786,829,656,633,657.968103629,0.458137842806,0.00457369384927,0.0697988903811,0.999999947959,7.29318830098e-05,-0.000311015808288,-4.50766525626e-05,1793251899118488320
+262,4.366666667,HOLD_POSE2,767.551033277,747.551033277,724.448966723,695.448966723,669,642.448966723,900,786,829,656,633,658,0.458137454401,0.00457079639748,0.0697990660144,0.999999948108,6.93634348914e-05,-0.000311371886375,-4.49378438137e-05,1793251899135154688
+263,4.383333333,HOLD_POSE2,768,748,724.134130764,695,669,642,900,786,829,656,633.134130764,658,0.458136941717,0.0045686809707,0.0697991345159,0.999999948133,6.64291803821e-05,-0.000311954631118,-4.47915398783e-05,1793251899151821568
+264,4.400000000,HOLD_POSE2,768,748,724.716582984,695,669,642,900,786,829,656,633.716582984,658,0.458136369767,0.00457011480287,0.0697990161407,0.999999947801,6.72621594567e-05,-0.000312862541215,-4.46136882814e-05,1793251899168488192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,747,724,696,669,642,900,786,829,656,633,658,0.458137041918,0.0045693271026,0.0697984759719,0.999999948195,6.63222333676e-05,-0.000311764169441,-4.48854339337e-05,1793251899205467392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.425404364,747,724,696,669,642,900,786.574595636,829,656.574595636,633,658,0.458139163585,0.00456964029473,0.069800076465,0.999999948954,6.57295711671e-05,-0.0003094398689,-4.49376813156e-05,1793251899222133248
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.153181272,747.153181272,724,695.846818728,669,642.153181272,900,786.846818728,829,656.846818728,633.153181272,657.846818728,0.458140134769,0.00456990284525,0.0698008485764,0.999999949307,6.50989420373e-05,-0.000308406061929,-4.50872812592e-05,1793251899238799616
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.743144142,747.743144142,724,695.256855858,669,642.743144142,900,786.256855858,829,656.256855858,633.743144142,657.256855858,0.458137825461,0.00457002099618,0.0697992586377,0.999999948516,6.436005374e-05,-0.000311051972158,-4.55144726394e-05,1793251899255466240
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.673176491,747.673176491,724,695.326823509,669,642.673176491,900,786.326823509,828.673176491,656,633.673176491,657,0.458137549631,0.00456994293163,0.0697986411755,0.999999948291,6.46188170364e-05,-0.000311696176106,-4.56895091683e-05,1793251899272132864
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.094342311,747.094342311,724,695.905657689,669,642.094342311,900,786.905657689,828.094342311,656,633.094342311,657,0.458138841797,0.00456971356708,0.0697987735812,0.999999948505,6.5646860554e-05,-0.000310796882172,-4.56701113323e-05,1793251899288799488
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.482460137,747,724.482460137,696,669.482460137,642,900,786.517539863,828.482460137,656,633.482460137,657.482460137,0.458138839144,0.00457020399965,0.069799126435,0.999999948522,6.72076589794e-05,-0.000310421319959,-4.55817078447e-05,1793251899305466112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.94139761,747.05860239,724.94139761,695.94139761,669.94139761,642.05860239,900,786,829,656,634,657.94139761,0.458138429236,0.00457071647709,0.0697993638026,0.999999948465,6.84340744535e-05,-0.00031034669834,-4.55052817782e-05,1793251899322132736
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.36758133,747.63241867,724.36758133,695.36758133,669.36758133,642.63241867,900,786,829,656,634,657.36758133,0.458136655546,0.00457019050613,0.069798208454,0.999999948114,6.5808647409e-05,-0.000312021247384,-4.56522919956e-05,1793251899338799616
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747.787581435,724,695.212418565,669,642.787581435,900,786,829,656,634,657,0.458130584994,0.00456962765067,0.0697947134513,0.999999946667,6.44834051496e-05,-0.000316926789404,-4.54483890677e-05,1793251899355466496
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.196560285,724,695.803439715,669,642.196560285,900,786,829,656,634,657,0.458116855967,0.00456899905443,0.0697870483842,0.999999943203,6.5475537463e-05,-0.000327591066565,-4.4619038791e-05,1793251899372133120
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747,724.387974235,696,669,642.387974235,900.387974235,786,829,656,634,657,0.458089065782,0.00456955492332,0.0697741496473,0.999999936216,6.61496026729e-05,-0.000348130218149,-4.46840255572e-05,1793251899388799488
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747,724.969276513,696,669,642.969276513,900.969276513,786,829,656,634,657,0.458054268904,0.0045707010126,0.0697586429654,0.999999926972,6.66651747064e-05,-0.000373590032695,-4.51946614847e-05,1793251899405466112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.543064374,747.543064374,725,696,669,642.456935626,901,786,829,656,634,657,0.458000986206,0.00457085091866,0.0697414691884,0.999999917613,6.67018209308e-05,-0.000397834497169,-4.53098978948e-05,1793251899422134272
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,748,725,696,669,642,901,786,829,656,634,657.118907106,0.45794432817,0.00457038772368,0.0697253976154,0.99999990863,6.666548731e-05,-0.000419831263064,-4.51456311629e-05,1793251899438801920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,748,725,696,669,642,901,786,829,656,634,657.704459857,0.457878472017,0.00456773659823,0.0697140166708,0.999999902963,6.64476291076e-05,-0.000433273197046,-4.3971056664e-05,1793251899455467008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,725,696,669,642,900.712879465,786,829,656,633.712879465,658,0.457803275777,0.00456684958947,0.0697068498973,0.99999989929,6.6784501943e-05,-0.000441712239771,-4.30116163228e-05,1793251899472133120
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,725,696,669,642,900.133166016,786,829,656,633.133166016,658,0.457718561437,0.00456776032078,0.0697039776157,0.99999989778,6.76866787445e-05,-0.00044505303779,-4.22714105691e-05,1793251899488799488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.556321092,747.556321092,724.556321092,695.556321092,669,642.443678908,900.443678908,786,829,656,633,658,0.457619495094,0.00456757558305,0.0697037332255,0.999999897064,7.03117043574e-05,-0.000446403182928,-4.06542478085e-05,1793251899505466880
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,747,724.019665745,695.019665745,669,643,900.980334255,786,828.980334255,656,633.019665745,657.980334255,0.457515310702,0.00456712309873,0.0697043812012,0.999999896676,7.34683955337e-05,-0.000446930382986,-3.87749522384e-05,1793251899522134528
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747,724.595577632,695.595577632,669,643,900.404422368,786,828.404422368,656,633.595577632,657.404422368,0.457387420479,0.00456833761913,0.0697081036434,0.999999899117,7.7131122843e-05,-0.000440971612919,-3.68783089945e-05,1793251899538800896
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,669.175530523,642.824469477,900,786,828.175530523,656,633.824469477,657.175530523,0.457251019957,0.00456862315468,0.0697108080547,0.999999900607,8.04214315014e-05,-0.000437178857134,-3.45443564774e-05,1793251899555467008
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,669.765013195,642.234986805,900,786,828.765013195,656,633.234986805,657.765013195,0.457094549689,0.00456671787294,0.0697111116522,0.999999899945,8.28334678913e-05,-0.00043849419541,-3.11791014682e-05,1793251899572133120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747.349689554,725,696,670,642.349689554,900,786,828.650310446,656,633,658,0.456914716111,0.00456551195956,0.0697126609964,0.999999899961,8.56659321998e-05,-0.000438142031132,-2.77733491437e-05,1793251899588799744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747.931179981,725,696,670,642.931179981,900,786,828.068820019,656,633,658,0.456719395536,0.00456476964062,0.0697150361165,0.999999900416,8.87770883979e-05,-0.000436684519267,-2.43407517778e-05,1793251899605466368
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.493777826,747.493777826,724.493777826,696,670,643,900,786,828,656,633.506222174,658,0.456498979507,0.0045648134843,0.0697162062341,0.999999899528,9.43136916647e-05,-0.000437740862125,-2.07921627141e-05,1793251899622133248
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.161036684,747,724,695.919481658,670.080518342,642.919481658,900,786,828,656,634,657.919481658,0.456269166268,0.00456443670707,0.0697166522899,0.999999898131,9.94488929469e-05,-0.000439951265183,-1.70756873721e-05,1793251899638799616
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.311098296,747,724,695.344450852,670.655549148,642.344450852,900,786,828,656,634,657.344450852,0.456002328604,0.00456082849545,0.0697136448908,0.999999894927,0.000100119206152,-0.000447176937695,-1.24237461972e-05,1793251899655466752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.762111226,747,724,694.762111226,670.762111226,642.237888774,900,786,828,656,634,657.237888774,0.455724587376,0.00455838655583,0.069713016606,0.999999894024,0.000103708685874,-0.000448483446479,-7.63390900512e-06,1793251899672133632
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.168853385,747,724,694.168853385,670.168853385,642.831146615,900,786,828,656,634,657.831146615,0.455430557925,0.00455768684657,0.0697159423507,0.999999896545,0.000111658949213,-0.000440947638946,-2.63807675285e-06,1793251899688800512
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.412047621,724,694.412047621,670.412047621,643,899.587952379,786,828,656,634,657.587952379,0.455092969432,0.00455781878532,0.0697123689191,0.999999894448,0.000119489619566,-0.000443643240973,2.69243027087e-06,1793251899705467136
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.988032328,724,694.988032328,670.988032328,643,899.011967672,786,828,656,634,657.011967672,0.454738050565,0.00455828160319,0.0697062097281,0.999999890433,0.000127272708506,-0.00045040950729,8.15609073365e-06,1793251899722133760
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,748,724,695,671,643,899.564680369,786,828.564680369,656.564680369,633.435319631,657,0.454379957451,0.00455386203559,0.0697171048044,0.999999901185,0.000129719401392,-0.000424981561609,1.392846503e-05,1793251899738799872
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.86016774,724,695,671,642.86016774,899.86016774,786,828.86016774,656.86016774,633.13983226,657,0.454012578282,0.00455068986443,0.0697303939769,0.999999911732,0.000133448325625,-0.000397929415055,1.9506161866e-05,1793251899755466240
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747.289667287,724,695,671,642.289667287,899.289667287,786,828.289667287,656.289667287,633.710332713,657,0.453616806577,0.00455167860908,0.0697499421889,0.999999921989,0.00014147512239,-0.000367978838483,2.44640973777e-05,1793251899772132864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.294165364,899,786,828,656,634,657,0.453186719198,0.00455143867038,0.0697600370407,0.999999927376,0.000147011650565,-0.000350398360194,2.9270708577e-05,1793251899788800000
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.891749672,899,786,828,656,634,657,0.452721236628,0.00454993139765,0.0697603811599,0.999999928466,0.000149979574677,-0.000345577103866,3.3921235867e-05,1793251899805466880
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.471273389,724.471273389,695,671.471273389,643,899,786,828,656,634,657.471273389,0.452197002573,0.00454746869346,0.0697528621553,0.999999923857,0.000148772371325,-0.000358784151697,3.77797537166e-05,1793251899822134016
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747.952315837,724.952315837,695,672,643,899,786,828.047684163,656,633.952315837,657.952315837,0.451658621874,0.00454471762598,0.0697443267068,0.99999991862,0.000142625499328,-0.000375241215455,4.01521817112e-05,1793251899838801152
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.365935838,724.365935838,695,672,643,899,786,828.634064162,656,633.365935838,657.365935838,0.4511072529,0.00454109664089,0.0697439594878,0.999999921984,9.11086691863e-05,-0.000383358719501,2.77153655178e-05,1793251899855467264
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.782365495,643,899,786.217634505,828.782365495,656,633,657,0.450540005144,0.00453733818784,0.0697464407365,0.999999922615,6.03975485769e-05,-0.000388073180324,2.28240539569e-05,1793251899872133888
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.203459197,643,899,786.796540803,828.203459197,656,633,657,0.449946398751,0.00453335153913,0.0697536504224,0.999999922536,6.42237670955e-05,-0.000387138613618,3.04582293927e-05,1793251899888801024
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.375009563,643,899,786.624990437,828,656.375009563,633,657,0.449341970417,0.00453128063209,0.0697733716305,0.99999993413,6.23353842318e-05,-0.000355849757158,3.49934954222e-05,1793251899905467648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.953241196,643,899,786.046758804,828,656.953241196,633,657,0.448731677566,0.00453024788801,0.0697998729787,0.999999950173,5.73501917565e-05,-0.000308111555186,3.78494258631e-05,1793251899922134016
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.475619901,642.475619901,898.475619901,786,828,656.475619901,633,656.475619901,0.448044408002,0.00452786855039,0.069808104254,0.999999954023,3.90221030273e-05,-0.00029839956238,3.72734209416e-05,1793251899938800640
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.098416153,642,898,786,827.901583847,656,633,656.098416153,0.447339024466,0.00452626577032,0.0698059312207,0.999999952593,2.20554231281e-05,-0.000304929934037,3.66662213223e-05,1793251899955467264
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.69010033,642,898,786,827.30989967,656,633,656.69010033,0.446576796406,0.00452914894044,0.0697596674938,0.999999928416,1.77958969977e-05,-0.000376100046332,3.74160173389e-05,1793251899972134144
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.723603046,747,724,694.723603046,671.723603046,642,898,786.276396954,827,656.276396954,633.276396954,657,0.445824064698,0.00453743523172,0.0697319644583,0.99999991338,1.21436145614e-05,-0.000414648126523,3.40613319462e-05,1793251899988800768
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.143231448,747,724,694.143231448,671.143231448,642,898,786.856768552,827,656.856768552,633.856768552,657,0.445081776748,0.00455166374455,0.0697246740139,0.999999912567,4.95961216296e-06,-0.000417319300134,2.61926380192e-05,1793251900005466624
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.66154281,896.66154281,787,826,656,633,656,0.440219891221,0.004561436151,0.0698250776882,0.99999995258,0.000167232883154,-0.000257002025907,2.86918133151e-05,1793251900105466624
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.082142506,896.082142506,787,826,656,633,656,0.439326537466,0.00456234251627,0.0698130830933,0.999999950321,0.000147931218453,-0.000276786680477,2.93816771903e-05,1793251900122133504
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.066584549,894.933415451,787.066584549,825,656,633,656.066584549,0.437391372393,0.00454982570937,0.0696846032835,0.999999879943,0.000109152481825,-0.000476763813357,2.99480052031e-05,1793251900155466496
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.638560457,894.361439543,787.638560457,825,656,633,656.638560457,0.436484949457,0.00454737166423,0.0696983682108,0.999999891674,0.000114815963855,-0.000450150825335,2.88725736595e-05,1793251900172133120
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.399712307,747,724,695,671,643,893.600287693,788,825,656,633,656,0.433827480108,0.00453117763198,0.0698305197706,0.999999958952,9.59141648227e-05,-0.000267673153158,3.53114306246e-05,1793251900222132992
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642.450282704,893,787.450282704,824.450282704,656,633,656,0.431963412243,0.00452060620293,0.0698445662351,0.999999966694,8.54993753814e-05,-0.000240863606282,3.58597775177e-05,1793251900255466752
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642,893,787.693208604,824,656,633.693208604,656,0.42995803526,0.00450956125831,0.0697401272162,0.999999913537,7.28502884016e-05,-0.000407893525789,3.52474955149e-05,1793251900288799744
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.721893327,747,724,695,671,642,893,788,823.721893327,656,633.721893327,656,0.428959961344,0.00450296881678,0.0697072310768,0.999999890752,6.65961183045e-05,-0.00046135773744,3.47866715138e-05,1793251900305466368
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.123688015,747,724,695,671,642,893,788,823.123688015,656,633.123688015,656,0.428008345994,0.00449498783064,0.0697325312531,0.99999991081,6.01953178601e-05,-0.000416643441519,3.41417367452e-05,1793251900322132992
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.036169209,747,724.036169209,695,671,642.963830791,892.963830791,788,822.927661583,656.963830791,633,656,0.426238792901,0.00448756392533,0.0698591777348,0.999999974196,5.19971600289e-05,-0.000217791834248,3.83649091903e-05,1793251900355466240
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.608211217,747,724.608211217,695,671,642.391788783,892.391788783,788,821.783577567,656.391788783,633,656,0.42529876658,0.00447844167564,0.0698533098814,0.999999971784,3.81010726619e-05,-0.000231489449405,3.73319330527e-05,1793251900372133120
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,747,724.813754747,695,671,642,892,788.186245253,821.186245253,656.186245253,633,656,0.424346834375,0.00446935963999,0.0698371582936,0.999999964865,2.55985837661e-05,-0.000261308948231,3.65033133341e-05,1793251900388800000
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642.361616716,892,788.638383284,822,656.638383284,633,656,0.422360791206,0.00445624138809,0.0697366164257,0.999999905381,1.26244731963e-05,-0.000433272752998,3.67926822246e-05,1793251900422133248
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.844488295,747,724.844488295,694.155511705,671.155511705,643,891,788,821,656,632.844488295,656,0.417211077702,0.00444708418401,0.0698590753504,0.999999967966,1.03097661893e-05,-0.000249591151252,4.08219824182e-05,1793251900522132992
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.257022493,747,724.742977507,694,671.257022493,642,890,788,820.742977507,656,632.742977507,656.257022493,0.413114522178,0.00445496141448,0.0697488926188,0.999999916511,1.42258764113e-05,-0.000406712072722,3.68965289606e-05,1793251900605466368
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,693,671,642.058007875,890,788.941992125,820.058007875,656.058007875,633,656.058007875,0.410486813342,0.00445932443214,0.0698759941744,0.999999981442,2.07651461386e-05,-0.000188226933137,3.54356446675e-05,1793251900672133120
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,747,724.767627608,692,671.767627608,642,889,788,820.767627608,656,633,656,0.403388886196,0.00446512025349,0.0698338511047,0.999999963854,2.76064557566e-06,-0.000267222427024,2.95982570509e-05,1793251900922133248
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.351145299,747,725,692.351145299,671.648854701,642,889.351145299,788,820.648854701,656,633,656,0.403095555608,0.00446378547445,0.0698248473682,0.999999959146,-6.56960160327e-06,-0.000284273589533,2.92055787118e-05,1793251900938799872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.930004281,747,725,692.930004281,671.069995719,642,889.930004281,788,820.069995719,656,633,656,0.402814545025,0.00446196887316,0.0698177992018,0.999999954816,-1.74839548674e-05,-0.000298731822549,2.86703460272e-05,1793251900955466496
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.496264513,747,725,692.496264513,671,642.503735487,889.496264513,788,820,656.503735487,633,656.503735487,0.402581658592,0.00446168469446,0.0698118217617,0.999999952444,-2.361111962e-05,-0.000306201028496,2.81996236647e-05,1793251900972133632
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,747,725,692,671.07890974,642.92109026,889,788,820,657,633,657,0.402359825133,0.00446198492431,0.069806070705,0.999999950211,-2.80115790213e-05,-0.000313073042474,2.78943963972e-05,1793251900988800256
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,671.667973658,642.332026342,889,788,820,657,633,657,0.402166653314,0.00446470061434,0.0698008310405,0.999999947327,-2.55060089299e-05,-0.000322299433371,2.86017322988e-05,1793251901005466624
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.253060427,747,725,692,671.746939573,642,889.253060427,787.746939573,820.253060427,656.746939573,633,656.746939573,0.401988079234,0.00447132220785,0.0697989211797,0.999999946178,-1.59996530489e-05,-0.000326361461114,2.95888150281e-05,1793251901022133248
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.83300971,747,725,692,671.16699029,642,889.83300971,787.16699029,820.83300971,656.16699029,633,656.16699029,0.401828361683,0.0044829892219,0.0698013125676,0.99999994711,2.54991374116e-06,-0.00032375246197,3.09372585176e-05,1793251901038799616
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.588988711,747,725,692.411011289,671,642.411011289,889.588988711,787.411011289,820.588988711,656,633,656,0.401686321073,0.00449690571494,0.0698000330302,0.999999945171,5.86823342698e-05,-0.000324518420421,3.00437983242e-05,1793251901055466496
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.011774749,747,725,692.988225251,671,642.988225251,889.011774749,787.988225251,820.011774749,656,633,656,0.401551428579,0.00451173184067,0.0697972690625,0.9999999378,0.000130012319052,-0.000326649125889,2.82437682591e-05,1793251901072133120
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.858810603,747,725,692,671,643,889,788,820,657,633,656.141189397,0.40136224,0.00449852293796,0.0698010869232,0.999999947275,6.2226680999e-05,-0.000318244491133,1.72585199526e-05,1793251901105466368
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.045125142,747,725,692,671,643,889.954874858,788,820.954874858,656.045125142,633,656.045125142,0.401073295582,0.00449513783248,0.0698073040932,0.999999950624,5.3397577693e-05,-0.000308947014889,2.12540213504e-05,1793251901188799744
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769.619833893,747,725,692,671,643,889.380166107,788,820.380166107,656.619833893,633,656.619833893,0.401047912171,0.00449897063598,0.0698102054979,0.999999951932,5.81149438291e-05,-0.000303809610491,2.13897954294e-05,1793251901205467392
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,643,890.372637902,788,820,657,633,657,0.400998727982,0.00449650365464,0.0698187579745,0.999999956501,5.54297260997e-05,-0.000288858924111,2.20627533013e-05,1793251901255467520
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.473832805,890.473832805,788,820,656.473832805,633,656.473832805,0.400986053437,0.0044988157158,0.0698221846966,0.999999958238,5.672123127e-05,-0.000282571570097,2.14272838344e-05,1793251901288800768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.895568011,747,725,692,671,642,889.895568011,788,820,656,633,656,0.400981882931,0.00449920319933,0.0698223500639,0.999999958492,5.73587876016e-05,-0.000281559230942,2.12214911554e-05,1793251901305467136
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.303800514,747,725,692,671,642,889.303800514,788,820,656,633,656,0.400978952606,0.00449730847718,0.0698230405566,0.999999958907,5.35839850727e-05,-0.000280800110305,2.15746117781e-05,1793251901322133248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,747,725,691.718589984,671,642.281410016,889,788,820,656.281410016,633,656,0.400976896356,0.00449695443221,0.0698241127217,0.999999959222,5.29822504795e-05,-0.00027978190005,2.17238594125e-05,1793251901338800128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,747,725,691.140296877,671,642.859703123,889,788,820,656.859703123,633,656,0.400975762243,0.00449822577693,0.0698255875452,0.999999959434,5.57280516373e-05,-0.000278490354274,2.16580243297e-05,1793251901355467520
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.434997271,747,724.565002729,691.434997271,671,642.565002729,889.434997271,788,820,656.565002729,633,656,0.400975149695,0.00449701959421,0.0698259561792,0.999999959607,5.36165115801e-05,-0.000278274258577,2.1773982408e-05,1793251901372133632
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.990703222,747,724.009296778,692,671,642,889.990703222,788,820,656.009296778,633,656,0.400974727407,0.00449507041018,0.0698259791474,0.999999959762,5.00544805316e-05,-0.000278370137413,2.19380384138e-05,1793251901388799744
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.418462096,747,724.581537904,692,671,642,889.418462096,788,820,656.581537904,633,656,0.400975709608,0.00449618448876,0.0698265267161,0.999999960146,5.28740495085e-05,-0.000276497539146,2.14885033822e-05,1793251901405466624
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.15984947,747,725,692,671,642.15984947,889,788,820,657,633,656,0.400975842562,0.00449708335287,0.0698268342296,0.999999960326,5.50568030289e-05,-0.000275439638765,2.1191491155e-05,1793251901422133760
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.754679828,747,725,692,671,642.754679828,889,788,820,657,633,656,0.400973664547,0.00449739657729,0.0698264885072,0.999999959979,5.55066601021e-05,-0.00027659868679,2.13095225872e-05,1793251901438801152
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.660566296,747,725,692,671,643,889,788,820,657,633,656,0.400973224445,0.00449704445448,0.0698264299873,0.999999960086,5.41196846497e-05,-0.000276491606248,2.12433057956e-05,1793251901455467520
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.082885096,747,725,692,671,643,889,788,820,657,633,656,0.400974004178,0.00449622532644,0.069826573054,0.999999960506,5.14434419594e-05,-0.000275495833827,2.10477657255e-05,1793251901472133376
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,746.50822305,725,692,671,642.50822305,889,788,820,657,633,656,0.400976294554,0.00449699309319,0.0698287268118,0.999999961396,5.32936181948e-05,-0.000271872551902,2.12681154151e-05,1793251901488799744
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769.065806981,746,725,692,671,642.065806981,889,788,820,657,633,656,0.400978484967,0.00449790430416,0.0698309302652,0.999999962226,5.53906786335e-05,-0.000268360067328,2.15213446483e-05,1793251901505466368
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769.638863424,746,725,692,671,642.638863424,889,788,820,657,633,656,0.400977954276,0.00449787217467,0.069830920536,0.99999996213,5.35461591401e-05,-0.000269094315904,2.14910092443e-05,1793251901522132992
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,746.220242405,725,692.220242405,671,642.779757595,889,788,820,656.779757595,633,656,0.40097742561,0.00449748248592,0.0698306498481,0.999999962,5.29400351053e-05,-0.000269692701207,2.15445547937e-05,1793251901538799616
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,746.815804072,725,692.815804072,671,642.184195928,889,788,820,656.184195928,633,656,0.400976900393,0.00449648347364,0.0698299344554,0.999999961815,5.44442839824e-05,-0.000270059559448,2.1741043463e-05,1793251901555466496
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,747,725,692.6001952,670.6001952,642,889.3998048,788,820.3998048,656.3998048,633,656.3998048,0.400977291274,0.00449640284736,0.0698296290413,0.999999961903,5.41892495589e-05,-0.000269814973887,2.13695976894e-05,1793251901572133888
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,747,725,692.021371112,670.021371112,642,889.978628888,788,820.978628888,656.978628888,633,656.978628888,0.400978092352,0.00449673344384,0.069829507202,0.999999962112,5.31464665121e-05,-0.000269296604112,2.07438497549e-05,1793251901588801280
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,670.551148133,642,889.448851867,788,820.448851867,657,633,657,0.400979331156,0.00449726859291,0.0698312725896,0.999999962718,5.15907094125e-05,-0.000267342171944,2.07438232033e-05,1793251901605467136
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769.872695769,747,725,692,671,642.127304231,889,788,820,657,633,656.872695769,0.40097979844,0.00449744889207,0.0698324004492,0.999999963087,5.04691890041e-05,-0.000266168311263,2.08376363338e-05,1793251901622132992
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769.282434862,747,725,692,671,642.717565138,889,788,820,657,633,656.282434862,0.400977398975,0.00449631021997,0.0698309467516,0.999999962554,5.09983384368e-05,-0.000268033301716,2.1185472074e-05,1793251901638799616
+412,6.866666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642.697057144,889,788,820,657,633,656,0.400975475545,0.00449704155442,0.0698297624089,0.999999961809,5.29764883782e-05,-0.000270423183492,2.11423935484e-05,1793251901655466240
+413,6.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642.116159856,889,788,820,657,633,656,0.400973988882,0.00449948864686,0.0698288252033,0.999999960856,5.62841171217e-05,-0.000273294660508,2.07406455354e-05,1793251901672132864
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2fb9678bf0b699c1b9f2cbd3c43dad37797f2e6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
+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,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
+1,0.016666667,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
+2,0.033333333,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
+3,0.050000000,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
+4,0.066666667,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+6,0.100000000,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+9,0.150000000,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+16,0.266666667,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+384,6.400000000,pose2_to_pose3_retreat,0.585838130391,0.0100051590545,1.06002115966,0.556409473393,0.0186775656203,1.05963252667
+385,6.416666667,pose2_to_pose3_retreat,0.58581512447,0.0100051722002,1.06002110533,0.556386467246,0.0186775782357,1.05963247761
+386,6.433333333,pose2_to_pose3_retreat,0.585797420187,0.0100052562595,1.06002099302,0.556368762664,0.0186776614333,1.05963236873
+387,6.450000000,pose2_to_pose3_retreat,0.585784614445,0.0100051020915,1.06002074203,0.556355959404,0.018677515409,1.0596321115
+388,6.466666667,pose2_to_pose3_retreat,0.585775082628,0.010005044329,1.06002069989,0.556346427872,0.0186774586923,1.05963207112
+389,6.483333333,pose2_to_pose3_retreat,0.585768373284,0.0100050350466,1.06002074988,0.556339717869,0.0186774473846,1.05963212588
+390,6.500000000,pose2_to_pose3_retreat,0.585763933624,0.0100051128709,1.06002074865,0.556335277053,0.0186775213807,1.05963212677
+391,6.516666667,pose2_to_pose3_retreat,0.585760781573,0.0100051730482,1.06002074576,0.556332124139,0.0186775786941,1.05963212533
+392,6.533333333,pose2_to_pose3_retreat,0.585758664892,0.0100051963365,1.06002086873,0.55633000688,0.0186775998735,1.05963224491
+393,6.550000000,pose2_to_pose3_retreat,0.585757146215,0.0100052073372,1.06002099859,0.55632848779,0.0186776092991,1.05963237088
+394,6.566666667,pose2_to_pose3_retreat,0.585756149592,0.0100052145563,1.06002108382,0.556327490895,0.0186776154845,1.05963245355
+395,6.583333333,pose2_to_pose3_retreat,0.585755697907,0.0100052178281,1.06002112244,0.556327039086,0.0186776182879,1.05963249102
+396,6.600000000,pose2_to_pose3_retreat,0.585755551134,0.0100052188913,1.06002113499,0.556326892274,0.0186776191988,1.0596325032
+397,6.616666667,pose2_to_pose3_retreat,0.585755258966,0.0100052210076,1.06002115998,0.556326600027,0.0186776210121,1.05963252743
+398,6.633333333,pose2_to_pose3_retreat,0.585755007565,0.0100052153632,1.06002115905,0.556326348686,0.018677615602,1.05963252712
+399,6.650000000,pose2_to_pose3_retreat,0.585754914017,0.0100052128386,1.06002115743,0.556326255168,0.0186776131927,1.05963252581
+400,6.666666667,pose2_to_pose3_retreat,0.585754838355,0.0100052107967,1.06002115612,0.556326179531,0.0186776112441,1.05963252474
+401,6.683333333,pose2_to_pose3_retreat,0.585754496567,0.0100052015727,1.06002115021,0.556325837853,0.0186776024415,1.05963251993
+402,6.700000000,pose2_to_pose3_retreat,0.585753941701,0.0100051865984,1.0600211406,0.556325283166,0.0186775881512,1.05963251211
+403,6.716666667,pose2_to_pose3_retreat,0.585753398291,0.0100051719332,1.0600211312,0.556324739931,0.018677574156,1.05963250446
+404,6.733333333,pose2_to_pose3_retreat,0.585753023673,0.0100051618233,1.06002112471,0.556324365433,0.0186775645079,1.05963249919
+405,6.750000000,pose2_to_pose3_retreat,0.58575289475,0.010005158344,1.06002112248,0.556324236552,0.0186775611875,1.05963249737
+406,6.766666667,pose2_to_pose3_retreat,0.585752843966,0.0100051569735,1.0600211216,0.556324185784,0.0186775598796,1.05963249665
+407,6.783333333,pose2_to_pose3_retreat,0.58575266587,0.0100051521672,1.06002111852,0.556324007746,0.0186775552928,1.05963249415
+408,6.800000000,pose2_to_pose3_retreat,0.585752382826,0.0100051617338,1.06002107314,0.556323724647,0.0186775646697,1.05963244869
+409,6.816666667,pose2_to_pose3_retreat,0.585752326785,0.0100051663106,1.06002105784,0.556323668573,0.0186775691248,1.05963243323
+410,6.833333333,pose2_to_pose3_retreat,0.585752122698,0.0100051829782,1.06002100212,0.556323464363,0.0186775853496,1.05963237691
+411,6.850000000,pose2_to_pose3_retreat,0.585751661469,0.0100052206463,1.0600208762,0.556323002857,0.0186776220169,1.05963224962
+412,6.866666667,pose2_to_pose3_retreat,0.585751150359,0.0100052074932,1.06002077149,0.556322491994,0.0186776096809,1.05963214451
+413,6.883333333,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5e15465f5277dc3f9a0101bd2c71451769a3268
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a0f4d441ffe600f984cbedab53b32a1bd6ef7b935c5678c130c548b9e25cbf8
+size 26181673
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54253a128cc81d8877b06067c547a78907b981d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
+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,770,746,725,692,671,642,889,788,820,656,633,656,0.400976653725,0.00449678897821,0.0698309389864,0.999999962208,5.3672968187e-05,-0.000268813952982,2.10128704595e-05,1793251901790487296
+1,0.016666667,BASELINE,770,746.577316532,725,692,671,642.577316532,889,788,820,656,633,656,0.400975966264,0.00449809198241,0.0698314558921,0.999999962129,5.47087252869e-05,-0.000268925500199,2.07075612397e-05,1793251901807154176
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+3,0.050000000,BASELINE,770,746.27727395,725,692,670.27727395,642.27727395,889,788,820,656.72272605,633,656,0.400976981904,0.00449657608708,0.0698326287247,0.999999962857,5.25394972808e-05,-0.000266587096432,2.13911034052e-05,1793251901840487936
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+9,0.150000000,BASELINE,769,747,725,692,671,642.216095733,889.216095733,788,820,656,633,656,0.400978279718,0.00449887456218,0.0698329716988,0.999999962953,5.40101238546e-05,-0.000265987702186,2.06537638159e-05,1793251901940487680
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+21,0.350000000,BASELINE,769.17631706,747,725,692,671,642,889,788,820,656,633,656,0.400977239179,0.00449898242076,0.0698320150609,0.999999962754,5.43920746554e-05,-0.000266695630916,2.01761189565e-05,1793251902140487680
+22,0.366666667,BASELINE,769.768929661,747,725,692,671,642,889,788,820,656,633,656,0.400976577104,0.00449939797203,0.0698326430171,0.999999962824,5.43948444263e-05,-0.000266423825919,2.0293272244e-05,1793251902157154816
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+27,0.450000000,BASELINE,770,746,724.324827071,692.675172929,670.675172929,642,889.675172929,788,820,656.324827071,633,656,0.400975792672,0.00449804051893,0.0698321878585,0.999999962671,5.36928100798e-05,-0.000267105893315,2.07050507682e-05,1793251902240487680
+28,0.466666667,BASELINE,770,746.255388994,724.255388994,692.744611006,671,642,889.744611006,788,820,656.255388994,633,656,0.400975923862,0.00449768282302,0.069832071165,0.99999996267,5.34405299568e-05,-0.000267160222258,2.07228216228e-05,1793251902257154304
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+39,0.650000000,BASELINE,769.619016995,747,725,692,671,642,889.619016995,788.380983005,820,656.619016995,633,656.619016995,0.400977177122,0.00449990446883,0.0698335779115,0.999999963245,5.5775837528e-05,-0.000264563256178,2.0138826215e-05,1793251902440487680
+40,0.666666667,BASELINE,770,747,725,692,671,642.200768124,889.799231876,788,820.200768124,656.799231876,633,657,0.40097766222,0.00449923515768,0.0698337609144,0.999999963443,5.49778435367e-05,-0.000263973304884,2.02153006102e-05,1793251902457154048
+41,0.683333333,BASELINE,770,747,725,692,671,642.791984111,889.208015889,788,820.791984111,656.208015889,633,657,0.400975985216,0.0044991830055,0.0698323545137,0.999999962886,5.61425266598e-05,-0.000265837589024,2.01646664097e-05,1793251902473820928
+42,0.700000000,BASELINE,770,747,725,692,671,642.626250165,889,788,820.626250165,656,633,656.626250165,0.400975494261,0.004498482188,0.0698319084371,0.999999962752,5.44289015319e-05,-0.000266707685248,2.00233685744e-05,1793251902490487296
+43,0.716666667,BASELINE,770,747,725,692,671,642.04961443,889,788,820.04961443,656,633,656.04961443,0.400975647141,0.00449742924982,0.0698319836617,0.99999996284,5.1152819058e-05,-0.000267038097666,1.98328550044e-05,1793251902507153920
+44,0.733333333,BASELINE,769.474023265,747,725,692,671,642.525976735,889.525976735,788,820,656.525976735,633,656.525976735,0.400976633693,0.00449843099004,0.0698327576448,0.999999963006,5.32228350555e-05,-0.000266015080812,1.98059645395e-05,1793251902523820800
+45,0.750000000,BASELINE,769,746.898524255,725,692,671,642.898524255,889.898524255,788,820,657,633,656.898524255,0.400977467829,0.00449915768321,0.0698334287602,0.999999963126,5.52112009597e-05,-0.000265153653246,1.98558115436e-05,1793251902540487424
+46,0.766666667,BASELINE,769,746.322996533,725,692,671,642.322996533,889.322996533,788,820,657,633,656.322996533,0.400977223303,0.00449769584864,0.0698333120155,0.99999996303,5.44669803384e-05,-0.000265642325373,2.01921842061e-05,1793251902557154304
+47,0.783333333,BASELINE,769,746.25971839,725,692,671,642,889,788,820,656.74028161,633,656,0.40097663302,0.00449727357563,0.0698329139317,0.999999962832,5.47901177038e-05,-0.000266305917492,2.03659372825e-05,1793251902573820672
+48,0.800000000,BASELINE,769,746.851626086,725,692,671,642,889,788,820,656.148373914,633,656,0.400975600501,0.00449818093961,0.0698321560052,0.999999962502,5.64784448125e-05,-0.000267193238735,2.03316940152e-05,1793251902590487296
+49,0.816666667,BASELINE,769.428887623,747,725,692,671,642.428887623,889,788,820,656,633,656.428887623,0.400975384733,0.0044985853947,0.0698318064898,0.999999962401,5.66465957261e-05,-0.000267540413239,2.02867080375e-05,1793251902607154176
+50,0.833333333,BASELINE,769.998734881,747,725,692,671,643,889,788,820,656,633,656.998734881,0.400975442102,0.00449882175946,0.0698315951929,0.999999962377,5.63077783488e-05,-0.000267705093335,2.02383493086e-05,1793251902623820800
+51,0.850000000,BASELINE,769.419260928,747,725,692,671,643,889,788,820,656,633,656.419260928,0.400975458418,0.00449912492218,0.0698321124488,0.99999996253,5.66871002571e-05,-0.000267046708115,2.02909824465e-05,1793251902640487424
+52,0.866666667,BASELINE,769,747,725,692,671,642.837333235,889.162666765,788,820,656,633,656,0.400975810421,0.00449918129655,0.0698328301913,0.999999962803,5.63666030459e-05,-0.000266093087459,2.02732458826e-05,1793251902657154304
+53,0.883333333,BASELINE,769,747,725,692,671,642.248984392,889.751015608,788,820,656,633,656,0.40097704088,0.00449859185134,0.0698340725865,0.999999963384,5.42147516535e-05,-0.000264366866289,2.00713590936e-05,1793251902673820672
+54,0.900000000,BASELINE,769.334957447,746.665042553,725,691.665042553,671,642,889.665042553,788,820,656.334957447,633,656,0.40097726405,0.00449846719941,0.0698342856912,0.999999963405,5.44768498812e-05,-0.000264227327802,2.01681764754e-05,1793251902690487296
+55,0.916666667,BASELINE,769.915665938,746.084334062,725,691.084334062,671,642,889.084334062,788,820,656.915665938,633,656,0.400976748191,0.00449868355629,0.0698337436276,0.999999963014,5.65100108931e-05,-0.000265251904199,2.04841466635e-05,1793251902707153920
+56,0.933333333,BASELINE,770,746.492154059,725,691.492154059,671,642.492154059,889,788,820,656.507845941,633,656.492154059,0.400978053966,0.00449869361647,0.0698349359375,0.999999963434,5.49272830239e-05,-0.000264018315507,2.0245479494e-05,1793251902723820800
+57,0.950000000,BASELINE,770,747,725,692,671,642.930645833,889,788,820,656,633,656.930645833,0.400979248098,0.00449854540438,0.0698360516152,0.999999963876,5.29153709337e-05,-0.000262775389681,1.99458484095e-05,1793251902740487424
+58,0.966666667,BASELINE,770,747,725,692,671,642.34276184,889,788,820,656,633,656.34276184,0.400977293571,0.00449747591366,0.0698343912315,0.9999999635,5.22877852466e-05,-0.00026433112639,1.98949549963e-05,1793251902757154048
+59,0.983333333,BASELINE,769.75815022,746.75815022,725,692,671,642,889.24184978,788,820,656,633,656,0.40097652785,0.00449717419698,0.069833467538,0.999999963287,5.25829713727e-05,-0.000265066088377,2.00166012398e-05,1793251902773820928
+60,1.000000000,BASELINE,769.178114376,746.178114376,725,692,671,642,889.821885624,788,820,656,633,656,0.400977424473,0.00449794608244,0.0698335739809,0.999999963305,5.41684979134e-05,-0.000264653335789,2.03795150401e-05,1793251902790487552
+61,1.016666667,BASELINE,769.400159943,746.400159943,725,692,671,642.400159943,890,788,820,656,633,656,0.400977914928,0.00449783742877,0.0698338137157,0.999999963257,5.50080679207e-05,-0.000264637465239,2.06495669991e-05,1793251902807153920
+62,1.033333333,BASELINE,769.977653594,746.977653594,725,692,671,642.977653594,890,788,820,656,633,656,0.400978225387,0.00449733855793,0.0698341125199,0.999999963182,5.55170619203e-05,-0.000264797475797,2.08784665547e-05,1793251902823820800
+63,1.050000000,BASELINE,769.449775796,747,725,691.449775796,671,642.449775796,889.449775796,788,820.550224204,656.550224204,633,656.550224204,0.400977509172,0.00449778910178,0.0698337461876,0.999999963179,5.57060698018e-05,-0.000264790856533,2.06128208241e-05,1793251902840487424
+64,1.066666667,BASELINE,769.126496182,747,725,691.126496182,671,642,889,788,820.873503818,657,633,657,0.400976999213,0.00449832846343,0.0698336142661,0.999999963223,5.57914771783e-05,-0.000264626409478,2.03339796317e-05,1793251902857154304
+65,1.083333333,BASELINE,769.717074527,747,725,691.717074527,671,642,889,788,820.282925473,657,633,657,0.400977397568,0.00449905346683,0.0698344405637,0.999999963432,5.55440558057e-05,-0.000263907540221,2.00797613314e-05,1793251902873820928
+66,1.100000000,BASELINE,770,747,725,692,671,642,889.301593491,788.301593491,820,656.698406509,633.301593491,657,0.400977259693,0.00449888773273,0.0698346117155,0.999999963466,5.5315336938e-05,-0.000263825463427,2.00858949288e-05,1793251902890487808
+67,1.116666667,BASELINE,770,747,725,692,671,642,889.880540063,788.880540063,820,656.119459937,633.880540063,657,0.400976628686,0.00449790285363,0.0698341803784,0.99999996334,5.51038173854e-05,-0.00026432899729,2.03314547969e-05,1793251902907154688
+68,1.133333333,BASELINE,769.54237454,746.54237454,725,692,671,642.45762546,889.54237454,788.54237454,820,656,633.54237454,657,0.400975922004,0.00449792464779,0.069833918832,0.999999963097,5.54470300154e-05,-0.000265156090616,2.05785137265e-05,1793251902923821312
+69,1.150000000,BASELINE,769,746.034126146,725,692,671,643,889.034126146,788,820,656.034126146,633,656.965873854,0.400975278626,0.00449822460268,0.0698336980948,0.99999996284,5.59464123198e-05,-0.000266001856615,2.0797615689e-05,1793251902940487680
+70,1.166666667,BASELINE,769,746.609028321,725,692,671,643,889.609028321,788,820,656.609028321,633,656.390971679,0.400975950158,0.00449878507356,0.0698334245279,0.999999962857,5.66351149143e-05,-0.000265810505052,2.05675246314e-05,1793251902957154048
+71,1.183333333,BASELINE,769,747,725,692,671,642.811338582,889.811338582,788,820,657,633,656.188661418,0.400976320011,0.00449921380103,0.0698333021286,0.999999962912,5.66696830359e-05,-0.000265612525893,2.03590305204e-05,1793251902973820672
+72,1.200000000,BASELINE,769,747,725,692,671,642.221649095,889.221649095,788,820,657,633,656.778350905,0.400976048598,0.0044993624883,0.0698335010584,0.999999963048,5.53137905982e-05,-0.000265400458745,2.01964439073e-05,1793251902990487296
+73,1.216666667,BASELINE,769,747,725,692,671,642,889.361388161,788.361388161,820,657,633,656.638611839,0.400975969656,0.00449965926644,0.069833762416,0.999999963092,5.58259322018e-05,-0.000265129960854,2.0131882207e-05,1793251903007153920
+74,1.233333333,BASELINE,769,747,725,692,671,642,889.940419135,788.940419135,820,657,633,656.059580865,0.400976006628,0.00450004523096,0.0698340613702,0.999999963081,5.74630808098e-05,-0.000264824273579,2.01263551505e-05,1793251903023820544
+75,1.250000000,BASELINE,769,747,725,692.514714967,671,642.514714967,889.485285033,788.485285033,820.514714967,657,633,656.514714967,0.400976031358,0.00449880966669,0.0698340805792,0.999999963197,5.5468575412e-05,-0.000264801869121,2.02482863318e-05,1793251903040487424
+76,1.266666667,BASELINE,769.088851566,747,725,692.911148434,671,643,888.911148434,788,821,657,633,657,0.400976279516,0.00449773823281,0.0698342247493,0.99999996339,5.36743410086e-05,-0.000264435808648,2.03408280772e-05,1793251903057154048
+77,1.283333333,BASELINE,769.665093951,747,725,692.334906049,671,643,888.334906049,788,821,657,633,657,0.400977760974,0.00449858736223,0.0698352303971,0.999999963945,5.52636488867e-05,-0.000262006404296,2.01919613091e-05,1793251903073820672
+78,1.300000000,BASELINE,769.751171177,747,725,692,671,643,888.248828823,788,820.751171177,657,633,656.751171177,0.4009782795,0.00449922765116,0.0698356682531,0.99999996417,5.5777731404e-05,-0.00026104909806,2.00755950809e-05,1793251903090487296
+79,1.316666667,BASELINE,769.15703892,747,725,692,671,643,888.84296108,788,820.15703892,657,633,656.15703892,0.400977461749,0.00449957812899,0.0698353181761,0.999999963941,5.47997076667e-05,-0.000262134644338,2.00043303449e-05,1793251903107153920
+80,1.333333333,BASELINE,769.424043233,747,725,692,671,642.575956767,889,788,820.424043233,656.575956767,633,656,0.400976636604,0.00449989886926,0.0698344963799,0.999999963489,5.63025088583e-05,-0.000263528888745,2.00938361244e-05,1793251903123820544
+81,1.350000000,BASELINE,770,747,725,692,671,642.000435087,889.000435087,788,820.999564913,656,633,656.000435087,0.400975810296,0.00450020822016,0.0698335062664,0.999999962952,5.86942338305e-05,-0.000265031972063,2.02410635733e-05,1793251903140487168
+82,1.366666667,BASELINE,770,747,725,692,671,642.574579893,889.574579893,788,820.425420107,656,633,656.574579893,0.400976953375,0.00449958758687,0.0698340485276,0.999999963318,5.79379886627e-05,-0.000263805146467,2.03355694896e-05,1793251903157154048
+83,1.383333333,BASELINE,770,747,725,692,671,642.851726184,889.851726184,788,820,656.148273816,633,656.851726184,0.400977891014,0.00449891956066,0.0698347602817,0.999999963654,5.70456109178e-05,-0.000262716210214,2.04355208102e-05,1793251903173820672
+84,1.400000000,BASELINE,770,747,725,692,671,642.279321857,889.279321857,788,820,656.720678143,633,656.279321857,0.400978241001,0.00449811596899,0.0698359568622,0.999999963906,5.57638319506e-05,-0.000262021699877,2.05510484845e-05,1793251903190487552
+85,1.416666667,BASELINE,769.705465238,747,725,692,671,642,889.294534762,788,820.294534762,656.705465238,633,656.294534762,0.400977803025,0.00449849143397,0.0698355594917,0.999999963693,5.62756948158e-05,-0.000262734592277,2.04193397279e-05,1793251903207154176
+86,1.433333333,BASELINE,769.130224546,747,725,692,671,642,889.869775454,788,820.869775454,656.130224546,633,656.869775454,0.400976614082,0.00449999059721,0.0698336430085,0.999999963031,5.84969855137e-05,-0.00026478880786,2.00520026412e-05,1793251903223820800
+87,1.450000000,BASELINE,769.461275792,747,725.461275792,692,671,642,889.538724208,788,820.538724208,656,633,657,0.400977180769,0.00449790801831,0.0698340862726,0.999999963481,5.49890754094e-05,-0.000263821101259,2.03330610778e-05,1793251903240487168
+88,1.466666667,BASELINE,770,747,725.944414777,692.055585223,671,642.055585223,889.055585223,788,820,656,633,657,0.400978020485,0.00449528892995,0.0698349858159,0.999999964096,5.06994009447e-05,-0.000262311126132,2.07235839861e-05,1793251903257153792
+89,1.483333333,BASELINE,770,747,725.368354374,692.631645626,671,642.631645626,889.631645626,788,820,656,633,657,0.400976606198,0.00449746034266,0.0698336919382,0.999999963443,5.4787904231e-05,-0.000264003794751,2.036245016e-05,1793251903273820672
+90,1.500000000,BASELINE,770,747,725,692.787017795,671,642.787017795,890,788,820,656.212982205,633,657,0.400976210914,0.00449891767815,0.0698333578354,0.999999963143,5.70611775361e-05,-0.000264667791476,2.02053391205e-05,1793251903290487808
+91,1.516666667,BASELINE,770,747,725,692.196324294,671,642.196324294,890,788,820,656.803675706,633,657,0.400977622771,0.00449910863986,0.0698347258365,0.999999963499,5.61152477982e-05,-0.00026350749949,2.04100504203e-05,1793251903307154688
+92,1.533333333,BASELINE,770,747,725,692,671,642,890,788,820,656.616786764,633,656.616786764,0.400977810116,0.00449957258563,0.0698346117415,0.999999963502,5.53004304883e-05,-0.00026368785306,2.0145210902e-05,1793251903323821312
+93,1.550000000,BASELINE,770,747,725,692,671,642,890,788,820,656.042802831,633,656.042802831,0.400977387876,0.00450017242799,0.0698337598316,0.99999996333,5.45508833053e-05,-0.000264535604892,1.96466202469e-05,1793251903340487936
+94,1.566666667,BASELINE,769.464855464,747,725,692,671,642.535144536,889.464855464,788,820.535144536,656.535144536,633,656,0.400975353357,0.00449992369145,0.0698331440963,0.999999962902,5.53588568752e-05,-0.000265963191217,1.98890631148e-05,1793251903357154560
+95,1.583333333,BASELINE,769.112035665,747,725,692,671,642.887964335,889,788,820.887964335,656.887964335,633,656,0.400973631815,0.00449943711194,0.069832562443,0.999999962527,5.57085386667e-05,-0.000267277911649,2.01176152439e-05,1793251903373821184
+96,1.600000000,BASELINE,769.683288537,747,725,692,671,642.316711463,889,788,820.316711463,656.316711463,633,656,0.400973725637,0.00449825592484,0.0698320424812,0.999999962464,5.36653230613e-05,-0.000267938500432,2.00444775518e-05,1793251903390487552
+97,1.616666667,BASELINE,769.73399999,747,725,692,671,642.26600001,889.26600001,788,820.26600001,656,633,656,0.400974217114,0.00449829618262,0.0698322223956,0.99999996259,5.44472118992e-05,-0.000267303435002,2.01069750093e-05,1793251903407154176
+98,1.633333333,BASELINE,769.137031263,747,725,692,671,642.862968737,889.862968737,788,820.862968737,656,633,656,0.400975203371,0.00449985621502,0.0698332731265,0.99999996294,5.87442179834e-05,-0.000265056260527,2.03382355895e-05,1793251903423821312
+99,1.650000000,BASELINE,769,747,725,692,671,642.556024904,889.556024904,788,821,656.443975096,633,656,0.400975952156,0.0044995051817,0.0698337090994,0.999999963127,5.70560118009e-05,-0.000264727917125,2.02310965275e-05,1793251903440487680
+100,1.666666667,BASELINE,769,747,725,692,671,642,889,788,820.979852977,657,633,656,0.400976629245,0.00449857400682,0.069833962002,0.99999996326,5.37148203096e-05,-0.000264938545207,2.00386959061e-05,1793251903457154304
+101,1.683333333,BASELINE,769,747,725,692,671,642,889,788,820.405844111,657,633,656,0.400977280354,0.00449734677979,0.0698342173026,0.999999963425,5.39534023085e-05,-0.000264249816375,2.02740383513e-05,1793251903473820928
+102,1.700000000,BASELINE,769.168260117,747,725,692,671,642,889,788.168260117,820,656.831739883,633,656.168260117,0.400978003262,0.0044969507984,0.0698346271818,0.999999963603,5.46494585543e-05,-0.000263423626467,2.03718850885e-05,1793251903490487552
+103,1.716666667,BASELINE,769.742594405,747,725,692,671,642,889,788.742594405,820,656.257405595,633,656.742594405,0.400978899448,0.0044985609217,0.0698354101163,0.999999963812,5.6449570075e-05,-0.000262265692015,2.01379035691e-05,1793251903507154432
+104,1.733333333,BASELINE,770,747,725,692,671,642,889.329027739,788.670972261,820,656.329027739,633,657,0.400978938527,0.00449854926977,0.0698353780179,0.999999963837,5.67184586512e-05,-0.000262105862731,2.02504189079e-05,1793251903523821056
+105,1.750000000,BASELINE,770,747,725,692,671,642,889.925287836,788.074712164,820,656.925287836,633,657,0.400978281473,0.00449722043175,0.0698346839597,0.999999963713,5.57437066329e-05,-0.000262756682291,2.06443547868e-05,1793251903540487424
+106,1.766666667,BASELINE,769.496457576,747,725,692,671,642,890,788,820.503542424,657,633,657,0.4009778192,0.00449639691133,0.0698344601985,0.999999963686,5.39263192699e-05,-0.000263230982057,2.07060329923e-05,1793251903557154304
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,725,692,671,643,889,788,820,656,634,656,0.400974417588,0.00449869318413,0.0698328943176,0.999999962619,5.57189407014e-05,-0.000266913312394,2.03653393335e-05,1793251903600652800
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746.596262465,725,692,671,642.403737535,889,788,820,656,633.403737535,656.596262465,0.400977662306,0.00449966485739,0.0698347146746,0.999999963656,5.57668808188e-05,-0.000263023599662,1.99136899477e-05,1793251903617319680
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.185577797,746.814422203,725,692.185577797,670.814422203,642.185577797,889.185577797,788,820.185577797,656,633,656.814422203,0.400979404657,0.00449967030078,0.0698356646221,0.99999996426,5.494944861e-05,-0.000260903484245,1.97410770096e-05,1793251903633986560
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.76032464,746.23967536,725,692.76032464,670.23967536,642.76032464,889.76032464,788,820.76032464,656,633,656.23967536,0.400977996445,0.00449764949571,0.0698347892628,0.999999963977,5.23172727998e-05,-0.000262494331962,2.01536220702e-05,1793251903650652928
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,746.336674835,724.663325165,692.663325165,670.336674835,643,889.663325165,788,820.663325165,656.336674835,633,656,0.40097823499,0.00449653672202,0.0698352562911,0.999999964061,5.17413324554e-05,-0.000262264054278,2.04538766199e-05,1793251903667319552
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746.914171868,724.085828132,692.085828132,670.914171868,643,889.085828132,788,820.085828132,656.914171868,633,656,0.400979651453,0.00449607345973,0.0698366835241,0.999999964411,5.26362094827e-05,-0.0002607311326,2.06738101803e-05,1793251903683986176
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.498867851,747,724.501132149,692,671,642.498867851,889.501132149,788,820.501132149,656.498867851,633,656,0.400979258644,0.00449658723462,0.0698360709633,0.999999964237,5.21096453202e-05,-0.00026153485019,2.026436243e-05,1793251903700652800
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.088255253,747,725,691.911744747,671,642.088255253,889.911744747,788.088255253,820.911744747,656,633,656,0.400978810569,0.00449723491615,0.0698354530735,0.999999964033,5.18576748534e-05,-0.000262388428926,1.99098458986e-05,1793251903717319424
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.66710065,747,725,691.33289935,671,642.66710065,889.33289935,788.66710065,820.33289935,656,633,656,0.40097981094,0.00449767887034,0.069836784906,0.999999964178,5.45114229525e-05,-0.000261251780758,2.04714087338e-05,1793251903733986560
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,725,691.244658887,671,643,889,788.755341113,820,656.244658887,633,656,0.40098371267,0.00449873456102,0.0698388375062,0.999999964749,5.62850308007e-05,-0.000258665312855,2.06480503975e-05,1793251903750653184
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,725,691.820474845,671,643,889,788.179525155,820,656.820474845,633,656,0.400991541525,0.0045006182652,0.0698418656987,0.999999965889,5.68673280665e-05,-0.000254116447258,2.03036834816e-05,1793251903767319808
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.605527425,747,725,692,671,642.605527425,889.394472575,788,820,656.605527425,633,656,0.401012838536,0.00449966759006,0.0698501101116,0.999999969507,5.50513682491e-05,-0.000239883989173,2.02974766307e-05,1793251903783986432
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.032353327,747,725,692,671,642.032353327,889.967646673,788,820,656.032353327,633,656,0.401040236808,0.00449743290212,0.0698607175446,0.999999973952,5.21489648968e-05,-0.00022126472953,2.0444460922e-05,1793251903800653056
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.558406126,747,725,692,670.441593874,642,889.441593874,788,820,656,633,656,0.401091739159,0.00449792573083,0.0698766325954,0.999999979281,5.42254856472e-05,-0.000195160438489,2.02320563572e-05,1793251903817319424
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,747,725,692,670.147072939,642,889,788.147072939,820,656,633,656,0.401148570662,0.00449854379504,0.0698914929203,0.999999983441,5.53277704921e-05,-0.000172229269121,1.98405233789e-05,1793251903833985792
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,747,725,692,670.726495601,642,889,788.726495601,820,656,633,656,0.401216829309,0.00449905035157,0.0699023192759,0.999999985641,5.26905031797e-05,-0.000159942427151,1.89856095673e-05,1793251903850652416
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.303843435,889,788.696156565,820,656,633,656.303843435,0.401294127481,0.00449889807037,0.0699090642499,0.999999987232,4.99502544299e-05,-0.000150751599417,1.77459892418e-05,1793251903867319040
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.879336245,889,788.120663755,820,656,633,656.879336245,0.401379507382,0.00449815675929,0.0699121602887,0.999999988344,4.71179359137e-05,-0.000144328745141,1.61624244487e-05,1793251903883985920
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.544494872,747,725,692,671,642.544494872,889,788,820.455505128,656.455505128,633,656.544494872,0.401473959827,0.00449827267123,0.0699106602885,0.999999988014,4.44843436989e-05,-0.000147642799188,1.39324068281e-05,1793251903900653056
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.032690402,747,725,692,671,642,889.032690402,788,820.967309598,656.967309598,633,656.032690402,0.401572325944,0.0044987564559,0.0699080441984,0.99999998729,4.21144239367e-05,-0.000153341292235,1.15047676335e-05,1793251903917319680
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.624183876,747,725,692,671,642,889.624183876,788,820.375816124,656.375816124,633,656.624183876,0.401696448581,0.00450164116635,0.0699071924447,0.999999986911,4.33504640438e-05,-0.000155643052022,8.63062020019e-06,1793251903933986304
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,724.789959616,692,671,642,889.789959616,788,820,656.210040384,633,656.789959616,0.40183378537,0.00450398771861,0.0699076650915,0.999999986947,4.28180535103e-05,-0.000155700731958,5.46561161867e-06,1793251903950652928
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,747,724.213925538,692,671,642,889.213925538,788,820,656.786074462,633,656.213925538,0.401994147701,0.00450539653422,0.0699104454957,0.999999987701,3.92041317239e-05,-0.000151848120427,1.79378010898e-06,1793251903967319552
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.639272729,747,724.360727271,692,671,642,889.721454541,788,820,656.639272729,633,656,0.402179478551,0.00450579283805,0.0699145032759,0.99999998888,3.48977399524e-05,-0.000144972197446,-2.08512700126e-06,1793251903983986176
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.065435888,747,724.934564112,692,671,642,890.869128225,788,820,656.065435888,633,656,0.402379560257,0.00450559097281,0.0699193157013,0.999999990236,3.01822521163e-05,-0.000136310169574,-6.08637007649e-06,1793251904000652800
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.523416793,746.476583207,725,692,671,642.523416793,890.476583207,788,820,656,633,656.523416793,0.402596241138,0.00450825511527,0.0699201284162,0.999999990717,2.5114840248e-05,-0.000133434771153,-1.14585262649e-05,1793251904017319424
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.111855178,725,692,671,642.888144822,890,788,820,656.111855178,633,657,0.402824479524,0.00451083394275,0.0699212947524,0.999999991218,1.97393033551e-05,-0.00012995091633,-1.69540273397e-05,1793251904033986048
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.690499462,725,692,671,642.309500538,890,788,820,656.690499462,633,657,0.40309203344,0.00451151733795,0.0699260851447,0.999999992366,1.32669378029e-05,-0.000120819741981,-2.22279177608e-05,1793251904050652928
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.266966781,890,788,820,656.733033219,633,656.733033219,0.403381716017,0.00451355166533,0.0699339120809,0.999999993914,9.14410711087e-06,-0.000106485409354,-2.73834247658e-05,1793251904067319552
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642.840930676,890,788,820,656.159069324,633,656.159069324,0.403696845321,0.00451713949035,0.0699452308752,0.999999995733,7.72311266059e-06,-8.61677314321e-05,-3.2402797032e-05,1793251904083986176
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,725,692.416446687,671,642.583553313,890,788,820.416446687,656,633,656.416446687,0.404037742994,0.00451963641738,0.0699499859532,0.999999996135,4.25127972371e-06,-7.91862778595e-05,-3.79795441425e-05,1793251904100652800
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,725,692.992557763,671,642.007442237,890,788,820.992557763,656,633,656.992557763,0.404388520174,0.00452171509736,0.069952224522,0.999999996053,-6.83839257247e-09,-7.73178924463e-05,-4.37699869525e-05,1793251904117319424
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671.584186299,642.584186299,890,788,820.415813701,656,633,656.415813701,0.404769078987,0.0045248115191,0.0699561251715,0.999999996144,3.36727598857e-05,-7.16669064427e-05,-3.79690376032e-05,1793251904133986048
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,693,672,642.828072188,890,788,820,656.171927812,633,656.171927812,0.405161810751,0.00452439816001,0.0699596170939,0.999999995324,6.25970048072e-05,-6.63606580063e-05,-3.20998174941e-05,1793251904150652672
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,693,672,642.249992959,890,788,820,656.750007041,633,656.750007041,0.405582378337,0.00451566205089,0.0699620920794,0.9999999946,7.91146085798e-05,-6.19857404186e-05,-2.64276814324e-05,1793251904167319552
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725.326416898,693,672,642,890,788,820,656.673583102,633,657,0.406020531994,0.00450122524607,0.0699583577327,0.999999994709,7.43788227217e-05,-6.66647517788e-05,-2.46257606621e-05,1793251904183986432
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725.901554798,693,672,642,890,788,820,656.098445202,633,657,0.406472085813,0.00448244466165,0.0699498920402,0.999999995179,5.3448520425e-05,-7.82426159401e-05,-2.57728405004e-05,1793251904200653312
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,725.525258214,693.474741786,671.525258214,642,890,788.474741786,820,656,633.474741786,657,0.406963545528,0.00449451727012,0.0699326946173,0.99999999414,-1.29574158894e-05,-0.000103435211573,-2.92094607158e-05,1793251904217320192
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.950366859,747,725,694,671,642.049633141,890,788.950366859,820.049633141,656,633.950366859,657,0.407469424803,0.00451162244144,0.0699159964459,0.999999988131,-8.02587037548e-05,-0.000127349118249,-3.2839906695e-05,1793251904233987072
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.352185486,747,725,694,671,642.647814514,890,788.352185486,820.647814514,656,633.352185486,657,0.408043587456,0.00451392727017,0.069924745655,0.999999992379,-5.36601777816e-05,-0.000106056121027,-3.33867949652e-05,1793251904250652928
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.236501348,747,725,694,671,642.763498652,890.236501348,788,820.763498652,656,633,657,0.408636689451,0.00451708997267,0.0699365620928,0.999999995841,-2.74019742163e-05,-7.9834196284e-05,-3.45433993152e-05,1793251904267319552
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.811595077,747,725,694,671,642.188404923,890.811595077,788,820.188404923,656,633,657,0.409256906338,0.00452148086899,0.0699527697957,0.999999998246,-1.63100236756e-06,-4.6555664813e-05,-3.65729171361e-05,1793251904283986432
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,725.386679328,694,671,642.386679328,891,788.386679328,820.386679328,656,633.386679328,657,0.40987536415,0.00453104460892,0.0699528700117,0.999999998072,2.21804021426e-05,-4.35574586915e-05,-3.83069322811e-05,1793251904300653568
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,725.961758943,694,671,642.961758943,891,788.961758943,820.961758943,656,633.961758943,657,0.410492964876,0.0045431286935,0.0699451222381,0.99999999666,4.50370534036e-05,-5.53126204866e-05,-3.98969707301e-05,1793251904317320448
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,726,694,671,643,891.551130553,788.448869447,821,656.551130553,633.448869447,657,0.411164795448,0.00454579105273,0.0699446107106,0.999999996086,4.98415136627e-05,-6.09552388492e-05,-4.03627952695e-05,1793251904333987072
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,747,725.861179637,694,671,643,891.861179637,788.138820363,821,656.861179637,633.138820363,657,0.411861048982,0.00454956015652,0.0699515993755,0.999999996213,5.67080665706e-05,-5.18592370202e-05,-4.08564661674e-05,1793251904350653696
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,747,725.282053321,694,671,643,891.282053321,788.717946679,821,656.282053321,633.717946679,657,0.412622513811,0.00455896831405,0.0699807419724,0.999999996375,7.41937575396e-05,2.60319626428e-06,-4.16924607298e-05,1793251904367320320
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.705067598,747,725,694,671.294932402,643,891.589864804,788.705067598,821,656,634,657,0.413385361223,0.00456755323592,0.0700068041323,0.99999999504,7.93609353622e-05,4.2791464426e-05,-4.23091878539e-05,1793251904383987200
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.130114176,747,725,694,671.869885824,643,892.739771648,788.130114176,821,656,634,657,0.414149521405,0.0045753565449,0.0700299416014,0.999999994025,7.28324095346e-05,6.94272562777e-05,-4.27177335748e-05,1793251904400653824
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.444802204,747,725,694,671.555197796,643,893,788,821,656,633.555197796,657,0.414881794837,0.00458127297914,0.0700014742739,0.999999995278,8.58832572515e-05,1.43326890162e-05,-4.31593514581e-05,1793251904417320448
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.9797516,747,725,694,671,642.9797516,893.0202484,788.0202484,821.040496799,656,633,657,0.415607441118,0.00458681856895,0.069958066301,0.999999991554,0.000104418798895,-6.38716638427e-05,-4.36939418231e-05,1793251904433987072
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.389073444,747,725,694,671,642.389073444,893.610926556,788.610926556,822.221853111,656,633,657,0.416409141542,0.00459746494257,0.0699189855914,0.999999985014,0.000116130790177,-0.000119648603872,-4.65752047845e-05,1793251904450653184
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,694.197467128,671,642.197467128,894,788.802532872,823,656,633.197467128,657,0.417239408948,0.00460659529212,0.0699049557123,0.999999981781,0.000121584970178,-0.000138795073686,-4.88885993696e-05,1793251904467319552
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,694.776022614,671,642.776022614,894,788.223977386,823,656,633.776022614,657,0.418124807226,0.00461279989267,0.0699392709957,0.99999998833,0.000114962309274,-8.72490364188e-05,-5.01060746855e-05,1793251904483986432
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894.35114512,788,823.35114512,656,633.64885488,657,0.41901426909,0.00461766335713,0.0699704220472,0.999999990053,0.000125638877937,-4.02253099861e-05,-4.99146351352e-05,1793251904500653312
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,894.924099083,788,823.924099083,656,633.075900917,657,0.419906297777,0.00462167966208,0.069999574338,0.99999998796,0.000147242900645,3.94179346064e-06,-4.8833222211e-05,1793251904517319936
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,642.50094454,895.49905546,788,824,656,633,657,0.420835016455,0.00461959203043,0.0700243379543,0.999999989102,0.000133711511106,3.87584489092e-05,-4.91437331692e-05,1793251904533986304
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,642.076658918,896,788,824,656,633.076658918,657,0.421762558756,0.00461370692134,0.0700408484019,0.999999990423,0.000113909331055,6.07499280803e-05,-4.98838326409e-05,1793251904550652928
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,642.670043905,896,788,824,656,633.670043905,657,0.422644406143,0.00458850737055,0.0700062449041,0.999999994754,8.80032343705e-05,5.9165980513e-06,-5.2086903406e-05,1793251904567319552
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,695.256187699,671,643,896,787.743812301,824.256187699,656,633.743812301,657,0.423506429589,0.00457122410556,0.0699482436897,0.999999992536,7.15670354329e-05,-8.34101881221e-05,-5.33784688119e-05,1793251904583985920
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,695.833261661,671,643,896,787.166738339,824.833261661,656,633.166738339,657,0.424343622803,0.00456385633032,0.0698609358103,0.999999973008,6.69922922446e-05,-0.00021594153908,-5.3528333817e-05,1793251904600652800
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896,787,825,656,633,657,0.425285986148,0.00456764080416,0.0698601805675,0.999999974933,5.89112833536e-05,-0.000209067947448,-5.43555321964e-05,1793251904617319680
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896,787,825,656,633,657,0.42627108492,0.00457595695202,0.0698945956613,0.99999998665,4.94055172241e-05,-0.000145547685307,-5.54579624374e-05,1793251904633986816
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.572773469,747,725,696,671,643,896.572773469,787.572773469,825,656.572773469,633.572773469,657,0.427287133439,0.00458043925914,0.0699576717881,0.999999993786,7.50341123945e-05,-6.34488521761e-05,-5.26576390615e-05,1793251904650653440
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.840988863,747,725,696,671,643,897,787.840988863,825.159011137,656.840988863,634,657,0.428305672016,0.00458537875999,0.0700147549182,0.99999999411,9.45378119448e-05,1.50405861054e-05,-5.11410284372e-05,1793251904667319552
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.260029386,747,725,696,671,643,897,787.260029386,825.739970614,656.260029386,634,657,0.429328602319,0.00459180593482,0.0700538832413,0.999999990627,9.52732604284e-05,8.26221189871e-05,-5.33102587056e-05,1793251904683986176
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.682542749,747,725,696,671,643,897.317457251,787.317457251,826,656.317457251,634,657,0.430287421547,0.00459466558392,0.0700499665787,0.999999991008,9.56495477958e-05,7.6703076843e-05,-5.4335398485e-05,1793251904700653056
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.107869964,747,725,696,671,643,897.892130036,787.892130036,826,656.892130036,634,657,0.431194295574,0.00459463469222,0.0700111732845,0.999999993873,9.57348295267e-05,1.12311637445e-05,-5.44335539538e-05,1793251904717319936
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.466765673,747,725,696,671,643,898,787.533234327,826.466765673,656.533234327,634,657,0.432044227211,0.00459043051669,0.0699366861815,0.9999999873,9.58937116541e-05,-0.000115401337854,-5.37229329732e-05,1793251904733986304
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.958808056,747,725,696.041191944,671,643,898,787,827,656.041191944,634,657,0.432893960599,0.00458511243673,0.0698633960195,0.999999965552,9.4734522642e-05,-0.000238968063019,-5.30682648917e-05,1793251904750652928
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.386968853,747,725,696.613031147,671,643,898,787,827,656.613031147,634,657,0.43391064971,0.00457786805026,0.0699117813288,0.999999985604,7.63764576449e-05,-0.000140972938249,-5.55420382464e-05,1793251904767319552
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.193914693,747,725,697,671.193914693,643,898.193914693,787,827,656.806085307,634,657.193914693,0.434925610774,0.00457398845128,0.069961842915,0.999999994934,6.73485306298e-05,-4.86599810655e-05,-5.68251040731e-05,1793251904783986432
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.793729882,747,725,697,671.793729882,643,898.793729882,787,827,656.206270118,634,657.793729882,0.435936954895,0.00457715199397,0.070015413278,0.999999994919,7.78503624576e-05,3.17591300237e-05,-5.56157927539e-05,1793251904800653056
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,697,671.622215721,643,899,787,827,656,634,657.622215721,0.436908874731,0.00457829475085,0.0700380913746,0.999999992526,7.86926144502e-05,7.50070012198e-05,-5.59419269981e-05,1793251904817319680
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,697,671.046422117,643,899,787,827,656,634,657.046422117,0.437860130924,0.0045783783464,0.0700445778023,0.99999999072,7.44719584037e-05,9.87721826609e-05,-5.70728395821e-05,1793251904833986048
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,725,697,671,643,899.540447713,787,827.540447713,656,634,657,0.438692433235,0.00457915488575,0.0699950088152,0.999999995533,6.87677148433e-05,2.91353529341e-05,-5.79259372229e-05,1793251904850652672
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,725,696.873665518,671.126334482,643,899.873665518,787,828,656.126334482,634,657.126334482,0.43951083245,0.00458108124696,0.0699367292263,0.999999994279,6.76301738206e-05,-5.87204990741e-05,-5.84746545231e-05,1793251904867319296
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,725,696.294779649,671.705220351,643,899.294779649,787,828,656.705220351,634,657.705220351,0.440316795468,0.00458690878872,0.0698648555245,0.999999978193,8.33173714916e-05,-0.000182499512596,-5.80203008806e-05,1793251904883985920
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,724.717652568,696,672,643.282347432,899,787,828,656.717652568,634,657.717652568,0.441188075963,0.0045897602109,0.0698590089775,0.99999997567,8.92484620633e-05,-0.00019327194119,-5.78060351722e-05,1793251904900652544
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,724.142350387,696,672,643.857649613,899,787,828,656.142350387,634,657.142350387,0.442127127753,0.00458952370533,0.0699216701186,0.999999990943,8.50569243267e-05,-8.67923106254e-05,-5.78408773426e-05,1793251904917319424
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.558901689,747,724,696,672,643.558901689,899,786.558901689,828,656,634,657,0.443006934534,0.00458719621176,0.0699829227657,0.999999994887,8.37927467432e-05,2.72199673469e-06,-5.65372551093e-05,1793251904933986304
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,724,696,671.97307527,643,899,786.02692473,828,656,634,657,0.44386488093,0.00458437463089,0.0700406864948,0.999999991659,8.34093158463e-05,8.18892220653e-05,-5.49387131217e-05,1793251904950653184
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,724,696,671.393424289,643,899,786.606575711,828,656,634,657,0.444673943398,0.00458552347469,0.070036334384,0.999999993111,8.13478619806e-05,6.31545894017e-05,-5.63199922405e-05,1793251904967319552
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,724,696,671.185655698,643,899.185655698,787,828,656,634,657,0.445467854242,0.00458464598142,0.0700232022257,0.999999994782,7.44595990873e-05,3.9775377279e-05,-5.75213700701e-05,1793251904983986432
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,724,696,671.763529502,643,899.763529502,787,828,656,634,657,0.446229755764,0.00457948762817,0.0699915212492,0.99999999663,5.73741701699e-05,6.58397606345e-06,-5.83426868553e-05,1793251905000654080
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.340828015,747,724.340828015,696,672,643,900,786.659171985,828.340828015,656,634,657,0.446934273679,0.00457675859698,0.0699585630636,0.999999995748,5.61270006816e-05,-4.57062305141e-05,-5.71332755689e-05,1793251905017320448
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.917728021,747,724.917728021,696,672,643,900,786.082271979,828.917728021,656,634,657,0.447599045219,0.00457571221799,0.0699247202305,0.99999999016,6.58500847769e-05,-0.000111225080604,-5.45172953617e-05,1793251905033986304
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.497967605,747,724.497967605,696,672,643,900,786,828.497967605,656,634,657,0.44825526925,0.00457663928855,0.0699094313663,0.999999986212,7.18306590198e-05,-0.000139513074472,-5.43366104802e-05,1793251905050653696
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.087027161,747.087027161,724.087027161,696,672,643.087027161,900,786.087027161,828.087027161,656,634,657,0.448920570666,0.00457712680333,0.0699059971694,0.999999984814,7.60872294835e-05,-0.000147038018694,-5.4426216777e-05,1793251905067321088
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.668944419,747.668944419,724.668944419,696,672,643.668944419,900,786.668944419,828.668944419,656,634,657,0.449645576443,0.00457324812453,0.0699524264513,0.999999993241,7.40799440757e-05,-7.17066623007e-05,-5.37494151329e-05,1793251905083986944
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,747.752448658,725,696,672,644,900,787,829,656,634,657.247551342,0.450333459176,0.00457021415604,0.0699885462994,0.99999999582,7.27241517416e-05,-1.52199409564e-05,-5.32864304644e-05,1793251905100653056
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,747.178210344,725,696,672,644,900,787,829,656,634,657.821789656,0.450972351553,0.00456829492974,0.0700110610562,0.999999995847,7.22281181648e-05,1.63980065069e-05,-5.31056147475e-05,1793251905117319680
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.602275965,747.397724035,725,696,672,643.602275965,900,786.602275965,828.602275965,656,634,658,0.451529240158,0.00456820196973,0.0699905458747,0.999999995805,7.30121371781e-05,-1.38633577134e-05,-5.35490673378e-05,1793251905133986304
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.025578316,747.974421684,725,696,672,643.025578316,900,786.025578316,828.025578316,656,634,658,0.452049227575,0.00456893081927,0.0699506674611,0.999999993172,7.43721725382e-05,-7.19700667409e-05,-5.42734370565e-05,1793251905150653184
+201,3.350000000,POSE1_TO_POSE2_PRESS,768.564799831,748,725,696,672,643,900,786.564799831,828.564799831,656,634,658,0.452530871819,0.00457360568267,0.069914040436,0.999999987844,8.65815754793e-05,-0.000117456548777,-5.49571780818e-05,1793251905167319808
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.847762391,748,725,696,672,643,900,786.847762391,828.847762391,656,634,658,0.453007442229,0.00457823245297,0.0698839738388,0.999999981457,9.73484986781e-05,-0.000156471526301,-5.59147712293e-05,1793251905183986432
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.270310644,748,725,696,672,643,900,786.270310644,828.270310644,656,634,658,0.453474811548,0.00458221336627,0.0698718096497,0.999999977038,0.000102680017201,-0.000179046970813,-5.76425266165e-05,1793251905200653312
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,695.693837282,671.693837282,643,900.306162718,786,828.306162718,656,634,657.693837282,0.453933594819,0.00458392422241,0.0698691448865,0.999999975267,0.000111199172774,-0.000183980913528,-5.70213024082e-05,1793251905217320192
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,695.118225019,671.118225019,643,900.881774981,786,828.881774981,656,634,657.118225019,0.454384821602,0.00458363723263,0.0698748404366,0.999999975986,0.000122523723022,-0.000173388814848,-5.43327738735e-05,1793251905233986816
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747.533221658,725,695,671,643,900.533221658,786,829,656,634,657.466778342,0.454780612709,0.00458504400802,0.0698809050516,0.999999976253,0.000124834390811,-0.00017029645936,-5.39334840476e-05,1793251905250652928
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.053445408,747,725,695.053445408,671,643,900,786,829,656,634,658,0.455155702611,0.00458686966683,0.0698844541508,0.999999975753,0.000124513476886,-0.000173337943607,-5.42630297622e-05,1793251905267319552
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.632600508,747,725,695.632600508,671,643,900,786,829,656,634,658,0.455468112674,0.00458850922736,0.0698623213171,0.999999967403,0.000121225102324,-0.000217646150663,-5.59412945231e-05,1793251905283986176
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,747.210955409,725,695.789044591,671,643,900,786,829,656.210955409,634,657.789044591,0.455779772274,0.0045903628026,0.0698453712577,0.999999963027,9.46229573839e-05,-0.000248303190406,-5.77811124773e-05,1793251905300652800
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,747.787921895,725,695.212078105,671,643,900,786,829,656.787921895,634,657.212078105,0.456090129774,0.00459258769669,0.0698374133987,0.999999965243,2.75710409244e-05,-0.000255275227467,-5.99012276623e-05,1793251905317319424
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,748,725,695,670.63612445,643,900,786,829,657,634,657,0.456388727725,0.00459416046497,0.0698414796634,0.999999967544,8.59497761928e-06,-0.000247369411097,-6.03836520315e-05,1793251905333986048
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,748,725,695,670.06075941,643,900,786,829,657,634,657,0.456680490894,0.00459535420896,0.069852534514,0.999999971413,1.75612570323e-05,-0.000230816382124,-5.99142281994e-05,1793251905350652928
+213,3.550000000,POSE1_TO_POSE2_PRESS,768.474656066,748,725,695.525343934,670,643,900,786,829,656.474656066,634,657.525343934,0.456923263869,0.00459664281095,0.0698585161732,0.999999973049,5.28595994092e-05,-0.000220419294611,-5.0239644362e-05,1793251905367319552
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696,670,643,900.111230593,786,829,656,633.888769407,657.888769407,0.457152274688,0.00459914667719,0.0698619880518,0.999999972478,8.62338096837e-05,-0.000214128881196,-4.19124807873e-05,1793251905383986176
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,696,670,643,900.69086581,786,829,656,633.30913419,657.30913419,0.457347689779,0.00460672099521,0.0698574133809,0.999999969539,9.8412847228e-05,-0.000222071367673,-4.38363097523e-05,1793251905400652800
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.944817134,748,725,695.944817134,669,642,901,786.944817134,829,656.055182866,634,657.055182866,0.458588519895,0.00461709167536,0.0697631931661,0.999999925065,0.000120796058478,-0.000364620360191,-4.82745267101e-05,1793251906388166400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.351853544,748,725,695.351853544,669,642,901,786.351853544,829,656.648146456,634,657.648146456,0.458587087479,0.00461757449526,0.0697629961521,0.999999924874,0.000120892882318,-0.000365081193575,-4.8505072442e-05,1793251906404833536
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.235621202,748,725,695,669,642,901,786,829,657,634,658,0.458584816617,0.00461783530493,0.0697618173659,0.999999924367,0.00012130076383,-0.000366325182356,-4.85660804728e-05,1793251906421500160
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.815085988,748,725,695,669,642,901,786,829,657,634,658,0.458581322205,0.00461777213357,0.0697592058731,0.999999923394,0.000122162573859,-0.000368712034966,-4.83796809901e-05,1793251906438166016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.607576755,748,725,695.392423245,669.392423245,642.392423245,901,786,829,656.607576755,634,658,0.458564946019,0.00461873543648,0.0697509409549,0.999999918766,0.000122758154428,-0.000380853429108,-4.84738839807e-05,1793251906454832384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.031236555,748,725,695.968763445,669.968763445,642.968763445,901,786,829,656.031236555,634,658,0.458542532533,0.00462017981696,0.0697400264464,0.999999912192,0.000123228961315,-0.000397566483173,-4.86995968707e-05,1793251906471499008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.541597025,747.458402975,725,695.458402975,669.458402975,643,901,786,829,656.541597025,634,657.458402975,0.458496522515,0.00461903986274,0.0697215244417,0.999999900305,0.00012150343494,-0.000426910448251,-4.87298326609e-05,1793251906488166144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,747.118087406,724.881912594,695.118087406,669,643,901,786,829,657,634,657.118087406,0.458446079154,0.00461818587401,0.0697028995037,0.999999888176,0.000120675184761,-0.000454647410407,-4.87953722014e-05,1793251906504833024
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,747.710059077,724.289940923,695.710059077,669,643,901,786,829,657,634,657.710059077,0.458383271051,0.00461907375742,0.0696855260523,0.999999879236,0.000123952769297,-0.000473030879628,-4.90475376515e-05,1793251906521500160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,724.294758895,696,669,642.705241105,901,786,829,656.705241105,634,658,0.45831418247,0.0046197366551,0.0696742527391,0.999999872097,0.000126229310721,-0.00048734939619,-4.86148397727e-05,1793251906538167040
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,748,724.872477905,696,669,642.127522095,901,786,829,656.127522095,634,658,0.458239064811,0.00462018357285,0.0696688353853,0.999999866852,0.000127544879184,-0.000497765673334,-4.75246926621e-05,1793251906554833664
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.549905584,748,725,696,669,642.450094416,901,786,829,656.450094416,634,658,0.458154456939,0.0046207376305,0.0696702489802,0.999999868472,0.000129913798628,-0.000494006137917,-4.62305165057e-05,1793251906571500288
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.028073025,748,725,696,669,643,900.971926975,786.028073025,829,657,634,657.971926975,0.45806628644,0.00462127815793,0.0696737507168,0.999999871988,0.000132550047682,-0.000486254807363,-4.48395858311e-05,1793251906588166912
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768.613821696,748,725,696,669,643,900.386178304,786.613821696,829,657,634,657.386178304,0.457960744963,0.00462094703104,0.0696802961471,0.999999875327,0.000134569662823,-0.00047897276985,-4.26746764783e-05,1793251906604833536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,748,725,695.802923104,669,643,900.197076896,786.802923104,829,657,634,657.197076896,0.457845449897,0.00461984784888,0.0696876475544,0.99999987938,0.000136764798239,-0.000470014772942,-4.02703411307e-05,1793251906621499904
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,748,725,695.224492958,669,643,900.775507042,786.224492958,829,657,634,657.775507042,0.457711281182,0.00461726244299,0.0696965585649,0.999999884802,0.000139299573576,-0.000457813715036,-3.74027052478e-05,1793251906638166272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,748,725,695.35341981,669.35341981,643,900.64658019,786.35341981,829,657,634,657.64658019,0.457553950755,0.00461518714029,0.0697023983047,0.999999888309,0.000140678000557,-0.000449907780399,-3.4265295105e-05,1793251906654832640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,748,725,695.931004475,669.931004475,643,900.068995525,786.931004475,829,657,634,657.068995525,0.457381929454,0.00461343538232,0.0697062900195,0.999999890644,0.000141322986557,-0.00044472612788,-3.09567739919e-05,1793251906671499264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.494421191,748,725,696,670,643,900,786.494421191,829,657,634,657.505578809,0.457170852454,0.00461277317222,0.0697045873989,0.999999888788,0.000145223922757,-0.000447870169236,-2.73055704848e-05,1793251906688166144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.081936446,748,725,696,670,643,900,786,829,657,634,658,0.456951691585,0.00461200838308,0.0697030605938,0.999999886843,0.000149455097112,-0.000451021802604,-2.35807169511e-05,1793251906704833024
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.671882902,748,725,696,670,643,900,786,829,657,634,658,0.456715260082,0.00460969117701,0.0697073292628,0.999999888101,0.00015299517798,-0.000447217745833,-1.96874590868e-05,1793251906721499648
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,748,725,696,670,642.741924541,900,786,829,656.741924541,634,658,0.45645937521,0.00460845432396,0.0697112693906,0.999999888805,0.000157571062706,-0.000444216161517,-1.52831283498e-05,1793251906738166016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,748,725,696,670,642.160436299,900,786,829,656.160436299,634,658,0.456179111946,0.00460857133857,0.0697147977996,0.999999888811,0.000163444986985,-0.000442220212951,-1.02383359412e-05,1793251906754832640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,748,725,696,670,642.415792556,900,786,829,656.415792556,633.584207444,658,0.455867049399,0.00460659669558,0.0697149730437,0.99999988741,0.000168221743095,-0.000443685619338,-4.94774442947e-06,1793251906771499008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,748,725,696,670,642.990017377,900,786,829,656.990017377,633.009982623,658,0.45554287016,0.00460382505407,0.0697138706087,0.99999988544,0.000172580437614,-0.000446469929381,4.36505471167e-07,1793251906788165632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.434409756,747.434409756,725,696,670.565590244,643,900,786,829,656.434409756,633,657.434409756,0.455166909993,0.00459249098579,0.0697101899645,0.99999988496,0.000170058661297,-0.000448479169657,5.16016581555e-06,1793251906804832512
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.145193548,724.854806452,695.854806452,671,643,900,786,829,656,633.145193548,657.145193548,0.454788760027,0.0045795838487,0.0697080014066,0.999999886722,0.000164320553741,-0.00044660264918,1.00472402842e-05,1793251906821499392
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,747.737124368,724.262875632,695.262875632,671,643,900,786,829,656,633.737124368,657.737124368,0.454406691208,0.0045623027351,0.0697105441065,0.999999895107,0.000149060854373,-0.000432812456754,1.54730725988e-05,1793251906838166272
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,724.321896868,695.321896868,671,643,900,786,828.678103132,656.321896868,634,658,0.454004575687,0.00455490455617,0.0697219437839,0.99999990475,0.000146980232462,-0.000410458433389,2.0493869121e-05,1793251906854832896
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,724.90095079,695.90095079,671,643,900,786,828.09904921,656.90095079,634,658,0.453586445211,0.0045554016568,0.0697404191263,0.999999914923,0.000155428113685,-0.000381262932838,2.51910911187e-05,1793251906871499520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,695.524947309,671,643,900,786,828.475052691,657,634,658,0.453122487238,0.00456065935534,0.0697537510234,0.999999922732,0.00016149204815,-0.00035738082223,2.71300656498e-05,1793251906888166400
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,643,900,786.049433251,829,656.950566749,634,658,0.452643035306,0.00456814061384,0.0697644580464,0.999999928896,0.000165702702662,-0.000337651493832,2.72459411334e-05,1793251906904832768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,643,900,786.637997918,829,656.362002082,634,658,0.452097737272,0.00458915880465,0.0697581129198,0.999999926193,0.000155066122905,-0.000351255595142,1.36861068994e-05,1793251906921499904
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,643,899.776934965,787,828.776934965,656,634,657.776934965,0.451532603306,0.00460023392474,0.069752481932,0.999999922855,0.000142843884779,-0.000365854126631,6.05097131096e-06,1793251906938166784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,643,899.197456272,787,828.197456272,656,634,657.197456272,0.450935775489,0.00459542198984,0.0697479919964,0.999999918788,0.00012808807995,-0.000382041559476,7.88232917887e-06,1793251906954833664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747.618999476,725,694.618999476,671,642.618999476,899,787.381000524,828,656,634,657,0.450326876872,0.00458948104148,0.0697493413082,0.999999917271,0.000118279538335,-0.000388990530256,1.24591673538e-05,1793251906971500032
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747.041070887,725,694.041070887,671,642.041070887,899,787.958929113,828,656,634,657,0.449711739228,0.00458295653912,0.0697537087568,0.999999917161,0.00011102809333,-0.000391164408832,1.84550642115e-05,1793251906988166400
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,724.46938141,694.53061859,671,642.53061859,899,786.93876282,828,656,633.46938141,657,0.449089943502,0.00458702113862,0.0697793742257,0.999999934607,0.000109704813693,-0.00034401052096,2.01843997563e-05,1793251907004833536
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,899,786.105568993,828,656.105568993,633,657,0.448452123832,0.00459039207022,0.0698033440558,0.999999949001,0.000105200013135,-0.00030079094105,2.13356023912e-05,1793251907021499904
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,899,786.697750323,828,656.697750323,633,657,0.447742791026,0.00458683153489,0.0698119875956,0.999999953296,8.39397719739e-05,-0.000293100822238,2.1326470373e-05,1793251907038165760
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.716578041,747.283421959,724.283421959,695,671.283421959,643,898.716578041,787,828,656.716578041,633,657,0.446991275244,0.00458495399732,0.069792176219,0.999999944325,6.96058738324e-05,-0.000325593946391,2.22329072328e-05,1793251907054832384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.1376926,747.8623074,724.8623074,695,671.8623074,643,898.1376926,787,828,656.1376926,633,657,0.446195784203,0.00458483096126,0.0697427009858,0.999999917766,6.24925898636e-05,-0.000399977544862,2.40938119334e-05,1793251907071499008
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.8760436,747.5619782,724.5619782,695,672,643,898,787.4380218,828,656.4380218,633.4380218,657,0.445436353675,0.00458212094558,0.0697307432325,0.999999914802,4.10359044702e-05,-0.00041010039453,2.30025674582e-05,1793251907088165632
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.987249134,747,724,695,672,643,898,787.987249134,827.987249134,657,634,657,0.444687410856,0.00457860681484,0.0697312633979,0.999999919992,1.84850058537e-05,-0.00039903501073,2.11008115241e-05,1793251907104832512
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768.412327941,747,724,695,672,643,898,787.412327941,827.412327941,657,634,657,0.443904673051,0.00457523638973,0.0697656890141,0.999999932062,0.000145053031528,-0.000338017397318,2.40853944885e-05,1793251907121499136
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724.168235823,695,671.831764177,643,898,787,827.168235823,657,633.831764177,657,0.443104959755,0.00457364448814,0.0697960343108,0.999999928688,0.000239760011848,-0.00029054522836,2.68888990708e-05,1793251907138165760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724.763108812,695,671.236891188,643,898,787,827.763108812,657,633.236891188,657,0.442262197559,0.00457656282856,0.0698160321309,0.999999928917,0.000253669061526,-0.000277423609666,2.92331992867e-05,1793251907154832384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724.655035397,695,671.344964603,642.655035397,897.655035397,787.344964603,827.655035397,656.655035397,633,657,0.44142163469,0.00457226712117,0.0698267058454,0.999999938199,0.000235636757312,-0.000259241911868,2.94954026105e-05,1793251907171499008
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724.08179364,695,671.91820636,642.08179364,897.08179364,787.91820636,827.08179364,656.08179364,633,657,0.440582527241,0.00456319758388,0.069831209418,0.999999952044,0.000196467555071,-0.000237711753414,2.83797973321e-05,1793251907188165632
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.505799023,642.494200977,896.505799023,787.505799023,826.505799023,656,633,657,0.439667303004,0.00456021637577,0.0698095926853,0.999999946567,0.000170226534671,-0.000277519205692,2.9535812901e-05,1793251907204832256
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.927521019,747.072478981,724,695,671,643,895.927521019,787,826,656,633.072478981,656.927521019,0.43873246843,0.00455842801461,0.0697785542331,0.999999933036,0.000147185298108,-0.000333637662147,3.08241988686e-05,1793251907221498880
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.336176871,747.663823129,724,695,671,643,895.336176871,787,826,656,633.663823129,656.336176871,0.437747938244,0.00455792496916,0.0697111888895,0.999999896938,0.000131647221745,-0.00043344178411,3.03536269465e-05,1793251907238165504
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.600894212,747.199552894,724,695,671,642.199552894,895,787.800447106,826,656,633.199552894,656.800447106,0.435904524354,0.00454669457408,0.0697194549816,0.999999906934,0.000115427593045,-0.000414509420906,3.14672980359e-05,1793251907271499008
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642.980458069,894.019541931,788,825.019541931,656,633.980458069,657,0.434134973823,0.00454061131585,0.0698303442066,0.999999957574,0.000110864964417,-0.000267127103396,3.46918953533e-05,1793251907304832512
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,642.432954681,894,788,825,656,633.432954681,656.432954681,0.433233863472,0.00453115887758,0.0698449418853,0.999999965189,9.71941223749e-05,-0.000242684204566,3.57833197921e-05,1793251907321499392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.848530043,747,724,695,671,642.151469957,893.848530043,788,824.848530043,656,633,656,0.432299996222,0.00452336989207,0.0698477052798,0.999999967588,8.7044710606e-05,-0.000236439164417,3.66443254749e-05,1793251907338165760
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.269246093,747,724,695,671,642.730753907,893.269246093,788,824.269246093,656,633,656,0.431275420973,0.00452098788165,0.0698214259775,0.999999957235,8.79902582573e-05,-0.000276450118139,3.69177923902e-05,1793251907354832384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.308273506,747,724,695,671,643,893,788,824,656,633,656,0.430244693979,0.0045167841219,0.0697701366449,0.999999931673,8.45426781827e-05,-0.000358050618858,3.61350191252e-05,1793251907371499008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.884260861,747,724,695,671,643,893,788,824,656,633,656,0.429208624679,0.00451099830118,0.0696971278622,0.999999883243,7.72799749243e-05,-0.000475768709319,3.44349752203e-05,1793251907388165888
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,643,893,788.461441037,823.538558963,656,633,656,0.4282833565,0.0045024239018,0.069726157066,0.999999904815,6.68375399165e-05,-0.000429771136127,3.46410043638e-05,1793251907404832512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,643,893,788.960447465,823,656,633,656.039552535,0.427387609315,0.00449348310895,0.0697807577925,0.999999939032,5.60130243704e-05,-0.000342847750454,3.54195267302e-05,1793251907421499136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,747,724,695,671,643,893,788.373600308,823,656,633,656.626399692,0.426514801058,0.0044891757467,0.0698341396157,0.99999996438,5.09659550231e-05,-0.000259300057104,3.74872705544e-05,1793251907438165504
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.789516057,747,724,695,671,643,892.789516057,788,822.789516057,656,633,656.789516057,0.425603903176,0.00448257067149,0.0698622181908,0.99999997496,4.42951899489e-05,-0.000215936655195,3.85864716203e-05,1793251907454832128
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.210272217,747,724,695,671,643,892.210272217,788,822.210272217,656,633,656.210272217,0.424626273568,0.00447194008945,0.0698459664421,0.999999969155,3.47797710905e-05,-0.000242974598958,3.79888231452e-05,1793251907471498752
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,892,788.368922426,821.631077574,656.368922426,633,656.368922426,0.423633051885,0.00446478751644,0.0698053903323,0.999999949805,2.45177554602e-05,-0.000313680195241,3.73263795398e-05,1793251907488165632
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,892,788.948088997,821.051911003,656.948088997,633,656.948088997,0.422630944537,0.00445961701668,0.069750952083,0.999999915482,1.38302643192e-05,-0.000409271421259,3.6627009788e-05,1793251907504832256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.523260315,747,724,695,671,643,892,789,821,657,633,656.476739685,0.421653300537,0.00445325869648,0.0696984901654,0.999999875738,1.64208619677e-05,-0.000496783984351,3.81980449988e-05,1793251907521498880
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,747,724,694.89987461,671.10012539,642.89987461,892,789,821,656.89987461,633,656,0.420711650998,0.00444620108633,0.0696671317267,0.999999848982,1.42675318532e-05,-0.000547998076666,3.9129538644e-05,1793251907538165760
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,747,724,694.312860378,671.687139622,642.312860378,892,789,821,656.312860378,633,656,0.419933322802,0.00443631166428,0.0697374488947,0.999999908227,-1.73116328007e-05,-0.000426568092815,3.5864081953e-05,1793251907554832128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,724,694,672.270396245,642.270396245,892,788.729603755,821,656,633,656,0.419134197515,0.00442901753903,0.0698047253181,0.999999948782,-3.28932455045e-05,-0.000316357280756,3.56781693648e-05,1793251907571498752
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,724,694,672.849364697,642.849364697,892,788.150635303,821,656,633,656,0.418311338947,0.00442468512892,0.0698685316838,0.999999974813,-3.02186856989e-05,-0.000218949633661,3.9006587571e-05,1793251907588165376
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.427315283,747,724.427315283,694,672.145369433,642.572684717,892,788,821,656.427315283,633,656.427315283,0.417459190609,0.004420161822,0.0698663437565,0.99999997338,-2.61954221214e-05,-0.000225717636439,4.0057949467e-05,1793251907604832256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.995124113,747,724.995124113,694,671.004875887,642.004875887,891.995124113,788,821,656.995124113,633,657,0.416596965234,0.00441586558765,0.069840874109,0.99999996276,-2.15877654771e-05,-0.000269059326513,4.02701378926e-05,1793251907621499136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769.421305369,747,724.421305369,694,671.578694631,642.578694631,891.421305369,788,821,656.421305369,633,657,0.415760830258,0.00444589891073,0.0698068883569,0.999999952801,-4.13502643842e-06,-0.000305097703896,3.600359098e-05,1793251907638166528
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769.157564948,747,724,694,671.842435052,643,890.842435052,788,820.842435052,656.157564948,633,657,0.414924342458,0.0044708876923,0.0697735380328,0.999999937905,1.71617319975e-05,-0.000350378924504,3.36262260747e-05,1793251907654833664
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.75038994,747,724,694,671.24961006,643,890.24961006,788,820.24961006,656.75038994,633,657,0.414086879822,0.00448194135488,0.069741943018,0.999999909429,4.90772777545e-05,-0.000421192737773,3.6467568165e-05,1793251907671499776
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.665904595,747,724,694,671,642.665904595,890.334095405,788,820.334095405,656.665904595,633,657,0.413325652317,0.00447914194288,0.0697479682863,0.999999912431,4.92256332489e-05,-0.000413919798042,3.72134104462e-05,1793251907688165888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769.088831527,747,724,694,671,642.088831527,890.911168473,788,820.911168473,656.088831527,633,657,0.412619868408,0.00446626760056,0.0697813536711,0.999999937791,2.6270652933e-05,-0.000349856677879,3.64352577688e-05,1793251907704832512
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,724.485116537,694,671.485116537,642.485116537,891,788,820.514883463,656,633,657,0.41198067696,0.00446210165867,0.0698312229013,0.999999964908,1.22456343238e-05,-0.000262202127556,3.5827545259e-05,1793251907721499648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,693.939704962,671.939704962,642.939704962,890.939704962,788,820.060295038,656,633,657,0.411349840921,0.00445940435958,0.0698782839022,0.999999982998,2.41167572246e-06,-0.000180970564434,3.53232980951e-05,1793251907738167040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,747,725,693.348691539,671.348691539,642.348691539,890.348691539,788,820.651308461,656,633,657,0.4106859045,0.0044556879714,0.0698742286529,0.999999980428,1.51665900151e-05,-0.00019405493548,3.54568051979e-05,1793251907754833664
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.237447469,747,724.762552531,693,671,642.237447469,890,788,820.762552531,656,633,657,0.410013979406,0.0044550310014,0.0698525495548,0.999999971819,1.95217740842e-05,-0.00023396966602,3.52146989101e-05,1793251907771499776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.816572336,747,724.183427664,693,671,642.816572336,890,788,820.183427664,656,633,657,0.409330558991,0.00445877641195,0.0698055104443,0.999999950512,1.17900815347e-05,-0.000312492207488,3.44320998407e-05,1793251907788165888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.607564989,747,724,693,671.392435011,642.607564989,890,788,820,656,633,657,0.408694426614,0.00446560043516,0.0697772210155,0.999999935571,1.85905840719e-05,-0.000356944225801,3.32033570216e-05,1793251907804832768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.033214471,747,724,693,671.966785529,642.033214471,890,788,820,656,633,657,0.408080214819,0.00447385156729,0.0697576231055,0.999999924635,3.21275685266e-05,-0.000385602664445,3.17678016698e-05,1793251907821499648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769.540488855,747,724,693,671.459511145,642,890,788,820,656,633,656.459511145,0.40755913627,0.00447259041156,0.0697768400147,0.999999935907,3.57436968003e-05,-0.0003548044169,3.19656010298e-05,1793251907838166272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,747,724.118033416,693,671,642.118033416,890,788,820,656,633,656.118033416,0.407048906163,0.00447083744635,0.0697958576132,0.999999945677,3.63535643913e-05,-0.000326012781662,3.2243412969e-05,1793251907854832896
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,747,724.711200628,693,671,642.711200628,890,788,820,656,633,656.711200628,0.40655933435,0.00446945500687,0.0698044826707,0.999999947904,2.73131908153e-05,-0.000319988953149,3.24397452483e-05,1793251907871499776
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,747,725,693,671,642.703048704,890,788,820,656.296951296,633,657,0.4060782466,0.00447180296781,0.0698049864051,0.999999946077,2.70602308311e-05,-0.000325628493565,3.28563345902e-05,1793251907888166656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,747,725,693,671,642.124335258,890,788,820,656.875664742,633,657,0.405605208979,0.00447769051821,0.0697977842239,0.999999940225,3.51452062137e-05,-0.000342334818498,3.3481914764e-05,1793251907904832768
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,747,725,692.547488325,671,642,889.547488325,788,820.452511675,656.547488325,633,656.547488325,0.405192477903,0.0044820863625,0.0698067895877,0.999999945326,4.1348003832e-05,-0.000326433140006,3.28474022605e-05,1793251907921499392
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,747,725,692.029363761,671,642,889,788,821,656.029363761,633,656.029363761,0.404799637657,0.00448552928918,0.0698204784797,0.999999953155,4.60579708687e-05,-0.000300925369452,3.18337016907e-05,1793251907938166272
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,747,725,692.616007027,671,642,889,788,821,656.616007027,633,656.616007027,0.404471108781,0.00447863407509,0.0698388839783,0.999999964586,3.22108835592e-05,-0.000262449702352,3.01675496236e-05,1793251907954832384
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.799911524,747,725,693,671,642.200088476,889.200088476,788,821,656.799911524,633,657,0.40414127927,0.00447307828681,0.0698510157679,0.999999971234,1.96715736446e-05,-0.000237279600278,2.90446989245e-05,1793251907971499008
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.220684413,747,725,693,671,642.779315587,889.779315587,788,821,656.220684413,633,657,0.403808985281,0.00447006051692,0.0698512597867,0.999999971374,9.6103138351e-06,-0.000237321618784,2.89513257693e-05,1793251907988166144
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,747,725,692.643152383,671,643,890,788,821,656,633,656.643152383,0.403490751285,0.00446834349817,0.0698431652422,0.999999967847,1.99650679839e-06,-0.000251933479816,2.8833914333e-05,1793251908004833024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,747,725,692.066663625,671,643,890,788,821,656,633,656.066663625,0.40318117124,0.00446742709668,0.0698299382787,0.999999961626,-4.110884216e-06,-0.000275513137262,2.87017072164e-05,1793251908021500160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.507027163,747,725,692,671.507027163,642.492972837,890,788,821,656,633,656,0.402905677908,0.0044648254809,0.0698203006408,0.999999956409,-1.39277361039e-05,-0.000293538740812,2.86884743437e-05,1793251908038166784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671.916976414,642,890,788,820.916976414,656,633,656,0.402641752175,0.0044623863601,0.0698112846759,0.999999951291,-2.30369155673e-05,-0.000309943911058,2.86707559919e-05,1793251908054833152
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671.324589718,642,890,788,820.324589718,656,633,656,0.402421450358,0.00446229608423,0.0698032033408,0.999999947808,-2.48286097731e-05,-0.000320863044387,2.85300749932e-05,1793251908071499520
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.261582034,889.738417966,788,820.261582034,656,633,656,0.402217886502,0.00446198764193,0.0697986643338,0.999999945795,-2.66518998992e-05,-0.000326883781558,2.91101533168e-05,1793251908088165632
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.840220778,889.159779222,788,820.840220778,656,633,656,0.4020346103,0.00446141476583,0.0697984188898,0.999999945673,-2.85134865056e-05,-0.000326967300815,3.05638450918e-05,1793251908104832256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.583473798,889.416526202,788.416526202,820.583473798,656.416526202,633,656,0.401874603359,0.00446273865367,0.0698003970794,0.99999994634,-2.1576067735e-05,-0.00032528122792,3.23488084021e-05,1793251908121498880
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642.008058461,889.991941539,788.991941539,820.008058461,656.991941539,633,656,0.401723472772,0.00446478608588,0.0698032235018,0.999999947211,-1.12821581594e-05,-0.000322920121909,3.42601393505e-05,1793251908138165760
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642,889.836704599,788.163295401,820.836704599,656.163295401,633,656.836704599,0.401488439849,0.00450065227155,0.0698023269423,0.999999941006,0.000127122138392,-0.000317789429159,2.89626427092e-05,1793251908171499776
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,747,725,692,671,642,889.257107801,788.742892199,820.257107801,656.742892199,633,656.257107801,0.401391395077,0.00450983986209,0.0698015514031,0.999999944014,9.91702613563e-05,-0.000319068888979,1.82330204544e-05,1793251908188166400
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769.678951544,747,725,692,671,642.321048456,889,788.678951544,820,656.678951544,633,656.321048456,0.401306221556,0.00450820691533,0.0698015170236,0.999999945395,8.02720510574e-05,-0.000320210045054,1.51996792937e-05,1793251908204832768
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.101943711,747,725,692,671,642.898056289,889,788.101943711,820,656.101943711,633,656.898056289,0.401230512508,0.0044979471784,0.0698020735417,0.999999945882,6.85919721661e-05,-0.00032124093723,1.83022808831e-05,1793251908221499136
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,747,725,692.663955747,670.336044253,642.663955747,889.663955747,788,820,656.336044253,633,656.663955747,0.400976106071,0.00450001318758,0.0698276247,0.999999960222,6.54874032428e-05,-0.000273571894093,2.06225339836e-05,1793251908588165888
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..714110acc7728b2a8432333cfbac5ea473b2d743
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..faa9551d089d10644176690d00072b8b0d407df1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ddc4b662015ac6ae6c4c85f05c1962d0f1c78c1496b8fa351614aad339bd6a
+size 26240709
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5fa5d80eeed2ad9e891524ebf58565e07946f1e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
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+54,0.900000000,BASELINE,769,747,725,692,671,642.348192213,890,788,820.651807787,656.348192213,633.348192213,656.651807787,0.400976945704,0.00449721270694,0.069832751087,0.999999962568,6.08971497527e-05,-0.000265978960713,2.02453613895e-05,1793251909785493248
+55,0.916666667,BASELINE,769,747,725,692,671,642.925192635,890,788,820.074807365,656.925192635,633.925192635,656.074807365,0.400977328716,0.00449788706972,0.0698332671377,0.999999962665,6.22417138289e-05,-0.000265321000953,2.00161598519e-05,1793251909802159616
+56,0.933333333,BASELINE,769.498506613,747,725,692,671,642.501493387,889.501493387,788,820,657,633.501493387,656,0.400977589358,0.004499506706,0.0698336634166,0.999999962777,6.26448175307e-05,-0.000264836705895,1.95565554932e-05,1793251909818826240
+57,0.950000000,BASELINE,770,747,725,692,671,642,889.073541844,788,820,657,633,656.073541844,0.400977780293,0.00450105558769,0.0698339591939,0.999999962857,6.30341537549e-05,-0.000264472170963,1.91713795913e-05,1793251909835492608
+58,0.966666667,BASELINE,770,747,725,692,671,642,889.664552138,788,820,657,633,656.664552138,0.400977609006,0.00450111582488,0.069833673341,0.99999996269,6.43134073459e-05,-0.000264768287672,1.95514074006e-05,1793251909852159232
+59,0.983333333,BASELINE,769.74985878,747,725,692,671,642,890,788,820.25014122,657,633,657,0.400977531023,0.00450098591627,0.0698334974298,0.999999962596,6.51952851188e-05,-0.000264883804879,1.98374786951e-05,1793251909868826112
+60,1.000000000,BASELINE,769.17138543,747,725,692,671,642,890,788,820.82861457,657,633,657,0.400977575507,0.00450060642476,0.0698334658264,0.999999962602,6.55555727091e-05,-0.000264762269555,2.00002239364e-05,1793251909885493504
+61,1.016666667,BASELINE,769.404232732,746.595767268,725,692,671,642.404232732,890,788,820.595767268,657,633,657,0.400977126906,0.00450031993002,0.0698332375492,0.999999962552,6.47784658019e-05,-0.000265133474901,2.01124242845e-05,1793251909902160640
+62,1.033333333,BASELINE,769.978648815,746.021351185,725,692,671,642.978648815,890,788,820.021351185,657,633,657,0.400976470716,0.00450007258725,0.0698329264715,0.999999962477,6.35225119319e-05,-0.000265712125747,2.02033450513e-05,1793251909918827520
+63,1.050000000,BASELINE,769.429757149,746.570242851,725,691.429757149,671,642.429757149,890,788.570242851,820.570242851,656.429757149,633,657,0.400976886052,0.00449984052774,0.0698331332114,0.999999962523,6.31049436505e-05,-0.000265642950914,2.01443643397e-05,1793251909935494144
+64,1.066666667,BASELINE,769.156860971,747,725,691.156860971,671,642,890,788.843139029,821,656.156860971,633,657,0.400977288958,0.00449993963056,0.0698333768879,0.999999962556,6.35054503505e-05,-0.000265426710314,2.00813041446e-05,1793251909952160512
+65,1.083333333,BASELINE,769.728565636,747,725,691.728565636,671,642,890,788.271434364,821,656.728565636,633,657,0.400977549593,0.00450091298424,0.0698336653806,0.99999996254,6.59838888536e-05,-0.000264887672435,2.00227596912e-05,1793251909968826368
+66,1.100000000,BASELINE,770,747,725,692,671,642.303304444,889.696695556,788,820.696695556,657,633,656.696695556,0.400977622444,0.00450105226728,0.0698336509364,0.999999962609,6.59678635867e-05,-0.000264647071013,1.97891711921e-05,1793251909985492736
+67,1.116666667,BASELINE,770,747,725,692,671,642.880785984,889.119214016,788,820.119214016,657,633,656.119214016,0.400977525544,0.00450043757822,0.0698333626471,0.999999962756,6.36969261804e-05,-0.000264676246216,1.93973487202e-05,1793251910002159360
+68,1.133333333,BASELINE,769.540976738,747,725,692,671,642.540976738,889,788,820,656.540976738,633,656,0.400977158369,0.00450007458635,0.0698331880018,0.999999962741,6.31963152987e-05,-0.000264842414787,1.95422235219e-05,1793251910018825984
+69,1.150000000,BASELINE,769.038365354,747,725,692,671.038365354,642.038365354,889,788,820,656,633,656,0.400976763355,0.00449981445985,0.0698330381416,0.999999962685,6.31519269546e-05,-0.000265046305444,1.98055427091e-05,1793251910035492608
+70,1.166666667,BASELINE,769.630823752,747,725,692,671.630823752,642.630823752,889,788,820,656,633,656,0.400976981707,0.00450009432142,0.0698328192694,0.999999962631,6.3045271479e-05,-0.000265280301929,1.97630784468e-05,1793251910052159488
+71,1.183333333,BASELINE,770,747,725,692,671.782702777,642.782702777,889.217297223,788.217297223,820,656,633,656,0.400976832652,0.0045001760456,0.0698325500946,0.999999962502,6.30039985108e-05,-0.000265774481808,1.97497178538e-05,1793251910068826368
+72,1.200000000,BASELINE,770,747,725,692,671.206124732,642.206124732,889.793875268,788.793875268,820,656,633,656,0.400976076124,0.004499930168,0.0698321977487,0.999999962251,6.30708294421e-05,-0.000266698850853,1.97844774743e-05,1793251910085492992
+73,1.216666667,BASELINE,770,747,725,692,671,642.369896129,890,789,820,656,633,656.369896129,0.400976089813,0.00450066074512,0.0698323858957,0.99999996223,6.37086946868e-05,-0.000266641984073,1.95642590523e-05,1793251910102159360
+74,1.233333333,BASELINE,770,747,725,692,671,642.945606933,890,789,820,656,633,656.945606933,0.40097653206,0.00450193463345,0.0698328747794,0.999999962336,6.46642903176e-05,-0.00026603914577,1.92021677653e-05,1793251910118825984
+75,1.250000000,BASELINE,770,747,725,692,671,643,890,789,820.532540148,656.532540148,633,657,0.400976208196,0.00450050457857,0.0698327794254,0.999999962332,6.36350005467e-05,-0.000266273433435,1.96280337603e-05,1793251910135492608
+76,1.266666667,BASELINE,770,747,725,692,671,643,889.881154797,788.881154797,820.881154797,657,633,657,0.400975982634,0.00449917086356,0.0698327554105,0.999999962348,6.28663751648e-05,-0.000266361574811,2.00594830687e-05,1793251910152159232
+77,1.283333333,BASELINE,770,747,725,692,671,643,889.301820648,788.301820648,820.301820648,657,633,657,0.400976447688,0.00449930357725,0.069833244007,0.999999962497,6.39101876104e-05,-0.000265545013405,2.01940133116e-05,1793251910168825856
+78,1.300000000,BASELINE,769.724128661,747,725,692,671,643,889,788,820,657,633,657,0.400977012831,0.0045000472729,0.0698336627612,0.999999962553,6.5759212693e-05,-0.000264886519079,2.01186822842e-05,1793251910185492480
+79,1.316666667,BASELINE,769.148222709,747,725,692,671,643,889,788,820,657,633,657,0.400977686829,0.00450145546577,0.0698340055558,0.999999962505,6.84839780536e-05,-0.00026439993681,1.98151084549e-05,1793251910202159360
+80,1.333333333,BASELINE,769.427614663,747,725,692,671,642.572385337,889,788,820,656.572385337,633,656.572385337,0.400977823312,0.00450087861508,0.0698336147148,0.999999962727,6.60359907227e-05,-0.00026419154849,1.97097888071e-05,1793251910218826240
+81,1.350000000,BASELINE,769.99649082,747,725,692,671,642,889,788,820,656,633,656.00350918,0.400977772839,0.00449962325464,0.0698329752599,0.999999963025,6.18266685952e-05,-0.000264083392176,1.96755192582e-05,1793251910235492864
+82,1.366666667,BASELINE,769.407095015,747,725,692,671,642,889,788,820,656,633,656.592904985,0.400977610649,0.00449994554176,0.0698332779962,0.999999962814,6.28586377635e-05,-0.000264612682304,2.00320833427e-05,1793251910252159232
+83,1.383333333,BASELINE,769.179221385,747,725,692,671,642,889,788,820,656,633.179221385,657,0.400977610859,0.0045000466593,0.069833627812,0.999999962755,6.31498319362e-05,-0.000264754501371,2.01704452313e-05,1793251910268825856
+84,1.400000000,BASELINE,769.758661291,747,725,692,671,642,889,788,820,656,633.758661291,657,0.400977973725,0.00449965388404,0.069834082761,0.999999963039,6.17868047847e-05,-0.000264031060541,1.98215407836e-05,1793251910285492736
+85,1.416666667,BASELINE,769.666134837,747,725,692,671,642.333865163,889,788,820,656.333865163,633.666134837,657,0.400977885458,0.00450033245389,0.0698339836397,0.999999962908,6.32174569671e-05,-0.000264196023721,1.97123351524e-05,1793251910302159616
+86,1.433333333,BASELINE,769.093954705,747,725,692,671,642.906045295,889,788,820,656.906045295,633.093954705,657,0.400977475171,0.00450177575639,0.0698334890196,0.999999962473,6.66422543982e-05,-0.000264995135085,1.97742280038e-05,1793251910318826752
+87,1.450000000,BASELINE,769.484293117,747,725,692,671,643,889.484293117,788,820,657,633,656.515706883,0.400977549792,0.00450193531767,0.0698334568819,0.99999996258,6.69694085813e-05,-0.000264524467202,1.95279074212e-05,1793251910335493120
+88,1.466666667,BASELINE,770,747,725,692,671,642.93489734,889.93489734,788.06510266,820,657,633,656,0.400977804965,0.00450168387856,0.0698335588214,0.999999962804,6.63319536219e-05,-0.000263859175647,1.92716982137e-05,1793251910352160000
+89,1.483333333,BASELINE,770,747,725,692,671,642.343005171,889.343005171,788.656994829,820,657,633,656,0.400978750236,0.00450014756439,0.0698340104461,0.999999963086,6.28136222534e-05,-0.000263637663013,1.94254506022e-05,1793251910368826624
+90,1.500000000,BASELINE,769.758091525,747,725,691.758091525,671,642.241908475,889.241908475,788.758091525,820.241908475,657,633,656.241908475,0.400978642465,0.00449925025051,0.0698340780688,0.999999963067,6.15163223109e-05,-0.000263995278472,1.97286431345e-05,1793251910385492992
+91,1.516666667,BASELINE,769.182795421,747,725,691.182795421,671,642.817204579,889.817204579,788.182795421,820.817204579,657,633,656.817204579,0.400977083438,0.00449923357887,0.0698336164765,0.999999962641,6.3279950572e-05,-0.000265151022839,2.02377874935e-05,1793251910402159360
+92,1.533333333,BASELINE,769.392338517,747,725,691.392338517,671,642.607661483,890,788,820.607661483,657,633,657,0.400976768808,0.00449830419653,0.0698333528639,0.999999962679,6.15176802859e-05,-0.000265420845323,2.02230094376e-05,1793251910418826240
+93,1.550000000,BASELINE,769.967396981,747,725,691.967396981,671,642.032603019,890,788,820.032603019,657,633,657,0.400977033719,0.00449694974643,0.0698331814543,0.999999962926,5.81133282106e-05,-0.000265278076247,1.99642302089e-05,1793251910435493376
+94,1.566666667,BASELINE,769.441993393,746.441993393,725,692,671.558006607,642.558006607,889.441993393,788,820,656.441993393,633,657,0.400976617497,0.0044982820496,0.069833582658,0.99999996282,6.02349727206e-05,-0.000265207030451,1.99329226826e-05,1793251910452159488
+95,1.583333333,BASELINE,769,746.146246186,725,692,671.853753814,643,889,788,820,656,633,657,0.400976400542,0.00449930837783,0.0698337390175,0.999999962705,6.20526793852e-05,-0.000265225427674,1.98932342806e-05,1793251910468825856
+96,1.600000000,BASELINE,769,746.724718914,725,692,671.275281086,643,889,788,820,656,633,657,0.400976893502,0.00449895315323,0.069833070032,0.999999962639,6.1990514244e-05,-0.000265495430908,1.97883702291e-05,1793251910485492736
+97,1.616666667,BASELINE,769.301074512,747,725,692,671.301074512,642.698925488,889,788,820,656,633,657,0.400977020185,0.00449912645742,0.0698328668233,0.999999962446,6.3129966881e-05,-0.000265955205038,1.97496787038e-05,1793251910502159360
+98,1.633333333,BASELINE,769.875507839,747,725,692,671.875507839,642.124492161,889,788,820,656,633,657,0.40097681431,0.0044997796362,0.0698330865137,0.999999962134,6.53604212472e-05,-0.000266587280511,1.97710681371e-05,1793251910518826240
+99,1.650000000,BASELINE,770,746.539531299,725,692,671.539531299,642,889,788,820,656.460468701,633,656.539531299,0.400977474734,0.0045011864345,0.069833766784,0.99999996242,6.6157705446e-05,-0.000265315574743,1.97916579904e-05,1793251910535492864
+100,1.666666667,BASELINE,770,746.047587738,725,692,671,642,889.047587738,788,820,657,633,656,0.400978373354,0.00450258735607,0.0698345303324,0.999999962855,6.6369807188e-05,-0.000263613746642,1.97961295158e-05,1793251910552159488
+101,1.683333333,BASELINE,770,746.626284607,725,692,671,642,889.626284607,788,820,657,633,656,0.400979255258,0.0045015955251,0.0698348010547,0.999999963147,6.44765101167e-05,-0.000262990327303,1.9623179444e-05,1793251910568826112
+102,1.700000000,BASELINE,770,747,725,692,671,642,889.794876058,788,820,656.794876058,633.205123942,656.205123942,0.40097970167,0.00450081230029,0.0698348324982,0.999999963364,6.29252311863e-05,-0.000262549638364,1.94751141191e-05,1793251910585492736
+103,1.716666667,BASELINE,770,747,725,692,671,642,889.215777047,788,820,656.215777047,633.784222953,656.784222953,0.400979354105,0.00450040939932,0.0698344276965,0.999999963453,6.19975084294e-05,-0.000262442097412,1.93724178467e-05,1793251910602159360
+104,1.733333333,BASELINE,769.639216438,747,725,692,671,642.360783562,889.360783562,788.360783562,820,656,633.639216438,657,0.400978321406,0.00450077576371,0.0698336710173,0.999999963003,6.31625569337e-05,-0.000263863648824,1.95142793454e-05,1793251910618825984
+105,1.750000000,BASELINE,769.064163332,747,725,692,671,642.935836668,889.935836668,788.935836668,820,656,633.064163332,657,0.400976881806,0.00450159899516,0.0698327053579,0.999999962225,6.55705032869e-05,-0.000266193328973,1.98013838213e-05,1793251910635492608
+106,1.766666667,BASELINE,769.520994535,747,725,692,671,642.479005465,890,787.958010929,820,656.520994535,633,656.479005465,0.400976818244,0.00450022178551,0.0698332327665,0.999999962434,6.43881367003e-05,-0.000265678748815,2.00072707521e-05,1793251910652159488
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,643,889,788,820,656,633,657,0.400979897938,0.00450014177622,0.0698351262882,0.999999963427,6.54129620479e-05,-0.000261664101249,1.99626202541e-05,1793251910694396672
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.425374569,747,725,692,671,643,889,788,820.574625431,656,633,656.425374569,0.400979664769,0.00449976839954,0.0698354332947,0.999999963237,6.68030512944e-05,-0.000262024404481,2.01570495921e-05,1793251910711063296
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,691.850692748,671,643,889,788,821,656,633,656.149307252,0.400979486032,0.00449951965078,0.069835458898,0.99999996317,6.7000129911e-05,-0.000262223948596,2.02162860698e-05,1793251910727729920
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,691.275850079,671,643,889,788,821,656,633,656.724149921,0.400979462431,0.00449962609966,0.0698346824839,0.999999963454,6.37970506579e-05,-0.000261965318821,1.98902141141e-05,1793251910744396032
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725,691.615767316,670.692116342,643,889.307883658,788,821,656.307883658,633,657,0.400979374865,0.00450052737354,0.069834275859,0.999999963474,6.40036040309e-05,-0.000261853306173,1.97208769517e-05,1793251910761062656
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725,692.799640491,670.100179755,643,889.899820245,788,821,656.899820245,633,657,0.400979228285,0.00450216195158,0.0698342104011,0.999999963248,6.73558787481e-05,-0.000261876562251,1.96961430577e-05,1793251910777729280
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.479998443,747,725,692.520001557,670.479998443,642.520001557,889.520001557,788,820.520001557,656.520001557,633,657,0.400977386724,0.00450140776627,0.069833423322,0.999999962706,6.66566953316e-05,-0.00026410645815,1.9819868835e-05,1793251910794396160
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746.942510428,725,692,671,642,889,788,820,656,633,656.942510428,0.40097554977,0.00450029020427,0.0698326374552,0.999999962135,6.53430465821e-05,-0.000266575599839,1.99198542371e-05,1793251910811063296
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746.367644159,725,692,671,642,889,788,820,656,633,656.367644159,0.400976861796,0.00450028189727,0.0698331854879,0.999999961951,6.5927298917e-05,-0.000267152269798,1.95340086693e-05,1793251910827729664
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746.21198492,725,692,671,642,889.21198492,788,820,656.21198492,633,656.21198492,0.400982453814,0.00450056235689,0.069835934213,0.999999962742,6.66274763677e-05,-0.000264005986915,1.94242552493e-05,1793251910844396032
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746.800063901,725,692,671,642,889.800063901,788,820,656.800063901,633,656.800063901,0.400995639201,0.0045013551332,0.0698425873069,0.999999965201,6.75333228511e-05,-0.000254254609345,1.98043320744e-05,1793251910861062656
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.61788864,747,725,692,671,642,890,788,820,657,633,657,0.401026284334,0.00450071407675,0.0698547935772,0.999999970617,6.56597691982e-05,-0.000232510063183,1.98588446732e-05,1793251910877729536
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.038948021,747,725,692,671,642,890,788,820,657,633,657,0.401065923153,0.00449933443925,0.069869860343,0.999999976933,6.23545196903e-05,-0.000204587718836,1.97456560119e-05,1793251910894396416
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.538357695,747,725,692,671,642,890,788,820,657,633,657,0.40111982592,0.00449952347338,0.0698837480778,0.999999980299,6.17258341721e-05,-0.000187646724916,1.95065532513e-05,1793251910911063040
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.885192077,747,725,692,671,642.114807923,889.885192077,788,820,656.885192077,633,656.885192077,0.40117818786,0.00449999582417,0.0698961848057,0.999999983086,6.1634612884e-05,-0.000172240146751,1.90513170143e-05,1793251910927729408
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.311688506,747,725,692,671,642.688311494,889.311688506,788,820,656.311688506,633,656.311688506,0.401250255234,0.00450114807306,0.0699031640483,0.999999985095,6.29194307329e-05,-0.000159799555373,1.77688407432e-05,1793251910944396288
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.269475272,747,725,692.269475272,671,643,889.269475272,788,820,656,633,656.269475272,0.401329990441,0.00450175941935,0.0699078806372,0.999999986511,6.15273092982e-05,-0.000151436745636,1.61304677039e-05,1793251910961062912
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.859758422,747,725,692.859758422,671,643,889.859758422,788,820,656,633,656.859758422,0.40141885413,0.00450172682591,0.069909903557,0.999999987338,5.6948315741e-05,-0.000147928498898,1.40684028533e-05,1793251910977729792
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,788,820,656.441336236,633.441336236,657,0.401519633665,0.00450139766444,0.0699085878685,0.999999987054,5.34827368512e-05,-0.000151291719853,1.195569802e-05,1793251910994396416
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,747,725,692.979909669,671,642.979909669,890,788,820.020090331,656.979909669,633.979909669,657,0.401625279416,0.00450100816474,0.0699063766682,0.999999986434,5.04002675783e-05,-0.000156511138803,9.80072319956e-06,1793251911011062528
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,725,692.40422418,671,642.40422418,890,788,820.59577582,656.40422418,633.40422418,657,0.401762811534,0.00450150577869,0.069908171618,0.999999986974,4.83174720796e-05,-0.000153846631304,6.91318144191e-06,1793251911027729152
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.828113651,747,725,692,671,642,890,788,820.828113651,656,633,656.828113651,0.401910508959,0.00450287432903,0.0699104572325,0.999999987565,4.60347982932e-05,-0.000150792162293,3.60922366298e-06,1793251911044396032
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.251001163,747,725,692,671,642,890,788,820.251001163,656,633,656.251001163,0.40208217132,0.00450629613247,0.0699138996003,0.999999988285,4.32809070047e-05,-0.000146818350155,-6.76444341069e-07,1793251911061062656
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.332477877,747,725,692.332477877,671,642.332477877,889.667522123,788,820,656.332477877,633,656,0.402272403744,0.00450747124623,0.0699175425415,0.999999989274,3.96805456874e-05,-0.000140908840237,-4.72811905228e-06,1793251911077729536
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.920857183,747,725,692.920857183,671,642.920857183,889.079142817,788,820,656.920857183,633,656,0.402476929185,0.00450691712921,0.0699213398602,0.999999990423,3.54286733876e-05,-0.000133509462852,-8.59969436112e-06,1793251911094396672
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,746.498588855,725,692.498588855,671,642.498588855,890.00282229,788,820,656.498588855,633,656,0.402711262946,0.00450784691714,0.069923069524,0.999999991206,2.84084472196e-05,-0.000128790446518,-1.38938938087e-05,1793251911111063296
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746.080278038,725,692,671,642,890.919721962,788,820,656.080278038,633.080278038,656.080278038,0.402954829853,0.0045092636983,0.0699245084074,0.999999991826,2.13458458162e-05,-0.000124567280242,-1.93967102152e-05,1793251911127729664
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746.656237606,725,692,671,642,890.343762394,788,820,656.656237606,633.656237606,656.656237606,0.403226802904,0.00451226346814,0.0699261360075,0.999999992252,1.66781524868e-05,-0.00012083364765,-2.48224724156e-05,1793251911144396032
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.763654241,746.763654241,725,692.236345759,671,642,890,788,820,656.763654241,633.763654241,656.763654241,0.403523658721,0.00451377951548,0.0699325705081,0.999999993544,1.04862290048e-05,-0.000109072870265,-3.01017578674e-05,1793251911161062400
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.17740424,746.17740424,725,692.82259576,671,642,890,788,820,656.17740424,633.17740424,656.17740424,0.40385735286,0.00451309894698,0.0699461215096,0.999999995731,2.03771952757e-06,-8.54280972633e-05,-3.51641876608e-05,1793251911177729024
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.404016377,746.404016377,725,693,671,642.404016377,890,788,820,656,633,656.404016377,0.404204651196,0.00450435338279,0.069951624097,0.999999996107,-1.48076859923e-05,-7.80782421787e-05,-3.83472067903e-05,1793251911194395648
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.983341439,746.983341439,725,693,671,642.983341439,890,788,820,656,633,656.983341439,0.404557852586,0.00449210829764,0.069953634358,0.999999995522,-3.52966287312e-05,-7.77989936999e-05,-4.07147216838e-05,1793251911211062272
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,788.560690249,820,656,633,657,0.404961997229,0.00447863494247,0.0699590189969,0.999999995997,-4.46732418369e-05,-6.61033354235e-05,-4.05152362228e-05,1793251911227729408
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,788.86239813,820,656,633,657,0.405371421118,0.00447288445014,0.0699626949403,0.999999997118,-3.16265268144e-05,-5.78203443689e-05,-3.7691861724e-05,1793251911244396288
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,788.286692283,820,656,633,657,0.405792851218,0.00449183819207,0.069960612572,0.999999996412,5.17652698429e-05,-6.14789227394e-05,-2.67563850198e-05,1793251911261063168
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,788,820.29694608,656,633,657,0.406236651401,0.00450183767978,0.0699540536988,0.999999992519,9.47353632307e-05,-7.37817956404e-05,-2.33198110853e-05,1793251911277729792
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,643,890,788,820.888453319,656,633,657,0.406702642052,0.00450295483161,0.0699430542733,0.999999990383,9.76084104628e-05,-9.46595371853e-05,-2.73219113154e-05,1793251911294396160
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,747,725.44881533,693.44881533,671,643,890.897630661,788,821,656,633.44881533,657,0.407211360503,0.00450558677817,0.0699313574182,0.999999993794,7.86818940586e-06,-0.000106785268904,-3.07748519828e-05,1793251911311062784
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,747,726,694,671,643,891.997909445,788,821,656.002090555,634,657,0.407730255228,0.00450860095556,0.0699195853895,0.999999987312,-0.000102874210048,-0.000116751834939,-3.40922082667e-05,1793251911327729408
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,747,726,694,671,643,891.401524639,788,821,656.598475361,634,657,0.408319087878,0.00452019473655,0.0699325208696,0.999999993099,-6.52584812113e-05,-9.1147930375e-05,-3.5148220975e-05,1793251911344396032
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,726,693.806299733,671,643,891.193700267,788,821,657,634,657,0.40891824433,0.00452868105116,0.0699450586144,0.999999996756,-3.17578358145e-05,-6.44540985983e-05,-3.64075321378e-05,1793251911361062656
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,726,693.213464929,671,643,891.786535071,788,821,657,634,657,0.409538673749,0.00453076418773,0.0699567767935,0.999999998621,-6.73664388034e-06,-3.55143884131e-05,-3.80857556812e-05,1793251911377729792
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,747,725.629168402,693.741663197,671,642.629168402,892,788.370831598,821,657,634,657,0.410172357251,0.00453853630483,0.069953091744,0.999999998191,2.22614161532e-05,-3.93566438318e-05,-3.96563535819e-05,1793251911394396672
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,747,725.049676235,694.90064753,671,642.049676235,892,788.950323765,821,657,634,657,0.410813498578,0.00454950951346,0.069940739562,0.999999995822,5.34971906616e-05,-6.16447489272e-05,-4.11663923001e-05,1793251911411062784
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.527277283,747,725.527277283,694.472722717,671.527277283,642.527277283,892,789,821,657,634,657,0.41150800266,0.0045559806775,0.0699500144324,0.999999995614,6.7121652308e-05,-5.02026303633e-05,-4.17974146551e-05,1793251911427729408
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.793225199,747,725.896612599,694,671.896612599,643,892,789,821,657,633.896612599,657,0.41221952481,0.00456187138116,0.0699654990867,0.999999995772,7.66607042704e-05,-2.80602221245e-05,-4.23347020927e-05,1793251911444395776
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.646509025,747,725.323254513,694,671.323254513,643,892,789,821,657,633.323254513,657,0.412985662294,0.0045670423003,0.0699999939739,0.999999995859,7.51347764273e-05,2.83464917491e-05,-4.28205444834e-05,1793251911461062400
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,725.257584296,694,671,643,892.257584296,788.742415704,821.257584296,656.742415704,633,657,0.413743675405,0.00457337451265,0.0700219950525,0.999999994257,7.59364423305e-05,6.19678338253e-05,-4.33498234827e-05,1793251911477729024
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,725.848091889,694,671,643,892.848091889,788.151908111,821.848091889,656.151908111,633,657,0.414491188008,0.00458120767733,0.0700278481023,0.999999993668,7.97464833636e-05,6.61394805074e-05,-4.39352437595e-05,1793251911494395904
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.429958408,747,725.570041592,694,671,643,893,788.429958408,821.570041592,656.429958408,633.429958408,657,0.415235991789,0.00458933162676,0.0699865902285,0.999999994174,9.76824692769e-05,-8.82055920597e-06,-4.50920460662e-05,1793251911511062784
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.991201849,747,725.008798151,694.008798151,671.008798151,643,893.017596301,788.991201849,821.008798151,657,633.991201849,657,0.415981249306,0.00459752943186,0.0699296967836,0.999999985673,0.000120102779874,-0.000109869054443,-4.64503799706e-05,1793251911527729664
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.41455147,747,725.58544853,694.58544853,671.58544853,643,894.17089706,788.41455147,821.58544853,657,633.41455147,657,0.416816348078,0.0046039938527,0.0699167698801,0.999999984183,0.000116179045351,-0.000125808957313,-4.80433255465e-05,1793251911544396288
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725.839146515,695,671.839146515,643,894.839146515,788.160853485,822.160853485,656.839146515,633.160853485,657.160853485,0.417663220164,0.00461005183931,0.0699172844049,0.999999984732,0.000114881275283,-0.000122124370809,-4.92334503395e-05,1793251911561062912
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725.266926642,695,671.266926642,643,894.266926642,788.733073358,822.733073358,656.266926642,633.733073358,657.733073358,0.418540201249,0.00461507041144,0.069952174013,0.999999989215,0.00012029914169,-6.82521522838e-05,-4.93934018882e-05,1793251911577729280
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.316217452,747,725.316217452,695,671,643,894.316217452,788.683782548,823.316217452,656,633.683782548,657.683782548,0.419435224055,0.00461962842067,0.0699854741381,0.999999989885,0.000132021351274,-1.84932489986e-05,-4.95813883297e-05,1793251911594395904
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.908912874,747,725.908912874,695,671,643,894.908912874,788.091087126,823.908912874,656,633.091087126,657.091087126,0.420346021207,0.0046237837463,0.0700173845309,0.999999987239,0.000149255628291,2.76692621308e-05,-4.97938864728e-05,1793251911611062528
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.510233823,747,725.510233823,695.489766177,671,643,895.489766177,788,824,656,633.489766177,657,0.421291058732,0.00461885688451,0.0700345687024,0.999999989001,0.000128753757287,5.30904598108e-05,-5.10088129256e-05,1793251911627729152
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.06798271,747,725,696,671.06798271,643,896,788.06798271,824.06798271,656,633.93201729,657.06798271,0.422228534239,0.00460989924384,0.0700398884739,0.999999991605,0.000102185561932,6.0149927047e-05,-5.22525407424e-05,1793251911644395776
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.642574582,747,725,696,671.642574582,643,896,788.642574582,824.642574582,656,633.357425418,657.642574582,0.423063322262,0.00458319427705,0.0699767221238,0.999999994447,8.14760804522e-05,-4.15553159683e-05,-5.23543952337e-05,1793251911661062912
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.783559571,747,725,696,671.783559571,643,896,788.783559571,825,656,633.216440429,657.783559571,0.423914419431,0.00456561254831,0.069913408568,0.999999986846,6.74868585386e-05,-0.000137736366334,-5.27458478257e-05,1793251911677729792
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.210888567,747,725,696,671.210888567,643,896,788.210888567,825,656,633.789111433,657.210888567,0.4247923593,0.00456304638499,0.0698498527221,0.999999971206,6.45582383703e-05,-0.000224825387117,-5.36139387501e-05,1793251911694396672
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896,788,825,656.37787085,633.62212915,657.37787085,0.425751833539,0.00456800717509,0.0698643595426,0.999999976868,6.19669757768e-05,-0.000198842823774,-5.37233984967e-05,1793251911711062784
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,896,788,825,656.976008414,633.023991586,657.976008414,0.42675883536,0.00457735554196,0.0699243702926,0.999999991081,5.95723640289e-05,-0.000106949093595,-5.33906402328e-05,1793251911727728896
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,747,725.552643828,696,671,643,896.552643828,788,825.552643828,657,633.552643828,658,0.427797980867,0.00458186845952,0.0699838798456,0.999999994992,8.13319495719e-05,-2.78801016111e-05,-5.12284448854e-05,1793251911744395776
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747.127695376,725.872304624,696,671,643,897.127695376,788.127695376,826,657,634,657.872304624,0.428828872809,0.00458487648902,0.0700355058429,0.999999993128,9.64925690838e-05,4.42651054291e-05,-4.97361255407e-05,1793251911761062400
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.700358672,725.299641328,696,671,643,897.700358672,788.700358672,826,657,634,657.299641328,0.429826323857,0.00458334466622,0.0700597337408,0.999999990651,8.51413159589e-05,9.41510592714e-05,-5.08444440628e-05,1793251911777729280
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.71783318,725,696,671,643,898,788.71783318,826.28216682,657,634,657,0.430751530781,0.00458215858665,0.070038744669,0.999999993462,8.18209469179e-05,6.10408104029e-05,-5.15366348905e-05,1793251911794396160
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.125988604,725,696,671,643,898,788.125988604,826.874011396,657,634,657,0.431597449798,0.00458135195999,0.0699681300241,0.999999992853,8.73144637978e-05,-6.31576781678e-05,-5.17721255106e-05,1793251911811063040
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,898.45573267,788,827,657,634,657,0.432495110595,0.00457534249615,0.0699132612479,0.999999984037,8.08598481498e-05,-0.000150391998754,-5.26328827759e-05,1793251911827729664
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747,725,696.03444571,671.03444571,643,898.96555429,788,827,656.96555429,634,657.03444571,0.433415118034,0.00456847329269,0.0698697224475,0.999999972687,7.15947344975e-05,-0.000215918236958,-5.36567537375e-05,1793251911844396288
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,747,725,696.608918315,671.608918315,643,898.391081685,788,827,656.391081685,634,657.608918315,0.434466084552,0.00457018514779,0.0699370492519,0.999999991348,6.8927084187e-05,-9.78391335892e-05,-5.45867666791e-05,1793251911861062400
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,747.18757038,725,696.81242962,672,643,898.18757038,787.81242962,827,656,634,657.81242962,0.435490255775,0.00457252399123,0.069995364301,0.999999996063,6.95644155634e-05,2.27262070038e-06,-5.50392569208e-05,1793251911877729024
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.775135267,725,696.224864733,672,643,898.775135267,787.224864733,827,656,634,657.224864733,0.436457286131,0.00457619988985,0.0700344617625,0.99999999348,7.72496332771e-05,6.40689586764e-05,-5.44734296934e-05,1793251911894395648
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.642673934,725,696,672,643,899,787,827,656,634,657.357326066,0.437398165089,0.00457648287323,0.0700423270681,0.999999991985,7.45965593477e-05,8.64507985535e-05,-5.46974063694e-05,1793251911911062528
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.063814966,725,696,672,643,899,787,827,656,634,657.936185034,0.4383228308,0.00457466233686,0.070030829244,0.999999992756,6.55340121629e-05,8.43966673868e-05,-5.54110411198e-05,1793251911927729664
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.486359009,747,725,696.513640991,671.486359009,643,899,787,827.513640991,656,634,657.486359009,0.439139811627,0.00457888951269,0.0699595906374,0.999999995289,7.22355168878e-05,-3.29856654756e-05,-5.58119723011e-05,1793251911944396800
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747.08955532,724.91044468,696.91044468,671.08955532,643,899,787,828,656.08955532,634,657,0.439952750837,0.00458266757583,0.0698891498485,0.999999984066,7.92613588924e-05,-0.000149784173844,-5.61284542313e-05,1793251911961063680
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747.658153142,724.341846858,696.341846858,671.658153142,643,899,787,828,656.658153142,634,657,0.440815440905,0.00458003505547,0.0698625709054,0.999999977923,7.75742336076e-05,-0.000187024008057,-5.6200460707e-05,1793251911977729536
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.237698016,747.762301984,724.237698016,696,672,643.237698016,899.237698016,787,828,657,634,657.237698016,0.441711184417,0.00457772581593,0.0698791957317,0.999999983192,7.48740770814e-05,-0.000157644558884,-5.61902414013e-05,1793251911994395648
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.833746472,747.166253528,724.833746472,696,672,643.833746472,899.833746472,787,828,657,634,657.833746472,0.442656758791,0.00457590395061,0.0699609540016,0.999999995546,7.06466872046e-05,-2.78307384473e-05,-5.60560590003e-05,1793251912011062016
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.580868669,747,725,696,672,644,899.580868669,787,828,657,634,657.580868669,0.443544226003,0.00457334767805,0.0700126119056,0.999999995216,6.79474526259e-05,4.37114910839e-05,-5.51416527477e-05,1793251912027728640
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.00038593,724.99961407,696,672,644,899.00038593,787,828,657,634,657.00038593,0.444409163829,0.00457050833394,0.0700525849394,0.999999992087,6.58302546446e-05,9.26553171425e-05,-5.39272283945e-05,1793251912044395264
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.57361221,724.42638779,696,672,644,899.57361221,787,828,657,634,657.57361221,0.44519630694,0.00456917188165,0.0700310597517,0.999999995645,5.0227641712e-05,5.58706863504e-05,-5.53675394857e-05,1793251912061061888
+190,3.166666667,POSE1_TO_POSE2_PRESS,768.146768461,747.853231539,724,696,672,644,900.146768461,787,828.146768461,657,633.853231539,657.853231539,0.445971558109,0.00456834647847,0.0700061683779,0.999999997401,4.14679291743e-05,1.73454273836e-05,-5.63620787967e-05,1793251912077728512
+191,3.183333333,POSE1_TO_POSE2_PRESS,768.719721498,747.280278502,724,696,672,644,900.719721498,787,828.719721498,657,633.280278502,657.280278502,0.44671227778,0.0045690050536,0.0699715023064,0.999999996702,5.25785489994e-05,-2.62342561969e-05,-5.60621916025e-05,1793251912094395392
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.695169122,747,724.304830878,696,672,643.695169122,900.695169122,787,829,656.695169122,633.304830878,657.304830878,0.447409586512,0.00456836603981,0.0699367959951,0.999999993064,6.04899278839e-05,-8.51607255909e-05,-5.44186110893e-05,1793251912111062016
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.098418308,747,724.901581692,696,672,643.098418308,900.098418308,787,829,656.098418308,633.901581692,657.901581692,0.448065322906,0.00456648439573,0.0699020511504,0.999999983934,6.53375670741e-05,-0.000158783973321,-5.14882485161e-05,1793251912127728640
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,725,696,672,643.481141475,900,787,828.518858525,656,634,658,0.448772285207,0.00456442598042,0.0699109536536,0.999999986669,6.62551758694e-05,-0.000140108292153,-5.13922066081e-05,1793251912144395264
+195,3.250000000,POSE1_TO_POSE2_PRESS,768.057154768,747,725,696,672,644,900,787,828,656,634,658,0.449488680256,0.00456262967278,0.0699315965126,0.999999991516,6.65026381932e-05,-9.92806749891e-05,-5.18600533611e-05,1793251912161062144
+196,3.266666667,POSE1_TO_POSE2_PRESS,768.631797797,747,725,696,672,644,900,787,828,656,634,658,0.450198881151,0.0045635226231,0.0699804902583,0.999999996074,6.77099853497e-05,-2.29305644597e-05,-5.23652374131e-05,1793251912177729792
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.793735843,747,724.793735843,696,672,643.793735843,900.206264157,786.793735843,828,656,634,658,0.450868232727,0.00456417893682,0.0700078390856,0.999999996085,6.84967882033e-05,1.83216070333e-05,-5.29407232336e-05,1793251912194397184
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.219584648,747,724.219584648,696,672,643.219584648,900.780415352,786.219584648,828,656,634,658,0.451464726512,0.00456441319198,0.0699967609876,0.999999996208,6.85335203148e-05,-3.02594174157e-06,-5.36415977181e-05,1793251912211063040
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747.36737346,724.36737346,696,672,643.36737346,900.63262654,786.36737346,828.36737346,656,634,657.63262654,0.452013001223,0.00456559851155,0.0699665640462,0.999999994655,7.68029130515e-05,-4.52006964266e-05,-5.24228998067e-05,1793251912227729664
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747.962263004,724.962263004,696,672,643.962263004,900.037736996,786.962263004,828.962263004,656,634,657.037736996,0.452531413697,0.00456737282973,0.0699245267154,0.999999989656,9.01708304539e-05,-0.000100273838139,-5.00154017637e-05,1793251912244396544
+201,3.350000000,POSE1_TO_POSE2_PRESS,768.538970484,748,725,696.538970484,671.461029516,644,900,787,829,656,634,657.538970484,0.453015428149,0.00457100186391,0.0698914917927,0.999999983226,9.21706501924e-05,-0.000149240735009,-5.27228054051e-05,1793251912261068800
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.885928103,748,725,696.885928103,671,644,900,786.885928103,829,656.114071897,634,658,0.453496358734,0.00457460574466,0.0698657500848,0.999999976372,9.44911392803e-05,-0.000187828914662,-5.52032404957e-05,1793251912277738496
+203,3.383333333,POSE1_TO_POSE2_PRESS,768.312335377,748,725,696.312335377,671,644,900,786.312335377,829,656.687664623,634,658,0.453974252,0.00457760224554,0.0698669316614,0.999999975997,0.000101205151182,-0.00018627414099,-5.53737821812e-05,1793251912294400000
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643.731463402,900.268536598,786.268536598,829,656.731463402,634,657.731463402,0.454434901376,0.00458071669457,0.0698730166309,0.999999976457,0.000109286852698,-0.000179305822298,-5.46927268198e-05,1793251912311063808
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643.141889055,900.858110945,786.858110945,829,656.141889055,634,657.141889055,0.454874935511,0.00458397215142,0.0698849636477,0.999999977759,0.00011900363816,-0.00016586556535,-5.29935800519e-05,1793251912327730432
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.44085914,748,725,695.55914086,671,643,901,786.55914086,829,656,634,657.44085914,0.455255388614,0.00458852997587,0.0698748871663,0.999999973038,0.000121734474314,-0.000190143867641,-5.43111648474e-05,1793251912344396800
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,748,725,695,671,643,901,786,829,656.021322844,634,658,0.455615756239,0.0045935887848,0.0698578257809,0.999999965432,0.000121854808493,-0.000226009248447,-5.66313694429e-05,1793251912361062912
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,748,725,695,671,643,901,786,829,656.598631342,634,658,0.455944784652,0.00460094771952,0.0698406394295,0.999999960132,0.000111639671617,-0.000252294444433,-6.01640232503e-05,1793251912377729024
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.825297245,748,725,695.174702755,671,643,901,786.174702755,829,656.825297245,634,658,0.456272537331,0.00460754329243,0.069832024037,0.999999958758,9.13828680842e-05,-0.000264866456803,-6.30847188496e-05,1793251912394395648
+210,3.500000000,POSE1_TO_POSE2_PRESS,768.252048056,748,725,695.747951944,671,643,901,786.747951944,829,656.252048056,634,658,0.456597379656,0.00461239741994,0.0698429614304,0.999999966454,4.82181818971e-05,-0.000246154812052,-6.46093640739e-05,1793251912411062528
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,747.668249996,725,696,670.668249996,643,901,786.668249996,829.331750004,656,634,658,0.456900470755,0.00461729039171,0.0698534428455,0.999999971132,4.19603884853e-05,-0.000227995573213,-6.31862027277e-05,1793251912427729920
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,747.076174124,725,696,670.076174124,643,901,786.076174124,829.923825876,656,634,658,0.457186493594,0.00462221384527,0.0698635664534,0.999999974035,6.46636116726e-05,-0.000210269808172,-5.94498831965e-05,1793251912444397568
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,747.50346641,725,696,670,643,901,786,829.49653359,656,634,658,0.457422209224,0.00462585108049,0.0698597967559,0.999999970103,9.41600157193e-05,-0.000219196038696,-5.36781530805e-05,1793251912461063424
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,747.919245742,725,696,670,643,901,786,829,656,633.919245742,658,0.457645074092,0.00462880505841,0.0698535463726,0.999999964699,0.00012009155446,-0.000231971180471,-4.86679259611e-05,1793251912477729024
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768.393075445,748,724.393075445,695,670,643,900.606924555,786.393075445,829,656.393075445,633.393075445,658,0.458304079804,0.00463225327788,0.0698182865489,0.999999950315,0.000126504031166,-0.00028386704013,-5.2789278417e-05,1793251912544396288
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+230,3.833333333,POSE1_TO_POSE2_PRESS,768.630279043,748,725,695.630279043,669,642.630279043,901,786,829.630279043,657,634,658,0.459029552064,0.00463947212323,0.0697591411919,0.999999920923,0.000140418694847,-0.000367831544874,-5.60065572926e-05,1793251912744396032
+231,3.850000000,POSE1_TO_POSE2_PRESS,768.051016923,748,725,695.051016923,669,642.051016923,901,786,829.051016923,657,634,658,0.45904218326,0.00463885415149,0.0697583236204,0.999999920154,0.000140687606519,-0.000369814704855,-5.59990678825e-05,1793251912761062400
+232,3.866666667,POSE1_TO_POSE2_PRESS,768.526570899,748,725,695,669.526570899,642.526570899,901,786,829,657,634,658,0.459048212777,0.00463710336523,0.0697567362472,0.999999919313,0.000137462230624,-0.000373335104466,-5.56734307822e-05,1793251912777729024
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,748,725,695,669.896728965,643,901,786,829,656.896728965,634,658,0.459053536634,0.00463561058941,0.069755476653,0.999999918606,0.000134994731408,-0.000376174194225,-5.53022650639e-05,1793251912794395904
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,748,725,695,669.323333932,643,901,786,829,656.323333932,634,658,0.45905855056,0.00463579041153,0.0697560476662,0.999999918639,0.000137513622279,-0.000375235878553,-5.48637135005e-05,1793251912811063552
+235,3.916666667,POSE1_TO_POSE2_PRESS,768.742692978,747.742692978,725,695,669,642.742692978,900.742692978,786,829.257307022,656,634,658,0.459061749118,0.00463687394005,0.0697554097655,0.999999918152,0.000139763508737,-0.000375718406597,-5.47597317719e-05,1793251912827730688
+236,3.933333333,POSE1_TO_POSE2_PRESS,768.152682824,747.152682824,725,695,669,642.152682824,900.152682824,786,829.847317176,656,634,658,0.45906260037,0.00463912597907,0.0697532087152,0.999999916992,0.000141665567452,-0.000378038113886,-5.5088355479e-05,1793251912844397312
+237,3.950000000,POSE1_TO_POSE2_PRESS,768,747.428791051,725,695.428791051,669,642,900.428791051,786,829.571208949,656.428791051,634,658,0.459062982118,0.00463944040034,0.0697525741192,0.999999916225,0.00014289312306,-0.000379651187172,-5.47406560981e-05,1793251912861064448
+238,3.966666667,POSE1_TO_POSE2_PRESS,768.007267947,748,725,696,669,642.007267947,900.992732053,786,829,656.992732053,634,657.992732053,0.459063214738,0.00463907197436,0.069752491458,0.999999915609,0.000143850537099,-0.000380993387705,-5.41621544072e-05,1793251912877731584
+239,3.983333333,POSE1_TO_POSE2_PRESS,768.584435475,748,725,696,669,642.584435475,900.415564525,786,829,656.415564525,634,657.415564525,0.459064606925,0.00463820387212,0.0697528042533,0.99999991608,0.000142090621503,-0.000380440541976,-5.40008379637e-05,1793251912894397696
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,748,725,696,669,642.836024206,900.163975794,786.163975794,829,656.163975794,634,657.163975794,0.459065621908,0.00463805203921,0.0697526316545,0.999999916189,0.00014159362717,-0.000380355750685,-5.38762859163e-05,1793251912911063552
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,748,725,696,669,642.250382254,900.749617746,786.749617746,829,656.749617746,634,657.749617746,0.459065666902,0.00463974210344,0.0697512108574,0.999999915371,0.000144344253475,-0.000381474568273,-5.38462740619e-05,1793251912927729408
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,748,725,695.668892675,669,642,901,786.668892675,829,656.668892675,634,658,0.459065713606,0.00463992992325,0.0697505285518,0.999999915088,0.000144518894016,-0.000382164084654,-5.37477821027e-05,1793251912944395776
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,748,725,695.090504242,669,642,901,786.090504242,829,656.090504242,634,658,0.459065761587,0.00463899582077,0.0697503977742,0.999999915206,0.00014276970923,-0.000382532985671,-5.35981471017e-05,1793251912961062144
+244,4.066666667,POSE1_TO_POSE2_PRESS,768.50865422,747.50865422,725,695,669,642.49134578,901,786,829.49134578,656.49134578,634,658,0.459064722324,0.00463929212811,0.0697495514461,0.999999914273,0.000144382802051,-0.000384350822642,-5.36862900205e-05,1793251912977729024
+245,4.083333333,POSE1_TO_POSE2_PRESS,768.07258907,747,725,695.07258907,669,642.92741093,901,786,829.92741093,656.92741093,633.92741093,658,0.459063617294,0.00463965769572,0.0697486173965,0.999999913299,0.00014610106348,-0.000386216494407,-5.37862998799e-05,1793251912994395904
+246,4.100000000,POSE1_TO_POSE2_PRESS,768.645228888,747,725,695.645228888,669,642.354771112,901,786,829.354771112,656.354771112,633.354771112,658,0.459063448594,0.00463892804838,0.0697479934513,0.999999913442,0.000144247171692,-0.000386560101503,-5.36642033982e-05,1793251913011062784
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,747,725,695.776781575,669,642,901,786,829,656,633.223218425,658,0.459063431273,0.00463804614662,0.0697473643609,0.99999991351,0.00014257176802,-0.000387037342202,-5.34299295247e-05,1793251913027729152
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,747,725,695.190080617,669,642,901,786,829,656,633.809919383,658,0.459063660453,0.00463691631797,0.0697467268922,0.99999991346,0.000141187009027,-0.000387732188117,-5.30129891581e-05,1793251913044395520
+249,4.150000000,HOLD_POSE2,768,748,725,696,670,642,901,786,829,656,634,658,0.459066292877,0.00464092120558,0.0697488089361,0.99999991447,0.000143617142222,-0.000384037371246,-5.43094583286e-05,1793251913078582016
+250,4.166666667,HOLD_POSE2,768.579162883,748,725,695.420837117,669.420837117,642.579162883,900.420837117,786,829,656,634,658,0.459065377316,0.00463821127868,0.0697475816147,0.999999914091,0.000141232159624,-0.000385973449003,-5.3817324871e-05,1793251913095248384
+251,4.183333333,HOLD_POSE2,769,748,725,695,669,643,900.156697059,786,829,656,634,658,0.459065379596,0.00463642079308,0.069747040204,0.999999913955,0.000140125706271,-0.000386792221684,-5.33589730953e-05,1793251913111915008
+252,4.200000000,HOLD_POSE2,769,748,725,695,669,643,900.729902185,786,829,656,634,658,0.459067821539,0.00463707422458,0.0697483219758,0.99999991448,0.000142417642556,-0.000384641145975,-5.29904144925e-05,1793251913128581632
+253,4.216666667,HOLD_POSE2,769,748,725,695.31148176,669,643,901,786,829,656.31148176,634,658,0.459068402794,0.00463703856644,0.0697488090993,0.999999914752,0.000142100904198,-0.000384045981917,-5.30331691653e-05,1793251913145248512
+254,4.233333333,HOLD_POSE2,769,748,725,695.900523741,669,643,901,786,829,656.900523741,634,658,0.459067325999,0.00463638886307,0.0697485881146,0.999999914798,0.000139459585573,-0.00038483728499,-5.34424435683e-05,1793251913161915648
+255,4.250000000,HOLD_POSE2,769,748,725,696,669,643,901,786.482319693,829,656.517680307,634,658,0.459068288323,0.0046368820444,0.069749494749,0.999999915165,0.000139601872539,-0.000383792871219,-5.37130175285e-05,1793251913178582784
+256,4.266666667,HOLD_POSE2,769,747.937705643,725,695.937705643,669,642.937705643,901,786.937705643,829,656,634,658,0.459069400401,0.00463747652931,0.0697503509496,0.999999915481,0.000140284745483,-0.000382696091913,-5.38708907379e-05,1793251913195250688
+257,4.283333333,HOLD_POSE2,769,747.360614631,725,695.360614631,669,642.360614631,901,786.360614631,829,656,634,658,0.459068325999,0.00463698907951,0.0697488969008,0.999999914847,0.000140760831585,-0.000384249053268,-5.33303140777e-05,1793251913211916800
+258,4.300000000,HOLD_POSE2,768.78442601,747.21557399,724.78442601,695,668.78442601,642.21557399,901,786,829,656,634,658,0.45906783204,0.004637220233,0.0697479508189,0.999999914425,0.000141400662203,-0.000385154752006,-5.30173258554e-05,1793251913228583168
+259,4.316666667,HOLD_POSE2,768.209740682,747.790259318,724.209740682,695,668.209740682,642.790259318,901,786,829,656,634,658,0.459068305005,0.00463864846316,0.0697478509277,0.999999914359,0.000142313264603,-0.000384982215948,-5.30834631474e-05,1793251913245250048
+260,4.333333333,HOLD_POSE2,768.373316453,748,724.373316453,695.373316453,668.373316453,642.626683547,901,786,829.373316453,656.373316453,634,658,0.45906799006,0.00463944040746,0.0697477494678,0.999999914168,0.00014269701211,-0.00038529513106,-5.33803103743e-05,1793251913261916416
+261,4.350000000,HOLD_POSE2,768.961185081,748,724.961185081,695.961185081,668.961185081,642.038814919,901,786,829.961185081,656.961185081,634,658,0.459067222287,0.00463986666613,0.0697476471063,0.999999913905,0.000142776816582,-0.000385887044318,-5.38097510624e-05,1793251913278582528
+262,4.366666667,HOLD_POSE2,769,748,725,696,669,642,901,786,829.458121502,656.458121502,633.458121502,658,0.459067533357,0.00463816951145,0.0697487523571,0.999999914334,0.000142232866079,-0.000385051061608,-5.3269627714e-05,1793251913295249408
+263,4.383333333,HOLD_POSE2,768.879260317,748,724.879260317,695.879260317,669.120739683,642,900.879260317,786,829,656,633.120739683,658,0.459067588914,0.0046363635017,0.0697492798888,0.999999914539,0.000141689483994,-0.000384801123481,-5.26650276946e-05,1793251913311916288
+264,4.400000000,HOLD_POSE2,768.305371786,748,724.305371786,695.305371786,669.694628214,642,900.305371786,786,829,656,633.694628214,658,0.45906639927,0.00463471233695,0.0697473187727,0.999999913725,0.000141313731548,-0.00038712952611,-5.20756872331e-05,1793251913328582656
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,748,725,696,668,643,901,786,829,656,634,657,0.459068334721,0.00463908663363,0.0697476474359,0.999999913659,0.000143255239792,-0.000386422989794,-5.32718658787e-05,1793251913365659136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768.421642757,748,725,695.421642757,668.578357243,642.421642757,901,786,829,656,634,657.578357243,0.459068313585,0.00463901365038,0.0697483797163,0.999999914011,0.000142646931252,-0.000385716512092,-5.34028525e-05,1793251913382326784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,642.156153535,901,786,829,656,633.843846465,658,0.459068125872,0.00463853339152,0.0697487183244,0.999999914196,0.00014192591737,-0.000385497896682,-5.34418036548e-05,1793251913398994176
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,669,642.732440706,901,786,829,656,633.267559294,658,0.459067489978,0.00463695735099,0.0697479977511,0.99999991393,0.00014090166779,-0.000386591882584,-5.3233131913e-05,1793251913415661056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,668.685990519,642.685990519,900.685990519,786,829,656.314009481,633.314009481,657.685990519,0.459067001469,0.00463585830039,0.0697474252391,0.999999913756,0.000139798749292,-0.000387497052877,-5.28240335539e-05,1793251913432327680
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,668.099844473,642.099844473,900.099844473,786,829,656.900155527,633.900155527,657.099844473,0.45906664069,0.00463517263358,0.0697469810445,0.999999913662,0.000138627652378,-0.000388238585904,-5.22412353208e-05,1793251913448994048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,668,642,900.48039036,786,829,656.51960964,634,657.48039036,0.459066853044,0.00463614097194,0.0697473592722,0.999999913671,0.000139441305504,-0.000387865966329,-5.26691855017e-05,1793251913465660160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.059464122,747.940535878,725,695.059464122,668,642,901,786,829,656.059464122,634,658,0.459067159621,0.00463722458095,0.0697478215147,0.999999913718,0.000140657696525,-0.000387236778678,-5.31764434947e-05,1793251913482326784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.638997804,747.361002196,725,695.638997804,668,642,901,786,829,656.638997804,634,658,0.459067261122,0.0046363463045,0.069747541751,0.999999913922,0.000141832466743,-0.000386364304732,-5.25623594749e-05,1793251913498993920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,725,695.784126304,668.215873696,642,901,786,829,656.784126304,634,657.784126304,0.459065131386,0.00463608492367,0.0697461148087,0.999999913332,0.000142378164735,-0.000387737310263,-5.22012923482e-05,1793251913515660544
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,725,695.211640992,668.788359008,642,901,786,829,656.211640992,634,657.211640992,0.459059315769,0.00463684262096,0.0697427927897,0.999999911415,0.000141884669474,-0.000392819725959,-5.22581954414e-05,1793251913532327168
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.628916644,747.371083356,725,695,668.628916644,642,900.628916644,786,829,656.371083356,633.628916644,657,0.459040965103,0.00463743535536,0.069733444489,0.999999905501,0.000142246825157,-0.000407437350285,-5.25307334009e-05,1793251913548993792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.040186881,747.959813119,725,695,668.040186881,642,900.040186881,786,829,656.959813119,633.040186881,657,0.459015262428,0.00463793133643,0.0697205616759,0.999999896918,0.000143110833904,-0.000427647529466,-5.29297446951e-05,1793251913565660672
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,668.542379541,642,901.084759081,786,829,657,633.542379541,657.542379541,0.458967136124,0.00463905489412,0.0697013118169,0.999999883266,0.000144302992822,-0.000458077321178,-5.30013502383e-05,1793251913582327808
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,748,724.726122515,695,669,642,901,786,829,656.273877485,634,657.726122515,0.458783264282,0.00463885944587,0.0696506594014,0.999999852371,0.000147890351759,-0.000520289744889,-5.18193949616e-05,1793251913632326656
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.397241622,725,695,669,642,900.397241622,786.397241622,829,656,634,658,0.458417300958,0.00463908557314,0.069647313358,0.999999847548,0.000154802511353,-0.000527999908877,-4.64273872825e-05,1793251913698992640
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747.178970266,725,695.178970266,669.178970266,642.178970266,900,786,829,656,634,657.821029734,0.458300566692,0.00463840690864,0.0696534501789,0.999999851706,0.000157080636376,-0.00051958911989,-4.40646266637e-05,1793251913715659264
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747.752482303,725,695.752482303,669.752482303,642.752482303,900,786,829,656,634,657.247517697,0.458165254794,0.00463739870019,0.0696588318292,0.999999855372,0.000159423002464,-0.000512002625939,-4.11588839871e-05,1793251913732325888
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,669.664426386,642.664426386,900,786,829,656.335573614,634,657.335573614,0.458012639745,0.00463642264782,0.0696656961727,0.999999859779,0.000162453346871,-0.000502581902257,-3.82417260492e-05,1793251913748992768
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,669.07406176,642.07406176,900,786,829,656.92593824,634,657.92593824,0.457846886917,0.00463547101049,0.0696736862814,0.999999864679,0.000166006052882,-0.000491768501941,-3.53159005352e-05,1793251913765659392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.493541409,724.493541409,695.493541409,669.506458591,642,900.506458591,786,829,656.493541409,633.493541409,658,0.457652918738,0.00463418090148,0.0696834276887,0.999999870313,0.000169372199826,-0.000479267357892,-3.14719442121e-05,1793251913782325760
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747,724.085540909,695.085540909,669.914459091,642,900.914459091,786,829,656.085540909,633.085540909,658,0.457449100894,0.0046326031858,0.0696931015428,0.999999875794,0.00017251143769,-0.000466794074366,-2.74658632871e-05,1793251913798992640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747,724.664474027,695.664474027,669.335525973,642,900.335525973,786,829,656.664474027,633.664474027,658,0.45721181597,0.004629646627,0.0697009367613,0.999999880592,0.000174496242326,-0.000455877897739,-2.32843089129e-05,1793251913815659264
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,747.240342473,725,695.759657527,669.240342473,642.240342473,900,786,828.759657527,656.759657527,633.759657527,658,0.456959189175,0.00462724725018,0.0697076284086,0.999999884035,0.000177810498924,-0.000447178227614,-1.8557182139e-05,1793251913832326144
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,747.811986372,725,695.188013628,669.811986372,642.811986372,900,786,828.188013628,656.188013628,633.188013628,658,0.456685414308,0.00462561592414,0.0697127436933,0.999999885702,0.000182957345904,-0.000441533913957,-1.30780082955e-05,1793251913848994048
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.603705265,725,695,670,643,900,786.396294735,828.396294735,656.396294735,633.396294735,658,0.456375656492,0.00462526552478,0.0697139081324,0.999999884333,0.000189640851773,-0.000441935618072,-7.93304851816e-06,1793251913865660672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.013190182,725,695,670,643,900,786.986809818,828.986809818,656.986809818,633.986809818,658,0.456048263776,0.00462554289567,0.0697131362986,0.99999988143,0.000197077459651,-0.000445300419165,-2.95188409351e-06,1793251913882326784
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.566012241,725,695,670,642.433987759,900,786.433987759,829,656.433987759,633.433987759,657.433987759,0.455687067475,0.00462263653484,0.0697137388013,0.999999880927,0.000203243179883,-0.000443654536689,2.80614265787e-06,1793251913898993408
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,748,725,695,670.137781636,642.137781636,900,786,828.862218364,656.137781636,633,657.137781636,0.455314142397,0.00461960049654,0.0697131970142,0.999999879974,0.000208374756743,-0.000443350433655,8.50153867021e-06,1793251913915660032
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,670.688070825,642.688070825,900,786,828.311929175,656.688070825,633,657.688070825,0.454908414585,0.00461639398928,0.0697091353041,0.999999877662,0.000210497118991,-0.000447406257377,1.39562828234e-05,1793251913932326400
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,724.738733193,695,671,642.738733193,900.261266807,786.261266807,828,656.738733193,633,658,0.45449474092,0.00460563197584,0.0697096374209,0.999999881776,0.00020479358148,-0.000440632823517,1.87276110501e-05,1793251913948992768
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,724.135560217,695,671,642.135560217,900.864439783,786.864439783,828,656.135560217,633,658,0.454070668878,0.0045849824672,0.0697161119781,0.999999893844,0.000188848699498,-0.000419687708446,2.26045894354e-05,1793251913965659392
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.542754783,748,724.457245217,695,671,642.457245217,900.085509565,787,828,656,633.457245217,657.542754783,0.45361660002,0.00456439333565,0.0697365523431,0.999999911571,0.000170236436443,-0.000383459415289,2.89182481892e-05,1793251913982326016
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.045747954,748,725,695,671,643,899.045747954,786.954252046,828.045747954,656,634,657,0.45314886533,0.00454606859584,0.0697594472609,0.999999928326,0.000150273842706,-0.000345793233905,3.4531236046e-05,1793251913998992640
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.619285885,748,725,695,671,643,899.619285885,786.380714115,828.619285885,656,634,657,0.452623794158,0.00455366598865,0.0697639510551,0.999999933363,0.000123653736954,-0.000342653322605,2.39110977831e-05,1793251914015659520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,748,724.805917339,695,671.194082661,643,900,786.194082661,828.805917339,656,634,657,0.452074811267,0.00456044955347,0.0697632236421,0.999999933917,0.000102647508905,-0.000348393208602,1.58583162435e-05,1793251914032326144
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,748,724.228635116,695,671.771364884,643,900,786.771364884,828.228635116,656,634,657,0.451478616772,0.00456562628432,0.0697521676592,0.999999926551,9.27254024654e-05,-0.000371665493045,1.2874560954e-05,1793251914048992768
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747.652357413,724.347642587,695,671.652357413,643,899.652357413,786.652357413,828,656,634,657,0.450865558235,0.00457749755879,0.0697486357153,0.999999920742,0.000101365950716,-0.000384798358787,1.30478625437e-05,1793251914065659648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747.076738476,724.923261524,695,671.076738476,643,899.076738476,786.076738476,828,656,634,657,0.450241440655,0.00459375896728,0.069750037871,0.999999915868,0.00012217947941,-0.000391282016138,1.529149261e-05,1793251914082326272
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747,725,695,671,642.482300133,899,786.517699867,828,656,634,657,0.449588681471,0.00459346923932,0.0697619781755,0.999999923207,0.000120692006244,-0.00037237449146,1.8901668968e-05,1793251914098992640
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,725,694.889106402,671,642.110893598,899,786.889106402,828,656,633.889106402,657,0.448928638835,0.00458989399877,0.0697779519154,0.999999933781,0.000110636314227,-0.000346014916086,2.17023408632e-05,1793251914115659264
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,725,694.313268301,671,642.686731699,899,786.313268301,828,656,633.313268301,657,0.448256530779,0.00458321785676,0.0698040403211,0.999999950224,7.9039125095e-05,-0.0003047865604,2.02276714646e-05,1793251914132325888
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747,724.738443717,694.261556283,671,643,899,786.261556283,828,656,633,657,0.447534586425,0.00458233954477,0.0698033230699,0.99999995066,6.46802317912e-05,-0.000306679456734,2.10530245033e-05,1793251914148992256
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747,724.164828269,694.835171731,671,643,899,786.835171731,828,656,633,657,0.446753182989,0.00458837854227,0.0697706243656,0.999999932377,7.08881054228e-05,-0.000360019713928,2.46225021422e-05,1793251914165659136
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724.421682575,695,671,643,899,787,828,656,633.421682575,657,0.445980874552,0.00458850361371,0.0697425003814,0.999999919354,5.28014373064e-05,-0.000397457265983,2.30729237879e-05,1793251914182326016
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724.986878821,695,671.013121179,643,898.986878821,787,827.986878821,656,633.986878821,657,0.445211496406,0.00458614248409,0.0697174835486,0.999999908524,2.53527182501e-05,-0.000426525835193,1.96230768819e-05,1793251914198993152
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724.407176487,695,671.592823513,643,898.407176487,787,827.407176487,656,633.407176487,657,0.444410295085,0.00457939291107,0.0697469850455,0.999999930734,1.66366468553e-05,-0.000371098296484,2.32462529382e-05,1793251914215659520
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.829102174,643,898,787,827,656,633,657,0.4436038293,0.00457506405991,0.0697763511823,0.999999946045,5.70315986084e-05,-0.000322406556755,2.66664263326e-05,1793251914232325888
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.254870165,643,898,787,827,656,633,657,0.442784938958,0.00457644832965,0.0698053978556,0.999999934869,0.000213332965848,-0.000289611906199,2.96074947674e-05,1793251914248992256
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724.326547337,695,671,643,897.673452663,787,827,656,633,656.673452663,0.441957775755,0.00457352112133,0.0698200269844,0.999999927934,0.000262916348186,-0.000272149065744,3.06989129613e-05,1793251914265659136
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724.913699271,695,671,643,897.086300729,787,827,656,633,656.086300729,0.441124010345,0.00456715309172,0.0698231500362,0.999999938077,0.000227332296295,-0.000266921945878,3.03141982558e-05,1793251914282325760
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.493785862,747,724.506214138,695,671,643,897,787.493785862,826.506214138,656,633,656,0.440238787062,0.00456357328361,0.0698240041089,0.99999994612,0.000198253619567,-0.000259896271996,3.01558069154e-05,1793251914298992384
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.92767667,747,724.07232333,695,671,642.92767667,896.855353339,788,826,656,633,656.07232333,0.439328373478,0.00456062920699,0.0698149943707,0.999999948825,0.000170934121576,-0.00026874648324,3.01058333608e-05,1793251914315659264
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.351450606,747,724.648549394,695,671,642.351450606,895.702901213,788,826,656,633,656.648549394,0.438304227291,0.00455876715117,0.069739983887,0.999999912379,0.000148061553011,-0.000390368939519,3.05395369303e-05,1793251914332326144
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.223894716,747,724.776105284,695,671,642,895,787.776105284,826,656,633,656.776105284,0.437327787694,0.00455465762003,0.0696946224424,0.99999988532,0.000124893989738,-0.000461308454465,3.09150743598e-05,1793251914348993024
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.797863033,747,724.202136967,695,671,642,895,787.202136967,826,656,633,656.202136967,0.43642594022,0.00454703401831,0.0696956191408,0.999999891781,0.000101265182737,-0.000453001999696,3.11996659802e-05,1793251914365659392
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.616785801,747,724,695,671,642,894.616785801,787.383214199,825.616785801,656,633,656,0.43554447304,0.00454347996253,0.0697372952231,0.999999916502,0.000104605198354,-0.000393724897755,3.21653404389e-05,1793251914382325760
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.025246667,747,724,695,671,642,894.025246667,787.974753333,825.025246667,656,633,656,0.434674085157,0.00454213821539,0.0698010856478,0.999999944878,0.00012260614922,-0.000306738860101,3.3501268546e-05,1793251914398992640
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,724,694.471419056,671,642.528580944,894,788,825,656.528580944,633,656,0.43375883752,0.00453602732018,0.0698287391333,0.999999957654,0.000107933299196,-0.000268014442133,3.48055521741e-05,1793251914415659264
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747,724.08811814,694.08811814,671,643,894,788,824.91188186,657,633,656.08811814,0.432830971456,0.00452979687605,0.0698508843128,0.999999967264,9.32371919881e-05,-0.000235568308816,3.58766679918e-05,1793251914432326144
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,747,724.690815321,694.690815321,671,643,894,788,824.309184679,657,633,656.690815321,0.431841097274,0.00452410993457,0.069850271003,0.999999969775,8.69117485365e-05,-0.000227220465812,3.55944042541e-05,1793251914448993024
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.279102434,747,724.720897566,695,671,642.720897566,893.720897566,788,823.720897566,656.720897566,633,656.720897566,0.430813276638,0.00451983647727,0.0698078970083,0.999999952579,8.39608374195e-05,-0.000294189309144,3.52814812886e-05,1793251914465660160
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.852210012,747,724.147789988,695,671,642.147789988,893.147789988,788,823.147789988,656.147789988,633,656.147789988,0.429745483453,0.00451705197769,0.0697215325115,0.999999898796,8.45646413058e-05,-0.000440496379587,3.49362614998e-05,1793251914482326784
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.558355652,747,724,695,671,642.441644348,893.441644348,788,823,656,633,656.441644348,0.42878713226,0.00450863355339,0.0697090471547,0.999999891909,7.73310758775e-05,-0.000457171692342,3.45777435604e-05,1793251914498992896
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.03567268,747,724,695,671,643,893.96432732,788,822.96432732,656,633,656.96432732,0.427868997964,0.0044986595623,0.069726228898,0.999999907681,6.74748406049e-05,-0.000422968463224,3.44015043942e-05,1793251914515659264
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.613303747,747,724,695,671,643,893.386696253,788,822.386696253,656,633,656.386696253,0.42698410348,0.00449479477078,0.0698041118892,0.999999952524,5.91480575252e-05,-0.000300133417488,3.70647422808e-05,1793251914532325888
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.809820417,724,695,671,642.809820417,893,788,821.809820417,656,633,656,0.426072229649,0.00448900456092,0.0698551666989,0.999999973317,5.01533073823e-05,-0.000222166056053,3.86443861378e-05,1793251914548992512
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746.234474028,724,695,671,642.234474028,893,788,821.234474028,656,633,656,0.425105714939,0.00447931484013,0.0698518869572,0.999999970856,3.98057372366e-05,-0.000235068279971,3.80294506758e-05,1793251914565659136
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.651509168,746.348490832,724,695,671,642.348490832,892.651509168,788,821.348490832,656,633,656,0.424148433732,0.00447063487151,0.069829273677,0.999999960966,3.05195499754e-05,-0.000275188396868,3.75257869446e-05,1793251914582326016
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.063303869,746.936696131,724,695,671,642.936696131,892.063303869,788,821.936696131,656,633,656,0.423197503982,0.00446264947615,0.0697933615423,0.999999943282,2.1963450848e-05,-0.000334030734339,3.70986630219e-05,1793251914598992640
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,747,724.094425295,694.905574705,671,642.094425295,892.81114941,788.094425295,821,656,633,656.905574705,0.421185090098,0.0044551905153,0.0696638148352,0.999999842943,1.40970387655e-05,-0.000559012491403,3.76923530228e-05,1793251914632326400
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,724.178848271,694,671.821151729,643,891.821151729,788.178848271,821,656.821151729,633,656,0.418724716558,0.00442866914248,0.069848803269,0.999999968184,-3.59651007876e-05,-0.000246828819179,3.75917468114e-05,1793251914682326016
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,747,724,694,671.002796019,642.002796019,891.002796019,788,821,657,633,656.997203981,0.417059715201,0.00441543418747,0.0698708646219,0.999999971757,-7.60155819936e-06,-0.000234075599399,4.04469868647e-05,1793251914715659264
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,747,724,694,671,642.57826554,891,788,821,656.42173446,633,657,0.416212463847,0.00442765272873,0.0698299444355,0.99999996233,-1.73726978956e-05,-0.000271280502285,3.80222982367e-05,1793251914732325888
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.698192525,747,724.698192525,694,671.698192525,643,890,788,821,656,633,657,0.413710254174,0.00448883581836,0.0697477371933,0.999999913226,5.49750957313e-05,-0.000411402851804,3.5695598689e-05,1793251914782326016
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,724.469593652,694,671.469593652,642.530406348,890,788,821,656,633,657,0.412299316323,0.00447308601075,0.0698034613394,0.999999950528,2.88978881255e-05,-0.000311152520143,3.5963634714e-05,1793251914815659520
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,693.93748766,671.93748766,642,890,788,821,656,633,657,0.411676074368,0.00446532511538,0.069858513807,0.999999977229,7.53088746184e-06,-0.000210295289746,3.55236961262e-05,1793251914832325888
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747,724.789103906,693,671,642,890,788,821,656,633,657,0.410360243587,0.00445879484513,0.0698758876157,0.999999980435,3.02399951177e-05,-0.000192239273455,3.55026193642e-05,1793251914865659136
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,724.212574487,693,671,642,890,788,821,656,633,657,0.409671554964,0.00445532934406,0.0698344445188,0.999999964436,1.47647513584e-05,-0.00026400820154,3.47833364967e-05,1793251914882326016
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.963216515,747,724,693,671,642,890,788,821,656,633,656.036783485,0.408381702295,0.00447359082289,0.0697658397839,0.999999926672,2.3699243671e-05,-0.000380869312237,3.21257050102e-05,1793251914915659008
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,747,724.542921628,693,671,642,889.457078372,788,821,656,633,656,0.407837057658,0.00447761363497,0.0697758902501,0.999999934129,4.06745384569e-05,-0.000359297978494,3.15099390074e-05,1793251914932326656
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.302774458,747,725,692.302774458,671,642,889.697225542,788.697225542,821,656.697225542,633,656.697225542,0.406811280956,0.00447245187585,0.0698045867896,0.999999949179,3.40690799858e-05,-0.000315416162371,3.15184674397e-05,1793251914965659904
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.273248406,747,724.726751594,692.273248406,671,642,890,788.726751594,821,657,633,657,0.406317410906,0.00447014313771,0.0698083210549,0.999999948919,2.51094835054e-05,-0.000317014908928,3.21552525714e-05,1793251914982326272
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747,725,692.023743475,671,643,889.976256525,787.023743475,820.023743475,656,632.023743475,656.023743475,0.405002519533,0.00448675098676,0.0698155497802,0.999999950882,3.74679665707e-05,-0.000309624862298,3.10519239643e-05,1793251915032326656
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.328063179,747,725,692,671,642,889.671936821,788,820,656,633,657,0.40365254547,0.00447089682802,0.0698492603564,0.99999997038,4.52904288538e-06,-0.000241617329464,2.8985544006e-05,1793251915098993408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.901626769,747,725,692,671,642,889.098373231,788,820,656,633,657,0.403330404717,0.00447171731944,0.0698333666267,0.999999963092,-9.90634580488e-08,-0.000270158096748,2.88322038941e-05,1793251915115659776
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.507877539,747,725,692.492122461,671,642,889,787.507877539,820.492122461,656,633,657,0.403043675468,0.0044699838935,0.0698230372934,0.999999957827,-7.76698890317e-06,-0.000288912430026,2.85620024284e-05,1793251915132326656
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.186936193,747,724.813063807,692,671,642,889,787.813063807,820,656,633,656.813063807,0.402126517297,0.00446377765276,0.0698009399165,0.999999946497,-2.11194030058e-05,-0.000324967780753,3.09273293643e-05,1793251915198993664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,747,725,692,671,642,889,788,820,656,633,656.613515787,0.401957191887,0.00446546877765,0.0698016391403,0.999999946806,-1.58239740605e-05,-0.00032415417698,3.25980939296e-05,1793251915215660288
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,747,725,692.051422346,671,642.948577654,889.948577654,787.051422346,821,656.051422346,633,656.948577654,0.401146530014,0.00449986766124,0.0698030375328,0.999999947649,6.55962012826e-05,-0.00031644975865,1.60664371376e-05,1793251915348993280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,747,725,692.624297199,671,642.375702801,889.375702801,787.624297199,821,656.624297199,633,656.375702801,0.40110921036,0.00450443636596,0.0698078051213,0.999999949566,7.28045535563e-05,-0.000308691180696,1.66410991543e-05,1793251915365660160
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..969ecba9faa8c6b2675c39daa3322eef1fac8019
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23f6bcb63beb2345b175cb203f3a09ff2faa8fdd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e6ff520b99836c8a7418e959e2c3e0a56bc9f50989fc5d5eef94fa0756f7fc1
+size 26368891
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..943e76c9d331b574a2d016f9599e2aac85749228
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+9,0.150000000,BASELINE,769.2165809,747,725,692,671,642,889.7834191,788,820,656.7834191,633,656.2165809,0.400978654009,0.00449962988344,0.0698324537801,0.999999961847,6.6584404182e-05,-0.000267371767733,1.96111399534e-05,1793251916129609216
+10,0.166666667,BASELINE,769.792552371,747,725,692,671,642,889.207447629,788,820,656.207447629,633,656.792552371,0.400976699633,0.00449857280842,0.0698313792205,0.999999961446,6.43225827499e-05,-0.000269402254748,1.98308914737e-05,1793251916146275584
+11,0.183333333,BASELINE,769.622021847,747,725,692,671,642,889,788,820,656,633.377978153,656.622021847,0.400976587681,0.00449805756165,0.0698311413064,0.999999961373,6.40215726362e-05,-0.000269725376164,2.01072527364e-05,1793251916162942208
+12,0.200000000,BASELINE,769.031274035,747,725,692,671,642,889,788,820,656,633.968725965,656.031274035,0.400977512856,0.00449784731815,0.0698313743527,0.999999961486,6.48243328639e-05,-0.000269087395673,2.0415480506e-05,1793251916179608576
+13,0.216666667,BASELINE,769.54699575,747,725,692,671,642.54699575,889.54699575,787.45300425,820,656,633.45300425,656,0.400977777403,0.00449841145761,0.0698313739588,0.999999961625,6.43629703232e-05,-0.000268711915701,2.00508686291e-05,1793251916196275200
+14,0.233333333,BASELINE,770,747,725,692,671,642.876411338,889.752822676,787.123588662,820,656,633,656.123588662,0.400977766452,0.004499210989,0.0698313439129,0.999999961677,6.45667633968e-05,-0.000268494320749,1.96894995195e-05,1793251916212942080
+15,0.250000000,BASELINE,770,747,725,692,671,642.303379819,888.606759638,787.696620181,820,656,633,656.696620181,0.400976887922,0.004500709129,0.0698312534885,0.99999996141,6.74464370569e-05,-0.000268797529017,1.94766994922e-05,1793251916229608960
+16,0.266666667,BASELINE,769.722010442,747,724.722010442,692,670.722010442,642.277989558,888.277989558,788,820,656.277989558,633,656.722010442,0.400976968557,0.00449977540404,0.0698313239909,0.999999961521,6.66805887817e-05,-0.000268561772716,1.96779746993e-05,1793251916246275584
+17,0.283333333,BASELINE,769.131260342,747,724.131260342,692,670.131260342,642.868739658,888.868739658,788,820,656.868739658,633,656.131260342,0.400978128328,0.00449610563593,0.069831575549,0.999999962046,6.1813235841e-05,-0.000267719638039,2.03451177602e-05,1793251916262942464
+18,0.300000000,BASELINE,769,747,724.450520071,692,670.450520071,642.549479929,889,787.549479929,820,657,633,656,0.400978164456,0.00449660581392,0.0698315479629,0.999999962007,6.16784980444e-05,-0.000267912243535,2.01394166975e-05,1793251916279609088
+19,0.316666667,BASELINE,769,747,725,692,671,642,889,787.059031707,820,656.970484147,633,656.029515853,0.400977928813,0.00449817553046,0.0698314668321,0.999999961835,6.28083649798e-05,-0.000268324342175,1.9698196844e-05,1793251916296275968
+20,0.333333333,BASELINE,769,747,725,692,671,642,889,788.208808542,820,656.395595729,633,656.604404271,0.400978602532,0.00449749710042,0.0698318697546,0.999999962135,6.23244301403e-05,-0.000267330387537,1.95123809526e-05,1793251916312942080
+21,0.350000000,BASELINE,769,746.818089506,725,692,671,642,889,788.818089506,820,656,633,657,0.400978573079,0.00449774429556,0.0698319284296,0.999999962125,6.30083206499e-05,-0.000267214679103,1.94012044693e-05,1793251916329608704
+22,0.366666667,BASELINE,769,746.23480737,725,692,671,642,889,788.23480737,820,656,633,657,0.400976992132,0.0045000338122,0.069831227549,0.999999961425,6.62689288529e-05,-0.000269036754118,1.94547141759e-05,1793251916346275328
+23,0.383333333,BASELINE,769,746.348364177,725,692,671,642.348364177,889,788,820,656,633,657,0.400976859007,0.00450016462223,0.0698310677748,0.999999961326,6.65285598972e-05,-0.000269332106432,1.9533627978e-05,1793251916362941952
+24,0.400000000,BASELINE,769,746.931461265,725,692,671,642.931461265,889,788,820,656,633,657,0.400977701444,0.00449884086417,0.0698312726061,0.999999961637,6.4766088668e-05,-0.000268598730691,1.96296594392e-05,1793251916379608576
+25,0.416666667,BASELINE,769,746.49056734,725,691.49056734,671,642.49056734,889,787.49056734,820,656,633,656.49056734,0.400978143044,0.0044987140373,0.0698318200245,0.999999961983,6.4557817664e-05,-0.000267365894476,1.95570531271e-05,1793251916396275456
+26,0.433333333,BASELINE,769,746.086330018,725,691.086330018,671,642,889,787.086330018,820,656,633,656,0.400978641313,0.00449879721713,0.0698324649782,0.999999962313,6.46168407324e-05,-0.000266116267689,1.95167804378e-05,1793251916412942336
+27,0.450000000,BASELINE,769,746.661014097,725,691.661014097,671,642,889,787.661014097,820,656,633,656,0.400979762171,0.00449916649952,0.069833403538,0.999999962539,6.50168343418e-05,-0.000265147994815,1.97864794318e-05,1793251916429608704
+28,0.466666667,BASELINE,769.241585233,747,725,692,671,642,889,787.758414767,820,656,633,656,0.400979184483,0.00449961581146,0.0698331276314,0.999999962274,6.56602520904e-05,-0.00026598218501,1.98655133489e-05,1793251916446275584
+29,0.483333333,BASELINE,769.830623217,747,725,692,671,642,889,787.169376783,820,656,633,656,0.400976163913,0.00450018022348,0.0698311050547,0.999999961295,6.66537673182e-05,-0.000269408713976,1.96703288931e-05,1793251916462942464
+30,0.500000000,BASELINE,770,746.587030885,725,692,671,642,889,787.412969115,820,656,633,656.412969115,0.400976318324,0.00449915891236,0.0698311967924,0.999999961385,6.52503913393e-05,-0.000269403035664,1.98633486119e-05,1793251916479609088
+31,0.516666667,BASELINE,770,746.007385952,725,692,671,642,889,787.992614048,820,656,633,656.992614048,0.400977754168,0.00449749759767,0.0698321418752,0.999999961904,6.28796214287e-05,-0.000268012106074,2.02130489359e-05,1793251916496275712
+32,0.533333333,BASELINE,769.429980867,746.570019133,725,692,671,642,889,787.429980867,820,656,633,657,0.400978006279,0.00449973139528,0.0698323347331,0.999999961828,6.60284770139e-05,-0.000267571389158,1.97650145579e-05,1793251916512942336
+33,0.550000000,BASELINE,769.14622768,746.85377232,725,692,671,642,889,787.14622768,820,656,633,656.85377232,0.400978431819,0.00450121611775,0.0698326520048,0.999999961877,6.79339940088e-05,-0.000266930400688,1.94710628756e-05,1793251916529608960
+34,0.566666667,BASELINE,769.719029921,746.280970079,725,692,671,642,889,787.719029921,820,656,633,656.280970079,0.400979407856,0.00450036898625,0.0698333605375,0.999999962338,6.60046294179e-05,-0.000265669404578,1.96566361393e-05,1793251916546275840
+35,0.583333333,BASELINE,769.698869551,746,725,691.698869551,671,642,889,788,820,656,633,656,0.400979865367,0.00449919571592,0.0698338588727,0.999999962597,6.44238947841e-05,-0.000265082461769,1.9692234501e-05,1793251916562942464
+36,0.600000000,BASELINE,769.107816752,746,725,691.107816752,671,642,889,788,820,656,633,656,0.400979823651,0.00449770844559,0.0698341548342,0.999999962662,6.31788138463e-05,-0.000265144483797,1.95834400598e-05,1793251916579609344
+37,0.616666667,BASELINE,769,746.473555377,724.526444623,691.473555377,671,642,889,788,820,656,633,656,0.400979384482,0.00449741231088,0.0698338313195,0.999999962671,6.19098049541e-05,-0.000265392513324,1.97944478171e-05,1793251916596275456
+38,0.633333333,BASELINE,769,747,724.052523454,692,671,642.052523454,889,788,820,656,633,656,0.400978873949,0.00449739278198,0.0698333855214,0.999999962663,6.08608608954e-05,-0.000265646267662,2.00384587743e-05,1793251916612941568
+39,0.650000000,BASELINE,769,747,724.629056023,692,671,642.629056023,889,788,820,656,633,656,0.400978536142,0.004497481467,0.0698330986561,0.99999996262,6.20606920923e-05,-0.000265543096148,1.98998729938e-05,1793251916629608192
+40,0.666666667,BASELINE,769.208748907,747,725,692,671,643,889,788,820,656,633,656.208748907,0.400978321583,0.00449806930509,0.0698329175101,0.999999962566,6.33393246422e-05,-0.000265462776965,1.9621290806e-05,1793251916646274816
+41,0.683333333,BASELINE,769.794143916,747,725,692,671,643,889,788,820,656,633,656.794143916,0.4009783294,0.00449955776617,0.0698329271136,0.999999962496,6.47601385712e-05,-0.000265423690299,1.90901128062e-05,1793251916662941696
+42,0.700000000,BASELINE,769.624399939,747,725,692,671,642.624399939,889,788,820.375600061,656,633,657,0.40097825312,0.00449951519891,0.0698332518797,0.999999962567,6.48703296188e-05,-0.000265112612304,1.93207138528e-05,1793251916679608576
+43,0.716666667,BASELINE,769.045080194,747,725,692,671,642.045080194,889,788,820.954919806,656,633,657,0.400978131229,0.00449864222543,0.0698337475851,0.999999962715,6.42696589675e-05,-0.000264654010405,1.99644921315e-05,1793251916696275968
+44,0.733333333,BASELINE,769.528583005,746.471416995,725,692,671,642,889,788,820.471416995,656,633,657,0.400978641971,0.00449838432474,0.0698335280927,0.999999962721,6.33489288896e-05,-0.000264862176599,1.98383255037e-05,1793251916712942336
+45,0.750000000,BASELINE,769.896984238,746.103015762,725,692,671,642.103015762,889,788,820.103015762,656.103015762,633,657,0.400979022186,0.0044982064804,0.0698332565397,0.99999996269,6.27769619279e-05,-0.000265124661134,1.96971995516e-05,1793251916729608960
+46,0.766666667,BASELINE,769.316775869,746.683224131,725,692,671,642.683224131,889,788,820.683224131,656.683224131,633,657,0.400978550482,0.00449815905793,0.0698330233849,0.999999962547,6.39456496685e-05,-0.000265378136489,1.97877321526e-05,1793251916746275328
+47,0.783333333,BASELINE,769.266810965,747,725,692,671,642.733189035,889,788,820.733189035,656.733189035,633,657,0.400978677134,0.00449874146893,0.0698332104725,0.999999962601,6.45053551342e-05,-0.000265050760941,1.9631985252e-05,1793251916762941696
+48,0.800000000,BASELINE,769.854460461,747,725,692,671,642.145539539,889,788,820.145539539,656.145539539,633,657,0.400979523302,0.00450008125074,0.0698339028991,0.999999962892,6.43327633473e-05,-0.000264024915823,1.91800887906e-05,1793251916779608320
+49,0.816666667,BASELINE,770,747,725,692,671,642,889,788,820,656.43599593,633,656.56400407,0.400979204296,0.00450032916677,0.0698338488293,0.999999962781,6.57170818418e-05,-0.000264107377213,1.91713392902e-05,1793251916796274688
+50,0.833333333,BASELINE,770,747,725,692.015437826,671,642.015437826,889,788,820,657,633,656.015437826,0.400978535941,0.00450020125977,0.0698335664114,0.999999962545,6.75387676528e-05,-0.00026453075219,1.93085057698e-05,1793251916812941568
+51,0.850000000,BASELINE,770,747,725,692.591941639,671,642.591941639,889,788,820,657,633,656.591941639,0.400979111222,0.00449947774058,0.0698339161257,0.999999962721,6.66289907583e-05,-0.000264084307966,1.94469469624e-05,1793251916829608960
+52,0.866666667,BASELINE,770,747,725,692.663332292,671,642.831666146,889,787.831666146,820,656.831666146,633,657,0.400979335574,0.00449894944746,0.0698339605909,0.999999962813,6.57749698789e-05,-0.000263944111609,1.95357905364e-05,1793251916846276352
+53,0.883333333,BASELINE,770,747,725,691.511088623,671,642.255544312,889,787.255544312,820,656.255544312,633,657,0.400978709803,0.00449889408865,0.069833265592,0.999999962701,6.50560177423e-05,-0.00026454579932,1.9504484101e-05,1793251916862943232
+54,0.900000000,BASELINE,770,747,725,691.326943937,671.326943937,642,889,787,820,656,633,657,0.400979060517,0.00449814135726,0.0698336138621,0.99999996292,6.34579670186e-05,-0.000264112904041,1.94452317157e-05,1793251916879610112
+55,0.916666667,BASELINE,770,747,725,691.914507064,671.914507064,642,889,787,820,656,633,657,0.400980189626,0.00449683272422,0.069834793761,0.999999963396,6.11591541019e-05,-0.000262855304095,1.93637025744e-05,1793251916896276736
+56,0.933333333,BASELINE,770,747,725,692,671.501718093,642.498281907,889,787.498281907,820,656,633,656.501718093,0.400979553028,0.0044975360944,0.0698340500701,0.999999963073,6.30799203518e-05,-0.000263618783858,1.94771061737e-05,1793251916912942848
+57,0.950000000,BASELINE,769.919986846,746.919986846,725,692,671,642.919986846,889,788,820,656,633,656.080013154,0.400978567909,0.00449868661549,0.0698329614454,0.999999962609,6.54057275028e-05,-0.000264804670839,1.95698237961e-05,1793251916929609216
+58,0.966666667,BASELINE,769.346874578,746.346874578,725,692,671,642.346874578,889,788,820,656,633,656.653125422,0.400977287871,0.0045004814201,0.0698317656918,0.999999962144,6.57996878488e-05,-0.000266472827975,1.93304980806e-05,1793251916946275840
+59,0.983333333,BASELINE,769,746.22737908,725,692,671,642,889,788,820,656,633,657,0.400977169787,0.00450049668565,0.0698317564725,0.999999962163,6.52903322443e-05,-0.000266526112499,1.93729355631e-05,1793251916962942464
+60,1.000000000,BASELINE,769,746.803382838,725,692,671,642,889,788,820,656,633,657,0.400978833249,0.00449778350681,0.0698335664845,0.999999962918,6.3395984589e-05,-0.000264103424358,1.98473811077e-05,1793251916979608832
+61,1.016666667,BASELINE,769.39027058,746.60972942,725,692,671,642,889,788,820.39027058,656,633,657,0.400979225403,0.00449788509656,0.0698342167319,0.99999996308,6.36610049915e-05,-0.000263434555226,1.97441513111e-05,1793251916996275456
+62,1.033333333,BASELINE,769.982798914,746.017201086,725,692,671,642,889,788,820.982798914,656,633,657,0.400978958701,0.00449944544049,0.0698342659311,0.999999962935,6.50451181441e-05,-0.000263674603056,1.93415412031e-05,1793251917012941824
+63,1.050000000,BASELINE,769.440356032,746.559643968,725,692,671,642,889,788,821,656,633,657,0.400978967323,0.00449964738106,0.0698335132723,0.99999996268,6.54962493186e-05,-0.000264530231615,1.93541398128e-05,1793251917029608192
+64,1.066666667,BASELINE,769.135583239,747,725,692,671,642,889,788,820.864416761,656,633,657,0.400978844197,0.00449965014933,0.0698328314258,0.999999962445,6.58491480881e-05,-0.000265324586637,1.94036644308e-05,1793251917046275072
+65,1.083333333,BASELINE,769.71010809,747,725,692,671,642,889,788,820.28989191,656,633,657,0.4009782679,0.00449913959396,0.0698324564433,0.999999962292,6.59743316885e-05,-0.000265860989066,1.9532545426e-05,1793251917062941696
+66,1.100000000,BASELINE,769.707337083,747,725,692.292662917,671,642,889,788,820,656,633,656.707337083,0.400977712175,0.00449815703222,0.0698324519738,0.999999962378,6.42043518744e-05,-0.000265957792823,1.96797653826e-05,1793251917079608064
+67,1.116666667,BASELINE,769.116603949,747,725,692.883396051,671,642,889,788,820,656,633,656.116603949,0.400977177404,0.00449669374324,0.0698328248633,0.999999962699,6.05041932147e-05,-0.000265606875758,1.98456631267e-05,1793251917096274688
+68,1.133333333,BASELINE,769,747,725,692.535234029,671,642,889.464765971,788,820,656,633,656.464765971,0.400978121357,0.00449767748549,0.0698335314445,0.999999962897,6.22309986261e-05,-0.000264473542915,1.96657767915e-05,1793251917112941568
+69,1.150000000,BASELINE,769.043528551,747,725,692,671,642.043528551,889.956471449,788,820,656.043528551,633,656.956471449,0.400979369623,0.00449920946592,0.0698342727501,0.999999963059,6.52068746324e-05,-0.000263157841448,1.94226000852e-05,1793251917129608192
+70,1.166666667,BASELINE,769.618571003,747,725,692,671,642.618571003,889.381428997,788,820,656.618571003,633,656.381428997,0.400979893144,0.00450008735198,0.0698344359828,0.999999963244,6.71375339763e-05,-0.000261964896928,1.94449976897e-05,1793251917146274816
+71,1.183333333,BASELINE,769.806812836,746.806812836,725,692,671,642.806812836,889.193187164,788,820,657,633,656.193187164,0.400980065881,0.00450021905917,0.0698345341865,0.999999963274,6.7963101714e-05,-0.00026162522926,1.96349877404e-05,1793251917162941184
+72,1.200000000,BASELINE,769.233036386,746.233036386,725,692,671,642.233036386,889.766963614,788,820,657,633,656.766963614,0.400979547558,0.00449888075331,0.0698345042799,0.999999963003,6.66115788603e-05,-0.000262966563466,2.0155144085e-05,1793251917179607808
+73,1.216666667,BASELINE,769,746,725,692,671,642,889.648080411,787.648080411,820,657,633,656.648080411,0.400979277669,0.00449837676048,0.0698343861233,0.999999962835,6.6482380803e-05,-0.000263617993646,2.03825979962e-05,1793251917196274432
+74,1.233333333,BASELINE,769,746,725,692,671,642,889.055478656,787.055478656,820,657,633,656.055478656,0.400979177688,0.00449844336476,0.0698342076114,0.99999996274,6.71891458981e-05,-0.000263797589836,2.04098690561e-05,1793251917212941312
+75,1.250000000,BASELINE,769,746.523855482,725,692,671,642,889,787.523855482,820,656.476144518,633,656,0.400979752748,0.00449949081624,0.0698344773169,0.999999963024,6.55106633683e-05,-0.000263186127582,1.98191508946e-05,1793251917229607936
+76,1.266666667,BASELINE,769,747,725,692,671,642.101056876,889,788,820.101056876,656.101056876,633,656.101056876,0.400980176219,0.00450024186885,0.069834570442,0.999999963225,6.40311155386e-05,-0.000262826158408,1.92746548326e-05,1793251917246274560
+77,1.283333333,BASELINE,769,747,725,692,671,642.674693216,889,788,820.674693216,656.674693216,633,656.674693216,0.400979564752,0.00449913308584,0.0698336213162,0.999999962872,6.46339718748e-05,-0.000264024357775,1.92448088655e-05,1793251917262941184
+78,1.300000000,BASELINE,769,747,725,692,671,642.744902005,889,788,820.744902005,656.744902005,633,657,0.400979446678,0.00449889493652,0.0698334864543,0.999999962745,6.55634673857e-05,-0.000264278935282,1.91931375666e-05,1793251917279608064
+79,1.316666667,BASELINE,769,747,725,692,671,642.155630754,889,788,820.155630754,656.155630754,633,657,0.40097997494,0.00449979729994,0.0698344182619,0.999999962915,6.69208536177e-05,-0.000263297386983,1.91128755235e-05,1793251917296274688
+80,1.333333333,BASELINE,769,747,725,692,671,642,889,788,820,656.42613632,633,656.57386368,0.400980045544,0.00449929534481,0.0698343811808,0.999999962973,6.67267640737e-05,-0.000263112424747,1.93074250551e-05,1793251917312941568
+81,1.350000000,BASELINE,769,747,725,692,671,642,889,787.994811852,820,656.994811852,633,656,0.400979935101,0.00449831449815,0.0698339916379,0.999999962984,6.59911462734e-05,-0.000263237136027,1.95970020155e-05,1793251917329608192
+82,1.366666667,BASELINE,769,747,725,692,671,642,889,787.418193374,820,656.418193374,633,656,0.400977974611,0.00450009923243,0.0698330806869,0.999999962197,6.69391917816e-05,-0.000265981447293,1.94899945454e-05,1793251917346274816
+83,1.383333333,BASELINE,769.157215355,747,725,692,671,642,889.157215355,787.157215355,820,656,633,656,0.400976668204,0.00450065329219,0.0698326332224,0.999999961778,6.6893994779e-05,-0.00026755807697,1.95380468053e-05,1793251917362941696
+84,1.400000000,BASELINE,769.729430842,747,725,692,671,642,889.729430842,787.729430842,820,656,633,656,0.400977088377,0.00449795875052,0.0698334092192,0.999999962346,6.42269435668e-05,-0.000266052387377,1.99954089876e-05,1793251917379609088
+85,1.416666667,BASELINE,770,746.688050317,725,692,671,642,889.688050317,788,820,656.311949683,633,656,0.400977241674,0.00449683481699,0.0698336021871,0.999999962631,6.25130939032e-05,-0.000265384752777,2.00452939123e-05,1793251917396275968
+86,1.433333333,BASELINE,770,746.096289664,725,692,671,642,889.096289664,788,820,656.903710336,633,656,0.40097715559,0.00449711967938,0.069833272193,0.999999962668,6.16542420666e-05,-0.000265468832392,1.97296820214e-05,1793251917412942848
+87,1.450000000,BASELINE,769.514682082,746.485317918,725,692,671,642,889,788.485317918,820,656.514682082,633,656,0.400977511557,0.00449816957286,0.0698330082543,0.999999962534,6.36373508501e-05,-0.000265520305017,1.95422811633e-05,1793251917429609472
+88,1.466666667,BASELINE,769.06430053,747,725,692,671,642,889,788.93569947,820,656.06430053,633,656.06430053,0.400978022672,0.00449918359633,0.0698328582635,0.999999962418,6.58017129216e-05,-0.000265441311748,1.93918316126e-05,1793251917446275840
+89,1.483333333,BASELINE,769.638118094,747,725,692,671,642,889,788.361881906,820,656.638118094,633,656.638118094,0.400979082451,0.00449873527927,0.0698335094732,0.999999962751,6.50258581551e-05,-0.000264378720501,1.93367458946e-05,1793251917462942464
+90,1.500000000,BASELINE,769.789882408,747,725,692,671,642.210117592,889,788,820,656.789882408,633,656.789882408,0.400979534502,0.00449820460446,0.0698338195101,0.99999996297,6.38137433614e-05,-0.000263839982571,1.93794649248e-05,1793251917479609344
+91,1.516666667,BASELINE,769.220987333,747,725,692,671,642.779012667,889,788,820,656.220987333,633,656.220987333,0.400978948853,0.00449753330318,0.0698335469918,0.999999962995,6.18567111294e-05,-0.000264195728516,1.95891863575e-05,1793251917496276224
+92,1.533333333,BASELINE,769.366791634,747,725,692,671,642.633208366,889,787.633208366,820,656,633,656,0.400979229377,0.00449645593431,0.06983350275,0.999999962957,6.14315037926e-05,-0.00026441458733,1.99204127285e-05,1793251917512942848
+93,1.550000000,BASELINE,769.96656551,747,725,692,671,642.03343449,889,787.03343449,820,656,633,656,0.400980060084,0.00449512063546,0.0698336035071,0.99999996288,6.19792955469e-05,-0.000264546496897,2.03288177966e-05,1793251917529609472
+94,1.566666667,BASELINE,770,746.45606989,725,692,671,642,889,787.54393011,820,656,633,656,0.400978643052,0.00449803789745,0.0698330695936,0.999999962548,6.43001087575e-05,-0.000265302959082,1.95804486314e-05,1793251917546275584
+95,1.583333333,BASELINE,769.879990296,746.120009704,725,692,671,642,889,788,820,656,633,656,0.400977833562,0.00450022210477,0.0698329609716,0.999999962417,6.6015970335e-05,-0.000265419247081,1.90104458525e-05,1793251917562941952
+96,1.600000000,BASELINE,769.303766265,746.696233735,725,692,671,642,889,788,820,656,633,656,0.400979838083,0.004498665242,0.0698346115213,0.999999963123,6.50342122376e-05,-0.000262961761837,1.93781074607e-05,1793251917579608832
+97,1.616666667,BASELINE,769.278539216,747,725,692,671,642,889.278539216,788,820,656,633,656.278539216,0.40098039227,0.00449770492013,0.0698352526008,0.99999996332,6.42402872324e-05,-0.000262396074012,1.95348681186e-05,1793251917596275712
+98,1.633333333,BASELINE,769.86762494,747,725,692,671,642,889.86762494,788,820,656,633,656.86762494,0.400979329466,0.00449740968851,0.0698347682104,0.999999962953,6.3655779515e-05,-0.000263939572571,1.94564929118e-05,1793251917612942592
+99,1.650000000,BASELINE,770,747,725,692,671,642,889.551129955,787.551129955,820,656,633,656.551129955,0.400979544427,0.00449828893009,0.0698348576687,0.999999963156,6.35711050338e-05,-0.000263191099359,1.94173973893e-05,1793251917629609216
+100,1.666666667,BASELINE,770,746.972182612,724.972182612,692,671,642,889,787.027817388,820,656,633,656,0.400980117079,0.0044994491686,0.0698350729511,0.999999963497,6.36572573164e-05,-0.000261875497337,1.93782729495e-05,1793251917646276096
+101,1.683333333,BASELINE,770,746.393733971,724.393733971,692,671,642,889,787.606266029,820,656,633,656,0.400980439081,0.00449943326506,0.069834486502,0.999999963304,6.42571335478e-05,-0.000262483653674,1.911321575e-05,1793251917662942976
+102,1.700000000,BASELINE,769.818966577,746,724.181033423,692,671,642,889,788,820.181033423,656,633,656.181033423,0.400980447118,0.00449914553162,0.0698341328401,0.999999963177,6.44201546007e-05,-0.0002629338064,1.90145602068e-05,1793251917679610112
+103,1.716666667,BASELINE,769.252046126,746,724.747953874,692,671,642,889,788,820.747953874,656,633,656.747953874,0.400979785912,0.00449827837128,0.0698342753829,0.999999963192,6.36519842864e-05,-0.000263047161882,1.92706029607e-05,1793251917696276736
+104,1.733333333,BASELINE,769.331193134,746.331193134,724.668806866,692,671,642,889,788,820.668806866,656,633,656.668806866,0.400979528855,0.00449795045119,0.0698345118858,0.999999963287,6.28284269655e-05,-0.000262881967624,1.92631177682e-05,1793251917712942848
+105,1.750000000,BASELINE,769.927495108,746.927495108,724.072504892,692,671,642,889,788,820.072504892,656,633,656.072504892,0.400979595305,0.00449805417449,0.0698348236008,0.999999963448,6.19605341463e-05,-0.000262493803783,1.90446874452e-05,1793251917729608448
+106,1.766666667,BASELINE,770,747,724.508238834,692,671,642,889.508238834,787.491761166,820,656,633,656.508238834,0.400978998167,0.00449876580181,0.069834440421,0.999999963181,6.33736279584e-05,-0.000263166115982,1.90980422488e-05,1793251917746275072
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,747,725,692,671,642,890,788,820,657,633,656,0.400978529729,0.00449858140395,0.0698328589784,0.999999962692,6.38497835803e-05,-0.000264909225735,1.90492230266e-05,1793251917789579520
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.405844868,747,725,692,671,642,889.405844868,788,820,657,633,656,0.400979447461,0.00449871416165,0.0698344000464,0.999999963201,6.27811623962e-05,-0.000263222758895,1.9269073041e-05,1793251917806246144
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671,642.183530805,889,788,820,656.816469195,633,656,0.400980283564,0.00449888755174,0.0698355206844,0.99999996357,6.23230859515e-05,-0.000261914128865,1.93945823504e-05,1793251917822912512
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671,642.762605933,889,788,820,656.237394067,633,656,0.40098094374,0.00449914851249,0.0698357352153,0.999999963647,6.31808511094e-05,-0.000261419809796,1.93167692661e-05,1793251917839579136
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725,692,671.339202632,642.660797368,889,788,820,656,633,656.339202632,0.400980781649,0.00449941537464,0.0698355585407,0.999999963537,6.39710324438e-05,-0.000261646957855,1.93308088019e-05,1793251917856246016
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671.914077327,642.085922673,889,788,820,656,633,656.914077327,0.400980048262,0.00449968633696,0.0698351100633,0.999999963297,6.47142576665e-05,-0.000262375368703,1.94086659383e-05,1793251917872912640
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.487442594,746.512557406,725,692,671.512557406,642,889,788,820,656.487442594,633.487442594,657,0.400979616589,0.00449949545538,0.069834508161,0.999999963097,6.52211848729e-05,-0.000263010142627,1.94586024339e-05,1793251917889579776
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.937326062,746,725,692.062673938,671,642,889,788,819.937326062,656.937326062,633.937326062,656.937326062,0.400979274115,0.00449926895178,0.0698339830646,0.999999962913,6.55678347825e-05,-0.000263617815378,1.95064639705e-05,1793251917906247424
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.344050757,746,725,692.655949243,671,642,889,788,819.344050757,656.344050757,633.344050757,656.344050757,0.400979237946,0.00449942796696,0.0698343364663,0.999999962818,6.49091140408e-05,-0.000264135354033,1.95782970403e-05,1793251917922913792
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.24346365,725,692.75653635,671,642,889,788,819.24346365,656.24346365,633,656.24346365,0.40098038504,0.00449969159763,0.0698350956993,0.999999962904,6.44365696767e-05,-0.000263931802536,1.94796965828e-05,1793251917939580160
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.823025177,725,692.176974823,671,642,889,788,819.823025177,656.823025177,633,656.823025177,0.400983165612,0.00450009964839,0.0698364151763,0.99999996324,6.42210390326e-05,-0.000262732796976,1.91458152195e-05,1793251917956246528
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,725,692,671.397752934,642.397752934,889,788,820,656.602247066,633,656.602247066,0.40100071957,0.00449981981875,0.06984396255,0.999999966324,6.44982913484e-05,-0.000250647092906,1.91762943691e-05,1793251917972912896
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,725,692,671.970355844,642.970355844,889,788,820,656.029644156,633,656.029644156,0.401024767825,0.00449923760075,0.0698542476725,0.999999970375,6.49921682753e-05,-0.000233775656627,1.93669443375e-05,1793251917989579264
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746.455423974,725,691.455423974,671.455423974,642.455423974,889.544576026,788,820,656,633,656,0.401071262669,0.00449977709683,0.0698682483405,0.999999976257,6.43134195557e-05,-0.000207349552192,1.88796531238e-05,1793251918006246400
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.123098298,724.876901702,691.123098298,671,642,889.876901702,788,820,656,633,656,0.401121844555,0.00450024644227,0.0698821120208,0.999999980854,6.38627926638e-05,-0.000184044966438,1.84626069002e-05,1793251918022913536
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746.717762979,724.282237021,691.717762979,671,642,889.282237021,788,820,656,633,656,0.401183388379,0.00450021244469,0.0698946738156,0.999999982488,6.45313150129e-05,-0.000174696705816,1.84564489741e-05,1793251918039579904
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.300755673,747,724.300755673,692,671,642.300755673,889,788,820,656,633,656.300755673,0.401255395683,0.00449987707229,0.0699033164516,0.999999984565,6.26077344953e-05,-0.000163225756045,1.7553395687e-05,1793251918056246528
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.87320424,747,724.87320424,692,671,642.87320424,889,788,820,656,633,656.87320424,0.401336855349,0.0044992694477,0.0699084186464,0.999999986947,5.83425325076e-05,-0.000149837238479,1.58401163001e-05,1793251918072913152
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746.549071637,724.549071637,692,671,643,889,788,820,656,633,656.549071637,0.401427696047,0.00449972356586,0.0699083223849,0.999999987131,5.63746123165e-05,-0.000149584426443,1.36054860753e-05,1793251918089580288
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.969285124,746.030714876,724,692,671,642.969285124,889,788,820,656,633,656,0.401522474642,0.00450046191578,0.0699067965482,0.999999986731,5.50161900675e-05,-0.000152924805758,1.12165503061e-05,1793251918106247424
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.379275716,746.620724284,724,692,671,642.379275716,889,788,820,656,633,656,0.401640357792,0.00450087519459,0.069906171588,0.999999986762,5.285441995e-05,-0.000153640524288,8.71886080293e-06,1793251918122913536
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,746.793290423,724.206709577,692,671,642.206709577,889,788,820,656.206709577,633,656,0.401772254373,0.00450110000545,0.0699070424369,0.999999987088,4.97090549985e-05,-0.000152695983287,6.01657056079e-06,1793251918139580928
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,746.214547743,724.785452257,692,671,642.785452257,889,788,820,656.785452257,633,656,0.401929372124,0.00450098561421,0.0699106054227,0.999999987927,4.47934295869e-05,-0.000148763329536,2.94604294281e-06,1793251918156250880
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746.360529646,725,692,671,643,889,788,820,656.639470354,633,656,0.402103086399,0.00450190704934,0.0699147004087,0.999999988905,4.06794386532e-05,-0.000143301751476,-6.80289096727e-07,1793251918172917248
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746.933447862,725,692,671,643,889,788,820,656.066552138,633,656,0.402286577728,0.00450343869137,0.0699191087971,0.999999989927,3.70376913559e-05,-0.000136939481366,-4.63404667043e-06,1793251918189581056
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.491187652,725,692,671,642.491187652,889,787.491187652,820,656,633,656.508812348,0.402497610266,0.00450420994665,0.0699201116676,0.999999990544,3.13713972611e-05,-0.0001335792255,-9.19364782929e-06,1793251918206247168
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.08703284,746,725,692,671,642,889.08703284,787.08703284,820,656,633,656.91296716,0.402717878163,0.00450457130571,0.069920766096,0.999999991099,2.50261291328e-05,-0.000130322763273,-1.38606354066e-05,1793251918222913536
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.679986529,746,725,692,671,642,889.679986529,787.679986529,820,656,633,656.320013471,0.402970789533,0.00450313088334,0.0699219968725,0.999999991833,1.62807568184e-05,-0.000125376093812,-1.86889926401e-05,1793251918239579648
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.265286497,725,692,671,642,890,787.734713503,820.265286497,656,633,656,0.403251081293,0.00449426234261,0.0699279562993,0.999999993339,-1.59345027471e-06,-0.000113273334086,-2.21052484361e-05,1793251918256246272
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.841612692,725,692,671,642,890,787.158387308,820.841612692,656,633,656,0.403563475646,0.00447668457735,0.0699394599132,0.999999994956,-3.01709155824e-05,-9.27802939309e-05,-2.3865861402e-05,1793251918272912896
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,747,725,692.419962448,671,642,890.419962448,787.839924896,820.580037552,656,633,656.419962448,0.403888196442,0.00447194615177,0.0699443750599,0.999999994994,-4.34798245878e-05,-8.55530867476e-05,-2.83138825134e-05,1793251918289579776
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,747,725,692.999079066,671,642,890.999079066,788.998158131,820.000920934,656,633,656.999079066,0.404217588614,0.00447207348174,0.0699467933592,0.999999994655,-5.10023718086e-05,-8.3353264363e-05,-3.37803570546e-05,1793251918306246656
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,725,693,671,642,891,787.831397187,820,656,633,657,0.404577162122,0.00448212011308,0.0699483244594,0.999999994589,-4.54809823458e-05,-8.43090816682e-05,-4.05709112587e-05,1793251918322913536
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,747,725,693,671,642.168663225,890.831336775,787.168663225,820,656,633.168663225,656.831336775,0.404955651624,0.00448869722838,0.0699518316387,0.999999995889,-1.67266996304e-05,-8.02691052516e-05,-3.87146479721e-05,1793251918339580160
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,747,725,693,671,642.750891097,890.249108903,787.750891097,820,656,633.750891097,656.249108903,0.405380405489,0.00448672829922,0.0699601876572,0.999999995455,6.89440269193e-05,-6.3967046029e-05,-1.56510917276e-05,1793251918356246528
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,747,725.328953464,693,671,642.671046536,890.328953464,788,820,656,633.671046536,656.328953464,0.405821333554,0.00449630796161,0.0699606131158,0.999999991892,0.000111788327417,-5.97425922883e-05,-1.22619888569e-05,1793251918372912896
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,747,725.903900896,693,671,642.096099104,890.903900896,788,820,656,633.096099104,656.903900896,0.406274356856,0.00451452375066,0.0699551080406,0.999999990122,0.000122606701693,-6.45498647082e-05,-2.35855933641e-05,1793251918389579520
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.521511526,747,725.521511526,693,671,642,890.521511526,788,820,656,633,657,0.406742648633,0.00451247598246,0.0699395077525,0.999999988721,0.000115469497933,-9.15789592923e-05,-2.89426494092e-05,1793251918406246144
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.054611665,747,725,693.054611665,671,642,890,788,820,656,633,657,0.407220066286,0.00450771882226,0.0699231577117,0.999999987757,9.48809243315e-05,-0.000119996826588,-3.29218820844e-05,1793251918422912768
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.64655491,747,725,693.64655491,671,642,890,788,820,656,633,657,0.407757125905,0.00451631592696,0.0699193647089,0.999999992142,-2.26024926859e-05,-0.000118199910271,-3.51260506977e-05,1793251918439579648
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,747,725,694,671.232217929,642,890.232217929,788,820.232217929,656,633,657,0.408327295948,0.00452525453395,0.0699238981292,0.999999991008,-7.65816482118e-05,-0.00010386015673,-3.65024130663e-05,1793251918456246784
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,747,725,694,671.80857386,642,890.80857386,788,820.80857386,656,633,657,0.408946534329,0.00453469923366,0.0699407709871,0.999999996148,-3.64499342597e-05,-7.09324046812e-05,-3.6651998929e-05,1793251918472914176
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.615415137,747,725,694,671.615415137,642.384584863,891,788,820.615415137,656,633,657,0.409574944359,0.00454103144197,0.0699458681436,0.999999997635,-6.26776754417e-06,-5.67527751826e-05,-3.83497890534e-05,1793251918489580800
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.039575683,747,725,694,671.039575683,642.960424317,891,788,820.039575683,656,633,657,0.410207915443,0.00454581580368,0.0699451092269,0.99999999764,1.89664742025e-05,-5.18966142545e-05,-4.08175033299e-05,1793251918506247424
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.451841384,725,694,671,643,891,788,820,656,633,657,0.410844475971,0.00455541930968,0.0699405988196,0.999999995849,4.96240852978e-05,-6.3657639042e-05,-4.22826656703e-05,1793251918522913792
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.134561383,746.134561383,725,694,671,643,891,788,820,656,633,657,0.41150355672,0.00456431080112,0.0699417311908,0.999999994036,7.61021460242e-05,-6.51375561962e-05,-4.351680959e-05,1793251918539580416
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.713665102,746.713665102,725,694,671,643,891,788,820,656,633,657,0.412236160907,0.00456967511925,0.0699624199025,0.999999994789,8.74502267426e-05,-2.86010413639e-05,-4.42321788591e-05,1793251918556247296
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.709179763,747,725,694.290820237,671,642.709179763,891.290820237,788,820.290820237,656,633,657,0.412992054302,0.00457563011463,0.0699879620298,0.999999995136,8.71695252998e-05,1.20152093508e-05,-4.45513263824e-05,1793251918572914176
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.13393032,747,725,694.86606968,671,642.13393032,891.86606968,788,820.86606968,656,633,657,0.41377072519,0.00458216280723,0.0700182509171,0.999999994556,7.55155957981e-05,5.66215444452e-05,-4.44829595455e-05,1793251918589580800
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.440069448,747,725,694.559930552,671,642.440069448,892.440069448,788,821,656,633,657,0.414526130677,0.00459026073017,0.0700054868312,0.999999994661,8.84970515292e-05,2.79820693937e-05,-4.54289561923e-05,1793251918606247424
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.985860244,747,725,694.014139756,671,642.985860244,893.014139756,788,821.014139756,656.014139756,633.014139756,657,0.415274533182,0.00459873567222,0.0699790271446,0.999999992711,0.000108815985733,-2.35844655769e-05,-4.67052702028e-05,1793251918622914048
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.393391842,747,725,694.606608158,671,642.393391842,893.606608158,788,821.606608158,656.606608158,633.606608158,657,0.416025290916,0.00460320264685,0.0699267997375,0.999999985804,0.000123457899808,-0.000103725380856,-4.89010887374e-05,1793251918639580672
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.194690712,642.194690712,894,788,822.194690712,656.805309288,633.805309288,657,0.416815761538,0.00460867449199,0.0698976827197,0.999999979633,0.000125985881859,-0.000149264911736,-5.08144699986e-05,1793251918656247040
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671.77410643,642.77410643,894,788,822.77410643,656.22589357,633.22589357,657,0.417684708079,0.0046161320444,0.0699142337526,0.999999985179,0.00010457572909,-0.000126429231175,-5.21697321331e-05,1793251918672913408
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671.649889099,643,894.350110901,788.350110901,823,656,633.350110901,657,0.418570415551,0.00462323497992,0.0699426070094,0.999999988275,0.000116312532067,-8.50325122295e-05,-5.18677562171e-05,1793251918689580032
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.076064369,643,894.923935631,788.923935631,823,656,633.923935631,657,0.419466832889,0.0046301113221,0.069978534429,0.999999987085,0.000149229574161,-3.1775663392e-05,-5.05068382967e-05,1793251918706246400
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895,788.501320257,823.498679743,656.498679743,634,657,0.420415309928,0.00462975141468,0.0700075686111,0.999999987006,0.000151991453734,1.60104204531e-05,-5.12793732072e-05,1793251918722913280
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895.075704005,788.075704005,824,656.924295995,634,657,0.421363432553,0.00462571664351,0.0700311088537,0.999999986579,0.000145162135524,5.49606359318e-05,-5.24304078456e-05,1793251918739580160
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895.66730915,788.66730915,824,656.33269085,634,657,0.422254925647,0.00460417440217,0.0700243879269,0.999999992322,0.000104374486757,3.93940510144e-05,-5.39390780454e-05,1793251918756247296
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895.747294494,788.747294494,824,656,634,657,0.423111523855,0.00458518650949,0.0699789706862,0.999999994659,8.03611956133e-05,-3.56030657371e-05,-5.43826888122e-05,1793251918772913920
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725,695,671,643,895.169876016,788.169876016,824,656,634,657,0.423923284134,0.00456948081438,0.0698838307642,0.999999978059,7.79020443413e-05,-0.00018696521906,-5.34577549484e-05,1793251918789580544
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,725,695.407187697,671,643,895.407187697,787.592812303,824.407187697,656,634,657,0.424849141124,0.00456443183876,0.0698570420672,0.999999972574,6.05767812497e-05,-0.000219839249091,-5.3420552592e-05,1793251918806247168
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,747,725,695.9841035,671,643,895.9841035,787.0158965,824.9841035,656,634,657,0.425822557013,0.00456382490596,0.0698587442265,0.999999977198,3.70548752584e-05,-0.000203323850368,-5.37533838307e-05,1793251918822913792
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.428589243,747,725.571410757,696,671,642.428589243,896.571410757,787,825,656,634,657,0.426838712825,0.00457010410614,0.0699262449951,0.99999999128,5.9767650337e-05,-0.000106208856059,-5.08743505517e-05,1793251918839579904
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,747,725.843327451,696,671,642.156672549,897,787,825.156672549,656,633.843327451,657,0.427859827998,0.00457681405561,0.0699903501752,0.999999995405,8.12291251949e-05,-1.30010480676e-05,-4.92213819957e-05,1793251918856246016
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,725.264372488,696,671,642.735627512,897,787,825.735627512,656,633.264372488,657,0.428891046042,0.00458415910395,0.0700402779919,0.999999992088,9.57869151473e-05,6.35200934188e-05,-5.11183458403e-05,1793251918872912640
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.313775386,747,725,696,671,643,897.313775386,787,826,656,633.313775386,656.686224614,0.429879047772,0.00458571114229,0.0700539083905,0.99999999087,9.33532218255e-05,8.26650296164e-05,-5.20667861912e-05,1793251918889579520
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.891244961,747,725,696,671,643,897.891244961,787,826,656,633.891244961,656.108755039,0.430830730823,0.00458239478352,0.0700370347427,0.999999994264,7.66400288169e-05,5.35914831713e-05,-5.22180954487e-05,1793251918906246912
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,696,671,643,898.466005067,787,826,656,634,656.466005067,0.431689765001,0.004576568864,0.0699581332417,0.999999992268,7.85847676026e-05,-8.13633495289e-05,-5.16645189564e-05,1793251918922914560
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.958775593,747,725,696.041224407,671,643,899,787,826.041224407,656,633.958775593,657,0.432539449393,0.00457023735827,0.0698730712486,0.99999996974,8.30048347441e-05,-0.000225859657264,-5.11652967221e-05,1793251918939582208
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.369082809,747,725,696.630917191,671,643,899,787,826.630917191,656,633.369082809,657,0.433550747177,0.0045649263496,0.0698975279906,0.99999998207,6.27605840256e-05,-0.000170443314975,-5.35652340332e-05,1793251918956247296
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,725,696.783100776,671.216899224,643,898.783100776,787,827,656,633.216899224,657,0.434565198561,0.00456465831595,0.0699351510062,0.999999992096,5.50092154011e-05,-9.87917595376e-05,-5.49711333007e-05,1793251918972912896
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,725,696.203326773,671.796673227,643,898.203326773,787,827,656,633.796673227,657,0.435584926115,0.00457282723388,0.0699948013457,0.99999999618,6.81585720309e-05,2.1494300575e-08,-5.4713996299e-05,1793251918989579520
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.372653253,747,725,696,672,643,898.372653253,787.372653253,827,656,634,657,0.436564380604,0.00457582771861,0.070022933055,0.999999994397,7.6452690073e-05,4.90237569208e-05,-5.43757464713e-05,1793251919006246400
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.946584041,747,725,696,672,643,898.946584041,787.946584041,827,656,634,657,0.437522082736,0.00457603662788,0.0700340409131,0.999999992641,8.2124395303e-05,7.1122093048e-05,-5.39936861609e-05,1793251919022913536
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.479298494,747.520701506,725,696.520701506,672,643.520701506,899,787.479298494,827.520701506,656,634,657,0.438416708323,0.00457630094223,0.0700018613399,0.99999999534,7.14077123952e-05,3.3001839352e-05,-5.59681142772e-05,1793251919039580416
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747.901588221,724.901588221,696.901588221,671.901588221,643.901588221,899,786.901588221,828,656,634,657,0.439290419456,0.00457703470211,0.0699580529844,0.99999999603,6.24538665926e-05,-2.67059694637e-05,-5.76775550852e-05,1793251919056247552
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747.305817232,724.305817232,696.305817232,671.305817232,643.305817232,899,786.305817232,828,656,634,657,0.440091145513,0.00458011223824,0.0698779247437,0.999999982377,7.09087260777e-05,-0.00016428281727,-5.6825632273e-05,1793251919072914176
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,724.280109753,696,671,643.280109753,899,786.280109753,828,656.280109753,634,657,0.440961943534,0.00457954715665,0.0698585166993,0.999999976458,7.31212853323e-05,-0.000196314403816,-5.65434534081e-05,1793251919089580544
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,724.855654129,696,671,643.855654129,899,786.855654129,828,656.855654129,634,657,0.441906647123,0.00457514016866,0.0699031508724,0.999999989172,6.8750026863e-05,-0.000117026316266,-5.68621899639e-05,1793251919106246656
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,725,696,671.439607444,643.560392556,899.439607444,787,827.560392556,656.560392556,634,657,0.44281689077,0.00457003377461,0.0699653285641,0.999999995933,6.62722053224e-05,-2.52710397655e-05,-5.57016552875e-05,1793251919122913280
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,724.973969933,696,672,643,899.973969933,787,827.026030067,656,634,657.026030067,0.443713757272,0.00456490798733,0.0700305173464,0.999999994316,6.3928487673e-05,6.60036616373e-05,-5.40859571206e-05,1793251919139579648
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,724.394891626,696,672,643,899.394891626,787,827.605108374,656,634,657.605108374,0.444571496633,0.00456434461111,0.0700349050599,0.999999995575,5.0967183357e-05,5.83962891158e-05,-5.33207675139e-05,1793251919156246272
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,724.184148186,696,672,643.184148186,899,787,828,656,634,658,0.445402111927,0.00456403672803,0.0700276940389,0.99999999674,4.28379411241e-05,4.26963849715e-05,-5.35060385703e-05,1793251919172912896
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,724.763105577,696,672,643.763105577,899,787,828,656,634,658,0.446174574045,0.00456427661589,0.069995615616,0.999999997385,4.50685192867e-05,9.64628962658e-06,-5.57290738671e-05,1793251919189580288
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,724.659960586,696,672,644,899.340039414,786.659960586,828,656,634,657.659960586,0.446898639735,0.00456517338522,0.0699589175324,0.99999999594,5.29176041189e-05,-4.75295726853e-05,-5.53261258986e-05,1793251919206246912
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,724.084428189,696,672,644,899.915571811,786.084428189,828,656,634,657.084428189,0.447589188619,0.00456652507527,0.0699190201225,0.999999989129,6.46577637104e-05,-0.000121413639596,-5.31045630098e-05,1793251919222913024
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,724,696,671.501594073,643.501594073,900,786,828,656,634,657.498405927,0.448271788624,0.00456380432607,0.0698997568849,0.999999984455,6.53250787398e-05,-0.000155418174522,-5.16527996194e-05,1793251919239579392
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747.082131872,724.082131872,696,671.082131872,643,900,786,828,656,634,658,0.448966717755,0.00456076172907,0.0698937695321,0.999999982781,6.38678821176e-05,-0.000166711004489,-5.0661534963e-05,1793251919256246016
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.66364797,724.66364797,696,671.66364797,643,900,786,828,656,634,658,0.449744920224,0.00456001909072,0.069946934488,0.999999993472,6.10674107027e-05,-8.15961479556e-05,-5.16655643386e-05,1793251919272912640
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.755830526,724.755830526,696,672,643.244169474,900,786.244169474,828.244169474,656,634,657.755830526,0.450471206196,0.00455910074064,0.0699865081098,0.999999996657,5.97772711613e-05,-1.97131605507e-05,-5.21937902603e-05,1793251919289579008
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.1766736,724.1766736,696,672,643.8233264,900,786.8233264,828.8233264,656,634,657.1766736,0.451126265447,0.00455794132353,0.0700074351442,0.999999996758,6.05592267963e-05,1.02969380914e-05,-5.20692395962e-05,1793251919306245632
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,724.398279521,695.601720479,672,643.601720479,900.398279521,786.601720479,828.601720479,656,634,657,0.451713590984,0.00455898080468,0.0699894106053,0.999999996324,6.67057950458e-05,-1.53649737522e-05,-5.16389177904e-05,1793251919322912512
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747,724.971387395,695.028612605,672,643.028612605,900.971387395,786.028612605,828.028612605,656,634,657,0.452271184259,0.00456098551176,0.0699542879272,0.999999993725,7.52072078552e-05,-6.54646092165e-05,-5.10743749004e-05,1793251919339579392
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,747,725,695,671,643.137501053,900.862498947,786,828.862498947,656,634,657.862498947,0.453281539666,0.00456888503475,0.0698767192883,0.999999980886,8.59494081415e-05,-0.00016708130809,-5.40824230695e-05,1793251919372912640
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,747,725,695,671,643.722103795,900.277896205,786,828.277896205,656,634,657.277896205,0.453800666859,0.00457309979756,0.0698660301378,0.999999977042,8.90960745666e-05,-0.000186971821101,-5.49483990421e-05,1793251919389579520
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,747.302276047,725,695,671,643.697723953,900,786,828.302276047,656,633.697723953,657.302276047,0.454293457427,0.00457621853706,0.0698652723812,0.999999975794,9.56014340493e-05,-0.000190570131917,-5.43702815553e-05,1793251919406246400
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+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725,695,671.454298128,643,900,786,829,656.454298128,633.454298128,657.545701872,0.455177921399,0.0045808416728,0.0698688609516,0.999999973047,0.000110355258023,-0.000197336549669,-5.27908277997e-05,1793251919439579648
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725,695,671.938517931,643,900,786.030741034,829,656.969258966,634,657.030741034,0.455576801456,0.00458395218317,0.0698602751605,0.999999967104,0.000114577927444,-0.000223064072956,-5.39125102336e-05,1793251919456246272
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,725,695,670.761786682,643,900,786.619106659,829,656.380893341,634,657.619106659,0.455932542846,0.00459637947293,0.0698428766739,0.999999959774,0.00012204525089,-0.000249109340125,-5.91690639718e-05,1793251919472912896
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,725,695,670,643,900.204971522,787,829,656,634,658,0.456291639689,0.00460978302043,0.0698344146554,0.999999955063,0.000133146280514,-0.000260978752142,-6.35298675421e-05,1793251919489579520
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.092566417,748,725,695.092566417,669.907433583,643,901,786.907433583,829,656.092566417,634,657,0.457826245116,0.00463030364216,0.0698595276255,0.999999970135,7.70849200561e-05,-0.000225205541048,-5.54058052824e-05,1793251919572913664
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,695.248498465,670.751501535,642.248498465,900.248498465,786.248498465,829,656.248498465,634,658,0.45530808852,0.00459776117102,0.0697095644025,0.999999883527,0.000181025786826,-0.000447202367839,1.36497111142e-05,1793251921056215040
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,642.328178543,900,786,829,656.328178543,633.671821457,658,0.4548673185,0.00457714931833,0.0697034085105,0.999999884366,0.000166015864606,-0.000450900740906,1.98571371694e-05,1793251921072881664
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,748,725,695,671,642.903380795,900,786,829,656.903380795,633.096619205,658,0.454410930688,0.00455227987771,0.0696965845956,0.999999886812,0.000145687861993,-0.000452130110349,2.69917085828e-05,1793251921089548288
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.511832309,748,724.511832309,695,671.488167691,643,900,786,828.511832309,656.511832309,633,657.511832309,0.453961886178,0.00455201843834,0.0697151617135,0.999999899893,0.000149655308872,-0.000420515417551,3.13579969885e-05,1793251921106214912
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.07370776,748,724,695,671.92629224,643,900,786,828.07370776,656.07370776,633.07370776,657,0.453506690711,0.00455648345772,0.069738542084,0.99999991413,0.000155833516566,-0.000382463511511,3.43280110528e-05,1793251921122881536
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.651170872,748,724,695,671.348829128,643,900,786,828.651170872,656.651170872,633.651170872,657,0.452999324126,0.00455929759611,0.0697597022144,0.999999929425,0.000143598575568,-0.000345734354785,3.15748423062e-05,1793251921139548160
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,748,724,695,671.457718266,643,900,786,829,657,633.771140867,657,0.452458325738,0.00455793466405,0.0697696056298,0.999999937978,0.000120218294594,-0.000329910168662,2.74013907742e-05,1793251921156214784
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,748,724,695,672.613781743,643,900,786,829,657,633.193109128,657,0.451866015012,0.0045501987348,0.0697623345646,0.99999993674,7.98334607807e-05,-0.000345980902005,2.10610001593e-05,1793251921172881408
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747.617195088,724.382804912,695,672.617195088,643,899.617195088,786.382804912,828.617195088,657,633,657,0.451231464417,0.00454925920446,0.0697564912928,0.99999993174,6.71027074616e-05,-0.000362707783652,2.14347210647e-05,1793251921189548544
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.042343477,724.957656523,695,672.042343477,643,899.042343477,786.957656523,828.042343477,657,633,657,0.450575722819,0.00455172931182,0.069751364321,0.999999925244,6.82455360935e-05,-0.000379763843367,2.51767974488e-05,1793251921206215936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747.54632711,724.45367289,695,672,643,899,787,828,656.45367289,633.54632711,657,0.449925737336,0.00455107992624,0.0697568983888,0.999999924744,6.54371618907e-05,-0.000381287914506,2.91588201238e-05,1793251921222882304
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,747.865659688,724,695,671.865659688,643,899,786.865659688,828,656,634,657,0.449272674282,0.00455069012225,0.0697693220724,0.999999930151,5.94076726121e-05,-0.000367611519689,3.20893101311e-05,1793251921239548672
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,747.283500941,724,695,671.283500941,643,899,786.283500941,828,656,634,657,0.448607826646,0.0045519924991,0.0698018861412,0.999999951309,4.36880505301e-05,-0.000307381955529,3.14509522732e-05,1793251921256215296
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.266550199,642.733449801,898.733449801,786.266550199,828,656.266550199,633.733449801,657,0.447897276635,0.00455998391847,0.0698103146602,0.999999956173,3.85171925431e-05,-0.000292000761974,3.01082579301e-05,1793251921272882176
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.786123254,642.213876746,898.213876746,786.786123254,828,656.786123254,633.213876746,657,0.447143343554,0.00457432491357,0.0697958325054,0.999999947724,4.33597502347e-05,-0.000319191891036,2.80969719636e-05,1793251921289548800
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671.626496749,642,898,787,828,656.626496749,633,656.626496749,0.446336380848,0.00458848540755,0.0697649139248,0.999999932256,4.60146020542e-05,-0.000364327588948,2.52091221486e-05,1793251921306216192
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.00784186,898.00784186,787,828,656,633,656.00784186,0.445493129826,0.0046021758663,0.069723208766,0.999999910059,4.76873613817e-05,-0.000420873188657,2.17553149102e-05,1793251921322883840
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,642.605926594,898.605926594,787,828,656,633,656.605926594,0.444711084875,0.00458999295145,0.0697351673696,0.999999919114,9.06454805373e-05,-0.000391252043355,2.18631834519e-05,1793251921339550208
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,724.197387496,695,671,642.802612504,898.802612504,787,827.802612504,656,633,657,0.443917676832,0.00458156402354,0.0697577058,0.999999926284,0.000150881116739,-0.000352296820276,2.35414255092e-05,1793251921356216576
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,724.776053603,695,671,642.223946397,898.223946397,787,827.223946397,656,633,657,0.443102319605,0.00458038639117,0.0698006804872,0.999999926109,0.000244490432775,-0.000295311660174,2.82530401384e-05,1793251921372883200
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747,724.649413594,695,671,642.350586406,898,787.350586406,827,656,633,656.649413594,0.442259672816,0.00458024173086,0.0698204840312,0.999999928086,0.000265393125654,-0.000269249285834,3.00036545542e-05,1793251921389549312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724.077490308,695,671,642.922509692,898,787.922509692,827,656,633,656.077490308,0.441399797248,0.00458074922026,0.0698256588587,0.999999936151,0.000240393702134,-0.000262709500121,2.98848908222e-05,1793251921406215168
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724.510706485,695.510706485,671,643,897.489293515,788,827,656.510706485,633,656.510706485,0.440515791394,0.00457196930339,0.0698304455302,0.999999948141,0.000203144881074,-0.000248106267931,2.98740031221e-05,1793251921422882048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,725,695.900969031,671,642.900969031,896.900969031,787.900969031,826.900969031,656.900969031,633.099030969,657,0.439609152368,0.0045641444455,0.0698242170872,0.99999995344,0.000168589608623,-0.000252568521032,3.01044419009e-05,1793251921439548672
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,725,695.324329406,671,642.324329406,896.324329406,787.324329406,826.324329406,656.324329406,633.675670594,657,0.438611596999,0.00456794564474,0.0697651581061,0.999999924255,0.00015628367739,-0.000355075040196,3.14172160352e-05,1793251921456215552
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.251265528,747,724.748734472,695,671,642.251265528,895.748734472,787.251265528,826,656.251265528,633.748734472,657,0.437646905724,0.00456777175147,0.0697209635168,0.99999990029,0.000140094091111,-0.000422858975597,3.13640058019e-05,1793251921472882432
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.825517653,747,724.174482347,695,671,642.825517653,895.174482347,787.825517653,826,656.825517653,633.174482347,657,0.436724459115,0.00456248811841,0.0696958761935,0.999999893031,0.000118912301682,-0.000446009153337,2.95549060107e-05,1793251921489548800
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.597583333,747,724.402416667,695.402416667,671,642.597583333,894.597583333,788,825.597583333,656.597583333,633,656.597583333,0.435812958346,0.00455401306562,0.0697286101397,0.999999913267,0.000120480547584,-0.000397475974353,3.10351356719e-05,1793251921506215424
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.019529101,747,724.980470899,695.980470899,671,642.019529101,894.019529101,788,825.019529101,656.019529101,633,656.019529101,0.43490623502,0.00454414509572,0.0697865805843,0.999999940262,0.000131978205993,-0.000317656090023,3.39510161001e-05,1793251921522881792
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.570621411,747,724.429378589,695.429378589,671,642.570621411,893.429378589,788,824.429378589,656,633,656.570621411,0.433974452707,0.00454264307568,0.06982371548,0.99999995359,0.00012139225057,-0.000277182648728,3.54054012867e-05,1793251921539548416
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.841749012,747,724,695,671,643,893,788,824,656,633,656.841749012,0.433037484787,0.00453984600375,0.0698511022937,0.999999964167,0.000108637885208,-0.00024198735089,3.61258951973e-05,1793251921556215296
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.261961169,747,724,695,671,643,893,788,824,656,633,656.261961169,0.43208903785,0.00453282008096,0.069854463501,0.999999971554,9.21643084072e-05,-0.000217186906441,3.5027627072e-05,1793251921572881664
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,893,788,824,656,633,656,0.431079798191,0.00452766720856,0.0698180465637,0.999999957961,8.71186580152e-05,-0.00027432938174,3.50945254357e-05,1793251921589548544
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,724,695,671,643,893,788,824,656,633,656,0.430020451611,0.0045240581541,0.0697488434289,0.999999915557,9.14922062272e-05,-0.000399011374109,3.61217844465e-05,1793251921606215424
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.464016431,747,724,695.464016431,671,643,893,788,823.535983569,656.464016431,633,656,0.429036512007,0.00451475377018,0.0697238025385,0.999999902258,8.40004041789e-05,-0.000432682016245,3.48508333211e-05,1793251921622881792
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.959562765,747,724,695.919125529,671,642.959562765,893,788,822.959562765,657,633.040437235,656.040437235,0.428075377643,0.00450455343463,0.0697158094765,0.999999901994,7.37440981848e-05,-0.00043527457447,3.3316477596e-05,1793251921639548416
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.365123414,747,724,694.730246828,671,642.365123414,893,788,822.365123414,657,633.634876586,656.634876586,0.427179351157,0.00450075874503,0.0697965264531,0.999999949044,6.45311190703e-05,-0.000310601490249,3.57114326775e-05,1793251921656215040
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,747,724,694.222048088,671,642.222048088,893,788,822,657,633.777951912,657,0.426268068584,0.00449553310859,0.069850173396,0.999999971002,5.65604716077e-05,-0.000231058264648,3.75387753662e-05,1793251921672881664
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,747,724,694.797647603,671,642.797647603,893,788,822,657,633.202352397,657,0.425332494686,0.00448802907634,0.0698607186558,0.999999973034,5.05679005986e-05,-0.00022337209983,3.8462350177e-05,1793251921689548288
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.371821103,747,724,695,671,643,892.628178897,788,822,656.628178897,633,657,0.424384772229,0.00447842703534,0.0698431671137,0.999999966694,4.17106115345e-05,-0.000251801551574,3.83269859851e-05,1793251921706214912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.945221467,747,724,695,671,643,892.054778533,788,822,656.054778533,633,657,0.423430463602,0.00446768757939,0.0698103831581,0.999999953859,3.13002431981e-05,-0.000299810740077,3.76175279905e-05,1793251921722881536
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,747,724.535601733,695,671,643,892,788.535601733,821.464398267,656,633,657,0.422379453269,0.0044669878863,0.0697310204827,0.999999900847,2.58017419447e-05,-0.000443012719938,3.71348966605e-05,1793251921739548416
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.87509619,747,725,695,671.12490381,643,892,788.87509619,821,656,633,656.87509619,0.421362390175,0.00446448038264,0.0696711553694,0.999999847834,1.97867026406e-05,-0.000550087021257,3.66576229108e-05,1793251921756215040
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.296231151,747,725,695,671.703768849,643,892,788.296231151,821,656,633,656.296231151,0.420505830372,0.00445154828758,0.0697000348238,0.999999879584,1.00087158941e-05,-0.000489312568119,3.61127481443e-05,1793251921772881664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.281291087,747,724.718708913,694.718708913,672,642.718708913,892,788,821,656,633,656.281291087,0.419684982582,0.00444234472665,0.0697545848572,0.999999921203,-8.16656380069e-06,-0.000395296052484,3.56136755606e-05,1793251921789548032
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.857405886,747,724.142594114,694.142594114,672,642.142594114,892,788,821,656,633,656.857405886,0.418901564925,0.00443704907659,0.0698360404532,0.99999996327,-3.51431209241e-05,-0.000266438232612,3.51626083372e-05,1793251921806214656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769.433009441,746.566990559,724.433009441,694,672,642,891.566990559,788,821,656,633,657,0.418079320697,0.00442907581396,0.069866181605,0.999999973753,-2.30609159282e-05,-0.000224851888773,3.74761253153e-05,1793251921822881536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769.991346149,746.008653851,724.991346149,694,671.991346149,642.008653851,891,788,821,656,633,657,0.417243903932,0.00442040592771,0.0698786674259,0.999999976537,1.24167001163e-06,-0.000212776739324,4.06327597224e-05,1793251921839548160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.4016716,746.5983284,724.4016716,694,671.4016716,642.5983284,891,788,821,656,633,657,0.416381524346,0.00442409656887,0.0698389902736,0.999999966628,-1.65440809379e-05,-0.000254800582498,3.93438390169e-05,1793251921856215040
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,747,724,694,671,642.815349346,891,788,820.815349346,656,633,657,0.415520570489,0.00443794978239,0.0698004046558,0.999999952589,-1.54828720192e-05,-0.000305223373791,3.77051257272e-05,1793251921872881664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,747,724,694,671,642.236189221,891,788,820.236189221,656,633,657,0.414662662566,0.00447351551682,0.0697641511139,0.999999929257,2.58452052911e-05,-0.000373590677806,3.53190739772e-05,1793251921889548288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,724,694,671.340966879,642.340966879,890.659033121,788,820,656,633,657,0.413858417159,0.0044867791336,0.0697484155066,0.999999915315,5.12195795762e-05,-0.000406793964875,3.55666131928e-05,1793251921906215168
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,724,694,671.916742859,642.916742859,890.083257141,788,820,656,633,657,0.413091126849,0.0044846842472,0.069746809713,0.999999910703,6.56073282206e-05,-0.000415781315764,3.76277925145e-05,1793251921922881792
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,747,724,694,671.508217634,642.508217634,890.491782366,788.491782366,820.491782366,656,633,657,0.412447477862,0.0044749242831,0.0697973031365,0.99999994795,3.68741259994e-05,-0.000318461898733,3.63694997137e-05,1793251921939548160
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747,724,693.931177883,671.068822117,642.068822117,890.931177883,788.931177883,821,656,633,657,0.411819439771,0.00446519140965,0.0698528312213,0.999999976826,7.30489685691e-06,-0.000212336282512,3.47479105451e-05,1793251921956215040
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,724,693.337948127,671.662051873,642.662051873,890.337948127,788.337948127,821,656,633,657,0.411151094133,0.00446553812049,0.0698796147268,0.999999983543,2.69081744452e-05,-0.000176040227932,3.46338097211e-05,1793251921972882176
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,746.752348193,724.247651807,693.247651807,672,643,890,788,821,656,633,657,0.41047427508,0.00446429271855,0.0698781312183,0.99999998172,3.36534233608e-05,-0.000185041757737,3.44536192599e-05,1793251921989549312
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,746.17684885,724.82315115,693.82315115,672,643,890,788,821,656,633,657,0.409786238768,0.00446093963864,0.0698392271414,0.999999966882,2.33768969761e-05,-0.000254009343174,3.41859376666e-05,1793251922006216192
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,746.398540559,725,694,671.601459441,642.601459441,890,788,821,656,633,657,0.409131185287,0.00446572272129,0.0698014666412,0.999999947948,2.12550855422e-05,-0.000320197102567,3.35473041288e-05,1793251922022882816
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,747,725,693.439202874,671.560797126,642,890,788.560797126,821,656.560797126,633,657,0.407956836077,0.00447924500064,0.0697715526022,0.999999932859,3.99231485694e-05,-0.000362922106464,3.12309207835e-05,1793251922056216064
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,747,724.853431687,693,671.853431687,642,890,788.853431687,820.853431687,656.853431687,632.853431687,657,0.407429460178,0.00448153563292,0.0697830697942,0.999999941026,5.07580257311e-05,-0.000338319694325,3.01911624789e-05,1793251922072882432
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.872639932,747,724,693,671,642,890,788,820.872639932,656,632.872639932,657,0.405924205991,0.0044722418994,0.0698008690497,0.999999943868,2.9040379209e-05,-0.000332139485656,3.32285738024e-05,1793251922122882560
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.54923454,747,724.45076546,693,671,642.45076546,889.54923454,788,820.54923454,656,633,656.54923454,0.405491482691,0.0044790190393,0.0698026753405,0.999999944647,3.21082843051e-05,-0.000329616348794,3.20735512561e-05,1793251922139549184
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,747,725,692.9681676,671,643,889.0318324,788,820,656,633,656.0318324,0.405076420593,0.00448749047294,0.0698073009669,0.999999947436,3.71369565874e-05,-0.000320682298022,3.02046014897e-05,1793251922156215808
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,747,725,692.375543762,671,643,889.624456238,788,820,656,633,656.624456238,0.404725974751,0.00448824154023,0.0698256857509,0.999999958132,3.86303434192e-05,-0.000285268301903,2.94154278498e-05,1793251922172882688
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.211046082,747,725,692,671,642.788953918,890,788,820.211046082,656,632.788953918,657,0.404376459344,0.00448616735244,0.0698403566688,0.999999965827,3.45018474329e-05,-0.000257513140157,2.90257473915e-05,1793251922189549312
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,747,725,692.362679246,671,642,890,788,821,656,632.725358492,657,0.403701638633,0.0044748807848,0.0698451613715,0.999999968769,8.16011477304e-06,-0.000248115742025,2.88951509883e-05,1793251922222882304
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,747,725,692.937769517,671,642,890,788,821,656,633.875539035,657,0.403387017329,0.00447210048744,0.069834875132,0.999999964565,-3.52693931244e-06,-0.000264711073889,2.80335511969e-05,1793251922239548672
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.4884044,747,725,692.4884044,671,642.5115956,889.4884044,788,820.4884044,656,633.4884044,657,0.403102245974,0.00447178488843,0.0698265032406,0.999999959584,-6.97574492955e-06,-0.000282806582367,2.83366507436e-05,1793251922256215296
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.729628092,747,725,693,671,643,889,788,820,656,633,657,0.402368800852,0.004465623013,0.0698042627851,0.999999948634,-2.20376976889e-05,-0.000318420898499,2.92300045912e-05,1793251922306215936
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.155038413,747,725,693,671,643,889,788,820,656,633,657,0.402165005458,0.00446466796044,0.0698014429572,0.999999946972,-2.07541044467e-05,-0.000323549459391,3.06812287881e-05,1793251922322882560
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.098168914,746,725,692,671,642,889,788,820.098168914,656.901831086,633,656.901831086,0.401282644103,0.00451615410064,0.0698006050004,0.999999934917,0.000160036674929,-0.000321605904396,3.35347850781e-05,1793251922439548160
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,747,725,692,671.074455508,643,889.074455508,787.074455508,820.074455508,656,633,656.074455508,0.401157298357,0.00450327986898,0.0697997519592,0.999999946349,6.00764153637e-05,-0.000321791502227,1.19860453796e-05,1793251922472882944
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.231238477,747,725,692,671.768761523,643,889.768761523,788,820.768761523,656,633,656.768761523,0.401079556657,0.00450720052109,0.0698071013214,0.999999949423,6.75149503272e-05,-0.000310504655939,1.35058822209e-05,1793251922506216448
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.8084635,747,725,692,671.1915365,643,889.1915365,788,820.1915365,656,633,656.1915365,0.401050015461,0.00449970062294,0.0698090897003,0.999999950988,5.99632838028e-05,-0.000306907568883,1.53983268443e-05,1793251922522882816
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.616720096,747,725,692,671,643,889,788,820.383279904,656,633,656,0.40102907498,0.00449936756335,0.0698128199346,0.999999953025,5.95615312075e-05,-0.000300228798105,1.62840465474e-05,1793251922539549440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769.043099851,747,725,692,671,643,889,788,820.956900149,656,633,656,0.401012405694,0.00450259362223,0.0698174151904,0.999999955257,6.27104921376e-05,-0.000292019634819,1.66698172987e-05,1793251922556215808
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.549036745,746.450963255,725,692,671,642.450963255,889,788,821,656.549036745,633,656.549036745,0.400999823661,0.0045034005676,0.0698183595658,0.999999955497,6.65075439114e-05,-0.000290318251118,1.72789830197e-05,1793251922572882176
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.282303252,746.717696748,725,692,671,642,889,788,821,657,633,657,0.400985147087,0.0045005775702,0.0698203198371,0.999999956437,6.63586118068e-05,-0.000287046309161,1.81003899801e-05,1793251922606215680
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,747,724.706011595,692,671,642,889,788,821,657,633,656.706011595,0.400982741474,0.00450030468733,0.0698219170095,0.999999957343,6.51140962714e-05,-0.000284164226368,1.80332507711e-05,1793251922622882560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,747,724.13194516,692,671,642,889,788,821,657,633,656.13194516,0.400982169274,0.00450229628661,0.0698239080983,0.999999958427,6.50445583314e-05,-0.000280365308401,1.76372662513e-05,1793251922639549184
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.452953826,747,724.452953826,692.452953826,671.452953826,642.452953826,889,788,820.547046174,656.547046174,633,656,0.400979483586,0.00450166005637,0.0698242131156,0.999999958534,6.37002239193e-05,-0.000280290009279,1.76763785551e-05,1793251922656215808
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,747,725,692.959578135,671.959578135,642.959578135,889,788,820.040421865,656,633,656.040421865,0.40097639276,0.00450038826626,0.0698240594977,0.999999958368,6.22866788708e-05,-0.000281187983769,1.78414387355e-05,1793251922672882432
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.802176762,747,725,692,671,642.197823238,889.197823238,788,820.802176762,656.197823238,633,657,0.40097618432,0.00450163288849,0.0698249472893,0.999999958558,6.6845160162e-05,-0.00027944758042,1.79950142313e-05,1793251922706215424
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.223135428,747,725,692,671,642.776864572,889.776864572,788,820.223135428,656.776864572,633,657,0.400975996299,0.0045018399377,0.0698254122458,0.999999958704,6.69339996185e-05,-0.000278912977937,1.78954393371e-05,1793251922722881792
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1700638c03307572ab7e03c7d69052158692c8a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.600431462384,0.0100051429338,1.06002097625,0.571002805221,0.0186775494228,1.05963235351
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+349,5.816666667,pose2_to_pose3_retreat,0.598983361007,0.0100052548284,1.06002098017,0.569554702287,0.0186776558386,1.05963235302
+350,5.833333333,pose2_to_pose3_retreat,0.598256000031,0.0100051803055,1.06002076608,0.568827342768,0.0186775866801,1.0596321483
+351,5.850000000,pose2_to_pose3_retreat,0.597540517366,0.010005110098,1.0600211696,0.568111860242,0.0186775161324,1.05963253369
+352,5.866666667,pose2_to_pose3_retreat,0.596862632073,0.0100051116744,1.06002079109,0.567433977237,0.0186775260908,1.05963216899
+353,5.883333333,pose2_to_pose3_retreat,0.596225090304,0.0100051589526,1.06002076561,0.566796434715,0.0186775706442,1.0596321397
+354,5.900000000,pose2_to_pose3_retreat,0.595620167171,0.0100051684071,1.06002091111,0.566191510439,0.0186775763107,1.05963228719
+355,5.916666667,pose2_to_pose3_retreat,0.595037164797,0.0100051651586,1.0600210435,0.565608507573,0.0186775715595,1.0596324233
+356,5.933333333,pose2_to_pose3_retreat,0.59446791079,0.0100051942633,1.06002111131,0.56503925299,0.018677598674,1.05963249028
+357,5.950000000,pose2_to_pose3_retreat,0.593896843007,0.0100052306142,1.06002111804,0.564468184632,0.0186776328043,1.05963249105
+358,5.966666667,pose2_to_pose3_retreat,0.593323526947,0.0100050988474,1.06002099438,0.563894871996,0.0186775126603,1.05963236741
+359,5.983333333,pose2_to_pose3_retreat,0.59277350718,0.0100051183884,1.06002078879,0.563344852716,0.0186775338035,1.05963216081
+360,6.000000000,pose2_to_pose3_retreat,0.592249304701,0.0100050984659,1.06002100818,0.562820649951,0.0186775127934,1.05963237754
+361,6.016666667,pose2_to_pose3_retreat,0.591753608137,0.0100050931705,1.06002101504,0.562324953726,0.0186775087782,1.0596323873
+362,6.033333333,pose2_to_pose3_retreat,0.591284492063,0.0100051797025,1.06002101047,0.561855835424,0.0186775878562,1.05963238511
+363,6.050000000,pose2_to_pose3_retreat,0.590842822839,0.0100051826465,1.0600208652,0.561414165256,0.018677587648,1.05963224102
+364,6.066666667,pose2_to_pose3_retreat,0.590418651718,0.010005116081,1.06002087155,0.560989994539,0.0186775223887,1.0596322459
+365,6.083333333,pose2_to_pose3_retreat,0.590013838253,0.0100050972657,1.06002092557,0.560585181641,0.0186775054821,1.05963229962
+366,6.100000000,pose2_to_pose3_retreat,0.589638734621,0.0100051857334,1.06002086563,0.560210078304,0.0186775950574,1.05963224202
+367,6.116666667,pose2_to_pose3_retreat,0.589289831625,0.0100052976831,1.0600212593,0.559861175414,0.0186777071499,1.05963263084
+368,6.133333333,pose2_to_pose3_retreat,0.588963883106,0.0100051979362,1.06002102573,0.559535226605,0.0186776066707,1.0596324029
+369,6.150000000,pose2_to_pose3_retreat,0.588656378079,0.0100050927367,1.06002089271,0.559227722817,0.0186775057901,1.0596322724
+370,6.166666667,pose2_to_pose3_retreat,0.588366100065,0.0100050522184,1.06002096959,0.558937444856,0.0186774650689,1.05963234082
+371,6.183333333,pose2_to_pose3_retreat,0.588087260687,0.0100051098604,1.06002097529,0.558658604844,0.0186775204477,1.05963234411
+372,6.200000000,pose2_to_pose3_retreat,0.587821421924,0.0100051624345,1.06002090675,0.558392765686,0.0186775718096,1.0596322784
+373,6.216666667,pose2_to_pose3_retreat,0.587574621753,0.0100052051759,1.06002097761,0.558145965128,0.0186776131999,1.05963234844
+374,6.233333333,pose2_to_pose3_retreat,0.587346080547,0.0100052962082,1.06002111863,0.557917423231,0.0186777019236,1.0596324903
+375,6.250000000,pose2_to_pose3_retreat,0.587136666609,0.0100050399359,1.06002104178,0.557708010824,0.0186774508056,1.05963241253
+376,6.266666667,pose2_to_pose3_retreat,0.586946433732,0.0100051174788,1.06002111481,0.557517779519,0.0186775338891,1.05963249016
+377,6.283333333,pose2_to_pose3_retreat,0.586775760263,0.0100052159936,1.0600210572,0.557347102925,0.0186776213188,1.05963242183
+378,6.300000000,pose2_to_pose3_retreat,0.586623195387,0.0100051942364,1.06002090722,0.557194539039,0.0186776033977,1.0596322826
+379,6.316666667,pose2_to_pose3_retreat,0.586487254443,0.0100051700641,1.0600208865,0.557058599162,0.0186775828902,1.05963226283
+380,6.333333333,pose2_to_pose3_retreat,0.58636797312,0.0100051288074,1.06002081656,0.556939317139,0.0186775391341,1.05963219018
+381,6.350000000,pose2_to_pose3_retreat,0.586262109827,0.0100051402307,1.06002101437,0.556833453297,0.0186775482459,1.05963237825
+382,6.366666667,pose2_to_pose3_retreat,0.586169075398,0.0100051768513,1.06002101451,0.556740419318,0.0186775864305,1.05963237947
+383,6.383333333,pose2_to_pose3_retreat,0.586087405924,0.0100052246265,1.06002076496,0.556658749331,0.0186776329242,1.0596321401
+384,6.400000000,pose2_to_pose3_retreat,0.586017108012,0.0100052102231,1.06002084034,0.556588450758,0.0186776162655,1.05963221515
+385,6.416666667,pose2_to_pose3_retreat,0.585958271088,0.0100050179558,1.06002096374,0.556529617149,0.0186774352695,1.05963233901
+386,6.433333333,pose2_to_pose3_retreat,0.58590946342,0.0100051410642,1.06002080718,0.556480807045,0.0186775499838,1.05963217955
+387,6.450000000,pose2_to_pose3_retreat,0.585870527028,0.0100051638578,1.06002110489,0.556441870448,0.0186775722849,1.05963248177
+388,6.466666667,pose2_to_pose3_retreat,0.585839435587,0.0100050740889,1.06002074128,0.556410780248,0.0186774865577,1.05963211436
+389,6.483333333,pose2_to_pose3_retreat,0.585815640626,0.0100051708932,1.06002099485,0.556386984032,0.0186775789054,1.05963236349
+390,6.500000000,pose2_to_pose3_retreat,0.585796637638,0.0100051482477,1.06002102125,0.556367981204,0.0186775569035,1.05963239214
+391,6.516666667,pose2_to_pose3_retreat,0.58578206408,0.0100050797948,1.06002102198,0.556353408243,0.018677490526,1.05963239406
+392,6.533333333,pose2_to_pose3_retreat,0.585771770847,0.0100051002084,1.06002126304,0.556343114563,0.0186775092361,1.05963263094
+393,6.550000000,pose2_to_pose3_retreat,0.585764536419,0.0100051396585,1.0600211504,0.556335880726,0.0186775510147,1.05963252555
+394,6.566666667,pose2_to_pose3_retreat,0.585759998431,0.0100051258595,1.06002094701,0.556331342376,0.0186775359489,1.0596323213
+395,6.583333333,pose2_to_pose3_retreat,0.585757003849,0.0100051025516,1.0600207846,0.556328347389,0.0186775111662,1.05963215666
+396,6.600000000,pose2_to_pose3_retreat,0.585755176434,0.0100050261025,1.06002103661,0.556326521369,0.0186774394136,1.0596324078
+397,6.616666667,pose2_to_pose3_retreat,0.585753941629,0.0100049744449,1.0600212069,0.556325287508,0.0186773909295,1.05963257751
+398,6.633333333,pose2_to_pose3_retreat,0.585753064732,0.0100050074822,1.0600211316,0.556324410316,0.0186774229902,1.05963250278
+399,6.650000000,pose2_to_pose3_retreat,0.585752266674,0.0100050889577,1.06002091839,0.556323611278,0.0186775011952,1.05963229081
+400,6.666666667,pose2_to_pose3_retreat,0.585751757865,0.0100051409033,1.06002078245,0.556323101843,0.0186775510556,1.05963215566
+401,6.683333333,pose2_to_pose3_retreat,0.585751622692,0.0100051408632,1.06002081141,0.556322966647,0.018677550866,1.05963218308
+402,6.700000000,pose2_to_pose3_retreat,0.585751614639,0.010005140317,1.06002081569,0.556322958598,0.0186775503268,1.0596321872
+403,6.716666667,pose2_to_pose3_retreat,0.585751498468,0.0100051324373,1.06002087747,0.556322842487,0.0186775425478,1.05963224664
+404,6.733333333,pose2_to_pose3_retreat,0.585751463601,0.0100051300724,1.06002089601,0.556322807639,0.0186775402131,1.05963226449
+405,6.750000000,pose2_to_pose3_retreat,0.585751422265,0.0100051272686,1.06002091799,0.556322766325,0.0186775374451,1.05963228564
+406,6.766666667,pose2_to_pose3_retreat,0.585751277809,0.0100051174704,1.0600209948,0.556322621944,0.0186775277722,1.05963235956
+407,6.783333333,pose2_to_pose3_retreat,0.585751275004,0.0100051172801,1.0600209963,0.55632261914,0.0186775275843,1.059632361
+408,6.800000000,pose2_to_pose3_retreat,0.585751119206,0.0100051116076,1.06002104832,0.556322463372,0.0186775219134,1.05963241085
+409,6.816666667,pose2_to_pose3_retreat,0.585751011617,0.0100051309604,1.0600209377,0.556322355556,0.0186775406329,1.05963230326
+410,6.833333333,pose2_to_pose3_retreat,0.585750931425,0.0100051453851,1.06002085525,0.556322275195,0.0186775545855,1.05963222306
+411,6.850000000,pose2_to_pose3_retreat,0.58575089091,0.0100051526729,1.0600208136,0.556322234595,0.0186775616348,1.05963218255
+412,6.866666667,pose2_to_pose3_retreat,0.585750889089,0.0100051530004,1.06002081173,0.55632223277,0.0186775619516,1.05963218072
+413,6.883333333,pose2_to_pose3_retreat,0.585750888506,0.0100051531053,1.06002081113,0.556322232185,0.0186775620531,1.05963218014
+414,6.900000000,pose2_to_pose3_retreat,0.585750879209,0.0100051397767,1.06002079233,0.556322222835,0.0186775485706,1.05963216197
+415,6.916666667,pose2_to_pose3_retreat,0.585750901801,0.0100050960437,1.06002079113,0.556322245385,0.0186775047083,1.05963216111
+416,6.933333333,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ddc8ceed23c2992acaaedbccf4de71152a01fb5f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80caed11201cfb78f941d186689cb695c41d897e0d715c4ec89dae3856837566
+size 26160392
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..463c40678c3756d2d8e98820aac612072f4dea66
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+1,0.016666667,BASELINE,769,747,725,694,671,642.403747945,890,788,821,656.403747945,633.596252055,657,0.401040205112,0.00446683379753,0.0798646747186,0.999999983433,0.000100058781261,-0.000141830922708,5.48220302234e-05,1793251924240264192
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+18,0.300000000,BASELINE,769,747,725.548742057,693.451257943,671.548742057,642.451257943,890,788,820.451257943,656,633,656.451257943,0.401037379979,0.00446753755684,0.0798637497948,0.999999982804,0.000103100909583,-0.000144110699518,5.47217549342e-05,1793251924523597056
+19,0.316666667,BASELINE,769,747,725,694,671,643,890,788,821,656.020921576,633,657,0.401038067736,0.00446831301617,0.0798641801716,0.999999982829,0.000103304302375,-0.000143827392127,5.46271356679e-05,1793251924540263424
+20,0.333333333,BASELINE,769,747,725,694,671,643,890,788,821,656.621225138,633,657,0.401038076151,0.00446745089561,0.0798641526104,0.999999982901,0.000102123401716,-0.000144272178944,5.43501125418e-05,1793251924556929792
+21,0.350000000,BASELINE,769,747,725,694,671,642.787774226,890,788,821,657,633.212225774,657,0.401038079528,0.00446692421547,0.0798640657717,0.999999982999,0.000100858277386,-0.000144550863101,5.41671224036e-05,1793251924573596160
+22,0.366666667,BASELINE,769,747,725,694,671,642.212680006,890,788,821,657,633.787319994,657,0.401038074291,0.00446697107906,0.0798638775789,0.999999983142,9.94491456326e-05,-0.000144545541111,5.41449120318e-05,1793251924590262784
+23,0.383333333,BASELINE,769,747,725.361700944,693.638299056,671,642,890,788,821,656.638299056,633.638299056,657,0.401037549103,0.00446719613308,0.0798637553272,0.99999998302,0.000100429390244,-0.000144680955887,5.42393993764e-05,1793251924606929408
+24,0.400000000,BASELINE,769,747,725.93566337,693.06433663,671,642,890,788,821,656.06433663,633.06433663,657,0.401036718785,0.00446752575681,0.0798636717726,0.999999982737,0.000102811822303,-0.000144898960978,5.44023698975e-05,1793251924623596032
+25,0.416666667,BASELINE,769.526231239,747.526231239,726,693.526231239,671,642,890,788.526231239,821,656,633,657,0.401036536804,0.00446731014534,0.079863900051,0.999999982609,0.000103613082577,-0.000145208580865,5.4409700066e-05,1793251924640262656
+26,0.433333333,BASELINE,770,747.884859859,726,694,671,642,890.115140141,788.884859859,821,656,633,657,0.401036516247,0.00446698292647,0.0798640498429,0.999999982584,0.000103449812111,-0.000145495251116,5.44213071935e-05,1793251924656929536
+27,0.450000000,BASELINE,770,747.310914667,726,694,671,642,890.689085333,788.310914667,821,656,633,657,0.401036812788,0.00446648525837,0.079863730019,0.999999982883,0.000100238528133,-0.000145644386297,5.45282513146e-05,1793251924673596416
+28,0.466666667,BASELINE,769.734256037,747,726,694,671,642.265743963,890.734256037,788,821,656.265743963,633.265743963,657,0.401036452851,0.0044660081704,0.0798631892869,0.999999982926,9.88053520662e-05,-0.000146328122938,5.45247202732e-05,1793251924690263040
+29,0.483333333,BASELINE,769.154390027,747,726,694,671,642.845609973,890.154390027,788,821,656.845609973,633.845609973,657,0.401035316928,0.00446555540917,0.079862387431,0.999999982674,9.94739846048e-05,-0.000147643784013,5.43906023112e-05,1793251924706929920
+30,0.500000000,BASELINE,769.431252833,747,726,694,671,642.568747167,890,788,820.568747167,656.568747167,633.568747167,657,0.401035441851,0.00446653729098,0.0798625158994,0.999999982622,0.000100210391051,-0.000147644770748,5.39907622055e-05,1793251924723596288
+31,0.516666667,BASELINE,769.981285225,747,726,694,671,642.018714775,890,788,820,656.018714775,633,657,0.401036062547,0.00446792238372,0.0798630128237,0.999999982659,0.000100883336232,-0.000147098458666,5.35326863976e-05,1793251924740262912
+32,0.533333333,BASELINE,769.402122156,747,726,694,671,642.597877844,890,788,820,656.597877844,633,657,0.401037828872,0.00446579262448,0.0798644343398,0.999999983205,9.89193433603e-05,-0.000144448366554,5.42181411989e-05,1793251924756929536
+33,0.550000000,BASELINE,769,747,725.824265053,694,671,642.824265053,890,788,820.175734947,656.824265053,633,657,0.401038836787,0.00446503189913,0.0798652425494,0.999999983429,9.84127888139e-05,-0.000143071816483,5.46598273311e-05,1793251924773596160
+34,0.566666667,BASELINE,769,747,725.249374341,694,671,642.249374341,890,788,820.750625659,656.249374341,633,657,0.401038122083,0.00446738073073,0.0798646577248,0.999999982937,0.000101216588695,-0.000144587927913,5.45478291337e-05,1793251924790262784
+35,0.583333333,BASELINE,769.322204934,747,725.322204934,694,671,642.322204934,890,787.677795066,821,656,633,657,0.401037594796,0.00446789761904,0.0798642902832,0.999999982781,0.000101792468553,-0.000145290636447,5.4478406048e-05,1793251924806929664
+36,0.600000000,BASELINE,769.891247414,747,725.891247414,694,671,642.891247414,890,787.108752586,821,656,633,657,0.401037211086,0.00446701107661,0.0798640893762,0.999999982885,0.00010066156444,-0.000145370206406,5.44415992608e-05,1793251924823596288
+37,0.616666667,BASELINE,769.516144539,747,725.516144539,693.516144539,671,643,890.483855461,787.483855461,821,656,633,657,0.401037098625,0.00446662883129,0.0798640543652,0.999999982888,0.000100461649818,-0.000145521384208,5.43557970119e-05,1793251924840262912
+38,0.633333333,BASELINE,769,747,725,693,671,642.920538545,890.920538545,788,821,656,633,657,0.401037170962,0.00446633594936,0.0798641476649,0.999999982899,0.000100408934808,-0.000145510785614,5.42916234913e-05,1793251924856929792
+39,0.650000000,BASELINE,769,747,725,693,671,642.341102104,890.341102104,788,821,656,633,657,0.401038002818,0.00446585564775,0.0798648016765,0.999999983106,9.98983788601e-05,-0.000144375829235,5.44363764644e-05,1793251924873596416
+40,0.666666667,BASELINE,769.236873881,747,725.236873881,693.236873881,671,642,890.236873881,788,821,656,633,657,0.401037496225,0.00446553210674,0.0798646852124,0.99999998319,9.886513315e-05,-0.000144496614048,5.44728650153e-05,1793251924890262784
+41,0.683333333,BASELINE,769.812759641,747,725.812759641,693.812759641,671,642,890.812759641,788,821,656,633,657,0.401035074057,0.0044654329202,0.0798634660499,0.999999983092,9.70838183421e-05,-0.00014641460501,5.43544064398e-05,1793251924906929408
+42,0.700000000,BASELINE,769.61254175,747,725.61254175,694,671,642,890.61254175,787.61254175,821,656,633,657,0.401034830638,0.00446610968937,0.0798631689681,0.999999982808,9.9397979561e-05,-0.000146808156402,5.43253435341e-05,1793251924923596544
+43,0.716666667,BASELINE,769.0384151,747,725.0384151,694,671,642,890.0384151,787.0384151,821,656,633,657,0.401035636889,0.004467160296,0.0798633161235,0.999999982422,0.000103685246218,-0.0001464672681,5.43393493922e-05,1793251924940263168
+44,0.733333333,BASELINE,769,747,725,693.448383096,671,642.551616904,890,787.551616904,821,656,633,657,0.401036846304,0.00446644018352,0.0798641527039,0.999999982753,0.00010235586673,-0.000145172058037,5.42452296748e-05,1793251924956930048
+45,0.750000000,BASELINE,769.139902505,746.860097495,725.139902505,693.139902505,671,643,890,788,821,656.139902505,633,657,0.401037633416,0.00446580821313,0.0798646077705,0.999999983028,0.00010069707813,-0.000144445529883,5.42196581184e-05,1793251924973596672
+46,0.766666667,BASELINE,769.719122471,746.280877529,725.719122471,693.719122471,671,643,890,788,821,656.719122471,633,657,0.401037003647,0.00446585174913,0.0798637095766,0.999999982974,9.92686289726e-05,-0.00014571965036,5.44336867554e-05,1793251924990263296
+47,0.783333333,BASELINE,769.705008179,746.294991821,725.705008179,694,671,642.705008179,890,788,821,656.705008179,633,656.705008179,0.40103668557,0.00446626393375,0.0798634386475,0.999999982846,9.97329312539e-05,-0.000146250119632,5.45251474052e-05,1793251925006929920
+48,0.800000000,BASELINE,769.132293233,746.867706767,725.132293233,694,671,642.132293233,890,788,821,656.132293233,633,656.132293233,0.401036660939,0.00446702318646,0.0798637582632,0.999999982645,0.000101979183944,-0.000146080470874,5.45012151701e-05,1793251925023596544
+49,0.816666667,BASELINE,769,747,725,693.556798671,671,642,890,788,821,656,633,656.443201329,0.40103653766,0.00446691311224,0.0798639591928,0.999999982794,0.000101316505558,-0.000145628998218,5.42075141586e-05,1793251925040262912
+50,0.833333333,BASELINE,769,747,725,693.020063059,671,642,890.020063059,788,821,656.020063059,633,657,0.401036437757,0.0044665976335,0.0798641439452,0.999999983034,9.99273868797e-05,-0.000145071939177,5.38513488681e-05,1793251925056929536
+51,0.850000000,BASELINE,769,747,725,693.612099097,671,642,890.612099097,788,821,656.612099097,633,657,0.401037849027,0.00446787073767,0.079864883865,0.999999982907,0.000102738751884,-0.000143918118565,5.40245470979e-05,1793251925073596416
+52,0.866666667,BASELINE,769,747,725,693.801754826,671,642,890.801754826,788,821,656.801754826,633,657,0.401038694789,0.00446874524515,0.0798655306803,0.999999982833,0.000104464432911,-0.0001431322752,5.41655159517e-05,1793251925090263296
+53,0.883333333,BASELINE,769,747,725,693.226800982,671,642,890.226800982,788,821,656.226800982,633,657,0.401038465964,0.00446886233274,0.0798660005768,0.999999982876,0.000104127079609,-0.000143045668193,5.42452420174e-05,1793251925106930688
+54,0.900000000,BASELINE,769,747,725.349570347,693.349570347,671,642.349570347,890,788,820.650429653,656.349570347,633,657,0.401037366057,0.00446853083692,0.0798653901558,0.999999982787,0.000103609126862,-0.000144132068442,5.40171596456e-05,1793251925123597568
+55,0.916666667,BASELINE,769,747,725.926865063,693.926865063,671,642.926865063,890,788,820.073134937,656.926865063,633,657,0.40103569869,0.00446790711558,0.0798640759718,0.999999982607,0.000102973524293,-0.000145982613415,5.35885583123e-05,1793251925140264192
+56,0.933333333,BASELINE,769,747,726,694,670.485576044,643,890,788,820.514423956,656.485576044,633,657,0.401037322364,0.00446709816818,0.0798650096818,0.999999983088,0.000100549139226,-0.00014428424695,5.38219690047e-05,1793251925156930304
+57,0.950000000,BASELINE,769,747,726,694,670.101477365,642.898522635,890,788,821,656,633,657,0.401038999609,0.00446634455161,0.0798659866579,0.999999983531,9.84790865351e-05,-0.000142537648923,5.40698622686e-05,1793251925173596416
+58,0.966666667,BASELINE,769,747,726,694,670.679171019,642.320828981,890,788,821,656,633,657,0.401038687853,0.0044659766875,0.0798656364062,0.999999983395,9.92895824803e-05,-0.000142980653321,5.39350507552e-05,1793251925190263040
+59,0.983333333,BASELINE,769,747,726,694,671,642,890,788,821,656,633,657,0.401038066705,0.00446600081232,0.0798653024602,0.999999983257,9.96627879411e-05,-0.000143669920659,5.3959198699e-05,1793251925206929920
+60,1.000000000,BASELINE,769,747,726,694,671,642,890,788,821,656,633,657,0.40103705912,0.00446651453902,0.0798649888802,0.999999983119,9.94898090429e-05,-0.000144666775342,5.4181890132e-05,1793251925223596800
+61,1.016666667,BASELINE,769,747,726,694,671,642,890,788,820.590630302,656,633,657,0.40103546245,0.00446746788949,0.0798638410998,0.999999982812,0.000100237883239,-0.000146331088295,5.40004691625e-05,1793251925240263424
+62,1.033333333,BASELINE,769,747,726,694,671,642,890,788,820.018951031,656,633,657,0.401033632215,0.00446859554484,0.0798623625702,0.999999982434,0.000101351142595,-0.000148260039406,5.36588230531e-05,1793251925256930304
+63,1.050000000,BASELINE,769.573291584,747,725.426708416,694,671.573291584,642.573291584,889.426708416,788,820.573291584,656,633,657,0.40103615823,0.00446707053372,0.0798637585402,0.999999982685,0.000101569666624,-0.000146317295015,5.38921239832e-05,1793251925273596928
+64,1.066666667,BASELINE,770,747,725,694,671.837458415,642.837458415,889.32508317,788,821,656.162541585,633,657,0.401037796694,0.00446593113276,0.0798647423919,0.999999982859,0.000101624976075,-0.000145011655506,5.4100136591e-05,1793251925290263552
+65,1.083333333,BASELINE,770,747,725,694,671.257699715,642.257699715,890.484600571,788,821,656.742300285,633,657,0.401036773578,0.00446601498287,0.0798644154273,0.999999982785,0.000101340084202,-0.000145682095565,5.4192638732e-05,1793251925306929920
+66,1.100000000,BASELINE,770,747,725.319162547,694,670.680837453,642,890.680837453,788,821,656.680837453,633,657,0.401036705343,0.00446664506686,0.0798644454752,0.999999982768,0.00010175528367,-0.000145496449896,5.42212922316e-05,1793251925323596288
+67,1.116666667,BASELINE,770,747,725.893707158,694,670.106292842,642,890.106292842,788,821,656.106292842,633,657,0.401037401168,0.00446771222701,0.0798647611913,0.999999982796,0.000102730670349,-0.000144625796063,5.41988564059e-05,1793251925340262656
+68,1.133333333,BASELINE,769.531661875,747,726,694,670.468338125,642.468338125,890,788.468338125,821,656,633,657,0.401036526217,0.00446806877981,0.0798643787775,0.999999982532,0.000104288862779,-0.000145308540605,5.42783021163e-05,1793251925356929536
+69,1.150000000,BASELINE,769.044461171,747,726,694,671,643,890,788.955538829,821,656,633,656.955538829,0.401035422245,0.00446813626605,0.0798638762841,0.999999982237,0.000105753490421,-0.000146236625569,5.43782613143e-05,1793251925373596160
+70,1.166666667,BASELINE,769.638794491,747,726,694,671,643,890,788.361205509,821,656,633,656.361205509,0.401035895664,0.00446662369467,0.0798638486447,0.999999982431,0.000104424783825,-0.000145837927736,5.44458973733e-05,1793251925390263040
+71,1.183333333,BASELINE,770,747,725.774585005,693.774585005,671,642.774585005,890,788,821,656,633,656,0.401036691106,0.00446608673181,0.0798641380434,0.999999982585,0.000103746289111,-0.000145232143947,5.45409302425e-05,1793251925406929920
+72,1.200000000,BASELINE,770,747,725.199914558,693.199914558,671,642.199914558,890,788,821,656,633,656,0.401037985486,0.00446706136555,0.0798649186575,0.999999982677,0.000104075225148,-0.000144305503452,5.46784114308e-05,1793251925423596800
+73,1.216666667,BASELINE,770,747,725.383448111,693.383448111,671,642.383448111,890.383448111,788,821,656,633.383448111,656.383448111,0.401037047303,0.00446773884391,0.0798644056723,0.999999982541,0.000104431847943,-0.000145070529014,5.44687855488e-05,1793251925440263424
+74,1.233333333,BASELINE,770,747,725.971447636,693.971447636,671,642.971447636,890.971447636,788,821,656,633.971447636,656.971447636,0.401034918153,0.00446825780388,0.0798632026131,0.99999998228,0.000104803240293,-0.000146737978379,5.40739944706e-05,1793251925456929792
+75,1.250000000,BASELINE,770,747,726,694,671,643,890.449288052,788,820.449288052,656,633.449288052,657,0.401035614535,0.00446741747488,0.0798641699279,0.999999982365,0.000104700240434,-0.00014614076056,5.43117826045e-05,1793251925473596416
+76,1.266666667,BASELINE,769.870356741,747,726,694,671,642.870356741,890,788,820.129643259,656,633.129643259,657,0.401036418207,0.00446674665288,0.07986501415,0.999999982544,0.000103987761195,-0.000145386343174,5.44174357776e-05,1793251925490262784
+77,1.283333333,BASELINE,769.291034151,747,726,694,671,642.291034151,890,788,820.708965849,656,633.708965849,657,0.40103709383,0.00446690441014,0.0798650472022,0.999999982981,0.000101245227339,-0.00014448756894,5.39527842223e-05,1793251925506929408
+78,1.300000000,BASELINE,769,747,726,693.716491021,671.283508979,642,890,788,821,656,633.716491021,657,0.401036705578,0.00446696348656,0.0798648458564,0.999999982998,0.000100534868717,-0.000144915763856,5.38179119851e-05,1793251925523596544
+79,1.316666667,BASELINE,769,747,726,693.146772908,671.853227092,642,890,788,821,656,633.146772908,657,0.401035243319,0.00446692294228,0.0798644078803,0.999999982594,0.000101876040051,-0.000146683566112,5.40159599324e-05,1793251925540263936
+80,1.333333333,BASELINE,769.440298049,747,726,693,671.559701951,642,890,788,821,656.440298049,633.440298049,657,0.401035099811,0.00446709736797,0.0798644218635,0.999999982577,0.000101767337787,-0.000146868619524,5.40233990373e-05,1793251925556930560
+81,1.350000000,BASELINE,770,747,725.967395801,693.032604199,671,642.032604199,890.032604199,788,820.967395801,656.967395801,633.967395801,657,0.40103543496,0.00446729580806,0.0798645832976,0.999999982697,0.000101162419607,-0.000146486450184,5.39719647054e-05,1793251925573596928
+82,1.366666667,BASELINE,770,747,725.388277071,693.611722929,671,642.611722929,890.611722929,788,820.388277071,656.388277071,633.388277071,657,0.401036122375,0.00446664632534,0.0798645873235,0.999999982843,0.000100673624344,-0.000145803099562,5.40424370071e-05,1793251925590263296
+83,1.383333333,BASELINE,769.809711778,747,725,694,671,643,890.809711778,788,820.190288222,656.190288222,633,657,0.401036398331,0.00446627552259,0.0798644039061,0.999999982874,0.000100706108536,-0.000145560154368,5.40632235267e-05,1793251925606929664
+84,1.400000000,BASELINE,769.232272374,747,725,694,671,643,890.232272374,788,820.767727626,656.767727626,633,657,0.401035837154,0.00446647170849,0.0798638391256,0.999999982672,0.000101799162516,-0.000146213236556,5.39829217783e-05,1793251925623596288
+85,1.416666667,BASELINE,769,747,725.342754795,693.657245205,671,642.657245205,890,787.657245205,820.657245205,657,633,657,0.401035732258,0.00446702024554,0.0798638760869,0.99999998259,0.000102426994247,-0.000146324951251,5.40180080962e-05,1793251925640262912
+86,1.433333333,BASELINE,769,747,725.916158671,693.083841329,671,642.083841329,890,787.083841329,820.083841329,657,633,657,0.401035934406,0.00446780588931,0.0798643179767,0.999999982588,0.000102741765133,-0.000146072364907,5.41307422063e-05,1793251925656929536
+87,1.450000000,BASELINE,769,747,726,693.503955366,671,642.503955366,890,787.503955366,820.503955366,657,633,657,0.401036421797,0.0044672492398,0.0798648170107,0.999999982689,0.000103191955542,-0.000145050083367,5.41635728715e-05,1793251925673596416
+88,1.466666667,BASELINE,769.09212819,747,725.90787181,694,671,643,890,788,821,656.90787181,633,656.90787181,0.401036874124,0.00446663428459,0.0798652071753,0.999999982796,0.000103359499243,-0.00014419431844,5.41500064503e-05,1793251925690263296
+89,1.483333333,BASELINE,769.669303898,747,725.330696102,694,671,643,890,788,821,656.330696102,633,656.330696102,0.401036884658,0.00446692264379,0.079864972626,0.999999982851,0.000101916828683,-0.000144909251749,5.39642086574e-05,1793251925706930176
+90,1.500000000,BASELINE,770,747,725.247248274,694,671,642.752751726,890,788,821,656.247248274,633.247248274,656.247248274,0.401036887394,0.00446738593048,0.0798648383425,0.999999982792,0.000101966285998,-0.000145318730426,5.38591168389e-05,1793251925723596800
+91,1.516666667,BASELINE,770,747,725.826223906,694,671,642.173776094,890,788,821,656.826223906,633.826223906,656.826223906,0.40103687967,0.00446808391338,0.0798648385833,0.999999982581,0.000104017697306,-0.000145318387545,5.38623063966e-05,1793251925740263168
+92,1.533333333,BASELINE,769.602622787,747,726,694,671,642,890,788,820.602622787,656.602622787,633.602622787,657,0.401036121031,0.00446712399902,0.0798644463111,0.999999982603,0.000102905607289,-0.000145885167365,5.40497245635e-05,1793251925756929792
+93,1.550000000,BASELINE,769.034824157,747,726,694,671,642,890,788,820.034824157,656.034824157,633.034824157,657,0.401035040352,0.00446545306962,0.0798638857036,0.999999982721,0.000100436800556,-0.000146695166601,5.43161520433e-05,1793251925773596416
+94,1.566666667,BASELINE,769.559921008,747,725.440078992,694,671,642,890,788,820,656,633,657,0.40103584514,0.00446572343549,0.0798645608292,0.99999998286,0.000100573681128,-0.000145681354735,5.42319695339e-05,1793251925790263040
+95,1.583333333,BASELINE,770,747,725,694,671,642.151847729,890,787.848152271,820,656,633,657,0.401036730705,0.00446630800106,0.0798652137598,0.999999982979,0.000101018697455,-0.000144592734552,5.41235684652e-05,1793251925806929664
+96,1.600000000,BASELINE,770,747,725,694,671,642.730892075,890,787.269107925,820,656,633,657,0.401037496936,0.00446741966209,0.0798655770956,0.99999998304,0.000101851620593,-0.000143628907876,5.40114820249e-05,1793251925823596544
+97,1.616666667,BASELINE,769.692153323,747,725,694,671,642.692153323,890,787.307846677,820,656,633,657,0.401037853395,0.00446785402931,0.0798657453045,0.999999983014,0.000102731804565,-0.000143180740417,5.40062888645e-05,1793251925840263424
+98,1.633333333,BASELINE,769.117013214,747,725,694,671,642.117013214,890,787.882986786,820,656,633,657,0.401037854063,0.00446770032388,0.079865744091,0.999999982915,0.000103653023558,-0.000143180303434,5.40939077292e-05,1793251925856930304
+99,1.650000000,BASELINE,769.467924977,747,725.467924977,694,671,642,890,788,820,656,633,657,0.401037223159,0.00446807916186,0.0798652201652,0.999999982842,0.000103177921136,-0.000144078648157,5.39667271948e-05,1793251925873596672
+100,1.666666667,BASELINE,769.945408749,747,725.945408749,694,671,642.054591251,889.945408749,788,820.054591251,656,633,657,0.401036573921,0.00446841938926,0.0798646567217,0.999999982814,0.000102221662391,-0.00014501198681,5.37916391043e-05,1793251925890263040
+101,1.683333333,BASELINE,769.366185597,747,725.366185597,694,671,642.633814403,889.366185597,788,820.633814403,656,633,657,0.401037298759,0.00446708138089,0.0798649965557,0.999999983173,0.000100068814263,-0.000144075473849,5.36833972841e-05,1793251925906929664
+102,1.700000000,BASELINE,769,747,725,694,671,642.787465035,889.212534965,788,821,656,633,656.787465035,0.401037311863,0.00446629458203,0.0798651179296,0.999999983259,9.89677477298e-05,-0.000144226234098,5.37300141353e-05,1793251925923596544
+103,1.716666667,BASELINE,769,747,725,694,671,642.209608422,889.790391578,788,821,656,633,656.209608422,0.401036101581,0.00446645524514,0.0798648637972,0.999999982878,9.96745655334e-05,-0.000146245884309,5.40428141424e-05,1793251925940263168
+104,1.733333333,BASELINE,769.364459611,747,725,694,671,642,890.364459611,787.635540389,821,656,633,656.364459611,0.401037118407,0.00446612518317,0.0798654642309,0.999999983051,9.93061425968e-05,-0.000145304286323,5.40707338054e-05,1793251925956929792
+105,1.750000000,BASELINE,769.93637122,747,725,694,671,642,890.93637122,787.06362878,821,656,633,656.93637122,0.401039402912,0.00446551579834,0.0798665510874,0.999999983533,9.83256880098e-05,-0.000142677133146,5.3936498364e-05,1793251925973596672
+106,1.766666667,BASELINE,770,747,725,693.474570336,671,642,891,787.525429664,821,656,633,657,0.401037787404,0.00446674726034,0.0798654945176,0.999999983217,9.94994428951e-05,-0.000144134256192,5.37633962869e-05,1793251925990263808
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,642,890,788,820,656,633,657,0.401035162249,0.00446935650361,0.0798644709578,0.99999998241,0.000104111990917,-0.000146373941427,5.4002841824e-05,1793251926032386560
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,747,725.574353565,694,671,642,890,788,820.574353565,656,633,657,0.401035593171,0.00446887530152,0.0798640630614,0.999999982565,0.000103017036113,-0.000146126142137,5.38928259257e-05,1793251926049053440
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.148147723,747,725.851852277,694,671,642,890,788,821,656.148147723,633.148147723,657,0.401036199526,0.00446847774917,0.07986405707,0.99999998274,0.000102151718461,-0.000145568536629,5.3804457129e-05,1793251926065720320
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.720340815,747,725.279659185,694,671,642,890,788,821,656.720340815,633.720340815,657,0.401037308026,0.0044683196286,0.0798652014568,0.999999982972,0.000101943694294,-0.000144124168253,5.37780491183e-05,1793251926082386688
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,747,725.303928138,693.696071862,671,642.303928138,890.303928138,788,821,657,633.696071862,657,0.401037361938,0.00446733078307,0.079865510324,0.999999983229,9.98332115232e-05,-0.000143874962384,5.362410632e-05,1793251926099053056
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,747,725.898408183,693.101591817,671,642.898408183,890.898408183,788,821,657,633.101591817,657,0.401036407675,0.00446554777378,0.0798650204437,0.999999983499,9.59039995671e-05,-0.000144768318623,5.33482416887e-05,1793251926115719680
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.519930694,747,726,693.480069306,671,643,891,788,821,657,633.480069306,657,0.40103720299,0.00446565204692,0.0798663786241,0.999999983505,9.73795776184e-05,-0.000143582369117,5.37732279673e-05,1793251926132386816
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.05839073,747,725.94160927,694,671,643,890.94160927,788,821,656.94160927,633.94160927,657,0.40103803299,0.00446623283189,0.0798677688732,0.999999983381,9.99702284183e-05,-0.000142478238489,5.42502395546e-05,1793251926149053696
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.630574535,747,725.369425465,694,671,643,890.369425465,788,821,656.369425465,633.369425465,657,0.401035995068,0.00446758367221,0.0798660895572,0.999999982648,0.000102570230361,-0.00014586519311,5.3913931896e-05,1793251926165720576
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,725,694,671,642.790858628,890,787.790858628,821,656,633,657,0.401035148221,0.00446809181139,0.0798650350526,0.999999981988,0.000103655316882,-0.000149627299394,5.37764221575e-05,1793251926182387200
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,725,694,671,642.200661981,890,787.200661981,821,656,633,657,0.40103647151,0.00446706455015,0.0798651189538,0.999999981473,0.00010198022942,-0.000154072931093,5.40011219782e-05,1793251926199053056
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.615483456,747,725.384516544,694,671,642,890,787.384516544,821,656.384516544,633,657,0.401050314355,0.00446727021608,0.0798704122353,0.999999981596,0.000102307478292,-0.000152985464065,5.41833033515e-05,1793251926215719680
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.032889877,747,725.967110123,694,671,642,890,787.967110123,821,656.967110123,633,657,0.401070606433,0.004468111003,0.079878389039,0.999999982042,0.000103666195883,-0.000149047717494,5.43435821034e-05,1793251926232386560
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725.457750429,694,671,642.542249571,890,788,821,656.457750429,633,657,0.401111793726,0.00446718362495,0.0798896950901,0.999999983894,0.000100536542456,-0.000138583922562,5.38325104625e-05,1793251926249052928
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,725,693.883345275,671,643,890,788,821,656,633,657,0.401159186041,0.00446613568342,0.0799012694574,0.999999985855,9.74265282771e-05,-0.000126379651326,5.31595927892e-05,1793251926265719552
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725,693.310068441,671,643,890,788,821,656,633,657,0.401225973036,0.00446502992491,0.0799131143871,0.999999988164,9.5444566756e-05,-0.000108891027866,5.2010391054e-05,1793251926282386944
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,725.27237246,693.27237246,671,643,890,788,820.72762754,656,633,656.72762754,0.401302585661,0.00446627990122,0.0799237486202,0.99999998983,9.55240963843e-05,-9.31939141803e-05,5.02907444222e-05,1793251926299054080
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,725.865608909,693.865608909,671,643,890,788,820.134391091,656,633,656.134391091,0.401390773209,0.00447030501307,0.0799329566109,0.999999990879,9.80321325856e-05,-7.9607260789e-05,4.78990944456e-05,1793251926315720704
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,725.553500133,693.553500133,671,642.553500133,890,788,820,656,633,656.446499867,0.401492237815,0.00447195108144,0.0799371122323,0.999999991373,9.8364661774e-05,-7.44552917789e-05,4.50985016598e-05,1793251926332387072
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.023689271,747,725,693.023689271,671,642.023689271,890,788,820,656,633,657,0.40159886141,0.00447289491336,0.0799399407381,0.99999999177,9.78393470155e-05,-7.1508066339e-05,4.2115487583e-05,1793251926349052928
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.598884044,747,725,693.598884044,671,642.598884044,890,788,820,656,633,657,0.40173505809,0.00447371212,0.0799463235597,0.999999993097,9.2176880864e-05,-6.23753882491e-05,3.76740192595e-05,1793251926365719552
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.821890575,747,725,694,671,642.821890575,890,788,820,656,633,657,0.401877804163,0.00447470273836,0.0799522873933,0.99999999421,8.73377866585e-05,-5.34253445785e-05,3.31375671387e-05,1793251926382386432
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.233377865,747,725,694,671,642.233377865,890,788,820,656,633,657,0.402035641458,0.00447609293534,0.0799572857858,0.999999995028,8.43959232923e-05,-4.48961320493e-05,2.83822520816e-05,1793251926399053056
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,747,725.349321101,694,671,642,890,787.650678899,820.349321101,656.349321101,633,657,0.402215178178,0.00447781420775,0.0799636994105,0.999999995913,8.02999594473e-05,-3.47818282007e-05,2.27339635935e-05,1793251926415720192
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,747,725.928199605,694,671,642,890,787.071800395,820.928199605,656.928199605,633,657,0.402408974757,0.0044797530475,0.0799710430597,0.999999996739,7.54455747273e-05,-2.3625876009e-05,1.6498854475e-05,1793251926432387328
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.505017769,747,725.494982231,694,671,642,890.505017769,787.505017769,821,656.494982231,633,657,0.402613184178,0.00448224116456,0.0799665915962,0.999999997041,6.7632889002e-05,-3.53510550503e-05,9.7152167308e-06,1793251926449053952
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,747,725.081542322,694,671,642.081542322,891,788,821,656,633,657,0.402824586117,0.00448484733713,0.0799603533705,0.999999996974,5.90325035549e-05,-5.06025381762e-05,2.58991947865e-06,1793251926465720320
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,747,725.658055747,694,671,642.658055747,891,788,821,656,633,657,0.403070697643,0.00448769801406,0.0799534072594,0.999999996535,4.81933649234e-05,-6.7592629862e-05,-6.13782899803e-06,1793251926482386432
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746.760615763,726,694,671,642.760615763,891,788,820.760615763,656,633,657,0.403335943084,0.0044915115772,0.0799503716584,0.999999996227,3.95528641579e-05,-7.6027952235e-05,-1.41925428238e-05,1793251926499052800
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746.172268125,726,694,671,642.172268125,891,788,820.172268125,656,633,657,0.403629081057,0.00449672879167,0.0799530366208,0.9999999966,3.41174378664e-05,-7.19925218824e-05,-2.12661369735e-05,1793251926515719680
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,746.409560239,726,694.409560239,671,642.409560239,891,788,820.409560239,656,633,657,0.403959520937,0.00450433889723,0.0799587867063,0.999999997263,3.19134287713e-05,-6.3223508611e-05,-2.14253253961e-05,1793251926532386560
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,746.988689433,726,694.988689433,671,642.988689433,891,788,820.988689433,656,633,657,0.404305404802,0.00451293972394,0.0799658141156,0.999999997965,3.10473134457e-05,-5.24946647843e-05,-1.87217636888e-05,1793251926549053696
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,747,726,694.436911774,671,643,891,788,821,656,633.563088226,657,0.404684315078,0.00451939189244,0.0799620809077,0.9999999975,4.08507707914e-05,-5.27696357968e-05,-2.33629687513e-05,1793251926565720320
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.861839918,747,726,694.138160082,671.138160082,643,891,788,821,656.138160082,634,657,0.405077884324,0.00452596026291,0.0799586360787,0.999999996934,5.05693267843e-05,-5.30547218559e-05,-2.75563765836e-05,1793251926582387200
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.284328183,747,726,694.715671817,671.715671817,643,891,788,821,656.715671817,634,657,0.405515977273,0.00453303426088,0.0799567899203,0.999999996406,5.93420412002e-05,-5.26749499447e-05,-2.98605341337e-05,1793251926599053568
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.299508255,747,726,695,671.700491745,642.700491745,891,788,821,657,634,657,0.405957367536,0.00454059339025,0.0799501415664,0.99999999553,6.21301962355e-05,-6.3640601259e-05,-3.21018909515e-05,1793251926615719936
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.889478434,747,726,695,671.110521566,642.110521566,891,788,821,657,634,657,0.40640195557,0.00454862299898,0.079938836062,0.999999994001,5.91145502157e-05,-8.56089991845e-05,-3.42823441292e-05,1793251926632386560
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.52929364,747,726,695,671,642,891.47070636,788,821,656.52929364,633.52929364,657,0.406895085427,0.00455891160814,0.0799360944377,0.999999992188,7.89782631968e-05,-9.08576539238e-05,-3.3640522028e-05,1793251926649052928
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,747,725.950627163,695,671.049372837,642.049372837,891.950627163,787.950627163,821,656,633.049372837,657,0.407401042471,0.00456960988354,0.0799345809378,0.999999989762,0.000102991522459,-9.38640954317e-05,-3.25374716765e-05,1793251926665719296
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,725.37775168,695,671.62224832,642.62224832,891.37775168,787.37775168,821,656,633.62224832,657,0.40792436152,0.00457913044147,0.0799251575128,0.999999986325,0.000115081042086,-0.000113962544014,-3.34421841816e-05,1793251926682385920
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.799480929,643,891,787.200519071,821,656,633.799480929,657,0.408473192862,0.00458902319479,0.0799191132388,0.999999983549,0.000125405566078,-0.000126339896236,-3.48399453729e-05,1793251926699052544
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,725,695,671.210765197,643,891,787.789234803,821,656,633.210765197,657,0.409071414922,0.00459963650246,0.0799196108626,0.999999982896,0.000132313130596,-0.000123769522839,-3.71922284858e-05,1793251926715719424
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.37156246,747,725,695.37156246,671.37156246,643,891.37156246,788,821,656,633,657,0.409726592132,0.00460706845994,0.0799430739991,0.999999985369,0.000143658150444,-8.48570996373e-05,-3.77435422383e-05,1793251926732386304
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.950327769,747,725,695.950327769,671.950327769,643,891.950327769,788,821,656,633,657,0.410413530521,0.0046127263282,0.0799793439182,0.999999986575,0.000157477729066,-2.56784300421e-05,-3.72905401729e-05,1793251926749052928
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,747,725.529202608,696,671.470797392,643,892.529202608,788.529202608,821,656,633,657,0.411102767587,0.00461347739304,0.0799974067985,0.999999988592,0.00014594074098,2.90187911449e-06,-3.88507296389e-05,1793251926765719808
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.89278338,747,726,695.89278338,671.10721662,642.89278338,893,789,821.10721662,656,633.10721662,657.10721662,0.41178816328,0.00461116723715,0.0800036513823,0.999999990254,0.000132996666791,1.23914064808e-05,-4.06251298444e-05,1793251926782386432
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.318563821,747,726,695.318563821,671.681436179,642.318563821,893,789,821.681436179,656,633.681436179,657.681436179,0.412455886951,0.00459752982951,0.0799658642964,0.999999990183,0.000124292582888,-4.87604013068e-05,-4.25093306178e-05,1793251926799052800
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,726,695.261924829,671.738075171,642.261924829,893,788.738075171,822,656,633.738075171,657.738075171,0.413157704824,0.00458952373795,0.0799354897521,0.999999987953,0.000117706880501,-9.07936999863e-05,-4.46767102316e-05,1793251926815719424
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,726,695.850225256,671.149774744,642.850225256,893,788.149774744,822,656,633.149774744,657.149774744,0.413902006407,0.00458853463548,0.079914351718,0.999999986475,0.000113760820341,-0.000109004084784,-4.71969497441e-05,1793251926832385792
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725.570693566,696,671,642.570693566,893.429306434,788.429306434,822.429306434,656,633,657,0.41468618747,0.00458408752381,0.0799244980689,0.999999988831,0.000111023150667,-8.8704836453e-05,-4.63021281181e-05,1793251926849052928
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725.00524863,696,671,642,894.00524863,788.99475137,823,656,633.00524863,657.00524863,0.415483925789,0.00457851376756,0.0799451724865,0.999999991555,0.000108774237887,-5.56768938379e-05,-4.42494246387e-05,1793251926865719552
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725.582259579,696,671,642,894.582259579,788.417740421,823,656,633.582259579,657.582259579,0.41627477983,0.0045788670786,0.0799487604266,0.999999990111,0.000114808923569,-6.88314916802e-05,-4.31230387677e-05,1793251926882386176
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,726,696,671,642.163250063,895,788,823.163250063,656.163250063,634,657.836749937,0.417090055439,0.00458085995138,0.0799528444132,0.999999990228,0.00011275898019,-7.05142819595e-05,-4.30909416895e-05,1793251926899052544
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,726,696,671,642.754678176,895,788,823.754678176,656.754678176,634,657.245321824,0.417969384756,0.00458715312477,0.0799582294481,0.999999994053,8.95043848757e-05,-4.21084081096e-05,-4.59289840772e-05,1793251926915719424
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747.337423659,726,696.337423659,671,643,895,788,824,657,634,657,0.418864741525,0.00459124598606,0.0799753386664,0.999999994572,9.22416602167e-05,-3.56529788378e-06,-4.83189882579e-05,1793251926932385792
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747.914014829,726,696.914014829,671,643,895,788,824,657,634,657,0.41977145859,0.00459377925531,0.0800007580418,0.999999991411,0.000113402099134,4.21631329449e-05,-5.03914206206e-05,1793251926949052672
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,748,726,697,671,643,895.48905833,788,824.48905833,656.51094167,634,657.48905833,0.420645370629,0.0045941165944,0.079988989552,0.999999991679,0.000116506504179,2.32635708758e-05,-5.02627711091e-05,1793251926965719296
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,748,726,697,671,642.936068717,896,787.936068717,825,656,634,658,0.421520417742,0.00459415170031,0.0799747940438,0.999999992024,0.000116017926847,-1.73864938124e-07,-4.99152691055e-05,1793251926982385920
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,748,726,697,671,642.360390013,896,787.360390013,825,656,634,658,0.422450573058,0.00459484825054,0.0799933427222,0.999999991949,0.000112099964072,3.07325464031e-05,-5.09038724787e-05,1793251926999052544
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747.77821061,726,697,671,642.22178939,896.22178939,787.22178939,825,656,634,657.77821061,0.423381617732,0.0045952996013,0.0800079289788,0.999999991269,0.000111124783454,5.02624285925e-05,-5.08584026191e-05,1793251927015719424
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747.185149039,726,697,671,642.814850961,896.814850961,787.814850961,825,656,634,657.185149039,0.424314151325,0.00459534049185,0.0800158822024,0.999999990887,0.000115075776454,5.07481730965e-05,-4.90819095828e-05,1793251927032386304
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.602294849,747.397705151,726,697,671,643,897,787.602294849,825,656,634,657,0.425204947996,0.00459824820669,0.0799796851649,0.999999991744,0.000117004311851,-2.01208571544e-05,-4.91727300224e-05,1793251927049052672
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.024073762,747.975926238,726,697,671,643,897,787.024073762,825,656,634,657,0.426076800477,0.00460245715554,0.0799234485937,0.99999998417,0.000118014864823,-0.000123377383056,-5.01111122907e-05,1793251927065719040
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.550170141,747.449829859,726,697,671,643,897.550170141,787.550170141,825.550170141,656,634,657,0.42703144657,0.00460129063733,0.079909321188,0.999999984909,0.000115246616784,-0.000118909152586,-5.25467634179e-05,1793251927082385920
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,747,725.875942399,697.124057601,671,643,898,788,826.124057601,656,634,657,0.427984953897,0.00460014688842,0.0799030839156,0.999999986098,0.000112718359437,-0.000110205962841,-5.43344335227e-05,1793251927099052544
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747,725.30271994,697.69728006,671,643,898,788,826.69728006,656,634,657,0.428921315531,0.00459993108562,0.0799187904316,0.999999987017,0.000111653383769,-0.00010311364154,-5.35405079884e-05,1793251927115719680
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747,725,697.719306451,671,643,898.280693549,788,826.719306451,656,634,657,0.429903063974,0.00459964797546,0.0799514907913,0.999999990411,0.000111254091606,-6.36787397977e-05,-5.23941235261e-05,1793251927132386048
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747,725,697.124488201,671,643,898.875511799,788,826.124488201,656,634,657,0.430935604819,0.00459928954151,0.0800032089937,0.999999992408,0.00011159976677,1.19508070255e-05,-5.08533014197e-05,1793251927149052416
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747,725,697,671.4578741,643,898.5421259,788,826.4578741,656.4578741,634,657,0.431910926669,0.00459943479787,0.080030030129,0.999999991325,0.000109409782293,5.30325120475e-05,-5.06699361648e-05,1793251927165719296
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.963338556,747,725,697.036661444,672,643,898.036661444,788,827,656.963338556,634,657.036661444,0.432864508716,0.00460002319381,0.0800441377864,0.999999990107,0.000107111241149,7.56121316349e-05,-5.09495472453e-05,1793251927182385664
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.388632995,747,725,697.611367005,672,643,898.611367005,788,827,656.388632995,634,657.611367005,0.433721302404,0.00460515853613,0.0799683745113,0.99999999145,0.000113069261885,-3.91446007773e-05,-5.27507832949e-05,1793251927199052288
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,725.190242764,697.809757236,671.809757236,643,899,787.809757236,827,656,634,657.809757236,0.434598459174,0.004607963698,0.0799171503247,0.999999985584,0.000114252368892,-0.000113141994231,-5.45656454912e-05,1793251927215719168
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,725.777828553,697.222171447,671.222171447,643,899,787.222171447,827,656,634,657.222171447,0.435518146647,0.00460590202162,0.0799171787205,0.999999987645,0.000105462544945,-0.000102009029121,-5.64089689488e-05,1793251927232385792
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,747.36017645,725.63982355,697.36017645,671,643,899,787,827,656,634,657,0.436464660649,0.00460522431766,0.0799427757043,0.999999990821,0.000102281732055,-6.91437059579e-05,-5.58101884673e-05,1793251927249052416
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,747.93933968,725.06066032,697.93933968,671,643,899,787,827,656,634,657,0.437427485088,0.00460538806714,0.0799839183541,0.999999993036,0.000102511190451,-2.30651398576e-05,-5.37266119832e-05,1793251927265719040
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747.481384941,725,697.481384941,671.518615059,643,899.518615059,787,827.518615059,656,634,657.518615059,0.438379398694,0.00460274601635,0.0800239242369,0.999999992662,9.81462311724e-05,4.58974278408e-05,-5.42003497237e-05,1793251927282385664
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.096833882,747,725,697,672,643,900,787,828,656,634,658,0.439311054997,0.00460046643091,0.080053304079,0.99999998915,9.41280378662e-05,9.90989893725e-05,-5.49524646749e-05,1793251927299052288
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.669793168,747,725,697,672,643,900,787,828,656,634,658,0.440149383867,0.00460158306497,0.0800310903345,0.999999992093,9.44577539263e-05,6.16410427292e-05,-5.56022778081e-05,1793251927315718912
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.750381152,747,725.249618848,697,672,643,900,787,828,656.249618848,633.750381152,657.750381152,0.440930868966,0.00460391957941,0.0799741505638,0.999999993342,9.63943056025e-05,-2.90093250532e-05,-5.64089738822e-05,1793251927332385792
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.161215429,747,725.838784571,697,672,643,900,787,828,656.838784571,633.161215429,657.161215429,0.44163503161,0.0046079154499,0.0798699743232,0.999999974864,0.000100516572001,-0.000192015285425,-5.74290707284e-05,1793251927349052416
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,725.579163116,696.579163116,672,643,900,787,828,656.579163116,633.420836884,657.420836884,0.442458136434,0.00460620766099,0.0798506128631,0.999999971272,9.55544721829e-05,-0.00021182345229,-5.87865848087e-05,1793251927365719296
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,725,696.000208504,672,643,899.999791496,786.999791496,828,656,634,657.999791496,0.44332604297,0.00460235277864,0.0798632261717,0.999999978603,8.71726141703e-05,-0.000177657343472,-6.02695218115e-05,1793251927382385920
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,725,696.576790657,672,643,899.423209343,786.423209343,828,656,634,657.423209343,0.444178194354,0.00460281778676,0.0799414685994,0.999999992784,8.55959836678e-05,-6.20182664671e-05,-5.70869685877e-05,1793251927399052544
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.155784796,725,697,672,643,899.155784796,786.155784796,828.155784796,656,634,657.155784796,0.44500632471,0.00460295391119,0.0800070221778,0.999999994257,8.53072932111e-05,3.44916986371e-05,-5.49449002661e-05,1793251927415719168
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.741434582,725,697,672,643,899.741434582,786.741434582,828.741434582,656,634,657.741434582,0.4457681728,0.00460218253002,0.0800375627802,0.999999991469,8.85724841645e-05,7.82177467378e-05,-5.56738964262e-05,1793251927432385792
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.676310365,725,697,672.323689635,643.323689635,900,787,829,656,634,658,0.446507609957,0.00459951537195,0.0800467173495,0.999999990361,8.45755168453e-05,9.46459958463e-05,-5.62729817948e-05,1793251927449052416
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.096738937,725,697,672.903261063,643.903261063,900,787,829,656,634,658,0.447229330868,0.00459534957221,0.0800389659183,0.999999991584,7.48376980823e-05,8.94948992032e-05,-5.67693706336e-05,1793251927465719040
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,725,697,672.517590333,644,900,787,828.517590333,656,634,657.517590333,0.447893974729,0.00459526091608,0.0800078044987,0.999999994173,7.58755884866e-05,5.01404826941e-05,-5.81658983235e-05,1793251927482385664
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,644,900,786.939151671,828.060848329,656,634.060848329,657.060848329,0.448536910105,0.00459582756672,0.0799704215205,0.999999995147,7.84113690908e-05,9.19128589224e-08,-5.96458072973e-05,1793251927499052544
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,644,900,786.365977213,828.634022787,656,634.634022787,657.634022787,0.449093352296,0.00459503377473,0.0799201462579,0.999999991954,7.538087066e-05,-8.22991246157e-05,-6.03092735517e-05,1793251927515719168
+197,3.283333333,POSE1_TO_POSE2_PRESS,768.212891175,747.212891175,725,696.787108825,672,643.787108825,900,786,829,656,634.787108825,658,0.449665777865,0.00459430477952,0.0798926543451,0.999999987728,7.29354713076e-05,-0.00012469062881,-6.06347722618e-05,1793251927532386048
+198,3.300000000,POSE1_TO_POSE2_PRESS,768.801816819,747.801816819,725,696.198183181,672,643.198183181,900,786,829,656,634.198183181,658,0.450266435176,0.00459369023642,0.0799054051808,0.999999990971,7.15235466368e-05,-9.64300497951e-05,-6.03633117872e-05,1793251927549052672
+199,3.316666667,POSE1_TO_POSE2_PRESS,768.615733147,747.615733147,724.615733147,696.384266853,671.615733147,643,900,786,829,656.384266853,634,657.615733147,0.450869948028,0.0045940465589,0.0799409894421,0.999999994738,7.21246363796e-05,-4.23494535301e-05,-5.93965044263e-05,1793251927565719296
+200,3.333333333,POSE1_TO_POSE2_PRESS,768.036567466,747.036567466,724.036567466,696.963432534,671.036567466,643,900,786,829,656.963432534,634,657.036567466,0.451474909254,0.00459489530102,0.0799881547396,0.999999995286,7.37467197332e-05,2.48269694222e-05,-5.80770192837e-05,1793251927582385920
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,747.11751162,725,696.88248838,671.88248838,643,900.11751162,786,829,656,634,658,0.45246036223,0.00460004997505,0.0799743358942,0.999999995534,7.34453347513e-05,-1.34636046241e-05,-5.79401114424e-05,1793251927615719168
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,747.692952724,725,696.307047276,671.307047276,643,900.692952724,786,829,656,634,658,0.452864719199,0.00460079961899,0.0799298924672,0.999999991965,7.38074411685e-05,-8.47703910293e-05,-5.86243607736e-05,1793251927632386048
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+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,696,671,643.867837867,901,786,829,656,634,658,0.453647070137,0.0046039593048,0.0798658431625,0.999999978438,8.45990561838e-05,-0.000180015716606,-5.96816409081e-05,1793251927665719296
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,724.550003464,696,671,643.550003464,901,786,829,656,634,658,0.454018266113,0.00460651390623,0.0798491024138,0.99999997363,8.5878536657e-05,-0.000204232555943,-6.04406900478e-05,1793251927682385920
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,724.029045659,696,671,643,900.970954341,786,829,656,634,658,0.454383707192,0.00460919949783,0.0798359796178,0.999999969449,8.58551631265e-05,-0.000223595520904,-6.11259325206e-05,1793251927699052544
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,724.601830543,696,671,643,900.398169457,786,829,656,634,658,0.454723140371,0.00461071652065,0.0798326414575,0.999999967059,9.3457541837e-05,-0.000231690214928,-5.88845329856e-05,1793251927715719424
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,725,696,670.832487378,643,900.167512622,786,829,656,634,658,0.455046146691,0.00461183611573,0.0798292968907,0.999999965176,9.72041857468e-05,-0.000238483295373,-5.76637104323e-05,1793251927732386048
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,696,670.283001651,643,900.716998349,786,829,656,634,658,0.455331695378,0.0046120494702,0.0798259377159,0.99999996467,9.21587329759e-05,-0.000242308351366,-5.8770073785e-05,1793251927749052928
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,747.699549356,725,696,670,643,901,786,829,656,634,658,0.45559775141,0.00461272729268,0.0798234481575,0.999999963479,9.19512312605e-05,-0.000247179964568,-5.90701436864e-05,1793251927765720064
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,747.080025055,725,696,670,643,901,786,829,656,634,658,0.455843106596,0.0046138983726,0.079821882117,0.999999961549,9.68815535831e-05,-0.000253163004829,-5.85139433045e-05,1793251927782386688
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,747.501392199,725,696,670,643,900.498607801,786,829,656.501392199,634,658,0.456055445494,0.00462589168391,0.0798150591967,0.99999995682,0.000106054952469,-0.000266827429547,-6.25774654694e-05,1793251927799053056
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696,670,643,900.077213657,786,829,657,634,658,0.456258141349,0.00464029132806,0.0798068116244,0.999999951013,0.000117397461675,-0.000282304662725,-6.70519738894e-05,1793251927815719424
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+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,696,670,643,901,786,829,656.765073244,634,657.765073244,0.456589799587,0.00467009228768,0.0797841714285,0.999999935178,0.00014934786949,-0.000319743126714,-7.14338343979e-05,1793251927849052928
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768,748,725,696,669.596423235,643,901,786,829,656,634,657.403576765,0.456862414738,0.00466470675699,0.0797757591163,0.999999930854,0.000138492100557,-0.000337451579101,-7.23781706855e-05,1793251927882386432
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.741012588,725,696.258987412,669,643,901,786,829.258987412,657,633,658,0.457594810013,0.00465342248365,0.079770964,0.999999924895,0.000157616261031,-0.000349568888169,-5.62904603667e-05,1793251928265719040
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+253,4.216666667,HOLD_POSE2,768,748,724.518208433,696,669,643,901,786,829,656,634,658,0.457599229488,0.00465326978292,0.0797700998209,0.999999924627,0.000158745822491,-0.000350068877029,-5.47503230167e-05,1793251928487628288
+254,4.233333333,HOLD_POSE2,768,748,724,696.061260265,669,642.938739735,901,786,829,656,634,658,0.457598834779,0.00465489910242,0.0797689058733,0.999999924092,0.000159938016458,-0.000351004038196,-5.50559122293e-05,1793251928504295168
+255,4.250000000,HOLD_POSE2,768,748,724,696.640232584,669,642.359767416,901,786,829,656,634,658,0.457600059968,0.00465494274877,0.079770212746,0.999999924563,0.00016115719004,-0.000349104136152,-5.50380151304e-05,1793251928520961536
+256,4.266666667,HOLD_POSE2,768,747.782176559,724.217823441,696.782176559,669,642,901,786.217823441,829,656.217823441,634,658,0.457600740438,0.00465406149783,0.0797706951824,0.999999924883,0.000161107273161,-0.000348246940862,-5.47992792187e-05,1793251928537628160
+257,4.283333333,HOLD_POSE2,768,747.206853069,724.793146931,696.206853069,669,642,901,786.793146931,829,656.793146931,634,658,0.457600526893,0.00465166227053,0.0797698245228,0.999999924959,0.000158974477016,-0.000349101075423,-5.41980943178e-05,1793251928554294784
+258,4.300000000,HOLD_POSE2,768,747.367941144,724.632058856,696,669,642,901,786.632058856,829.367941144,656.632058856,634,658,0.457600707681,0.00465102925324,0.0797699929911,0.999999925031,0.000158550948621,-0.000349170775771,-5.36562011008e-05,1793251928570961408
+259,4.316666667,HOLD_POSE2,768,747.942438283,724.057561717,696,669,642,901,786.057561717,829.942438283,656.057561717,634,658,0.457601109841,0.00465138775643,0.0797707448084,0.999999925103,0.000159086974315,-0.000348800107969,-5.31475931861e-05,1793251928587628288
+260,4.333333333,HOLD_POSE2,768,748,724.532636979,696,669,642.532636979,901,786,829.467363021,656,634,658,0.457600634063,0.00465249522811,0.0797704028057,0.999999924921,0.000158777005882,-0.000349313116557,-5.41213882371e-05,1793251928604294912
+261,4.350000000,HOLD_POSE2,768,748,725,696,669,643,901,786,829,656,634,658,0.457600236697,0.00465321866507,0.0797698425003,0.999999924752,0.000158446463438,-0.000349817561417,-5.49327871751e-05,1793251928620961536
+262,4.366666667,HOLD_POSE2,768,748,725,696,669,643,901,786,829,656,634,658,0.457600500221,0.00465218857702,0.0797689201717,0.999999924748,0.000158392131824,-0.000349920747753,-5.45157403098e-05,1793251928637628160
+263,4.383333333,HOLD_POSE2,768,748,725,696,669,643,901,786,829,656,633.721818879,658,0.457600048154,0.00465142406286,0.0797681104637,0.999999924514,0.000158442032169,-0.000350595472357,-5.4329765769e-05,1793251928654295040
+264,4.400000000,HOLD_POSE2,768,748,725,696,669,643,901,786,829,656,633.148198748,658,0.457598836102,0.00465094159842,0.0797674203628,0.999999924035,0.000158602630851,-0.000351877192497,-5.43891989173e-05,1793251928670961664
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,669,642,901,786,829,656,634,658,0.457599684254,0.00464858921863,0.0797691431404,0.999999925115,0.000153902289859,-0.000350907006434,-5.42942312532e-05,1793251928703576320
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,748,724.420407153,696,669,642,901,786,829.579592847,656,633.420407153,658,0.457599503927,0.00465110744814,0.0797693147482,0.999999924555,0.000155380245219,-0.000351897083038,-5.39908878306e-05,1793251928720242944
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768.158351358,748,724,696,669,642,901,786,829.841648642,656,633,658,0.457599711335,0.0046524134904,0.079769362192,0.999999924278,0.000156356648499,-0.000352274409909,-5.38467233881e-05,1793251928736909568
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768.734906524,748,724,696,669,642,901,786,829.265093476,656,633,658,0.457600942747,0.00465051816301,0.0797690817204,0.999999924754,0.000156008459798,-0.000351033473182,-5.4122948429e-05,1793251928753576192
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.689490837,748,724.310509163,696,669,642,901,786,829,656,633.310509163,658,0.457601447297,0.0046499368156,0.0797693147206,0.999999925043,0.000155936795185,-0.000350255742206,-5.40155145983e-05,1793251928770242816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.114698955,748,724.885301045,696,669,642,901,786,829,656,633.885301045,658,0.457601333195,0.00465047383211,0.0797699847504,0.999999925176,0.000156100487701,-0.000349872258206,-5.35815383426e-05,1793251928786909696
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747.527385324,725,696.472614676,669.472614676,642,901,786,829,656,634,658,0.457600663875,0.00465070330367,0.0797696681077,0.999999924715,0.000157718250886,-0.000350471588593,-5.3528767838e-05,1793251928803576320
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747,724.938337372,696.938337372,669.938337372,642,901,786,829,656,633.938337372,658,0.457599905519,0.00465081376702,0.0797691064097,0.999999924203,0.000159366324793,-0.000351179604493,-5.3573562103e-05,1793251928820242944
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,747,724.360893462,696.360893462,669.360893462,642,901,786,829,656,633.360893462,658,0.457599560195,0.00465057008518,0.0797685523848,0.99999992453,0.000158235838806,-0.000350747317383,-5.36395355332e-05,1793251928836909568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747.215040061,724.215040061,696.215040061,669,642.215040061,901,786,829,656,633.215040061,658,0.457593879661,0.00465030701799,0.0797653284366,0.999999923238,0.000156933529319,-0.000354975731121,-5.37402688196e-05,1793251928853576192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.78845638,724.78845638,696.78845638,669,642.78845638,901,786,829,656,633.78845638,658,0.457579307703,0.00465001164405,0.0797576549127,0.999999919147,0.000155344866481,-0.000366971462855,-5.38989313339e-05,1793251928870242816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,748,725,696.627227189,669,643,901.372772811,786,829.372772811,656,634,658,0.457551524364,0.00465048443978,0.0797456357822,0.999999911381,0.000155499435375,-0.000387515352282,-5.37512781703e-05,1793251928886909696
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.036538713,669,643,901.963461287,786,829.963461287,656,634,658,0.457516017909,0.00465140629237,0.0797310762946,0.999999900992,0.000156673063091,-0.000413056327823,-5.34245588652e-05,1793251928903576320
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.457574483,725,696,669,643,901.457574483,786,830,656,634,658,0.457455238699,0.00465090859326,0.0797109624008,0.999999884581,0.000159622496566,-0.000450164280265,-5.20694106916e-05,1793251928920243200
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,747.118783215,725,696,669,642.881216785,901,786.118783215,829.881216785,656,634,658,0.457390435055,0.00465015962392,0.0796919459366,0.999999868564,0.00016187511691,-0.000483836072188,-5.07071683608e-05,1793251928936910080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.688185565,725,696,669,642.311814435,901,786.688185565,829.311814435,656,634,658,0.457316685885,0.00464881251369,0.0796784820755,0.999999860013,0.000161040092716,-0.000501579021052,-4.95752629842e-05,1793251928953576448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,724.731865647,696,669,642,901,786.731865647,829,656.268134353,634,658,0.457238776896,0.00464783184915,0.0796698231581,0.99999985363,0.000161233940196,-0.000514219295309,-4.8191835684e-05,1793251928970243072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,724.139150257,696,669,642,901,786.139150257,829,656.860849743,634,658,0.457155832383,0.00464729477319,0.079666980705,0.999999850132,0.00016267325382,-0.000520682697251,-4.6503937047e-05,1793251928986909696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,724.887179908,696,669,642.443589954,901,786,829,657,633.556410046,658,0.457058258689,0.00464777154124,0.0796685527832,0.999999850492,0.000165829810724,-0.000519199978776,-4.41388305645e-05,1793251929003576320
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725.976797666,696,669,643,901,786,829,656.976797666,633.023202334,658,0.456954835162,0.0046484707482,0.0796711853597,0.999999851868,0.000169390795025,-0.00051560136654,-4.15451700249e-05,1793251929020242688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,725.398799604,696,669,643,901,786,829,656.398799604,633.601200396,658,0.456818851353,0.0046470514096,0.0796667917321,0.999999849762,0.000170024822643,-0.000519700108962,-3.84543478701e-05,1793251929036909568
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,669.178676451,643,901.178676451,786,829,656,634,658,0.456671780444,0.00464561516529,0.0796620885245,0.99999984663,0.000172184386744,-0.000525233313916,-3.49648352423e-05,1793251929053575936
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,669.754990723,643,901.754990723,786,829,656,634,658,0.456500035622,0.00464414129816,0.0796566963586,0.999999841181,0.00017773897568,-0.000533958861533,-3.05880521488e-05,1793251929070242816
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,670,643,901.662006738,786.337993262,829,656.337993262,634,658,0.45631742383,0.00464232599988,0.0796516665041,0.999999837424,0.000180482153545,-0.000540273157639,-2.61356216609e-05,1793251929086909696
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,670,643,901.074057977,786.925942023,829,656.925942023,634,658,0.456126775591,0.00464025820353,0.0796469045884,0.999999834953,0.00018114621465,-0.000544804266543,-2.1627247347e-05,1793251929103576576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,670,643,901,786.493302103,829,657,634,658,0.455916773122,0.00463968662466,0.0796559821313,0.999999841173,0.000186801169991,-0.000531513118606,-1.59161715307e-05,1793251929120244224
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.086077583,747.913922417,725,696,670,643,901,786.086077583,829,656.913922417,634,658,0.455699607082,0.00463872847513,0.0796676963578,0.999999849263,0.000192613723476,-0.000514078008324,-9.83967681184e-06,1793251929136911616
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.663518907,747.336481093,725,696,670,643,901,786.663518907,829,656.336481093,634,658,0.455457470277,0.00463433277197,0.0796830767833,0.99999986204,0.000195220160867,-0.000487649015854,-2.66662900444e-06,1793251929153576960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768.760763899,747.239236101,725,696,670,643,900.760763899,786.760763899,829,656,634,658,0.455189459032,0.00463021273685,0.0796942810041,0.999999870285,0.000198424292911,-0.000469081443294,4.47104641229e-06,1793251929170242816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.187454344,747.812545656,725,696,670,643,900.187454344,786.187454344,829,656,634,658,0.454885316285,0.00462647764965,0.0796996534989,0.99999987295,0.000202463056158,-0.000461491696191,1.15593267755e-05,1793251929186909696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,670,643,900,786,829,656,634,658,0.454550778399,0.00462503836831,0.079694046506,0.99999987015,0.000205230304661,-0.000466164171972,1.64616589242e-05,1793251929203576320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,670,643,900,786,829,656,634,658,0.4542014741,0.00462471442446,0.079683105511,0.999999864625,0.000207379831836,-0.000476793822262,2.03020239854e-05,1793251929220242944
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.437332259,747.437332259,724.437332259,696,670.562667741,642.437332259,900,786,829,656,634,658,0.453813202073,0.00462029745561,0.0796783743592,0.999999869053,0.000166846403019,-0.000483662965512,1.1244181534e-05,1793251929236909824
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.137511554,747,724.137511554,696,671,642.137511554,900,786,829,656,633.862488446,658,0.45341655953,0.00461515499979,0.0796778426265,0.999999874065,0.000135121320902,-0.000483298181971,5.87302230462e-06,1793251929253576448
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.715372736,747,724.715372736,696,671,642.715372736,900,786,829,656,633.284627264,658,0.452995603743,0.00460795102077,0.0796903615637,0.999999885087,0.000134331878845,-0.000460008810615,1.31322682627e-05,1793251929270243072
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.700688458,747,725,696,671.299311542,643,900,786,829,656,633.299311542,658,0.452554635163,0.00460386282759,0.0797056235557,0.999999896257,0.000131831181768,-0.000435614487331,1.86087834691e-05,1793251929286909952
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.11085034,747,725,696,671.88914966,643,900,786,829,656,633.88914966,658,0.452094241126,0.00460279896928,0.0797235480936,0.99999990749,0.000127669455888,-0.000410147640311,2.23548929538e-05,1793251929303576320
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.470416499,747,724.529583501,696,671.529583501,643,899.529583501,786,828.529583501,656,634,658,0.451608817573,0.0045989002869,0.0797441265275,0.999999921015,0.000118439540539,-0.000378598207553,2.4593532372e-05,1793251929320242944
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747,724.049365198,696,671,643,899.049365198,786,828.049365198,656,633.950634802,658,0.451114611725,0.00459423229601,0.0797650541966,0.999999933785,0.000111979097744,-0.000345261006537,2.6192669734e-05,1793251929336909824
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,724.624749764,696,671,643,899.624749764,786,828.624749764,656,633.375250236,658,0.450588547119,0.00458835748472,0.0797831587039,0.99999994142,0.000147527406095,-0.00030787358263,2.46949087745e-05,1793251929353576192
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,724.800303449,696,671,643,899.800303449,786,828.800303449,656,633.199696551,657.800303449,0.450036090471,0.00458273063746,0.0797983351214,0.999999946863,0.000163929746045,-0.000280668713009,2.50104983995e-05,1793251929370242816
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,724.226177525,696,671,643,899.226177525,786,828.226177525,656,633.773822475,657.226177525,0.449434148994,0.00457756872105,0.0798080213938,0.999999952013,0.00014443355303,-0.000272556051339,2.87261054623e-05,1793251929386909696
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.641352304,747,724.358647696,696,671.358647696,643,899,786,828,656,634,657.358647696,0.448769337913,0.00457432717582,0.079787355784,0.999999942354,0.000130036267767,-0.000312109219096,3.11649508358e-05,1793251929403576320
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.049572221,747,724.950427779,696,671.950427779,643,899,786,828,656,634,657.950427779,0.448063659618,0.004572333933,0.0797469604869,0.999999919179,0.000118953434634,-0.000382646688011,3.27738603213e-05,1793251929420243456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.530525408,747,725,696,671.469474592,643,898.469474592,786,828,656,634,657.469474592,0.447356548976,0.00456606627651,0.0797140323919,0.999999902509,0.000110434690316,-0.000426205088704,3.3687081674e-05,1793251929436909824
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,898,786.108941262,828,656,634,657,0.446654305631,0.0045598567634,0.0796950328351,0.999999892874,0.000106122718688,-0.000449199363772,3.47762260967e-05,1793251929453576448
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,898,786.684727123,828,656,634,657,0.445973481431,0.00455557108254,0.0797327955042,0.999999914388,0.000118833396645,-0.00039464055263,3.68918144076e-05,1793251929470243328
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.741426925,747,724.741426925,695.741426925,671,643,898,787,828,656,633.741426925,657,0.445274242893,0.00455089885337,0.0797733758378,0.999999934761,0.000119970964838,-0.000338446571184,3.92223816867e-05,1793251929486909696
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.169928573,747,724.169928573,695.169928573,671,643,898,787,828,656,633.169928573,657,0.444552719224,0.00454575882267,0.0798173661152,0.999999954114,0.000107102751023,-0.000280273698722,4.18131169208e-05,1793251929503576320
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.417729459,747,724,695.417729459,671,643,898,787,828,656.417729459,633,657,0.443767568513,0.00454172506486,0.0798247324269,0.999999955006,0.000108830137884,-0.000275978857793,4.44990634918e-05,1793251929520242944
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,724.011852648,696,671,643,898,787.011852648,828,657,633.011852648,657,0.442955332147,0.00453815615084,0.0798165477299,0.999999948833,0.000116325418426,-0.000294251415098,4.71078632393e-05,1793251929536909824
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,724.588213237,696,671,643,898,787.588213237,828,657,633.588213237,657,0.442135416527,0.00453443065323,0.079805830039,0.999999948132,0.000104370176363,-0.000301490203112,4.41235016051e-05,1793251929553576448
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.835877216,747,725,696,671.164122784,642.835877216,897.835877216,787.835877216,827.835877216,657,633.835877216,657,0.441285070921,0.00453473489185,0.0797810647037,0.999999938223,0.000102474071029,-0.000333577531918,4.21829086757e-05,1793251929570243072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.261096276,747,725,696,671.738903724,642.261096276,897.261096276,787.261096276,827.261096276,657,633.261096276,657,0.440358585281,0.00454512209425,0.0797211501988,0.999999899652,0.000125747332691,-0.000427839382606,4.2853970954e-05,1793251929586909696
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.322240981,747.322240981,724.677759019,696,671.677759019,642.322240981,897,787,827,656.677759019,633,657,0.439441294163,0.00454418841628,0.0796770450813,0.999999869601,0.000125293824726,-0.000493296732818,4.19355716317e-05,1793251929603576320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.912700081,747.912700081,724.087299919,696,671.087299919,642.912700081,897,787,827,656.087299919,633,657,0.438531656175,0.00453383177355,0.0796460989515,0.999999850696,0.000105091277678,-0.000534778579157,3.96941799511e-05,1793251929620242944
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,747.506576223,724.493423777,696,671,642.506576223,897,787.493423777,827,656,633,657,0.437698518052,0.00452096656441,0.0797073001231,0.999999895537,9.6595894858e-05,-0.000444753876444,4.22875695312e-05,1793251929636909568
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.928012138,747,725,696,671,642,896.928012138,788,826.928012138,656,633,657,0.43687420171,0.0045090098824,0.0797820801948,0.999999938823,9.03124280376e-05,-0.000334862377109,4.54482552652e-05,1793251929653576192
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.352737619,747,725,696,671,642,896.352737619,788,826.352737619,656,633,657,0.436018766101,0.00450644788405,0.0798400183499,0.999999965113,8.52921617689e-05,-0.000245595637913,4.67104227482e-05,1793251929670242816
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.221672859,747,725,696,671,642,895.778327141,787.778327141,826,656,633,657,0.435131221133,0.00449902763268,0.0798644410089,0.999999974386,7.67081118602e-05,-0.000207461402276,4.79998658276e-05,1793251929686909696
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.794713855,747,725,696,671,642,895.205286145,787.205286145,826,656,633,657,0.434192780288,0.00448390668485,0.0798357390977,0.999999965488,6.24751971017e-05,-0.000250376014695,4.93325433838e-05,1793251929703576320
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,724.619162015,696,671,642.380837985,894.619162015,787.380837985,825.619162015,656,633,657,0.433191906279,0.0044749182862,0.0797911364298,0.999999943339,5.67846855115e-05,-0.000327978910534,5.02681446061e-05,1793251929720242688
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,724.025734723,696,671,642.974265277,894.025734723,787.974265277,825.025734723,656,633,657,0.432156181226,0.00446935316667,0.0797376577297,0.999999906851,5.58626681665e-05,-0.000424945306209,5.09820916099e-05,1793251929736909568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,724.551779119,696,671,642.448220881,894,787.448220881,825,656,633.551779119,657,0.43116067473,0.00446272092665,0.079702848535,0.999999876224,5.42170965536e-05,-0.000491734069126,5.30169411215e-05,1793251929753575936
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642,893.871771004,787.128228996,824.871771004,656,633.871771004,656.871771004,0.43020243764,0.0044553931912,0.0796953724042,0.99999986771,5.05440059138e-05,-0.000508962551728,5.46152957677e-05,1793251929770242816
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642,893.296515421,787.703484579,824.296515421,656,633.296515421,656.296515421,0.429367771704,0.00444580949128,0.0797802332286,0.999999933571,3.99170097576e-05,-0.000358185166751,5.4483211079e-05,1793251929786909696
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,724.730670991,696.269329009,671,642.269329009,893.269329009,788,823.730670991,656,633,656.269329009,0.428487237035,0.00445018195784,0.0798338292061,0.999999962592,4.52791357641e-05,-0.000264088259939,5.49913798723e-05,1793251929803576064
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,724.174837897,696.825162103,671,642.825162103,893.825162103,788,823.174837897,656,633,656.825162103,0.427557908644,0.0044694005744,0.0798541665763,0.999999969618,6.76500094742e-05,-0.000230286353202,5.61806319726e-05,1793251929820242688
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,892.964822265,788,822.964822265,656,633,656.964822265,0.425566086903,0.00449589901584,0.0797680984443,0.999999923311,0.000112257599997,-0.00037115311703,5.49647801034e-05,1793251929853575936
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,892.383325183,788,822.383325183,656,633,656.383325183,0.424571934069,0.00448140532229,0.0797402951408,0.999999909169,9.42181023693e-05,-0.00041190706992,5.58387944859e-05,1793251929870242560
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.767804716,747,725,696,671,642.232195284,892.767804716,787.232195284,822,656,633.767804716,656.767804716,0.422690816256,0.0044654290881,0.0797201034699,0.999999897227,8.02565554018e-05,-0.00044252105358,5.72638301072e-05,1793251929903576320
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.650721402,747,725,696,671.349278598,642,892.650721402,787.349278598,821.650721402,656,633.650721402,656.650721402,0.421852791961,0.00446204820212,0.0797630105187,0.999999928317,7.30670455407e-05,-0.000367163931791,5.67248380949e-05,1793251929920243200
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.095494082,747,725,696,672,643,892,788,822,656,633,657,0.419281149299,0.00448106325784,0.079858949333,0.99999997315,9.21608069711e-05,-0.00020546407972,5.46875212637e-05,1793251929970242560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.673547994,747,725,696,672,643,892,788,822,656,633,657,0.418355837269,0.00448010302952,0.0798073231402,0.999999950952,9.0985019371e-05,-0.000294728804463,5.43438855401e-05,1793251929986909440
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,747,725,696,671.749714032,642.749714032,891.749714032,788,821.749714032,656.250285968,633,657,0.417475081447,0.00447721229575,0.0797848604067,0.999999937533,8.87987186156e-05,-0.000337746462003,5.45481415082e-05,1793251930003576320
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,747,725,696,671.174683523,642.174683523,891.174683523,788,821.174683523,656.825316477,633,657,0.416652137109,0.00447181674285,0.0798002370903,0.999999943381,8.53012839214e-05,-0.000320758823268,5.54632841076e-05,1793251930020242944
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.590409976,747,725,695.590409976,671.409590024,642.409590024,891.409590024,788,821,656.590409976,633,657,0.415825397959,0.00447012955825,0.0797904586457,0.9999999363,8.37174142758e-05,-0.000342426178543,5.59997148385e-05,1793251930036909824
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.002103361,747,725,695.002103361,671.997896639,642.997896639,891.997896639,788,821,656.002103361,633,657,0.414997002946,0.00447006044711,0.0797697042543,0.999999922404,8.29684908949e-05,-0.000380959882187,5.63709020693e-05,1793251930053576448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,747,725,695,671.422956293,642.422956293,891.422956293,788,821.577043707,656.577043707,633,657,0.414231394495,0.00447007639592,0.0797698963822,0.999999928084,7.20964139218e-05,-0.00036819249618,5.53853042766e-05,1793251930070247680
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.15538349,747,725,695,671.15538349,642,891,788.15538349,821.84461651,656.84461651,633.15538349,657,0.413481918336,0.00447065854808,0.0797761867028,0.999999935136,7.1744859128e-05,-0.000348737446651,5.44302426689e-05,1793251930086916608
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.73162587,747,725,695,671.73162587,642,891,788.73162587,821.26837413,656.26837413,633.73162587,657,0.412775526408,0.00447277344524,0.0797987905168,0.999999944998,9.99867010093e-05,-0.000311667308033,5.35710744451e-05,1793251930103578624
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,746.693826443,725,695,671.693826443,642.306173557,890.387652887,788.693826443,821,656,633.693826443,657,0.412055619079,0.00447325030929,0.0798003988404,0.999999943814,0.000106681649154,-0.000313095306219,5.44231779368e-05,1793251930120242944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,746.120756084,725,695,671.120756084,642.879243916,889.241512169,788.120756084,821,656,633.120756084,657,0.411323930182,0.00447229927132,0.0797837050293,0.999999933334,9.45937944465e-05,-0.000348082800669,5.67670267487e-05,1793251930136909824
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746.467536246,725,695,671,642.532463754,889.935072491,788,821,656,633,657,0.410653178541,0.00447399081103,0.0797797001,0.999999930508,9.10488652654e-05,-0.000357110844562,5.62699164868e-05,1793251930153576192
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,671,642.058524951,891,788,821,656,633,657,0.410004261153,0.00447614976281,0.0797820411502,0.999999931879,9.02991988274e-05,-0.000353603309891,5.52456912294e-05,1793251930170243072
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,747,725,695,671,642.637356235,891,788,821,656,633,657,0.409404823745,0.00447619204121,0.0798106831844,0.999999948907,9.41238309362e-05,-0.000300264706991,5.62782158314e-05,1793251930186909696
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.214814179,643,891,788,821,656,633,657,0.408822394095,0.00447750070876,0.0798310458197,0.999999958576,9.52780748947e-05,-0.000265559155118,5.7001504126e-05,1793251930203576320
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.789968354,643,891,788,821,656,633,657,0.408268494165,0.00448093368051,0.0798375201763,0.999999959785,9.19528768361e-05,-0.000262109616996,5.72060641618e-05,1793251930220242944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.627393102,642.627393102,890.627393102,788,821,656,633,657,0.407689009584,0.00448152216795,0.0798153434366,0.999999946752,0.00010126056737,-0.000304861067957,5.74669447702e-05,1793251930236910080
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.040449225,642.040449225,890.040449225,788,821,656,633,657,0.407094807733,0.00448047440534,0.0797766855497,0.999999921381,0.000117835152127,-0.0003741889992,5.77602227927e-05,1793251930253577216
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.24457442,747,725,694,671,642.24457442,889.24457442,788,821,656.75542558,633.24457442,657,0.403185541089,0.00448701912203,0.0798332287411,0.999999951981,0.000109316818991,-0.000284931278631,5.38644781617e-05,1793251930420243200
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,746,725,694,671,642,889.505770535,788,821,656,633,657,0.402467433995,0.004483086132,0.079831076077,0.999999949562,0.000113706434214,-0.000291219571654,5.60125452209e-05,1793251930470243328
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,746.585100502,725,694,671.414899498,642,890.170201003,788,821,656,633,657,0.400974743432,0.00447033495776,0.0798312204518,0.999999951869,0.000102700190875,-0.000287091304989,5.73811354959e-05,1793251930870243328
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.833283556,746.833283556,725,694,670.833283556,642,890.166716444,788,821,657,633,657,0.400974633215,0.00446645093394,0.0798325463681,0.999999952808,9.83200270805e-05,-0.000285276088769,5.77416095224e-05,1793251930920242944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.258290041,746.258290041,725,694,670.258290041,642,890.741709959,788,821,657,633,657,0.400973470771,0.0044689785666,0.0798321469912,0.999999952541,0.000100948679311,-0.000285446483288,5.69825234282e-05,1793251930936909312
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,746.316984548,725,694,670.316984548,642.316984548,891,788,821,656.683015452,633,656.683015452,0.400973257661,0.00446888670114,0.079831947599,0.999999952657,0.000100670464593,-0.000285152312422,5.69166812733e-05,1793251930953576192
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,746.892488343,725,694,670.892488343,642.892488343,891,788,821,656.107511657,633,656.107511657,0.400973818788,0.00446665848321,0.0798319113062,0.999999953083,9.80215315062e-05,-0.000284479261586,5.74162197114e-05,1793251930970243072
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,747,725.477353478,694,671,643,890.522646522,788,820.522646522,656,633,656.477353478,0.40097396778,0.00446833198429,0.0798325208198,0.999999953176,9.94103975812e-05,-0.000283717829046,5.71855053421e-05,1793251930986909696
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,747,725.936097002,693.936097002,671,643,889.936097002,788,820,656,633.063902998,657,0.400973984838,0.00447046802949,0.0798332191336,0.999999953189,0.000101356873935,-0.000283050350481,5.68512106828e-05,1793251931003576576
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,747,725.353333102,693.353333102,671,643,889.353333102,788,820,656,633.646666898,657,0.40097369942,0.00446908186047,0.0798334338432,0.999999953211,0.000100299197501,-0.000283310590124,5.70380296387e-05,1793251931020243456
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,746.774028132,725,693.225971868,671,642.774028132,889.225971868,788,820.225971868,656,633.774028132,657,0.400972825451,0.00446795594533,0.0798329860321,0.999999953028,9.93091411676e-05,-0.000284295915415,5.70711009804e-05,1793251931036910080
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,746.200049971,725,693.799950029,671,642.200049971,889.799950029,788,820.799950029,656,633.200049971,657,0.400971045089,0.00446723083203,0.0798315179111,0.999999952528,9.8423222505e-05,-0.000286397903496,5.68673944827e-05,1793251931053576448
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,746.705467265,725.705467265,693,671.294532735,642,889.705467265,788,821,656,633,656.705467265,0.400972173051,0.0044697396642,0.079833292069,0.999999953022,0.000100677182044,-0.000283940358754,5.65546676658e-05,1793251931136909824
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c2c88380228ffb701ac350df455d599ebef256a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.585762180143,0.0100051128195,1.07002087651,0.556333523717,0.018677521762,1.06963225334
+390,6.500000000,pose2_to_pose3_retreat,0.585758316818,0.0100051771136,1.07002078753,0.556329659872,0.0186775844427,1.06963216773
+391,6.516666667,pose2_to_pose3_retreat,0.585755810482,0.0100052125416,1.07002074392,0.556327153175,0.0186776187547,1.06963212648
+392,6.533333333,pose2_to_pose3_retreat,0.585754151099,0.0100051675818,1.07002079044,0.556325493658,0.0186775734297,1.06963217493
+393,6.550000000,pose2_to_pose3_retreat,0.585753168199,0.0100051409508,1.070020818,0.556324510679,0.0186775465824,1.06963220362
+394,6.566666667,pose2_to_pose3_retreat,0.585752788655,0.0100051152199,1.07002084817,0.55632413172,0.0186775227844,1.0696322327
+395,6.583333333,pose2_to_pose3_retreat,0.585752571206,0.0100050962748,1.07002087077,0.556323914773,0.0186775054954,1.06963225426
+396,6.600000000,pose2_to_pose3_retreat,0.585752439019,0.010005084758,1.07002088451,0.556323782891,0.0186774949854,1.06963226737
+397,6.616666667,pose2_to_pose3_retreat,0.585752244638,0.0100050678227,1.07002090472,0.556323588958,0.0186774795305,1.06963228664
+398,6.633333333,pose2_to_pose3_retreat,0.585752066243,0.0100050522802,1.07002092326,0.556323410976,0.0186774653467,1.06963230432
+399,6.650000000,pose2_to_pose3_retreat,0.585751980441,0.0100050448048,1.07002093218,0.556323325372,0.0186774585247,1.06963231283
+400,6.666666667,pose2_to_pose3_retreat,0.585751881855,0.0100050362155,1.07002094242,0.556323227013,0.0186774506863,1.0696323226
+401,6.683333333,pose2_to_pose3_retreat,0.585751804005,0.0100050294329,1.07002095052,0.556323149343,0.0186774444966,1.06963233032
+402,6.700000000,pose2_to_pose3_retreat,0.585751776552,0.010005027041,1.07002095337,0.556323121953,0.0186774423138,1.06963233304
+403,6.716666667,pose2_to_pose3_retreat,0.585751724657,0.0100050225197,1.07002095876,0.556323070178,0.0186774381878,1.06963233819
+404,6.733333333,pose2_to_pose3_retreat,0.585751413872,0.0100050196303,1.07002098868,0.556322759512,0.0186774356051,1.06963236591
+405,6.750000000,pose2_to_pose3_retreat,0.585751225422,0.0100050968538,1.07002099902,0.556322569183,0.0186775062879,1.06963237264
+406,6.766666667,pose2_to_pose3_retreat,0.585751194472,0.0100051095364,1.07002100072,0.556322537925,0.0186775178963,1.06963237374
+407,6.783333333,pose2_to_pose3_retreat,0.585751059419,0.0100051648792,1.07002100813,0.556322401524,0.0186775685517,1.06963237856
+408,6.800000000,pose2_to_pose3_retreat,0.585750915879,0.0100052223544,1.07002101045,0.556322256666,0.0186776214969,1.06963237965
+409,6.816666667,pose2_to_pose3_retreat,0.58575086476,0.0100052394716,1.07002099746,0.55632220536,0.0186776381271,1.06963236997
+410,6.833333333,pose2_to_pose3_retreat,0.585750842454,0.0100052469408,1.07002099179,0.556322182972,0.0186776453837,1.06963236575
+411,6.850000000,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102311,1.06963224626
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af14a3b0d208bdd307e4acef6f2c6db61f36b730
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f9ac0c2128573f6544c4670c0e56be263dcd10f1d1ae4f772df401a14c881f5
+size 26163171
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a56d9de1c94c6d0db789ed38a9178817815ad122
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
+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,769.403972156,747,725.403972156,694,671,642,889.403972156,788,820.596027844,656,633,657,0.400973148898,0.00446907315572,0.0798348350772,0.999999953872,0.000101607676057,-0.000280669813258,5.61852078886e-05,1793251931306210048
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+21,0.350000000,BASELINE,768.790008221,746.790008221,725.790008221,694,670.790008221,642,890,788,820.790008221,656.790008221,633.209991779,656.209991779,0.400973096842,0.00446916375174,0.0798356847383,0.999999954606,9.6839437331e-05,-0.000279879303105,5.54857574799e-05,1793251931639542784
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+42,0.700000000,BASELINE,769.613915669,747,725.386084331,694,671,642,890,788,821,656,633.386084331,657,0.400972288064,0.00446834597469,0.0798354982797,0.999999954278,9.8568620041e-05,-0.000280426115382,5.55757424226e-05,1793251931989542400
+43,0.716666667,BASELINE,769.043299877,747,725.956700123,694,671,642,890,788,821,656,633.956700123,657,0.400972939101,0.00446938559586,0.0798365244113,0.999999954419,0.000100751838516,-0.000279104289354,5.5788300586e-05,1793251932006209280
+44,0.733333333,BASELINE,769.551262541,747,725.448737459,694,670.448737459,642,890,788,821,656,633.448737459,657,0.400972528341,0.00446962623059,0.079836523788,0.999999954395,0.000100848208354,-0.000279219998766,5.54604282384e-05,1793251932022876160
+45,0.750000000,BASELINE,769.856918952,746.856918952,725,693.856918952,670.143081048,642,889.856918952,788,821,656,633,656.856918952,0.400972295586,0.00446961131361,0.079836457743,0.999999954418,0.000100509518891,-0.000279295290205,5.52768745062e-05,1793251932039543040
+46,0.766666667,BASELINE,769.279402274,746.279402274,725,693.279402274,670.720597726,642,889.279402274,788,821,656,633,656.279402274,0.400972868037,0.00446901967159,0.0798364490505,0.999999954624,9.93701585082e-05,-0.000278889452906,5.56662548469e-05,1793251932056209408
+47,0.783333333,BASELINE,769,746,725,693,671,642,889.29664232,788,820.70335768,656,633,656.29664232,0.400973043313,0.00446824411218,0.0798363773702,0.999999954829,9.85910603006e-05,-0.000278413756952,5.57418272392e-05,1793251932072876032
+48,0.800000000,BASELINE,769,746,725,693,671,642,889.871307298,788,820.128692702,656,633,656.871307298,0.400972846344,0.00446729617946,0.079836246656,0.999999955035,9.81496111793e-05,-0.000277872587188,5.55232888433e-05,1793251932089542400
+49,0.816666667,BASELINE,769.457040904,746.457040904,725,693.457040904,671.457040904,642,890,788,820.457040904,656,633.457040904,657,0.400972874061,0.00446744656646,0.0798363666371,0.999999955143,9.78057473151e-05,-0.000277609864126,5.54994801085e-05,1793251932106209280
+50,0.833333333,BASELINE,769.954830999,747,725.045169001,694,671.954830999,642,890,788,821,656,633.954830999,657,0.40097288576,0.00446789002873,0.0798364740521,0.999999955166,9.75797074276e-05,-0.000277602057466,5.55250629201e-05,1793251932122876160
+51,0.850000000,BASELINE,769.376146312,747,725.623853688,694,671.376146312,642,890,788,821,656,633.376146312,657,0.40097194242,0.0044680516312,0.0798355785672,0.999999954515,9.84127392128e-05,-0.000279656144651,5.5470316275e-05,1793251932139542528
+52,0.866666667,BASELINE,769,747,726,694,671,642.202146693,889.797853307,787.797853307,820.797853307,656,633,656.797853307,0.40097162886,0.00446821630372,0.079835196933,0.999999954192,9.88789816503e-05,-0.000280645099182,5.54690646661e-05,1793251932156209152
+53,0.883333333,BASELINE,769,747,726,694,671,642.779712249,889.220287751,787.220287751,820.220287751,656,633,656.220287751,0.4009724849,0.00446838667783,0.0798357696023,0.999999954485,9.86640373358e-05,-0.000279655931254,5.55671619308e-05,1793251932172876032
+54,0.900000000,BASELINE,768.644165512,746.644165512,725.644165512,693.644165512,671,642.644165512,889,787.355834488,820.355834488,656.355834488,633,656.355834488,0.400973105951,0.00446835594879,0.0798364901613,0.999999954927,9.83310051899e-05,-0.000278189197165,5.55719485193e-05,1793251932189542656
+55,0.916666667,BASELINE,768.068933204,746.068933204,725.068933204,693.068933204,671,642.068933204,889,787.931066796,820.931066796,656.931066796,633,656.931066796,0.400973582113,0.00446820122504,0.079837301905,0.999999955458,9.79251633223e-05,-0.000276428008869,5.55192022914e-05,1793251932206209280
+56,0.933333333,BASELINE,768.517590403,746.517590403,725,693.517590403,671,642.517590403,889.517590403,787.482409597,821,656.482409597,633,657,0.400972239575,0.00446929494525,0.0798357804748,0.999999954813,9.94624360621e-05,-0.000278260143562,5.52413753841e-05,1793251932222875904
+57,0.950000000,BASELINE,769,747,725,694,671,642.895976438,890,787,821,656,633,656.895976438,0.400971066728,0.00446992925801,0.0798345741355,0.999999954257,0.000100534054163,-0.000279891647157,5.51331182247e-05,1793251932239542528
+58,0.966666667,BASELINE,769,747,725,694,671,642.316975944,890,787,821,656,633,656.316975944,0.40097179934,0.00446768976823,0.0798362569897,0.999999954861,9.82714865477e-05,-0.000278373185766,5.59390519556e-05,1793251932256209152
+59,0.983333333,BASELINE,769,747,725,694,671,642,889.740656553,787.259343447,821,656,633.259343447,656.259343447,0.400972526384,0.00446705006097,0.079837030981,0.999999955153,9.72954989797e-05,-0.00027762412332,5.61487035819e-05,1793251932272876032
+60,1.000000000,BASELINE,769,747,725,694,671,642,889.167580465,787.832419535,821,656,633.832419535,656.832419535,0.400973246694,0.00446834564039,0.0798367055039,0.999999955074,9.78759111751e-05,-0.000277805817038,5.56370216467e-05,1793251932289542656
+61,1.016666667,BASELINE,769.406971367,747,725,694.406971367,671,642,889.406971367,788,821,656,633.593028633,657,0.400973354741,0.00446893825043,0.0798366443991,0.99999995496,0.000100158376049,-0.000277444413837,5.54350627419e-05,1793251932306210048
+62,1.033333333,BASELINE,769.98213305,747,725,694.98213305,671,642,889.98213305,788,821,656,633.01786695,657,0.400973209756,0.00446924034206,0.0798366925522,0.999999954823,0.000103144253464,-0.00027685856328,5.53611040622e-05,1793251932322877696
+63,1.050000000,BASELINE,769.425484186,747,725,694.425484186,671.574515814,642.574515814,890,788,821,656.574515814,633,657,0.400972788008,0.0044691702015,0.0798361333946,0.999999954843,0.000100484830471,-0.000277781732585,5.52592857883e-05,1793251932339543808
+64,1.066666667,BASELINE,769,746.836482072,725.163517928,694,671.836482072,642.836482072,890,788,820.836482072,656.836482072,633,657,0.400972856057,0.00446902733745,0.0798360039348,0.999999954994,9.87193241348e-05,-0.000277885189151,5.51965342639e-05,1793251932356209664
+65,1.083333333,BASELINE,769,746.257472944,725.742527056,694,671.257472944,642.257472944,890,788,820.257472944,656.257472944,633,657,0.400974191203,0.00446873000975,0.07983701579,0.999999955478,9.96851019675e-05,-0.000275782865259,5.52353190142e-05,1793251932372875776
+66,1.100000000,BASELINE,769,746.318857015,726,694,671.318857015,642,890,788,820.318857015,656,633,657,0.400973810139,0.00446907322221,0.0798365973465,0.999999955252,0.000100116831943,-0.000276449369459,5.52179683313e-05,1793251932389542656
+67,1.116666667,BASELINE,769,746.893041579,726,694,671.893041579,642,890,788,820.893041579,656,633,657,0.400972054804,0.00446992935282,0.0798350335788,0.999999954453,0.000100120918369,-0.000279333037106,5.51556667063e-05,1793251932406209280
+68,1.133333333,BASELINE,769,747,726,694,671.52207013,642,890,788,821,656.47792987,633,656.52207013,0.400971437052,0.00446993888931,0.0798347922815,0.999999954212,0.0001007840025,-0.000279937628572,5.52498757427e-05,1793251932422875904
+69,1.150000000,BASELINE,769,747,725.935307955,694,671,642,889.935307955,788,821,656.935307955,633,656.064692045,0.400971244136,0.00446953553575,0.079835028419,0.999999954214,0.00010116857979,-0.000279765907949,5.53808326949e-05,1793251932439542528
+70,1.166666667,BASELINE,769,747,725.353156915,694,671,642,889.353156915,788,821,656.353156915,633,656.646843085,0.400972366373,0.00446737975717,0.0798366618846,0.999999955126,9.81187419115e-05,-0.000277557843491,5.55191417205e-05,1793251932456209152
+71,1.183333333,BASELINE,769,747,725,694,670.773760154,642,889.226239846,787.773760154,821,656.226239846,633,656.773760154,0.400973355798,0.00446627067484,0.0798376595674,0.999999955665,9.65961178162e-05,-0.000276117276991,5.56570264646e-05,1793251932472875776
+72,1.200000000,BASELINE,769,747,725,694,670.19861098,642,889.80138902,787.19861098,821,656.80138902,633,656.19861098,0.400974140401,0.00446677581747,0.0798376767401,0.999999955648,9.74287774512e-05,-0.0002758603531,5.57942569e-05,1793251932489542656
+73,1.216666667,BASELINE,769,747,725.375548416,694,670.751096832,642,890,787.375548416,820.624451584,656.624451584,633,656,0.400973283412,0.00446784236824,0.0798368953055,0.99999995525,9.80211471182e-05,-0.000277157754675,5.54535116856e-05,1793251932506209536
+74,1.233333333,BASELINE,769,747,725.949185704,694,671.898371408,642,890,787.949185704,820.050814296,656.050814296,633,656,0.400971560539,0.00446920504245,0.0798356926331,0.999999954648,9.84867720419e-05,-0.000279275009485,5.48606507477e-05,1793251932522876160
+75,1.250000000,BASELINE,769,747,725.459973053,694,671.459973053,642.540026947,890,788,820.540026947,656,633,656.540026947,0.400970691245,0.00446868311874,0.079835325705,0.999999954285,9.87432171393e-05,-0.000280414452893,5.52021297912e-05,1793251932539542784
+76,1.266666667,BASELINE,769,746.870716955,725,694,671,643,890.129283045,788,821,656,633,657,0.400970408784,0.00446796982502,0.0798353512407,0.999999954204,9.83302473437e-05,-0.000280784973214,5.55163829e-05,1793251932556209152
+77,1.283333333,BASELINE,769,746.292764913,725,694,671,643,890.707235087,788,821,656,633,657,0.40097187498,0.00446722806722,0.0798364569017,0.999999955019,9.56646698564e-05,-0.000278816807694,5.54209976036e-05,1793251932572876032
+78,1.300000000,BASELINE,769,746.283399027,725.283399027,694,671,642.716600973,890.433201945,788,820.716600973,656,633,657,0.400973550275,0.00446715585568,0.0798374517585,0.999999955546,9.58801040221e-05,-0.000276854639295,5.53821181464e-05,1793251932589542912
+79,1.316666667,BASELINE,769,746.857727318,725.857727318,694,671,642.142272682,889.284545364,788,820.142272682,656,633,657,0.400975440223,0.00446777098104,0.0798383328668,0.999999955775,9.90531017798e-05,-0.000274898627487,5.54012459589e-05,1793251932606209792
+80,1.333333333,BASELINE,769.442564578,747,725.557435422,694,671,642.442564578,889,788,820.442564578,656,633,657,0.400973808259,0.00446784741316,0.079836951791,0.999999955255,9.88641570805e-05,-0.000276846867102,5.54270343594e-05,1793251932622876672
+81,1.350000000,BASELINE,769.969618586,747,725.030381414,694,671,642.969618586,889.030381414,788,821,656,633,657,0.40097124163,0.00446778893041,0.0798349899034,0.999999954543,9.77153846004e-05,-0.000279808863736,5.54322714024e-05,1793251932639543296
+82,1.366666667,BASELINE,769.390489472,747,725.609510528,694,671,642.390489472,889.609510528,788,821,656,633,657,0.400972740295,0.00446849758954,0.0798359921396,0.99999995496,9.92259610057e-05,-0.000277860103351,5.50266957833e-05,1793251932656209408
+83,1.383333333,BASELINE,769.187995796,747,725.812004204,693.812004204,671,642.187995796,890,787.812004204,820.812004204,656.187995796,633,657,0.400973542568,0.00446905531323,0.0798364999305,0.999999955189,9.99828310481e-05,-0.000276791279833,5.48778258662e-05,1793251932672875776
+84,1.400000000,BASELINE,769.765148394,747,725.234851606,693.234851606,671,642.765148394,890,787.234851606,820.234851606,656.765148394,633,657,0.400972903288,0.00446930059625,0.0798359842052,0.99999995504,9.91795071379e-05,-0.000277543951033,5.52603441919e-05,1793251932689542400
+85,1.416666667,BASELINE,769.658963143,747,725,693,671,642.658963143,890,787.341036857,820.341036857,656.658963143,633.341036857,657,0.40097345306,0.00446918809719,0.0798367631646,0.999999955303,9.87146820415e-05,-0.000276759448246,5.52664976599e-05,1793251932706208768
+86,1.433333333,BASELINE,769.083942033,747,725,693,671,642.083942033,890,787.916057967,820.916057967,656.083942033,633.916057967,657,0.400974818636,0.00446883012502,0.079838430403,0.999999955847,9.84820999025e-05,-0.000274920295457,5.50144284284e-05,1793251932722875392
+87,1.450000000,BASELINE,769,747,725.50275867,693.50275867,670.49724133,642,890.50275867,788.50275867,821,656.50275867,633.49724133,657,0.400973975402,0.00446989243994,0.0798376461528,0.999999955422,9.99824373203e-05,-0.000275965753975,5.47979422769e-05,1793251932739542528
+88,1.466666667,BASELINE,769,747,725.909844403,694,670.090155597,642,890.819688807,788.909844403,821,656.909844403,633,657,0.400972807187,0.00447091301656,0.079836518403,0.999999954877,0.000101443269018,-0.000277430682076,5.46634854577e-05,1793251932756209152
+89,1.483333333,BASELINE,769,747,725.329516692,694,670.670483308,642,889.659033384,788.329516692,821,656.329516692,633,657,0.400971924843,0.00447038670589,0.0798358013764,0.999999954602,0.000101078803728,-0.00027849540602,5.49419491152e-05,1793251932772876032
+90,1.500000000,BASELINE,769,746.751122715,725.248877285,694,671,642.248877285,889.248877285,788,821,656,633,657,0.40097215197,0.00446979192011,0.079835853075,0.99999995471,0.000101241207633,-0.000278017296924,5.51112842665e-05,1793251932789542912
+91,1.516666667,BASELINE,769,746.175269334,725.824730666,694,671,642.824730666,889.824730666,788,821,656,633,657,0.400973836724,0.00446910717146,0.0798369147283,0.999999955315,0.000102095814691,-0.000275512206754,5.51372458732e-05,1793251932806209536
+92,1.533333333,BASELINE,769,746.399771404,725.600228596,694,670.600228596,642.600228596,889.600228596,788,820.600228596,656,633,657,0.400973305855,0.00446919952279,0.0798366775766,0.999999955218,0.000100861271801,-0.00027636947262,5.48748307057e-05,1793251932822876160
+93,1.550000000,BASELINE,769,746.974456633,725.025543367,694,670.025543367,642.025543367,889.025543367,788,820.025543367,656,633,657,0.400971805573,0.00446963188219,0.0798358721529,0.999999954807,9.8712653579e-05,-0.000278697885403,5.44862407209e-05,1793251932839542528
+94,1.566666667,BASELINE,769,747,725.565928812,693.434071188,670.565928812,642,889,788,820.565928812,656,633.565928812,656.434071188,0.400972183569,0.00446788886096,0.0798359222536,0.999999955069,9.61762481348e-05,-0.000278556157273,5.4939879618e-05,1793251932856208896
+95,1.583333333,BASELINE,769,746.845703326,725.845703326,693.154296674,671,642,889,788,821,656,633.845703326,656.154296674,0.400972052383,0.00446691903734,0.0798356214186,0.999999955048,9.51133025167e-05,-0.000278948256326,5.5189407133e-05,1793251932872875776
+96,1.600000000,BASELINE,769,746.267996716,725.267996716,693.732003284,671,642,889,788,821,656,633.267996716,656.732003284,0.400970284188,0.00446834863983,0.0798342483687,0.99999995417,9.81432181975e-05,-0.0002811205428,5.47713219669e-05,1793251932889542656
+97,1.616666667,BASELINE,769.304696825,746,725.304696825,694,671,642,889,788,821,656.304696825,633.304696825,657,0.400970633379,0.00446894426333,0.0798347537689,0.999999954262,9.92654738258e-05,-0.00028038075745,5.48559334645e-05,1793251932906209280
+98,1.633333333,BASELINE,769.873052447,746,725.873052447,694,671,642,889,788,821,656.873052447,633.873052447,657,0.400972814776,0.00446881823203,0.0798368846205,0.999999955194,9.87370020167e-05,-0.000277121111931,5.53755360556e-05,1793251932922876160
+99,1.650000000,BASELINE,769.539886107,746.460113893,725.539886107,694,671,642,889.460113893,788,820.539886107,656.539886107,633.539886107,656.539886107,0.400972591154,0.00446944625612,0.0798362803097,0.999999954948,9.95157079758e-05,-0.000277749649732,5.52809761819e-05,1793251932939542528
+100,1.666666667,BASELINE,769,747,725,694,671,642,890,787.94830552,820,656,633,656.05169448,0.400972005514,0.00447022026784,0.0798352184212,0.99999995447,0.000100804403854,-0.000279049144478,5.50484151329e-05,1793251932956209152
+101,1.683333333,BASELINE,769,747,725,694,671,642,890,787.365565556,820,656,633,656.634434444,0.400974806386,0.00447026618365,0.0798375367489,0.999999955103,0.000103470162195,-0.000275753915359,5.52126910558e-05,1793251932972875776
+102,1.700000000,BASELINE,769,746.785319818,725,693.785319818,671,642,889.785319818,787.214680182,820,656,633,657,0.400975760804,0.00446970778636,0.0798384664734,0.99999995543,0.000103477815488,-0.000274532315792,5.53514485134e-05,1793251932989542400
+103,1.716666667,BASELINE,769,746.20927262,725,693.20927262,671,642,889.20927262,787.79072738,820,656,633,657,0.400973607121,0.00446813216049,0.0798370587885,0.999999955252,9.90111314947e-05,-0.000276801217244,5.54472512136e-05,1793251933006209024
+104,1.733333333,BASELINE,769,746.353100192,725.353100192,693.353100192,671,642,889.353100192,788,820,656,633,656.646899808,0.400973145031,0.00446768295939,0.0798367094384,0.999999955249,9.75069842756e-05,-0.000277339852765,5.54654048165e-05,1793251933022875904
+105,1.750000000,BASELINE,769,746.907670786,725.907670786,693.907670786,671,642,889.907670786,788,820,656,633,656.092329214,0.400973648123,0.00446787646877,0.0798369639483,0.999999955357,9.76931882354e-05,-0.000276891240747,5.54392537382e-05,1793251933039542528
+106,1.766666667,BASELINE,768.488883255,747,725.488883255,694,671,642.511116745,890,787.488883255,820.511116745,656,633,656,0.400973279998,0.00446897873416,0.0798368082312,0.999999955168,9.85553968117e-05,-0.000277346988281,5.50478490618e-05,1793251933056209152
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,725,694,671,643,890,787,820,656,633,657,0.400972940311,0.00446788991313,0.0798366283823,0.999999955186,9.8220168079e-05,-0.000277357004983,5.52584685811e-05,1793251933098297088
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746.573777971,725.573777971,694,671,642.426222029,890,787.573777971,820.573777971,656,633,657,0.400973418854,0.00446712122265,0.0798365784943,0.999999955315,9.75441255696e-05,-0.00027716841791,5.50706298648e-05,1793251933114963968
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725.848519055,694,671,642.151480945,890,788,821,656,633,657,0.400973911016,0.00446677403417,0.0798367646217,0.999999955473,9.70594915831e-05,-0.000276788031609,5.49632413372e-05,1793251933131630848
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725.259478392,694,671,642.740521608,890,788,821,656,633,657,0.400974442515,0.00446764437352,0.0798376324905,0.999999955718,9.71277498111e-05,-0.00027585362432,5.50882368575e-05,1793251933148296704
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746.676195534,725,694,671,642.676195534,890,788,821,656,633,657,0.400974624209,0.00446833812675,0.0798376190778,0.999999955727,9.75127109247e-05,-0.000275709691734,5.49639826964e-05,1793251933164962816
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746.097446076,725,694,671,642.097446076,890,788,821,656,633,657,0.400974530486,0.00446889284619,0.0798369117945,0.999999955551,9.81470256502e-05,-0.000276188133468,5.46434836806e-05,1793251933181629440
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746.479865506,725.479865506,694,670.520134494,642,889.520134494,788,820.520134494,656,633,656.520134494,0.400972974378,0.00446900289151,0.0798368455715,0.999999955269,9.85029013132e-05,-0.000277060265484,5.47415845162e-05,1793251933198296320
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,746.943449536,726,694,670.056550464,642,889,787.943449536,820,656,633,656,0.400971551805,0.00446895985997,0.0798369992651,0.99999995502,9.88841669093e-05,-0.000277781631786,5.49449746972e-05,1793251933214963200
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,746.369832247,726,694,670.630167753,642,889,787.369832247,820,656,633,656,0.400974057381,0.00446834036211,0.0798379770185,0.99999995527,0.000100013033801,-0.000276395674269,5.53361569696e-05,1793251933231629824
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.209857845,725.790142155,693.790142155,670.790142155,642,889.209857845,787.209857845,820,656,633,656.209857845,0.400980480882,0.00446835119565,0.0798406153176,0.999999956335,0.000100974656462,-0.000272156888471,5.53640315716e-05,1793251933248296192
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.80056889,725.19943111,693.19943111,670.19943111,642,889.80056889,787.80056889,820,656,633,656.80056889,0.40099401469,0.00446950596425,0.0798462672,0.999999958821,0.000101632761631,-0.000262740746762,5.47325698555e-05,1793251933264962816
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,747,725,693.383581977,670.383581977,642.383581977,890,788,820.383581977,656,633,657,0.401025372775,0.00446987926611,0.0798578873337,0.999999964476,0.00010001114907,-0.000241050168455,5.42259051517e-05,1793251933281629184
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,747,725,693.962671551,670.962671551,642.962671551,890,788,820.962671551,656,633,657,0.401065815702,0.0044698542629,0.0798725494212,0.999999971121,9.72275889638e-05,-0.000213103441185,5.37828480479e-05,1793251933298295808
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671,643,890,788,821,656.539307401,633,657,0.40112811121,0.00446915508552,0.0798894148149,0.999999977882,9.62780974632e-05,-0.000179404299735,5.27291446671e-05,1793251933314962688
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747.114454473,725,693.885545527,671,643,890,788,821,656.885545527,633,657,0.40119427293,0.00446909042361,0.0799050492173,0.999999982858,9.56162740053e-05,-0.000149994750266,5.14080192057e-05,1793251933331629312
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747.684350271,725,693.315649729,671,643,890,788,821,656.315649729,633,657,0.401269827749,0.00447173549146,0.0799151811232,0.999999984528,9.55962893168e-05,-0.000139231671206,4.91901835858e-05,1793251933348296192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747.734385512,725,693.531228976,671,643,890,787.734385512,820.734385512,656,633,657,0.401353420468,0.0044736964879,0.0799233475833,0.999999986143,9.57659286262e-05,-0.000127844292647,4.688231969e-05,1793251933364962560
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747.139007293,725,694.721985414,671,643,890,787.139007293,820.139007293,656,633,657,0.401446992336,0.00447480820089,0.0799290739171,0.999999987696,9.61709885181e-05,-0.000115681839047,4.44626846897e-05,1793251933381629184
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,725.443463115,695,671,642.556536885,890,787.443463115,820.443463115,656,633,657,0.401557690192,0.00447529892066,0.0799330467913,0.999999988914,9.35161251779e-05,-0.000108311165956,4.11759573516e-05,1793251933398295808
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,725.978090024,694.978090024,671,642,890,788,821,656,633,656.978090024,0.401674806512,0.0044756867257,0.0799366468251,0.999999990036,8.99593486607e-05,-0.000102096715677,3.75767123041e-05,1793251933414962688
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,725.40196807,694.40196807,671,642,890,788,821,656,633,656.40196807,0.401822327681,0.0044782558498,0.0799443256934,0.999999991774,8.71643884348e-05,-8.82098217854e-05,3.27529966078e-05,1793251933431629312
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.822733454,747,725,694,671,642.177266546,890,788,821,656,633.177266546,656,0.401977104581,0.00448053078287,0.0799508580151,0.999999993144,8.40579442512e-05,-7.66552030913e-05,2.77482564731e-05,1793251933448295936
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.236314522,747,725,694,671,642.763685478,890,788,821,656,633.763685478,656,0.402148628555,0.0044821266875,0.0799547439694,0.999999994048,8.02325582686e-05,-7.04837563887e-05,2.23256909698e-05,1793251933464962560
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.347260807,747,725.347260807,694,671,642.652739193,890,788,821,656,633.652739193,656.347260807,0.402340213491,0.00448437563811,0.0799589747142,0.999999995009,7.56724372826e-05,-6.31544427989e-05,1.63620500487e-05,1793251933481629440
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.92891681,747,725.92891681,694,671,642.07108319,890,788,821,656,633.07108319,656.92891681,0.402545339255,0.00448706538392,0.0799634381873,0.999999995941,7.06163821536e-05,-5.50435879359e-05,1.00331917872e-05,1793251933498296320
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.493961202,726,694,671,642.506038798,890,788,820.493961202,656.506038798,633,657,0.402759473909,0.00449155798752,0.0799566508883,0.999999995486,6.48652033471e-05,-6.93861549417e-05,2.34674449414e-06,1793251933514962688
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746.082203052,725.917796948,694,671,643,890,788,820.082203052,656.917796948,633.082203052,657,0.402981796941,0.00449604281499,0.0799489584719,0.999999994652,5.83863275468e-05,-8.51789253315e-05,-5.66161211553e-06,1793251933531629312
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746.656413372,725.343586628,694,671,643,890,788,820.656413372,656.343586628,633.656413372,657,0.403245622738,0.00449897881046,0.079945223765,0.999999994602,4.81312232548e-05,-9.09414918979e-05,-1.44654288585e-05,1793251933548295936
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.23627857,747,725.23627857,694.23627857,671,643,890,788,821,656,634,657,0.403533952108,0.00450315856249,0.0799456795761,0.999999994714,4.53131595173e-05,-8.97175554464e-05,-2.16653597861e-05,1793251933564962816
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.824568455,747,725.824568455,694.824568455,671,643,890,788,821,656,634,657,0.403858787249,0.00450919128128,0.0799523784833,0.999999995166,5.35749095948e-05,-7.80850229602e-05,-2.64757973378e-05,1793251933581629440
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.592059014,747,725.592059014,694.592059014,671,643,890.407940986,788,821,656,634,657,0.404209177305,0.00451818548139,0.0799574757276,0.999999993541,8.68718021907e-05,-6.94403122856e-05,-2.34297165202e-05,1793251933598296576
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.010775976,747,725.010775976,694.010775976,671,643,890.989224024,788,821,656,634,657,0.404570426135,0.00452843807228,0.0799618923941,0.999999989374,0.000130806612904,-6.20651853313e-05,-1.70452482388e-05,1793251933614963968
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,642.436843166,891,788,821,656,633.436843166,657,0.404972209927,0.00453327564671,0.0799606914106,0.999999995728,6.94308509601e-05,-5.67795668522e-05,-2.23394715141e-05,1793251933631630336
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,725.137746053,694.137746053,671,642.137746053,891,788,821,656,633.137746053,657,0.405381800524,0.00453934240413,0.0799579344475,0.999999997657,2.82674230922e-05,-5.61153755303e-05,-2.71573489709e-05,1793251933648296960
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725.71487181,694.71487181,671,642.71487181,891,788,821,656,633.71487181,657,0.405813850804,0.00454965623908,0.0799505527134,0.999999995425,5.7921874651e-05,-7.00666323938e-05,-2.97521467428e-05,1793251933664963328
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746.700575876,726,695,671,643,890.700575876,787.700575876,820.700575876,656.299424124,633.700575876,657,0.406272649614,0.00456010570815,0.0799435758096,0.999999992117,9.02990166481e-05,-8.21754453136e-05,-2.9303862445e-05,1793251933681629440
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746.10877165,726,695,671,643,890.10877165,787.10877165,820.10877165,656.89122835,633.10877165,657,0.40675756774,0.00457068762175,0.0799369942114,0.999999987534,0.000125334800655,-9.24851598343e-05,-2.58840855774e-05,1793251933698296064
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.471977424,746.471977424,726,695,671,643,890.471977424,787.471977424,820.471977424,656.528022576,633,656.528022576,0.407261421408,0.00457955381598,0.0799308546528,0.999999986083,0.000126265587004,-0.000105025135747,-2.93290246062e-05,1793251933714962688
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.950286017,747,725.950286017,695,671,643,891,788,821,656,633,656.049713983,0.407772179564,0.00458821418151,0.0799244249271,0.999999985018,0.000121264885715,-0.000118770119586,-3.39435771428e-05,1793251933731629312
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.378046758,747,725.378046758,695,671,643,891,788,821,656,633,656.621953242,0.408310691282,0.00459877198883,0.0799138991249,0.999999980551,0.000134641421003,-0.000139901843426,-3.4603855885e-05,1793251933748296192
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.200271837,747,725.200271837,695,671,642.799728163,891.200271837,788.200271837,821.200271837,656,633.200271837,657,0.408886114305,0.00460869113875,0.0799135227443,0.999999978314,0.000146741707805,-0.000143484178808,-3.53733697267e-05,1793251933764963328
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.790425419,747,725.790425419,695,671,642.209574581,891.790425419,788.790425419,821.790425419,656,633.790425419,657,0.409533394849,0.0046173669736,0.0799329048803,0.999999980742,0.000156357440862,-0.000112902017721,-3.63555383591e-05,1793251933781630464
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.626325723,747,726,695.373674277,671.373674277,642.373674277,891.626325723,789,821.626325723,656,634,657,0.410217251132,0.00462445587724,0.0799633365461,0.999999983954,0.000164237198585,-6.08833275025e-05,-3.75567587008e-05,1793251933798297088
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.046879129,747,726,695.953120871,671.953120871,642.953120871,891.046879129,789,821.046879129,656,634,657,0.410921248664,0.00463067090049,0.0799998528884,0.999999984592,0.000171161000833,2.93987866163e-06,-3.88786047481e-05,1793251933814963712
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+156,2.600000000,POSE1_TO_POSE2_PRESS,768.432958511,747,726,696.432958511,671,643,893.432958511,788,823,656,634,657.432958511,0.415272072819,0.0045830053213,0.0799375806215,0.999999989949,0.000109293090698,-7.94459421599e-05,-4.29591034565e-05,1793251933914963200
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,894.011049662,788,823,656,634,657.988950338,0.416085608642,0.00457540541662,0.0799639628686,0.999999992393,0.00010888957371,-3.97265784898e-05,-4.2179067905e-05,1793251933931630080
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,894.585053324,788,823,656,634,657.414946676,0.416875897018,0.00458182849644,0.0799483708812,0.999999990185,0.00011128501937,-7.34657854381e-05,-4.29976580717e-05,1793251933948296704
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.836828362,747,726,697,671,643,895,788,823.163171638,656,634,657,0.4176942981,0.00458682996828,0.0799443587479,0.999999989529,0.00011106134338,-8.15236439355e-05,-4.42787955841e-05,1793251933964963072
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.247975807,747,726,697,671,643,895,788,823.752024193,656,634,657,0.41858603935,0.00458812275976,0.0799705560502,0.999999993243,0.000104004922837,-2.2584195816e-05,-4.67666230226e-05,1793251933981629696
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.335647391,747,726,696.664352609,671,643,895.335647391,788,824,656,634,657,0.419492216665,0.00459011798384,0.0799864360054,0.999999993119,0.000106539666662,1.14320410352e-05,-4.77646999725e-05,1793251933998296320
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.915466392,747,726,696.084533608,671,643,895.915466392,788,824,656,634,657,0.420408895668,0.00459262420274,0.0799948104543,0.999999991756,0.000116051643941,2.73175202511e-05,-4.76790360765e-05,1793251934014962944
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,726,696.492008752,671.492008752,643,895.507991248,788.492008752,824,656,634,657,0.421299622126,0.00459423348216,0.0799822785959,0.999999992346,0.00011292287042,8.70014111788e-06,-4.98060637321e-05,1793251934031629824
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671.932088089,643,895.067911911,788.932088089,824.067911911,656,634,657,0.422192635451,0.0045958007127,0.079971411919,0.999999992632,0.000109502641466,-8.45239758624e-06,-5.17022047932e-05,1793251934048296192
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,726,697,671.356782612,643,895.643217388,788.356782612,824.643217388,656,634,657,0.423135828567,0.00459819754354,0.0799996457926,0.999999991164,0.000120024134989,2.93369069571e-05,-4.90517213215e-05,1793251934064963328
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.774841061,747.225158939,726,697,671,643,896.225158939,788,825.225158939,656,634,657,0.424052290127,0.00459990986536,0.0800088606368,0.999999990377,0.0001265604672,3.19166171598e-05,-4.70049701277e-05,1793251934081630976
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.182064691,747.817935309,726,697,671,643,896.817935309,788,825.817935309,656,634,657,0.424925107173,0.00460050458836,0.0799870230798,0.999999990668,0.000126590220547,-2.2990438865e-05,-4.59439333638e-05,1793251934098299904
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.80081808,747.59959096,726,697,671.40040904,643,897,788,825.59959096,656.40040904,634,657,0.425853863504,0.00460334847017,0.0799511516327,0.999999988153,0.000126918686414,-7.30291379989e-05,-4.74601555685e-05,1793251934114965760
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.956631342,747.021684329,726,697,671.978315671,643,897,788,825.021684329,656.978315671,634,657,0.426807417146,0.00460718938305,0.0799090590943,0.999999983322,0.000127379568616,-0.000120909736559,-5.01188526347e-05,1793251934131630080
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.894773248,747,726,697,671.447386624,643,897.552613376,787.447386624,825.552613376,657,634,657,0.427753528224,0.0046077825496,0.0799065673064,0.999999983052,0.00012834193365,-0.000121235603887,-5.22098285914e-05,1793251934148296448
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,747,726,697,671.126592638,643,898,787,826,656.873407362,634,657,0.428704683246,0.00460756445946,0.079912400812,0.999999984003,0.00012769275817,-0.000113295819561,-5.3409676293e-05,1793251934164963072
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,747,726,697,671.699944576,643,898,787,826,656.300055424,634,657,0.429674662816,0.00460493018805,0.0799421668265,0.999999987894,0.000121287284208,-8.27283363009e-05,-5.15427429482e-05,1793251934181629696
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,725.716171291,697,671.716171291,643,898.283828709,787.283828709,826.283828709,656,634,657,0.430660742582,0.00460165287865,0.0799813391265,0.999999991822,0.000113818752444,-2.86900980617e-05,-5.07819624275e-05,1793251934198296576
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,725.120723777,697,671.120723777,643,898.879276223,787.879276223,826.879276223,656,634,657,0.431664498874,0.0045976695706,0.0800308386934,0.999999991849,0.000105183077265,5.11169501144e-05,-5.12356397367e-05,1793251934214963456
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.459319181,747,725.459319181,697.459319181,671,643,899,788,827,656,634,657,0.432601419153,0.00460332994818,0.080015128851,0.9999999924,0.000110010961643,2.16529010722e-05,-5.12671878757e-05,1793251934231629824
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.964785356,747.035214644,725.964785356,697.964785356,671.035214644,643,899,787.964785356,827,656,634,657,0.433519728839,0.00461103453995,0.0799814119848,0.999999991039,0.000118199661411,-3.63117599291e-05,-5.13096243535e-05,1793251934248295936
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.39240004,747.60759996,725.39240004,697.39240004,671.60759996,643,899,787.39240004,827,656,634,657,0.43441341754,0.00461251227011,0.0799259722718,0.999999985193,0.000125427169734,-0.000105146784235,-5.31556735738e-05,1793251934264962816
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.1863465,747.8136535,725,697.1863465,671.8136535,643,899,787,827,656,634,657,0.435318764424,0.00461314307954,0.0798980816038,0.999999980922,0.000126398717664,-0.000138584987928,-5.45314956237e-05,1793251934281629440
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.778961756,747.221038244,725,697.778961756,671.221038244,643,899,787,827,656,634,657,0.436249528409,0.00461192745038,0.0799302527785,0.999999987528,0.000113731153479,-9.48517951527e-05,-5.48821389473e-05,1793251934298296064
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.637057656,747.362942344,725,698,671,643,899,787,827.362942344,656.362942344,634,657.362942344,0.437205672371,0.00461027571093,0.0799712991549,0.999999991961,0.00010901489129,-3.56192496172e-05,-5.40765620264e-05,1793251934314962944
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.058213565,747.941786435,725,698,671,643,899,787,827.941786435,656.941786435,634,657.941786435,0.438176913941,0.00460836454475,0.0800176250773,0.999999992135,0.000109028581862,3.28333179401e-05,-5.25831898137e-05,1793251934331629568
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,747.483060458,725,697.483060458,671.516939542,643.516939542,899.516939542,787,828,656.483060458,634,657.483060458,0.439117761463,0.00460643658506,0.0800395618517,0.999999991083,0.000103323127671,6.53008284576e-05,-5.37954091154e-05,1793251934348296448
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747.093672716,725,697,672,644,900,787,828,656.093672716,634,657,0.44002629391,0.00460569306595,0.0800439554608,0.999999991005,9.94156586208e-05,7.11763131336e-05,-5.51455661205e-05,1793251934364963072
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747.680905753,725,697,672,644,900,787,828,656.680905753,634,657,0.440782465106,0.00461120024266,0.0799702830884,0.999999991707,0.000108351151135,-4.18608488508e-05,-5.56285309027e-05,1793251934381629696
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.735540117,900,787,828,656.735540117,634,657,0.441545941822,0.0046156840323,0.0798991903669,0.9999999811,0.000113629827751,-0.000147066731325,-5.70899482901e-05,1793251934398296320
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.156364051,900,787,828,656.156364051,634,657,0.442318112299,0.00461894995643,0.0798311675223,0.999999962142,0.000114556769988,-0.000242953118817,-5.9715757531e-05,1793251934414962688
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,748,725,696.57769177,672,643,900,787,828,656,634,657,0.443176893088,0.00461702516247,0.0798611770196,0.999999974147,0.00010715322366,-0.000191341043269,-6.01093244379e-05,1793251934431629312
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747.999210458,725,696.000789542,672,643.000789542,900,787,828,656,634,657.000789542,0.444067641388,0.00461317510001,0.0799274274125,0.999999989915,9.66789027319e-05,-8.52150882552e-05,-5.9674314293e-05,1793251934448295680
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747.424153165,725,696.575846835,672,643.575846835,900,787,828,656,634,657.575846835,0.444912763837,0.00460522256324,0.079983957769,0.999999993998,9.34799578428e-05,-3.7545947511e-06,-5.70207514698e-05,1793251934464962560
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747.153985171,725,697,672,644,900,786.846014829,828.153985171,656,634,658,0.445732890326,0.00459814485338,0.0800299497277,0.999999992513,9.00294610461e-05,6.20278785149e-05,-5.49631485605e-05,1793251934481629440
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747.74078367,725,697,672,644,900,786.25921633,828.74078367,656,634,658,0.446482759693,0.00459352605866,0.0800463209314,0.999999991317,8.58719162871e-05,8.37434249786e-05,-5.45806383803e-05,1793251934498296320
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.676739492,725,697,672,644,900,786.323260508,829,656,634,658,0.447199423591,0.00459251093781,0.0800395028987,0.999999991771,8.32603517961e-05,8.03856210638e-05,-5.53435323595e-05,1793251934514963200
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.097682426,725,697,672,644,900,786.902317574,829,656,634,658,0.447889811905,0.00459434741015,0.080014335185,0.999999993388,8.18721242083e-05,5.71872334667e-05,-5.7012786502e-05,1793251934531629824
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.480246974,725,697,672,644,900,786.519753026,829,656,634,657.519753026,0.448505068341,0.00459574689036,0.0799674705912,0.999999994829,8.12469448839e-05,-1.82904336231e-05,-5.83562491286e-05,1793251934548296704
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747.942146471,725,696.942146471,672.057853529,643.942146471,900,786.057853529,829,656,634,657,0.449106732077,0.00459715534529,0.0799188625577,0.999999990091,8.10049530765e-05,-9.8601035182e-05,-5.94455911843e-05,1793251934564963072
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.365383139,725,696.365383139,672.634616861,643.365383139,900,786.634616861,829,656,634,657,0.449723225385,0.00459943966736,0.0798941074536,0.999999986762,8.2811092957e-05,-0.000127106510683,-5.88486078849e-05,1793251934581629696
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.214953399,725,696,672.785046601,643,900,787,829,656,634,657,0.450341085466,0.0046023190933,0.0798940697105,0.999999987146,8.57024172751e-05,-0.00012214558691,-5.86853592544e-05,1793251934598296576
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.801466372,725,696,672.198533628,643,900,787,829,656,634,657,0.450961308028,0.00460622719098,0.07993675738,0.999999992391,9.04695463026e-05,-5.93360234282e-05,-5.9271846442e-05,1793251934614962688
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,748,725,696.384822379,672,643,900,786.615177621,828.615177621,656,634,657.384822379,0.45154209878,0.00461048386302,0.0799673998632,0.999999993959,9.06927500449e-05,-1.91903579932e-05,-5.90668773576e-05,1793251934631629056
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,748,725,696.966562982,672,643,900,786.033437018,828.033437018,656,634,657.966562982,0.452102711859,0.00461491890509,0.0799918786842,0.999999994323,8.85907732404e-05,9.35792476887e-06,-5.84569107044e-05,1793251934648295936
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,748,725,696.458082325,672,643,900,786,828.541917675,656,634,658,0.452557428271,0.00461710987128,0.0799585449588,0.999999993431,8.67951861816e-05,-4.61744455757e-05,-5.89310326997e-05,1793251934664962560
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.880604748,747.880604748,725,696,671.880604748,643,900,786,829,656,634,658,0.45299879396,0.00461953804165,0.0799207311528,0.999999988658,8.83190392956e-05,-0.000106514749594,-5.94805033186e-05,1793251934681628928
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.293280851,747.293280851,725,696,671.293280851,643,900,786,829,656,634,658,0.453413145581,0.00462343218839,0.0798791764343,0.999999979202,0.000102779070069,-0.000165602786747,-6.00661798658e-05,1793251934698295808
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.28999857,747.28999857,725,696,671,643,900.28999857,786,829,656,634,658,0.453820877948,0.00462683429719,0.0798508897909,0.999999970507,0.000112156288907,-0.000206611873514,-6.09847642736e-05,1793251934714962432
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.869243966,747.869243966,725,696,671,643,900.869243966,786,829,656,634,658,0.454222008195,0.0046297456433,0.0798358368313,0.999999964926,0.000116463871033,-0.000229588871663,-6.22353936728e-05,1793251934731629056
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,747.552707221,725,696,670.552707221,643,901,786.447292779,829,656,634,658,0.454594303571,0.00463097193955,0.0798284089353,0.999999960495,0.000128427606283,-0.000243021636824,-5.87922968156e-05,1793251934748295936
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,747.024813571,725,696,670,643,901,787,829,656.024813571,634,658,0.45495667401,0.00463189105224,0.0798234325614,0.999999956391,0.000142167369503,-0.00025309441214,-5.43154286153e-05,1793251934764962560
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.598372488,725,696,670,643,901,787,829,656.598372488,634,658,0.455285470024,0.00463688123923,0.0798235083467,0.99999995638,0.000145820484144,-0.000250398351209,-5.7239776011e-05,1793251934781628928
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,725,696.176735477,670,643,901,787,829,656.823264523,634,658,0.455599783494,0.00464048067239,0.0798231692543,0.999999955862,0.000147702835563,-0.000250941150362,-5.90584268345e-05,1793251934798295808
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,696.766320579,670,643,901,787,829,656.233679421,634,658,0.455880266055,0.00464083133893,0.0798218610181,0.99999995417,0.000145448728164,-0.000259049845514,-5.82941978918e-05,1793251934814962176
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,747.659516527,725,696.659516527,670.340483473,643,901,786.659516527,829,656,634,658,0.456134748438,0.00464144316883,0.0798149330846,0.999999953648,0.000123210597086,-0.00027224348338,-5.83678823998e-05,1793251934831629056
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,747.09547944,725,696.09547944,670.90452056,643,901,786.09547944,829,656,634,658,0.456372159729,0.00464222647264,0.079804315387,0.999999952705,8.78514155858e-05,-0.000288775778096,-5.89917214511e-05,1793251934848295936
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,747.493575203,725,696.493575203,670.012849594,643,901,786.493575203,829.493575203,656,634,658,0.456574857535,0.0046434860142,0.0797920429294,0.999999945777,8.82503869526e-05,-0.000311522761251,-6.00900017054e-05,1793251934864962304
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696.913974703,669,643,901,786.913974703,829.913974703,656,634,658,0.456766856236,0.00464495383948,0.0797802920028,0.99999993781,9.55868800677e-05,-0.000333746437072,-6.20928078628e-05,1793251934881629184
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,696.331352102,669,643,901,786.331352102,829.331352102,656,634,658,0.456937926537,0.00464706381507,0.0797734982327,0.999999932812,0.000100908548527,-0.000345638778301,-6.87590674509e-05,1793251934898295808
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.04020587,724.04020587,696,668.95979413,642.95979413,901.04020587,786,829.95979413,656,634,658,0.458014927126,0.00464924836472,0.0797325731468,0.999999902589,0.000140636677208,-0.000414528169108,-5.66551957901e-05,1793251935969326848
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,747.537677646,724,696,669,642.462322354,901,786,829.462322354,656,634,658,0.457957117728,0.00465174033064,0.0797126809589,0.9999998864,0.000145610158711,-0.000450370286284,-5.62462388664e-05,1793251935985993472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.885482733,747.885482733,724.114517267,696,668.885482733,642,901,786.114517267,829,656.114517267,634,658,0.457895488445,0.00465374949207,0.0796933119093,0.999999870356,0.000149872315004,-0.000483457544149,-5.56387153081e-05,1793251936002660096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.308830757,747.308830757,724.691169243,696,668.308830757,642,901,786.691169243,829,656.691169243,634,658,0.457825691941,0.00465285495068,0.0796773009071,0.999999861284,0.000149105727529,-0.000502235712143,-5.44010799144e-05,1793251936019326720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,725,696,668,642.272792229,901,786.727207771,829,656.727207771,634,658,0.457749084074,0.00465192200374,0.0796658518486,0.999999853448,0.000149163884928,-0.000517730950362,-5.29953629879e-05,1793251936035993088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,747,725,696,668,642.860147365,901,786.139852635,829,656.139852635,634,658,0.457664621873,0.00465094477055,0.0796596632719,0.99999984725,0.000150173074428,-0.000529440566766,-5.1395827519e-05,1793251936052659712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,747.441170122,725,696,668.441170122,643,901,786,829,656,634,658,0.457568165057,0.00464984250427,0.0796594565711,0.999999847024,0.000150771292195,-0.000529931936492,-4.89006166807e-05,1793251936069326336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.020082765,747.979917235,725,696,669,642.979917235,901,786,829.020082765,656,633.979917235,658,0.457466928438,0.00464866894832,0.07966102198,0.999999848532,0.000151338253994,-0.000527170273658,-4.60829943114e-05,1793251936085993216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.595370476,747.404629524,725,696,669,642.404629524,901,786,829.595370476,656,633.404629524,658,0.457337181492,0.00464660479335,0.0796598964811,0.999999845972,0.000154591842687,-0.000531399486718,-4.20905119922e-05,1793251936102659840
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.82928758,747,725,696,669,642,901,786,829.82928758,656,633.17071242,658,0.457199153621,0.00464466232976,0.0796592024582,0.999999844066,0.00015746432049,-0.000534426588789,-3.82185753682e-05,1793251936119326464
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.25381713,747,725,696,669,642,901,786,829.25381713,656,633.74618287,658,0.45704149175,0.00464300839593,0.0796595314622,0.99999984379,0.000159433186414,-0.000534603492997,-3.46324523713e-05,1793251936135993344
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.330081462,747,725,696,669,642,901,786,829,656,634,658,0.456865355185,0.00464217091592,0.0796587985365,0.999999843454,0.000163187847467,-0.000534350869388,-3.051473773e-05,1793251936152660224
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.920630776,747,725,696,669,642,901,786,829,656,634,658,0.45667464019,0.00464197770084,0.0796572276404,0.999999843042,0.000168351682751,-0.000533759304641,-2.59775428167e-05,1793251936169326336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.49994114,725,696,669,642,901,786,829,656,634,657.50005886,0.456450342033,0.00464049300712,0.079649388357,0.99999983709,0.000171989603586,-0.000543899971589,-2.03145396127e-05,1793251936185993216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.92226207,748,725,696,669.07773793,642.07773793,901,786,829,656,634,657.07773793,0.456218044232,0.0046388141392,0.0796425903841,0.999999831499,0.00017580947409,-0.000553068275027,-1.44582907143e-05,1793251936202659840
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.342971682,748,725,696,669.657028318,642.657028318,901,786,829,656,634,657.657028318,0.455967776032,0.00463717623562,0.0796487901622,0.999999834713,0.000182331848597,-0.000545211984679,-8.48303377048e-06,1793251936219326464
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.231516207,748,725,696,670,642.768483793,900.768483793,786.231516207,829,656,634,657.768483793,0.455709704857,0.00463499540124,0.0796595082262,0.999999842785,0.000189059592511,-0.000527904869029,-1.77533918399e-06,1793251936235993088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.799034148,748,725,696,670,642.200965852,900.200965852,786.799034148,829,656,634,657.200965852,0.455440309164,0.00463202660618,0.0796767837222,0.999999857312,0.000196085390552,-0.000496881678352,5.99534895949e-06,1793251936252659968
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.612495406,748,725,696,670,642.387504594,900.387504594,786.612495406,829,656,634,657.387504594,0.455131001717,0.00462957320544,0.0796891436839,0.999999866901,0.000202428629155,-0.000474394828575,1.30133046119e-05,1793251936269326848
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.012537559,748,725,696,670,642.987462441,900.987462441,786.012537559,829,656,634,657.987462441,0.454799812263,0.00462740237486,0.0796988086544,0.999999873856,0.000208397647528,-0.000456588113766,1.96185669237e-05,1793251936285993472
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,748,725,696,670.563731255,643,901,786,829,656,634,658,0.454416014936,0.00462299944166,0.0796937711842,0.999999872823,0.000207887178274,-0.000458797417618,2.53168714678e-05,1793251936302660096
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,747.860686035,725,696,670.860686035,643,901,786,829,656,633.860686035,657.860686035,0.454021005547,0.00461881749439,0.0796882435009,0.99999987384,0.000194422531058,-0.000462431037704,2.60366615012e-05,1793251936319326464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,747.285667946,725,696,670.285667946,643,901,786,829,656,633.285667946,657.285667946,0.453594442187,0.00461547567718,0.0796821640884,0.999999879947,0.00014087623567,-0.000469183103002,1.12466978631e-05,1793251936335993088
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,747.886990551,725,696,670.886990551,643,900.113009449,786,828.113009449,656,633,657,0.452680332634,0.00460427461459,0.0796988536649,0.999999892742,0.000118227372104,-0.000447481924662,1.72624203556e-05,1793251936369326336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.468256581,747.531743419,724.531743419,696,671,643,900.468256581,786,828.468256581,656,633,657.468256581,0.452195386855,0.0046013360625,0.0797177041358,0.999999905506,0.000113241678456,-0.000419163264428,2.16002530506e-05,1793251936385993728
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747,724,695.378481198,671,643,900.378481198,786.621518802,828.378481198,656,633.621518802,658,0.451182462752,0.00459148978897,0.0797580711928,0.999999931957,0.000113386254257,-0.000349948402435,2.76815052657e-05,1793251936419327488
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,724.786212678,695.786212678,671.786212678,643,899.213787322,787,828.786212678,656,634,657.213787322,0.450103119341,0.00458015414415,0.0798041267751,0.999999952499,0.000159770485927,-0.000262192483886,2.70195635675e-05,1793251936452660992
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.631296,747,725,696,672,643,899,786.631296,828.631296,656,634,657,0.449473459937,0.00457597174631,0.079810828001,0.999999953631,0.000158085576537,-0.000258677303706,2.88505847918e-05,1793251936469327360
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.050943802,747,725,696,672,643,899,786.050943802,828.050943802,656,634,657,0.448797370517,0.00457218391128,0.0798073488827,0.999999950815,0.000137242894274,-0.000280101438214,3.28210449047e-05,1793251936485993472
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,747.527260611,724.472739389,696,671.472739389,643,899,786.527260611,828,656.527260611,634,657,0.44806317939,0.00456771072375,0.0797548275667,0.999999927327,0.000119621319712,-0.000360361411128,3.43100604469e-05,1793251936502659840
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,747.895289522,724,696,671,643,899,786.895289522,828,656.895289522,633.895289522,657,0.447330390889,0.00456284499574,0.0797087070141,0.999999901731,0.000104578532546,-0.000429361934204,3.53512561897e-05,1793251936519326464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,747.320300435,724,696,671,643,899,786.320300435,828,656.320300435,633.320300435,657,0.446629012569,0.00455651247672,0.0797125288681,0.999999905202,9.97255742226e-05,-0.000422365960715,3.54536249172e-05,1793251936535993088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.260230062,747,724,696,671,643,898.739769938,786.260230062,828,656,633,657,0.445930617426,0.00455068434129,0.0797373180913,0.999999919727,0.000103030610988,-0.000385436160437,3.69983361728e-05,1793251936552659712
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.847729604,747,724,696,671,643,898.152270396,786.847729604,828,656,633,657,0.445235973877,0.00454549052585,0.0797884762135,0.999999944071,0.000116595271562,-0.000310861099077,4.03569602859e-05,1793251936569326336
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.570869227,747,724,695.570869227,671.429130773,642.570869227,898,787,828,656,633,657,0.444467168259,0.00453757983335,0.0798187721478,0.999999956031,0.000104629201607,-0.000273988066375,4.38344606988e-05,1793251936585992960
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.008375903,747,724.008375903,695.008375903,671.991624097,642.008375903,898,787.008375903,828,656,633,657,0.443671834825,0.00452875909508,0.0798411118147,0.999999963813,8.41802975252e-05,-0.000251097720948,4.73098582392e-05,1793251936602659840
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.586097692,747,724.586097692,695.586097692,671.413902308,642.586097692,898,787.586097692,828,656,633,657,0.442836985849,0.00452269045491,0.0798187674349,0.999999954635,9.42798485147e-05,-0.000282053625675,4.78152529893e-05,1793251936619326720
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,898,788,827.836714756,656,633,657,0.441992837694,0.00451657318899,0.0797971003617,0.999999946107,9.61583005451e-05,-0.000310205610066,4.80888218976e-05,1793251936635993600
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,898,788,827.260877028,656,633,657,0.441125194514,0.00451033306683,0.0797771445563,0.999999941003,7.7265525519e-05,-0.000331273276874,4.77766653856e-05,1793251936652659712
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.678986101,747,725,696,671,643,897.678986101,787.678986101,827,656,633.321013899,656.678986101,0.440216024616,0.0045036280811,0.0797269721822,0.999999912464,7.04432070339e-05,-0.000409569102595,4.86106952992e-05,1793251936669326336
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.092081432,747,725,696,671,643,897.092081432,787.092081432,827,656,633.907918568,656.092081432,0.439272458833,0.0044965380565,0.0796517719002,0.999999852765,7.36186581771e-05,-0.000535266107559,5.03940928686e-05,1793251936685992960
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.49142275,747,724.50857725,696,671,643,897,787.49142275,827,656,634,656.49142275,0.43838635306,0.00448571233392,0.0796739382963,0.999999873349,6.31307148865e-05,-0.000496698373236,5.10630162258e-05,1793251936702659840
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,747,724.073023495,696,671,643,896.926976505,788,826.926976505,656,633.926976505,657,0.437517617004,0.00447454759373,0.0797200306772,0.999999909109,5.04159278792e-05,-0.000420191648194,5.17693942753e-05,1793251936719326464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,747,724.645925838,696,671,643,896.354074162,788,826.354074162,656,633.354074162,657,0.436694588525,0.00446582091308,0.0798058750165,0.999999954748,3.98627440732e-05,-0.000293226858267,5.41518588804e-05,1793251936735993344
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,896,787.779645525,826.220354475,656,633.220354475,657,0.435832322015,0.00445726391606,0.0798602870623,0.999999974804,3.15320239481e-05,-0.000215074389848,5.60401845348e-05,1793251936752660224
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,896,787.202747181,826.797252819,656,633.797252819,657,0.434906566402,0.00444898147375,0.0798638401975,0.999999974702,2.67973533791e-05,-0.000215902531249,5.71289717389e-05,1793251936769326848
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,895.233016872,787.383491564,826.233016872,656,633.616508436,657,0.433957754689,0.00443978303467,0.0798387261126,0.999999966626,1.89003611197e-05,-0.000251139814503,5.76112777342e-05,1793251936785993216
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,894.050416593,787.974791703,825.050416593,656,633.025208297,657,0.432996449263,0.00443008823059,0.0797980776723,0.999999951769,9.2897523549e-06,-0.000305022917264,5.7764940059e-05,1793251936802659840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.447830967,747,725,696,671,643,894,788,825,656,633.552169033,657,0.431913998975,0.00442544804284,0.0797305360128,0.999999902516,8.27044558316e-06,-0.00043766869071,5.7846890383e-05,1793251936819326464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,747,725,696.128619347,671,642.871380653,893.871380653,788,824.871380653,656,633.871380653,657,0.430872690814,0.00442439510599,0.0796866035401,0.999999860823,1.08869810119e-05,-0.000524389663969,5.70156549898e-05,1793251936835993088
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.285937688,747,725,697,671,642,893,788,824,656,633,657,0.42912257371,0.00444580064728,0.0797821395227,0.999999937872,3.65331019674e-05,-0.000346637835783,5.25753804028e-05,1793251936869326336
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.544079246,747,725,696.544079246,671,642,893,788,823.544079246,656,633,656.544079246,0.427305455321,0.0044759037073,0.0798394968507,0.999999963123,7.45235907137e-05,-0.000255263700451,5.51418259555e-05,1793251936902659328
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.034815377,747,725,696,671,642,893,788,823,656,633,656,0.426321330139,0.00449549530627,0.0798115421005,0.99999994915,0.000105540451114,-0.000296153101246,5.34324917841e-05,1793251936919326208
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.611886242,747,725,696,671,642,893,788,823,656,633,656,0.425308059488,0.00448725978306,0.0797733003569,0.999999929921,9.39276580543e-05,-0.000358409928617,5.36429920774e-05,1793251936935992832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.185688614,747,725,696,671,642.185688614,893,788,822.814311386,656,633.185688614,656,0.424312300603,0.00447943120989,0.0797397289751,0.999999909445,8.51399619071e-05,-0.00041344294188,5.40944931382e-05,1793251936952659712
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.752777676,747,725,696,671,642.752777676,893,788,822.247222324,656,633.752777676,656,0.423352510326,0.00447243850189,0.0797157504092,0.999999892217,8.21549529062e-05,-0.000453638408711,5.50410049791e-05,1793251936969327360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.663503909,747,725,696,671,642.663503909,892.663503909,788,821.663503909,656,633.663503909,656.336496091,0.422470020752,0.00446915684579,0.0797336984983,0.999999908331,7.6925896026e-05,-0.000417627665172,5.48398087572e-05,1793251936985994496
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.066932842,747,725,696,671,642.066932842,892.066932842,788,821.066932842,656,633.066932842,656.933067158,0.421647276294,0.00446874343066,0.0797840513451,0.999999944035,6.99624332644e-05,-0.000322717782606,5.37515583065e-05,1793251937002661376
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.510373034,642,892.510373034,788,821.510373034,656.510373034,633,656.489626966,0.420811879998,0.00447425108373,0.079836019067,0.9999999675,7.82231497635e-05,-0.000236653127357,5.36323176254e-05,1793251937019328000
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.667078689,747,725,696,672,642.667078689,893,788.667078689,822,656.332921311,633,656.667078689,0.419007566858,0.00448356030877,0.0798343214511,0.999999963727,9.49800248178e-05,-0.000246211013512,5.38907056255e-05,1793251937052660736
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.182506114,747,725,696,671.182506114,643,892.182506114,789,821.182506114,656,633,656.182506114,0.417242145696,0.00447565264134,0.0797970829669,0.999999943698,8.49002583892e-05,-0.000320158062778,5.38032450793e-05,1793251937085992960
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,747,725,695.005221632,671,643,892,788.005221632,821,656,633,656.994778368,0.415584849076,0.00447313838494,0.0797928423401,0.999999935365,8.08082138852e-05,-0.000346218946186,5.35910674833e-05,1793251937119326464
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,747,725,695.572795093,671.572795093,642.427204907,892,788,821.572795093,656,633,656.427204907,0.414792053319,0.00447340424295,0.0797775321346,0.999999929083,7.68693220754e-05,-0.000364705520367,5.39873823541e-05,1793251937135993088
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,672,642,891.273932317,788,821.273932317,656,633,656.726067683,0.413281253773,0.0044775775684,0.0797916414692,0.999999940376,9.35707956313e-05,-0.000328089820066,5.33748885011e-05,1793251937169326848
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.521995537,643,891,788.521995537,821,656,633,657,0.41114464591,0.00447669064603,0.079786485382,0.999999935032,9.48103174929e-05,-0.000343421899421,5.48505681939e-05,1793251937219325952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,695.058552275,671,642.941447725,891,788,821,656,633,656.941447725,0.41045177568,0.00447524880676,0.0797773901354,0.99999992949,8.7235300757e-05,-0.000361078413983,5.50638116267e-05,1793251937235992832
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746.961693174,725,695,671,642,891.961693174,788,821.038306826,656,633,657,0.407485929786,0.00448461886039,0.0798074266433,0.999999941133,0.000112771890842,-0.000319172698884,5.6077956434e-05,1793251937319327232
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.726755047,747,725,695,671,642.726755047,890,788,821,656,633,657,0.405569584161,0.00449064747428,0.0797931828157,0.999999941093,0.000109533510674,-0.00032109956299,5.20763047949e-05,1793251937385992960
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,747,725,694.600385309,671.600385309,643,890,788,821,656,633,657,0.404037716544,0.00449577154123,0.0798330422078,0.999999950841,0.000129270436679,-0.000279892273816,5.71570265342e-05,1793251937452660224
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,746.828826308,725,694.828826308,671.828826308,642.828826308,890,788.171173692,821,656,633.171173692,656.828826308,0.403700679112,0.00449573525346,0.0798339360266,0.999999949608,0.000128360703013,-0.00028462114181,5.74276643169e-05,1793251937469326848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,746.272263251,725,694.272263251,671.272263251,642.272263251,890,788.727736749,821,656,633.727736749,656.272263251,0.403396709271,0.00449594489851,0.0798328670535,0.999999951247,0.000113498013366,-0.000286154909743,5.23401610806e-05,1793251937485993216
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,746.311608706,725,694,671,642,890,788.688391294,821,656,633.688391294,656.311608706,0.403113389643,0.00449366454906,0.0798327832218,0.999999951743,0.000105175896448,-0.000287919298044,5.05391921314e-05,1793251937502659840
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,747,725,694,671,642,890,788,821,656,633.504874193,657,0.402620740941,0.00448633759071,0.0798331785184,0.999999951611,9.88218369261e-05,-0.000290152940915,5.31419868038e-05,1793251937535993088
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,747,725,694,671,642,890,788,821,656,633.916631539,657,0.402402670244,0.00448453650039,0.0798328516742,0.999999952164,9.45388110315e-05,-0.000289477058455,5.42019525869e-05,1793251937552659968
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,746.175444358,725,694,671,642,890,788,821,656,633,657,0.401895096899,0.00448783898975,0.0798445261591,0.999999957076,9.43313125392e-05,-0.000271822581981,5.53342023857e-05,1793251937602660096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.406434339,746.406434339,725,694,671,642.406434339,889.593565661,788,821,656,633,657,0.401761542834,0.00449410461778,0.0798483829901,0.999999956138,0.000121056133313,-0.000264530391192,5.56195489795e-05,1793251937619326720
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.985746895,746.985746895,725,694,671,642.985746895,889.014253105,788,821,656,633,657,0.401636446343,0.0045027735015,0.0798511293032,0.999999952859,0.000158111990627,-0.000257258617576,5.56744759149e-05,1793251937635993088
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,746.859499845,725,694,671,642,890,788.140500155,821,656,633.140500155,657,0.401413005083,0.00452551554051,0.079839561393,0.999999941088,0.000191741142273,-0.000280531994806,4.85824056884e-05,1793251937669326336
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,747,725,693.045211883,671,643,889.954788117,788,821,656,633,657,0.401090118848,0.00451585678964,0.0798233988985,0.999999940374,0.000159277444527,-0.000302505483647,4.87193597274e-05,1793251937752661760
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,747,725,694,671,642.825428622,889.349142756,788,821,656,633.174571378,657,0.401035702031,0.004513996332,0.0798247838638,0.999999942179,0.000156140200268,-0.000298013258933,4.94936550463e-05,1793251937785994496
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d1de2c25252b206fc62dfeb5bf7ce332b40e641
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ace6ecb9b84f4b3a21b68deac06bcfd8d974a29d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98164c287ee64bcd1e5e41ee96a8238e14d14a1882326667e298fe86b61e58d3
+size 26285338
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e4938f99fa3c7b8ca576a465ba81d7ce427ee4d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+6,0.100000000,BASELINE,768.520743102,747,725.479256898,694,671,642.520743102,889.479256898,788,821,656.520743102,633,656.520743102,0.400973849694,0.00447516799279,0.0798342984333,0.999999952967,0.000109746406328,-0.000281117588963,5.47146125903e-05,1793251938454414080
+7,0.116666667,BASELINE,768.057352043,747,726,694,671,642.057352043,890,788,821,656,633,656.057352043,0.400974530452,0.00447718726616,0.0798354797783,0.999999953132,0.00011175070295,-0.000279783385004,5.4496980058e-05,1793251938471084544
+8,0.133333333,BASELINE,768.632945859,747,726,694,671,642.632945859,890,788,821,656,633,656.632945859,0.400974787225,0.00447581102275,0.0798356178768,0.999999953426,0.000110515844266,-0.000279170644807,5.47613891497e-05,1793251938487745536
+9,0.150000000,BASELINE,769.207017228,747,726,694,671,643,890.207017228,788,821,656.207017228,633,657,0.400974748614,0.00447555726851,0.0798355295482,0.999999953444,0.000110301773628,-0.000279169043524,5.48626304181e-05,1793251938504408320
+10,0.166666667,BASELINE,769.778408857,747,726,694,671,643,890.778408857,788,821,656.778408857,633,657,0.400974190094,0.00447727922588,0.0798350426816,0.999999952978,0.00011188440881,-0.000280243117876,5.46766773122e-05,1793251938521074944
+11,0.183333333,BASELINE,770,747,726,694.364375638,671,642.635624362,890.635624362,788,821,656.635624362,633.364375638,657,0.400974943934,0.00447709605255,0.0798352461414,0.999999953275,0.000110978343236,-0.000279596840223,5.44068473031e-05,1793251938537741824
+12,0.200000000,BASELINE,770,747,726,694.959575524,671,642.040424476,890.040424476,788,821,656.040424476,633.959575524,657,0.400976529128,0.00447570601944,0.0798358869081,0.999999954049,0.000108495738599,-0.000277860756112,5.40838830338e-05,1793251938554408448
+13,0.216666667,BASELINE,769.459479515,747,725.459479515,694.459479515,671,642.540520485,890,788.540520485,821,656,634,656.459479515,0.40097519839,0.00447757442383,0.0798358579325,0.999999953584,0.00011074850968,-0.000278668060439,5.39588215382e-05,1793251938571075072
+14,0.233333333,BASELINE,769,746.880734421,725,694.119265579,671,643,890,788.761468842,821,656,633.880734421,656.119265579,0.400973947249,0.00447862741747,0.0798357122742,0.999999953143,0.000112529383808,-0.000279518299639,5.40414791172e-05,1793251938587741696
+15,0.250000000,BASELINE,769,746.306419489,725,694.693580511,671,643,890,787.612838978,821,656,633.306419489,656.693580511,0.400973810484,0.00447566337051,0.0798353076207,0.999999953162,0.000111193256766,-0.000279825250142,5.48616538182e-05,1793251938604408320
+16,0.266666667,BASELINE,769,746.268441297,725,694.731558703,671,643,890,787.268441297,821,656,633,656.731558703,0.400974719866,0.00447400718746,0.0798357473575,0.999999953622,0.000108926599415,-0.000279012564456,5.51709996112e-05,1793251938621075200
+17,0.283333333,BASELINE,769,746.843926397,725,694.156073603,671,643,890,787.843926397,821,656,633,656.156073603,0.400976825832,0.00447384694248,0.0798371529098,0.999999954576,0.000105595599329,-0.000276919236175,5.48960580174e-05,1793251938637742080
+18,0.300000000,BASELINE,769.430431035,746.569568965,725.430431035,694,671,642.569568965,890,788,821,656.430431035,633,656.430431035,0.400976359382,0.00447533710387,0.0798364900345,0.999999954365,0.000106913408082,-0.00027724911562,5.45206638348e-05,1793251938654408704
+19,0.316666667,BASELINE,769.979332026,746.020667974,725.979332026,694.020667974,671,642.020667974,890.020667974,788,821,657,633.020667974,657,0.400974974332,0.00447733875952,0.0798351208929,0.999999953739,0.000109798892092,-0.000278456279243,5.41219837259e-05,1793251938671075328
+20,0.333333333,BASELINE,769.399067959,746.600932041,725.399067959,694.600932041,671,642.600932041,890.600932041,788,821,657,633.600932041,657,0.400974636086,0.00447656074613,0.0798354696348,0.999999953752,0.000108291000585,-0.000279001377601,5.41049332807e-05,1793251938687741952
+21,0.350000000,BASELINE,769,746.820602371,725,694.820602371,671,642.820602371,890.820602371,788,821,656.820602371,633.820602371,657,0.40097401136,0.0044760907943,0.0798354305227,0.999999953581,0.000107796167224,-0.000279804453409,5.41097058162e-05,1793251938704408576
+22,0.366666667,BASELINE,769,746.246097845,725,694.246097845,671,642.246097845,890.246097845,788,821,656.246097845,633.246097845,657,0.400972755692,0.00447629932001,0.0798345371972,0.999999953005,0.000109532502121,-0.000281175700922,5.4162541476e-05,1793251938721075200
+23,0.383333333,BASELINE,769,746.33503623,725.33503623,694,671,642.33503623,890,788,821,656,633.33503623,657,0.400972661034,0.00447585935334,0.0798345357932,0.999999952923,0.000109733461437,-0.000281359785352,5.43093325134e-05,1793251938737742080
+24,0.400000000,BASELINE,769,746.921138344,725.921138344,694,671,642.921138344,890,788,821,656,633.921138344,657,0.4009734364,0.00447493342637,0.0798352027678,0.999999953213,0.000108783857517,-0.000280654246284,5.45265308376e-05,1793251938754408704
+25,0.416666667,BASELINE,769,747,725.495837478,694,671,643,890,788,821,656,633.495837478,656.495837478,0.40097254678,0.00447597310563,0.079834269512,0.99999995286,0.000110117153682,-0.000281431065487,5.4328517137e-05,1793251938771075328
+26,0.433333333,BASELINE,769,747,725.085546716,694,671,642.914453284,890,788,820.914453284,656,633,656.085546716,0.400971985717,0.00447718834332,0.0798336405054,0.99999995268,0.000111292897576,-0.000281651654427,5.40991217136e-05,1793251938787741952
+27,0.450000000,BASELINE,769,747,725.660289437,694,671,642.339710563,890,788,820.339710563,656,633,656.660289437,0.400974783773,0.00447765996271,0.0798361740396,0.999999954071,0.000109538047397,-0.000277373552891,5.40594196822e-05,1793251938804408832
+28,0.466666667,BASELINE,769,747,725.764918628,694.235081372,671,642,890,788,820.235081372,656,633.235081372,656.764918628,0.40097563208,0.00447728624021,0.0798370301759,0.999999954635,0.000108168609308,-0.000275896824764,5.3950167142e-05,1793251938821075200
+29,0.483333333,BASELINE,769,747,725.190055591,694.809944409,671,642,890,788,820.809944409,656,633.809944409,656.190055591,0.400973662262,0.0044756906783,0.0798354618364,0.999999954021,0.000107356237845,-0.000278469143022,5.37403877646e-05,1793251938837741824
+30,0.500000000,BASELINE,769,747,725,694.603777055,671,642,889.603777055,788,820.603777055,656.396222945,633.603777055,656,0.400973920304,0.00447434446273,0.0798353962592,0.999999954026,0.000106764327684,-0.000278643343473,5.39165915373e-05,1793251938854408704
+31,0.516666667,BASELINE,769,747,725,694.011860446,671,642,889.011860446,788,820.011860446,656.988139554,633.011860446,656,0.400975278681,0.00447312139882,0.0798360728931,0.999999954339,0.000106281302914,-0.000277633118594,5.42834315684e-05,1793251938871075328
+32,0.533333333,BASELINE,769,746.434283598,725.565716402,694,671,642,889.565716402,788,820.565716402,657,633,656,0.400973426089,0.00447389505014,0.0798349027789,0.999999953583,0.00010759878566,-0.000279850401168,5.42254114696e-05,1793251938887741952
+33,0.550000000,BASELINE,769,746.142989219,726,694.142989219,671,642,890,788,821,656.857010781,633,656.142989219,0.400972014592,0.00447469906778,0.0798340833151,0.999999952995,0.000108776574283,-0.000281510975639,5.41189644026e-05,1793251938904408576
+34,0.566666667,BASELINE,769,746.72022905,726,694.72022905,671,642,890,788,821,656.27977095,633,656.72022905,0.40097214207,0.00447547131689,0.0798344434353,0.999999953002,0.000109418313602,-0.000281280439569,5.38918296233e-05,1793251938921075200
+35,0.583333333,BASELINE,769,747,726,694.697754375,671,642.302245625,890,788,821,656.302245625,633,657,0.400972990304,0.00447559091083,0.0798351594995,0.99999995341,0.000109246574536,-0.000279900861648,5.3861637636e-05,1793251938937741824
+36,0.600000000,BASELINE,769,747,726,694.111245179,671,642.888754821,890,788,821,656.888754821,633,657,0.400974516411,0.0044750966793,0.079836210331,0.999999954189,0.000108309754924,-0.000277440603907,5.40166713343e-05,1793251938954408448
+37,0.616666667,BASELINE,769,747,725.530676143,694.469323857,671,643,890,788,821,657,633.469323857,657,0.400973480099,0.00447568460291,0.0798352834572,0.999999953529,0.000110217800984,-0.000279052386794,5.40754035158e-05,1793251938971075328
+38,0.633333333,BASELINE,769,747,725.048276928,694.951723072,671,642.951723072,889.951723072,788,821,656.951723072,634,657,0.400972158519,0.00447645481622,0.0798341455175,0.999999952682,0.000112511210008,-0.000281157705026,5.40993794903e-05,1793251938987741952
+39,0.650000000,BASELINE,769,747,725.624762615,694.375237385,671,642.375237385,889.375237385,788,821,656.375237385,634,657,0.400974278148,0.00447644808661,0.0798357631929,0.999999953593,0.000111735218405,-0.000278234346768,5.39897096888e-05,1793251939004408576
+40,0.666666667,BASELINE,769,747,726,694,671.200523579,642,889.200523579,788,820.799476421,656,634,657,0.400974693343,0.00447604357546,0.0798362343089,0.99999995396,0.000110061417482,-0.000277591606011,5.39365469744e-05,1793251939021075456
+41,0.683333333,BASELINE,769,747,726,694,671.774933228,642,889.774933228,788,820.225066772,656,634,657,0.400971930537,0.00447489738107,0.0798345676085,0.999999953312,0.000106713606993,-0.000281201188871,5.3988744508e-05,1793251939037742080
+42,0.700000000,BASELINE,769.358824399,747,726,694,671.641175601,642.358824399,890,788,820.358824399,656.358824399,633.641175601,657,0.4009719845,0.00447460608452,0.0798346787744,0.999999953308,0.000106557760226,-0.000281248138379,5.41151992919e-05,1793251939054408704
+43,0.716666667,BASELINE,769.948824089,747,726,694,671.051175911,642.948824089,890,788,820.948824089,656.948824089,633.051175911,657,0.400973853187,0.00447486556232,0.0798359353441,0.999999953724,0.00010845835998,-0.000278999834691,5.42894948601e-05,1793251939071075328
+44,0.733333333,BASELINE,769.468861135,747,725.468861135,694,671,642.468861135,890,788,821,657,633.531138865,656.468861135,0.400973434736,0.00447520482604,0.0798355090001,0.999999953619,0.000108911904031,-0.000279198767348,5.4294192783e-05,1793251939087741952
+45,0.750000000,BASELINE,769,747,725.111395465,694,671,642.111395465,889.888604535,788,821,656.888604535,633.888604535,656.111395465,0.400972940635,0.00447546329231,0.0798349494924,0.999999953458,0.000109347161436,-0.000279615156248,5.42531293617e-05,1793251939104408576
+46,0.766666667,BASELINE,769,747,725.686127067,694,671,642.686127067,889.313872933,788,821,656.313872933,633.313872933,656.686127067,0.400973035401,0.00447535417201,0.0798345009344,0.999999953265,0.000110278010962,-0.000279969257764,5.40887259413e-05,1793251939121075200
+47,0.783333333,BASELINE,769,746.735464595,726,694,670.735464595,642.735464595,889,788,820.735464595,656.264535405,633,657,0.400974075823,0.00447593543281,0.0798350956133,0.999999953453,0.000111350222248,-0.000278859729959,5.41453012977e-05,1793251939137741824
+48,0.800000000,BASELINE,769,746.152632221,726,694,670.152632221,642.152632221,889,788,820.152632221,656.847367779,633,657,0.400976254089,0.00447734738096,0.0798369455462,0.999999954093,0.000112592524382,-0.000275989119302,5.44677649544e-05,1793251939154408704
+49,0.816666667,BASELINE,769,746.427546987,726,694,670.427546987,642.427546987,889.427546987,788,820.427546987,656.572453013,633,657,0.400976117209,0.00447674436755,0.0798368712811,0.999999954117,0.00011182013322,-0.000276227973883,5.44009688439e-05,1793251939171075840
+50,0.833333333,BASELINE,769,746.993208782,726,694,671,642.993208782,890,788,821,656,633,656.993208782,0.400975163933,0.00447542488781,0.0798361208544,0.999999953928,0.000110311333172,-0.000277558605555,5.41967304738e-05,1793251939187743744
+51,0.850000000,BASELINE,769,746.413425805,726,694,671,642.413425805,890,788,821,656,633,656.413425805,0.400974632767,0.00447397284767,0.0798359214926,0.999999954196,0.000106979339063,-0.000277923940407,5.40485631479e-05,1793251939204409856
+52,0.866666667,BASELINE,769,746.165020374,726,694,671,642,890,788,820.834979626,656,633,656,0.400974198792,0.00447337572378,0.0798358397144,0.999999954242,0.000105536340325,-0.000278330853997,5.39439756294e-05,1793251939221076224
+53,0.883333333,BASELINE,769,746.740144347,726,694,671,642,890,788,820.259855653,656,633,656,0.400974006353,0.00447490321177,0.0798360501509,0.999999953751,0.000108787815449,-0.000278841097779,5.39476913275e-05,1793251939237742848
+54,0.900000000,BASELINE,769,747,726,694,671,642.322187912,890,788,820,656.322187912,633,656.322187912,0.40097442065,0.0044767560239,0.0798362003969,0.999999953494,0.000111956760403,-0.000278507164701,5.39617637046e-05,1793251939254408960
+55,0.916666667,BASELINE,769,747,726,694,671,642.909934828,890,788,820,656.909934828,633,656.909934828,0.400975335041,0.00447887697996,0.0798363010317,0.999999953427,0.000115057680827,-0.000277477430303,5.3984372433e-05,1793251939271075328
+56,0.933333333,BASELINE,769,746.507574918,726,694,671,642.507574918,890.492425082,788,820.492425082,656.507574918,633,657,0.400974889399,0.00447739503674,0.079836101671,0.999999953696,0.000112236010818,-0.00027764720733,5.40657780107e-05,1793251939287741952
+57,0.950000000,BASELINE,769,746.07315769,725.92684231,694,671,642,890.92684231,788,821,656,633,657,0.400974165609,0.00447559430915,0.0798357793244,0.999999953913,0.000109011084873,-0.00027813324172,5.4152561654e-05,1793251939304408576
+58,0.966666667,BASELINE,769,746.648356468,725.351643532,694,671,642,890.351643532,788,821,656,633,657,0.400973222062,0.00447608035844,0.0798349855553,0.999999953436,0.000110374064757,-0.000279299910919,5.4203232529e-05,1793251939321075456
+59,0.983333333,BASELINE,769,747,725.224073614,694,671,642.224073614,890,788,821,656.224073614,633,656.775926386,0.400973152283,0.0044760236799,0.0798348278109,0.999999953332,0.00011099549394,-0.000279421681432,5.42185631436e-05,1793251939337742080
+60,1.000000000,BASELINE,769,747,725.800606224,694,671,642.800606224,890,788,821,656.800606224,633,656.199393776,0.400974456905,0.00447511331185,0.079835670508,0.999999953819,0.000110450493203,-0.000277899867527,5.41783049249e-05,1793251939354408960
+61,1.016666667,BASELINE,769,746.616082002,726,694,671.383917998,643,890,788,821,657,633,656.383917998,0.400974280866,0.00447476662644,0.079835618428,0.9999999539,0.000109783994154,-0.00027787483523,5.41490615306e-05,1793251939371075840
+62,1.033333333,BASELINE,769,746.029186111,726,694,671.970813889,643,890,788,821,657,633,656.970813889,0.400973321999,0.00447471796075,0.0798350932783,0.999999953768,0.000109053258838,-0.000278641153205,5.41256416893e-05,1793251939387742976
+63,1.050000000,BASELINE,768.447170457,746.552829543,726,694,671.447170457,643,890,788,821,657,633,656.447170457,0.400973656904,0.00447540007687,0.0798356846576,0.999999953902,0.000109759261175,-0.000277908648574,5.39890260091e-05,1793251939404409088
+64,1.066666667,BASELINE,768.133254683,746.866745317,725.866745317,694,671,643,890,788,821,657,633,656,0.400974072191,0.00447607353911,0.079836246435,0.999999953992,0.000110630172448,-0.000277259084897,5.38919244521e-05,1793251939421075456
+65,1.083333333,BASELINE,768.709243895,746.290756105,725.290756105,694,671,643,890,788,821,657,633,656,0.400974529598,0.00447659118681,0.0798365157283,0.999999953891,0.000111799180481,-0.000277145692817,5.39457888961e-05,1793251939437741824
+66,1.100000000,BASELINE,769,746,725,694,671,643,890,788,821,657,633,656.283190112,0.400974674283,0.00447694355485,0.0798365761696,0.99999995389,0.000111516266709,-0.000277282311002,5.3831847293e-05,1793251939454409216
+67,1.116666667,BASELINE,769,746,725,694,671,643,890,788,821,657,633,656.855053743,0.400974500191,0.0044771274429,0.0798364237147,0.999999953992,0.000109753317521,-0.0002776737804,5.35468504133e-05,1793251939471077376
+68,1.133333333,BASELINE,769,746.443219123,725.443219123,694.443219123,671,642.556780877,890,788,820.556780877,656.556780877,633,656.556780877,0.400975218361,0.0044768188445,0.0798368191078,0.999999954215,0.000110265993067,-0.000276638734632,5.36944330987e-05,1793251939487744512
+69,1.150000000,BASELINE,769,747,725.964149901,694.964149901,671,642,890,788,820,656.035850099,633,656,0.400976217684,0.00447641354864,0.0798374047477,0.999999954488,0.000111450547984,-0.000275122329797,5.39471252432e-05,1793251939504410880
+70,1.166666667,BASELINE,769,747,725.387643456,694.387643456,671,642,890,788,820,656.612356544,633,656,0.400976888441,0.00447707162712,0.0798380543695,0.999999954949,0.00011111588606,-0.000273650701227,5.35700451288e-05,1793251939521076736
+71,1.183333333,BASELINE,769.189067516,747,725.189067516,694,671,642.189067516,890,788,820.189067516,657,633,656.189067516,0.400976692999,0.00447679278561,0.0798380340625,0.999999955034,0.000110604179029,-0.000273560697962,5.35067624312e-05,1793251939537742848
+72,1.200000000,BASELINE,769.76619839,747,725.76619839,694,671,642.76619839,890,788,820.76619839,657,633,656.76619839,0.400974719671,0.00447459090465,0.0798366387188,0.999999954344,0.000109729084725,-0.000276306497023,5.40875526464e-05,1793251939554408960
+73,1.216666667,BASELINE,769.650413785,747,726,694,671,642.650413785,890,788,820.650413785,656.650413785,633,656.650413785,0.400974079809,0.0044738133678,0.0798364082177,0.999999954169,0.000109233614061,-0.000277112141987,5.420533365e-05,1793251939571075584
+74,1.233333333,BASELINE,769.062765112,747,726,694,671,642.062765112,890,788,820.062765112,656.062765112,633,656.062765112,0.400974348014,0.00447400578599,0.0798369709554,0.999999954349,0.000108996660901,-0.000276596573786,5.40078129688e-05,1793251939587742208
+75,1.250000000,BASELINE,769,747,725.482716248,694,671,642,890,787.482716248,820.517283752,656,633,656.517283752,0.400975013553,0.00447488027133,0.0798368280066,0.999999954238,0.000110273820017,-0.000276473011682,5.40996729016e-05,1793251939604408832
+76,1.266666667,BASELINE,769,747,725,694,671,642,890,787.09587676,821,656.09587676,633,657,0.400975515001,0.00447557458173,0.0798366878465,0.999999954173,0.000111033851666,-0.000276387495863,5.41754660995e-05,1793251939621075456
+77,1.283333333,BASELINE,769,747,725,694,671,642,890,787.671730982,821,656.671730982,633,657,0.400974957125,0.00447495859175,0.0798369840964,0.999999954519,0.000108298641831,-0.000276257778089,5.39975924836e-05,1793251939637742336
+78,1.300000000,BASELINE,769,747,725.245935692,694,671,642,890,788,820.754064308,656.754064308,633,657,0.400975044486,0.00447535418345,0.0798372052499,0.999999954691,0.000108511586266,-0.000275560140303,5.39468633435e-05,1793251939654408960
+79,1.316666667,BASELINE,769,747,725.817953296,694,671,642,890,788,820.182046704,656.182046704,633,657,0.400975987355,0.00447709101398,0.0798373268344,0.999999954627,0.000112633438055,-0.000274109507132,5.40647128948e-05,1793251939671075840
+80,1.333333333,BASELINE,769,747,725.595635192,693.595635192,671,642.404364808,890,788,820.404364808,656,633,657,0.400975001157,0.00447665432058,0.0798369701377,0.99999995446,0.000111254536048,-0.000275281434244,5.40675428115e-05,1793251939687742464
+81,1.350000000,BASELINE,769,747,725.002504246,693.002504246,671,642.997495754,890,788,820.997495754,656,633,657,0.400973114428,0.0044752029799,0.0798363901692,0.999999954231,0.000107307764916,-0.000277677628437,5.40166791135e-05,1793251939704408832
+82,1.366666667,BASELINE,769,747,725.577062358,693.577062358,671,643,890,788,821,656,633,656.422937642,0.400974140364,0.00447586261412,0.0798371488777,0.999999954387,0.000109188244616,-0.000276397516847,5.39362274231e-05,1793251939721075456
+83,1.383333333,BASELINE,769,747,726,694,670.844612325,643,890,788,820.844612325,656,633,656.155387675,0.400975063878,0.00447603911641,0.0798377195257,0.9999999546,0.000110021610182,-0.000275309096822,5.38558083605e-05,1793251939737742336
+84,1.400000000,BASELINE,769,747,726,694,670.269484547,643,890,788,820.269484547,656,633,656.730515453,0.400975677364,0.00447488638393,0.0798377668441,0.999999954974,0.000107959724043,-0.000274780587863,5.37758162939e-05,1793251939754408704
+85,1.416666667,BASELINE,769,747,726,694,670.303926308,642.696073692,890,788,820.303926308,656,633,657,0.400975699044,0.00447402802017,0.0798378549213,0.999999955049,0.000107447771664,-0.000274684587638,5.39081619911e-05,1793251939771075584
+86,1.433333333,BASELINE,769,747,726,694,670.875823322,642.124176678,890,788,820.875823322,656,633,657,0.400975198931,0.00447342920029,0.0798379789353,0.999999954861,0.000108302390295,-0.000274969928807,5.42277251175e-05,1793251939787742464
+87,1.450000000,BASELINE,769,747,726,694,670.532416307,642,890,788,820.532416307,656,633,656.532416307,0.400975711852,0.00447475020948,0.0798383363705,0.999999954623,0.00011044900623,-0.000275058464917,5.38357457891e-05,1793251939804409088
+88,1.466666667,BASELINE,769,747,725.937526931,694,670.062473069,642.062473069,889.937526931,788,820.062473069,656.062473069,633,656.062473069,0.400976232848,0.00447632678364,0.079838515195,0.999999954371,0.000112371633841,-0.000275295286459,5.33300275359e-05,1793251939821075968
+89,1.483333333,BASELINE,769,747,725.362177577,694,670.637822423,642.637822423,889.362177577,788,820.637822423,656.637822423,633,656.637822423,0.400974513514,0.00447563008348,0.0798366962162,0.999999954152,0.000109513606658,-0.000277197580604,5.35107076642e-05,1793251939837742336
+90,1.500000000,BASELINE,769.212314284,747,725,694,671,643,889.212314284,788,820.787685716,657,633.212314284,657,0.400973918866,0.0044750922954,0.0798360068136,0.999999954183,0.000107923001839,-0.000277693879177,5.35957173811e-05,1793251939854408704
+91,1.516666667,BASELINE,769.785349212,747,725,694,671,643,889.785349212,788,820.214650788,657,633.785349212,657,0.400975235052,0.00447482449801,0.079837236554,0.99999995465,0.000108485739992,-0.000275801399863,5.35181836489e-05,1793251939871075328
+92,1.533333333,BASELINE,770,747,725.369136279,694.369136279,670.630863721,643,889.630863721,788,820.369136279,656.630863721,633.630863721,657,0.400975137128,0.00447559766172,0.0798374198409,0.999999954567,0.00010922728725,-0.000275796199167,5.35939166655e-05,1793251939887741952
+93,1.550000000,BASELINE,770,747,725.959363296,694.959363296,670.040636704,643,889.040636704,788,820.959363296,656.040636704,633.040636704,657,0.400974192237,0.00447699429938,0.0798369763643,0.999999954154,0.000110075930612,-0.000276921366247,5.37614473667e-05,1793251939904408576
+94,1.566666667,BASELINE,769.464595764,747,726,694.464595764,670.535404236,643,889.535404236,788,820.464595764,656,633,656.464595764,0.400973970524,0.00447713994089,0.0798365648118,0.999999954012,0.00011038789138,-0.000277285183054,5.38820924151e-05,1793251939921075200
+95,1.583333333,BASELINE,769,747,725.888605202,694,671,642.888605202,890,788,820.111394798,656,633,656.111394798,0.400973722178,0.00447683288773,0.0798361764451,0.999999953944,0.000110034002464,-0.000277651477666,5.39758355078e-05,1793251939937742080
+96,1.600000000,BASELINE,769,747,725.308412163,694,671,642.308412163,890,788,820.691587837,656,633,656.691587837,0.400973136711,0.00447500997158,0.0798358757211,0.999999954099,0.000107044926279,-0.000278265110937,5.39709528926e-05,1793251939954408960
+97,1.616666667,BASELINE,769,746.731755819,725,694,671,642,890,788,821,656,633,657,0.400972688536,0.00447489687587,0.0798357153846,0.999999953988,0.000106630416227,-0.000278825355544,5.39481056848e-05,1793251939971075584
+98,1.633333333,BASELINE,769,746.159112888,725,694,671,642,890,788,821,656,633,657,0.400972396156,0.00447672405427,0.0798357143572,0.99999995358,0.000109137478442,-0.000279325015602,5.39048725756e-05,1793251939987742208
+99,1.650000000,BASELINE,769,746.430340262,725,694,671,642,890,787.569659738,820.569659738,656,633,657,0.400973232551,0.00447592639455,0.0798358656231,0.999999953779,0.000108832926956,-0.00027872389594,5.39544769289e-05,1793251940004408832
+100,1.666666667,BASELINE,769,747,725,694,671,642,890,787.025376048,820.025376048,656,633.025376048,657,0.40097443531,0.00447423133576,0.079836071718,0.999999954191,0.000107542051627,-0.000277730467899,5.40279126563e-05,1793251940021075456
+101,1.683333333,BASELINE,769,747,725,694,671,642,890,787.601206355,820.601206355,656,633.601206355,657,0.400974164079,0.00447497776523,0.0798361960693,0.999999954204,0.000108322609631,-0.000277414602617,5.38434437171e-05,1793251940037742080
+102,1.700000000,BASELINE,769,747,725,694,671,642,890,788,820.823384106,656,633.823384106,656.823384106,0.400974424852,0.00447575608289,0.0798366069735,0.999999954292,0.000109287234253,-0.000276733319032,5.37694345887e-05,1793251940054408704
+103,1.716666667,BASELINE,769,747,725,694,671,642,890,788,820.248922471,656,633.248922471,656.248922471,0.400975884015,0.00447660623191,0.0798376633681,0.999999954546,0.000110666488043,-0.000275228892612,5.39442477419e-05,1793251940071075328
+104,1.733333333,BASELINE,769,746.666796565,725,694,671,642,890,788,820.333203435,656.333203435,633,656.333203435,0.400976287131,0.00447656245368,0.0798380638342,0.999999954746,0.000110300166056,-0.000274647631408,5.39402537629e-05,1793251940087742208
+105,1.750000000,BASELINE,769,746.078810136,725,694,671,642,890,788,820.921189864,656.921189864,633,656.921189864,0.400975882744,0.0044758351368,0.0798379627468,0.999999954906,0.000108599095008,-0.000274772265522,5.37995354731e-05,1793251940104409088
+106,1.766666667,BASELINE,768.497040478,746.502959522,725,694,671,642,890,788,820.497040478,656.497040478,633,656.497040478,0.400976134452,0.0044759624549,0.0798380203227,0.999999955129,0.000108298293557,-0.000274087537857,5.3748343589e-05,1793251940121075712
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,725,694,671,642,890,788,821,656,633,657,0.400974596679,0.00447491589591,0.0798371290647,0.999999954799,0.000106384472852,-0.000276070517952,5.35636393392e-05,1793251940164381440
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746.575528715,725,694,671,642.575528715,890,788,821,656.575528715,633,657,0.400974746745,0.0044752284446,0.0798372167901,0.999999954613,0.000108077963508,-0.000276088218184,5.35624390425e-05,1793251940181048064
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,642.844466006,890,788,821,656.844466006,633,657,0.400975048802,0.00447525480425,0.0798372920566,0.999999954535,0.000108845337906,-0.000276056042468,5.36246887901e-05,1793251940197714688
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671,642.25188145,890,788,821,656.25188145,633,657,0.400975777955,0.00447447697268,0.0798373323133,0.999999954768,0.000107010325778,-0.000275883715335,5.3865233177e-05,1793251940214381312
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725.331853205,694,671,642.331853205,889.668146795,788,820.668146795,656,633,657,0.400975458832,0.00447467834931,0.0798368751031,0.999999954678,0.000106654486941,-0.00027636215096,5.37834649425e-05,1793251940231047936
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725.909045104,694,671,642.909045104,889.090954896,788,820.090954896,656,633,657,0.400974364719,0.0044756036535,0.0798360501162,0.999999954351,0.000107392199326,-0.000277321694754,5.34634113432e-05,1793251940247714560
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,726,694,671,643,889.484229615,787.515770385,820.484229615,656,633.484229615,657,0.400975144718,0.00447596390767,0.0798371857801,0.999999954792,0.000107110005766,-0.000275829827661,5.34960580708e-05,1793251940264381440
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,747,725.939352191,694,671,642.939352191,890,787.060647809,821,656,633.939352191,656.939352191,0.400976145663,0.00447614641435,0.0798385430899,0.999999955296,0.000106667109734,-0.000274150001405,5.3584464231e-05,1793251940281048064
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,747,725.34887591,694,671,642.34887591,890,787.65112409,821,656,633.34887591,656.34887591,0.400976014217,0.0044756994818,0.0798386326876,0.999999955128,0.000106486996087,-0.000274834166763,5.35836196251e-05,1793251940297714688
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,746.763112509,725,694,671,642.236887491,890,788,820.763112509,656,633,656.236887491,0.400980220029,0.00447524761401,0.0798402885359,0.999999955748,0.0001069781836,-0.000272354096995,5.36864009347e-05,1793251940314381056
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,746.184154656,725,694,671,642.815845344,890,788,820.184154656,656,633,656.815845344,0.400990688929,0.00447478861966,0.0798442060821,0.999999957473,0.000108438743679,-0.000265304807168,5.3938820176e-05,1793251940331047424
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,746.394298596,725.394298596,694,671.394298596,642.605701404,890,788,820.394298596,656,633,657,0.401019481728,0.00447476235535,0.0798553638883,0.999999962591,0.000108970100966,-0.000245070116209,5.37042067362e-05,1793251940347714048
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.972516527,725.972516527,694,671.972516527,642.027483473,890,788,820.972516527,656,633,657,0.401056821654,0.00447493793657,0.0798698988912,0.999999968723,0.000109068034609,-0.000218685135716,5.32424184299e-05,1793251940364380672
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725.45445929,694,671.45445929,642,890,788,820.45445929,656,633.54554071,656.45445929,0.401117989103,0.00447539340412,0.0798868791773,0.999999976074,0.000107660942419,-0.000183188408928,5.19966656536e-05,1793251940381047296
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746.878065237,725,694,671,642.121934763,890,788,820.121934763,656,634,656.121934763,0.401182620408,0.00447594140823,0.0799027367257,0.999999981488,0.000106289642863,-0.000152191150405,5.06388190632e-05,1793251940397713920
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746.287730367,725,694,671,642.712269633,890,788,820.712269633,656,634,656.712269633,0.401255990084,0.00447679122858,0.0799138126382,0.999999983419,0.000105344348365,-0.000140224844675,4.90006600677e-05,1793251940414380544
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,725,694,671,642.702939089,889.702939089,788,821,656.297060911,633.702939089,657,0.401338628315,0.00447812356487,0.0799219231133,0.999999985322,0.000104299455927,-0.000127634512014,4.677044985e-05,1793251940431047168
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,725,694,671,642.123418949,889.123418949,788,821,656.876581051,633.123418949,657,0.401430079512,0.00447991469954,0.0799272139131,0.999999987163,0.000103159861223,-0.000114450826451,4.39772900941e-05,1793251940447713792
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,746.453012004,725.453012004,694,671,642.453012004,889.453012004,788,820.546987996,657,633,657,0.40153900604,0.00448201340271,0.079933022941,0.999999988182,0.000103244882387,-0.00010633892294,4.08369705971e-05,1793251940464380416
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,725.970862798,694,671.029137202,642.970862798,890,788,820.029137202,656.970862798,633,656.970862798,0.401653948892,0.00448417264751,0.0799390011098,0.999999989014,0.000103435259592,-9.93192787594e-05,3.75386559126e-05,1793251940481047296
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,725.384600259,694,671.615399741,642.384600259,890,788,820.615399741,656.384600259,633,656.384600259,0.401793511218,0.00448589813792,0.0799455320745,0.999999990745,9.93039722576e-05,-8.69431007653e-05,3.30155544912e-05,1793251940497713664
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,725,694,671.800849661,642,890,788,820.800849661,656,633,656.199150339,0.401945515319,0.00448778818172,0.0799522041342,0.999999992308,9.52516186364e-05,-7.43425266901e-05,2.80025802723e-05,1793251940514380544
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,725,694,671.221889776,642,890,788,820.221889776,656,633,656.778110224,0.402121247736,0.00448999205329,0.0799591452825,0.999999993705,9.13498039261e-05,-6.13139970859e-05,2.20553457292e-05,1793251940531047168
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,746.643957304,725.356042696,694,671,642,890,788,820.356042696,656,633,657,0.402307905897,0.00449221626855,0.0799626789717,0.999999994588,8.65354945668e-05,-5.544982142e-05,1.61516938803e-05,1793251940547713536
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746.066663228,725.933336772,694,671,642,890,788,820.933336772,656,633,657,0.402501353532,0.00449445312595,0.0799640952048,0.999999995194,8.11541441328e-05,-5.40377037663e-05,1.02751245292e-05,1793251940564380160
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746.50992445,726,694.50992445,671,642.50992445,890,788,821,656.50992445,633,657,0.402713352772,0.00449902933538,0.0799572897429,0.99999999487,7.47694621109e-05,-6.82850706035e-05,2.56084209469e-06,1793251940581047296
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.911994124,747,725.911994124,694.911994124,671,642.911994124,890,788,821,656.911994124,633,657,0.402933205371,0.00450353580185,0.0799500353771,0.999999994237,6.79446665308e-05,-8.29461199517e-05,-5.40568440726e-06,1793251940597713664
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.324918652,747,725.324918652,694.324918652,671,642.324918652,890,788,821,656.324918652,633,657,0.403183858986,0.0045059148612,0.0799463221494,0.999999994244,5.93668453883e-05,-8.83598376732e-05,-1.34421318407e-05,1793251940614380288
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.259788497,747,725,694.259788497,671,642.259788497,890,788,821,656,633,657,0.403466498068,0.00450954737993,0.0799465428027,0.999999994374,5.50598811579e-05,-8.8135333705e-05,-2.12609573954e-05,1793251940631047168
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.841560297,747,725,694.841560297,671,642.841560297,890,788,821,656,633,657,0.403788780099,0.00451473344302,0.0799516391302,0.99999999474,5.60462411642e-05,-8.09227862211e-05,-2.88100607066e-05,1793251940647713792
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.418375292,747,725.418375292,695,671,643,890,788,821,656,633,657,0.404132997853,0.00452288067906,0.0799562394016,0.999999992033,0.000100291082266,-7.29806252321e-05,-2.34314454398e-05,1793251940664380416
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.993335101,747,725.993335101,695,671,643,890,788,821,656,633,657,0.404485425441,0.0045321361875,0.0799606540149,0.999999984899,0.000160726191622,-6.4765393121e-05,-1.3214397534e-05,1793251940681047040
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,746.422617641,726,695,671,642.422617641,890,788,821,656,633,657,0.404875346552,0.00454101452817,0.0799624967655,0.999999996091,6.64519633308e-05,-5.47992579187e-05,-1.99591229035e-05,1793251940697713920
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.838899929,746.161100071,726,695,671,642.161100071,890.161100071,788,821,656,633,656.838899929,0.405276858282,0.00454893718047,0.0799617592623,0.999999998373,2.79651862265e-06,-5.06974137613e-05,-2.60064160359e-05,1793251940714380288
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.256323313,746.743676687,726,695,671,642.743676687,890.743676687,788,821,656,633,656.256323313,0.405707543385,0.00455437109324,0.0799543501065,0.999999997349,2.3994137939e-05,-6.1991691444e-05,-2.97086202311e-05,1793251940731046912
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,891,788,821,656,633,656.323195587,0.406166911574,0.00456369977481,0.0799464902915,0.999999994566,6.58038673783e-05,-7.54549554018e-05,-2.90487429082e-05,1793251940747713536
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,891,788,821,656,633,656.900312232,0.406648814891,0.00457608841152,0.0799382764121,0.999999987918,0.00012380765915,-9.06223008573e-05,-2.4961763573e-05,1793251940764380160
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.476350904,747,725.523649096,695,671.476350904,642.523649096,891,788,821,656,633,657,0.407151326094,0.00458456894987,0.0799341662308,0.999999985695,0.000135405279431,-9.73307682578e-05,-2.83107429008e-05,1793251940781047040
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.948073065,747,725,695,671.948073065,642,891,788,820.948073065,656,633.051926935,657,0.407660460194,0.00459241222324,0.0799301462035,0.999999984596,0.000137480428423,-0.000104058532619,-3.28384295818e-05,1793251940797714176
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.374881384,747,725,695,671.374881384,642,891,788,820.374881384,656,633.625118616,657,0.408192883204,0.00460204988088,0.0799184296774,0.999999981178,0.000141233977771,-0.000128710128684,-3.36124458266e-05,1793251940814380800
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,725.205570943,695,671,642,891,788,820.205570943,656,634,657,0.408752536011,0.00461215952091,0.0799139078871,0.999999978533,0.000148536555515,-0.000140209707327,-3.48104980709e-05,1793251940831047168
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,725.799748599,695,671,642,891,788,820.799748599,656,634,657,0.409363663387,0.00462316138533,0.0799229868648,0.999999978066,0.000162548137009,-0.00012684700511,-3.68101384593e-05,1793251940847713792
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,726,695.382721025,671,642.382721025,891.382721025,788,821,656,634,657,0.410046379771,0.00462939066706,0.0799529395467,0.999999981545,0.000171872923087,-7.69578864131e-05,-3.80456956729e-05,1793251940864380416
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,726,695.959997284,671,642.959997284,891.959997284,788,821,656,634,657,0.410765488223,0.00463319381849,0.0799935033213,0.99999998322,0.000178815187863,-8.50065932084e-06,-3.8892832993e-05,1793251940881047040
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,726,695.466145236,671,642.466145236,892,788,821,656,634,657.533854764,0.411435436888,0.00462717256416,0.0799916545957,0.999999986509,0.000158545353219,-1.53613988782e-05,-4.01126630828e-05,1793251940897713920
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,726,695.110010688,671.110010688,642.110010688,892.110010688,788,821.110010688,656.110010688,634,657.889989312,0.412101726554,0.00461864469491,0.0799807598669,0.999999988828,0.000139177692484,-3.53428769743e-05,-4.15259634113e-05,1793251940914380544
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,726,695.697241174,671.697241174,642.697241174,892.697241174,788,821.697241174,656.697241174,634,657.302758826,0.412768021217,0.00460241638257,0.0799443225688,0.999999986403,0.000132512618041,-8.79150255175e-05,-4.36581528817e-05,1793251940931047168
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,726,696,671.718007122,643,893,788,822,656.718007122,634,657,0.413486922893,0.0045920381674,0.0799226268662,0.999999984875,0.000123380593182,-0.000114300216937,-4.42911977838e-05,1793251940947713792
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,726,696,671.135893474,643,893,788,822,656.135893474,634,657,0.414261813502,0.00458788612045,0.079916620417,0.999999986468,0.000111623029636,-0.000112815031306,-4.33287260765e-05,1793251940964380416
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,725.55794031,696,671,643,893,788,822.44205969,656,634,657,0.415084186437,0.00458086589179,0.079937136858,0.999999990221,0.000108507154656,-7.72508584258e-05,-4.26175000879e-05,1793251940981047040
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,725,696.018585923,671,642.981414077,893.018585923,788,823,656,634,657.018585923,0.415919130635,0.00457356622052,0.0799643251974,0.999999992675,0.000108320582008,-3.39418565139e-05,-4.20134433693e-05,1793251940997713920
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725,696.590354581,671,642.409645419,893.590354581,788,823,656,634,657.590354581,0.416697847901,0.00458394737177,0.0799496816395,0.999999989879,0.000116989613611,-6.90211860332e-05,-4.23217593208e-05,1793251941014380544
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.831592832,747,725.168407168,697,671,642.168407168,894.168407168,788,823.168407168,656,634,657.831592832,0.417506020456,0.00459166416168,0.0799452312308,0.999999988622,0.000120539097514,-7.9730516584e-05,-4.32267549974e-05,1793251941031047168
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.237662341,747,725.762337659,697,671,642.762337659,894.762337659,788,823.762337659,656,634,657.237662341,0.418388619208,0.00459264876784,0.079966536394,0.999999992365,0.000111152748336,-2.88628762579e-05,-4.56394130075e-05,1793251941047713792
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.34683601,747,726,697,671,643,895,788,823.65316399,656.34683601,634,657,0.419282286854,0.00459194173448,0.079982427737,0.999999992963,0.000108775127127,4.04394175582e-06,-4.71842270083e-05,1793251941064380416
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.925042267,747,726,697,671,643,895,788,823.074957733,656.925042267,634,657,0.420183338394,0.00459010622814,0.0799947075831,0.99999999236,0.000111072946861,2.49693031729e-05,-4.81501123634e-05,1793251941081047040
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,895.500283871,788,824.000567742,656.499716129,634,657,0.421088543587,0.00459237015935,0.0799792734289,0.999999992496,0.000112276460915,1.84462459025e-06,-4.89772891651e-05,1793251941097713920
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,896,788,825,656,634,657,0.421997210984,0.00459534068447,0.079965822687,0.99999999207,0.000114304685906,-1.84940353975e-05,-4.95198905295e-05,1793251941114380544
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,896,788,825,656,634,657,0.422924802874,0.00459895007615,0.0799930456367,0.999999991007,0.000122906517685,2.33768034897e-05,-4.83060222669e-05,1793251941131047168
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,725.75098711,697,671,643,896.24901289,788,825,656,633.75098711,657,0.42383961123,0.00460315543603,0.0800044159887,0.99999998971,0.000131410769771,3.3093806846e-05,-4.70713439482e-05,1793251941147713792
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,725.171686917,697,671,643,896.828313083,788,825,656,633.171686917,657,0.424737463808,0.00460815128049,0.0799947596749,0.999999989181,0.00013978559481,1.62406824933e-07,-4.58090633377e-05,1793251941164380416
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.592912238,747,725.407087762,697,671,643,897.407087762,788,825,656,633.407087762,657,0.425649212339,0.00461042512801,0.079958010429,0.999999987565,0.00013821425057,-5.95474029901e-05,-4.71362793516e-05,1793251941181047040
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.014358941,747,725.985641059,697,671,643,897.985641059,788,825,656,633.985641059,657,0.426566813796,0.00461155246898,0.0799098496293,0.99999998148,0.000132453574627,-0.000130536287955,-4.95541923098e-05,1793251941197713664
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,747,725.442798604,697.557201396,671,643,897.442798604,787.442798604,825.557201396,656,634,657,0.427545913484,0.00460615275338,0.0799046466457,0.999999982473,0.000128550200724,-0.000126162962315,-5.11115876586e-05,1793251941214380544
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.133015262,747,725.133015262,697.866984738,671,643,897.133015262,787,826,656,634,657,0.428519709557,0.00460219204,0.0799069566249,0.999999984066,0.000124602174939,-0.000116745951179,-5.20925825609e-05,1793251941231047168
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.724089679,747,725.724089679,697.275910321,671,643,897.724089679,787,826,656,634,657,0.429469851894,0.00460375880557,0.0799313737609,0.999999986788,0.000120337605257,-9.65651268713e-05,-5.11640687359e-05,1793251941247713792
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.691808788,747.308191212,726,697,671,643,898,787,826.308191212,656,634,657,0.43045519979,0.00460558893241,0.0799711987624,0.99999999051,0.000120427134574,-4.373072419e-05,-5.06413823102e-05,1793251941264380416
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.113811695,747.886188305,726,697,671,643,898,787,826.886188305,656,634,657,0.431471368329,0.00460764961867,0.0800245125725,0.999999990287,0.000124328457895,3.76902408051e-05,-5.04739771354e-05,1793251941281047040
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,747.536888529,726,697,671,643,898,787.463111471,827,656,634,657,0.432411341626,0.00460931739209,0.0800199944664,0.999999990859,0.000122793337124,2.65875722233e-05,-4.99649049361e-05,1793251941297714688
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,747,725.960568699,697,671.039431301,643,898.039431301,787.960568699,827,656.039431301,634,657,0.433332367636,0.00461090305798,0.0799981710874,0.999999991439,0.000120616426173,-1.06094355747e-05,-4.96032830323e-05,1793251941314382592
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,747,725.388839543,697,671.611160457,643,898.611160457,787.388839543,827,656.611160457,634,657,0.434249811451,0.00461268080682,0.079934152672,0.999999986065,0.000127769596216,-9.38237874725e-05,-5.23630165607e-05,1793251941331048192
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.18995025,747,725,697.18995025,671.81004975,643,899,787,827.18995025,656.81004975,634,657.18995025,0.435176115494,0.00461337257542,0.0798996613969,0.999999980932,0.000128137297148,-0.000136853751591,-5.4669029052e-05,1793251941347714048
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.783751697,747,725,697.783751697,671.216248303,643,899,787,827.783751697,656.216248303,634,657.783751697,0.436121257344,0.00461175545337,0.0799279474472,0.999999987464,0.00011407848751,-9.44481351026e-05,-5.60103911988e-05,1793251941364380672
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747,725,697.632391281,671,643.367608719,899,787,827.632391281,656,634,657.632391281,0.437075921133,0.00461033174637,0.0799667233443,0.999999991519,0.000110274669006,-4.23374006796e-05,-5.48637403434e-05,1793251941381047296
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,725,697.054230088,671,643.945769912,899,787,827.054230088,656,634,657.054230088,0.438036038674,0.00460901882033,0.0800115074302,0.999999992205,0.000112344525062,1.53320584726e-05,-5.22920488575e-05,1793251941397713920
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.479049051,747,725,697,671.520950949,644,899.520950949,787,827.520950949,656,634,657.520950949,0.438978288397,0.00460856115018,0.0800382465077,0.999999990779,0.000108803723671,6.12911311747e-05,-5.33521754473e-05,1793251941414381312
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,644,900,787,828,656,634,657.901929575,0.439894423477,0.00460902861102,0.0800472021292,0.999999989681,0.000106059656507,7.99789997268e-05,-5.4702225118e-05,1793251941431048448
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,644,900,787,828,656,634,657.313577201,0.440689249829,0.00461367850701,0.0799765907048,0.999999991881,0.000110201962573,-3.16100218193e-05,-5.56223742962e-05,1793251941447714560
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747.26170452,725,697,672,643.73829548,900,787,828,656,634,657,0.441479479588,0.0046166078081,0.0799049683645,0.999999982193,0.000113004948739,-0.000140048283282,-5.68394478569e-05,1793251941464380928
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747.822069795,725,697,672,643.177930205,900,787,828,656,634,657,0.442264463599,0.00461757354259,0.0798321923582,0.999999961779,0.000114279484851,-0.000244890846563,-5.83953756487e-05,1793251941481047296
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747.592809306,725,697,672,643,899.592809306,787,828,656,634,657,0.443117255898,0.00461591751546,0.0798519362138,0.999999970648,0.000107743826027,-0.000208734535089,-5.93780788795e-05,1793251941497713920
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+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672.579773339,643,899.579773339,787,828,656,634,657.579773339,0.444852629784,0.00460995589301,0.0799760692357,0.999999993256,9.92547152124e-05,-1.66433330664e-05,-5.79525861325e-05,1793251941531047168
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672.840842846,643,900.159157154,787,828,656,634,658,0.445686692489,0.0046057256971,0.0800263778795,0.999999992013,9.83087254653e-05,5.62960112097e-05,-5.60346838287e-05,1793251941547713792
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+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.331013354,901,787,828.331013354,656,634,658,0.447219149527,0.00459497926728,0.0800407184525,0.999999991559,8.62186874763e-05,7.97561176934e-05,-5.55674424674e-05,1793251941581047552
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.910993756,901,787,828.910993756,656,634,658,0.447931529361,0.00459448009202,0.0800144345427,0.999999993151,8.46278114033e-05,5.61516517031e-05,-5.81649440117e-05,1793251941597715200
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,725,696.512236312,672,644,900.512236312,787,829,656,634,658,0.448552075128,0.00459623104568,0.0799664191175,0.999999994738,8.10263495813e-05,-2.13842669571e-05,-5.91806486372e-05,1793251941614381056
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,725,696.637098251,672,643.362901749,900.637098251,786.362901749,829,656,634,658,0.449780047318,0.00459515590434,0.0798949635476,0.999999987161,7.90656127261e-05,-0.000126221519117,-5.91162014937e-05,1793251941647713792
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.218436498,725,697,672,643,901,786,829,656,634,658,0.450417386178,0.0045963944822,0.0798980832546,0.999999988082,8.36527465079e-05,-0.000115568608551,-5.90043790512e-05,1793251941664380672
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.813370041,725,697,672,643,901,786,829,656,634,658,0.451081061619,0.0046044133991,0.0799457796279,0.999999992837,9.37182623164e-05,-4.43323161266e-05,-5.98051797498e-05,1793251941681047552
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747.605162103,725,696.605162103,672,643,901,786.394837897,829,656,634.394837897,658,0.451674099542,0.00460912929861,0.0799723477812,0.999999994527,8.50322259525e-05,-1.28146748133e-05,-5.95921915343e-05,1793251941697714432
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747.029849178,725,696.029849178,672,643,901,786.970150822,829,656,634.970150822,658,0.452234850076,0.00461233543452,0.0799892585169,0.999999995968,6.7775111334e-05,5.48117933665e-07,-5.89158143454e-05,1793251941714381312
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,747.877207995,725,696,671.877207995,643,901,786.122792005,829,656.122792005,634,658,0.453161367735,0.00461897201496,0.079912881259,0.999999986675,9.51474625847e-05,-0.000118753564293,-5.91212523403e-05,1793251941747714304
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,747.285511256,725,696,671.285511256,643,901,786.714488744,829,656.714488744,634,658,0.453600246591,0.00462360922245,0.0798733674195,0.999999976734,0.000105933110081,-0.000177635773263,-6.12769788173e-05,1793251941764380672
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+205,3.416666667,POSE1_TO_POSE2_PRESS,767.121597568,747.878402432,725,696.878402432,671,643,901,786.121597568,829,656.121597568,634,658,0.454433442823,0.00463510393853,0.0798259145751,0.999999958967,0.000127531143866,-0.000248689981517,-6.28823787146e-05,1793251941797713920
+206,3.433333333,POSE1_TO_POSE2_PRESS,767.452705351,748,725,697,670.547294649,643,901,786,829,656,634,658,0.454828854591,0.00463768106666,0.0798221000546,0.99999995675,0.000139626765566,-0.000251656042944,-6.06171689248e-05,1793251941814380800
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768,747.384298366,725,697,670,643,901,786,829,656,634,658,0.455543008794,0.00464103073333,0.0798173863272,0.999999952401,0.000155382452936,-0.000260041819366,-5.859408537e-05,1793251941847714304
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767.910582361,748,725,696.089417639,669,643,902,786,829,656,634,658,0.457100566657,0.00465958653601,0.0797636673634,0.999999925484,0.000105370945961,-0.000365735429094,-6.45499191816e-05,1793251941947714304
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+240,4.000000000,POSE1_TO_POSE2_PRESS,768,747.812449282,725,696.812449282,668.812449282,643,902.624898564,785.812449282,829,656,634,658,0.458575917254,0.00465502983412,0.0797650755216,0.999999921464,0.000140625343164,-0.000365221307365,-6.2521891343e-05,1793251942381047040
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.233329641,725,696.233329641,668.233329641,643,901.466659282,785.233329641,829,656,634,658,0.458577038389,0.00465696402121,0.0797650345193,0.999999921106,0.000142147582071,-0.000365520217877,-6.30692580393e-05,1793251942397713920
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,747.345752732,725,696.345752732,668.345752732,643,901,785.345752732,829,656,633.654247268,658,0.458578274384,0.00465726256664,0.0797653394595,0.999999921246,0.000142265967247,-0.000365071590982,-6.31756207133e-05,1793251942414380800
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,747.924809933,725,696.924809933,668.924809933,643,901,785.924809933,829,656,633.075190067,658,0.458579587883,0.00465645742581,0.0797658778322,0.999999921723,0.000141437070328,-0.000364118546316,-6.29844059349e-05,1793251942431047936
+244,4.066666667,POSE1_TO_POSE2_PRESS,768,748,725,696.500448141,669,642.500448141,901,786,829,656,633.499551859,658,0.458578828105,0.00465794563482,0.0797653943476,0.999999920943,0.000143525386877,-0.000365448202715,-6.29488092293e-05,1793251942447714560
+245,4.083333333,POSE1_TO_POSE2_PRESS,768,747.924621059,725,696,668.924621059,642.075378941,901.075378941,786,829,656,634,658,0.458578114451,0.00465911660391,0.0797649423263,0.99999992029,0.000144966073304,-0.000366674513471,-6.28855992155e-05,1793251942464381184
+246,4.100000000,POSE1_TO_POSE2_PRESS,768,747.337045028,725,696,668.337045028,642.662954972,901.662954972,786,829,656,634,658,0.458579816478,0.0046558065165,0.0797657402452,0.999999921811,0.000139048125444,-0.000364883969107,-6.24769634238e-05,1793251942481047808
+247,4.116666667,POSE1_TO_POSE2_PRESS,768,747.248059021,725,696.248059021,668.248059021,642.751940979,902,786,829,656,634,658,0.458580528275,0.00465495465292,0.0797659155711,0.99999992222,0.000137195013893,-0.000364478973782,-6.23980399298e-05,1793251942497714432
+248,4.133333333,POSE1_TO_POSE2_PRESS,768,747.829837537,725,696.829837537,668.829837537,642.170162463,902,786,829,656,634,658,0.458579907894,0.00465740989381,0.0797652533082,0.999999921161,0.000140810419096,-0.000365937989142,-6.27626859021e-05,1793251942514380800
+249,4.150000000,HOLD_POSE2,768,747,725,696,669,642,902,786,830,656,634,658,0.458579877052,0.00465773026849,0.0797637555222,0.9999999201,0.000141977207164,-0.000368529717992,-6.18787566548e-05,1793251942548271616
+250,4.166666667,HOLD_POSE2,768,747,725,696,669,642,901.411830244,786,829.411830244,656,634,658,0.45857953766,0.00465772593867,0.0797635410651,0.999999920208,0.000142495299663,-0.000368043693172,-6.18336001978e-05,1793251942564938496
+251,4.183333333,HOLD_POSE2,768.173603806,747.173603806,725,696,669,642,901.173603806,786,829,656,634,658,0.458579365135,0.00465755106476,0.0797634234462,0.999999920263,0.000142690117554,-0.000367829116168,-6.17658629361e-05,1793251942581605376
+252,4.200000000,HOLD_POSE2,768.752648897,747.752648897,725,696,669,642,901.752648897,786,829,656,634,658,0.458579582318,0.00465697789536,0.0797635319868,0.999999920196,0.000142129947084,-0.000368248489174,-6.16453895494e-05,1793251942598271488
+253,4.216666667,HOLD_POSE2,768.668758217,747.668758217,725,696.331241783,668.668758217,642,901.668758217,786,829,656.331241783,634,658,0.458579125015,0.00465631678528,0.07976330776,0.999999920345,0.000140401120915,-0.000368483251099,-6.17833574358e-05,1793251942614937856
+254,4.233333333,HOLD_POSE2,768.090502585,747.090502585,725,696.909497415,668.090502585,642,901.090502585,786,829,656.909497415,634,658,0.458578164733,0.00465559009604,0.0797628353817,0.999999920651,0.000137800804047,-0.000368580344694,-6.21140503332e-05,1793251942631603968
+255,4.250000000,HOLD_POSE2,768,747.485698736,725,697,668,642.485698736,901.485698736,786,829,656.514301264,634,658,0.458579224613,0.00465559587138,0.0797635980802,0.999999920983,0.00013851815363,-0.000367416546819,-6.20667093881e-05,1793251942648271104
+256,4.266666667,HOLD_POSE2,768,748,725,696.937275235,668.062724765,642.937275235,901.937275235,786,829,656,633.937275235,658,0.458580463133,0.00465576895749,0.0797643637688,0.999999921225,0.000139710164496,-0.000366322679445,-6.19579022302e-05,1793251942664937984
+257,4.283333333,HOLD_POSE2,768,748,725,696.350167909,668.649832091,642.350167909,901.350167909,786,829,656,633.350167909,658,0.458580061406,0.00465620456581,0.0797632385927,0.999999920694,0.000139723977865,-0.000367769340591,-6.19216434014e-05,1793251942681604096
+258,4.300000000,HOLD_POSE2,768,747.766436767,725,696.233563233,669,642.233563233,901.233563233,786,829,656,633.233563233,658,0.458579838358,0.00465634877429,0.079762536399,0.999999920261,0.000139993879175,-0.000368847203769,-6.19067193322e-05,1793251942698270464
+259,4.316666667,HOLD_POSE2,768,747.187695273,725,696.812304727,669,642.812304727,901.812304727,786,829,656,633.812304727,658,0.458579879376,0.00465606232895,0.0797624593224,0.999999919972,0.000140642247544,-0.000369380027949,-6.19233254655e-05,1793251942714937344
+260,4.333333333,HOLD_POSE2,768,747.390952352,725,697,669,642.609047648,902,786.390952352,829,656,633.609047648,658,0.458580570757,0.00465668602644,0.0797631542728,0.999999920131,0.000141715574515,-0.000368543038225,-6.19007427603e-05,1793251942731604480
+261,4.350000000,HOLD_POSE2,768,747.969554972,725,697,669,642.030445028,902,786.969554972,829,656,633.030445028,658,0.458581574302,0.0046577465765,0.0797642197825,0.999999920501,0.000142992874219,-0.000367048561911,-6.18593501016e-05,1793251942748271360
+262,4.366666667,HOLD_POSE2,768.54454665,747.45545335,725,697,668.45545335,642,901.45545335,786.45545335,829,656,633,658,0.458583335277,0.00465758453472,0.0797653554683,0.999999921479,0.000140224349898,-0.000365423778757,-6.20073385007e-05,1793251942764937472
+263,4.383333333,HOLD_POSE2,768.877982228,747.122017772,725,697,668.122017772,642,901.122017772,786,829,656,633.122017772,658,0.458584289002,0.00465740264949,0.0797658097788,0.999999922031,0.000138242784325,-0.000364649323601,-6.21082029699e-05,1793251942781604096
+264,4.400000000,HOLD_POSE2,768.290282711,747.709717289,725,697,668.709717289,642,901.709717289,786,829,656,633.709717289,658,0.458582001304,0.00465740418594,0.0797636487402,0.999999920863,0.000140122250468,-0.00036714777251,-6.19890753042e-05,1793251942798270720
+265,4.416666667,HOLD_POSE2,768,748,725,696.706757564,669,642,901.706757564,786,829,656,634,658,0.458580986544,0.0046574463386,0.0797626386535,0.999999920185,0.000141340782374,-0.000368531133899,-6.1945916496e-05,1793251942814937344
+266,4.433333333,HOLD_POSE2,768,748,725,696.127306694,669,642,901.127306694,786,829,656,634,658,0.458581214188,0.00465752813321,0.079762751911,0.999999919993,0.000141914233747,-0.000368826155204,-6.1976904289e-05,1793251942831603968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,670,642,902,786,830,656,634,658,0.458583697044,0.0046561655898,0.0797647448278,0.999999921605,0.000137946675862,-0.000365898507613,-6.22882690102e-05,1793251942864340992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747,725,696.575298607,668.849402787,642.575298607,902,786,829.424701393,656,634,658,0.458583637011,0.00465686367089,0.0797644239219,0.999999921227,0.000139597906628,-0.000366325602342,-6.2153693951e-05,1793251942881007616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747.155157797,725,697,668.155157797,643,901.844842203,786,829.155157797,656.155157797,634,658,0.458583810327,0.00465782239469,0.0797644018078,0.999999921019,0.000141058666935,-0.000366356991995,-6.20278422904e-05,1793251942897674240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747.747878493,725,697,668.747878493,643,901.252121507,786,829.747878493,656.747878493,634,658,0.458584641715,0.00465951616113,0.079765222321,0.999999921291,0.000141982278937,-0.000365272447754,-6.19265915901e-05,1793251942914340352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.668212112,669,642.668212112,901,786,830,656.668212112,634,658,0.458584248506,0.00465868650799,0.0797654413182,0.999999921458,0.000140346907226,-0.000365454563783,-6.18823008936e-05,1793251942931006720
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,748,725,696.090825135,669,642.090825135,901,786,830,656.090825135,634,658,0.458582948815,0.00465598894583,0.0797652150555,0.999999921538,0.000136817300938,-0.00036657429882,-6.18801736618e-05,1793251942947673088
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.515911853,747.515911853,725,696,669,642.484088147,901,786,829.515911853,656,634,658,0.45858305855,0.00465643693176,0.0797651431157,0.999999921655,0.000137886148916,-0.000365862679991,-6.1822674933e-05,1793251942964339712
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.060087018,747,725,696,668.939912982,642.939912982,901,786,829,656,634,657.939912982,0.45858294258,0.00465736676181,0.0797648651661,0.999999921666,0.000139549479069,-0.000365212088433,-6.17559678949e-05,1793251942981006336
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.649722729,747,725,696,668.350277271,642.350277271,901,786,829,656,634,657.350277271,0.458578518826,0.00465736834597,0.0797625177699,0.999999920699,0.000138887064912,-0.000368112098825,-6.1699199597e-05,1793251942997672960
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,668.235059192,642,901.235059192,786,829,656.235059192,634,657.235059192,0.45856757745,0.00465738558737,0.0797570968645,0.999999917692,0.000138522511259,-0.000376333728297,-6.16509456598e-05,1793251943014339840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,668.814104081,642,901.814104081,786,829,656.814104081,634,657.814104081,0.458547098187,0.00465742574158,0.0797471781848,0.999999911531,0.000138593846803,-0.000392343016546,-6.16151516354e-05,1793251943031006720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.391904002,747.391904002,725,696.391904002,669,642.391904002,902,786,829,656.608095998,634,658,0.45851017568,0.00465790346811,0.079731975637,0.999999900897,0.000139986384957,-0.000418146722769,-6.13431230237e-05,1793251943047673600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.969115305,747.969115305,725,696.969115305,669,642.969115305,902,786,829,656.030884695,634,658,0.458465478172,0.0046585880957,0.079714274672,0.999999887447,0.000142003638483,-0.000448581608036,-6.09593935575e-05,1793251943064339968
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.456132471,748,725,696.456132471,669,642.456132471,901.456132471,786,829,656,634,658,0.458399772412,0.00465809572304,0.0796937929648,0.999999872467,0.000142267089791,-0.000480827479308,-6.02525348599e-05,1793251943081006336
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,748,725,696.121655327,669,642,901,786,829,656.121655327,634,658,0.45833080956,0.00465772336767,0.079675280948,0.999999858422,0.000142891914935,-0.000509126134337,-5.93966003472e-05,1793251943097672704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,748,725,696.711664979,669,642,901,786,829,656.711664979,634,658,0.458253879573,0.00465806922005,0.0796649571257,0.999999851606,0.000145289668059,-0.000521834484967,-5.80370719686e-05,1793251943114339328
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.703973746,669,642,901.296026254,786,829,656.703973746,634,658,0.458170799967,0.00465769502899,0.0796589521713,0.999999847622,0.000146673905896,-0.000529210168322,-5.63929191827e-05,1793251943131006208
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,696.12501112,669,642,901.87498888,786,829,656.12501112,634,658,0.458081842674,0.00465663263383,0.0796570751109,0.999999846458,0.000147089444602,-0.000531488987065,-5.44767277857e-05,1793251943147673088
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.548152266,725,696.451847734,669,642.451847734,902,786,829.451847734,656,634,658,0.457974477918,0.00465524405751,0.0796576934318,0.999999846827,0.000147395248354,-0.000530992761249,-5.16551110864e-05,1793251943164339968
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747.028578966,725,697,669,643,902,786,829.971421034,656,634,658,0.457860691288,0.00465385120662,0.0796588104325,0.999999847359,0.00014805184005,-0.000530101220905,-4.85396250725e-05,1793251943181006592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747.614113661,725,697,669,643,902,786,829.385886339,656,634,658,0.457720541891,0.00465412559227,0.0796562537128,0.999999842957,0.000156133618538,-0.000536398706971,-4.45563356174e-05,1793251943197673216
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,697,669,643,901.801282858,786,829,656.198717142,634,658,0.457568200644,0.0046540623287,0.0796544341551,0.999999839671,0.000162466861184,-0.000540944959285,-4.05154341455e-05,1793251943214339584
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,697,669,643,901.218479322,786,829,656.781520678,634,658,0.457392294643,0.00465334644668,0.0796540394067,0.999999838717,0.000165420480923,-0.000542106374362,-3.63631789262e-05,1793251943231006208
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.641169118,725,696.641169118,669,643,901,786,829,656.641169118,634,658,0.457198374811,0.00465105298989,0.079652467976,0.999999836617,0.00016831390595,-0.000545400624538,-3.12206639499e-05,1793251943247673088
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.06715312,725,696.06715312,669,643,901,786,829,656.06715312,634,658,0.456993652357,0.0046478134868,0.0796501909078,0.99999983379,0.000171171233452,-0.00054997390175,-2.54843057068e-05,1793251943264339712
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.508051274,725,696,669,642.491948726,901,786.508051274,829,656,634,658,0.456762634357,0.00464599406991,0.0796521679177,0.999999836166,0.000175254192279,-0.00054458065822,-1.96443946759e-05,1793251943281006336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,669,642.085787638,901,786.914212362,829,656,634,658,0.456521368147,0.00464440577306,0.0796532410886,0.999999837624,0.000179729388289,-0.000540611518572,-1.37005543842e-05,1793251943297673216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,669,642.677528556,901,786.322471444,829,656,634,658,0.45624020732,0.00464307093705,0.0796456596068,0.999999829948,0.000185560217614,-0.000552828996647,-7.22467771481e-06,1793251943314340096
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,747.736576574,725,696.263423426,669.263423426,643,901,786,829,656,634,658,0.45594924063,0.00464046100966,0.0796477061494,0.999999831575,0.000191268873322,-0.000547965971606,-1.81734292371e-07,1793251943331006720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,747.157682843,725,696.842317157,669.842317157,643,901,786,829,656,634,658,0.455646530662,0.00463632405998,0.0796612830101,0.99999984402,0.000196831216088,-0.000522647697601,7.54031585062e-06,1793251943347673088
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.417294041,725,696.582705959,670.417294041,643,900.582705959,786.417294041,829,656,634,658,0.45532565128,0.004634118983,0.0796769111566,0.999999856316,0.00020417247506,-0.000495454138071,1.43964800892e-05,1793251943364339712
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.990804618,725,696.009195382,670.990804618,643,900.009195382,786.990804618,829,656,634,658,0.454997970077,0.00463263711429,0.079693307214,0.999999867965,0.000212179681774,-0.000467558554397,2.09284945461e-05,1793251943381006336
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,671,643,900,786.435445055,829,656,634,658.564554945,0.454605768858,0.00462902056947,0.0796938697686,0.999999872298,0.000208432473045,-0.000459666021991,2.58305596975e-05,1793251943397672960
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,670.856719981,643,900.143280019,786.143280019,829,656,634,658.856719981,0.454200227659,0.00462543696775,0.0796933409927,0.99999987736,0.000192086458612,-0.000455763749724,2.57286370664e-05,1793251943414339584
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,670.262345098,643,900.737654902,786.737654902,829,656,634,658.262345098,0.453755997655,0.0046220665951,0.0796901886152,0.999999883241,0.000136678082693,-0.00046339800481,9.95605466247e-06,1793251943431006464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.677731825,725,696,670.322268175,643,900.677731825,786.677731825,829,656,634,658,0.45328701005,0.00461692638928,0.0796946713139,0.999999890087,0.000113435174258,-0.000454859643433,7.80524078032e-06,1793251943447673344
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747.100831384,725,696,670.899168616,643,900.100831384,786.100831384,829,656,634,658,0.452798460787,0.00461038779301,0.0797051866798,0.999999899203,0.000115607012351,-0.000433542888816,1.64173302724e-05,1793251943464340480
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.474876246,725,696,671.474876246,643,900,786.474876246,829,656,634,657.525123754,0.452287400927,0.0046072204215,0.079718310815,0.999999907503,0.000110851893687,-0.000415030853983,2.13577974287e-05,1793251943481007104
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747.948490849,725,696,672,643,900,786.948490849,829,656,634,657,0.451770054234,0.00460442476214,0.0797324214438,0.999999915485,0.000107939307893,-0.000395894713284,2.54144704393e-05,1793251943497673472
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747.359567952,725,696,672,643,900,786.359567952,829,656,634,657,0.451236857967,0.00459805762542,0.0797510597074,0.999999923594,0.000139557624951,-0.000364049207359,2.83636983052e-05,1793251943514340352
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.195666705,747,725,696,672,643,899.195666705,786,828.195666705,656,633.195666705,657,0.450112363282,0.00458508161998,0.0798053155201,0.999999949995,0.000176391257713,-0.000261237853099,2.55257502218e-05,1793251943547673344
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,747,725,696,671.715435046,643,899,787,828,656,633.715435046,657,0.445859807438,0.00455533116058,0.0797401951748,0.999999922414,0.000100163261337,-0.000379156622429,3.71483697542e-05,1793251943647673600
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642.813485224,898,787,827,656,633,657,0.441862089573,0.00452073044787,0.0798018660508,0.999999948934,9.98054025324e-05,-0.000299806700426,4.78276512417e-05,1793251943731006208
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642.234739142,898,787,827,656,633,657,0.440973040778,0.00451238950673,0.0797746661206,0.999999938544,8.55638773215e-05,-0.000336609961897,4.77957028463e-05,1793251943747673344
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.077473169,747,725,696,671,642,897.077473169,787,827,656,633.922526831,657,0.439055737224,0.00449940134161,0.0796487945865,0.999999850148,7.72950782906e-05,-0.000539583736214,5.07873121664e-05,1793251943781006848
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,895.343961749,788,826,657,633.828019126,657,0.434682399935,0.00445172532817,0.079864199538,0.99999997494,3.50213833432e-05,-0.000213529967897,5.74372579506e-05,1793251943864339712
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,894.59650517,788,826,656.59650517,634,657,0.433705961355,0.00444249151441,0.0798307419773,0.999999963459,2.47037485509e-05,-0.000263073988853,5.71232336618e-05,1793251943881006592
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,747,725,696.555180984,671,642.444819016,894,788,824.889638032,656,633.444819016,656.444819016,0.43162501425,0.00442435972324,0.0797187145257,0.999999893633,7.61979255907e-06,-0.000457480103817,5.82121023758e-05,1793251943914340608
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,725,696.272254737,671,642,894,788,824,656.727745263,633,656.727745263,0.429736670732,0.00440457452918,0.0797407306049,0.999999910991,-7.54375264921e-06,-0.000417694105496,5.90928955997e-05,1793251943947673344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,747.310992281,725,696,671,642.310992281,894,788.310992281,824,657,633.310992281,657,0.428862332319,0.00439659313615,0.0797978911045,0.999999946736,-1.76472961901e-05,-0.000320359369799,5.98938598121e-05,1793251943964339968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747.887682326,725,696,671,642.887682326,894,788.887682326,824,657,633.887682326,657,0.427968785867,0.00439084470207,0.079852970566,0.999999969589,-2.78733423269e-05,-0.000237112788457,6.18321692951e-05,1793251943981006336
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,747.537232569,725,696.462767431,671,642.537232569,894,788.537232569,823.537232569,657,633.537232569,656.537232569,0.426996303701,0.00440959274852,0.0798303469947,0.999999961619,-1.25826404968e-06,-0.000270082026815,6.17791076924e-05,1793251943997672960
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,747,725,696.961535249,671,642,893.961535249,788,822.961535249,656.961535249,633.038464751,656,0.426004828088,0.00443445693377,0.0797897743227,0.999999943087,3.38852453622e-05,-0.000330088987458,6.09796019575e-05,1793251944014339584
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.214457768,747,725,696.214457768,671,642.214457768,893.214457768,788,821.785542232,656,633.785542232,656.214457768,0.424030788852,0.00448312584483,0.0797360764196,0.999999907834,9.02414112102e-05,-0.000416243604695,5.41278228037e-05,1793251944047673856
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.793453655,747,725,696.793453655,671,642.793453655,893.793453655,788,821.206546345,656,633.206546345,656.793453655,0.423057140767,0.00449306836438,0.0797163006642,0.999999889833,0.000111895272477,-0.000452430201616,5.58524654623e-05,1793251944064340736
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,747,725,694.227555341,671,642.227555341,889.772444659,788.227555341,821,656.772444659,633,656.227555341,0.401026496026,0.00447624046662,0.0798223851561,0.999999944965,0.000123775997732,-0.000302752257405,5.55909507312e-05,1793251944881006080
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,769.134557395,747,725.865442605,694,671,642.865442605,890,788,821,656,633,657,0.400971445972,0.00447896719057,0.0798267949168,0.999999947448,0.000122924239945,-0.000294897952515,5.50438507711e-05,1793251945014339584
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1108a28c89af29a85a368fa53cff097fab980bcc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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+356,5.933333333,pose2_to_pose3_retreat,0.593076318786,0.0100051750538,1.07002097459,0.563647661696,0.0186775816637,1.06963234883
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+358,5.966666667,pose2_to_pose3_retreat,0.592062995983,0.0100050909718,1.07002079454,0.562634340131,0.0186775019733,1.06963217311
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+361,6.016666667,pose2_to_pose3_retreat,0.590672196853,0.0100050645336,1.07002086768,0.561243540675,0.0186774745556,1.06963224907
+362,6.033333333,pose2_to_pose3_retreat,0.590259529655,0.0100051229692,1.0700210303,0.560830873692,0.0186775330907,1.06963239762
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+365,6.083333333,pose2_to_pose3_retreat,0.589177899961,0.010005139432,1.07002086395,0.55974924422,0.018677550803,1.06963224242
+366,6.100000000,pose2_to_pose3_retreat,0.588853224308,0.0100051411395,1.07002086025,0.559424568839,0.0186775533921,1.06963223784
+367,6.116666667,pose2_to_pose3_retreat,0.588543957684,0.0100051471305,1.07002091106,0.55911530148,0.0186775567664,1.06963228591
+368,6.133333333,pose2_to_pose3_retreat,0.588251944071,0.0100051502175,1.07002100929,0.558823286884,0.0186775564238,1.069632382
+369,6.150000000,pose2_to_pose3_retreat,0.58797801389,0.0100051279175,1.07002098492,0.558549358858,0.0186775416891,1.06963236329
+370,6.166666667,pose2_to_pose3_retreat,0.587723773803,0.0100050835301,1.07002096541,0.558295118065,0.0186774950288,1.06963234656
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+373,6.216666667,pose2_to_pose3_retreat,0.587086562212,0.0100051613137,1.07002103708,0.557657906619,0.0186775732186,1.06963241637
+374,6.233333333,pose2_to_pose3_retreat,0.586914186525,0.0100051387781,1.07002097911,0.557485530444,0.0186775490746,1.06963235951
+375,6.250000000,pose2_to_pose3_retreat,0.586760224744,0.0100050970008,1.07002096189,0.557331568824,0.0186775079536,1.06963234479
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+377,6.283333333,pose2_to_pose3_retreat,0.586494225887,0.010005058802,1.07002108824,0.557065571018,0.0186774731348,1.06963246696
+378,6.300000000,pose2_to_pose3_retreat,0.586379693303,0.0100050857221,1.07002104083,0.556951038024,0.0186774983074,1.06963241162
+379,6.316666667,pose2_to_pose3_retreat,0.586275779723,0.0100050791602,1.07002090978,0.556847124493,0.0186774921703,1.06963228643
+380,6.333333333,pose2_to_pose3_retreat,0.586183139356,0.0100051293238,1.07002100371,0.556754483566,0.0186775402009,1.06963237544
+381,6.350000000,pose2_to_pose3_retreat,0.586101311456,0.0100051357674,1.07002116568,0.556672655589,0.0186775459804,1.06963252866
+382,6.366666667,pose2_to_pose3_retreat,0.586030902694,0.010005069899,1.07002114065,0.556602247287,0.0186774819629,1.06963250997
+383,6.383333333,pose2_to_pose3_retreat,0.585971009381,0.010005159277,1.07002110052,0.556542352454,0.0186775665648,1.06963247829
+384,6.400000000,pose2_to_pose3_retreat,0.585921190293,0.0100052380109,1.07002116088,0.556492533896,0.0186776464453,1.06963252414
+385,6.416666667,pose2_to_pose3_retreat,0.585880456716,0.0100051603691,1.07002101049,0.556451800473,0.0186775698027,1.06963238426
+386,6.433333333,pose2_to_pose3_retreat,0.585847401848,0.0100051060725,1.07002099945,0.556418746416,0.0186775182876,1.06963237396
+387,6.450000000,pose2_to_pose3_retreat,0.585821448324,0.0100051228987,1.07002098941,0.556392791143,0.0186775293126,1.06963236689
+388,6.466666667,pose2_to_pose3_retreat,0.585801133634,0.0100051469477,1.07002088023,0.556372476607,0.018677553926,1.06963225869
+389,6.483333333,pose2_to_pose3_retreat,0.585786131975,0.0100051505848,1.07002086918,0.556357476406,0.018677562363,1.06963224416
+390,6.500000000,pose2_to_pose3_retreat,0.585774978127,0.0100051450858,1.07002125319,0.556346321414,0.0186775526832,1.06963262101
+391,6.516666667,pose2_to_pose3_retreat,0.585767189492,0.0100051406448,1.07002106979,0.556338532994,0.0186775492727,1.06963244481
+392,6.533333333,pose2_to_pose3_retreat,0.585762135755,0.0100051606986,1.07002094902,0.556333479143,0.0186775690551,1.06963232682
+393,6.550000000,pose2_to_pose3_retreat,0.585758858165,0.0100051959613,1.07002088983,0.556330201187,0.0186776030482,1.06963226706
+394,6.566666667,pose2_to_pose3_retreat,0.58575680488,0.0100051938693,1.07002087448,0.55632814767,0.01867760011,1.0696322504
+395,6.583333333,pose2_to_pose3_retreat,0.585755491311,0.0100051734972,1.07002088177,0.55632683395,0.0186775791566,1.06963225609
+396,6.600000000,pose2_to_pose3_retreat,0.585754766339,0.0100051622537,1.07002088578,0.556326108895,0.0186775675921,1.06963225923
+397,6.616666667,pose2_to_pose3_retreat,0.585754229627,0.0100051539298,1.07002088876,0.556325572122,0.0186775590307,1.06963226156
+398,6.633333333,pose2_to_pose3_retreat,0.585753926476,0.0100051492283,1.07002089044,0.556325268937,0.018677554195,1.06963226287
+399,6.650000000,pose2_to_pose3_retreat,0.585753875967,0.0100051514208,1.07002089088,0.556325218399,0.0186775562892,1.06963226326
+400,6.666666667,pose2_to_pose3_retreat,0.585753600271,0.0100051699931,1.07002089363,0.556324942499,0.0186775741562,1.06963226578
+401,6.683333333,pose2_to_pose3_retreat,0.585753123206,0.0100052021306,1.0700208984,0.556324465079,0.0186776050735,1.06963227013
+402,6.700000000,pose2_to_pose3_retreat,0.585752909338,0.0100052165379,1.07002090053,0.556324251052,0.0186776189337,1.06963227208
+403,6.716666667,pose2_to_pose3_retreat,0.585752825605,0.0100052221785,1.07002090137,0.556324167258,0.0186776243601,1.06963227284
+404,6.733333333,pose2_to_pose3_retreat,0.585752796203,0.0100052241592,1.07002090166,0.556324137833,0.0186776262656,1.06963227311
+405,6.750000000,pose2_to_pose3_retreat,0.58575272042,0.0100052292643,1.07002090242,0.556324061995,0.0186776311768,1.0696322738
+406,6.766666667,pose2_to_pose3_retreat,0.585752266314,0.0100052598552,1.07002090695,0.556323607552,0.0186776606061,1.06963227794
+407,6.783333333,pose2_to_pose3_retreat,0.585752189355,0.0100052650395,1.07002090772,0.556323530536,0.0186776655936,1.06963227865
+408,6.800000000,pose2_to_pose3_retreat,0.585751492182,0.0100052748627,1.07002083807,0.556322833421,0.0186776756877,1.06963221061
+409,6.816666667,pose2_to_pose3_retreat,0.585751295255,0.0100052696472,1.07002080192,0.556322636634,0.0186776709907,1.06963217538
+410,6.833333333,pose2_to_pose3_retreat,0.585751233402,0.0100052680091,1.07002079056,0.556322574826,0.0186776695154,1.06963216432
+411,6.850000000,pose2_to_pose3_retreat,0.58575118446,0.0100052667129,1.07002078157,0.556322525918,0.0186776683481,1.06963215557
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+413,6.883333333,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102312,1.06963224626
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..150f20ed808037683f7f8049f181f5e8941e7aae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb8263dc9ada4fd98f5ac223dfbf36447f2baeb0bb8f747141835d8163bc8b99
+size 26418159
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a313a37f2b2849d48fdfdb0536c829391bf508f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+24,0.400000000,BASELINE,769,746.069303698,726,694.069303698,671,642.069303698,890,788,821,656.069303698,633,657,0.400970773205,0.00448252656689,0.0798326974898,0.999999950793,0.000122420618085,-0.00028389089689,5.32192414795e-05,1793251945849327872
+25,0.416666667,BASELINE,769,746,725.492906811,694,671,642,890,788,820.492906811,656,633,656.492906811,0.400972692118,0.00447967860652,0.0798337787049,0.999999951865,0.00011811202021,-0.000281854906339,5.36466748629e-05,1793251945865994496
+26,0.433333333,BASELINE,769.085075314,746.085075314,725.085075314,694,671.085075314,642,890,788,820.085075314,656,633,656.085075314,0.400974321612,0.0044769542406,0.0798347476632,0.999999952779,0.000114246935285,-0.000280141894409,5.39526358424e-05,1793251945882661120
+27,0.450000000,BASELINE,769.672815701,746.672815701,725.672815701,694,671.672815701,642,890,788,820.672815701,656,633,656.672815701,0.400972823154,0.0044776800988,0.0798337487724,0.999999951902,0.000117754730042,-0.000281888300787,5.35608440103e-05,1793251945899327744
+28,0.466666667,BASELINE,770,747,725.743167573,694.256832427,671.743167573,642,890.256832427,788,821,656,633,656.743167573,0.40097210242,0.00447885812773,0.0798333864258,0.999999951459,0.00011986116274,-0.000282619651818,5.33008651209e-05,1793251945915994624
+29,0.483333333,BASELINE,770,747,725.163826738,694.836173262,671.163826738,642,890.836173262,788,821,656,633,656.163826738,0.400972358285,0.00448060395431,0.0798338233976,0.999999951576,0.000120207883456,-0.000282076382224,5.3206405784e-05,1793251945932661504
+30,0.500000000,BASELINE,770,747,725.412093457,694.587906543,671,642,891,788,821,656,633,656.412093457,0.400971709819,0.00448051133868,0.0798333716639,0.999999951485,0.000119360466302,-0.00028279425365,5.30195260547e-05,1793251945949328128
+31,0.516666667,BASELINE,770,747,725.986664965,694.013335035,671,642,891,788,821,656,633,656.986664965,0.400970704798,0.00447969387162,0.079832569536,0.999999951309,0.000118042230706,-0.000284009361172,5.27962072989e-05,1793251945965994752
+32,0.533333333,BASELINE,769.436561601,747,726,694.563438399,671,642,890.436561601,788,821,656.563438399,633.563438399,657,0.400969484169,0.0044786642359,0.0798322894601,0.999999951221,0.000115884775429,-0.00028513309076,5.31690996605e-05,1793251945982661376
+33,0.550000000,BASELINE,769,747,726,694.856570754,671.143429246,642,890,788,820.856570754,656.856570754,633.856570754,656.856570754,0.400968962219,0.00447871819448,0.079832359234,0.99999995112,0.000115679021412,-0.000285528827206,5.34001903794e-05,1793251945999327744
+34,0.566666667,BASELINE,769,747,726,694.2667289,671.7332711,642,890,788,820.2667289,656.2667289,633.2667289,656.2667289,0.400970630801,0.00448216044823,0.0798334792817,0.99999995096,0.000121609850969,-0.000283665497725,5.31458434981e-05,1793251946015994368
+35,0.583333333,BASELINE,769,747,725.682807057,694,671.682807057,642.317192943,890,788,820.317192943,656,633,656.317192943,0.400971816343,0.00448357720988,0.0798341890356,0.999999951082,0.000123904159476,-0.000282283441185,5.29189051094e-05,1793251946032661248
+36,0.600000000,BASELINE,769,747,725.103772106,694,671.103772106,642.896227894,890,788,820.896227894,656,633,656.896227894,0.400972603136,0.00448332193307,0.0798345600928,0.999999951457,0.000123196529287,-0.000281298674098,5.27145923385e-05,1793251946049328128
+37,0.616666667,BASELINE,769,746.552607081,725.447392919,694,671,642.552607081,890,788,821,656,633.447392919,656.552607081,0.400972892391,0.00447999807766,0.0798344345362,0.999999952006,0.000118013619286,-0.000281501765509,5.30837340985e-05,1793251946065994752
+38,0.633333333,BASELINE,769,746.007527398,725.992472602,694,671,642.007527398,890,788,821,656,633.992472602,656.007527398,0.40097307301,0.00447600420827,0.0798342005455,0.999999952557,0.000111853546771,-0.000281964221946,5.35780877696e-05,1793251946082661632
+39,0.650000000,BASELINE,769,746.598828822,726,694.598828822,671,642.598828822,890,788,821,656,633.401171178,656.598828822,0.400972591779,0.00447887115201,0.0798343732248,0.999999952017,0.00011629120326,-0.000282139457259,5.32810601877e-05,1793251946099328256
+40,0.666666667,BASELINE,768.806590648,747,725.806590648,695,671.193409352,642.806590648,890,788,821,656,633.193409352,656.806590648,0.400972196445,0.00448105840851,0.0798345294221,0.999999951579,0.000120105460578,-0.000282144648201,5.30287223834e-05,1793251946115995136
+41,0.683333333,BASELINE,768.236608389,747,725.236608389,695,671.763391611,642.236608389,890,788,821,656,633.763391611,656.236608389,0.400971986399,0.00448173524069,0.0798346424408,0.999999951396,0.000122417003044,-0.000281826589354,5.28849732546e-05,1793251946132661760
+42,0.700000000,BASELINE,768.353502173,747,725.353502173,695,671.646497827,642.353502173,890,788,821,656,633.646497827,656.353502173,0.400971875247,0.00448140479078,0.0798345241563,0.999999951489,0.000121826864739,-0.000281725231459,5.30224628318e-05,1793251946149328896
+43,0.716666667,BASELINE,768.957898547,747,725.957898547,695,671.042101453,642.957898547,890,788,821,656,633.042101453,656.957898547,0.400971834283,0.00448035943367,0.0798342417069,0.999999951775,0.000119177290961,-0.000281777674648,5.33595584315e-05,1793251946165996544
+44,0.733333333,BASELINE,769,747,725.466921534,694.466921534,671,643,890,788,821,656,633,657,0.400971970872,0.00447827521936,0.0798342300848,0.99999995203,0.000117134480917,-0.000281730290756,5.3365315018e-05,1793251946182662912
+45,0.750000000,BASELINE,769,747,725.109260182,694,671,642.890739818,890,788,821,656.109260182,633,657,0.400972073393,0.00447696658452,0.0798342305606,0.999999952192,0.00011589787573,-0.000281683168757,5.32816896281e-05,1793251946199329024
+46,0.766666667,BASELINE,769,747,725.699481221,694,671,642.300518779,890,788,821,656.699481221,633,657,0.400971967424,0.00447941443587,0.0798341950272,0.999999951968,0.000118010180367,-0.000281670102133,5.29138145119e-05,1793251946215995648
+47,0.783333333,BASELINE,769,746.715817791,726,694,671,642.284182209,890,788,820.715817791,657,633.284182209,656.715817791,0.400971901354,0.00448115725163,0.0798339972181,0.99999995191,0.000119264095343,-0.000281421015081,5.25279518558e-05,1793251946232662528
+48,0.800000000,BASELINE,769,746.136842882,726,694,671,642.863157118,890,788,820.136842882,657,633.863157118,656.136842882,0.400971876673,0.00448216870824,0.0798336310745,0.999999952026,0.000119627571287,-0.000280927095322,5.21234300157e-05,1793251946249329152
+49,0.816666667,BASELINE,769,746.438954322,726,694,671,642.561045678,890,788,820.438954322,656.561045678,633.561045678,656.438954322,0.400972964842,0.00448086815814,0.0798345737545,0.999999952355,0.000118658753161,-0.000280119965631,5.23702080008e-05,1793251946265995264
+50,0.833333333,BASELINE,769,747,726,694.013791776,671,642,890,788,821,656,633,657,0.400974353713,0.004478940886,0.0798358799946,0.999999952731,0.000117369568386,-0.00027923703202,5.28090061258e-05,1793251946282661376
+51,0.850000000,BASELINE,769,747,726,694.589599299,671,642,890,788,821,656,633,657,0.400973960491,0.00448063465208,0.0798354938949,0.999999952443,0.000119828875265,-0.000279215417777,5.28581693784e-05,1793251946299327744
+52,0.866666667,BASELINE,769,747,726,694.830346978,671,642.169653022,890.169653022,788,821,656,633.169653022,657,0.400973197011,0.00448173398215,0.0798348639282,0.999999952045,0.00012157930532,-0.000279881096181,5.28614386032e-05,1793251946315994368
+53,0.883333333,BASELINE,769,747,726,694.239757792,671,642.760242208,890.760242208,788,821,656,633.760242208,657,0.400971514864,0.00448135842175,0.0798336288891,0.999999951386,0.000121570898952,-0.000282252057083,5.27508374347e-05,1793251946332660992
+54,0.900000000,BASELINE,769.343653294,747,725.656346706,694,671,642.656346706,890.656346706,788,821,656,634,657,0.40097131508,0.00448079755991,0.079833356301,0.999999951466,0.000120681251833,-0.000282363161455,5.26786494899e-05,1793251946349328128
+55,0.916666667,BASELINE,769.922158851,747,725.077841149,694,671,642.077841149,890.077841149,788,821,656,634,657,0.400972128343,0.0044801100633,0.0798337414509,0.999999952051,0.000119189365803,-0.000280929882391,5.2632713102e-05,1793251946365995264
+56,0.933333333,BASELINE,770,747,725,694,671,642.497036987,890,788,821,656.497036987,633.502963013,657,0.40097158592,0.00447942970379,0.079833470575,0.999999951776,0.000118976393426,-0.000281973306977,5.27663968249e-05,1793251946382661888
+57,0.950000000,BASELINE,770,747,725.073082659,694,671,643,890,788,821,657,633.073082659,657,0.400971028046,0.00447909916164,0.0798332850684,0.999999951436,0.000119229516038,-0.000283046239718,5.28902186217e-05,1793251946399328512
+58,0.966666667,BASELINE,770,747,725.661333689,694,671,643,890,788,821,657,633.661333689,657,0.400971847039,0.00448122670193,0.0798344203224,0.999999951591,0.00012136655093,-0.000281612793481,5.2747664785e-05,1793251946415994880
+59,0.983333333,BASELINE,769.754367687,747,726,694,671,643,890,788,821,656.754367687,633.754367687,657,0.400972007532,0.00448172275828,0.0798346248246,0.999999951666,0.000121177178514,-0.000281437010662,5.26909280588e-05,1793251946432661248
+60,1.000000000,BASELINE,769.175432076,747,726,694,671,643,890,788,821,656.175432076,633.175432076,657,0.400971274492,0.00448000502241,0.0798335663716,0.999999951631,0.000117831058742,-0.000282967775778,5.27506382312e-05,1793251946449327872
+61,1.016666667,BASELINE,769,747,725.597652782,694,671,643,890,788,821,656,633.402347218,657,0.400971042407,0.00448013578839,0.0798332330667,0.999999951474,0.000118110132109,-0.000283395535487,5.2809223377e-05,1793251946465994496
+62,1.033333333,BASELINE,769,747,725.020376257,694,671,643,890,788,821,656,633.979623743,657,0.400971028122,0.00448107023134,0.079833215036,0.999999951265,0.000119965338163,-0.000283343739231,5.28673193891e-05,1793251946482661120
+63,1.050000000,BASELINE,768.444726771,747,725.555273229,694,671,642.444726771,890,788,821,656.555273229,633.444726771,657,0.400971242506,0.00448064905275,0.0798337978679,0.999999951308,0.000120991900533,-0.000282743139296,5.29202669867e-05,1793251946499328256
+64,1.066666667,BASELINE,768.133777025,747,726,694,671,642.133777025,890,788.133777025,821,656.866222975,633.133777025,657,0.400971200923,0.0044807340747,0.0798340689092,0.999999951293,0.000121945549071,-0.000282396357892,5.28761827946e-05,1793251946515995136
+65,1.083333333,BASELINE,768.722183217,747,726,694,671,642.722183217,890,788.722183217,821,656.277816783,633.722183217,657,0.400970261025,0.0044827079362,0.0798332056447,0.999999951048,0.000122754442849,-0.000282980396054,5.25029849747e-05,1793251946532662016
+66,1.100000000,BASELINE,769,747,725.694262126,694.305737874,671,642.694262126,890,788.694262126,821,656,633.694262126,657,0.400971103858,0.00448263980454,0.0798338043778,0.999999951387,0.000122610110104,-0.000281850106403,5.24783964076e-05,1793251946549328640
+67,1.116666667,BASELINE,769,747,725.115047113,694.884952887,671,642.115047113,890,788.115047113,821,656,633.115047113,657,0.400973541314,0.00448074514588,0.0798357108419,0.99999995224,0.000121613132993,-0.000279186380707,5.27656326918e-05,1793251946565995008
+68,1.133333333,BASELINE,769,747,725.461023233,695,671,642,890,788,821,656,633,656.538976767,0.400972641349,0.00447961273115,0.0798351231274,0.999999952179,0.000120534664077,-0.000279845501215,5.29133092463e-05,1793251946582661376
+69,1.150000000,BASELINE,769.036274442,747,725.963725558,694.963725558,671.036274442,642,890,788.036274442,821,656.036274442,633,656,0.4009709929,0.00447881650528,0.0798339780941,0.999999951893,0.000119591041551,-0.000281251017849,5.29996074009e-05,1793251946599328000
+70,1.166666667,BASELINE,769.610935656,747,725.389064344,694.389064344,671.610935656,642,890,788.610935656,821,656.610935656,633,656,0.400970512807,0.00448020594338,0.0798337366464,0.999999951674,0.00012094859977,-0.000281510823961,5.26883229277e-05,1793251946615994624
+71,1.183333333,BASELINE,769.80933625,747,725.19066375,694,671.80933625,642,890,788.80933625,821,657,633,656.19066375,0.400970524569,0.00448082513201,0.0798338466572,0.999999951742,0.000120866914628,-0.000281333151852,5.25246464855e-05,1793251946632661504
+72,1.200000000,BASELINE,769.218986409,747,725.781013591,694,671.218986409,642,890,788.218986409,821,657,633,656.781013591,0.4009715674,0.00447982965633,0.0798346934261,0.999999952411,0.000117768161441,-0.000280238399536,5.26703988995e-05,1793251946649328128
+73,1.216666667,BASELINE,769,747,726,694.365004979,671,642,890,788.365004979,821,656.634995021,633,657,0.40097198679,0.00447975391021,0.079835027634,0.999999952454,0.000118368576191,-0.000279809119691,5.28063589561e-05,1793251946665995264
+74,1.233333333,BASELINE,769,747,726,694.945246865,671,642,890,788.945246865,821,656.054753135,633,657,0.400972038548,0.00448022051222,0.0798350595939,0.999999952124,0.000121150324283,-0.000279772257123,5.29365446258e-05,1793251946682662400
+75,1.250000000,BASELINE,769,747,726,694.478918204,671,642.521081796,890,788.478918204,821,656.521081796,633,657,0.400971587862,0.00448081654119,0.0798345447214,0.999999952111,0.000120149702148,-0.000280323828634,5.25360345935e-05,1793251946699329024
+76,1.266666667,BASELINE,769,747,725.902195038,694.097804962,671,642.902195038,890,788,821.097804962,657,633,657,0.400971431585,0.00448139680601,0.0798342591916,0.99999995213,0.000119401515488,-0.000280638960881,5.2210105266e-05,1793251946715995648
+77,1.283333333,BASELINE,769,747,725.318781877,694.681218123,671,642.318781877,890,788,821.681218123,657,633,657,0.400972996998,0.0044818318439,0.0798353952585,0.999999952142,0.000121863435187,-0.000279475739565,5.25290208809e-05,1793251946732661504
+78,1.300000000,BASELINE,769.265148614,747,725,694.734851386,671,642.265148614,890,788,821.734851386,656.734851386,633,657,0.400973528796,0.00448156452949,0.0798358409254,0.999999952299,0.000121734972359,-0.000278957248156,5.25961708484e-05,1793251946749327872
+79,1.316666667,BASELINE,769.849702249,747,725,694.150297751,671,642.849702249,890,788,821.150297751,656.150297751,633,657,0.400972815472,0.00448045114293,0.0798354549181,0.999999952629,0.000118486066155,-0.000279215415501,5.23600372453e-05,1793251946765994496
+80,1.333333333,BASELINE,770,746.572324407,725,694.427675593,671,643,890,787.572324407,821,656,633.427675593,657,0.400973649156,0.00448002761645,0.0798358533349,0.999999952858,0.000118842783795,-0.000278214489712,5.25113293022e-05,1793251946782661120
+81,1.350000000,BASELINE,769.996638804,746.003361196,725.003361196,694.996638804,671,642.996638804,890,787.003361196,821,656,633.996638804,657,0.400975001276,0.00447985227977,0.0798365149061,0.999999953044,0.000120452215666,-0.00027679419579,5.27946102431e-05,1793251946799327744
+82,1.366666667,BASELINE,769.422705234,746.577294766,725.577294766,694.422705234,671,642.422705234,890,787.577294766,821,656,633.422705234,657,0.400973469347,0.00448127709823,0.0798357610833,0.999999952375,0.000122875245175,-0.000278159426872,5.27212820324e-05,1793251946815994880
+83,1.383333333,BASELINE,769.155776633,746.844223367,726,694,671,642,890,788,821,656,633,657,0.400972136728,0.00448201786534,0.079835177805,0.999999951959,0.000123663227222,-0.000279323779286,5.26123691401e-05,1793251946832661760
+84,1.400000000,BASELINE,769.746971789,746.253028211,726,694,671,642,890,788,821,656,633,657,0.400971361211,0.00448084660897,0.0798350712234,0.999999952262,0.000119881012523,-0.000279926646697,5.24039918306e-05,1793251946849328384
+85,1.416666667,BASELINE,769.668614349,746.331385651,726,694.331385651,671,642.331385651,890,788,821,656.331385651,633,657,0.400970928394,0.00447976086078,0.0798348782799,0.999999952396,0.00011763869651,-0.00028036845957,5.25652856537e-05,1793251946865995008
+86,1.433333333,BASELINE,769.089274521,746.910725479,726,694.910725479,671,642.910725479,890,788,821,656.910725479,633,657,0.400970751997,0.00447873909285,0.0798346207177,0.99999995241,0.000116548586051,-0.000280689765847,5.30031801852e-05,1793251946882661376
+87,1.450000000,BASELINE,769,747,726,694.513675143,671,643,890,788,821,657,633.486324857,657,0.40097081795,0.00447971463861,0.0798345238181,0.999999952366,0.000117735731344,-0.000280383114652,5.28328736959e-05,1793251946899328000
+88,1.466666667,BASELINE,769,747,725.93747245,694.06252755,671,643,890.06252755,788,820.93747245,656.93747245,634,657,0.40097120665,0.00448077534462,0.0798346581698,0.999999952397,0.000119099794811,-0.000279745034717,5.25648985855e-05,1793251946915994624
+89,1.483333333,BASELINE,769,747,725.350494252,694.649505748,671,643,890.649505748,788,820.350494252,656.350494252,634,657,0.400973932089,0.00447949855453,0.0798364866614,0.999999953165,0.000118468247774,-0.000277286574264,5.24070223323e-05,1793251946932661248
+90,1.500000000,BASELINE,769.233291721,747,725.233291721,695,671,643,890.766708279,788,820.233291721,656,633.766708279,657,0.400975119213,0.00447978595298,0.0798371337098,0.99999995338,0.000118913513819,-0.000276354930223,5.22214518516e-05,1793251946949327872
+91,1.516666667,BASELINE,769.812346428,747,725.812346428,695,671,643,890.187653572,788,820.812346428,656,633.187653572,657,0.400974026393,0.00448239164425,0.0798360297343,0.999999952778,0.000120954730706,-0.000277686189677,5.1994835613e-05,1793251946965994752
+92,1.533333333,BASELINE,770,746.60835351,726,694.60835351,671,642.60835351,890,788,821,656.39164649,633,657,0.400972350354,0.00448241343464,0.0798353884208,0.999999952211,0.000122246494652,-0.000279090765519,5.23584703144e-05,1793251946982661376
+93,1.550000000,BASELINE,770,746.028935762,726,694.028935762,671,642.028935762,890,788,821,656.971064238,633,657,0.400970394697,0.00448119639808,0.0798349689261,0.99999995166,0.000123178940559,-0.000280530492337,5.3005095303e-05,1793251946999328000
+94,1.566666667,BASELINE,769.454909998,746.545090002,726,694.545090002,671,642,890,788,821,656.454909998,633.545090002,656.454909998,0.400971477705,0.00447971861409,0.0798351332999,0.999999951982,0.000121354933424,-0.000280179710563,5.29954908859e-05,1793251947015994624
+95,1.583333333,BASELINE,769,747,726,694.878283462,671,642.121716538,890,788,821,656.121716538,633.878283462,656.121716538,0.40097231841,0.00447891889373,0.0798352408013,0.999999952236,0.000119987466412,-0.000279886697293,5.28671175033e-05,1793251947032661248
+96,1.600000000,BASELINE,769,747,726,694.290615567,671,642.709384433,890,788,821,656.709384433,633.290615567,656.709384433,0.40097162008,0.00448076738345,0.0798350130972,0.999999952066,0.000120922379506,-0.000280175127251,5.24161265813e-05,1793251947049327872
+97,1.616666667,BASELINE,769.293928564,747,725.706071436,694.293928564,671,642.706071436,890,788,821,656.706071436,633,656.706071436,0.400971556566,0.00448145897338,0.0798351433419,0.999999952153,0.000121047031267,-0.000279846539995,5.22233169145e-05,1793251947065994496
+98,1.633333333,BASELINE,769.875416582,747,725.124583418,694.875416582,671,642.124583418,890,788,821,656.124583418,633,656.124583418,0.400972114112,0.00448101873215,0.0798356237794,0.999999952491,0.000120378979109,-0.000278914305591,5.22830940265e-05,1793251947082661120
+99,1.650000000,BASELINE,770,747,725.453097645,695,671.453097645,642,890,788,821,656,633,656.453097645,0.400971635946,0.00448001927264,0.0798358546929,0.999999952477,0.000120418009713,-0.000278870560341,5.27025798811e-05,1793251947099328000
+100,1.666666667,BASELINE,769.970462374,747,726,695,671.970462374,642.029537626,890,788,821,656,633,657,0.400970897967,0.00447902196923,0.0798359726246,0.999999952331,0.000120799417069,-0.000279135155703,5.31880178967e-05,1793251947115994624
+101,1.683333333,BASELINE,769.397756082,747,726,695,671.397756082,642.602243918,890,788,821,656,633,657,0.400970575435,0.00448086829599,0.0798352640708,0.999999951539,0.000123931414674,-0.000280614857681,5.30826340503e-05,1793251947132661248
+102,1.700000000,BASELINE,769,747,725.819825048,694.819825048,671.180174952,643,890,788,821,656,633,657,0.400970700523,0.00448159751272,0.079834999257,0.999999951272,0.000125113589907,-0.000281054226716,5.3012443834e-05,1793251947149327872
+103,1.716666667,BASELINE,769,747,725.230015443,694.230015443,671.769984557,643,890,788,821,656,633,657,0.400971843295,0.00447978693677,0.0798357433031,0.999999952213,0.000121862768886,-0.000279128358769,5.30222676986e-05,1793251947165994496
+104,1.733333333,BASELINE,769,747,725.352332756,694,671.647667244,643,890.352332756,788,821,656,633.352332756,657,0.400971750526,0.00447974717419,0.079835582062,0.999999952461,0.000119809634027,-0.000279139791588,5.29639125904e-05,1793251947182661632
+105,1.750000000,BASELINE,769,747,725.929910956,694,671.070089044,643,890.929910956,788,821,656,633.929910956,657,0.40097086788,0.00448083948796,0.0798348420731,0.99999995227,0.000118522176596,-0.000280389735718,5.28619708375e-05,1793251947199329280
+106,1.766666667,BASELINE,769.50726989,747,725.49273011,694,671,643,890.49273011,788,821,656.50726989,633.49273011,657,0.400970863688,0.00447972312418,0.0798344600161,0.999999952341,0.000118608020042,-0.000280100733344,5.28528269218e-05,1793251947215995648
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,725,695,671,642,890,788,820,657,634,657,0.400971250041,0.00448274665437,0.0798345456743,0.999999951753,0.000122616349018,-0.000280547307997,5.245749263e-05,1793251947258693888
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746.579909363,725,694.420090637,671,642,890,788.579909363,820.579909363,657,633.420090637,657,0.400971746894,0.00448300340153,0.0798356438342,0.999999952078,0.000123654352905,-0.000278939780707,5.24034821019e-05,1793251947275360000
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,747,725,694.159461037,671,642.159461037,890,788.840538963,820.840538963,656.840538963,633,657,0.40097224405,0.00448219111653,0.0798364993872,0.999999952495,0.000123012235297,-0.00027770567479,5.25043940741e-05,1793251947292026368
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,747,725,694.738072637,671,642.738072637,890,788.261927363,820.261927363,656.261927363,633,657,0.400972742003,0.00447856883212,0.0798367172371,0.999999953148,0.000117953842424,-0.00027745312352,5.30125268469e-05,1793251947308692480
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,747,725.315457423,695,671,643,890,788,820.315457423,656,633,657,0.400973531871,0.00447853144717,0.0798370451298,0.999999953441,0.000117044433977,-0.000276794442151,5.29420863517e-05,1793251947325358592
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,725.891827485,695,671,643,890,788,820.891827485,656,633,657,0.40097456318,0.00448145910783,0.0798374640379,0.999999953447,0.000119566621991,-0.000275799853421,5.23931119015e-05,1793251947342025216
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,890,788,821,656.465048678,633.465048678,657,0.400973948181,0.00448253037062,0.0798373201685,0.999999953108,0.000121010082067,-0.000276415103331,5.2303065206e-05,1793251947358691840
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.038923646,747,726,695,671,642.961076354,890,788,821,657,633.961076354,657,0.40097312317,0.00448288303158,0.0798371066977,0.999999952754,0.000121857023401,-0.000277314170524,5.23508315862e-05,1793251947375358464
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.632481081,747,726,695,671,642.367518919,890,788,821,657,633.367518919,657,0.400974725547,0.00447910769071,0.0798377542096,0.999999953317,0.00011775534679,-0.000276957586425,5.28514721219e-05,1793251947392025344
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,726,694.780560571,671.219439429,642.219439429,890,788,821,656.780560571,633,657,0.400979694222,0.0044780637246,0.0798398524832,0.999999954273,0.000116745875258,-0.000273884709952,5.30274112388e-05,1793251947408692224
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,747,726,694.204331818,671.795668182,642.795668182,890,788,821,656.204331818,633,657,0.400990136202,0.0044814607354,0.0798443095685,0.999999955837,0.00012076405919,-0.000266395379629,5.26754141914e-05,1793251947425358592
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.627620304,747,725.627620304,694.372379696,671.627620304,642.627620304,890,788,821,656,633,656.627620304,0.401019530567,0.00448224486626,0.079854780083,0.999999961012,0.000120754512962,-0.000246330547376,5.21147658733e-05,1793251947442025216
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.050643492,747,725.050643492,694.949356508,671.050643492,642.050643492,890,788,821,656,633,656.050643492,0.401059337967,0.00448159339903,0.0798685545649,0.999999967593,0.000118532005422,-0.000219356338045,5.14394779227e-05,1793251947458691584
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,747,725,695,671.536270708,642,890,788,820.463729292,656,633,656.536270708,0.401117422107,0.00448268319562,0.0798847472872,0.999999974407,0.000119307452741,-0.000185558972115,5.0203720342e-05,1793251947475358208
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,747,725.122649363,695,671.877350637,642.122649363,890,788,820.122649363,656,633,657,0.401180536531,0.00448270914651,0.0799000249347,0.999999979551,0.000118856389945,-0.000156121929701,4.89543119202e-05,1793251947492024832
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,747,725.70345588,695,671.29654412,642.70345588,890,788,820.70345588,656,633,657,0.401255872441,0.00447813523913,0.079911015138,0.999999981925,0.000112746145699,-0.000145425316819,4.78553590449e-05,1793251947508691456
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,747,726,695,671,642.718706912,890,788,820.718706912,656,633,657,0.401339527409,0.00447863139564,0.0799194222231,0.999999983953,0.00011072491232,-0.00013321315681,4.56889723005e-05,1793251947525358592
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,747,726,695,671,642.143967338,890,788,820.143967338,656,633,657,0.401431860859,0.00448441667075,0.0799251345845,0.999999985589,0.000112969357773,-0.000119419970402,4.24090327791e-05,1793251947542026240
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,747,726,694.569385282,671,642,890,788,820.430614718,656,633,657,0.401539696461,0.00448815603102,0.0799303640235,0.999999986461,0.000114347744102,-0.000111700792278,3.90564621312e-05,1793251947558692608
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,747,726,694,671,642.005317051,890,788,821,656,633,657,0.401652990358,0.00449117602911,0.0799354541739,0.999999987097,0.000115377613801,-0.000105929791417,3.56716616501e-05,1793251947575358720
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,747,726,694,671,642.599160735,890,788,821,656,633,657,0.401796984431,0.00449025536957,0.0799429913579,0.999999989321,0.000109868878589,-9.11043630407e-05,3.1406234951e-05,1793251947592025088
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,747,726,694,671,643,890.187394455,788,821,656,633,657,0.401951652042,0.00449042148219,0.0799505926192,0.999999991199,0.000104721967468,-7.69273289658e-05,2.67962116013e-05,1793251947608691712
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,747,726,694,671,643,890.763977107,788,821,656,633,657,0.40212848686,0.0044928446462,0.0799583269576,0.999999992683,0.000100326507614,-6.40969076345e-05,2.14705168764e-05,1793251947625358336
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.338118032,747,725.661881968,694,671,642.661881968,890.661881968,788,821,656,633.338118032,657,0.4023141102,0.00449717676425,0.0799615000816,0.999999993555,9.61019999888e-05,-5.85090081603e-05,1.51884958069e-05,1793251947642024960
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.91056679,747,725.08943321,694,671,642.08943321,890.08943321,788,821,656,633.91056679,657,0.402505824393,0.00450283187198,0.0799615120833,0.999999994056,9.19959693656e-05,-5.79404948531e-05,8.24369781101e-06,1793251947658691584
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.500413124,747,725,694.499586876,671,642.499586876,890,788.499586876,821,656,633.500413124,656.500413124,0.402716777425,0.00450782903548,0.0799577755571,0.999999994066,8.68702267666e-05,-6.57294505453e-05,7.6948611937e-07,1793251947675358464
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,747,725.089608777,695,671.089608777,642.910391223,890,788.910391223,821,656,633,656.089608777,0.402937977041,0.00451198235298,0.0799529825391,0.999999993899,8.05081914294e-05,-7.53157775699e-05,-6.89286917437e-06,1793251947692025344
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,747,725.668351015,695,671.668351015,642.331648985,890,788.331648985,821,656,633,656.668351015,0.403195663823,0.00451219447409,0.0799462111814,0.999999993825,6.84284001945e-05,-8.62663954648e-05,-1.50471486585e-05,1793251947708692480
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,747,726,695,671.753852751,642,890,788,821,656,633,657,0.403478645401,0.00451415419387,0.0799431994841,0.99999999367,6.15193158609e-05,-9.14014772596e-05,-2.28422845456e-05,1793251947725358848
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,747,726,695,671.177326278,642,890,788,821,656,633,657,0.403795577681,0.00451845954332,0.0799452340092,0.999999993715,6.15503631658e-05,-8.87309367715e-05,-3.01553768503e-05,1793251947742025216
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,747,726,695,671,642.405942776,890,788,821,656,633.405942776,657,0.404136231066,0.00452715699363,0.0799527542673,0.999999990748,0.000109005835739,-7.77466632936e-05,-2.40244660795e-05,1793251947758691584
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,726,695,671,642.992206897,890,788,821,656,633.992206897,657,0.404487421449,0.00453780543195,0.0799627113091,0.999999982182,0.000177527420124,-6.3069397355e-05,-1.19216770893e-05,1793251947775358208
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,725.428835066,695,671,643,890.571164934,788,821,656.571164934,633.428835066,657,0.404884453766,0.00454823507904,0.0799602932229,0.99999999511,7.78961511923e-05,-5.76750124664e-05,-1.96656425124e-05,1793251947792024832
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.149731609,747,725.149731609,695,671,642.850268391,890.850268391,788,821,656.850268391,633,657,0.405291071024,0.00455556986951,0.0799568881478,0.999999998072,6.00541867084e-06,-5.58713436101e-05,-2.64110600636e-05,1793251947808691712
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.727460847,747,725.727460847,695,671,642.272539153,890.272539153,788,821,656.272539153,633,657,0.405723320813,0.00455406664611,0.0799511383803,0.99999999732,1.9884459738e-05,-6.3974025023e-05,-2.95379265748e-05,1793251947825358592
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.69665251,747,726,695,671,642.30334749,890.30334749,788,821,656,633,657,0.406178968268,0.00456062253343,0.0799430289068,0.999999994734,5.90239981708e-05,-7.88350112697e-05,-2.88712814615e-05,1793251947842025472
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.122411267,747,726,695,671,642.877588733,890.877588733,788,821,656,633,657,0.406655510229,0.00457437532452,0.0799328121806,0.999999987432,0.000120721532277,-9.97312634398e-05,-2.48169751519e-05,1793251947858692608
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,747,726,695.463621509,671,643,891,788,820.536378491,656,633,657,0.407149313438,0.00458612811499,0.0799296766198,0.999999983819,0.000142513123108,-0.000106060025698,-2.83463847084e-05,1793251947875358976
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.051919474,747,725.948080526,696,671,642.948080526,891,788,820.051919474,656,633,657,0.407651003837,0.00459673097385,0.0799275144579,0.999999981856,0.000151546854629,-0.00011045919588,-3.3458595578e-05,1793251947892025088
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.63078495,747,725.36921505,696,671,642.36921505,891,788,820.63078495,656,633,657,0.408185281059,0.00460116220829,0.0799157606646,0.999999980356,0.000140825910234,-0.000135330308318,-3.37823324974e-05,1793251947908691712
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.791381777,747,725.208618223,696,671,642.208618223,891.208618223,788,821,656,633.208618223,657,0.408752793392,0.00460665707098,0.0799125334726,0.999999979419,0.000138816654848,-0.000143883623213,-3.44781588806e-05,1793251947925358592
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.215366348,747,725.784633652,696,671,642.784633652,891.784633652,788,821,656,633.784633652,657,0.409378835991,0.00461402508735,0.0799243224646,0.999999980133,0.000152149541178,-0.000123699690665,-3.58292714006e-05,1793251947942025216
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746.64361358,725.64361358,696,671,643,892,788.35638642,821,656,634,657,0.410053933091,0.00462174554181,0.0799525606308,0.999999982842,0.000164134902834,-7.74064323661e-05,-3.72102669604e-05,1793251947958692096
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746.074406337,725.074406337,696,671,643,892,788.925593663,821,656,634,657,0.410758323706,0.00462967645904,0.0799906216366,0.999999983766,0.000175315571499,-1.55216483126e-05,-3.86091074105e-05,1793251947975359232
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746.518164664,725.518164664,695.481835336,671,643,892,789,821,656,634,657,0.411426534551,0.00462502433272,0.0799876105827,0.999999986306,0.000159055641458,-2.26979749738e-05,-3.96808203996e-05,1793251947992026112
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,726,695.111013677,671,643,892,788.888986323,821.111013677,656,633.888986323,657,0.412093890646,0.00461638326626,0.0799732999028,0.999999988115,0.000141082086399,-4.69170843695e-05,-4.08066394696e-05,1793251948008692736
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,726,695.690217741,671,643,892,788.309782259,821.690217741,656,633.309782259,657,0.412780586887,0.00459889935024,0.0799373819028,0.999999985298,0.000133284270604,-9.92141447438e-05,-4.23681096965e-05,1793251948025359104
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,892.267781668,788,822.267781668,656,633.267781668,657,0.413503952178,0.00458352737004,0.0799148326919,0.999999984315,0.000115446571519,-0.000127235724283,-4.3045388432e-05,1793251948042025728
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,892.843459834,788,822.843459834,656,633.843459834,657,0.41426947979,0.00457058370036,0.0799076549668,0.999999987276,8.60649712225e-05,-0.000127345259783,-4.27060203146e-05,1793251948058692352
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,726,696.418717062,671,643,893.418717062,788,822.581282938,656,634,657,0.415088252001,0.00457262803059,0.0799278459313,0.999999990443,9.37184284216e-05,-9.23286840769e-05,-4.25084475973e-05,1793251948075358720
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,726,696.993817042,671,643,893.993817042,788,822.006182958,656,634,657,0.415926910018,0.00458027009664,0.0799582585851,0.99999999149,0.000115203782005,-4.41931687385e-05,-4.23638327121e-05,1793251948092024832
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,894,788.583584176,822.583584176,656,634,657,0.416700160943,0.00459351388536,0.079946077417,0.999999988195,0.000125968618972,-7.70184279673e-05,-4.25447850423e-05,1793251948108691712
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,894.170222451,788.829777549,823.170222451,656,634,657,0.417510201816,0.00460138229824,0.0799437395861,0.999999987119,0.000129205496305,-8.47836893568e-05,-4.33643500522e-05,1793251948125358592
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,894.748969055,788.251030945,823.748969055,656,634,657,0.418410242395,0.00459620400901,0.0799661361536,0.999999991924,0.000114655317469,-3.02947316975e-05,-4.57080574108e-05,1793251948142025728
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,895.326881551,788,824.326881551,656,634,657,0.419309185154,0.00459140100215,0.079980931292,0.999999992952,0.000108711674452,2.60314040996e-06,-4.76618186144e-05,1793251948158692352
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,895.904155091,788,824.904155091,656,634,657,0.420207286938,0.00458688546264,0.0799899037179,0.999999992624,0.000109360657686,1.8962190851e-05,-4.93168801668e-05,1793251948175358720
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,895.511562578,788.488437422,825,656,634,657,0.421096457959,0.00459199189487,0.0799772881859,0.999999992413,0.000112702558511,-1.84574623286e-06,-4.96927427736e-05,1793251948192025088
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,895.073228968,789,825,656,634,657.073228968,0.421992098491,0.00459878088727,0.0799657796716,0.999999991626,0.000117552515089,-2.15417536695e-05,-4.96500066249e-05,1793251948208691712
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,895.651903951,789,825,656,634,657.651903951,0.422944664938,0.00460396148288,0.0799915768401,0.999999990337,0.0001291110473,1.75095006726e-05,-4.84757799049e-05,1793251948225358336
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,896.229928799,788.770071201,825,656,634,657.770071201,0.42387274293,0.00460724175291,0.0800014611335,0.999999989288,0.00013636837278,2.42526430773e-05,-4.7322060063e-05,1793251948242024960
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,896.806972252,788.193027748,825,656,634,657.193027748,0.424763851785,0.00460765317535,0.0799873223757,0.999999989372,0.000137132333911,-1.77785211709e-05,-4.61992985268e-05,1793251948258691584
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.618011214,747,726,697,671,643,897,788,825.381988786,656,633.618011214,657,0.425673269011,0.00460919800547,0.0799512441737,0.99999998683,0.000136425951046,-7.41051250452e-05,-4.72948337798e-05,1793251948275358464
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.044013557,747,726,697,671,643,897,788,825.955986443,656,633.044013557,657,0.426591888993,0.0046113125495,0.0799041379841,0.999999980195,0.000134980490848,-0.000137617411525,-4.95054086693e-05,1793251948292025344
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.549041815,747.549041815,726,697.549041815,671,643,897.549041815,788,826,656,633.549041815,657,0.427565037672,0.00460936486073,0.0798971881612,0.999999980164,0.000132104872948,-0.000139869425367,-5.15349119473e-05,1793251948308692224
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.860687953,747.860687953,725.860687953,698,671,643,898.139312047,788,826,656,634,657,0.428542972681,0.00460726854141,0.0799010355211,0.999999981697,0.000128830452479,-0.000131296905399,-5.26335567795e-05,1793251948325358592
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.284126738,747.284126738,725.284126738,698,671,643,898.715873262,788,826,656,634,657,0.429521717062,0.00460576456181,0.0799283043518,0.999999985452,0.000124677113679,-0.000104717881986,-5.08577769061e-05,1793251948342024960
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,747,725.291609498,697.708390502,671,643,899,788,826.291609498,656,634,657.291609498,0.430522426223,0.00460506455064,0.0799705815673,0.999999990215,0.000122092002655,-4.6017116046e-05,-5.0458698808e-05,1793251948358691584
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,747,725.866544157,697.133455843,671,643,899,788,826.866544157,656,634,657.866544157,0.431544476109,0.00460514566804,0.0800274407927,0.999999990392,0.000121030567172,4.38928443588e-05,-5.13972115762e-05,1793251948375358208
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.452564254,747,725.547435746,697,671,643,899,787.547435746,827,656,634,657.547435746,0.432492805754,0.00460806957682,0.080022350603,0.999999990718,0.000122631600043,3.10000691269e-05,-5.06422118655e-05,1793251948392024832
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.9588511,747,725,697,671,643,899,787,827,656,634,657.0411489,0.433417502038,0.00461179945575,0.0799956491252,0.999999990787,0.000125344216812,-1.57993771036e-05,-4.96459278836e-05,1793251948408691712
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.380534215,747,725,697,671,643,899,787,827,656,634,657.619465785,0.434324596741,0.00461483242914,0.0799312936127,0.999999984964,0.000132061078712,-9.95442627428e-05,-5.21828071398e-05,1793251948425358848
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,747,725,697.197227265,671,643.197227265,899.197227265,787,827,656,634,657.802772735,0.435249975501,0.00461537627888,0.079898460015,0.999999979945,0.000130972503264,-0.000141485930185,-5.41975045303e-05,1793251948442025728
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,747,725,697.773920244,671,643.773920244,899.773920244,787,827,656,634,657.226079756,0.436210532988,0.00461113104951,0.0799262746428,0.999999986575,0.000114866250792,-0.000102998124705,-5.52075237741e-05,1793251948458692352
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.349352719,747,725,697.650647281,671,643.650647281,899.650647281,787.349352719,827,656,633.650647281,657,0.43717445107,0.00461030960726,0.0799659970013,0.999999991193,0.00011165932809,-4.68544585958e-05,-5.4327104796e-05,1793251948475358720
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.92397237,747,725,697.07602763,671,643.07602763,899.07602763,787.92397237,827,656,633.07602763,657,0.438140536047,0.00461169586533,0.0800133976094,0.999999991605,0.000116770052629,2.06739215795e-05,-5.22277077666e-05,1793251948492025088
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.487878815,747,725,697,671.512121185,643,899.512121185,787.487878815,827.512121185,656,633.512121185,657,0.439094369287,0.00461305824362,0.0800367885955,0.999999990157,0.000115775860675,5.83574069826e-05,-5.36249180914e-05,1793251948508691712
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643,900,787,827.899574524,656,634,657,0.440019670362,0.00461433045815,0.0800403850434,0.999999989754,0.000114167644656,6.62686747574e-05,-5.53768184406e-05,1793251948525358336
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643,900,787,827.320364437,656,634,657,0.440817849343,0.00461519017158,0.0799670643305,0.999999990849,0.000114070182439,-4.60642914799e-05,-5.62777615958e-05,1793251948542025216
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.256896288,900,787,827.256896288,656,634,657,0.441610724686,0.0046141041037,0.079895758695,0.999999980495,0.00011177791024,-0.000152279826287,-5.76708584637e-05,1793251948558692352
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.83174431,900,787,827.83174431,656,634,657,0.442397035837,0.0046106098089,0.0798269470573,0.999999961038,0.000106769197509,-0.000250924017374,-5.96730773351e-05,1793251948575359488
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,725,697.408052286,672,643.591947714,900,787,828,656,634,657,0.443263685609,0.00460860823311,0.0798539189779,0.999999972321,0.000100591981942,-0.000203987190838,-6.02397831914e-05,1793251948592025856
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,725,697.984964469,672,643.015035531,900,787,828,656,634,657,0.444163581116,0.0046072243729,0.079920527974,0.99999998909,9.39312162481e-05,-9.68061419857e-05,-6.02124458447e-05,1793251948608692224
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,725,697.425637611,672.574362389,643.574362389,900,787,828,656,634,657,0.445031767598,0.00460741940724,0.0799825983385,0.999999993568,9.71552908916e-05,-8.73339636065e-06,-5.78680358928e-05,1793251948625358336
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672.839262287,643.839262287,900,786.839262287,828,656,634,657.160737713,0.445878244329,0.00460654089321,0.0800315157484,0.999999991652,9.89799039542e-05,6.12228988015e-05,-5.61262864145e-05,1793251948642024960
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,725,697,672.261593662,643.261593662,900,786.261593662,828,656,634,657.738406338,0.446670610154,0.00460276815487,0.0800466312939,0.999999990115,9.64884037435e-05,8.55140139199e-05,-5.6108582224e-05,1793251948658691584
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747.314993183,725,697,672,643,900,786.314993183,828.314993183,656,634,658,0.447416817785,0.00460031607208,0.0800375848176,0.999999990902,9.27386440935e-05,7.95169808346e-05,-5.72140697943e-05,1793251948675358208
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747.890684678,725,697,672,643,900,786.890684678,828.890684678,656,634,658,0.448124823388,0.00459895700576,0.0800085410878,0.999999993204,8.79475092855e-05,4.84525177703e-05,-5.92491463338e-05,1793251948692024832
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747.523972537,725,697,672,643,900.476027463,787,829,656,634,658,0.448736768961,0.00459775608105,0.079954271729,0.99999999417,7.98051280097e-05,-4.13840657852e-05,-5.98123460205e-05,1793251948708692480
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.062737283,901,786.937262717,829,656,634,658,0.449334899042,0.00459673103375,0.079899366335,0.999999986566,7.30812966141e-05,-0.000133881534602,-6.0026891073e-05,1793251948725359872
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,643.642076063,901,786.357923937,829,656,634,658,0.450004670647,0.00459684899915,0.0798879110007,0.999999985524,8.45064877415e-05,-0.000134854985421,-6.02113278144e-05,1793251948742025728
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.219867157,725,697,672,644,901,786.219867157,829,656,634,658,0.450673437552,0.00459975732973,0.0799021764143,0.999999988198,9.34405535659e-05,-0.000106000125978,-6.03016993043e-05,1793251948758692096
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,747.795156312,725,697,672,644,901,786.795156312,829,656,634,658,0.451340580263,0.00460717637111,0.079958020206,0.999999992931,9.83476375293e-05,-2.8926888328e-05,-6.0240011176e-05,1793251948775358720
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,748,725,697,671.629527152,643.629527152,901,787,829,656,634,658,0.451934644922,0.00461370615435,0.079979904901,0.999999994039,9.08856277325e-05,-5.78510403506e-06,-6.02299896164e-05,1793251948792025344
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,748,725,697,671.05419542,643.05419542,901,787,829,656,634,658,0.452488299965,0.00461974420879,0.0799830113758,0.999999995175,7.65839304856e-05,-1.24655717773e-05,-6.02485380281e-05,1793251948808691968
+201,3.350000000,POSE1_TO_POSE2_PRESS,767.464830486,748,725,697,671,643,901,787,829,656,634,658,0.452963339519,0.00462048270971,0.0799420815933,0.999999991534,8.73824676383e-05,-7.49689838146e-05,-6.0636102864e-05,1793251948825358592
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.12241716,748,725,696.87758284,671.12241716,643,901,787,829,656,634,658,0.453426384539,0.00462152651935,0.0798979617642,0.999999983091,9.95363081202e-05,-0.00014184954484,-6.15512458314e-05,1793251948842025472
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.696469537,748,725,696.303530463,671.696469537,643,901,787,829,656,634,658,0.453875340429,0.00462572998294,0.0798589681907,0.999999971505,0.000107060109013,-0.000203461263529,-6.42712103534e-05,1793251948858692608
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,748,725,696.273447205,671.453105589,643,901,787,829,656,634,658,0.45431387665,0.004630281422,0.0798307957477,0.999999960371,0.000121803099506,-0.000245810846416,-6.32319875274e-05,1793251948875359232
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,696.85370707,670.292585859,643,901,787,829,656,634,658,0.454740721788,0.00463522329552,0.0798147648093,0.999999952334,0.000144646149792,-0.000266547964956,-5.79748892065e-05,1793251948892026112
+206,3.433333333,POSE1_TO_POSE2_PRESS,768,748,725.438850716,696.561149284,670.438850716,643,901,787,829,656,634,658,0.455138514676,0.0046410123241,0.0798121792686,0.999999950092,0.000157047002851,-0.000267918480638,-5.80758652717e-05,1793251948908692480
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,748,725.974705104,696,670.974705104,643,901,786.974705104,829.025294896,656,634,658,0.455524803834,0.00464681781905,0.0798140242257,0.999999949854,0.00016538915724,-0.000263337448465,-5.9931480552e-05,1793251948925358592
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,748,725.395828987,696,670.395828987,643,901,786.395828987,829.604171013,656,634,658,0.455873668801,0.00464673371239,0.0798136362761,0.999999948222,0.000161944667333,-0.000271385282056,-6.06578102327e-05,1793251948942025216
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,748,725,696.182859393,670,643,901,786,829.817140607,656.182859393,634.182859393,658,0.456207000097,0.00464832441851,0.0798097043831,0.999999946596,0.000149752557468,-0.000283928949372,-6.13741841953e-05,1793251948958692096
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,696.761141725,670,643,901,786,829.238858275,656.761141725,634.761141725,658,0.456506740679,0.00465353681115,0.0797981089163,0.999999944158,0.000118644221938,-0.000306194597752,-6.20690293447e-05,1793251948975358720
+211,3.516666667,POSE1_TO_POSE2_PRESS,767.662827574,747.662827574,725,697,669.662827574,643,901,786,829,656.662827574,634.662827574,658,0.456779793277,0.00465705767582,0.0797849092508,0.999999938504,0.000100721059241,-0.000329964063679,-6.3019051711e-05,1793251948992025600
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+213,3.550000000,POSE1_TO_POSE2_PRESS,767.49812372,747.49812372,725,696.50187628,669.49812372,643,901.49812372,786.49812372,829,656,634,658,0.457267035373,0.00466014469583,0.0797715893888,0.999999930456,9.65842984875e-05,-0.000354364418234,-6.46972618132e-05,1793251949025358848
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696,669.914352226,643,902,787,829,656,634,658,0.457494550225,0.00466149271718,0.0797756934612,0.999999931412,0.000107169184734,-0.000348660011344,-6.42480797225e-05,1793251949042025216
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+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,696,669,643,902,786.754697848,829,656,634,658,0.457914763357,0.00467999955469,0.0797875886246,0.999999929592,0.000169124803523,-0.000330157535329,-5.664403105e-05,1793251949075358464
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+231,3.850000000,POSE1_TO_POSE2_PRESS,768.938410737,748,725,696,668.938410737,642.061589263,901.938410737,786.938410737,829,656,634,658,0.459032286455,0.0046551652949,0.0797567841624,0.999999916264,0.000134593904521,-0.000380510482755,-6.75844337944e-05,1793251949325358592
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768.991341138,747.991341138,725,696.991341138,668,642,901.991341138,786.008658862,829,656,634,658,0.45906038742,0.00466174951847,0.0797533767425,0.99999991343,0.000138877265171,-0.000386474481799,-6.70097058621e-05,1793251949442025472
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747.248652403,725.248652403,696.751347597,668,642.248652403,901.751347597,786,829,656,634,658,0.459062310323,0.00465727015639,0.0797533955423,0.999999914807,0.000131883973452,-0.000385504132945,-6.61815274357e-05,1793251949492025088
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+249,4.150000000,HOLD_POSE2,768,747,725,697,668,642,901,786,829,656,634,658,0.459065554329,0.00466244491688,0.0797528969369,0.999999914071,0.000137069393844,-0.000385574920394,-6.63427239229e-05,1793251949643261696
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+261,4.350000000,HOLD_POSE2,768,747,725,696.967010515,668.967010515,642,901.967010515,786,829.032989485,656.967010515,634,658,0.459067360536,0.00465991825331,0.0797524939498,0.999999914382,0.000135664320261,-0.000385587070736,-6.4455155009e-05,1793251949843261184
+262,4.366666667,HOLD_POSE2,768,747,725,696.442198035,669,642,901.442198035,786,829,656.442198035,633.442198035,658,0.459066557562,0.00466104132892,0.0797508661374,0.999999913581,0.000135679955231,-0.000387613589492,-6.46901110335e-05,1793251949859928320
+263,4.383333333,HOLD_POSE2,768,747,724.854089089,696,668.854089089,642,901.145910911,786,829.145910911,656,633.145910911,658,0.459065817842,0.00466133571486,0.0797494974918,0.999999912972,0.000134701837074,-0.000389496572812,-6.48376309818e-05,1793251949876595200
+264,4.400000000,HOLD_POSE2,768,747,724.276871849,696,668.276871849,642,901.723128151,786,829.723128151,656,633.723128151,658,0.459065419429,0.00465924448252,0.0797493079918,0.999999913051,0.000131252175091,-0.000390494220138,-6.46864176284e-05,1793251949893261824
+265,4.416666667,HOLD_POSE2,768,747.299200377,724.299200377,696,668.299200377,642,902,786,829.700799623,656,634,658,0.459066104423,0.00465864262358,0.0797500117572,0.999999913471,0.000130501997422,-0.000389679877707,-6.4625619463e-05,1793251949909928448
+266,4.433333333,HOLD_POSE2,768,747.874217043,724.874217043,696,668.874217043,642,902,786,829.125782957,656,634,658,0.459067788151,0.00465941373577,0.0797515389747,0.999999914207,0.000132240325325,-0.000387195162023,-6.46481700707e-05,1793251949926594816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,748,725,697,668,643,902,786,829,656,634,658,0.459065355923,0.00465811238986,0.0797486271817,0.999999912267,0.000132366405515,-0.000392114269899,-6.47420454341e-05,1793251949958570240
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,747.420588356,725,696.420588356,668,642.420588356,902,786,829,656,634,658,0.459067013684,0.00465815941457,0.0797500915486,0.999999913271,0.000132416601171,-0.000389576629484,-6.44556273555e-05,1793251949975236864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,668,642,902,786,829,656,633.842038717,658,0.459068427066,0.00465836433894,0.0797512229252,0.999999914073,0.000132461795705,-0.000387510534173,-6.43648869742e-05,1793251949991903488
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,668,642,902,786,829,656,633.265771671,658,0.459069193298,0.0046589874059,0.0797514724922,0.999999914358,0.000132493746511,-0.000386693162249,-6.47923311582e-05,1793251950008570112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,747.309847703,725,696.309847703,668,642,901.690152297,786,829.309847703,656,633.309847703,658,0.459069241873,0.00465992654838,0.079751605313,0.999999914299,0.000133073284871,-0.000386626990713,-6.49063743279e-05,1793251950025236736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,747.88491266,725,696.88491266,668,642,901.11508734,786,829.88491266,656,633.88491266,658,0.459068676161,0.00466113623885,0.0797516382035,0.999999913946,0.000134121536301,-0.000387203816749,-6.47521587247e-05,1793251950041903104
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,748,725,697,668,642,901.47208993,786,829.52791007,656.47208993,633.52791007,658,0.459068017526,0.00466018856649,0.0797514805705,0.999999913984,0.00013372930042,-0.000387223150175,-6.48641914753e-05,1793251950058569472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,747.938922721,725,697,668,642,901.938922721,786,829,656.938922721,633.061077279,658,0.459067125875,0.00465882777731,0.0797510600663,0.999999914024,0.000132869808548,-0.000387394226727,-6.49934114126e-05,1793251950075235840
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,747.360277387,725,697,668,642,901.360277387,786,829,656.360277387,633.639722613,658,0.459064456667,0.00465854030138,0.0797488159435,0.99999991325,0.000131104929423,-0.000390033173274,-6.47037732439e-05,1793251950091902720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,747.217539857,725,697,668,642,901,786,829,656,634,658,0.459056754645,0.00465879810411,0.0797444155356,0.999999910825,0.000130323023405,-0.000396475465276,-6.45972023039e-05,1793251950108569600
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,747.79399081,725,697,668,642,901,786,829,656,634,658,0.459040749165,0.00465995554229,0.0797364575513,0.99999990558,0.00013116288911,-0.000409192758268,-6.47926673466e-05,1793251950125235968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,748,725,697,668.368927943,642,901.368927943,786.368927943,829.368927943,656,634,658,0.459011892698,0.00465997707327,0.0797238935563,0.99999989672,0.000132471171149,-0.000429915022538,-6.46892561946e-05,1793251950141902592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,748,725,697,668.943023268,642,901.943023268,786.943023268,829.943023268,656,634,658,0.458975889567,0.00465936690618,0.0797087680761,0.999999885389,0.000134039947847,-0.000455088994494,-6.4419634671e-05,1793251950158569216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,747.467456019,725,696.467456019,668.467456019,642,902,786.467456019,830,656,634,658.532543981,0.458917483933,0.00465962575544,0.0796885551051,0.999999869489,0.0001363267669,-0.000488236266873,-6.37291518485e-05,1793251950175236352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,747.1210995,725,696.1210995,668.1210995,642.1210995,902,786,830,656,634,658.8789005,0.458853843034,0.00465967970122,0.0796693721898,0.999999854301,0.000138048454116,-0.000518064269254,-6.28479716916e-05,1793251950191903232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747.699590338,725,696.699590338,668.699590338,642.699590338,902,786,830,656,634,658.300409662,0.458779751446,0.00465859808543,0.0796561969503,0.999999847151,0.00013733683096,-0.000532037328135,-6.14216726974e-05,1793251950208569600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.723842387,668.723842387,642.723842387,902,786,830,656,634,658,0.458701341137,0.00465773863684,0.0796487449507,0.999999841996,0.000138171546712,-0.000541619539308,-5.97119298594e-05,1793251950225235968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725,696.149353164,668.149353164,642.149353164,902,786,830,656,634,658,0.458618265341,0.00465711919436,0.0796474757375,0.999999839132,0.000140676764283,-0.000546458340127,-5.76959842274e-05,1793251950241902592
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,748,725,696,668,642,901.564480165,786.435519835,829.564480165,656,634,658,0.458521903684,0.00465799131497,0.0796493816462,0.999999840487,0.00014304351383,-0.000543584755869,-5.54926717559e-05,1793251950258569216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,748,725,696,668.023658527,642,901,787,829.023658527,656,634,658,0.458419637356,0.00465930568098,0.0796523888681,0.999999843254,0.000145375920461,-0.000538079173687,-5.31830347594e-05,1793251950275235840
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,748,725,696,668.602823408,642,901,787,829.602823408,656,634,658,0.45828831993,0.00465870052535,0.0796550643524,0.999999845008,0.000148044137749,-0.000534391305718,-4.99224194133e-05,1793251950291902720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,748,725,696.181106469,669,642.181106469,901,787,830,656,634,658,0.458146774624,0.00465693905911,0.0796574340448,0.999999846401,0.000150208716958,-0.000531506697054,-4.62185581806e-05,1793251950308569344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.757464946,669,642.757464946,901,787,830,656,634,658,0.457982907714,0.00465265402716,0.0796591363678,0.999999847046,0.000151274141488,-0.000530375145281,-4.15473447071e-05,1793251950325236224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747.667547297,725,696.667547297,669.332452703,642.667547297,901,786.667547297,829.667547297,656,634,658,0.457800330263,0.00465031606961,0.0796578190955,0.999999844479,0.000154763995877,-0.00053454452468,-3.67670034793e-05,1793251950341903104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.093555358,725,696.093555358,669.906444642,642.093555358,901,786.093555358,829.093555358,656,634,658,0.457604158891,0.00464939273346,0.0796543079754,0.9999998395,0.000160015288693,-0.00054256522728,-3.19073763983e-05,1793251950358569728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,747.49447255,725,696,669.50552745,642.49447255,901.49447255,786,829,656,634,658,0.457381981986,0.00464832659892,0.0796505998587,0.99999983507,0.000163149260397,-0.000550040886528,-2.63945464514e-05,1793251950375236096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.916432563,748,725,696.083567437,669,643,901.916432563,786,829,656,634,658,0.457148748367,0.00464701278355,0.0796472641523,0.999999831217,0.000166479422613,-0.000556263488228,-2.05486774904e-05,1793251950391902720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.337220046,748,725,696.662779954,669,643,901.337220046,786,829,656,634,658,0.456879971715,0.00464439487931,0.0796463647621,0.99999983048,0.000173418625142,-0.000555683612043,-1.34819475287e-05,1793251950408569600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.240502585,748,725,696.759497415,669.240502585,642.759497415,901,786.240502585,829,656,634,658,0.456593214097,0.00464106146761,0.0796457107451,0.999999829808,0.000180104750507,-0.000554895716828,-6.07589262289e-06,1793251950425236224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.816149003,748,725,696.183850997,669.816149003,642.183850997,901,786.816149003,829,656,634,658,0.45628139976,0.00463673098609,0.0796453986592,0.999999829262,0.000186438208773,-0.000553817944137,1.80301607952e-06,1793251950441902848
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,747.600911747,725,696,670,642,901,786.600911747,829,656.399088253,634,657.600911747,0.455958166403,0.0046337948475,0.0796472027152,0.999999831068,0.000191997770876,-0.000548565538563,8.70652718328e-06,1793251950458569472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,747.014550335,725,696,670,642,901,786.014550335,829,656.985449665,634,657.014550335,0.45562957465,0.00463151300794,0.079649999776,0.99999983391,0.000197194180077,-0.000541354176071,1.51523303047e-05,1793251950475236096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.565378718,747,725,696,670,642.565378718,901,786,829,656.434621282,634,657.565378718,0.455283019598,0.0046267866004,0.0796715002663,0.999999854808,0.000198285948623,-0.00050065096001,2.03971568424e-05,1793251950491902720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.710449005,747.144775497,725,696,670.144775497,643,901,786,829,656,634,658,0.454916574547,0.00462187742497,0.0796892268992,0.999999873406,0.000187196583309,-0.000466565250443,2.15148643707e-05,1793251950508569344
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.553863112,747.723068444,725,696,670.723068444,643,901,786,829,656,634,658,0.454491939448,0.00461660723435,0.0796942279195,0.999999886711,0.000139944645211,-0.000454847033176,1.03657869479e-05,1793251950525235968
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.29911608,748,725,696,671,642.70088392,901,786.29911608,829,656,634,658,0.454036052639,0.00460955799449,0.079696148942,0.999999892536,0.000111575457311,-0.000449916182746,7.43485095834e-06,1793251950541902592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.873100488,748,725,696,671,642.126899512,901,786.873100488,829,656,634,658,0.453551447481,0.00460087392284,0.0796952396463,0.99999989307,0.000100558290054,-0.000451222482722,1.20558540323e-05,1793251950558569216
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.54165049,725,696,671.45834951,642.45834951,900.54165049,787,829,656,634,657.54165049,0.453053631222,0.00459555416579,0.0796999164652,0.999999897759,9.37190540386e-05,-0.000442072888928,1.64326221153e-05,1793251950575236096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.954036072,643,900,787,829,656,634,657,0.452548778374,0.0045912250492,0.0797069794933,0.999999903713,8.90232817726e-05,-0.000429211232727,2.06746510479e-05,1793251950591902720
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.376050544,643,900,787,829,656,634,657,0.452005881452,0.00458730939633,0.0797233099719,0.999999912033,9.54116110758e-05,-0.000407734628866,2.41595076897e-05,1793251950608569600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.202576608,643,900,787.202576608,829,656,634,657.202576608,0.451453037053,0.00458240894781,0.0797426016987,0.999999921102,0.000120115736975,-0.000377649189135,2.73839918033e-05,1793251950625236224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.78239858,643,900,787.78239858,829,656,634,657.78239858,0.45088166814,0.00457567457802,0.0797674079661,0.999999928582,0.000178928189921,-0.000331532069242,3.01236006468e-05,1793251950641903104
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,747.358100663,725,696,672,643,900,787.641899337,828.641899337,656,634,658,0.45027938418,0.0045686233811,0.0797951944064,0.999999944041,0.000175477960639,-0.000283222527405,3.01725194473e-05,1793251950658569472
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747.931327731,725,696,672,643,900,787.068672269,828.068672269,656,634,658,0.449658528249,0.00456138185281,0.0798247711633,0.999999963246,0.0001346238693,-0.000233595905228,2.86050253737e-05,1793251950675235840
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.478327916,747.478327916,725,696,672,642.478327916,899.478327916,787,828,656.521672084,634,657.478327916,0.448955100197,0.00455957691275,0.0798079261265,0.999999955352,0.000120956606102,-0.000271398180356,3.17661543642e-05,1793251950691902464
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.111494056,747,725,696,671.888505944,642.111494056,899,787,828,656.888505944,634,657,0.448230319741,0.00455737968906,0.0797790401661,0.999999940264,0.000109137501607,-0.000326091368767,3.50047127243e-05,1793251950708569344
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.689384992,747,725,696,671.310615008,642.689384992,899,787,828,656.310615008,634,657,0.447463231264,0.0045504461778,0.0797262152723,0.999999914678,8.95707972833e-05,-0.000401664473163,3.58749421795e-05,1793251950725236480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,899,787,828,656,634,657,0.446713282292,0.00454418257673,0.0797084255626,0.999999904898,8.45805600452e-05,-0.000426279047018,3.65616165998e-05,1793251950741903360
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,899,787,828,656,634,657,0.445983251921,0.00453869751183,0.079731352033,0.999999917952,9.65303816971e-05,-0.000391672106968,3.70349725601e-05,1793251950758569984
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,747,725,695.576358547,671,643,899.423641453,787,828,656,634,657,0.4452338372,0.00453145333653,0.0797769406108,0.999999940948,9.90679688824e-05,-0.000326670007838,3.96897327103e-05,1793251950775236608
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.407403483,747,725,695,671,643,899.407403483,787,828,656,634,657,0.443645832548,0.00451587357453,0.0798332487551,0.999999962796,7.61262853663e-05,-0.000257703475801,4.692117049e-05,1793251950808569344
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.171236239,747,725,695.171236239,671,643,898.828763761,787.171236239,827.828763761,656,633.828763761,657,0.442807946091,0.00450841177175,0.0798291996711,0.99999996046,6.62621568519e-05,-0.000268812250622,4.92978093723e-05,1793251950825235712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.748525341,747,725,695.748525341,671,643,898.251474659,787.748525341,827.251474659,656,633.251474659,657,0.441949716587,0.00450139951718,0.0798084101859,0.999999952727,8.35571520065e-05,-0.000291910155508,4.84998931038e-05,1793251950841902592
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.676508308,747,725,696,671.323491692,643,897.676508308,788,827,656,633,657,0.44103832818,0.00449526829579,0.079767572505,0.999999934335,7.93614925805e-05,-0.000350239044548,4.86208776543e-05,1793251950858569216
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.103334763,747,725,696,671.896665237,643,897.103334763,788,827,656,633,657,0.440085909971,0.004489817086,0.0797112609477,0.999999902118,5.85786161264e-05,-0.000435760398571,4.94511007742e-05,1793251950875235840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.483958917,747.483958917,725,696,671.516041083,642.516041083,897,787.516041083,827,656,633.483958917,657,0.439146328244,0.00447948076293,0.0796743551242,0.999999877626,4.95646301468e-05,-0.000489749605527,4.93547550346e-05,1793251950891902720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,747.927528538,725,696,671,642.072471462,896.927528538,787.072471462,826.927528538,656,633.927528538,657,0.438221895895,0.00446839162353,0.0796560757013,0.999999864681,4.28074910239e-05,-0.000516101378924,4.94361110815e-05,1793251950908569856
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,747.352109665,725,696,671,642.647890335,896.352109665,787.647890335,826.352109665,656,633.352109665,657,0.43738300683,0.00445953436725,0.0797374424762,0.999999918557,3.37493262106e-05,-0.000398780050722,5.21649716222e-05,1793251950925236480
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,895.775396186,788,826,656,633.224603814,656.775396186,0.436531260132,0.00445182950698,0.0798096391413,0.999999955824,2.57431219659e-05,-0.000291034897214,5.46701140786e-05,1793251950941902592
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,895,788,826,656.379670427,633.620329573,656.379670427,0.43472615109,0.00443817545736,0.0798703275852,0.999999980106,1.20104546206e-05,-0.000190817480724,5.68530077335e-05,1793251950975235840
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,895,788,826,656.954724848,633.045275152,656.954724848,0.433761636087,0.00442944250044,0.0798450847167,0.999999972665,4.0912758451e-06,-0.000227025962955,5.57915593916e-05,1793251950991902464
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.132815631,747,725,696.132815631,671,642.132815631,894,788,824.867184369,656,633.867184369,657,0.431644652126,0.00440834819333,0.0797204933643,0.99999989361,-1.19520050806e-05,-0.000457206596762,5.99903457367e-05,1793251951025235968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.710936092,747,725,696.710936092,671,642.710936092,894,788,824.289063908,656,633.289063908,657,0.430656054541,0.00440082010038,0.0797005572333,0.999999875771,-1.65773890385e-05,-0.000494431185121,6.10035013598e-05,1793251951041903360
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,725,697,671.865403564,643,894,788,824,656,633,657,0.42888776069,0.00439266633028,0.0798146598468,0.999999955274,-2.62900388967e-05,-0.000291427014398,6.19041556288e-05,1793251951075236352
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.964323374,747,725,696,671,643,893.035676626,788,823,656,633,657,0.427001700937,0.00445658472746,0.0798524545475,0.999999970661,5.61194794435e-05,-0.00022746111985,6.15568854673e-05,1793251951108569344
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.385063892,747,725,696,671,643,893.614936108,788,823,656,633,657,0.425999983374,0.00447273961184,0.0798024757345,0.999999947872,7.53065329659e-05,-0.000308803987957,5.67958645426e-05,1793251951125235712
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.193045617,643,893.806954383,788,822.806954383,656.193045617,633,657,0.424997907875,0.00448506557445,0.0797588296265,0.999999922323,9.24307116467e-05,-0.000379339809801,5.39683659476e-05,1793251951141902336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.768874984,643,893.231125016,788,822.231125016,656.768874984,633,657,0.423995122455,0.004489799298,0.0797277404202,0.999999901144,0.000105464488396,-0.000428446715636,5.4974784356e-05,1793251951158569216
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.321004381,747,725,696,672,642.321004381,893,788,822,656,633,657.321004381,0.419605290904,0.00447590091608,0.0798590950055,0.999999974816,8.33668956889e-05,-0.000201285167367,5.38814469172e-05,1793251951241902592
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.172292858,642.827707142,892.172292858,788,822,656,633,657,0.417800126683,0.00448486359907,0.0797951182378,0.99999994534,9.09492204916e-05,-0.0003137373667,5.11518832748e-05,1793251951275235840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.402037918,642.597962082,892,788,822,656,633,657,0.416952772553,0.00448301609238,0.0797925944641,0.999999940953,8.93739700352e-05,-0.000327799794875,5.1514715722e-05,1793251951291902720
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.976875393,642.023124607,892,788,822,656,633,657,0.416130213326,0.0044787007401,0.0798066112155,0.999999944462,8.65970968569e-05,-0.000317443270327,5.29875411241e-05,1793251951308569088
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.57068889,747,725,696,671.42931111,642.57068889,892,788,821.42931111,656,633.57068889,657,0.415284417435,0.00447748960835,0.0797826670716,0.999999932032,8.68083129598e-05,-0.000354328288061,5.34107708973e-05,1793251951325235968
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,747,725,696,671.737887801,642.262112199,891.262112199,788,821.737887801,656,633.262112199,657,0.413742796438,0.00447842509759,0.0797821072287,0.99999993702,7.7827189127e-05,-0.000342324971635,5.21251555904e-05,1793251951358569472
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,747,725,696,672,642.886344033,891,788,821.113655967,656,633,657,0.41230790955,0.00448302599173,0.0798043120681,0.999999946366,0.000111341070929,-0.000303600377845,5.19484289855e-05,1793251951391902464
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,747,725,695.359378925,672,642.640621075,891,788,821,656,634,657,0.410228381743,0.00448221070711,0.079787843792,0.999999935127,9.90620814988e-05,-0.000342073660398,5.40161337428e-05,1793251951441902336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.781601697,643,891.218398303,788,821,656,634,657,0.409597411066,0.00448525015702,0.0798008477784,0.999999942408,0.000103768934834,-0.000318603423572,5.3920526895e-05,1793251951458569216
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.204812601,643,891.795187399,788,821,656,634,657,0.409021812774,0.00448668465109,0.0798311608737,0.999999957907,0.000100424847104,-0.000266769670168,5.41810000915e-05,1793251951475235840
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.378073636,643,891.621926364,788,821,656,633.621926364,657,0.408452051308,0.00448738704248,0.0798375882802,0.999999960283,9.63161535296e-05,-0.000259181113725,5.46118037289e-05,1793251951491902976
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,671.877591554,642.877591554,890,788,821,656,633,657,0.406752112744,0.00448933726932,0.0797661538191,0.999999916842,0.00012079050192,-0.000385817142233,5.35881513222e-05,1793251951541902592
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,747,725,695,671,642.852448587,890,788,821,656,633.852448587,657,0.405417158456,0.00448874968404,0.079802368473,0.99999994646,0.000108694193308,-0.000304204286167,5.2196332111e-05,1793251951591903232
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a23544ea28e8f0875d109a982987702ffd467d53
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.58575392182,0.0100051113442,1.07002087684,0.556325265546,0.0186775209094,1.06963225604
+396,6.600000000,pose2_to_pose3_retreat,0.585752846849,0.0100052964971,1.07002096156,0.55632418848,0.018677698746,1.06963233608
+397,6.616666667,pose2_to_pose3_retreat,0.585752535434,0.0100053501353,1.0700209861,0.556323876458,0.0186777502647,1.06963235927
+398,6.633333333,pose2_to_pose3_retreat,0.58575245512,0.0100053639686,1.07002099243,0.556323795987,0.0186777635514,1.06963236525
+399,6.650000000,pose2_to_pose3_retreat,0.58575240811,0.0100053720655,1.07002099614,0.556323748886,0.0186777713284,1.06963236875
+400,6.666666667,pose2_to_pose3_retreat,0.585752269188,0.0100053959934,1.07002100709,0.556323609694,0.0186777943107,1.06963237909
+401,6.683333333,pose2_to_pose3_retreat,0.585752055718,0.0100053904176,1.07002100611,0.556323396253,0.0186777888303,1.06963237805
+402,6.700000000,pose2_to_pose3_retreat,0.585752048919,0.0100053875511,1.07002100495,0.556323389482,0.0186777860651,1.06963237694
+403,6.716666667,pose2_to_pose3_retreat,0.585751843126,0.0100053007892,1.07002096981,0.556323184573,0.0186777023711,1.06963234337
+404,6.733333333,pose2_to_pose3_retreat,0.585751585026,0.010005191975,1.07002092574,0.556322927581,0.0186775974043,1.06963230127
+405,6.750000000,pose2_to_pose3_retreat,0.585751337958,0.0100050878117,1.07002088355,0.556322681574,0.0186774969242,1.06963226098
+406,6.766666667,pose2_to_pose3_retreat,0.585751128997,0.0100050469603,1.07002087351,0.556322472823,0.0186774568001,1.0696322513
+407,6.783333333,pose2_to_pose3_retreat,0.585751056091,0.0100051078481,1.07002091079,0.556322398897,0.0186775141443,1.06963228674
+408,6.800000000,pose2_to_pose3_retreat,0.58575103681,0.0100051239505,1.07002092065,0.556322379347,0.0186775293095,1.06963229612
+409,6.816666667,pose2_to_pose3_retreat,0.585750981366,0.0100051702547,1.07002094901,0.556322323127,0.0186775729188,1.06963232307
+410,6.833333333,pose2_to_pose3_retreat,0.585750901796,0.0100052367084,1.0700209897,0.556322242443,0.0186776355049,1.06963236175
+411,6.850000000,pose2_to_pose3_retreat,0.585750893631,0.0100052435269,1.07002099387,0.556322234165,0.0186776419265,1.06963236572
+412,6.866666667,pose2_to_pose3_retreat,0.58575089325,0.0100052438451,1.07002099407,0.556322233778,0.0186776422263,1.06963236591
+413,6.883333333,pose2_to_pose3_retreat,0.585750841613,0.0100052732122,1.07002100679,0.556322182222,0.0186776717984,1.06963237711
+414,6.900000000,pose2_to_pose3_retreat,0.585750814985,0.0100052844124,1.07002100942,0.556322155865,0.0186776838826,1.06963237891
+415,6.916666667,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102311,1.06963224626
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc70eab4cb7bfeb0c6255382f5566602eeb6bd67
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b3ee19ccd5b1ffac5aeef5256689ac5eabc1ec577ae4e9921ad8a931e76bc2b
+size 26418895
diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe429227bea4995724a061184539bd9b084ea141
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/franka_data.csv
@@ -0,0 +1,417 @@
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+0,0.000000000,BASELINE,769,747,725,695,671,643,891,788,821,657,634,656,0.400973617025,0.004481656619,0.0798344135122,0.999999950758,0.000124932890959,-0.00028301929644,5.2683464994e-05,1793251952572327680
+1,0.016666667,BASELINE,769,747,725.578284078,694.421715922,671,643,890.421715922,788,820.421715922,656.421715922,633.421715922,656.578284078,0.400973311008,0.00448278492574,0.079834718362,0.999999950835,0.000126537214039,-0.000282073389527,5.2477571256e-05,1793251952588994304
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+9,0.150000000,BASELINE,769,747,725,694.789766189,671,642.789766189,890,788,820.789766189,656.210233811,633,656.789766189,0.400973497893,0.00448128772036,0.0798350883,0.999999951575,0.000123456507447,-0.000280760011466,5.27454574936e-05,1793251952722327808
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+20,0.333333333,BASELINE,769,747,726,694,671,642,889.400312624,788,821,656.599687376,633,657,0.40097514113,0.00447977840106,0.0798365857625,0.999999952561,0.000120425287649,-0.000278600480631,5.25144499084e-05,1793251952905660928
+21,0.350000000,BASELINE,769.177340943,747,725.822659057,694.177340943,671,642.177340943,889.177340943,788,821,656.822659057,633,657,0.400975698235,0.00447933003729,0.0798369868086,0.999999952748,0.000120397093512,-0.000277938494631,5.25232011036e-05,1793251952922327552
+22,0.366666667,BASELINE,769.751552766,747,725.248447234,694.751552766,671,642.751552766,889.751552766,788,821,656.248447234,633,657,0.400973857507,0.00448010207646,0.0798355369955,0.999999951834,0.000122587597457,-0.000280261061067,5.25159730718e-05,1793251952938994176
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+24,0.400000000,BASELINE,770,747,725,695,671,643,890,788,821,656,633,656.078753078,0.40097351129,0.00448197185199,0.079836517904,0.99999995175,0.000125022505149,-0.000279483692043,5.25215359517e-05,1793251952972327680
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+27,0.450000000,BASELINE,769,746.342223343,725.657776657,694,671,642.342223343,890,788,820.657776657,656,633,657,0.400973369768,0.0044805887788,0.0798359518845,0.999999951869,0.000122911591856,-0.000280061918601,5.21494213142e-05,1793251953022327552
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+44,0.733333333,BASELINE,769,747,725.529719853,694,671,642,890,788.529719853,820.529719853,656,633,657,0.400974347035,0.00448208146004,0.0798367116103,0.999999952158,0.000123216140084,-0.000278970739453,5.17366445224e-05,1793251953305660928
+45,0.750000000,BASELINE,769,746.891842409,726,694,671,642,890,788.891842409,821,656,633,657,0.400974443896,0.00448082765711,0.0798360489814,0.999999952048,0.000122739738703,-0.000279551054574,5.18579581643e-05,1793251953322327552
+46,0.766666667,BASELINE,769,746.317232133,726,694,671,642,890,788.317232133,821,656,633,657,0.40097520569,0.00448176461379,0.0798362847478,0.999999951946,0.000125076035324,-0.0002787781248,5.24118321948e-05,1793251953338994432
+47,0.783333333,BASELINE,769,746,725.737176609,694,671,642,890,788,821,656.262823391,633,657,0.400975341931,0.00448203962488,0.0798364923702,0.999999951941,0.000125616868121,-0.000278528306405,5.25308601504e-05,1793251953355660800
+48,0.800000000,BASELINE,769,746,725.15040945,694,671,642,890,788,821,656.84959055,633,657,0.400974707145,0.00448149875304,0.0798366653037,0.999999952062,0.000123944696844,-0.000278923250422,5.21139173317e-05,1793251953372327424
+49,0.816666667,BASELINE,769,746,725.431182138,694,671,642.431182138,889.568817862,788,821,656.568817862,633,657,0.400974161833,0.0044820032389,0.0798365381407,0.999999951999,0.000123688423031,-0.000279289147823,5.19660110251e-05,1793251953388994304
+50,0.833333333,BASELINE,769,746.010961616,726,694,671,642.989038384,889.021923231,788,821,656,633,656.989038384,0.400973683488,0.00448285324431,0.0798363217524,0.99999995188,0.000123944830051,-0.000279609781347,5.19173525657e-05,1793251953405660928
+51,0.850000000,BASELINE,769,746.58928709,726,694,671,642.41071291,890.17857418,788,821,656,633,656.41071291,0.400975075052,0.004482936806,0.0798368411705,0.999999952094,0.000125476111297,-0.000278105817588,5.22057931645e-05,1793251953422327552
+52,0.866666667,BASELINE,769,747,726,694,671,642,890.833131386,788.166868614,820.833131386,656.166868614,633,656.166868614,0.400976039407,0.00448253092909,0.0798374795665,0.999999952458,0.000125674686889,-0.000276673825185,5.23534630878e-05,1793251953438994432
+53,0.883333333,BASELINE,769,747,726,694,671,642,890.25737285,788.74262715,820.25737285,656.74262715,633,656.74262715,0.400975956942,0.00448092574627,0.0798384095024,0.999999953196,0.000122607639828,-0.000275418189358,5.21561926901e-05,1793251953455661056
+54,0.900000000,BASELINE,769,746.675650937,725.675650937,694,671,642,890,788.675650937,820.324349063,656.675650937,633,657,0.400974775755,0.00448050549502,0.0798377134532,0.999999952949,0.000121505399885,-0.000276815537761,5.20790504404e-05,1793251953472327680
+55,0.916666667,BASELINE,769,746.089108448,725.089108448,694,671,642,890,788.089108448,820.910891552,656.089108448,633,657,0.400972706395,0.00448104310469,0.0798357030094,0.999999951902,0.000121991447431,-0.000280357473968,5.20990159594e-05,1793251953488994304
+56,0.933333333,BASELINE,768.508574712,746.491425288,725.491425288,694,671,642,890,788,821,656,633,657,0.400974161409,0.00448081176844,0.0798363590976,0.999999952371,0.000122619731455,-0.000278423440563,5.19808075346e-05,1793251953505660928
+57,0.950000000,BASELINE,768.141005386,747,726,694.070502693,671,642,890,788,821,656,633,657,0.400975806537,0.00448058539896,0.079837305985,0.999999952948,0.000123263654726,-0.000276076897616,5.18900463619e-05,1793251953522327552
+58,0.966666667,BASELINE,769.293707471,747,726,694.646853735,671,642,890,788,821,656,633,657,0.400974285901,0.00448138297709,0.0798369120791,0.999999952382,0.000123836973579,-0.000277808808201,5.2173808311e-05,1793251953538994176
+59,0.983333333,BASELINE,769.776757205,747,726,695,671,642,889.776757205,788,821,656,633,657,0.400973251395,0.00448172998573,0.07983649508,0.999999951996,0.000124085554015,-0.00027908328113,5.21789211701e-05,1793251953555660800
+60,1.000000000,BASELINE,769.200307907,747,726,695,671,642,889.200307907,788,821,656,633,657,0.400972986024,0.0044813641201,0.0798360415436,0.999999951898,0.000123820345414,-0.000279634013368,5.17431657772e-05,1793251953572327424
+61,1.016666667,BASELINE,769,747,726,694.616018571,671,642.383981429,889.767962858,788,821,656.383981429,633.383981429,657,0.400973398767,0.00448077841802,0.0798363511777,0.999999952072,0.000123143005914,-0.000279273644101,5.19335880017e-05,1793251953588994304
+62,1.033333333,BASELINE,769,747,726,694.027554187,671,642.972445813,890.944891626,788,821,656.972445813,633.972445813,657,0.400974172629,0.0044800756457,0.0798370672254,0.999999952391,0.000122246192942,-0.000278428082775,5.24574707787e-05,1793251953605660928
+63,1.050000000,BASELINE,769,747,726,694.550842708,671,643,890.449157292,788,820.449157292,657,633.449157292,657,0.40097368127,0.00448119160536,0.0798368411168,0.999999952058,0.000124432821857,-0.000278716210208,5.21230960331e-05,1793251953622327552
+64,1.066666667,BASELINE,769,746.87163333,725.87163333,694.87163333,671,643,890,788,820.12836667,656.87163333,633,656.87163333,0.400973248713,0.00448201024585,0.0798364986989,0.999999951719,0.00012620560079,-0.000279179282211,5.18861629248e-05,1793251953638994432
+65,1.083333333,BASELINE,769,746.295429454,725.295429454,694.295429454,671,643,890,788,820.704570546,656.295429454,633,656.295429454,0.400973238129,0.00448147992298,0.0798359119765,0.999999951486,0.000126006124253,-0.000280058396842,5.21362666778e-05,1793251953655661056
+66,1.100000000,BASELINE,769,746.286133699,725,694.286133699,671,642.713866301,890,788,821,656,633,656.286133699,0.400973629517,0.00448090175389,0.0798359739119,0.999999951703,0.000125181731951,-0.000279645395416,5.21755245289e-05,1793251953672327680
+67,1.116666667,BASELINE,769,746.873335819,725,694.873335819,671,642.126664181,890,788,821,656,633,656.873335819,0.400974443858,0.00448027324129,0.0798367183618,0.999999952391,0.000123699806474,-0.000277872835994,5.19929313798e-05,1793251953688994304
+68,1.133333333,BASELINE,769,747,725,694.545853246,671,642,890,788,821,656,633,656.545853246,0.400974941163,0.00448049465469,0.0798372348917,0.999999952565,0.000123268952386,-0.000277442315312,5.19703072294e-05,1793251953705661184
+69,1.150000000,BASELINE,769,746.966809436,725,694,671,642.033190564,889.966809436,788,820.966809436,656,633,656,0.400975290521,0.00448094661065,0.0798376581185,0.999999952595,0.00012317927785,-0.000277368552528,5.2004345355e-05,1793251953722327552
+70,1.166666667,BASELINE,769,746.387919652,725,694,671,642.612080348,889.387919652,788,820.387919652,656,633,656,0.400974641047,0.00448134567282,0.0798375779586,0.999999952564,0.000123946164708,-0.000277091736914,5.22466163347e-05,1793251953738994176
+71,1.183333333,BASELINE,769,746.189784034,725,694.189784034,671,642.810215966,889.189784034,787.810215966,820.189784034,656,633,656,0.400974141625,0.00448178106729,0.0798372523108,0.999999952448,0.000124381876336,-0.000277315100192,5.22352718274e-05,1793251953755661056
+72,1.200000000,BASELINE,769,746.76507849,725,694.76507849,671,642.23492151,889.76507849,787.23492151,820.76507849,656,633,656,0.400973947006,0.00448229026404,0.0798364280006,0.999999952161,0.000124144868168,-0.000278554482374,5.17087554008e-05,1793251953772327936
+73,1.216666667,BASELINE,769,747,725,695,671,642.347224081,890,787.347224081,821,656.347224081,633,656,0.400973717465,0.00448186799497,0.0798360981079,0.999999952117,0.000123770666758,-0.000278869259609,5.17548105312e-05,1793251953788994560
+74,1.233333333,BASELINE,769,747,725,695,671,642.934098211,890,787.934098211,821,656.934098211,633,656,0.400973463822,0.00448080283893,0.0798361094565,0.999999952242,0.000123301776171,-0.00027854588512,5.21960479661e-05,1793251953805661184
+75,1.250000000,BASELINE,769.514341888,747,725.514341888,695,671,642.485658112,890,788,821,656.485658112,632.485658112,656,0.400973098357,0.0044806544773,0.0798359697555,0.999999952073,0.000122899907251,-0.000279309271585,5.22978254405e-05,1793251953822327552
+76,1.266666667,BASELINE,769.906676905,746.906676905,726,695,671,642,890.093323095,787.906676905,821,656,632.093323095,656.093323095,0.400972830079,0.00448059107281,0.0798359689394,0.99999995194,0.000122517861871,-0.000279951486124,5.23208647376e-05,1793251953838994432
+77,1.283333333,BASELINE,769.329890878,746.329890878,726,695,671,642,890.670109122,787.329890878,821,656,632.670109122,656.670109122,0.400973138563,0.00448036699309,0.0798367866068,0.999999952183,0.000122194591944,-0.000279253784675,5.21584552003e-05,1793251953855661056
+78,1.300000000,BASELINE,769,746.246774298,726,695,671,642,890.753225702,787.246774298,821,656,633,656.753225702,0.400973189467,0.00448013154098,0.0798368950366,0.999999952269,0.000122217008542,-0.000278942459773,5.21106907603e-05,1793251953872327424
+79,1.316666667,BASELINE,769,746.823277951,726,695,671,642,890.176722049,787.823277951,821,656,633,656.176722049,0.400972896202,0.00447988089359,0.0798360558131,0.999999952147,0.000122701316849,-0.000279147394892,5.22161102526e-05,1793251953888994304
+80,1.333333333,BASELINE,769.40734587,746.59265413,726,694.59265413,671,642,890,788,821,656,633,656.40734587,0.40097352906,0.004481075981,0.0798366622669,0.999999952187,0.000123520593508,-0.000278661434604,5.21206742945e-05,1793251953905661184
+81,1.350000000,BASELINE,769.994757597,746.005242403,726,694.005242403,671,642,890,788,821,656,633,656.994757597,0.400974571308,0.00448291015055,0.0798379077773,0.999999952297,0.00012448794183,-0.00027787006637,5.19364508767e-05,1793251953922327808
+82,1.366666667,BASELINE,769.425172,746.574828,726,694.574828,671,642,890,788,820.425172,656,633.574828,657,0.40097266813,0.0044826918563,0.0798362796014,0.999999952084,0.000123047779388,-0.000279325395005,5.16628077797e-05,1793251953938994432
+83,1.383333333,BASELINE,769,747,725.846303952,695,671,642.153696048,890,788,820.153696048,656,634,657,0.400971981956,0.00448227669286,0.0798356712765,0.999999952179,0.000121865652608,-0.000279537212538,5.14724679938e-05,1793251953955661312
+84,1.400000000,BASELINE,769,747,725.270555923,695,671,642.729444077,890,788,820.729444077,656,634,657,0.40097471053,0.00448137167599,0.0798379345391,0.999999953133,0.000121451628128,-0.000276278771899,5.1513091611e-05,1793251953972327936
+85,1.416666667,BASELINE,769,747,725.312195081,695,671,642.687804919,889.687804919,788,820.687804919,656,633.687804919,657,0.400975729261,0.00448154155692,0.0798385379675,0.999999953301,0.000122438933807,-0.000275228285258,5.15344107557e-05,1793251953988994304
+86,1.433333333,BASELINE,769,747,725.901154259,695,671,642.098845741,889.098845741,788,820.098845741,656,633.098845741,657,0.400975232198,0.00448266434569,0.0798376699358,0.999999952775,0.000124668532869,-0.000276135172362,5.15386162882e-05,1793251954005660928
+87,1.450000000,BASELINE,769,746.518649258,725.518649258,694.518649258,671,642,889,788,820,656,633,657,0.400974916593,0.0044823325969,0.07983713719,0.999999952714,0.000123716962494,-0.00027676320492,5.16621890855e-05,1793251954022327552
+88,1.466666667,BASELINE,769,746,725,694,671,642,889,788,820,656,633,656.940226833,0.400974763192,0.00448175992648,0.0798367738659,0.999999952761,0.000122438548356,-0.000277137004483,5.17833494641e-05,1793251954038994176
+89,1.483333333,BASELINE,769,746,725,694,671,642,889,788,820,656,633,656.361863423,0.400975699552,0.00448164212424,0.0798372937685,0.99999995296,0.000123890742369,-0.000275793015642,5.1674715254e-05,1793251954055661056
+90,1.500000000,BASELINE,769,746.214200423,725,694,671,642,889.428400846,788,820.214200423,656,633,656.214200423,0.40097568784,0.00448146114908,0.0798374164937,0.999999952943,0.000124652235144,-0.000275508448009,5.16808609508e-05,1793251954072327424
+91,1.516666667,BASELINE,769,746.786420665,725,694,671,642,890.572841329,788,820.786420665,656,633,656.786420665,0.400974091498,0.00448117458518,0.0798368753667,0.999999952571,0.000124259272855,-0.00027699462299,5.18788525975e-05,1793251954088994048
+92,1.533333333,BASELINE,769,747,725.370790343,694.370790343,671,642.370790343,890.629209657,788,821,656,633.370790343,657,0.400974269383,0.00448103487902,0.0798373433523,0.999999952776,0.000123790707062,-0.00027646853677,5.18626349665e-05,1793251954105661184
+93,1.550000000,BASELINE,769,747,725.962395361,694.962395361,671,642.962395361,890.037604639,788,821,656,633.962395361,657,0.400975503864,0.00448098263018,0.0798384122891,0.999999953322,0.000123277117504,-0.000274744100162,5.17188505148e-05,1793251954122327808
+94,1.566666667,BASELINE,769,747,726,694.457598055,671,643,890,788,821,656,633.457598055,657,0.400975227908,0.00448180315011,0.0798379030763,0.999999952871,0.000124978193145,-0.000275634356104,5.16149150885e-05,1793251954138994432
+95,1.583333333,BASELINE,769,747,725.879032478,694,671,642.879032478,890,788,821,656,633,656.879032478,0.400974819987,0.004482199862,0.079837358427,0.999999952509,0.000125791261238,-0.000276580428402,5.1592242727e-05,1793251954155661056
+96,1.600000000,BASELINE,769,747,725.302926361,694,671,642.302926361,890,788,821,656,633,656.302926361,0.400974301302,0.00448077910478,0.0798370834938,0.999999952744,0.000122697607601,-0.000277068739314,5.1865144373e-05,1793251954172327680
+97,1.616666667,BASELINE,769,747,725,694,671,642,890,788,821,656.271816504,633,656.271816504,0.400974754266,0.00448112151332,0.0798370241053,0.999999952796,0.000122865138019,-0.000276796574166,5.19141303875e-05,1793251954188994304
+98,1.633333333,BASELINE,769,747,725,694,671,642,890,788,821,656.845047639,633,656.845047639,0.400976284682,0.004483419079,0.0798372037325,0.999999952643,0.000126648963327,-0.000275681124611,5.17148185588e-05,1793251954205661184
+99,1.650000000,BASELINE,769,747,725.431934023,694,671.431934023,642.431934023,890,788,820.568065977,656.568065977,633,657,0.400976512013,0.00448203693882,0.0798379915438,0.999999953366,0.000122925543492,-0.000274732669222,5.17696049736e-05,1793251954222327552
+100,1.666666667,BASELINE,769.023285483,747,726,694,671.976714517,643,890,788,820.023285483,656.023285483,633,657,0.400976279217,0.00447943121054,0.0798389739982,0.99999995432,0.000116826980535,-0.000273889803194,5.19194469301e-05,1793251954238994176
+101,1.683333333,BASELINE,769.600517223,747,726,694,671.399482777,643,890,788,820.600517223,656.600517223,633,657,0.40097658416,0.00448014570288,0.079839227068,0.999999953835,0.000120385306867,-0.000274087149126,5.20912762048e-05,1793251954255661056
+102,1.700000000,BASELINE,769.823325913,747,725.823325913,694,671,643,890,788,821,656.823325913,633,657,0.400976702685,0.00448071979898,0.0798391718742,0.999999953453,0.000122820909554,-0.000274388024694,5.21648905455e-05,1793251954272327680
+103,1.716666667,BASELINE,769.249584858,747,725.249584858,694,671,643,890,788,821,656.249584858,633,657,0.400976402246,0.00448097836081,0.079838423872,0.999999953324,0.000122733241495,-0.000274921578383,5.20177712722e-05,1793251954288994048
+104,1.733333333,BASELINE,769,747,725.333329168,694.333329168,671,643,890,788,820.666670832,656,633,657,0.40097645893,0.00448134300122,0.0798384273855,0.999999953248,0.000123714952842,-0.000274785780898,5.18866844659e-05,1793251954305660672
+105,1.750000000,BASELINE,769,747,725.923306009,694.923306009,671,643,890,788,820.076693991,656,633,657,0.400976790581,0.00448178931712,0.0798390095305,0.999999953208,0.000125520035679,-0.000274134614764,5.17679418842e-05,1793251954322327296
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,747,725,694,671,642,889,788,821,656,633,657,0.400976075151,0.00448012292795,0.0798372959357,0.999999953689,0.000122113502349,-0.000273901681931,5.18432227917e-05,1793251954353571840
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,747,725,694.581993677,671,642.581993677,889.581993677,788,821,656,633,657,0.400975710283,0.00447978099439,0.0798368966987,0.999999953381,0.000120872113329,-0.000275610818762,5.16412210013e-05,1793251954370238464
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.162068526,747,725.162068526,694.837931474,671,643,890,788,821,656,633,657,0.400975274408,0.0044796495615,0.0798367218154,0.999999953154,0.000120095443305,-0.000276798625202,5.14862462326e-05,1793251954386905344
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.737252376,747,725.737252376,694.262747624,671,643,890,788,821,656,633,657,0.400974657535,0.00448005469819,0.0798371188132,0.999999953146,0.000120503349336,-0.000276657552323,5.14511440684e-05,1793251954403572224
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.679512285,747,726,694.320487715,671,642.679512285,890,788,821,656,633,656.679512285,0.400974886913,0.00448079769935,0.0798376549744,0.999999953102,0.000121907156702,-0.000276187245885,5.1525425857e-05,1793251954420238848
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.089505968,747,726,694.910494032,671,642.089505968,890,788,821,656,633,656.089505968,0.400975827958,0.00448182483233,0.0798383081668,0.999999953024,0.000124148481121,-0.000275440065913,5.16916956039e-05,1793251954436905216
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,747,726,694.509885402,671,642.490114598,890,788,821,656,633,656,0.400975024343,0.00448111250493,0.0798377222935,0.999999952654,0.000123980571732,-0.000276821524776,5.18682413871e-05,1793251954453571840
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.067713126,747,726,694.067713126,671,643,890,788.067713126,821,656,633,656.067713126,0.400974040732,0.00448043630648,0.0798370431152,0.999999952267,0.000123665743558,-0.000278334734714,5.19916213221e-05,1793251954470238464
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.644074299,747,726,694.644074299,671,643,890,788.644074299,821,656,633,656.644074299,0.400974048731,0.00448236822173,0.0798373275576,0.999999952154,0.000125483755749,-0.000277978107206,5.17018251794e-05,1793251954486905088
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,747,726,694.775665027,671.224334973,643,890,788.775665027,821,656,633,657,0.400975098802,0.00448382606407,0.0798379329387,0.999999952204,0.000126842659736,-0.000277205119502,5.15727472079e-05,1793251954503571712
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,747,726,694.189108088,671.810891912,643,890,788.189108088,821,656,633,657,0.400977831453,0.00448451844544,0.0798390565225,0.999999952519,0.000127460265502,-0.00027575985677,5.17031725028e-05,1793251954520238592
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.607334876,746.607334876,725.607334876,694,671.607334876,643,890,788,821,656.392665124,633,657,0.400993093434,0.00448301105915,0.0798453883785,0.999999955938,0.000125260843304,-0.000264136664311,5.16278606627e-05,1793251954536904960
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.027837733,746.027837733,725.027837733,694,671.027837733,643,890,788,821,656.972162267,633,657,0.401014316932,0.00448045701254,0.0798541983564,0.999999960598,0.000121721065208,-0.000247670762062,5.14546580695e-05,1793251954553571840
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,746.551559706,725.551559706,694,671.551559706,643,890,788,821,656.448440294,633.551559706,657,0.401058140365,0.00448137803972,0.0798693287402,0.999999967162,0.000122855112544,-0.000219130822382,5.06432111042e-05,1793251954570238208
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.130132216,747,725.869867784,694,671.869867784,643,889.869867784,788,821,656,633.869867784,657,0.401109080643,0.00448216681812,0.0798849924422,0.999999973276,0.000123381937184,-0.00018908913837,4.97014542459e-05,1793251954586905088
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.705897171,747,725.294102829,694,671.294102829,643,889.294102829,788,821,656,633.294102829,657,0.401180486923,0.00448190220757,0.0799013902812,0.999999979338,0.000121021693637,-0.000155991229866,4.84237475798e-05,1793251954603571712
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.71337713,746.71337713,725.28662287,694.28662287,671,642.71337713,889.28662287,788,821,656.28662287,633,656.71337713,0.401254180559,0.00448242550846,0.079913808092,0.999999982427,0.000119941628772,-0.00013624808707,4.68629173824e-05,1793251954620238336
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.127471613,746.127471613,725.872528387,694.872528387,671,642.127471613,889.872528387,788,821,656.872528387,633,656.127471613,0.401330262575,0.00448377152189,0.0799220700806,0.999999983255,0.000120198286746,-0.000130449575602,4.50064585542e-05,1793251954636904960
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,746,726,694.544809506,671,642.455190494,890,788,821,656.544809506,633,656.455190494,0.401422587234,0.00448506709087,0.0799265614522,0.999999984766,0.000118567047639,-0.000120913595112,4.23042318988e-05,1793251954653571584
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.036573979,746.036573979,726,694.036573979,671,643,889.963426021,788,821,656,633,657,0.401521130612,0.00448640213423,0.0799301284555,0.999999986329,0.000116544457747,-0.000110519806216,3.93026533378e-05,1793251954670238208
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.612402476,746.612402476,726,694.612402476,671,643,889.387597524,788,821,656,633,657,0.401644773204,0.00448852600645,0.0799355249991,0.999999987306,0.000116491631686,-0.000102801028606,3.53548104915e-05,1793251954686904832
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,747,726,695,671,642.812289067,889.187710933,788,821,656,633.187710933,657,0.401778470726,0.00449026602024,0.0799411184402,0.999999988506,0.000114847324861,-9.39782078009e-05,3.10898577551e-05,1793251954703571456
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,747,726,695,671,642.238051524,889.761948476,788,821,656,633.761948476,657,0.401932872932,0.0044912156083,0.0799471173242,0.999999990181,0.000109925906515,-8.28819877558e-05,2.61719259041e-05,1793251954720238080
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.653275729,747,726,695,671,642.346724271,890,788,821,656.346724271,633.653275729,657,0.402101959257,0.00449352073896,0.0799538802725,0.999999991698,0.00010543652835,-7.10634573766e-05,2.09211353441e-05,1793251954736904704
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.061037793,747,726,695,671,642.938962207,890,788,821,656.938962207,633.061037793,657,0.402281443349,0.00449678572242,0.0799611842515,0.99999999303,0.000101253075093,-5.87334616409e-05,1.5434648747e-05,1793251954753571328
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.517360694,747,725.482639306,695,671,643,890,788,821,657,633.517360694,657,0.402480040864,0.00449968953862,0.0799614533166,0.999999993832,9.40687852335e-05,-5.84000422008e-05,8.74301803675e-06,1793251954770238464
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.905998906,746.905998906,725.094001094,695,671,642.905998906,890,788,821,656.905998906,633.905998906,657,0.402685188362,0.0045026929217,0.0799598642254,0.999999994365,8.64400931259e-05,-6.16083781424e-05,1.73487832566e-06,1793251954786905088
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.330218615,746.330218615,725.669781385,695,671,642.330218615,890,788,821,656.330218615,633.330218615,657,0.402912649976,0.00450641930944,0.0799528946131,0.999999994035,7.83009757732e-05,-7.59040844971e-05,-6.18571934223e-06,1793251954803571712
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.251042921,746.251042921,726,695,671.251042921,642.251042921,890.251042921,788,821,656,633,657,0.403160744214,0.00451050641236,0.0799482613648,0.999999993787,7.09073285274e-05,-8.4784981865e-05,-1.45091133883e-05,1793251954820238336
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.839675318,746.839675318,726,695,671.839675318,642.839675318,890.839675318,788,821,656,633,657,0.403436584119,0.00451507858611,0.0799467699382,0.999999993915,6.4516151253e-05,-8.63843246441e-05,-2.3374166599e-05,1793251954836904960
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.579483435,747,725.579483435,695,671.579483435,643,890.579483435,788,821,656,633.420516565,657,0.403740399097,0.00452020510262,0.0799506587049,0.999999994149,6.62564254075e-05,-8.01889685496e-05,-2.96931749668e-05,1793251954853571584
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.001558594,747,725.001558594,695,671.001558594,643,890.001558594,788,821,656,633.998441406,657,0.404054685732,0.0045255391213,0.0799565613923,0.999999994336,7.10404745692e-05,-7.10758911721e-05,-3.50591445053e-05,1793251954870238464
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,747,725.57540825,695,671,643,890.57540825,788,821,656,634,657,0.404431963678,0.00453602741248,0.0799573313835,0.999999988405,0.000134081413083,-6.80698801102e-05,-2.4056308893e-05,1793251954886905344
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,891,788,821,656,633.848302221,657,0.404819434385,0.00454522939825,0.0799577445854,0.999999985877,0.00015424397175,-6.43671735247e-05,-1.76400464882e-05,1793251954903572224
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,747,726,695,671,643,891,788,821,656,633.273892933,657,0.405234832879,0.00455080820545,0.0799572022569,0.999999996503,5.44853364443e-05,-5.86770812395e-05,-2.41277865575e-05,1793251954920238848
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,747,725.690839589,695,671.309160411,642.690839589,891.309160411,788,821,656,633,657,0.405661801689,0.00455783617809,0.0799513672851,0.999999997133,2.34335899121e-05,-6.60510559119e-05,-2.86788149448e-05,1793251954936905472
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,747,725.099907917,695,671.900092083,642.099907917,891.900092083,788,821,656,633,657,0.406099315822,0.00456618493227,0.0799407085561,0.999999994352,5.50018376481e-05,-8.53317249053e-05,-3.14647097719e-05,1793251954953572096
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.480829168,747,725.480829168,695,671.519170832,642.480829168,891.519170832,788.480829168,821,656,633.480829168,657,0.406576158142,0.00457771164368,0.0799329500176,0.999999989353,0.000102599843596,-9.93679361056e-05,-2.99040427346e-05,1793251954970238464
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.940973958,747,725.940973958,695.059026042,671,643,891,788.940973958,821,656,634,657.059026042,0.407064062592,0.00458932166269,0.0799263019589,0.999999982351,0.000148441237593,-0.000111658023279,-2.81942154185e-05,1793251954986905088
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+146,2.433333333,POSE1_TO_POSE2_PRESS,769,747,725.212472236,696,671.212472236,643,891,788,821.212472236,656.212472236,634,657.787527764,0.408111184505,0.00460417717972,0.0799193671575,0.999999979666,0.000151248695952,-0.000128473796916,-3.58743470355e-05,1793251955020238336
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,747,725.800961346,696,671.800961346,643,891,788,821.800961346,656.800961346,634,657.199038654,0.408675381123,0.00461493492515,0.0799097234897,0.99999997747,0.000149722370923,-0.000146158542407,-3.5782086988e-05,1793251955036904960
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,747,726,696,671.616840598,643,891.383159402,788.383159402,821.616840598,656.616840598,634,657,0.409299165883,0.00462491425912,0.0799228687169,0.999999978058,0.000163136702509,-0.00012626117458,-3.64468209021e-05,1793251955053571840
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,747,726,696,671.037857764,643,891.962142236,788.962142236,821.037857764,656.037857764,634,657,0.409953404674,0.00463449576564,0.0799476607932,0.999999978536,0.00018418683931,-8.71565039632e-05,-3.74984359254e-05,1793251955070238464
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,747,726,696,671,643,891.462136384,788.462136384,821,656,634,657,0.410648996958,0.00463632796895,0.0799786424292,0.999999982909,0.000177164780706,-3.56063434811e-05,-3.90776785034e-05,1793251955086905088
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,747,725.886007681,696,671,643,891.227984639,788,821,656,634,657,0.411341087897,0.0046337662393,0.0799997070357,0.99999998548,0.000165503987416,-1.07526770773e-06,-4.05819391344e-05,1793251955103571968
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,747,725.307288312,696,671,643,892.385423377,788,821,656,634,657,0.412007109438,0.00461550145622,0.0799785762282,0.999999988138,0.000142938621735,-3.94777827039e-05,-4.16300213682e-05,1793251955120238592
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,747,725.275403752,696,671,643,892.724596248,788,821.275403752,656.275403752,634,657,0.412696946297,0.00459775151357,0.0799513847281,0.999999987897,0.000127038337399,-7.93162011495e-05,-4.21412913111e-05,1793251955136904960
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+156,2.600000000,POSE1_TO_POSE2_PRESS,769,747,726,696,671.978141097,643,893,788,822,656,634,657,0.414981829859,0.0045700900955,0.0799335771987,0.999999992177,8.25948812256e-05,-8.37475045529e-05,-4.25567208024e-05,1793251955186904832
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,747,726,696,671.399277933,643,893,788,822,656,634,657,0.415793273694,0.00457718844053,0.079951314238,0.999999991179,0.000109664931805,-6.21071900548e-05,-4.19248981512e-05,1793251955203571456
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,747,725.821716763,696.178283237,671,643,893.178283237,788,822.178283237,656,634,657,0.416601507407,0.00458508537216,0.079958783104,0.999999989957,0.000123588408373,-5.52269952242e-05,-4.1977739213e-05,1793251955220238080
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,747,725.247050393,696.752949607,671,643,893.752949607,788,822.752949607,656,634,657,0.4174026039,0.00459475782786,0.0799434223933,0.999999989895,0.000108282662268,-8.11634734784e-05,-4.3552816298e-05,1793251955236904704
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.335130832,747,725.335130832,697,671,643,894.335130832,788,823.335130832,656,634,657,0.418281590761,0.00459808921591,0.0799566129412,0.999999991698,0.000109215815459,-5.08938112555e-05,-4.56708208326e-05,1793251955253571584
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.92297887,747,725.92297887,697,671,643,894.92297887,788,823.92297887,656,634,657,0.419219313561,0.00459663889812,0.0799913335719,0.999999991112,0.000122394482889,2.17600721938e-05,-4.81982386888e-05,1793251955270238464
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.496243872,747,726,697,671,643,895.503756128,788,824,656,634.503756128,657,0.420101907154,0.00459360131915,0.0799856847686,0.999999991624,0.000119711538404,1.23135483498e-05,-4.7630752847e-05,1793251955286905088
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,896,788,824.082833019,656,634.917166981,657,0.420981255462,0.00459090087361,0.0799751223111,0.999999992273,0.000114827205971,-7.38180520712e-06,-4.70562437962e-05,1793251955303571968
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,726,697,671,643,896,788,824.658138794,656,634.341861206,657,0.4218907283,0.00459162767512,0.0799715346206,0.999999992516,0.000111073589034,-1.44132044273e-05,-4.92143342746e-05,1793251955320238592
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,747,726,697.237919032,671,643,896.237919032,788,825,656,634,657,0.422810339165,0.0045952071678,0.079981718522,0.999999992266,0.000113969541697,-4.01104199932e-07,-4.97852281763e-05,1793251955336905216
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,747,726,697.824251853,671,643,896.824251853,788,825,656,634,657,0.423744796511,0.00460296420341,0.0800120698408,0.999999989845,0.000126603267578,4.44275519688e-05,-4.80317972359e-05,1793251955353571584
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,747,726,697.594247172,671,643,897,788,825.405752828,656,634,657,0.424656603309,0.00460844503089,0.079990789972,0.999999989882,0.000133996993815,-8.38295513555e-06,-4.70258517331e-05,1793251955370238208
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,747,726,697.014814472,671,643,897,788,825.985185528,656,634,657,0.42555871463,0.00461295154176,0.0799474097059,0.999999983942,0.00013914777043,-0.000102987276544,-4.63398623072e-05,1793251955386904832
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.437313421,747,726,697.562686579,671,643,897,788,826,656,634,657.562686579,0.42652487012,0.00460870583779,0.0799224826858,0.999999983842,0.000133488180155,-0.00010990941112,-4.91570654363e-05,1793251955403571712
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.139668801,747,725.860331199,698,671.139668801,643,897.139668801,788,826,656,634,657.860331199,0.427487966337,0.00460521677915,0.0799043872167,0.999999983666,0.000128630898198,-0.000116102728802,-5.14058017099e-05,1793251955420238848
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.715190088,747,725.284809912,698,671.715190088,643,897.715190088,788,826,656,634,657.284809912,0.428436271831,0.0046048055399,0.0799060994565,0.999999982494,0.000127162451269,-0.000127201000965,-5.15937347236e-05,1793251955436905216
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,747.290856411,725.290856411,697.709143589,672,643,898,788,826.290856411,656,634,657,0.429393115422,0.00460486506801,0.0799257484586,0.99999998524,0.000125147731356,-0.000105940616232,-5.13292468852e-05,1793251955453571840
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,747.86666479,725.86666479,697.13333521,672,643,898,788,826.86666479,656,634,657,0.43035832373,0.00460538580684,0.079962970103,0.9999999898,0.000122597827741,-5.29784608462e-05,-5.06215223123e-05,1793251955470238464
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,747.546761615,726,697.453238385,672,643.453238385,898.453238385,787.546761615,827,656.453238385,634,657.453238385,0.431401685702,0.00460845677624,0.0800099644624,0.999999991022,0.00012255716358,1.83571399939e-05,-5.09788972312e-05,1793251955486905088
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,747.042050163,725.957949837,698,671.957949837,643.957949837,899,787,827,656.957949837,634,657.957949837,0.432454465529,0.0046123611751,0.0800512947801,0.999999987679,0.000123695387236,8.1687370749e-05,-5.16614610849e-05,1793251955503571968
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,747.61808864,725.38191136,698,671.38191136,643.38191136,899,787,827,656.38191136,634,657.38191136,0.433327771181,0.00461709024546,0.079983301248,0.999999989788,0.000130202072051,-2.69506624901e-05,-5.23977559139e-05,1793251955520238336
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,748,725.193797115,697.806202885,671,643,899,787,827,656,634,657.193797115,0.434226629713,0.00461889244837,0.0799296204026,0.999999984017,0.000132378790255,-0.00010752721917,-5.36689139986e-05,1793251955536904960
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,748,725.768856472,697.231143528,671,643,899,787,827,656,634,657.768856472,0.435175759261,0.00461493654765,0.079904097276,0.999999981659,0.000126037053134,-0.000132897703551,-5.5992323974e-05,1793251955553571840
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,747.645401718,725.645401718,697,671.354598282,643.354598282,899,787,827,656,634,657.645401718,0.43612823676,0.00461238088372,0.079919166144,0.999999984866,0.000121264276011,-0.000111603611087,-5.57449250546e-05,1793251955570238464
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,747.052480339,725.052480339,697,671.947519661,643.947519661,899,787,827,656,634,657.052480339,0.437082964337,0.00461076630968,0.0799615166177,0.999999989909,0.000117545986401,-5.89465715796e-05,-5.37697026835e-05,1793251955586905088
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747.526360949,725,697.526360949,672,644,899.526360949,788.052721898,827.526360949,656.526360949,634.526360949,657.526360949,0.438086650511,0.00461243244197,0.0800053584374,0.999999991992,0.000113586045882,1.23828765581e-05,-5.44116540602e-05,1793251955603571968
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.896776269,748,725,698,672.103223731,643.896776269,900,788.896776269,828,656.896776269,634.896776269,658,0.439074472709,0.004614465573,0.0800397885896,0.999999989937,0.000110872798108,6.91319554799e-05,-5.52566697764e-05,1793251955620238336
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.322701643,748,725,698,672.677298357,643.322701643,900,788.322701643,828,656.322701643,634.322701643,658,0.439968245907,0.00461671957363,0.0800306272096,0.999999990641,0.000113953330193,5.11023700318e-05,-5.5868686071e-05,1793251955636905216
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.25800257,748,725,698,672.74199743,643,900,787.74199743,828,656,634,658,0.440795268922,0.0046196759915,0.0799809814458,0.999999991099,0.000117485038843,-2.79974256621e-05,-5.67044357784e-05,1793251955653571840
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.847217511,748,725,698,672.152782489,643,900,787.152782489,828,656,634,658,0.441536600916,0.00462353414162,0.0798793636085,0.999999973731,0.00012159594588,-0.000185496474831,-5.78274035834e-05,1793251955670238464
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.570644574,747.570644574,725,698,672,643.429355426,900,787,828,656,634,658,0.442374456784,0.00461852558879,0.0798459209306,0.99999996587,0.000116166964009,-0.000226344159938,-5.9440169134e-05,1793251955686905344
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,747,725,697.991058764,672,644,900,787,828.008941236,656,634,658,0.443246936614,0.0046104792636,0.0798377731515,0.999999967166,0.000107365625177,-0.000224499560669,-6.11619534781e-05,1793251955703571968
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,747,725,697.416200114,672,644,900,787,828.583799886,656,634,658,0.444172180697,0.0046066233617,0.0799200539956,0.999999988076,9.64936346458e-05,-0.000105183976973,-5.89313562874e-05,1793251955720238592
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,747,725,697,672,644,900,786.840978866,828.840978866,656,634,658,0.445074349964,0.0046032753722,0.0799914729705,0.999999994367,8.94174021535e-05,-2.01006473927e-06,-5.71517601407e-05,1793251955736905216
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,747,725,697,672,644,900,786.264806309,828.264806309,656,634,658,0.445915988533,0.00460125976067,0.0800343986171,0.999999992411,9.22983742343e-05,5.88203081313e-05,-5.65552516054e-05,1793251955753572096
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,747,725.319003197,696.680996803,672,644,900,786.319003197,828,656,634,658,0.44671289323,0.00460163751261,0.0800522092441,0.999999989581,9.66155733933e-05,9.09338033502e-05,-5.6871042734e-05,1793251955770238720
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,747,725.90930763,696.09069237,672,644,900,786.90930763,828,656,634,658,0.447471753259,0.00460405073793,0.0800486604087,0.999999988239,0.000102154234273,9.86245792667e-05,-5.79627134813e-05,1793251955786905344
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,747,725.511640605,696,672,644,900.488359395,787,828.488359395,656,634,658,0.44815878452,0.00460598054983,0.0800061009749,0.999999993745,8.64866573415e-05,3.85343199203e-05,-5.9545398824e-05,1793251955803572224
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,747,725,696.065296012,672,644,900.934703988,786.934703988,829,656,634,658,0.448828582299,0.00460753782746,0.0799562280792,0.999999995005,7.1097929145e-05,-3.48584392505e-05,-6.09950315889e-05,1793251955820239360
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,747,725,696.641665178,672,644,900.358334822,786.358334822,829,656,634,658,0.44946554791,0.00460686610794,0.0799045389975,0.999999987548,8.80216703867e-05,-0.000116066540851,-6.07056257095e-05,1793251955836905984
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,747.217440183,725,697,672,643.782559817,900,786.217440183,829,656,634,658,0.450121395277,0.00460500617513,0.0798833691487,0.999999982371,9.93740674047e-05,-0.000147359295235,-6.05709840093e-05,1793251955853572352
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,747.792238641,725,697,672,643.207761359,900,786.792238641,829,656,634,658,0.450808274341,0.00460119343932,0.0799123570098,0.999999988333,0.000101570078682,-9.6617240046e-05,-6.0690694395e-05,1793251955870238720
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.379773289,900.759546578,786.620226711,828.620226711,656,634,658,0.451459975115,0.00460133545616,0.0799486608919,0.999999993391,8.62186696986e-05,-4.6293495847e-05,-6.03429063482e-05,1793251955886905344
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,748,725,697,672,643.974517313,901.949034625,786.025482687,828.025482687,656,634,658,0.452091763277,0.00460371606105,0.0799891060118,0.999999996352,6.09345405924e-05,3.79346816089e-06,-5.97304906504e-05,1793251955903571968
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,748,725,697,671.448054672,644,901.448054672,786,828.551945328,656,634,658,0.452624732782,0.00460906818326,0.0799669516887,0.999999995224,6.77268663366e-05,-3.7184050424e-05,-5.98497908414e-05,1793251955920238592
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,747.872581052,725,697,671,644,901,786.127418948,829,656,634,658,0.453142291251,0.00461418899711,0.0799361929699,0.99999999124,7.74643511984e-05,-8.86074252217e-05,-6.05629977539e-05,1793251955936905216
+202,3.366666667,POSE1_TO_POSE2_PRESS,768,747.301215965,725,697,671,644,901,786.698784035,829,656,634,658,0.453621567923,0.00461804044491,0.0798852186609,0.999999980568,9.24603660643e-05,-0.000162222734831,-6.32313394492e-05,1793251955953571840
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,747.281031691,725,697,671,643.718968309,901,787,829,656,634,658,0.454083699227,0.00462127414982,0.0798461794789,0.999999968316,0.000104184790504,-0.000219812403118,-6.47695725143e-05,1793251955970238464
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,747.875413364,725,697,671,643.124586636,901,787,829,656,634,658,0.454526713441,0.00462381907195,0.0798204479517,0.999999957904,0.000112261395155,-0.0002595334976,-6.50477359413e-05,1793251955986904832
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,748,725,697,671,643.456726408,901,787,829,656,634,658,0.454966941701,0.00462929545479,0.0798135536089,0.999999954097,0.000129397789887,-0.000266747591621,-6.25206099025e-05,1793251956003571712
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.03449028,748,725,697,671,643.96550972,901.03449028,787,829,656.03449028,634,658.03449028,0.455403254465,0.0046353433391,0.079811876666,0.999999952016,0.000147765492141,-0.000265689665825,-5.9515011026e-05,1793251956020238336
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.610942893,748,725,697,671,643.389057107,901.610942893,787,829,656.610942893,634,658.610942893,0.455789650603,0.00463815576972,0.0798136865322,0.999999950767,0.000147728143322,-0.000270109907978,-6.06809001362e-05,1793251956036904960
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.80931018,748,725,696.80931018,670.80931018,643,902,787,829,656.80931018,634,658.80931018,0.456157549882,0.00464046290386,0.0798120281763,0.999999948097,0.000147515082547,-0.000279781901157,-6.13711399923e-05,1793251956053572096
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.222723906,748,725,696.222723906,670.222723906,643,902,787,829,656.222723906,634,658.222723906,0.456487047268,0.00464172097755,0.0798031693475,0.999999942232,0.000146937221251,-0.000300357200486,-6.10738710069e-05,1793251956070239744
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,748,725,696,669.640769996,643,902,786.640769996,829,656,634,658,0.456790220605,0.00464507869418,0.0797862197702,0.999999936188,0.000122025100259,-0.000329960687859,-6.21290937294e-05,1793251956086906112
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,748,725,696,669.061651547,643,902,786.061651547,829,656,634,658,0.457077280748,0.00464972162435,0.0797643177604,0.999999927926,8.22177239608e-05,-0.000365090424904,-6.40121906192e-05,1793251956103571968
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,748,725,696,669.517039248,643,902,786.517039248,829,656,634,658,0.457355159102,0.00465215162729,0.0797663797867,0.999999928734,8.74659962857e-05,-0.000361622124063,-6.41236752071e-05,1793251956120238848
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,748,725,696.095006714,670,643,901.904993286,786.904993286,829,656,634,658,0.457627328042,0.00465434384771,0.0797724148432,0.999999930938,9.97324623503e-05,-0.000352354723364,-6.34317778836e-05,1793251956136905984
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,748,725,696.669580422,670,643,901.330419578,786.330419578,829,656,634,658,0.457876199416,0.00465666664291,0.079784092895,0.999999934182,0.000120328758796,-0.000337027589481,-5.97500664598e-05,1793251956153572864
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,748,725,696.750080766,669.750080766,643,901.249919234,786.249919234,829.249919234,656,634,658,0.458103623964,0.00466022241077,0.0797917522821,0.999999934849,0.000140311105038,-0.000327842035578,-5.5977955715e-05,1793251956170239232
+216,3.600000000,POSE1_TO_POSE2_PRESS,768,748,725,696.161939937,669.161939937,643,901.838060063,786.838060063,829.838060063,656,634,658,0.458302024001,0.0046654467895,0.0797939731145,0.999999932475,0.000159462576799,-0.000326968027836,-5.20835056841e-05,1793251956186905600
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768,748,725,696.997262691,669,643,901.002737309,786.002737309,829.002737309,656,634,658,0.458644806051,0.00469629442754,0.0797882728513,0.999999923867,0.000191338037771,-0.000334246990866,-6.2733598114e-05,1793251956220238848
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+221,3.683333333,POSE1_TO_POSE2_PRESS,768,747.274153993,725,696.274153993,668.725846007,642.725846007,901,786,829.274153993,656,634,658,0.459016693586,0.00471041839802,0.0797756812425,0.999999914251,0.000201498277433,-0.000355214213353,-6.86900590953e-05,1793251956270238976
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+223,3.716666667,POSE1_TO_POSE2_PRESS,768,747.898488474,725,696,669,642.101511526,901.898488474,786,829,656,634,658,0.459195757737,0.00470628710191,0.079766192143,0.999999911581,0.000192325791605,-0.000367208057725,-7.07578130529e-05,1793251956303572480
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768.365843698,747.365843698,725,696.634156302,668.634156302,642.634156302,902,786,829,656,634,658,0.459365693577,0.00465819753502,0.0797535721399,0.999999913265,0.000135659032983,-0.000387503356017,-7.00506590005e-05,1793251956353571840
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+233,3.883333333,POSE1_TO_POSE2_PRESS,768,747.310420473,725,696.310420473,668,642.689579527,902,786,829,656,634,658,0.459512347056,0.00465934996482,0.0797371864845,0.999999904223,0.000129504319649,-0.000412204846176,-6.97777683873e-05,1793251956470238720
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+238,3.966666667,POSE1_TO_POSE2_PRESS,769,748,725,696,668.402399575,642,901.597600425,786,829.597600425,656,634,658,0.459524102544,0.00465974987569,0.079732544905,0.999999901562,0.000127797316251,-0.000419346176988,-6.85054414873e-05,1793251956553571840
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.54643221,748,725,697,668,642.54643221,902,786,829,656,634,658,0.45944282157,0.00465746267569,0.0796863899673,0.999999869667,0.000128672015517,-0.000489799637337,-6.48477532082e-05,1793251957270071808
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768.876625269,747.876625269,725,697,668,643,902,786,829,656,633.876625269,658,0.459393814039,0.00465771083024,0.079668706874,0.999999854902,0.000129198681527,-0.000519042124485,-6.40274340212e-05,1793251957286738176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.302627301,747.302627301,725,697,668,643,902,786,829,656,633.302627301,658,0.459332775212,0.00465900719456,0.0796543801624,0.999999843788,0.000130830525603,-0.000539615590986,-6.4204837177e-05,1793251957303405056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,747.279101221,725,696.720898779,668,642.720898779,901.720898779,786,829.279101221,656,633.279101221,658,0.45926752902,0.00465953860872,0.0796438292644,0.999999835648,0.000132422332078,-0.000554213655471,-6.33647529473e-05,1793251957320071680
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,747.869450672,725,696.130549328,668,642.130549328,901.130549328,786,829.869450672,656,633.869450672,658,0.459197590863,0.00465921696533,0.0796374890809,0.999999831136,0.000133969489345,-0.000562148067294,-6.13899866716e-05,1793251957336738048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,748,725.451129693,696,668,642,901.451129693,786,829.548870307,656,634,658,0.459114483541,0.00465786272372,0.0796362897052,0.999999831399,0.000133674762699,-0.000561970844781,-5.93504950009e-05,1793251957353404416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,747.969796535,725.969796535,696.030203465,668,642,902,786,829,656,634,658,0.459026286816,0.00465628566776,0.0796367491717,0.999999833023,0.000133187994554,-0.000559410479271,-5.72309424838e-05,1793251957370071296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,747.393317762,725.393317762,696.606682238,668,642,902,786,829,656,634,658,0.458913667288,0.00465598131185,0.0796408120491,0.999999834689,0.000138686372947,-0.000555402522626,-5.39957482023e-05,1793251957386737920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,747,725,696.814012083,668,642.185987917,902,786.185987917,829,656.185987917,634,658,0.458792700114,0.00465481997142,0.0796438143826,0.99999983606,0.000142277749967,-0.000552327733273,-5.07112922865e-05,1793251957403404544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,747,725,696.228636016,668,642.771363984,902,786.771363984,829,656.771363984,634,658,0.458653807324,0.00465181835305,0.0796445393171,0.999999836888,0.00014177405514,-0.000551256816387,-4.73210529685e-05,1793251957420071168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,747,725,696.352989897,668,642.647010103,902,786.647010103,829,656.647010103,634,658,0.458493904295,0.00465064934896,0.0796467029628,0.999999837848,0.000144490440921,-0.000549134971041,-4.33192937522e-05,1793251957436737792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,725,696.932212378,668,642.067787622,902,786.067787622,829,656.067787622,634,658,0.458320535711,0.00465065487413,0.0796497886842,0.999999838858,0.000149270588714,-0.00054633958147,-3.89256087415e-05,1793251957453404416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,747.510661596,725,697,668,642.510661596,902,786,829,656,634,658,0.458122676951,0.00464986668187,0.0796518160397,0.999999839512,0.00015386175591,-0.000544226184599,-3.3457533039e-05,1793251957470071040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,748,725,696.911366113,668.088633887,642.911366113,902,786.088633887,829.088633887,656,634,658,0.457915275656,0.00464850000951,0.0796530856355,0.999999839491,0.000158223196227,-0.000543334252551,-2.77868246544e-05,1793251957486737920
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,748,725,696.335452121,668.664547879,642.335452121,902,786.664547879,829.664547879,656,634,658,0.457673258136,0.00464453141138,0.0796509605312,0.999999836214,0.000161459382214,-0.000548660576822,-2.17849967269e-05,1793251957503404544
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768.246396797,747.753603203,725,696,669,642.246396797,901.753603203,787,829.753603203,656,634,658,0.457413877339,0.0046404935086,0.0796479266826,0.999999832719,0.000165049895453,-0.000554157644144,-1.5168941786e-05,1793251957520071168
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.836525095,747.163474905,725,696,669,642.836525095,901.163474905,787,829.163474905,656,634,658,0.457130274223,0.00463635892384,0.0796436251065,0.999999828927,0.000169134706474,-0.000559892903225,-7.69602065906e-06,1793251957536737792
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.581865357,747.418134643,725,696.418134643,669,643,901,786.581865357,829,656,634,658,0.456824629398,0.00463476941408,0.0796460977054,0.999999830992,0.000177991038741,-0.000553474952077,-3.86254176707e-07,1793251957553404416
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.003519834,747.996480166,725,696.996480166,669,643,901,786.003519834,829,656,634,658,0.456510539164,0.00463415506568,0.0796511658715,0.999999835078,0.000188675608802,-0.00054240042288,6.86099842094e-06,1793251957570071040
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.571473518,748,725,696.428526482,669.571473518,643,901,786,829,656,634,658,0.456153274338,0.00463101617097,0.0796447529268,0.99999983073,0.000190882783893,-0.000549486150774,1.29716079101e-05,1793251957586737920
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768.850380052,748,725,696,670.149619948,643,901,786,829,656,634,658,0.455791562711,0.00462740880794,0.079644200074,0.999999832221,0.000190273513218,-0.000546827979005,1.82783893413e-05,1793251957603404288
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768.262947228,748,725,696,670.737052772,643,901,786,829,656,634,658,0.455417612657,0.00462247586351,0.0796610005426,0.999999850506,0.000181574749272,-0.000515332141041,2.1253401129e-05,1793251957620070912
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,747.6800443,725,696,671,643,901,786,829,656,634,658,0.455019978496,0.00461765982642,0.0796783774467,0.999999870112,0.000157899911942,-0.000484256792408,1.84195884245e-05,1793251957636737792
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,747.100812116,725,696,671,643,901,786,829,656,634,658,0.454603151848,0.0046129385248,0.0796962214677,0.999999889647,0.0001220891945,-0.000453522183839,1.08785881422e-05,1793251957653404416
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,901,786,829,656,634,657.524981201,0.454130686012,0.00460797989691,0.0797015827744,0.999999895822,0.000105647051913,-0.00044390380804,1.20241733345e-05,1793251957670071296
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,747.050210232,725,696,671,643,900.949789768,786.050210232,829,656,634,657.050210232,0.453642953499,0.00460296210588,0.0797042606192,0.999999899373,9.37447295556e-05,-0.000438450166073,1.50538628327e-05,1793251957686737920
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,747.626210785,725,696,671,643,900.373789215,786.626210785,829,656,634,657.626210785,0.4531181249,0.0045978484524,0.0797063822174,0.999999903617,8.66436749561e-05,-0.000430013592799,1.86456499882e-05,1793251957703404544
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.793119136,747.793119136,725,696,671,643,900.206880864,787,829,656,634,658,0.452576174165,0.00459211845405,0.0797116871078,0.999999905154,0.00011127757504,-0.00042051040205,2.19290447215e-05,1793251957720071424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.203817438,747.203817438,725,696,671,643,900.796182562,787,829,656,634,658,0.452002573064,0.0045852491379,0.0797228763376,0.999999897112,0.000194573777965,-0.000409035559431,2.46423734273e-05,1793251957736738560
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.378623596,747,725,696,671,643,900.621376404,787,828.621376404,656,634,658,0.45142577638,0.00458018016414,0.0797447296255,0.99999990708,0.0002134916549,-0.000373383200412,2.91005159738e-05,1793251957753404928
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.957437165,747,725,696,671,643,900.042562835,787,828.042562835,656,634,658,0.450847290111,0.00457606308716,0.0797722213296,0.999999926935,0.000198370722616,-0.000324947443298,3.44811953327e-05,1793251957770071296
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671.534711534,643,900,787,828,656,634,658,0.450233080748,0.0045705710129,0.0798027372621,0.999999951553,0.000153253273225,-0.000269292411647,2.98293852428e-05,1793251957786737920
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.888524113,747,725,696,671.888524113,642.888524113,899.888524113,787,828.111475887,656,634,658,0.449596289883,0.00456531969968,0.0798250207726,0.999999966475,0.000114484986317,-0.000230727946967,2.66187500531e-05,1793251957803404544
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.313373133,747,725,696,671.313373133,642.313373133,899.313373133,787,828.686626867,656,634,658,0.448877366766,0.00456152375323,0.0798120637578,0.999999957909,0.000112028541038,-0.000265633714002,3.27146750415e-05,1793251957820071424
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,747,725,696,671.268030857,642.268030857,899,787,828.731969143,656,634,657.731969143,0.448119766795,0.00455750546502,0.079777675118,0.999999941001,0.000103654880301,-0.000325478007847,3.63002270055e-05,1793251957836738048
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,747,725,696,671.856920378,642.856920378,899,787,828.143079622,656,634,657.143079622,0.447315866823,0.00455322101187,0.0797176307643,0.999999909245,8.81977438605e-05,-0.000415176115075,3.68806221287e-05,1793251957853404672
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,747,725,696,671.560652479,643,899,787,828,656.439347521,633.560652479,657,0.446554104058,0.00454449528961,0.0797151458995,0.999999908569,9.0639003958e-05,-0.000416207979392,3.7661185984e-05,1793251957870071296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.019552761,747,725,696,671,642.980447239,899,787,828,656.980447239,633.019552761,657,0.445805402113,0.00453451823353,0.0797325294115,0.999999919494,9.86514785441e-05,-0.000387028927022,3.85875884505e-05,1793251957886737920
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.595551522,747,725,696,671,642.404448478,899,787,828,656.404448478,633.595551522,657,0.445043527401,0.00452949470658,0.0797896143741,0.999999946539,0.000101736262479,-0.000307930546028,4.1836101914e-05,1793251957903404800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.829763652,747.170236348,724.829763652,696,671,642.170236348,898.829763652,787,828,656,634,657,0.444264496723,0.00452365491675,0.079831138959,0.999999962282,9.81834106246e-05,-0.000252449068581,4.54487187649e-05,1793251957920071680
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.258176607,747.741823393,724.258176607,696,671,642.741823393,898.258176607,787,828,656,634,657,0.443445019038,0.00451589069873,0.0798359782584,0.99999996372,7.89816118842e-05,-0.000252647017192,4.99197492556e-05,1793251957936739072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,747.675447646,724.324552354,696,671,643,898,787,827.675447646,656,634,657,0.442586830284,0.00450818903958,0.079826784749,0.999999960219,7.64744100053e-05,-0.00026668797375,5.09109309878e-05,1793251957953405696
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,747.083540391,724.916459609,696,671,643,898,787,827.083540391,656,634,657,0.441696752745,0.00450053891461,0.0798060315013,0.99999995228,8.77196352312e-05,-0.00029213231697,4.90355345342e-05,1793251957970071808
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.498766687,747,725,696,671,643,897.501233313,787.498766687,827,656,633.501233313,657,0.440733928889,0.00449578154998,0.0797507880655,0.999999924024,7.86053229146e-05,-0.00037853779552,4.98254517351e-05,1793251957986738176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.921697761,747,725,696,671,643,897,788,827,656,633,657,0.439766247843,0.00449025371289,0.0796942186635,0.999999887709,6.48613895143e-05,-0.000466686920267,5.07812491965e-05,1793251958003404800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.349690287,747,725,696,671,643,897,788,827,656,633,657,0.438843316442,0.00447687068832,0.0796650251105,0.999999871487,4.30221942773e-05,-0.000502666470897,5.00213416422e-05,1793251958020071936
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,747,725,696,671,643,896.77018996,788,826.77018996,656,633.22981004,657,0.437956709153,0.00446552938195,0.0796799629467,0.99999988411,3.03073020927e-05,-0.000477833870048,5.0366695631e-05,1793251958036739072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,747,725,696,671,643,896.178903777,788,826.178903777,656,633.821096223,657,0.43712723717,0.00445739956255,0.0797643165635,0.999999934266,3.19443374765e-05,-0.00035734773902,5.24505531365e-05,1793251958053405952
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.404172835,747,725,696,671,643,896,788,826,656,634,657,0.43623659209,0.00444944986012,0.0798293769255,0.999999964515,2.24117693349e-05,-0.000259673521297,5.51093217329e-05,1793251958070072320
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.983687857,747,725,696,671,643,896,788,826,656,634,657,0.43531940835,0.00444157829828,0.079886067295,0.999999983511,8.03349514337e-06,-0.000171895796199,5.80175035683e-05,1793251958086738176
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642.440595246,895.440595246,788,826,656,633.440595246,657,0.434357897621,0.00443072869035,0.0798623081358,0.999999977566,4.00531035101e-06,-0.000203923446115,5.71677959894e-05,1793251958103404800
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642.137486075,894.862513925,788,825.862513925,656,633,657,0.433377514056,0.0044206722257,0.0798262903894,0.999999964412,-7.99366233511e-07,-0.000260683997225,5.67427269912e-05,1793251958120071680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,642.723642387,894.276357613,788,825.276357613,656,633,657,0.432339730877,0.00441348557398,0.0797578720654,0.999999923453,-9.11630582054e-06,-0.000386833798203,5.80586059356e-05,1793251958136738304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,894,788,825,656,633,657,0.431321241984,0.00440570056024,0.0797148605428,0.999999889364,-1.53089450665e-05,-0.00046637696501,5.94207615215e-05,1793251958153404928
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,747,725,696,671,643,894,788,825,656,633,657,0.430319964718,0.00439738177485,0.0796945132964,0.999999870776,-1.96065905219e-05,-0.000504344432419,6.08241989079e-05,1793251958170072064
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,747,725,696.463560762,671,643,893.536439238,788,824.536439238,656,633.463560762,656.536439238,0.429414244692,0.00439383053281,0.0797595028301,0.999999922058,-2.2802920523e-05,-0.000389231189467,6.21552206675e-05,1793251958186739200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.957981878,747,725,697,671,642.957981878,893,788,823.957981878,656,634,656.042018122,0.428527200131,0.00439453343887,0.0798397644558,0.999999967315,-2.19090758453e-05,-0.000246751157893,6.3270608196e-05,1793251958203405824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.383134986,747,725,697,671,642.383134986,893,788,823.383134986,656,634,656.616865014,0.427575893145,0.00443416112962,0.0798448078306,0.999999969014,2.73819073148e-05,-0.000239567792434,6.18797381021e-05,1793251958220071936
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.195844142,747,725,696.804155858,671,642,893,788.195844142,823,656,633.804155858,657,0.426617864016,0.00446682333076,0.0798326054762,0.999999962178,6.7200401198e-05,-0.000260075589821,5.90730324109e-05,1793251958236738304
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,747,725,695.622848259,672,642.622848259,891,788,821,656,633,657,0.409371874874,0.00448386199341,0.0798133083261,0.999999949473,9.7364229735e-05,-0.000297953338673,5.28869392696e-05,1793251958586737664
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,747,725,695.124416007,671.124416007,642.875583993,891,788,820.875583993,656,633,657,0.407633615468,0.00448689793704,0.0798178085088,0.999999949126,9.54275528105e-05,-0.000299371724142,5.49342319964e-05,1793251958636738048
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,746.54777466,725.54777466,695.54777466,671.45222534,643,891,788,821,656.54777466,633,657,0.4056734579,0.00448977832436,0.0797917539249,0.999999939459,0.000105049535267,-0.000327721724908,5.14362629757e-05,1793251958703404544
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diff --git a/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4d42bd72efb4ddf6f9f4b771fe5836e41762bdc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_10/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d22a4ab821df10be2170e02f2684acaf5531618e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511dbea4a9c3e285f3f64070c9ead2dfc5f957f25268d274e6640d13a79ebf8f
+size 25843222
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf0a6669dd5d46235b7bddca946961483fc34b57
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+4,0.066666667,BASELINE,765,745,714,679,658,634,877.663626523,785.336373477,807,652,629.663626523,652,0.400804058297,-0.00543118755201,0.0598776432886,0.999999944351,5.40421142783e-05,-0.000327085585982,-3.73206075229e-05,1793246469845824256
+5,0.083333333,BASELINE,765,745,714,679,658,634,877.086681384,785.913318616,807,652,629.086681384,652,0.400804170415,-0.00543114312293,0.0598772379205,0.999999943843,5.76774331939e-05,-0.000328057574628,-3.69493111234e-05,1793246469862491136
+6,0.100000000,BASELINE,765,745,714,679,658.488156513,634,877.488156513,785.511843487,807.488156513,652,629,652.488156513,0.400803451295,-0.00543181285141,0.059876860756,0.99999994364,5.52643966253e-05,-0.000329078487267,-3.70506531448e-05,1793246469879158016
+7,0.116666667,BASELINE,764.93568984,745.06431016,714.06431016,679,658.93568984,634,878,785,807.93568984,652.06431016,629,652.93568984,0.40080259585,-0.00543236982771,0.0598764531986,0.999999943445,5.26963267804e-05,-0.000330073645585,-3.72210148586e-05,1793246469895825152
+8,0.133333333,BASELINE,764.34573657,745.65426343,714.65426343,679,658.34573657,634,878,785,807.34573657,652.65426343,629,652.34573657,0.400801827391,-0.00543097316528,0.0598757564652,0.999999942936,5.76017530762e-05,-0.000330787597784,-3.72724885747e-05,1793246469912492032
+9,0.150000000,BASELINE,764.239772234,745.760227766,714.760227766,679,658,634,878,785,807,652.760227766,629,652,0.400801498134,-0.0054303943987,0.0598754906291,0.999999942686,5.97783295708e-05,-0.000331145230699,-3.73811005953e-05,1793246469929158400
+10,0.166666667,BASELINE,764.818988979,745.181011021,714.181011021,679,658,634,878,785,807,652.181011021,629,652,0.400801790654,-0.00543097352384,0.0598758348124,0.999999942827,5.80916848472e-05,-0.000330998423899,-3.75706030621e-05,1793246469945825024
+11,0.183333333,BASELINE,765,745.395090848,714.395090848,679,658,634,877.604909152,785,807,652,629,652,0.400803864928,-0.00543129361068,0.0598775192908,0.99999994375,5.64432178846e-05,-0.000328500901627,-3.74312763166e-05,1793246469962491648
+12,0.200000000,BASELINE,765,745.96977685,714.96977685,679,658,634,877.03022315,785,807,652,629,652,0.400806749129,-0.00543149594738,0.0598798130228,0.999999945017,5.4812105114e-05,-0.000324934822303,-3.71424747688e-05,1793246469979158016
+13,0.216666667,BASELINE,765,745.461217878,714.461217878,679,658,634,877,785,807,652,629,652,0.400804838565,-0.00542990762664,0.0598787476203,0.999999944267,5.75047173568e-05,-0.00032674668462,-3.73653998151e-05,1793246469995824128
+14,0.233333333,BASELINE,765,745,714,679,658.112713842,634,877,785,807,652,629,652,0.400802926334,-0.0054287241325,0.0598775490937,0.999999943474,6.00305607224e-05,-0.000328695678874,-3.75172220403e-05,1793246470012490752
+15,0.250000000,BASELINE,765,745,714,679,658.709140948,634,877,785,807,652,629,652,0.400802149172,-0.00542970453201,0.0598765794831,0.999999943023,6.08107064543e-05,-0.000329952032683,-3.72420008174e-05,1793246470029157632
+16,0.266666667,BASELINE,765,745,714,679,658.704768235,634,877,785,807,652,629,652,0.400801197129,-0.00543035933758,0.0598756283906,0.999999942472,6.03317500471e-05,-0.000331712705403,-3.7190078413e-05,1793246470045824512
+17,0.283333333,BASELINE,765,745,714,679,658.128516186,634,877,785,807,652,629,652,0.400800078621,-0.00543070422218,0.0598746949249,0.99999994182,5.86543004738e-05,-0.000333953420712,-3.73507059757e-05,1793246470062491136
+18,0.300000000,BASELINE,765,745,714,679,658,634,877,785.447946004,807,652,629,652,0.400800906719,-0.00543028245107,0.0598755910601,0.999999942078,5.90982143308e-05,-0.000333109268396,-3.72892345575e-05,1793246470079157504
+19,0.316666667,BASELINE,765,745,714.025081462,678.974918538,658,634,877.025081462,785.974918538,807,652,629.025081462,652,0.400802204847,-0.00542972422844,0.0598769320457,0.999999942578,6.00506181515e-05,-0.00033144672133,-3.71610316338e-05,1793246470095824128
+20,0.333333333,BASELINE,765,745,714.616046372,678.383953628,658,634,877.616046372,785.383953628,807,652,629.616046372,652,0.400801501392,-0.00543105231048,0.0598764610849,0.999999942713,5.87374292489e-05,-0.000331297450488,-3.69655681776e-05,1793246470112490752
+21,0.350000000,BASELINE,765,745.203752053,715,678.203752053,658,634,877.796247947,785.203752053,807,652,629.796247947,652,0.40080140522,-0.00543196024214,0.0598765749873,0.999999943003,5.73517661807e-05,-0.000330671940422,-3.68818831766e-05,1793246470129156864
+22,0.366666667,BASELINE,765,745.785412623,715,678.785412623,658,634,877.214587377,785.785412623,807,652,629.214587377,652,0.400802435402,-0.00543208890095,0.0598777736631,0.999999943583,5.58316820136e-05,-0.000329163127081,-3.70055189569e-05,1793246470145823488
+23,0.383333333,BASELINE,764.638503459,745.638503459,714.638503459,679,658,634,877.361496541,786,807,652,629.361496541,652,0.400803144726,-0.00543111761516,0.0598777705677,0.999999943631,5.72467690955e-05,-0.000328783442381,-3.69033246582e-05,1793246470162490112
+24,0.400000000,BASELINE,764.065679542,745.065679542,714.065679542,679,658,634,877.934320458,786,807,652,629.934320458,652,0.40080366648,-0.00542950331242,0.0598770649285,0.999999943363,6.03777287017e-05,-0.000329063835197,-3.66691122952e-05,1793246470179156736
+25,0.416666667,BASELINE,764.50627255,745,714,679,658.50627255,634,877.49372745,785.49372745,807.50627255,652,629.49372745,652,0.400802270552,-0.00543104668745,0.0598766357224,0.999999942939,5.77085644621e-05,-0.000330802601331,-3.68843306808e-05,1793246470195824128
+26,0.433333333,BASELINE,765,745.081762337,714,679,659,634.081762337,877.081762337,785,807.918237663,652,629,652,0.40080103511,-0.00543272309482,0.059876414217,0.999999942642,5.51163886685e-05,-0.000332116986202,-3.71041450473e-05,1793246470212490752
+27,0.450000000,BASELINE,765,745.680327075,714,679,659,634.680327075,877.680327075,785,807.319672925,652,629,652,0.400802383864,-0.00543265550923,0.0598772792561,0.999999943345,5.77587984015e-05,-0.000329555129093,-3.69851074501e-05,1793246470229157120
+28,0.466666667,BASELINE,765,745.731760864,714,679,658.731760864,634.731760864,877.731760864,785,807,652,629,652,0.400802379513,-0.00543206643334,0.0598771381087,0.999999943357,5.94761056527e-05,-0.000329209092567,-3.70098085105e-05,1793246470245823488
+29,0.483333333,BASELINE,765,745.156059208,714,679,658.156059208,634.156059208,877.156059208,785,807,652,629,652,0.400800824199,-0.00543087961201,0.0598758436447,0.999999942586,6.01330367508e-05,-0.000331402886107,-3.71992664835e-05,1793246470262490112
+30,0.500000000,BASELINE,764.581743159,745,714.418256841,679,658,634,877,785,807.418256841,652.418256841,629.418256841,652,0.400800872969,-0.00543158918235,0.059875719945,0.999999942352,5.9667735931e-05,-0.000332213017147,-3.70280297964e-05,1793246470279156736
+31,0.516666667,BASELINE,764.007942412,745,714.992057588,679,658,634,877,785,807.992057588,652.992057588,629.992057588,652,0.400801518276,-0.00543300399442,0.0598760316363,0.999999942317,5.87850926416e-05,-0.000332508583284,-3.67226557735e-05,1793246470295823360
+32,0.533333333,BASELINE,764.580570684,745.580570684,714.419429316,679.580570684,658,634,877,785,808,652.419429316,629.419429316,652,0.400801195026,-0.00543219135558,0.0598755897956,0.999999942461,5.82594398052e-05,-0.000332153113621,-3.68432546979e-05,1793246470312490240
+33,0.550000000,BASELINE,765,745.832474449,714,679.832474449,658,634,877.502576652,785,808,652,629,652,0.400801060487,-0.00543166713791,0.0598753764715,0.999999942634,5.79007165099e-05,-0.000331677396298,-3.70099314982e-05,1793246470329156864
+34,0.566666667,BASELINE,765,745.249891928,714,679.249891928,658,634,879.250324216,785,808,652,629,652,0.400801427178,-0.00543193496553,0.059875755519,0.99999994287,5.79431591426e-05,-0.000330926396526,-3.72759562792e-05,1793246470345823488
+35,0.583333333,BASELINE,765,745,714.327862672,679,658,634,879.344274657,785,807.672137328,652,629,652,0.40080097436,-0.00543124410661,0.0598758747358,0.999999942528,6.00612936743e-05,-0.000331580081539,-3.72908575902e-05,1793246470362490368
+36,0.600000000,BASELINE,765,745,714.901990963,679,658,634,878.196018074,785,807.098009037,652,629,652,0.400799905989,-0.00542983315498,0.0598757987873,0.999999941739,6.37385308357e-05,-0.000333288859344,-3.71171339878e-05,1793246470379156992
+37,0.616666667,BASELINE,765,745,714.522736824,679,658,634,877.522736824,785,807,652,629.477263176,652,0.400798815003,-0.00543117591062,0.0598746138738,0.999999941383,6.03664008787e-05,-0.000334979372185,-3.71342933475e-05,1793246470395823360
+38,0.633333333,BASELINE,764.945755845,745,714.054244155,679,658,634,877,785,807.054244155,652,629.945755845,652,0.400798005181,-0.00543274777993,0.0598734683364,0.99999994119,5.63833796453e-05,-0.000336242076932,-3.71819740221e-05,1793246470412489984
+39,0.650000000,BASELINE,764.354180393,745,714.645819607,679,658,634,877,785,807.645819607,652,629.354180393,652,0.400800026607,-0.00543097410494,0.059874974146,0.999999941921,6.07233924731e-05,-0.000333304249186,-3.71427621483e-05,1793246470429156608
+40,0.666666667,BASELINE,764,745,714.767638275,679,658,634,877,785,807.767638275,652,629,652,0.400800942427,-0.00543050480559,0.059875856694,0.999999942287,6.22943818124e-05,-0.00033193222871,-3.69753967954e-05,1793246470445823488
+41,0.683333333,BASELINE,764,745,714.188605652,679,658,634,877,785,807.188605652,652,629,652,0.400800208744,-0.00543198156297,0.0598758093698,0.999999942136,5.9734140318e-05,-0.000332896306647,-3.66168335118e-05,1793246470462490368
+42,0.700000000,BASELINE,764.386783996,745.386783996,714,679,658,634,877,785,807,652,629,652,0.400801063731,-0.00543197702178,0.0598765035451,0.999999942512,5.91261942564e-05,-0.00033187077942,-3.66179872806e-05,1793246470479156992
+43,0.716666667,BASELINE,764.960413797,745.960413797,714,679,658,634,877,785,807,652,629,652,0.400802686166,-0.00543125690176,0.0598775559205,0.999999943144,5.9461354015e-05,-0.000329884123007,-3.67929114909e-05,1793246470495823872
+44,0.733333333,BASELINE,764.452375977,745.452375977,714,679,658,634,877,785.547624023,807,652.547624023,629,652,0.400801114332,-0.00543105914434,0.0598763192965,0.999999942419,6.06121239557e-05,-0.000331860149723,-3.68496611313e-05,1793246470512490240
+45,0.750000000,BASELINE,764,745,714,679,658,634,877,785.866113156,807,652.866113156,629,652,0.400799842828,-0.00543096596213,0.0598754269068,0.999999941867,6.12643561476e-05,-0.000333394104558,-3.68810934315e-05,1793246470529157120
+46,0.766666667,BASELINE,764,745,714,679,658,634,877,785.286357849,807,652.286357849,629,652,0.40080035999,-0.00543109208909,0.0598762459256,0.999999942247,6.00550285812e-05,-0.000332477681352,-3.6857385785e-05,1793246470545823744
+47,0.783333333,BASELINE,764,745.291536485,714,679,658,634,877,785,807.291536485,652,629,652,0.400799886871,-0.00543151402816,0.0598760239276,0.999999942108,5.91930165412e-05,-0.000333041565928,-3.6937919258e-05,1793246470562490112
+48,0.800000000,BASELINE,764,745.867614564,714,679,658,634,877,785,807.867614564,652,629,652,0.400798447232,-0.00543222468187,0.0598747858901,0.999999941461,5.86699866775e-05,-0.000335050240873,-3.71201927707e-05,1793246470579156736
+49,0.816666667,BASELINE,764.441247222,745.558752778,714,679,658,634,877,785,807.558752778,652,629,652,0.400799682557,-0.00543148833707,0.0598756997607,0.999999941888,5.98679930386e-05,-0.000333571141778,-3.70172463205e-05,1793246470595823360
+50,0.833333333,BASELINE,765,745,714,679.014625175,658,634,877,785,807,652,629,652,0.400801663035,-0.00543036111155,0.0598772186869,0.999999942612,6.15181566306e-05,-0.000331112116753,-3.68397126078e-05,1793246470612489984
+51,0.850000000,BASELINE,765,745,714,679.60675862,658,634,877,785,807,652,629,652,0.400801551485,-0.00543084745273,0.0598772760581,0.99999994267,6.07457133946e-05,-0.000331051068304,-3.70773623229e-05,1793246470629156864
+52,0.866666667,BASELINE,765,745,714.194510867,679.805489133,658.194510867,634,877.194510867,785.194510867,807.194510867,652,629,652,0.400801324133,-0.00543142508785,0.0598767921269,0.999999942534,5.99842050942e-05,-0.00033158434789,-3.72219211567e-05,1793246470645824000
+53,0.883333333,BASELINE,765,745,714.773600748,679.226399252,658.773600748,634,877.773600748,785.773600748,807.773600748,652,629,652,0.400800867822,-0.00543218322561,0.0598752379541,0.999999942012,5.92443169524e-05,-0.00033329270882,-3.7182424453e-05,1793246470662490880
+54,0.900000000,BASELINE,765,745.349410028,715,679,659,634,878,785.650589972,807.650589972,652.349410028,629,652.349410028,0.400800372869,-0.00543242632541,0.0598746426257,0.999999941682,5.99268671537e-05,-0.000334179428889,-3.69857475515e-05,1793246470679156992
+55,0.916666667,BASELINE,765,745.9231134,715,679,659,634,878,785.0768866,807.0768866,652.9231134,629,652.9231134,0.400799853111,-0.00543233881191,0.0598746627988,0.999999941476,6.15225092491e-05,-0.000334538721047,-3.66881735117e-05,1793246470695823360
+56,0.933333333,BASELINE,765,745.50264691,714.50264691,679,659,634,878,785,807,652.50264691,629.49735309,652.50264691,0.400798689137,-0.0054320738923,0.0598739258267,0.999999941251,6.01755225707e-05,-0.000335428362521,-3.69506262709e-05,1793246470712490240
+57,0.950000000,BASELINE,765,745,714.074054735,679,659,634,877.925945265,785,807.074054735,652,630,652,0.400797691548,-0.00543187278069,0.0598733475688,0.999999941101,5.87766306024e-05,-0.000336088760927,-3.72466823537e-05,1793246470729156864
+58,0.966666667,BASELINE,765,745,714.667439194,679,659,634,877.332560806,785,807.667439194,652,630,652,0.400798559938,-0.00543231167735,0.0598747040598,0.99999994153,6.02073369093e-05,-0.000334565945755,-3.71706010362e-05,1793246470745823488
+59,0.983333333,BASELINE,765,745,715,679,658.745940519,634,877,785,807.745940519,652,630,652,0.400799446418,-0.00543210188359,0.0598755064556,0.999999941826,6.10968788392e-05,-0.000333523668196,-3.71142948018e-05,1793246470762490368
+60,1.000000000,BASELINE,765,745,715,679,658.167944748,634,877,785,807.167944748,652,630,652,0.400800355961,-0.00543106498292,0.0598756023577,0.999999941958,6.12964141215e-05,-0.000333094095656,-3.70832026016e-05,1793246470779156992
+61,1.016666667,BASELINE,765,745,714.590973046,679,658,634,877,785,807,652,629.590973046,652,0.40080076876,-0.00543253807027,0.0598756930147,0.999999942242,5.96282371723e-05,-0.00033255906922,-3.69533121515e-05,1793246470795823616
+62,1.033333333,BASELINE,765,745,714.014420806,679,658,634,877,785,807,652,629.014420806,652,0.400800978108,-0.00543503917419,0.0598757815234,0.999999942582,5.71951007827e-05,-0.000331980852024,-3.6782956876e-05,1793246470812490496
+63,1.050000000,BASELINE,764.42471924,745,714,678.42471924,658,634,877,785,807.57528076,652,629,652,0.40080122652,-0.00543274025171,0.0598764713698,0.999999942626,5.81177973555e-05,-0.00033167576768,-3.69009178884e-05,1793246470829157120
+64,1.066666667,BASELINE,764.162257966,745,714.162257966,678.324515933,658,634,877.162257966,785,807.837742034,652.162257966,629,652,0.400801566546,-0.00543101625472,0.0598770527902,0.999999942755,5.88087022283e-05,-0.000331152051712,-3.70170535737e-05,1793246470845823744
+65,1.083333333,BASELINE,764.741369418,745,714.741369418,679.482738835,658,634,877.741369418,785,807.258630582,652.741369418,629,652,0.400802139358,-0.00543108564026,0.0598773160237,0.999999943124,5.86829443031e-05,-0.00033004865265,-3.71094978894e-05,1793246470862490112
+66,1.100000000,BASELINE,765,745,714.682021319,679.682021319,658.317978681,634,877.682021319,785,807,652.682021319,629,652,0.400801440476,-0.00543097360361,0.0598770104663,0.999999942867,5.92122045066e-05,-0.000330716658222,-3.72432076405e-05,1793246470879156736
+67,1.116666667,BASELINE,765,745,714.107431368,679.107431368,658.892568632,634,877.107431368,785,807,652.107431368,629,652,0.400799715326,-0.00543071515784,0.0598762458903,0.999999942101,6.02700694407e-05,-0.000332814201164,-3.74102189144e-05,1793246470895823360
+68,1.133333333,BASELINE,764.532753516,745,714,679,658.532753516,634,877,785,807,652,629,652,0.400799157188,-0.00543106762468,0.0598752426573,0.999999941662,6.02940707822e-05,-0.000334154647857,-3.71564556386e-05,1793246470912490240
+69,1.150000000,BASELINE,764.043212028,745,714,679.043212028,658,634,877,785.043212028,807,652,629,652,0.400798948792,-0.00543155578638,0.0598743353163,0.999999941356,6.00924866931e-05,-0.000335141084373,-3.68431770008e-05,1793246470929157120
+70,1.166666667,BASELINE,764.635275723,745,714,679.635275723,658,634,877,785.635275723,807,652,629,652,0.400799773873,-0.00543198304085,0.0598753430298,0.999999941787,6.00454754139e-05,-0.000333842512562,-3.70030140353e-05,1793246470945823488
+71,1.183333333,BASELINE,765,745,714,679.77887677,658,634.22112323,877,785.77887677,807,652,629,652,0.400800252745,-0.00543205657197,0.0598760723224,0.999999942056,6.02522285906e-05,-0.000332981257846,-3.71520529244e-05,1793246470962490112
+72,1.200000000,BASELINE,765,745,714,679.2030019,658,634.7969981,877,785.2030019,807,652,629,652,0.400800176186,-0.00543156261897,0.05987635494,0.999999942068,6.0866100255e-05,-0.000332821597947,-3.72837681956e-05,1793246470979156736
+73,1.216666667,BASELINE,765,745,714,678.625833973,658,634.625833973,877,785,807,652,629,652,0.400800845549,-0.00543161400391,0.0598765944972,0.999999942176,6.08042047945e-05,-0.00033250745546,-3.72650470533e-05,1793246470995823616
+74,1.233333333,BASELINE,765,745,714,678.047962107,658,634.047962107,877,785,807,652,629,652,0.40080192101,-0.0054319622852,0.0598768106113,0.999999942339,6.0374403877e-05,-0.000332109208592,-3.71644243575e-05,1793246471012489984
+75,1.250000000,BASELINE,765,745,714,678,658.528517064,634,877.528517064,785,807,652,629,652,0.400801306346,-0.00543100451816,0.0598764886986,0.999999942233,6.09961984219e-05,-0.000332322252829,-3.70872034368e-05,1793246471029156608
+76,1.266666667,BASELINE,765,745,714,678.107385661,659,634,877.892614339,785,807.107385661,652,629,652,0.400800908829,-0.00543044920519,0.0598762918185,0.999999942221,6.1314546717e-05,-0.000332307705201,-3.70087675161e-05,1793246471045823488
+77,1.283333333,BASELINE,765,745,714,678.697563505,659,634,877.302436495,785,807.697563505,652,629,652,0.400802175327,-0.00543223473291,0.0598768760034,0.999999942741,5.98407230447e-05,-0.000331021186384,-3.69153464361e-05,1793246471062490112
+78,1.300000000,BASELINE,764.719308224,745,714,679,658.719308224,634,877.280691776,785,807.719308224,652,629,652,0.40080303357,-0.0054330300537,0.0598774310655,0.999999943038,5.95881202273e-05,-0.00033019445404,-3.66695090599e-05,1793246471079156992
+79,1.316666667,BASELINE,764.14358959,745,714,679,658.14358959,634,877.85641041,785,807.14358959,652,629,652,0.40080346271,-0.00543278459702,0.0598779555176,0.999999943104,6.06191067761e-05,-0.0003298509898,-3.62634714098e-05,1793246471095823872
+80,1.333333333,BASELINE,764,745,714,679,658,634,877.568965605,785.431034395,807.431034395,652,629,652,0.400802749362,-0.00543181497527,0.0598773811106,0.999999942783,6.13334226682e-05,-0.000330656153676,-3.6576627199e-05,1793246471112490496
+81,1.350000000,BASELINE,764,745,714,679,658,634,877.005459663,785.994540337,808,652,629,652,0.400801659301,-0.0054306302408,0.0598764451399,0.999999942336,6.19054646709e-05,-0.000331841327051,-3.7121991359e-05,1793246471129156864
+82,1.366666667,BASELINE,764,745,714,679,658,634,877.597612695,785.402387305,808,652,629,652,0.400800882702,-0.00543218743201,0.0598758927664,0.999999942213,5.84961992647e-05,-0.000332847966518,-3.69400489031e-05,1793246471145823488
+83,1.383333333,BASELINE,764.185622234,745.185622234,714,679,658,634,877.814377766,785,807.814377766,652,629,652,0.400800716577,-0.0054327571749,0.0598757860864,0.99999994221,5.72714073932e-05,-0.000333072168568,-3.6916566206e-05,1793246471162490112
+84,1.400000000,BASELINE,764.764845843,745.764845843,714,679,658,634,877.235154157,785,807.235154157,652,629,652,0.400801844928,-0.00543123309013,0.0598766244738,0.999999942474,6.06786665988e-05,-0.000331637256834,-3.72290883689e-05,1793246471179156736
+85,1.416666667,BASELINE,764.659678068,745.659678068,714,679,658.340321932,634,877,785,807,652,629,652,0.400801631736,-0.00543149613351,0.0598764628242,0.999999942414,6.01424767103e-05,-0.000331919200165,-3.72107446733e-05,1793246471195823360
+86,1.433333333,BASELINE,764.086763254,745.086763254,714,679,658.913236746,634,877,785,807,652,629,652,0.400800501668,-0.00543298058898,0.0598756176998,0.999999942128,5.69111379813e-05,-0.000333374527456,-3.69662708259e-05,1793246471212490240
+87,1.450000000,BASELINE,764,745,714.487282506,679,658.512717494,634,877,785,807,652,629,652.487282506,0.400800165103,-0.00543316256949,0.0598751756596,0.999999941966,5.68883637821e-05,-0.000333859425996,-3.70147029645e-05,1793246471229157120
+88,1.466666667,BASELINE,764.063688029,745,714.936311971,679,658,634,877,785.063688029,807,652,629.063688029,652.936311971,0.40080002356,-0.00543310582828,0.0598749272154,0.99999994187,5.7466885057e-05,-0.00033404188559,-3.70626007717e-05,1793246471245823744
+89,1.483333333,BASELINE,764.658075087,745,714.341924913,679,658,634,877,785.658075087,807,652,629.658075087,652.341924913,0.400800327034,-0.00543299684375,0.0598756925196,0.999999942136,5.82842606295e-05,-0.000333147357337,-3.66704511146e-05,1793246471262490368
+90,1.500000000,BASELINE,765,745.245002091,714,679,658,634,877,785.754997909,807.245002091,652,629.754997909,652,0.400800990957,-0.00543291113288,0.059876465253,0.999999942434,5.88626552799e-05,-0.000332164258019,-3.6529744385e-05,1793246471279157248
+91,1.516666667,BASELINE,765,745.821825442,714,679,658,634,877,785.178174558,807.821825442,652,629.178174558,652,0.400802143057,-0.00543285694294,0.0598772480481,0.999999942777,5.91173834397e-05,-0.000331061201587,-3.67295821644e-05,1793246471295823872
+92,1.533333333,BASELINE,765,745.601605137,714,679,658,634,877,785,807.601605137,652,629,652,0.400802350755,-0.00543195907189,0.0598772423436,0.999999942721,6.014259516e-05,-0.000331018232332,-3.69951735152e-05,1793246471312490240
+93,1.550000000,BASELINE,765,745.02514916,714,679,658,634,877,785,807.02514916,652,629,652,0.400802136355,-0.00543068412067,0.0598768842222,0.999999942484,6.15121716873e-05,-0.000331449065033,-3.72901531997e-05,1793246471329156608
+94,1.566666667,BASELINE,765,745.562467734,714,679,658,634,877,785,807,652.562467734,629,652,0.400802034816,-0.0054306701363,0.0598768312407,0.999999942343,6.2547211911e-05,-0.000331680714419,-3.72911921232e-05,1793246471345823744
+95,1.583333333,BASELINE,765,745.85171296,714,679,658,634,877,785,807,652.85171296,629,652,0.40080182969,-0.00543098990229,0.0598767387919,0.999999942288,6.23404657524e-05,-0.000331894829045,-3.72055070771e-05,1793246471362490368
+96,1.600000000,BASELINE,765,745.272595417,714,679,658,634,877,785,807,652.272595417,629,652,0.400801308643,-0.00543211221727,0.0598764912336,0.999999942464,5.85701940249e-05,-0.000332084397474,-3.69068134524e-05,1793246471379157248
+97,1.616666667,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.40080105862,-0.00543226690121,0.0598759661965,0.999999942268,5.93856370917e-05,-0.000332552989431,-3.66937705543e-05,1793246471395823872
+98,1.633333333,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.400801049623,-0.00543156105419,0.0598751943929,0.999999941732,6.42792351806e-05,-0.000333269721779,-3.65568983337e-05,1793246471412490496
+99,1.650000000,BASELINE,765,745,714.455015044,679,658,634,877.455015044,785,807,652,629,652,0.400801251074,-0.00543140159325,0.0598754864534,0.999999941939,6.18481837977e-05,-0.000333071742108,-3.68897471595e-05,1793246471429156864
+100,1.666666667,BASELINE,765,745,714.968063734,679,658.031936266,634,878,785,807.031936266,652.031936266,629,652,0.400801467692,-0.00543140052492,0.0598760601661,0.99999994231,5.78012311401e-05,-0.000332635665148,-3.73106204165e-05,1793246471445823488
+101,1.683333333,BASELINE,765,745,714.37773697,679,658.62226303,634,878,785,807.62226303,652.62226303,629,652,0.400800969871,-0.00543162548344,0.059876606214,0.999999942327,5.95967914535e-05,-0.000332294496718,-3.70840373505e-05,1793246471462490112
+102,1.700000000,BASELINE,764.793809841,745,714.206190159,679,658.793809841,634,877.793809841,785.206190159,807.793809841,653,629,652,0.400800607376,-0.00543160911723,0.0598765488475,0.999999942213,6.05596049731e-05,-0.000332473338248,-3.69859623408e-05,1793246471479156992
+103,1.716666667,BASELINE,764.221253866,745,714.778746134,679,658.221253866,634,877.221253866,785.778746134,807.221253866,653,629,652,0.400800485332,-0.00543116395684,0.0598754193133,0.999999941872,6.00427649562e-05,-0.000333576151521,-3.71162249205e-05,1793246471495823616
+104,1.733333333,BASELINE,764,745,714.645882404,679,658.354117596,634,877.354117596,785.645882404,807.354117596,653,629,652,0.400801145522,-0.00543063371015,0.0598756866314,0.999999942136,5.95460815856e-05,-0.000332851955058,-3.72997168005e-05,1793246471512490240
+105,1.750000000,BASELINE,764,745,714.068737661,679,658.931262339,634,877.931262339,785.068737661,807.931262339,653,629,652,0.400802298371,-0.00543004987514,0.0598768337023,0.999999942779,5.90620930412e-05,-0.000330977087928,-3.751673309e-05,1793246471529156864
+106,1.766666667,BASELINE,764.521378482,745,714,679,658.478621518,634,877.478621518,785,808,652.478621518,629.521378482,652,0.40080297727,-0.00543118279614,0.0598774317959,0.999999942953,6.01462108533e-05,-0.000330313334319,-3.70184450178e-05,1793246471545823232
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,629,652,0.400800148349,-0.00543184432673,0.0598754239751,0.999999941774,5.90588115612e-05,-0.00033406519766,-3.69501348766e-05,1793246471588096768
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.576317979,714,679,658,634,877.576317979,785,807,652,629,652,0.400799290779,-0.00543180706551,0.0598747642187,0.999999941447,5.98518751059e-05,-0.000334878325454,-3.71617423005e-05,1793246471604763392
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.848291663,714,679,658.151708337,634,878,785,807.151708337,652.151708337,629.151708337,652,0.400799340003,-0.00543185932608,0.0598747411266,0.999999941466,6.0283963938e-05,-0.000334732364296,-3.72452220407e-05,1793246471621430272
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.275476035,714,679,658.724523965,634,878,785,807.724523965,652.724523965,629.724523965,652,0.400801906277,-0.00543216007848,0.0598764852673,0.999999942447,5.97140705534e-05,-0.000331924193999,-3.69730489842e-05,1793246471638096896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.306878245,714,679,658.693121755,634,877.693121755,785,807.693121755,652.693121755,630,652,0.400802793264,-0.00543231569912,0.059876901972,0.999999942784,5.94804497352e-05,-0.000330974013822,-3.6758524978e-05,1793246471654763776
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.898069758,714,679,658.101930242,634,877.101930242,785,807.101930242,652.101930242,630,652,0.400802124443,-0.00543233685962,0.0598760888481,0.999999942529,5.95583751552e-05,-0.000331745204592,-3.65974110625e-05,1793246471671430656
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.520639683,745.520639683,714.479360317,679.479360317,658.479360317,634,877,785,807,652,629.520639683,652,0.400804000418,-0.00543262162655,0.0598773878268,0.999999942915,5.87939170749e-05,-0.000330700929811,-3.67474215366e-05,1793246471688097024
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714.941902797,679.941902797,658.941902797,634,877,785.058097203,807,652,629,652,0.400806598355,-0.00543287307878,0.0598790159075,0.999999943362,5.81140972867e-05,-0.000329446329309,-3.69290032442e-05,1793246471704763904
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714.36752874,679.36752874,658.36752874,634,877,785.63247126,807,652,629,652,0.400810900619,-0.00543234045312,0.0598796582793,0.999999943192,5.9745960585e-05,-0.000329683754238,-3.6815138975e-05,1793246471721430528
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.20687814,745,714,679,658.20687814,633.79312186,877,785.79312186,807,652,629,652.20687814,0.400821060804,-0.0054320522664,0.0598817870603,0.999999943598,6.04399149841e-05,-0.00032833943031,-3.66574727417e-05,1793246471738097152
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.78134328,745,714,679,658.78134328,633.21865672,877,785.21865672,807,652,629,652.78134328,0.400841629508,-0.00543219840583,0.0598865569355,0.999999945021,5.94673658329e-05,-0.000324184609718,-3.64219779374e-05,1793246471754763776
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.631051,633.368949,877.368949,785,807,652,629,652.262102,0.400872369228,-0.00543476358042,0.059890866874,0.999999946918,5.61430708171e-05,-0.000318906697121,-3.62107059629e-05,1793246471771430400
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.035369877,633.964630123,877.964630123,785,807,652,629,651.070739753,0.400909359395,-0.0054388153371,0.0598948941655,0.999999949067,5.13735452389e-05,-0.000312938604612,-3.60143197443e-05,1793246471788097280
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.459317311,785,807,652,628.459317311,651.540682689,0.400954902432,-0.00543731605824,0.0598933647602,0.999999948863,5.40870381908e-05,-0.000313054418694,-3.66711706438e-05,1793246471804763904
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.115630522,679,658,634,877,785,806.884369478,652,628.115630522,652,0.401004586898,-0.00543614538748,0.0598914752118,0.999999948438,5.68854328124e-05,-0.000313832780031,-3.73716475343e-05,1793246471821430272
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.691112736,679,658,634,877,785,806.308887264,652,628.691112736,652,0.401068594302,-0.00543767511273,0.0598895483814,0.999999947747,5.81429089044e-05,-0.000315718702479,-3.80314212031e-05,1793246471838097152
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.727407419,678.727407419,658,634,877.272592581,784.727407419,806.545185163,652,629,652,0.401147367709,-0.00544001039872,0.0598897233511,0.99999994871,5.65415769498e-05,-0.00031285484917,-3.87847707847e-05,1793246471854763776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.13897852,678.13897852,658,634,877.86102148,784.13897852,807.722042959,652,629,652,0.401243249572,-0.00544327903847,0.0598923335478,0.999999951525,5.16279192474e-05,-0.000304487721668,-3.96465409992e-05,1793246471871430656
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.556312417,745,714,678.443687583,658,634,877.556312417,784.443687583,807.556312417,652,629,652,0.401358250567,-0.00544594817337,0.0598960588959,0.999999954471,5.13216325529e-05,-0.000294558746706,-4.07363395827e-05,1793246471888097280
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.024255799,745,714,679,658,634,877,785,807,652,629.024255799,652,0.401480424589,-0.00544842085961,0.0599002183928,0.99999995745,5.22825861493e-05,-0.000283920373882,-4.19049391093e-05,1793246471904763648
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.597671611,745,714,679,658,634,877,785,807,652,629.597671611,652,0.40163114889,-0.0054506429069,0.0599064001958,0.999999961877,4.96789156367e-05,-0.000268155196704,-4.3261233979e-05,1793246471921430272
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807.172559774,652,630,652,0.401786282892,-0.00545327330729,0.0599095527513,0.999999964677,4.6928246428e-05,-0.000257757673666,-4.47778122818e-05,1793246471938096896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807.750910234,652,630,652,0.401951786705,-0.0054568639884,0.059905581743,0.999999964155,4.38318962275e-05,-0.000259982701087,-4.66713121188e-05,1793246471954763520
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.662945228,745,714,678.662945228,658,634,877,785,807.662945228,652,629.662945228,652,0.402141853118,-0.00545931807543,0.0599021967797,0.999999963774,4.27810325811e-05,-0.000261242515762,-4.87269231853e-05,1793246471971430144
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.070904311,745,714,678.070904311,658,634,877,785,807.070904311,652,629.070904311,652,0.402350501463,-0.00546091231522,0.0598992551666,0.999999963506,4.3277604734e-05,-0.000261772135178,-5.09051736215e-05,1793246471988096768
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.508629536,745,714,679.017259072,658.508629536,634,877.508629536,785,807.508629536,652,629,652,0.402594571581,-0.00546358214945,0.059899698696,0.999999965476,4.19841523924e-05,-0.000253801641575,-5.35660428846e-05,1793246472004763392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.915784877,658.915784877,634,878,785,808,652,629,652,0.402848060777,-0.00546585855785,0.0599011274144,0.999999967676,4.07621536836e-05,-0.000244577316802,-5.62957204518e-05,1793246472021430016
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.352966628,658.352966628,634,878,785,808,652,629,652,0.403127690619,-0.00546506741064,0.0599055375818,0.999999969837,4.13303262974e-05,-0.000234799847365,-5.90432702652e-05,1793246472038096640
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.776002662,658,634,877.776002662,785,808,652,629,652,0.403417681025,-0.00546342041516,0.0599052292976,0.999999969901,4.28907153785e-05,-0.000233515025192,-6.18724196246e-05,1793246472054763520
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.175245888,658,634,877.175245888,785,808,652,629,652,0.403725097695,-0.00546033389857,0.0598969846634,0.99999996645,4.61199944153e-05,-0.000246514681299,-6.48388177672e-05,1793246472071430144
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.410816424,658,634,877.410816424,785,807.589183576,652,629,652,0.404063583306,-0.00545017540157,0.0598849000037,0.999999961006,5.28960364271e-05,-0.000265163908094,-6.98452190656e-05,1793246472088096768
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.990826834,658,634,877.990826834,785,807.009173166,652,629,652,0.404414864597,-0.00543710432256,0.0598712338368,0.999999954329,6.11328061283e-05,-0.000286139899728,-7.56917917998e-05,1793246472104763648
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.432558755,784.432558755,807,652,629.567441245,652,0.404790942234,-0.00544236549003,0.0598560525651,0.999999947803,1.04502121336e-05,-0.000312796187846,-8.02645165315e-05,1793246472121430272
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.857252059,745,714,679,658.142747941,634,877,784.142747941,807,652,630,652,0.405187798742,-0.00544929579676,0.0598473232212,0.999999942123,-3.17558410641e-05,-0.000328141980661,-8.4070748645e-05,1793246472138096896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.28570973,745,714,679,658.71429027,634,877,784.71429027,807,652,630,652,0.40564587499,-0.00546035504228,0.0598580476836,0.999999947477,-4.56554730626e-05,-0.000309238468167,-8.56360363569e-05,1793246472154763520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.296860062,745,714,679,658.703139938,634,877.296860062,785,807.296860062,652,630,652,0.406137815001,-0.0054671537577,0.0598789741479,0.999999958324,-4.93001227094e-05,-0.000271203571428,-8.58475672314e-05,1793246472171430144
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.890452645,745,714,679,658.109547355,634,877.890452645,785,807.890452645,652,630,652,0.406663604281,-0.00546969377478,0.0599100982323,0.999999972593,-4.26941973912e-05,-0.000214045506977,-8.47059228895e-05,1793246472188097024
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.469773122,658.469773122,634,878,785,808,652,630,652,0.40722310427,-0.00547330578594,0.0599340288782,0.999999979887,-4.20418219663e-05,-0.000177932521897,-8.24543011452e-05,1793246472204763648
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.954014401,745,714,679.954014401,659,634,878,785,808,652,630,652,0.407788294459,-0.00547632736106,0.0599536453277,0.999999984401,-4.19155951399e-05,-0.000151708222886,-8.01549911985e-05,1793246472221430272
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.376390901,745,714,679.376390901,659,634,878,785,808,652,630,652,0.408331067397,-0.00546971812545,0.0599422066909,0.999999979197,-3.22950751738e-05,-0.000184743560571,-8.02085423523e-05,1793246472238096896
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.204702447,745,714,679,659,634,877.795297553,785,808,652,630,652,0.408886914705,-0.00546465672005,0.0599304010812,0.999999973503,-2.55816249735e-05,-0.000214157021839,-8.04801000013e-05,1793246472254763776
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.792285859,745,714,679,659,634,877.207714141,785,808,652,630,652,0.409467216634,-0.00546249041832,0.0599179090759,0.999999968375,-2.43056369313e-05,-0.000236796026265,-8.11594229821e-05,1793246472271430144
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.374414531,785,808,652,630,652,0.410117147747,-0.00546466717125,0.0599196133864,0.99999997117,-2.76689313372e-05,-0.000224048127076,-8.18303151308e-05,1793246472288096768
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.953560509,785,808,652,630,652,0.410805152372,-0.00546921872487,0.0599290803025,0.999999977611,-3.35690049959e-05,-0.000191950518689,-8.24965971864e-05,1793246472304763648
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,808,652,630,652,0.411517954521,-0.0054725945199,0.0599305696949,0.999999978078,-3.91160188894e-05,-0.000188342074926,-8.27152626919e-05,1793246472321430272
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,808,652.108651687,630,652,0.412223556626,-0.00547475165166,0.0599252250135,0.999999975794,-4.26672288547e-05,-0.000199209882454,-8.31059755647e-05,1793246472338096640
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,785,808,652.681469481,630,652,0.412889164377,-0.00547214046405,0.059893655798,0.999999961581,-3.78237383398e-05,-0.000261311029585,-8.43983868662e-05,1793246472354763520
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.261695407,679,659,634,878,785,808.261695407,652.738304593,630,652.261695407,0.413581560988,-0.00547100836741,0.0598691137393,0.999999948469,-3.50149139108e-05,-0.000307530083809,-8.52138589076e-05,1793246472371430144
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.85120114,679,659,634,878,785,808.85120114,652.14879886,630,652.85120114,0.414307514507,-0.00547172904,0.0598533741793,0.999999940017,-3.47547945515e-05,-0.000333854590927,-8.54318978608e-05,1793246472388096768
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.433787513,745,714.566212487,679,659.433787513,634,878,785,809,652,630,653,0.415155932116,-0.00547577423648,0.0598923648517,0.999999962137,-4.01579830764e-05,-0.00025884702832,-8.43329913985e-05,1793246472404763648
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.986058745,745.013941255,714,679.013941255,659.986058745,634,878,785,809,651.986058745,630,653,0.416044763967,-0.00548091025915,0.0599488454079,0.999999983935,-4.74145565035e-05,-0.000151763671591,-8.27623683895e-05,1793246472421430016
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.409791878,745.590208122,714,679.590208122,659.409791878,634,878,785,809,651.409791878,630,653,0.416895919016,-0.00548476946075,0.0599654321257,0.999999986857,-5.23012086855e-05,-0.000130902725409,-8.01000065677e-05,1793246472438096640
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.834503276,714,679.834503276,659.165496724,633.834503276,878,785,808.834503276,651.165496724,630,653,0.417740667713,-0.00548771557276,0.0599716957891,0.999999987852,-5.45926437186e-05,-0.000122891588486,-7.8819520612e-05,1793246472454763264
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.261622786,714,679.261622786,659.738377214,633.261622786,878,785,808.261622786,651.738377214,630,653,0.418569646598,-0.00548841403956,0.0599525484065,0.999999984717,-5.04957385516e-05,-0.000146511312659,-8.09406356867e-05,1793246472471429888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.323557143,714.323557143,679,660,633.323557143,878,785,808.323557143,652,630,653,0.419398893506,-0.00548900694029,0.0599285162328,0.999999978779,-5.26146426502e-05,-0.000181176374439,-8.27569579004e-05,1793246472488096768
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.919075144,714.919075144,679,660,633.919075144,878,785,808.919075144,652,630,653,0.420228365657,-0.00548951110906,0.0599003782258,0.999999969307,-5.99581474065e-05,-0.000225125419258,-8.43170910735e-05,1793246472504763648
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.50267597,715,679,660,634,878.49732403,785,809,652,630,652.50267597,0.421058190416,-0.00548663488752,0.0598665980175,0.999999954463,-4.97523180543e-05,-0.000285371372667,-8.46241256623e-05,1793246472521430272
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.927591467,679.072408533,660,634,878.927591467,785,809,652,630.072408533,652.072408533,0.421903365994,-0.00548387574595,0.0598381892495,0.99999993929,-3.90242442124e-05,-0.000335742908176,-8.47018321335e-05,1793246472538096896
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.355602642,679.644397358,660,634,878.355602642,785,809,652,630.644397358,652.644397358,0.422854071064,-0.0054855921506,0.0598529624162,0.999999950378,-4.37341609737e-05,-0.000300303899931,-8.45569223734e-05,1793246472554763520
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878.218474682,785,809,651.781525318,630.781525318,653,0.42382080239,-0.00548908647745,0.0598886514161,0.999999967446,-4.926353147e-05,-0.000236147465745,-8.31650175575e-05,1793246472571430400
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878.795984276,785,809,651.204015724,630.204015724,653,0.424813870949,-0.00549550259002,0.0599587128879,0.999999987459,-5.61395687256e-05,-0.000124797644869,-7.97238368775e-05,1793246472588096768
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.615234581,879,785,809,651.384765419,630,652.615234581,0.425761950217,-0.0054991700089,0.0599902179774,0.999999992576,-5.9879267651e-05,-7.21110997699e-05,-7.78663452433e-05,1793246472604763392
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.02029655,879,785,809,651.97970345,630,652.02029655,0.426685454668,-0.00550133599274,0.0600006621897,0.999999993805,-6.19057864115e-05,-5.14685379329e-05,-7.68739216627e-05,1793246472621430016
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.555829045,745,714,680,660,633.555829045,879,785,809.555829045,652,630,652.555829045,0.427604735906,-0.00550243399095,0.0599756602037,0.999999991821,-6.30518062954e-05,-7.87468076024e-05,-7.8622302616e-05,1793246472638096640
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.868948868,745,714,680,660,634,879,785,810,652,630,653,0.428514230041,-0.00550241527934,0.0599477195964,0.999999988384,-6.27685332763e-05,-0.000113301955002,-8.03440448296e-05,1793246472654763264
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.294535537,745,714,680,660,634,879,785,810,652,630,653,0.429391117787,-0.00549874621714,0.0599140728501,0.999999981096,-5.77549990416e-05,-0.000166749466295,-8.16481573853e-05,1793246472671430144
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.711497567,879,785,810,652,630.288502433,653,0.43027448758,-0.00549806989423,0.0598902545084,0.999999974048,-5.90217588203e-05,-0.000203898889251,-8.27328052251e-05,1793246472688096768
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.119383306,879,785,810,652,630.880616694,653,0.43116467884,-0.00550054304601,0.0598767793046,0.999999969204,-6.68977233848e-05,-0.000223896660504,-8.35864946627e-05,1793246472704763648
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.574917287,745,714,680,660,633.574917287,879,785,810.574917287,651.574917287,631,652.574917287,0.442336957285,-0.00553048283076,0.0599890356982,0.999999992116,-9.05016654381e-05,-4.86504052123e-05,-7.21901961121e-05,1793246472921430528
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.672148016,660.672148016,633,879.672148016,784.327851984,811,651.672148016,631,652.672148016,0.445760157063,-0.00554504947763,0.0599430853294,0.999999986006,-9.65067902783e-05,-0.000115214058956,-7.34919168011e-05,1793246473004764160
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.218283583,660,633,879.781716417,785,811,651,631,653,0.448697504296,-0.00555807569755,0.0599686352601,0.999999987725,-0.000123465281152,-6.90160387068e-05,-6.73983819577e-05,1793246473088097024
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.805111338,660,633,879.194888662,785,811,651,631,653,0.44919188434,-0.00555767778354,0.0599604246981,0.999999987857,-0.000113888812881,-8.21151363373e-05,-6.76244742026e-05,1793246473104763904
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.38721095,745,714.38721095,681,660,633,879,785,811,651,631,652.61278905,0.449631435597,-0.00555878133326,0.0599300065198,0.999999982544,-0.000115405997993,-0.00012952572585,-6.93961997725e-05,1793246473121430784
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.32187431,659,632,879,784,811,651.67812569,630.32187431,652.67812569,0.454687583305,-0.00558023651631,0.0598479353912,0.999999961354,-0.000133971095681,-0.00023538231823,-6.27639470126e-05,1793246473838096896
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.913453751,659,632,879,784,811,651.086546249,630.913453751,652.086546249,0.454687786317,-0.00558160248117,0.0598486079237,0.999999961148,-0.000136544935551,-0.000234720594996,-6.29712830179e-05,1793246473854763520
+244,4.066666667,HOLD_POSE2,766,745,714,682,659,632,879,784,811,651,631,653,0.454689675252,-0.00558133781949,0.0598490239829,0.999999961719,-0.000135032417854,-0.000233139430837,-6.3037835694e-05,1793246473886129664
+245,4.083333333,HOLD_POSE2,765.423070224,745,714,681.423070224,659,632,879,784,811.576929776,651.576929776,631,653,0.454689270697,-0.00558167599852,0.0598482747536,0.999999961405,-0.000136191283053,-0.000233921519755,-6.26377510532e-05,1793246473902796032
+246,4.100000000,HOLD_POSE2,765,745,714,681,659,632,879,784,812,652,631,653,0.454688910708,-0.00558131733886,0.0598475273342,0.99999996126,-0.000135658668041,-0.000234896933433,-6.2453275328e-05,1793246473919462400
+247,4.116666667,HOLD_POSE2,765,745,714,681,659,632,879,784,812,652,631,653,0.454688673266,-0.00557904256948,0.0598467848914,0.999999961569,-0.000130474960021,-0.000236403935823,-6.28616631888e-05,1793246473936129024
+248,4.133333333,HOLD_POSE2,765.310809885,745,714,681,659,632,879.310809885,784,811.689190115,651.689190115,631,653,0.454688998145,-0.00557884813932,0.0598468161484,0.999999961532,-0.00013057462932,-0.000236446490765,-6.30784509478e-05,1793246473952795904
+249,4.150000000,HOLD_POSE2,765.902245029,745,714,681,659,632,879.902245029,784,811.097754971,651.097754971,631,653,0.454689830735,-0.00558053201421,0.0598475459666,0.999999961183,-0.000135444575532,-0.000235166819516,-6.31222460248e-05,1793246473969462784
+250,4.166666667,HOLD_POSE2,766,745,714,681.482852688,659.482852688,632,880,784,811,651,631,653,0.454690015307,-0.00557895345618,0.0598476314701,0.999999961424,-0.000134008800506,-0.000234970670026,-6.31033671132e-05,1793246473986129664
+251,4.183333333,HOLD_POSE2,765.939496386,745,714,682,659.939496386,632,879.939496386,784,811,651.060503614,631,653,0.454689995819,-0.0055770361791,0.0598475007507,0.999999961713,-0.000131546806048,-0.000235151718903,-6.30355660452e-05,1793246474002796288
+252,4.200000000,HOLD_POSE2,765.368700273,745,714,682,659.368700273,632,879.368700273,784,811,651.631299727,631,653,0.454689337491,-0.00557771056288,0.0598466224314,0.999999961447,-0.000130960499299,-0.000236704548073,-6.26598205258e-05,1793246474019462912
+253,4.216666667,HOLD_POSE2,765.210181283,745,714,682,659,632,879,784.210181283,811.210181283,651.789818717,631,653,0.454688440319,-0.00557846999571,0.0598458535849,0.999999961208,-0.000130606375865,-0.000238012091301,-6.22513821556e-05,1793246474036129536
+254,4.233333333,HOLD_POSE2,765.80381372,745,714,682,659,632,879,784.80381372,811.80381372,651.19618628,631,653,0.454687107406,-0.00557938459049,0.059845284459,0.999999961023,-0.000130675843786,-0.000238872138868,-6.17832995464e-05,1793246474052796416
+255,4.250000000,HOLD_POSE2,766,745,714,682,659,632,879,784.612574879,811.612574879,651.387425121,631,653,0.45468663485,-0.00557941121158,0.0598450851218,0.999999960827,-0.00013179437423,-0.000238981624398,-6.21573470162e-05,1793246474069463040
+256,4.266666667,HOLD_POSE2,766,745,714,682,659,632,879,784.033909982,811.033909982,651.966090018,631,653,0.454686586981,-0.00557899951349,0.0598450683188,0.999999960623,-0.000133430740179,-0.000238720619535,-6.29470844911e-05,1793246474086129408
+257,4.283333333,HOLD_POSE2,766,745,714,681.459415658,659,632,879,784,811,651.459415658,630.459415658,652.459415658,0.454687409755,-0.00557719846747,0.0598451584451,0.99999996101,-0.000130376586849,-0.000238841777219,-6.27465669714e-05,1793246474102796032
+258,4.300000000,HOLD_POSE2,766,745,714,681,659,632,879,784,811,651,630.115026007,652.115026007,0.454688066558,-0.00557562837719,0.059845209032,0.999999961333,-0.000127756247025,-0.000238973830178,-6.24838677879e-05,1793246474119462400
+259,4.316666667,HOLD_POSE2,766,745,714,681,659,632,879,784,811,651,630.6902959,652.6902959,0.454687842423,-0.00557532843261,0.0598450747803,0.999999961294,-0.000128039947174,-0.000239054292969,-6.22190073561e-05,1793246474136129024
+260,4.333333333,HOLD_POSE2,766,745,714,681,659,632,879,784,811,651.273666837,631,653,0.454688802251,-0.00557591361687,0.0598458473237,0.999999961413,-0.000129434417937,-0.00023785573571,-6.20044054778e-05,1793246474152795648
+261,4.350000000,HOLD_POSE2,766,745,714,681,659,632,879,784,811,651.866485214,631,653,0.454691142823,-0.00557753104255,0.0598476773757,0.999999961708,-0.000132124274548,-0.000235165579303,-6.18484153741e-05,1793246474169462272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,632,879,784,811,651,631,653,0.454689261907,-0.00557874698235,0.0598467015822,0.999999961097,-0.000132351867839,-0.000237687757413,-6.15897249097e-05,1793246474201995520
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.426419237,632,879.573580763,784,811,651.573580763,631,653,0.454689023041,-0.00557911022642,0.0598454233536,0.999999960704,-0.000133820533543,-0.000238490524053,-6.16895732937e-05,1793246474218662144
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.147310052,714,682,659,632,879.852689948,784,811,652,631,653,0.454689209545,-0.00557882687936,0.0598448215366,0.999999960628,-0.000134209063016,-0.000238564622875,-6.17959238231e-05,1793246474235328768
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745.721469851,714,682,659,632,879.278530149,784,811,652,631,653,0.454690628613,-0.00557666995179,0.0598461797086,0.999999961468,-0.000131467759741,-0.000236527313546,-6.19211151745e-05,1793246474251995392
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.306632841,745.693367159,714,682,659,632,879.306632841,784,811,651.693367159,631,653,0.454691049989,-0.00557538329413,0.0598466307818,0.999999962036,-0.000128365173309,-0.000235819222353,-6.19638682654e-05,1793246474268661760
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.902162552,745.097837448,714,682,659,632,879.902162552,784,811,651.097837448,631,653,0.454690531378,-0.00557491656916,0.0598462272238,0.999999962346,-0.000124922200889,-0.000236363466022,-6.19289514053e-05,1793246474285328384
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.520405713,745,714,682,659,632,879.520405713,784,811,651.479594287,631,653,0.454689920237,-0.00557503194774,0.0598453657899,0.999999961902,-0.000126175240276,-0.000237448680026,-6.24007007911e-05,1793246474301995008
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.053763987,745,714,681.946236013,659,632,879,784,811,651.946236013,631,652.946236013,0.454689044443,-0.00557526841523,0.0598443871917,0.999999961332,-0.000128215123857,-0.000238617374802,-6.29193333736e-05,1793246474318661632
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.630811821,745,714,681.369188179,659,632,879,784,811,651.369188179,631,652.369188179,0.454685769836,-0.00557556968206,0.0598431443052,0.999999961014,-0.000128928322342,-0.000239563531141,-6.29248590521e-05,1793246474335328512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,632,879,784,811,651,630.786898811,652.213101189,0.454675010114,-0.00557506593072,0.0598383747488,0.999999959243,-0.000128982090106,-0.000246810943011,-6.29470163022e-05,1793246474351995136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,632,879,784,811,651,630.195299798,652.804700202,0.45465095577,-0.00557313235336,0.0598273413286,0.999999954662,-0.000127864615629,-0.000265250274903,-6.29987135584e-05,1793246474368661760
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.612038778,745,714,681,659,632,879,784,811,651,630.387961222,653,0.454609895353,-0.00557182538008,0.0598101368915,0.999999946797,-0.000127092335246,-0.00029356541453,-6.38145384916e-05,1793246474385328384
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.032886742,745,714,681,659,632,879,784,811,651,630.967113258,653,0.454560454188,-0.0055708272028,0.0597898913202,0.999999936505,-0.000126490169445,-0.000326747443284,-6.50069324345e-05,1793246474401994752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.541318511,745,714,681,659,632,879,784.541318511,811,651,630.458681489,653,0.454495631051,-0.00557017808632,0.0597696349382,0.999999928012,-0.000125729942906,-0.000351927934414,-6.56870073029e-05,1793246474418661632
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.881777115,745,714,681,659,631.881777115,878.881777115,784.881777115,811,651,630.118222885,653,0.454426675789,-0.00556885118988,0.0597509471662,0.999999919555,-0.000124655579321,-0.000375445588393,-6.62731844704e-05,1793246474435328256
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.292942646,745,714,681,659,631.292942646,878.292942646,784.292942646,811,651,630.707057354,653,0.454344957995,-0.00556474259191,0.0597385061677,0.999999912574,-0.000122368605077,-0.000394261542306,-6.66083594958e-05,1793246474451995136
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.291152046,745,714,681,659,631.291152046,878.291152046,784,811,651.291152046,630.708847954,653,0.454258425783,-0.00556184007971,0.0597321122493,0.99999990927,-0.000120016588659,-0.000403315272999,-6.62835676465e-05,1793246474468661760
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.870554168,745,714,681,659,631.870554168,878.870554168,784,811,651.870554168,630.129445832,653,0.454167127146,-0.0055601316322,0.0597317051394,0.999999909867,-0.000117600178524,-0.000402704081467,-6.5305386941e-05,1793246474485328384
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.552820839,745,714,681,659,632,879,784,811,652,630.447179161,652.552820839,0.454056794903,-0.00555722855716,0.0597311594689,0.999999909541,-0.000115803885451,-0.000404175889174,-6.44082990018e-05,1793246474501995008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.022972096,714,681.022972096,659.022972096,632,879,784.022972096,811,652,630.977027904,652.022972096,0.453939777087,-0.00555389292425,0.0597305639809,0.999999908942,-0.000114100806462,-0.000406271136578,-6.35664760907e-05,1793246474518661888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.59796936,714,681.59796936,659.59796936,632,879,784.59796936,811,652,630.40203064,652.59796936,0.453793685418,-0.0055484214574,0.0597297292556,0.999999908277,-0.000110350722013,-0.000408947708546,-6.34920787326e-05,1793246474535328512
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.177821927,745.822178073,714,682,659.822178073,632,879.177821927,784.822178073,811,651.822178073,630.177821927,653,0.453636936964,-0.00554315078352,0.05972770896,0.999999907131,-0.000105820663004,-0.00041300551083,-6.29716491549e-05,1793246474551994880
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.768959713,745.231040287,714,682,659.231040287,632,879.768959713,784.231040287,811,651.231040287,630.768959713,653,0.453455418702,-0.00553834681838,0.0597229330143,0.999999904851,-9.94776905551e-05,-0.000420273740172,-6.14144959797e-05,1793246474568661504
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714,682,659.35290409,632,879.64709591,784,811.35290409,651.35290409,631,653,0.453264569699,-0.00553186830958,0.0597252017621,0.999999907368,-9.33757508985e-05,-0.00041583336366,-6.02266339495e-05,1793246474585328384
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659.932233199,632,879.067766801,784,811.932233199,651.932233199,631,653,0.453067734026,-0.00552431540477,0.0597319904199,0.999999912862,-8.74284584466e-05,-0.000403880688076,-5.92757107955e-05,1793246474601995008
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.493025762,659.493025762,632,879,784.506974238,811.493025762,651.493025762,631,653,0.452843354627,-0.00551801208892,0.0597405884209,0.99999991893,-8.41059412286e-05,-0.000389588591622,-5.73325032892e-05,1793246474618661632
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.081331284,681,659.081331284,632,879,784.918668716,811,651,631,653,0.452609169001,-0.00551181165769,0.0597489844001,0.999999924566,-8.06742798726e-05,-0.000375927003855,-5.51295410257e-05,1793246474635328256
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.657048924,681,659.657048924,632,879,784.342951076,811,651,631,653,0.45233755383,-0.00550523040229,0.0597546953959,0.999999928162,-7.4465582189e-05,-0.000367981870757,-5.21466441172e-05,1793246474651994880
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.760877125,681.239122875,659.760877125,632.239122875,879,784.239122875,811,651.239122875,630.760877125,653,0.452044104014,-0.00549703578627,0.0597601091218,0.999999931466,-6.57603809211e-05,-0.000360967584696,-4.94533849087e-05,1793246474668661504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.169438014,681.830561986,659.169438014,632.830561986,879,784.830561986,811,651.830561986,630.169438014,653,0.451718483723,-0.00548646409507,0.0597650848592,0.999999934334,-5.33769090061e-05,-0.00035532478029,-4.71868690918e-05,1793246474685327872
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.587071246,745,714,681.587071246,659.825857509,632.587071246,879.412928754,785,811,652,630.412928754,653,0.451362306988,-0.0054768566926,0.0597656881127,0.999999935022,-4.4167761514e-05,-0.00035492852881,-4.50568269681e-05,1793246474701994752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.008347134,745,714,681.008347134,660.983305731,632.008347134,879.991652866,785,811,652,630.991652866,653,0.450993861519,-0.00546763646272,0.0597645357666,0.999999934824,-3.6233139878e-05,-0.000356638825155,-4.29815805613e-05,1793246474718661376
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.270248233,714,681,659.270248233,633,879,785,810,652,631,653,0.449711049466,-0.00544229101814,0.0597408388499,0.999999926159,-9.99705298306e-06,-0.000382513085959,-3.55806622181e-05,1793246474768661760
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,879,785,810,651.623895853,631,652.623895853,0.445232758683,-0.00543165699043,0.0597831278476,0.99999993897,0.000113748648256,-0.000330318782303,-3.22983968175e-06,1793246474901995008
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,878.853778096,785.707556192,810,651,631,652.853778096,0.440922936214,-0.00543323790963,0.0597946673821,0.99999993687,0.000134024705402,-0.00032799304546,2.67930302238e-05,1793246475001995008
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,878.565627867,785.565627867,810,651.434372133,631,652.565627867,0.440101612698,-0.00542698943619,0.0597875791418,0.999999925138,0.000172830111912,-0.000344897230674,2.99968206699e-05,1793246475018661888
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.35066738,633,878.35066738,784.35066738,809.35066738,651.35066738,630.35066738,652.64933262,0.432335496319,-0.00541290683342,0.0597840580029,0.999999934087,0.000165776409233,-0.000322073854979,2.47440733767e-05,1793246475168661760
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.860246927,658,634,877.139753073,785,808,652.139753073,629,652,0.400955134474,-0.00539131724373,0.0598299934983,0.999999935037,0.00021922537499,-0.000284826294143,2.71890430132e-05,1793246476351995136
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.434161671,745,714,679,658,634,877,785,807.565838329,652,629,652,0.400955398711,-0.00539163255966,0.0598303019804,0.999999935098,0.000219886245597,-0.000284099852941,2.72145516061e-05,1793246476368661760
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.006263307,679,658.006263307,634,877,785,807.006263307,652,629,651.993736693,0.400955496585,-0.00539219757502,0.059830456195,0.999999935067,0.000220764207237,-0.00028352503485,2.72656931722e-05,1793246476385328384
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.583795975,679,658.583795975,634,877,785,807.583795975,652,629,651.416204025,0.40095492729,-0.0053912978317,0.0598304966212,0.999999934866,0.00022083173822,-0.000284199406196,2.70412673592e-05,1793246476401995264
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.834681901,745.165318099,714.834681901,679,659,634,877,785,808,652,629,651.165318099,0.400954752088,-0.00539045032105,0.0598307476165,0.999999934712,0.000221491738753,-0.00028423609902,2.69798575385e-05,1793246476418661888
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.242867602,745.757132398,714.242867602,679,659,634,877,785,808,652,629,651.757132398,0.40095559359,-0.00538973756297,0.0598315418489,0.999999934671,0.000223680222929,-0.000282627675714,2.7339004835e-05,1793246476435328768
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.658083098,714,679,659,634,877,785,808,652,629,652,0.400956835392,-0.00539140238979,0.0598325753484,0.999999935466,0.000222050351049,-0.000281078825794,2.7511717436e-05,1793246476451995136
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.07819137,714,679,659,634,877,785,808,652,629,652,0.400958355802,-0.00539472202034,0.0598337753784,0.99999993683,0.000217762895865,-0.00027957143913,2.75546711124e-05,1793246476468661504
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.501913847,634,877,785,807.501913847,652,629,652,0.400957409537,-0.00539489833975,0.0598329940469,0.999999936758,0.000217387966038,-0.000280137671604,2.73790882873e-05,1793246476485328384
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.247245466,658.752754534,634,877,785,807,652,629,652,0.400954206467,-0.00539497388453,0.0598320080086,0.999999935764,0.000218016799695,-0.000283170558334,2.74834302589e-05,1793246476535328512
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e833368f84c55ffa6ed4b31eb1ce1c7fb684ca52
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.583359962788,-7.20784391769e-05,1.05004273559,0.553931754872,0.00860238203503,1.04966612128
+377,6.283333333,pose2_to_pose3_retreat,0.583328925604,-7.20678980599e-05,1.05004242161,0.553900714834,0.00860238286209,1.04966580662
+378,6.300000000,pose2_to_pose3_retreat,0.583304711035,-7.20544140136e-05,1.05004249843,0.553876501478,0.00860240019894,1.04966587735
+379,6.316666667,pose2_to_pose3_retreat,0.583286752482,-7.21307837836e-05,1.05004246417,0.553858544661,0.00860232956599,1.04966583967
+380,6.333333333,pose2_to_pose3_retreat,0.583273450875,-7.21223139948e-05,1.05004245647,0.553845243474,0.00860233948742,1.04966583254
+381,6.350000000,pose2_to_pose3_retreat,0.583264068672,-7.20320751638e-05,1.05004251304,0.553835860645,0.00860242772823,1.04966589202
+382,6.366666667,pose2_to_pose3_retreat,0.583258147219,-7.21250803265e-05,1.05004242646,0.553829939726,0.00860233660671,1.04966580719
+383,6.383333333,pose2_to_pose3_retreat,0.58325399555,-7.21459529241e-05,1.0500423855,0.553825787662,0.00860231452431,1.04966576925
+384,6.400000000,pose2_to_pose3_retreat,0.583251266558,-7.21282446982e-05,1.05004237257,0.553823057865,0.00860232964351,1.04966575958
+385,6.416666667,pose2_to_pose3_retreat,0.583249739331,-7.21224511633e-05,1.05004240852,0.55382153032,0.00860233426252,1.04966579337
+386,6.433333333,pose2_to_pose3_retreat,0.583249071219,-7.21223301903e-05,1.05004244956,0.553820862145,0.00860233403054,1.04966583114
+387,6.450000000,pose2_to_pose3_retreat,0.58324851673,-7.21222297906e-05,1.05004248362,0.553820307604,0.00860233383802,1.04966586248
+388,6.466666667,pose2_to_pose3_retreat,0.583248060205,-7.21221471291e-05,1.05004251167,0.553819851036,0.00860233367951,1.04966588829
+389,6.483333333,pose2_to_pose3_retreat,0.583247801264,-7.21221002434e-05,1.05004252757,0.553819592071,0.0086023335896,1.04966590292
+390,6.500000000,pose2_to_pose3_retreat,0.583247499496,-7.21220456032e-05,1.05004254611,0.553819290275,0.00860233348482,1.04966591998
+391,6.516666667,pose2_to_pose3_retreat,0.583247222161,-7.21025188973e-05,1.05004252139,0.553819012925,0.00860235300133,1.04966589621
+392,6.533333333,pose2_to_pose3_retreat,0.583247174456,-7.20988058841e-05,1.05004251637,0.553818965218,0.00860235671507,1.0496658914
+393,6.550000000,pose2_to_pose3_retreat,0.583247132456,-7.20955368904e-05,1.05004251196,0.553818923215,0.0086023599847,1.04966588717
+394,6.566666667,pose2_to_pose3_retreat,0.583247082065,-7.20916148394e-05,1.05004250666,0.553818872822,0.00860236390752,1.04966588209
+395,6.583333333,pose2_to_pose3_retreat,0.583246924381,-7.20793418276e-05,1.05004249009,0.55381871513,0.00860237618293,1.04966586621
+396,6.600000000,pose2_to_pose3_retreat,0.583246610566,-7.20549166393e-05,1.05004245712,0.553818401299,0.00860240061289,1.04966583459
+397,6.616666667,pose2_to_pose3_retreat,0.583246338125,-7.20337117604e-05,1.05004242849,0.553818128845,0.00860242182191,1.04966580714
+398,6.633333333,pose2_to_pose3_retreat,0.583246195337,-7.20225981351e-05,1.05004241349,0.55381798605,0.0086024329377,1.04966579275
+399,6.650000000,pose2_to_pose3_retreat,0.583246077637,-7.20134372405e-05,1.05004240112,0.553817868344,0.00860244210039,1.04966578089
+400,6.666666667,pose2_to_pose3_retreat,0.583245863607,-7.20821377154e-05,1.05004243612,0.553817655159,0.00860237630417,1.04966581678
+401,6.683333333,pose2_to_pose3_retreat,0.583245643543,-7.21704027595e-05,1.05004248399,0.55381743614,0.00860229162436,1.04966586555
+402,6.700000000,pose2_to_pose3_retreat,0.583245549575,-7.21360238525e-05,1.05004259966,0.55381734136,0.00860232336211,1.04966598391
+403,6.716666667,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120182,1.04966610706
+404,6.733333333,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120186,1.04966610706
+405,6.750000000,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bcf2a893b03ae6742b66fd7ac97a879d9911571
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25fae30c06f62770e170d2120fcabb796b252ad969b0d1bcdce8fb84d325a1b0
+size 25902650
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ead6d55d7056b61066762961c10ba5de76303f8a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+22,0.366666667,BASELINE,765.217914747,745,714.782085253,679,659,634,877,785,807.217914747,652,629,652.782085253,0.400954349055,-0.00539575266723,0.0598342658681,0.999999938045,0.000212589128294,-0.000279325304418,2.63172486391e-05,1793246477096646144
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+41,0.683333333,BASELINE,765,745,714,679,658.805616343,634,877,785.805616343,807,652,629,652,0.400953694145,-0.00539626315758,0.059834841072,0.99999993816,0.000213236636295,-0.000278412212618,2.64089415069e-05,1793246477413312512
+42,0.700000000,BASELINE,765,745,714,679,659,634,877,785.623082388,807.376917612,652,629,652,0.400953558439,-0.00539613160647,0.0598344480404,0.999999938001,0.000213650845116,-0.000278672462005,2.63058417191e-05,1793246477429979392
+43,0.716666667,BASELINE,765,745,714,679,659,634,877,785.053527757,807.946472243,652,629,652,0.400953692859,-0.00539623818589,0.0598338354863,0.999999937972,0.000213846942676,-0.000278652019196,2.60539943447e-05,1793246477446646016
+44,0.733333333,BASELINE,765,745,714,679,659,634,877,785,808,652,629,652,0.400953132258,-0.00539658239294,0.0598336209156,0.999999937943,0.000212785169113,-0.000279569000232,2.60164724279e-05,1793246477463312896
+45,0.750000000,BASELINE,765.13538117,745,714.13538117,679,659,634,877.13538117,785,808,652,629.13538117,652,0.400952842786,-0.00539678124508,0.0598334919657,0.999999938013,0.000211848625353,-0.000280034268707,2.59730372574e-05,1793246477479979264
+46,0.766666667,BASELINE,765.714549929,745,714.714549929,679,659,634,877.714549929,785,808,652,629.714549929,652,0.400953678427,-0.00539642281335,0.0598335083575,0.99999993841,0.000211750312857,-0.000278700039202,2.58373399338e-05,1793246477496645632
+47,0.783333333,BASELINE,765.709656506,745,714.709656506,679,658.709656506,634,877.709656506,785,807.709656506,652,630,652,0.400954363825,-0.00539574023197,0.0598339425886,0.99999993865,0.000212076243766,-0.00027759417143,2.57732628415e-05,1793246477513312512
+48,0.800000000,BASELINE,765.137143053,745,714.137143053,679,658.137143053,634,877.137143053,785,807.137143053,652,630,652,0.400954903212,-0.00539474262614,0.0598347828961,0.999999938738,0.00021281447508,-0.000276710236565,2.57787897654e-05,1793246477529979648
+49,0.816666667,BASELINE,765,745,714,679,658,634,877,785,807,652,629.563364061,652,0.40095513676,-0.00539616427403,0.0598358000823,0.999999939168,0.000212215088884,-0.000275573233638,2.62150879467e-05,1793246477546646272
+50,0.833333333,BASELINE,765,745,714,679,658,634,877,785,807.011203803,652,629,652,0.400955289444,-0.00539829272481,0.0598368523564,0.99999993969,0.000211235740494,-0.000274377512461,2.67737023761e-05,1793246477563312640
+51,0.850000000,BASELINE,765,745,714,679,658,634,877,785,807.606103391,652,629,652,0.400956248431,-0.00539754174252,0.0598368298793,0.999999939472,0.000212412806118,-0.000274275792971,2.66353483806e-05,1793246477579979520
+52,0.866666667,BASELINE,765,745,714,679,658,634,877,785,807.804768591,652,629.195231409,652,0.400956504115,-0.00539690740463,0.0598367403935,0.9999999393,0.000212954338304,-0.000274500023653,2.6473188259e-05,1793246477596646144
+53,0.883333333,BASELINE,765,745,714,679,658,634,877,785,807.226950898,652,629.773049102,652,0.400955381567,-0.00539650164961,0.0598365195936,0.999999939218,0.000212250443889,-0.000275363004359,2.6264376342e-05,1793246477613313024
+54,0.900000000,BASELINE,765,745,714.349508754,679,658,634,877,785,807.349508754,652,629.650491246,652,0.400954927624,-0.00539639345006,0.0598359054528,0.999999938801,0.000213390706395,-0.000275993782786,2.62798785042e-05,1793246477629979648
+55,0.916666667,BASELINE,765,745,714.925089961,679,658,634,877,785,807.925089961,652,629.074910039,652,0.400954906154,-0.0053964777181,0.0598350368875,0.999999938163,0.000215723823402,-0.000276474365975,2.64404735618e-05,1793246477646646016
+56,0.933333333,BASELINE,765.514244366,745,714.485755634,679,658.514244366,634,877,785,807.485755634,652,629,652,0.40095543598,-0.00539662089757,0.0598352858663,0.999999939022,0.000212533422588,-0.000275862291637,2.61854486799e-05,1793246477663312640
+57,0.950000000,BASELINE,765.896875483,745,714.103124517,678.896875483,658.896875483,634.103124517,877,785,807.103124517,652,629,652,0.40095598125,-0.00539677419596,0.059835680189,0.999999939806,0.000209701564654,-0.000275209802309,2.59243206393e-05,1793246477679979520
+58,0.966666667,BASELINE,765.318615863,745,714.681384137,678.318615863,658.318615863,634.681384137,877,785,807.681384137,652,629,652,0.400956217631,-0.00539693350531,0.0598359737835,0.999999939275,0.000212329317721,-0.000275124333947,2.59215825419e-05,1793246477696646144
+59,0.983333333,BASELINE,765,745,714.742106336,678.257893664,658.257893664,634.742106336,877,785,807.742106336,652,629,652,0.40095671753,-0.00539684778169,0.0598364177401,0.999999938963,0.000214495682523,-0.00027457361549,2.59843272817e-05,1793246477713313024
+60,1.000000000,BASELINE,765,745,714.167744319,678.832255681,658.832255681,634.167744319,877,785,807.167744319,652,629,652,0.400957540798,-0.00539646137144,0.05983704621,0.999999938922,0.000216095865546,-0.000273451975933,2.61274277979e-05,1793246477729980160
+61,1.016666667,BASELINE,765,745.41652684,714,679,659,634,877.41652684,785,807,652,629,652,0.400956661221,-0.00539640408746,0.0598364926053,0.999999938857,0.000215325320954,-0.000274304987562,2.60253756652e-05,1793246477746646784
+62,1.033333333,BASELINE,765,746,714.004809399,679,658.995190601,634,877.995190601,785,807,652,629,652,0.400955098487,-0.00539648635165,0.0598354605107,0.999999938782,0.000213582061318,-0.000275954536974,2.58235271862e-05,1793246477763313408
+63,1.050000000,BASELINE,765,746,714.583963447,679,658.416036553,634,877.416036553,785,807,652,629,652,0.400955843974,-0.00539701905351,0.0598355220951,0.999999939161,0.000212471094558,-0.000275445398922,2.57814479696e-05,1793246477779979776
+64,1.066666667,BASELINE,765,745.837517696,714.837517696,679,658,634,877,785,807,652,629,652,0.400955791519,-0.00539709423967,0.0598352255125,0.999999939099,0.000212185099437,-0.000275888624841,2.57744479861e-05,1793246477796646144
+65,1.083333333,BASELINE,765,745.260618947,714.260618947,679,658,634,877,785,807,652,629,652,0.400953703888,-0.005396002517,0.0598340154133,0.999999937913,0.000214003221592,-0.000278760886321,2.58569187389e-05,1793246477813312768
+66,1.100000000,BASELINE,765,745,714,679,658.314916153,634,877,785,807,652,629,652,0.400953063658,-0.0053956393973,0.0598337885211,0.999999937705,0.000214196407253,-0.00027936084664,2.58306053783e-05,1793246477829979392
+67,1.116666667,BASELINE,765,745,714,679,658.889327559,634,877,785,807,652,629,652,0.400953616105,-0.00539587665656,0.0598343718049,0.999999938308,0.000213050622744,-0.000278088399328,2.57146524041e-05,1793246477846646016
+68,1.133333333,BASELINE,765,745,714,679,658.524285529,634,877,785.475714471,807,652,629,652,0.400954833536,-0.00539653267722,0.0598349729099,0.999999938751,0.000212693906053,-0.000276735748707,2.60235971153e-05,1793246477863313152
+69,1.150000000,BASELINE,765,745,714,679,658,634,876.936153938,785.936153938,807,652,629,652,0.400955990167,-0.00539715725016,0.0598355433848,0.999999939133,0.000212439623712,-0.000275515421412,2.63406260714e-05,1793246477879980032
+70,1.166666667,BASELINE,765,745,714,679,658,634,876.357008141,785.357008141,807,652,629,652,0.400955375218,-0.00539672140871,0.0598358323171,0.999999939345,0.000211492217606,-0.000275517556887,2.59044828059e-05,1793246477896646912
+71,1.183333333,BASELINE,765,745,714.221160482,679.221160482,658.221160482,634,876.221160482,785,807.221160482,652,629,652,0.400955527827,-0.00539663843438,0.0598361918565,0.999999939461,0.000211348578918,-0.000275225510679,2.5703212548e-05,1793246477913313536
+72,1.200000000,BASELINE,765,745,714.797758733,679.797758733,658.797758733,634,876.797758733,785,807.797758733,652,629,652,0.400956914015,-0.00539712256991,0.0598366648719,0.999999939423,0.000212496713802,-0.000274460670777,2.58794180574e-05,1793246477929979648
+73,1.216666667,BASELINE,765,745,714.62751607,679.62751607,659,634,877,784.62751607,807.62751607,652,629,652,0.400956988486,-0.00539633677771,0.0598365526795,0.999999939135,0.000213869653344,-0.000274449702714,2.58114643791e-05,1793246477946646016
+74,1.233333333,BASELINE,765,745,714.053802798,679.053802798,659,634,877,784.053802798,807.053802798,652,629,652,0.400956354322,-0.00539486492441,0.0598361243367,0.999999938711,0.000215364040456,-0.000274846003632,2.5611607033e-05,1793246477963312384
+75,1.250000000,BASELINE,765,745,714,679,659,634,877,784.534173666,807.534173666,652,629,652,0.400957684839,-0.00539549033274,0.0598370308921,0.999999939292,0.00021433902716,-0.000273509924365,2.58212638312e-05,1793246477979979264
+76,1.266666667,BASELINE,765.12115918,745,714,679,658.87884082,634,877,785,807.87884082,652,629,652,0.400958339643,-0.00539608313262,0.0598374731035,0.999999939656,0.000213367933214,-0.000272927173098,2.59579910591e-05,1793246477996645888
+77,1.283333333,BASELINE,765.698849055,745,714,679,658.301150945,634,877,785,807.301150945,652,629,652,0.400955682249,-0.00539573527155,0.0598356451344,0.999999938813,0.000213582405996,-0.00027585849202,2.56602348415e-05,1793246478013312768
+78,1.300000000,BASELINE,765.725436779,745,714,679,658.274563221,634,877,785.274563221,807.274563221,652,629,652,0.400954066406,-0.00539550577731,0.0598345696788,0.999999938243,0.000214150630272,-0.000277495158117,2.55105789487e-05,1793246478029979136
+79,1.316666667,BASELINE,765.151874195,745,714,679,658.848125805,634,877,785.848125805,807.848125805,652,629,652,0.400953584812,-0.00539540518456,0.0598343137103,0.999999937975,0.00021510408993,-0.000277721947034,2.55222043369e-05,1793246478046645760
+80,1.333333333,BASELINE,765,745,714,679,659,634,877,785.562969111,807.562969111,652,629,652,0.400954601844,-0.0053962105173,0.0598354069593,0.999999938566,0.00021445544874,-0.000276067832404,2.57516868952e-05,1793246478063312640
+81,1.350000000,BASELINE,765,745,714,679,658.969365019,634,877.030634981,785,807.030634981,652,629,652,0.4009560502,-0.00539728091579,0.0598368776123,0.999999939409,0.000213246896391,-0.000273914583555,2.60336093863e-05,1793246478079979264
+82,1.366666667,BASELINE,765,745,714,679,658.390554726,634,877.609445274,785,807.609445274,652,629,652,0.400955558547,-0.00539725603461,0.0598364063104,0.999999939322,0.00021234428145,-0.000274951566917,2.5849882912e-05,1793246478096645888
+83,1.383333333,BASELINE,765,745,714,679,658.187223228,634,877.812776772,785,807.812776772,652,629,652,0.400955234459,-0.00539697361693,0.0598360935502,0.999999939143,0.000212296519465,-0.000275640910853,2.57940983426e-05,1793246478113312768
+84,1.400000000,BASELINE,765,745,714,679,658.762859601,634,877.237140399,785,807.237140399,652,629,652,0.400955258,-0.00539615691425,0.0598361097003,0.999999938779,0.000214022234507,-0.00027560904253,2.60037419022e-05,1793246478129979136
+85,1.416666667,BASELINE,765,745,714.33717246,679,658.66282754,634,877.33717246,785,807,652,629.33717246,652,0.400954609391,-0.00539649214465,0.059835738833,0.999999938821,0.00021332789559,-0.00027599546029,2.59928350918e-05,1793246478146646016
+86,1.433333333,BASELINE,765,745,714.910558068,679,658.089441932,634,877.910558068,785,807,652,629.910558068,652,0.400953489893,-0.00539763438567,0.0598350968327,0.999999939145,0.000210938137654,-0.000276674917025,2.58274171399e-05,1793246478163312640
+87,1.450000000,BASELINE,765,745,715,679,658.500209356,634,877.499790644,785,807,652,629.499790644,652,0.400954232698,-0.00539792696609,0.059835101253,0.999999939221,0.000210986509686,-0.000276358584629,2.58491940693e-05,1793246478179979264
+88,1.466666667,BASELINE,765,745,714.909481342,679,658.909481342,634,877.090518658,785,807,652,629,652,0.400955103708,-0.00539800017,0.0598351929371,0.999999939246,0.000211334088696,-0.000275996039686,2.59134056717e-05,1793246478196646144
+89,1.483333333,BASELINE,765,745,714.331809527,679,658.331809527,634,877.668190473,785,807,652,629,652,0.400954812337,-0.00539773785545,0.0598351112897,0.999999939237,0.000210866833927,-0.000276375257738,2.60197972443e-05,1793246478213313280
+90,1.500000000,BASELINE,765,745,714,679,658,634,877.755556069,785,807,652,629,652.244443931,0.400955449845,-0.00539700134139,0.059835990304,0.99999993937,0.000211480206358,-0.000275428215403,2.59982127304e-05,1793246478229980160
+91,1.516666667,BASELINE,765,745,714,679,658,634,877.181216833,785,807,652,629,652.818783167,0.400957340944,-0.00539562485978,0.059838165803,0.999999939685,0.000213551965771,-0.000272691285793,2.58039149405e-05,1793246478246646528
+92,1.533333333,BASELINE,765,745,714,679,658.403579581,634,877.403579581,785,807,652,629,652.596420419,0.400957468396,-0.00539605065967,0.0598381343108,0.99999993983,0.000213048455608,-0.000272552879494,2.5793815681e-05,1793246478263312896
+93,1.550000000,BASELINE,765,745,714,679,658.99319647,634,877.99319647,785,807,652,629,652.00680353,0.400956782863,-0.00539730725371,0.0598370854663,0.999999939897,0.000211357828528,-0.000273612309285,2.58686260494e-05,1793246478279979264
+94,1.566666667,BASELINE,765,745,714.572632545,679,659,634,877.427367455,785,807,652,629,652,0.400956049481,-0.00539630932922,0.0598364740964,0.999999939639,0.000211323621163,-0.000274584198808,2.58275549446e-05,1793246478296645888
+95,1.583333333,BASELINE,765,745,715,679,658.848882792,634.151117208,877,785,807,652,629,652,0.400955490457,-0.0053954420083,0.0598360669635,0.999999939272,0.000212117572534,-0.000275313786975,2.57765045169e-05,1793246478313312512
+96,1.600000000,BASELINE,765,745,715,679,658.272739633,634.727260367,877,785,807,652,629,652,0.400955423394,-0.00539501603917,0.0598362198955,0.999999938604,0.000215186383883,-0.000275364762865,2.57011913521e-05,1793246478329979392
+97,1.616666667,BASELINE,765,745,714.697498832,679,658.302501168,634.697498832,877.302501168,785,807,652,629,652,0.400955153772,-0.0053950547592,0.0598362398341,0.99999993853,0.00021550171852,-0.000275391048803,2.56526203947e-05,1793246478346646272
+98,1.633333333,BASELINE,765,745,714.123069227,679,658.876930773,634.123069227,877.876930773,785,807,652,629,652,0.400954702061,-0.00539551120392,0.0598361402203,0.999999938993,0.00021334186048,-0.000275395140114,2.56280889084e-05,1793246478363312896
+99,1.650000000,BASELINE,765,745,714.464373744,679,659,634,877.535626256,785,807.464373744,652,629,652,0.400954382485,-0.00539549306369,0.0598358058526,0.99999993901,0.000212632543789,-0.000275901053345,2.54063539973e-05,1793246478379979520
+100,1.666666667,BASELINE,765,745,714.94578995,678.94578995,658.94578995,634,877,785,807.94578995,652,629,652,0.400954255743,-0.00539542899474,0.059835521861,0.999999938983,0.000212292590669,-0.000276283655014,2.51551895556e-05,1793246478396646144
+101,1.683333333,BASELINE,765,745,714.367126876,678.367126876,658.367126876,634,877,785,807.367126876,652,629,652,0.400955646023,-0.00539617248188,0.0598363444809,0.999999939697,0.000211699696481,-0.000274149544581,2.51395065602e-05,1793246478413312768
+102,1.700000000,BASELINE,765,745,714,678.419367799,658.2096839,634,877.2096839,785.2096839,807,652,629.2096839,652,0.4009562258,-0.00539673305723,0.0598366592549,0.99999993989,0.000211667941279,-0.00027344643229,2.5364378543e-05,1793246478429979392
+103,1.716666667,BASELINE,765,745,714,679.566559803,658.783279902,634,877.783279902,785.783279902,807,652,629.783279902,652,0.400955398929,-0.00539697618414,0.0598360926487,0.999999939185,0.000212610058092,-0.00027522685637,2.60067402254e-05,1793246478446646016
+104,1.733333333,BASELINE,765,745,714,680,659,634,877.633735472,785.633735472,807.366264528,652,629.633735472,652,0.40095515696,-0.00539725318686,0.0598357140319,0.999999939157,0.000211967100228,-0.000275832338863,2.59404467446e-05,1793246478463312896
+105,1.750000000,BASELINE,765,745,714,680,659,634,877.045049357,785.045049357,807.954950643,652,629.045049357,652,0.400955270187,-0.00539755076136,0.0598354495756,0.999999939538,0.000210361573608,-0.000275724314343,2.54438080598e-05,1793246478479979520
+106,1.766666667,BASELINE,765,745,714,679.465177945,659,634,877,785,807.465177945,652,629.534822055,652,0.400955630771,-0.00539758108971,0.0598359037507,0.999999939296,0.000212136215921,-0.000275207955371,2.58339736737e-05,1793246478496646144
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,807,652,629,652,0.400955131289,-0.0053950706671,0.0598369131592,0.999999939112,0.000213729243837,-0.000274655733709,2.56847875915e-05,1793246478538775552
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.428296575,679,658.428296575,634.571703425,877,785,807,652,629,652,0.400955981972,-0.00539638099986,0.0598374121741,0.999999939396,0.000213657089691,-0.000273651534701,2.59385943089e-05,1793246478555442176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.851974617,745.148025383,714,679,658.148025383,634.851974617,877.296050766,785,807,652,629,652,0.400956585247,-0.00539725830163,0.0598376480565,0.999999939575,0.000213573184791,-0.000273044725635,2.61312667274e-05,1793246478572108800
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.261858883,745.738141117,714,679,658.738141117,634.261858883,878.476282234,785,807,652,629,652,0.400956449622,-0.00539684231993,0.0598370980713,0.999999939442,0.000213454185252,-0.00027362475507,2.61413564419e-05,1793246478588775424
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.321485664,745.678514336,714,679,659,634.321485664,878.357028672,785,807.321485664,652,629,652,0.400955955918,-0.00539599583116,0.0598366044243,0.999999939138,0.000213716530539,-0.000274563965279,2.57538641003e-05,1793246478605441792
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.899428627,745.100571373,714,679,659,634.899428627,877.201142746,785,807.899428627,652,629,652,0.400955176567,-0.00539480591598,0.0598361557197,0.999999938698,0.000214283084306,-0.000275789703099,2.50492104295e-05,1793246478622108672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658.52236221,634.52236221,877,785,807.52236221,652,629,652,0.40095555771,-0.00539510252719,0.0598361188263,0.999999938738,0.000214425905989,-0.000275496779996,2.54255194343e-05,1793246478638775552
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.944478701,745,714,678.944478701,658,634,877,785,807.055521299,651.944478701,629,652,0.400956593644,-0.00539567512057,0.0598364742076,0.999999938951,0.000214514456309,-0.00027460390642,2.59798643513e-05,1793246478655442176
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.370162121,745,714,678.370162121,658,634,877,785,807.629837879,651.370162121,629,652,0.400961463463,-0.00539590015869,0.0598396843478,0.999999939817,0.000214930043548,-0.000271094662916,2.6069823454e-05,1793246478672108800
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,678.209578045,658.209578045,634,877,785,807.790421955,651.209578045,629,652,0.400973708388,-0.00539668252907,0.0598452786698,0.999999942313,0.000214684525553,-0.000261891363448,2.64156093464e-05,1793246478688775424
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,678.799151905,658.799151905,634,877,785,807.200848095,651.799151905,629,652,0.400999325462,-0.00539847542478,0.0598551958638,0.999999947524,0.00021324032645,-0.000242363903454,2.72252468149e-05,1793246478705442048
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629,652,0.401046653004,-0.0054003394227,0.0598738121174,0.999999955698,0.000211391020331,-0.000207677945833,2.80562674184e-05,1793246478722108672
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629,652,0.401105197987,-0.00540224015813,0.0598969230316,0.999999964034,0.000209332401722,-0.000165159842124,2.88983363678e-05,1793246478738775552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.536944309,745,714,679,658.463055691,634,877,785,807.536944309,652,629,652,0.401171114534,-0.00540372697948,0.059914355405,0.99999996729,0.000210247413467,-0.000142553364134,2.99245768738e-05,1793246478755442176
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.889405427,745,714,679,658,634,877,785,807.889405427,652,629.110594573,652,0.401240218861,-0.00540520198564,0.0599294654116,0.999999969758,0.000210809500335,-0.000122874941124,3.07280140636e-05,1793246478772109056
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.320418468,745,714,679,658,634,877,785,807.320418468,652,629.679581532,652,0.401320383224,-0.00540674889479,0.0599366079661,0.999999971687,0.00020904040394,-0.000109517978365,3.05541933328e-05,1793246478788775936
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.262563206,745,714,679,658,634,877,785,807.262563206,652,629.737436794,652,0.401409073533,-0.00540945293601,0.0599420087225,0.999999973405,0.000206104937319,-9.90083666808e-05,3.01415085897e-05,1793246478805442304
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.863584801,745,714,679,658,634,877,785,807.863584801,652,629.136415199,652,0.401508754247,-0.00541364858392,0.0599451642053,0.999999974985,0.000201665955567,-9.21691476862e-05,2.9420915034e-05,1793246478822108672
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.556077138,745,714,679,658,634,877,785,807.556077138,652,629,652,0.401629223855,-0.00541599765872,0.0599482752703,0.999999975628,0.000201878499629,-8.472595116e-05,2.84595795023e-05,1793246478838775552
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.018221303,714.018221303,679,658.018221303,634,877,785,807.018221303,652,629,652.018221303,0.401756361209,-0.00541788390764,0.0599511905562,0.999999975978,0.000203224407227,-7.74100714361e-05,2.74123830566e-05,1793246478855442176
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.593540131,714.593540131,679,658.593540131,634,877,785,807.593540131,652,629,652.593540131,0.401900736973,-0.00542219635035,0.0599485188377,0.999999977015,0.00019746516626,-7.94086511341e-05,2.59012088766e-05,1793246478872108800
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.826306299,714.826306299,679,659,634,877,785,808,652,629.173693701,652.826306299,0.402055923902,-0.00542614082104,0.059947397052,0.99999997803,0.000193185804804,-7.76521323638e-05,2.42616445503e-05,1793246478888775424
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.234515121,714.234515121,679,659,634,877,785,808,652,629.765484879,652.234515121,0.402237134327,-0.00542919954703,0.0599500061046,0.999999978994,0.000192468656762,-6.68567294703e-05,2.23130329895e-05,1793246478905442048
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.651095917,634,877,785,808,652,629.651095917,652,0.402443591466,-0.00543329960561,0.0599527805493,0.99999998019,0.00018954645682,-5.72601226208e-05,2.03536283644e-05,1793246478922108928
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.073171998,634,877,785,808,652,629.073171998,652,0.402666620508,-0.0054380831928,0.0599556635573,0.999999981512,0.000185176865814,-4.84504016597e-05,1.83871390025e-05,1793246478938775552
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.501512689,634,877,785,807.498487311,652,629,652,0.402919305737,-0.00544667473839,0.0599537925901,0.999999983442,0.000174943657414,-4.7474131428e-05,1.60008787304e-05,1793246478955442432
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629,652,0.40317992139,-0.00545554319111,0.0599518457863,0.999999985324,0.000164206406949,-4.69610136915e-05,1.35254955116e-05,1793246478972109056
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629,652,0.403464440483,-0.00546260064737,0.059953936298,0.99999998693,0.000155746637987,-4.20215191904e-05,1.08640182632e-05,1793246478988775424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629,652,0.4037619844,-0.00546891893954,0.0599501559513,0.999999987967,0.000147478101861,-4.75235024163e-05,7.60408708192e-06,1793246479005442048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629,652,0.404077479863,-0.0054742184727,0.0599382840486,0.999999987995,0.000139473134345,-6.74165332117e-05,3.51933230588e-06,1793246479022108672
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629.407638834,652,0.404416360243,-0.00548165373582,0.0599248007346,0.999999987258,0.000131371223818,-9.06951580568e-05,-4.11315180236e-07,1793246479038775296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,807,652,629.983607259,652,0.404764897138,-0.005489970923,0.0599106520078,0.999999985743,0.000123229281971,-0.00011537182302,-4.27832579871e-06,1793246479055441664
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.461665664,634,877.538334336,785,807.538334336,652,629.461665664,652,0.405166767757,-0.00549680082879,0.0599040328327,0.999999985278,0.00011356166846,-0.000128342794472,-8.70865852275e-06,1793246479072108800
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.102415847,745,714,679,658.102415847,634,878,785,807.897584153,652,629.102415847,652.102415847,0.405584897312,-0.00550366327265,0.0599025861266,0.999999985802,0.000103147831087,-0.0001326439648,-1.27656063741e-05,1793246479088775424
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.716323454,745,714,679,658.716323454,634,878,785,807.283676546,652,629.716323454,652.716323454,0.40607642508,-0.00551090581735,0.0599258704737,0.999999991362,8.92303738783e-05,-9.53584783091e-05,-1.48753524825e-05,1793246479105442048
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.688885139,745,714.311114861,679,659,634,877.688885139,784.688885139,807,652,630,652.688885139,0.406596069709,-0.00551102405739,0.0599542614645,0.999999997851,4.25224541917e-05,-4.69197930284e-05,-1.69916577026e-05,1793246479122108672
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.11051495,745,714.88948505,679,659,634,877.11051495,784.11051495,807,652,630,652.11051495,0.407139867468,-0.00550502234509,0.0599870391904,0.999999999232,-3.23532821042e-05,1.10997691371e-05,-1.91135974971e-05,1793246479138775296
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.466415105,745.466415105,715,679,659,634,877.466415105,784.466415105,807.466415105,652,630,652,0.407681286654,-0.00549369894698,0.0599978577636,0.999999999268,-2.16076009476e-05,2.19310030935e-05,-2.27040394326e-05,1793246479155441920
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.957334955,745.957334955,714.957334955,679,659,634,877.957334955,785,808,652,629.957334955,652,0.408224219557,-0.00548305017087,0.0600020590998,0.999999999447,6.03718361336e-06,1.90739228698e-05,-2.65474455957e-05,1793246479172108288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.385302273,745.385302273,714.385302273,679,659,634,877.385302273,785,808,652,629.385302273,652,0.408792905659,-0.00549636887744,0.0599885160531,0.999999999427,-7.58612848983e-06,-1.53189966235e-05,-2.92255443243e-05,1793246479188774912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.193570607,745,714,679,659,634,877.193570607,785,808,652,629.193570607,652,0.409377926419,-0.00550759820488,0.059979168266,0.999999998489,-1.99707571205e-05,-3.99805849457e-05,-3.20147988228e-05,1793246479205441536
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.786557615,745,714,679,659,634,877.786557615,785,808,652,629.786557615,652,0.409996652317,-0.00551451627628,0.0599784770392,0.999999997949,-2.97994674887e-05,-4.4562401195e-05,-3.50334136573e-05,1793246479222108416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.628803801,745,714,679,659,634,877.628803801,784.628803801,808,652,630,652,0.410661489932,-0.00551640527713,0.0599842016388,0.999999998991,-1.96469242957e-05,-2.69548186347e-05,-3.00994077999e-05,1793246479238775552
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.048860094,745,714,679,659,634,877.048860094,784.048860094,808,652,630,652,0.411352259112,-0.00551546610777,0.0599935342705,0.999999999779,1.74236391722e-06,3.13129094427e-06,-2.0693131442e-05,1793246479255442432
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,784,807.474546886,651.474546886,630,652,0.412044644145,-0.00550692678224,0.0599874049057,0.99999999955,1.17356523051e-05,-1.18433216508e-05,-2.49444194125e-05,1793246479272108800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.099599068,745,714,679,659,634,877.199198137,784.099599068,807.099599068,651,629.900400932,652,0.412736191482,-0.00549936178118,0.0599739499609,0.999999998517,1.76209089383e-05,-4.17175695585e-05,-3.02574327594e-05,1793246479288775168
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.67542195,745,714,679,659,634,878.3508439,784.67542195,807.67542195,651,629.32457805,652,0.413423022438,-0.00549979868297,0.0599322700557,0.999999991795,8.87700812928e-06,-0.000123011147258,-3.4639117454e-05,1793246479305441536
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.25838926,714,679,659,634,878.74161074,784.74161074,808,651.25838926,629.25838926,652,0.414157876305,-0.00550295671334,0.0599152396982,0.999999987419,-3.67033393781e-06,-0.000154180006905,-3.7097397407e-05,1793246479322108416
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.850586392,714,679,659,634,878.149413608,784.149413608,808,651.850586392,629.850586392,652,0.414954770097,-0.00550963011489,0.0599300535884,0.999999991818,-2.11312661992e-05,-0.000120593766324,-3.70708703762e-05,1793246479338775296
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.570380838,714,679,659.429619162,634,878.429619162,784,808.429619162,652,630,652.429619162,0.415804623804,-0.00551422485831,0.0599767509523,0.999999998531,-1.74510350717e-05,-3.74209956408e-05,-3.51086297462e-05,1793246479355442176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.995773229,745,714.004226771,679,659.995773229,634,878.995773229,784.004226771,809,652,630,653,0.416672034777,-0.00551807138456,0.0600337401513,0.999999997549,-6.78601982826e-06,6.16244477785e-05,-3.25237199812e-05,1793246479372109056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.41885142,745,714.58114858,679,659.41885142,634,878.41885142,784.58114858,809,652,630,653,0.417496960115,-0.00551557807843,0.060027458006,0.999999998311,-1.6326247017e-05,4.4162415523e-05,-3.40742272817e-05,1793246479388775424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.161695309,745,714.838304691,679.161695309,659.161695309,634,878,785,809,652,630,652.838304691,0.418329047619,-0.00551417122473,0.0600168971739,0.999999998798,-2.33634293762e-05,2.37009695031e-05,-3.59937612125e-05,1793246479405442048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.751847241,745,714.248152759,679.751847241,659.751847241,634,878,785,809,652,630,652.248152759,0.419180113216,-0.00551564322857,0.0599949987735,0.99999999895,-2.37680988321e-05,-4.70825510781e-06,-3.88911335928e-05,1793246479422108672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.336109776,714.336109776,679.663890224,659.663890224,634,878,785,809,652,630,652.336109776,0.420026122789,-0.00551725710694,0.0599660335683,0.999999997699,-2.44002444161e-05,-4.75415158993e-05,-4.17988436197e-05,1793246479438775296
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.916098973,714.916098973,679.083901027,659.083901027,634,878,785,809,652,630,652.916098973,0.420868463702,-0.00551897392863,0.0599319407291,0.999999993598,-2.51974453756e-05,-0.000100840777351,-4.47140543842e-05,1793246479455441920
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.509474945,714.509474945,679.490525055,659.490525055,634,878.490525055,785,809,652,630.490525055,653,0.421690453669,-0.00551866573149,0.0598967924771,0.999999983721,-2.92479783146e-05,-0.000171890144876,-4.64274846493e-05,1793246479472108288
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.064153538,680,660,634,879,785,809,652,631,653,0.422529053469,-0.00551832824191,0.0598712654134,0.999999972712,-3.34201094702e-05,-0.000226243608907,-4.76695921382e-05,1793246479488774912
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.638921985,680,660,634,879,785,809,652,631,653,0.423527249497,-0.00552048350917,0.0599237366456,0.999999990657,-3.41807210388e-05,-0.000123816305378,-4.67780495022e-05,1793246479505441536
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.778476425,745,714.778476425,680,660,634,879,785,809,652,630.778476425,653,0.424520637033,-0.00552198488816,0.0599762548436,0.999999997893,-3.46533945267e-05,-3.11800503509e-05,-4.51685438051e-05,1793246479522108160
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.182638884,745,714.182638884,680,660,634,879,785,809,652,630.182638884,653,0.425505899702,-0.00552238137605,0.0600288524094,0.999999997495,-3.46395322638e-05,4.49120384518e-05,-4.23458781809e-05,1793246479538775040
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,785,809.395825205,651.604174795,630,652.604174795,0.426452810087,-0.0055234718325,0.0600401141499,0.999999995879,-3.61535722281e-05,7.10758777255e-05,-4.33976571296e-05,1793246479555441920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,785,809.96660998,651.03339002,630,652.03339002,0.427382768236,-0.0055248690315,0.0600331049481,0.999999995374,-3.83429636786e-05,7.517081702e-05,-4.61619880946e-05,1793246479572108288
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.454265193,879.545734807,785,810,651,630.545734807,652.545734807,0.428280785422,-0.00552763138062,0.0600045111493,0.999999997282,-4.62102936289e-05,3.08442284444e-05,-4.84649918298e-05,1793246479588774656
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.127780256,633,879.872219744,785,810,651.127780256,631,653,0.429169405316,-0.00552872209851,0.0599721125262,0.999999997136,-5.15744278327e-05,-2.26367188785e-05,-5.05581116276e-05,1793246479605441536
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.718530085,633,879.281469915,785,810,651.718530085,631,653,0.430031167703,-0.00552344889135,0.0599307874809,0.999999992723,-4.65908471918e-05,-9.83848594622e-05,-5.19946398184e-05,1793246479622108416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.303058863,680,660.696941137,633,879,785.303058863,810,652,630.696941137,652.696941137,0.430952841932,-0.00552131774785,0.0599235892966,0.999999992006,-4.43164081088e-05,-0.000105666327475,-5.34597368671e-05,1793246479638775040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.881925948,680,660.118074052,633,879,785.881925948,810,652,630.118074052,652.118074052,0.431929040766,-0.00552204613818,0.0599474493344,0.999999996218,-4.45075085939e-05,-5.06375493321e-05,-5.49508339023e-05,1793246479655441664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.547921948,680,660,633,879,785.547921948,810,652,630.452078052,652.452078052,0.432877473831,-0.00552631979719,0.0599859322435,0.999999997228,-5.08998519527e-05,1.04120504009e-05,-5.33316024777e-05,1793246479672108544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,879,785,810,652,631,653,0.433816742306,-0.00553139001836,0.0600259761392,0.999999994551,-5.8761827032e-05,6.95641695751e-05,-5.10574962657e-05,1793246479688775168
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,879,785,810,652,631,653,0.434699842345,-0.00553339467799,0.060006123504,0.999999996012,-6.33527430306e-05,3.44525783972e-05,-5.26774711577e-05,1793246479705442048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.185122174,745,714,679.814877826,660.185122174,633,879,785,810.185122174,652,631,653,0.435574365405,-0.0055339363651,0.0599808364732,0.999999996185,-6.713846849e-05,-1.08083921345e-05,-5.48271341538e-05,1793246479722108672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.778808195,745,714,679.221191805,660.778808195,633,879,785,810.778808195,652,631,653,0.43642995928,-0.0055312492785,0.0599435557506,0.99999999284,-6.91471427014e-05,-7.84690062589e-05,-5.81458168063e-05,1793246479738775040
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679.361695681,660.638304319,633,879,785,810.638304319,652,631,653,0.437257013221,-0.00552774603271,0.0599185245988,0.999999988171,-6.42058828671e-05,-0.000126538230263,-5.93535609261e-05,1793246479755441664
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.938170825,660.061829175,633,879,785,810.061829175,652,631,653,0.438067119737,-0.00552375814147,0.0599007673992,0.999999983441,-5.51376643688e-05,-0.000162973835404,-5.93078029322e-05,1793246479772108288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.487632518,745,714,680,660,633,879,785,810,652,631,653,0.438909901514,-0.00552578154194,0.0599065851369,0.999999985071,-5.62251018777e-05,-0.000152323781085,-5.91052249333e-05,1793246479788774912
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.088830334,714,680,660,633,879,785,810.088830334,651.911169666,631,653,0.439760727701,-0.00552905233121,0.0599230621541,0.999999988795,-6.04221422573e-05,-0.000123807961864,-5.85667157548e-05,1793246479805441792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.679646484,714,680,660,633,879,785,810.679646484,651.320353516,631,653,0.440634829624,-0.00553529104048,0.0599837700656,0.999999995238,-7.52969228628e-05,-2.62987117914e-05,-5.62363053929e-05,1793246479822108416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.73481202,714,680,660,633.26518798,879.26518798,785,810.73481202,651.26518798,631,653,0.441470614392,-0.00553925242304,0.0600158078362,0.999999994594,-8.46721273238e-05,2.35499322603e-05,-5.55664969814e-05,1793246479838775296
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.15551821,714,680,660,633.84448179,879.84448179,785,810.15551821,651.84448179,631,653,0.442261013774,-0.00554051639181,0.0600138868293,0.999999994409,-8.75332769906e-05,1.69462585357e-05,-5.68636138067e-05,1793246479855442176
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.420293449,745,714.420293449,680,660,633.579706551,879.579706551,785,810.420293449,652,631,653,0.442994399283,-0.00554162394935,0.0599896949884,0.999999994478,-8.540961102e-05,-1.62058869442e-05,-5.90445492066e-05,1793246479872108544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.994827265,745,714.994827265,680,660,633.005172735,879.005172735,785,810.994827265,652,631,653,0.443706861761,-0.00554267410679,0.0599573301395,0.999999993042,-8.14566047165e-05,-5.91008592119e-05,-6.15498306263e-05,1793246479888775168
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714.430764346,680.569235654,660,633,879,785,811,651.430764346,631,653,0.444411154678,-0.00554509718731,0.0599582184457,0.99999999376,-7.36484183705e-05,-5.81069603128e-05,-6.06662143266e-05,1793246479905441792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.148192952,681,660,633,879,785,811.148192952,651.148192952,631,653,0.445098255833,-0.00554782987588,0.0599582751504,0.999999993905,-6.91322051521e-05,-6.20312816496e-05,-5.96898181186e-05,1793246479922108416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.740795333,681,660,633,879,785,811.740795333,651.740795333,631,653,0.445734024111,-0.00555145362979,0.0599549320168,0.999999992151,-7.4593180505e-05,-8.19003964421e-05,-5.85275188331e-05,1793246479938775040
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714.675984445,680.675984445,660,633,879,785,811.675984445,651.675984445,631,653,0.446366602188,-0.00555188056845,0.0599456272879,0.999999988643,-9.50433341227e-05,-0.000100982214043,-5.90179324737e-05,1793246479955441920
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714.100058547,680.100058547,660,633,879,785,811.100058547,651.100058547,631,653,0.446996699962,-0.00554982209898,0.0599316876353,0.999999982935,-0.000127147029861,-0.00011945193535,-6.07932705002e-05,1793246479972108544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.523470718,745,714,680.476529282,660.476529282,633,879,785,811,651.476529282,631,653,0.447620125586,-0.00554854273608,0.059947424819,0.999999986713,-0.000122128003248,-8.8540885228e-05,-6.18044628948e-05,1793246479988775168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.946886365,633,879,785,811,651.946886365,631,653,0.44823648427,-0.00554778108888,0.059968994997,0.999999990744,-0.00011052453342,-4.87938688369e-05,-6.25717475032e-05,1793246480005441792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.371704197,633,879,785,811,651.371704197,631,653,0.448797169816,-0.00555049798628,0.059986564422,0.999999991599,-0.000110924470354,-2.42538470945e-05,-6.25209009274e-05,1793246480022108416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.790094912,660,632.790094912,879,785,811,651.209905088,631,653,0.449315195469,-0.00555352587285,0.0599836246511,0.999999991011,-0.000113552796787,-3.18655646764e-05,-6.37867744374e-05,1793246480038775040
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.19674493,660,632.19674493,879,785,811,651.80325507,631,653,0.449755291943,-0.00555712185974,0.0599432196291,0.999999985672,-0.000120251841691,-9.8210593606e-05,-6.74579711051e-05,1793246480055441664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.38553323,660,632.38553323,879,785,811,651.61446677,630.61446677,653,0.450185566016,-0.0055608741178,0.059901845325,0.999999976666,-0.000126126560836,-0.000160548555971,-7.06043483932e-05,1793246480072108544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.962319012,660,632.962319012,879,785,811,651.037680988,630.037680988,653,0.450610967504,-0.00556470389807,0.0598599901828,0.999999964243,-0.000131592354781,-0.000220898727225,-7.34903772722e-05,1793246480088775168
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714.882413972,681,660,632.882413972,879,785,811.117586028,652,630.117586028,653,0.45143164873,-0.00557758596549,0.0598583064523,0.999999967753,-0.000120221592962,-0.000213216477186,-6.76752837268e-05,1793246480122109440
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714.293987718,681,660,632.293987718,879,785,811.706012282,652,630.706012282,653,0.451809156925,-0.00557922203884,0.0598702451255,0.999999976156,-8.87818053964e-05,-0.000190955630764,-5.78151423833e-05,1793246480138775808
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.289955256,632,879,785,812,652,631,653,0.452171957115,-0.00558039919623,0.0598833778309,0.999999980643,-8.44646148029e-05,-0.000169633903867,-5.29527340815e-05,1793246480155441920
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.86942178,632,879,785,812,652,631,653,0.452520071799,-0.00558111814026,0.0598977027394,0.999999981704,-0.000107228492262,-0.000149249859928,-5.30804067792e-05,1793246480172108544
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.553793099,632,879.446206901,785,812,652,631,653,0.452822616388,-0.00557240032542,0.0598958211238,0.99999998024,-0.000117480696453,-0.000150588254624,-5.51417667063e-05,1793246480188775168
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.02213459,714,681,660,632,879.97786541,785,812,652,631,653,0.453109362795,-0.00556116720268,0.0598889267854,0.999999978065,-0.000123467694015,-0.000159034568578,-5.77383660708e-05,1793246480205442048
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.59613193,714,681,660,632,879.40386807,785,812,652,631,653,0.453332727191,-0.00555566283484,0.0598745935051,0.999999974226,-0.000113855766642,-0.000187152988505,-5.96554261422e-05,1793246480222108416
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.82483102,714,681,660,632,879,784.82483102,812,652,631,653,0.45354705093,-0.00555456560637,0.0598607264088,0.999999969436,-0.000109497882945,-0.000213107999447,-6.10240046006e-05,1793246480238775296
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.233830346,714,681,660,632,879,784.233830346,812,652,631,653,0.453739913122,-0.00556393043793,0.0598479659834,0.999999963857,-0.000117612516717,-0.000233927314089,-6.10905484636e-05,1793246480255441920
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.348572417,714,681.348572417,660.348572417,632.348572417,879,784.348572417,812,652,631,653,0.45392653862,-0.00556907803783,0.0598427882475,0.99999996125,-0.000120695701256,-0.000243231260051,-6.14113504987e-05,1793246480272108800
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714.95523357,682,659.95523357,632,879.95523357,784.04476643,811.04476643,652,631,653,0.455142945831,-0.00556930260168,0.0598395845535,0.999999962124,-0.000116480137686,-0.000241529207499,-6.20315703619e-05,1793246480522108672
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714.386333174,682,659.386333174,632,879.386333174,784.613666826,811.613666826,652,631,653,0.455152271401,-0.00556777756917,0.0598384156732,0.999999962015,-0.000115342014998,-0.000242501746779,-6.21238655221e-05,1793246480538775296
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.808265502,745.191734498,714,682,659,632,879.191734498,784.808265502,811.808265502,652,631,653,0.455159910326,-0.0055662262585,0.0598374987389,0.99999996187,-0.000114451665836,-0.000243505150454,-6.21745441764e-05,1793246480555441920
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.210798859,745.789201141,714,682,659,632,879.789201141,784.210798859,811.210798859,652,631,653,0.455163980117,-0.00556461934033,0.0598371149513,0.999999961654,-0.000114085633889,-0.000244573866665,-6.21371575348e-05,1793246480572108544
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714,681.472709935,659,632,879.472709935,784.472709935,811,651.472709935,631,653,0.455168332541,-0.00556078958318,0.0598351378622,0.999999961658,-0.000108869759773,-0.000246945914397,-6.20490334334e-05,1793246480622108416
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714,681.105752238,659.105752238,632,879.105752238,784,811,651.105752238,631,653.105752238,0.455169253033,-0.00555958722551,0.0598347674822,0.999999961387,-0.000108796354708,-0.000248075613981,-6.20239353884e-05,1793246480638775296
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,714,681.693713693,659.693713693,632,879.693713693,784,811,651.693713693,631,653.693713693,0.455170071322,-0.00555935763792,0.0598349068583,0.999999961607,-0.000108060210595,-0.00024763367213,-6.15371818557e-05,1793246480655441920
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.277457101,714,682,659.722542899,632,880,784,811.277457101,652,631,653.722542899,0.455169593793,-0.00555905370156,0.0598337206232,0.999999961396,-0.000107486658283,-0.000248793018887,-6.12995994241e-05,1793246480672108544
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.856613986,714,682,659.143386014,632,880,784,811.856613986,652,631,653.143386014,0.455167707223,-0.0055586689202,0.0598310929522,0.99999996071,-0.000107089904059,-0.000251693566039,-6.13329592406e-05,1793246480688775424
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714.008587255,681.008587255,659.991412745,632,879,785,811,652,631,653,0.455171625848,-0.00555833703342,0.059834214272,0.999999961721,-0.000107371447402,-0.000247500112188,-6.14296579526e-05,1793246480722108416
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714.585983429,681.585983429,659.414016571,632,879,785,811,652,631,653,0.455171772507,-0.00555694316507,0.0598333587127,0.999999961267,-0.000106636862161,-0.000249456622787,-6.21837813116e-05,1793246480738775296
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.166532421,745,714.833467579,682,659,632,879,784.833467579,811,652,631,653,0.455171798081,-0.00555627535276,0.0598327443827,0.999999960958,-0.000105979183535,-0.000250916777889,-6.24030651844e-05,1793246480755442176
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.755070865,745,714.244929135,682,659,632,879,784.244929135,811,652,631,653,0.455171516815,-0.0055574474226,0.0598327413468,0.999999961026,-0.00010551639226,-0.000251119129691,-6.12670244275e-05,1793246480772108544
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,745.337997183,714,681.662002817,659,632,879,784,811.337997183,652,631,653,0.455170600361,-0.00555706532207,0.0598322738423,0.999999960912,-0.00010496526847,-0.000251922067808,-6.07759042198e-05,1793246480788775168
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,745.916923082,714,681.083076918,659,632,879,784,811.916923082,652,631,653,0.455169231138,-0.00555557538896,0.0598314752588,0.999999960667,-0.000104351180154,-0.000253153111522,-6.07444916756e-05,1793246480805442048
+244,4.066666667,HOLD_POSE2,766,745,714,682,659,632,879,784,812,652,631,653,0.455169366137,-0.00555649162885,0.0598291459419,0.999999960026,-0.000106209644571,-0.000254713647303,-6.15436978481e-05,1793246480836761856
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,879,784,812,651,631,654,0.455176181535,-0.00555405713404,0.0598319315658,0.999999961676,-0.000101330258408,-0.000250383990709,-6.0722946842e-05,1793246481152955392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745.421448576,715,681,659,632,879,784,811.421448576,651.578551424,630.421448576,653.421448576,0.455177094455,-0.0055551179529,0.0598330695905,0.999999961792,-0.000103744749583,-0.000249010838222,-6.03926031165e-05,1793246481169622016
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.664029028,659,631.335970972,879.335970972,785,811,651.664029028,631,652.664029028,0.45517612824,-0.00555623269617,0.0598313835314,0.999999961147,-0.000106029918134,-0.000250756403583,-5.98691493541e-05,1793246481219621376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,681.084004462,659,631.915995538,879.915995538,785,811,651.084004462,631,652.084004462,0.455176813632,-0.00555617342982,0.0598317087295,0.999999961671,-0.000104711439235,-0.000249254296535,-5.97216391972e-05,1793246481236288000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.488258764,632,880,785,811,651.488258764,631,652.488258764,0.455175855372,-0.00555481869446,0.0598318527928,0.99999996152,-0.000104937007558,-0.000249666293478,-6.011794995e-05,1793246481252954880
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.427615593,745,714,680,659,634,877,784,808,652,629.572384407,652,0.411855383113,-0.00539727952044,0.0597571148784,0.999999893263,0.000206456986319,-0.00041223749361,3.01593226177e-05,1793246482519621632
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.749324296,679.250675704,658.250675704,634,877.749324296,784.749324296,808,652,629.250675704,652,0.410488259594,-0.0053932322394,0.0597523289253,0.999999895485,0.00020437500153,-0.000407971895868,2.86245093094e-05,1793246482552954880
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.334893222,745,714.665106778,679.334893222,658,634,877.665106778,785,808,652,629.334893222,652,0.409880555547,-0.00539325855858,0.0597893257903,0.999999918266,0.000204366764444,-0.000347486072445,3.08976718965e-05,1793246482569621760
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,658.484975668,634,877,785,808,652,629.515024332,652,0.40871513465,-0.00539527369788,0.059847711424,0.999999941358,0.000217523736869,-0.00026214582102,3.53239573178e-05,1793246482602955264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.938780467,658.938780467,634,877,785,808,652,629,652,0.408130175181,-0.0053960862709,0.0598504972071,0.999999940816,0.000222692282883,-0.000259786592795,3.58844293224e-05,1793246482619621888
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,658,633.757970816,877,784.757970816,807.757970816,652,629,652,0.407035658468,-0.00539701228199,0.0598241385551,0.999999934658,0.00021034375322,-0.000292024144691,3.40691620579e-05,1793246482652955392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,658,633.180047498,877,784.180047498,807.180047498,652,629,652,0.406518386044,-0.00539750546056,0.0598168586519,0.999999932765,0.00021184306185,-0.000297567783743,3.23330214714e-05,1793246482669622272
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.39658883,658,633.39658883,877.39658883,784.39658883,807.39658883,652,629,652,0.406048612882,-0.00539604560813,0.0598190223001,0.999999933597,0.000216166997145,-0.000291715422195,3.12929484783e-05,1793246482686288896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.972642817,658,633.972642817,877.972642817,784.972642817,807.972642817,652,629,652,0.405600334134,-0.0053937019663,0.059825459362,0.999999935544,0.000221769138159,-0.000280706120483,3.05678612069e-05,1793246482702955520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.440324592,745,714,680,658,634,878,785,808,652,629,652,0.405178342459,-0.00538788108004,0.0598159969929,0.999999931405,0.000224385307912,-0.000293098157663,3.05672604286e-05,1793246482719621888
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.275649779,658,634,878,785,808.724350221,652,629,652,0.404344788834,-0.00537653221745,0.0597777607853,0.999999907216,0.00023573858428,-0.000359331472516,2.95948145549e-05,1793246482752954880
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.302451394,658,634,877.697548606,785,808.697548606,651.697548606,629,652,0.403971240406,-0.00537216817727,0.0597635331225,0.999999897746,0.000241508417443,-0.000381228402082,2.91006291827e-05,1793246482769621760
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.031476555,679,658.968523445,634,877.968523445,785,808,652,629,652,0.403098386013,-0.00536878303743,0.0597975938583,0.999999920684,0.000241125893722,-0.000315360457023,3.22138557573e-05,1793246482819622144
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.620486353,679,658.379513647,634,877.379513647,785,808,652,629,652,0.402877273782,-0.00537383376198,0.059817442316,0.9999999332,0.00023105009243,-0.00028128395553,3.30907701108e-05,1793246482836288512
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.793921449,679.206078551,658,634,877,784.793921449,808,652,629,652,0.402656339253,-0.00538074102454,0.0598320347081,0.999999944604,0.000207333013313,-0.000258568603518,3.07829064673e-05,1793246482852954880
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.214520481,679.785479519,658,634,877,784.214520481,808,652,629,652,0.402435726667,-0.00539101150536,0.0598371054513,0.999999954238,0.000158904024382,-0.000256434590737,2.2705645517e-05,1793246482869621760
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.939303481,745,714,679.060696519,658.939303481,634,877,784.939303481,807.060696519,652,629,652,0.402019115368,-0.00540521172397,0.05982541894,0.999999945374,0.000165264384764,-0.000285360604648,2.25723291062e-05,1793246482902954752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.485892951,745,714,679,658.485892951,634,877,785,807.514107049,652,629,652,0.401862401219,-0.00540022149603,0.0598245074283,0.999999936581,0.000206418403109,-0.000289304995121,2.30700253689e-05,1793246482919621888
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.154374354,634,877,785,807,652,629,652,0.401390578912,-0.00539192500627,0.059830708118,0.999999931833,0.000235472410388,-0.000283244320681,2.56813509036e-05,1793246482986288640
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745.987529741,714,679,658,634,877,785,807.987529741,652,629,652,0.40122990602,-0.00538934581538,0.0598285237799,0.999999931105,0.00023565056114,-0.000285619158815,2.60760299172e-05,1793246483019621888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.420419761,714,679,658,634,877,785,807.420419761,652,629,652,0.401169633878,-0.00538803618631,0.0598258061232,0.999999929966,0.000234108849342,-0.000290831988338,2.60404088124e-05,1793246483036288256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.168205941,745.168205941,714,679,658.168205941,634,877.168205941,785,807.168205941,652,629,651.831794059,0.401114922055,-0.00538702453549,0.0598235421727,0.999999929126,0.000232362390192,-0.000295102397838,2.59066280735e-05,1793246483052955136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.747244111,745.747244111,714,679,658.747244111,634,877.747244111,785,807.747244111,652,629,651.252755889,0.40107283206,-0.00538674595888,0.0598224538383,0.999999929103,0.000230224249382,-0.000296879402283,2.5545724966e-05,1793246483069622016
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.674640624,745.674640624,714,679.325359376,658.674640624,634,877.674640624,785,808,652,629,651.325359376,0.401040826239,-0.00538762001954,0.0598226223663,0.999999929685,0.000228843085863,-0.000295968970128,2.57376812848e-05,1793246483086288896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.097240229,745.097240229,714,679.902759771,658.097240229,634,877.097240229,785,808,652,629,651.902759771,0.401016632162,-0.00538938697551,0.0598237645278,0.999999930732,0.000228048317775,-0.000292976704025,2.63579124596e-05,1793246483102955520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.522272315,658.477727685,634,877,785,807.04454463,652,629.477727685,652,0.400999860765,-0.00539060162338,0.0598249029177,0.99999993156,0.00022642316888,-0.00029140149222,2.64166357548e-05,1793246483119622144
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.053617703,679,658.946382297,634,877,784.946382297,806.053617703,652,630,652,0.400985336705,-0.00539131402917,0.0598261590025,0.999999932264,0.00022518144419,-0.000289949410777,2.63743096209e-05,1793246483136288512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.643661883,679,658.356338117,634,877,784.356338117,806.643661883,652,630,652,0.400978257344,-0.00538812071222,0.0598286002274,0.999999932181,0.000229458182503,-0.000286858104793,2.64586927075e-05,1793246483152955136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.770769083,679,658,634,877,784.229230917,807,652,629.770769083,652,0.400971406629,-0.00538679367209,0.0598298709417,0.999999932055,0.000231428935372,-0.00028570189551,2.65553411503e-05,1793246483169622016
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.192023464,679,658,634,877,784.807976536,807,652,629.192023464,652,0.400964904538,-0.0053883121959,0.0598293569457,0.999999931894,0.000229883688365,-0.000287496181744,2.66706909153e-05,1793246483186288640
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807.384554216,652,629,652,0.400962841742,-0.00538952979163,0.0598302393136,0.999999932821,0.000227878700198,-0.000285866165155,2.66465832626e-05,1793246483202955520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807.960055407,652,629,652,0.40096298324,-0.00539059796415,0.0598318150336,0.999999934276,0.000225645431691,-0.000282535841403,2.65532292659e-05,1793246483219622656
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,808,651.464713628,629.535286372,652,0.400960967405,-0.0053897613667,0.0598316220722,0.999999933484,0.00022908990317,-0.000282553934639,2.66910968692e-05,1793246483236289280
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807.886581914,651.113418086,629.886581914,652,0.400959211993,-0.00538905881606,0.0598313334457,0.999999932832,0.000231554200601,-0.000282850787651,2.67235133846e-05,1793246483252955904
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807.296166028,651.703833972,629.296166028,652,0.400959228537,-0.00538951750889,0.0598311972845,0.999999933517,0.000228115226257,-0.000283269678074,2.62399089723e-05,1793246483269622272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.712181662,658,634,877,785,807,652,629,652,0.400959562029,-0.00538995469543,0.0598317148285,0.999999934375,0.000225350159534,-0.000282484647622,2.58927685761e-05,1793246483286288640
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.134670627,658,634,877,785,807,652,629,652,0.400960214535,-0.00539037023567,0.0598328903347,0.99999993541,0.000223263388706,-0.000280487856057,2.56829808322e-05,1793246483302955264
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.442466849,658.442466849,634,877,785.442466849,807,652,629,652,0.400959545089,-0.00539046799202,0.0598332473686,0.999999935352,0.000223734441775,-0.000280321668953,2.56664870566e-05,1793246483319621888
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.980197184,634,877,785.980197184,807.019802816,652,629,652,0.400958548359,-0.00539049372145,0.0598333755941,0.999999934988,0.000224947825935,-0.000280644478463,2.571418725e-05,1793246483336288512
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.393932754,634,877,785.393932754,807.606067246,652,629,652,0.400959689254,-0.00539122351419,0.0598340786236,0.99999993539,0.000225145168391,-0.000279030665246,2.59166990638e-05,1793246483352955648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.19099945,634,877.19099945,785,807.80900055,652,629,652,0.400960139743,-0.0053914730881,0.0598344120082,0.999999935577,0.000225356799013,-0.000278177311384,2.60216995439e-05,1793246483369622784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.773202962,634,877.773202962,785,807.226797038,652,629,652,0.400959176143,-0.0053907390803,0.0598339882879,0.999999935329,0.000225597694574,-0.000278881526442,2.59269778153e-05,1793246483386289408
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.649231747,634,878,785,807.350768253,652,629,652,0.400958565116,-0.00539019473281,0.0598337899339,0.9999999351,0.000226543461224,-0.000278940111349,2.58824994353e-05,1793246483402955776
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.074626285,634,878,785,807.925373715,652,629,652,0.400958179078,-0.00538977141408,0.0598337353938,0.999999934882,0.000227939030192,-0.000278586697566,2.58700830563e-05,1793246483419622144
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.901884691,658.098115309,634,877.901884691,785,808,652,629.098115309,652,0.400959358986,-0.00539112206481,0.0598347233727,0.999999935356,0.000227612393946,-0.000277117947563,2.62045074127e-05,1793246483452955136
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.322464748,658.677535252,634,877.322464748,785,808,652,629.677535252,652,0.400958595333,-0.00539205265822,0.0598348857868,0.999999935491,0.000225934133119,-0.000278011265889,2.61078464669e-05,1793246483469622016
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af77bc2276eeb7cf22138109103b150aaa80f0bc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76fa560a3aeb5c6ca7c13abfbff2cf4f88d4cc9b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c15b06fa9479c36c03d09d39d0275475f60ab172a3f87e5d3aa6cc951ffb8804
+size 25972356
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85a2883d57e015c62406aac906fdd4702be8fa60
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+20,0.333333333,BASELINE,765,745,714,679.212404685,658.393797658,634,876.393797658,785,807.606202342,652,629,652,0.400959528709,-0.00539257544294,0.0598379516854,0.99999993796,0.000220505144465,-0.000273535241679,2.52238502758e-05,1793246484013332480
+21,0.350000000,BASELINE,765,745,714,679.816851491,658,634,876.183148509,785,808,652,629,652,0.400959142591,-0.00539231447269,0.0598372755557,0.999999937604,0.000221212092442,-0.000274258656067,2.52949303878e-05,1793246484029999104
+22,0.366666667,BASELINE,765,745,714,679.241567838,658,634,876.758432162,785,808,652,629,652,0.400959647673,-0.00539091639299,0.0598378375695,0.999999937399,0.000223068004223,-0.000273509786192,2.52039835873e-05,1793246484046665984
+23,0.383333333,BASELINE,765.341177119,745.341177119,714.341177119,679,658.341177119,634,877,785,808,652.341177119,629.341177119,652,0.400959874105,-0.00539099674928,0.059838074607,0.999999937575,0.000222905873494,-0.00027300811745,2.51034564728e-05,1793246484063332608
+24,0.400000000,BASELINE,765.929323172,745.929323172,714.929323172,679,658.929323172,634,877,785,808,652.929323172,629.929323172,652,0.40095989883,-0.00539214730545,0.0598380764029,0.999999938026,0.000221282936301,-0.00027268539088,2.49959944175e-05,1793246484079998720
+25,0.416666667,BASELINE,765.490486006,745.490486006,715,679,659,634,877.509513994,785,808,652.490486006,629.490486006,652,0.400961792222,-0.00539205656196,0.0598393394877,0.999999938161,0.000222932291619,-0.000270801836805,2.54233157879e-05,1793246484096665600
+26,0.433333333,BASELINE,765,745,714.912002081,679,658.912002081,634,877.912002081,785,808,652,629,652,0.400963564208,-0.0053919939245,0.0598405536811,0.999999938304,0.000224469252887,-0.000268963135336,2.57930896394e-05,1793246484113332480
+27,0.450000000,BASELINE,765,745,714.336951494,679,658.336951494,634,877.336951494,785,808,652,629,652,0.400963251608,-0.00539302521559,0.0598405437922,0.999999938772,0.000222910427685,-0.000268552599787,2.54400762182e-05,1793246484129999104
+28,0.466666667,BASELINE,765,745,714.237980878,679,658,634,877,785,808,652,629.237980878,652,0.400962527992,-0.00539314622803,0.0598400894616,0.999999938735,0.000222335628944,-0.000269176683919,2.52950147088e-05,1793246484146665728
+29,0.483333333,BASELINE,765,745,714.812745921,679,658,634,877,785,808,652,629.812745921,652,0.400961222718,-0.00539197903844,0.0598390061692,0.999999937985,0.000223153398196,-0.000271264934141,2.54442411978e-05,1793246484163332096
+30,0.500000000,BASELINE,765,745,714.600973944,679,658,634,877,785,807.600973944,652,629.600973944,652,0.400960893009,-0.00539307221587,0.0598388639331,0.999999938278,0.000221493608409,-0.000271514385773,2.57825062848e-05,1793246484179998976
+31,0.516666667,BASELINE,765,745,714.009129473,679,658,634,877,785,807.009129473,652,629.009129473,652,0.400961034715,-0.0053952576538,0.0598391764367,0.999999939069,0.000218636606036,-0.000270875288277,2.62121190935e-05,1793246484196665600
+32,0.533333333,BASELINE,765,745,714,679,658,634,877,785,807.569892768,652.569892768,629,652,0.40096157923,-0.00539346570713,0.0598393505232,0.999999938855,0.000220797404763,-0.000269947706395,2.58127776325e-05,1793246484213332224
+33,0.550000000,BASELINE,765,745,714,679,658,634,877,785,808,652.854267439,629,652,0.400961865915,-0.00539262872068,0.0598395047706,0.999999938742,0.000222025923686,-0.000269383941723,2.55616250297e-05,1793246484229998848
+34,0.566666667,BASELINE,765,745,714,679,658,634,877,785,808,652.287050941,629,652,0.400961388658,-0.00539473386932,0.0598396079117,0.999999938976,0.000220330759745,-0.000269885471751,2.57766221133e-05,1793246484246665472
+35,0.583333333,BASELINE,765,745,714,679,658,634,877.294190329,785,808,652,629.294190329,652,0.400960486379,-0.00539573525461,0.0598390367343,0.999999939087,0.00021789275611,-0.000271456927473,2.56702461599e-05,1793246484263332096
+36,0.600000000,BASELINE,765,745,714,679,658,634,877.889801118,785,808,652,629.889801118,652,0.400959148631,-0.0053956057503,0.0598377746664,0.999999939063,0.000214693656268,-0.000274124603839,2.52345990116e-05,1793246484279998976
+37,0.616666667,BASELINE,765,745,714,679,658,634,877.527925233,785,807.527925233,652,629.527925233,651.527925233,0.400960590692,-0.00539433316862,0.0598385712986,0.999999938974,0.000217277434299,-0.000272432523999,2.49533097457e-05,1793246484296665600
+38,0.633333333,BASELINE,765,745,714,679,658,634,877,785,807.051229289,652,629,651.051229289,0.400962306152,-0.00539296805704,0.0598396186493,0.99999993882,0.000220887810906,-0.00027010383849,2.47529881165e-05,1793246484313332224
+39,0.650000000,BASELINE,765,745,714,679,658,634,877,785,807.629444894,652,629,651.629444894,0.400960342263,-0.00539332056628,0.0598384373577,0.999999938313,0.000221553708746,-0.000271407963316,2.5025089395e-05,1793246484329998848
+40,0.666666667,BASELINE,765,745,714,679,658.209762099,634,877,785,807.790237901,652.209762099,629,652,0.400959023147,-0.0053939239935,0.0598377794642,0.99999993817,0.000221141123987,-0.000272244220426,2.53083605604e-05,1793246484346665728
+41,0.683333333,BASELINE,765,745,714,679,658.793829424,634,877,785,807.206170576,652.793829424,629,652,0.400958854581,-0.00539497516557,0.0598380555368,0.999999938676,0.000218804065349,-0.000272245601516,2.56115635616e-05,1793246484363332352
+42,0.700000000,BASELINE,765,745,714,679,658.625575193,634,877,785,807.374424807,652.625575193,629,652,0.400959644396,-0.00539475416229,0.0598383183907,0.999999938952,0.000217957265773,-0.000271918199696,2.55313506708e-05,1793246484379998976
+43,0.716666667,BASELINE,765,745,714,679,658.046874029,634,877,785,807.953125971,652.046874029,629,652,0.40096095708,-0.00539383909345,0.059838574033,0.999999939104,0.000217923512536,-0.000271411422543,2.5241956114e-05,1793246484396665856
+44,0.733333333,BASELINE,765,745,714.532442604,679,658.532442604,634,877,785,808,652,629,652,0.400961212569,-0.00539321633732,0.0598389236441,0.999999938775,0.000219734360925,-0.000271168122929,2.51847294499e-05,1793246484413332480
+45,0.750000000,BASELINE,765,745,714.888948365,678.888948365,658.888948365,634,877.111051635,785,808,652,629,652,0.400961450109,-0.00539251632072,0.0598392617734,0.999999938496,0.000221299161005,-0.000270932868577,2.51070533555e-05,1793246484429999104
+46,0.766666667,BASELINE,765,745,714.313525221,678.313525221,658.313525221,634,877.686474779,785,808,652,629,652,0.400962002227,-0.00539138549999,0.0598395172572,0.999999938615,0.000221155252096,-0.000270634150229,2.48582996474e-05,1793246484446665728
+47,0.783333333,BASELINE,765,745,714,678.266687271,658.266687271,634,877.733312729,785,807.733312729,652,629,652,0.400962175904,-0.00539204456473,0.0598397996902,0.999999938961,0.00022014810209,-0.000270164180662,2.49701257401e-05,1793246484463332096
+48,0.800000000,BASELINE,765,745,714,678.852633299,658.852633299,634,877.147366701,785,807.147366701,652,629,652,0.400961896538,-0.00539484635106,0.0598401143849,0.999999939577,0.000218107542113,-0.000269489201454,2.55136119197e-05,1793246484479998976
+49,0.816666667,BASELINE,765,745,714,678.565850128,659,634,877,785,807,652,629,652,0.400960710319,-0.00539428802578,0.0598395751367,0.999999939192,0.000218948596092,-0.000270252143796,2.53103337705e-05,1793246484496665344
+50,0.833333333,BASELINE,765,745,714,678.014097704,659,634,877,785,807.014097704,652,629,652,0.400959288414,-0.00539265350724,0.0598387843613,0.999999938493,0.00022072613938,-0.000271432797254,2.48701442396e-05,1793246484513331712
+51,0.850000000,BASELINE,765,745,714,678.590838119,659,634,877,785,807.590838119,652,629,652,0.400960621349,-0.00539312765172,0.0598394066269,0.999999938765,0.000221236155374,-0.000270001576624,2.49890290723e-05,1793246484529998848
+52,0.866666667,BASELINE,765,745,714.166886836,679,658.833113164,634,877,785,808,652,629,652,0.400961206673,-0.00539361980224,0.0598396101269,0.999999938775,0.000221562640959,-0.000269681082188,2.51328328219e-05,1793246484546665728
+53,0.883333333,BASELINE,765,745,714.741246661,679,658.258753339,634,877,785,808,652,629,652,0.40095996662,-0.00539415591655,0.0598387911635,0.999999938149,0.000221441016371,-0.00027207255083,2.53374789038e-05,1793246484563332352
+54,0.900000000,BASELINE,765,745,715,679,658.648886261,634,877,785,807.67555687,652,629,652,0.400960648363,-0.00539439398212,0.0598391493995,0.999999938344,0.000221290980894,-0.000271456463838,2.55763024468e-05,1793246484579998976
+55,0.916666667,BASELINE,765,745,715,679,659.829768775,634,877,785,807.085115613,652,629,652,0.400962905709,-0.00539438768928,0.0598404727749,0.999999939207,0.000221117652453,-0.000268374600481,2.58431467319e-05,1793246484596665600
+56,0.933333333,BASELINE,765,745,714.504319961,678.504319961,659.504319961,634,877,785,807.495680039,652,629.495680039,652,0.400963182136,-0.00539532462261,0.0598410063902,0.99999994024,0.000217479687984,-0.00026751960078,2.56167533821e-05,1793246484613332224
+57,0.950000000,BASELINE,765,745,714.074640329,678.074640329,659,634,877,785,808,652,629.925359671,652,0.400962937584,-0.00539613116694,0.0598411541076,0.999999940985,0.000214262212349,-0.000267358211121,2.53040425468e-05,1793246484629998848
+58,0.966666667,BASELINE,765,745,714.652180842,678.652180842,659,634,877,785,808,652,629.347819158,652,0.400961430952,-0.00539498875656,0.0598395980563,0.999999939695,0.000217809755695,-0.000269342920371,2.49695157468e-05,1793246484646665472
+59,0.983333333,BASELINE,765,745,714.771856207,679,658.771856207,634,877,784.771856207,807.771856207,652,629,652,0.400960376721,-0.00539415262501,0.0598388119509,0.999999938857,0.000220112510866,-0.000270582953068,2.49122235591e-05,1793246484663332352
+60,1.000000000,BASELINE,765,745,714.198281741,679,658.198281741,634,877,784.198281741,807.198281741,652,629,652,0.400960007469,-0.00539378022758,0.0598391916144,0.999999938726,0.00022053054287,-0.000270695477323,2.52746900058e-05,1793246484679998976
+61,1.016666667,BASELINE,765,745,714,679,658,634,877,784.388003614,807,652,629,652,0.400961161391,-0.00539262808037,0.0598399229622,0.999999938751,0.00022176955083,-0.000269591092669,2.52310517961e-05,1793246484696665600
+62,1.033333333,BASELINE,765,745,714,679,658,634,877,784.981004589,807,652,629,652,0.400963120067,-0.00539106396112,0.0598408401185,0.999999938855,0.000223442312214,-0.00026784376782,2.49728527197e-05,1793246484713332480
+63,1.050000000,BASELINE,765.560249583,745,714.560249583,679,658,634,877,785,807,652.560249583,629,652,0.400961912713,-0.00539218940608,0.0598399735433,0.999999938856,0.000222125589168,-0.000268909780678,2.52056310077e-05,1793246484729999104
+64,1.066666667,BASELINE,765.862455822,745,714.862455822,679,658.137544178,634,877.137544178,785,807.137544178,652.862455822,629,652,0.400960958341,-0.00539259289118,0.0598393725307,0.999999938705,0.000221819926157,-0.000269715272413,2.52704504739e-05,1793246484746665472
+65,1.083333333,BASELINE,765.289890164,745,714.289890164,679,658.710109836,634,877.710109836,785,807.710109836,652.289890164,629,652,0.400961135473,-0.00539043147566,0.0598397981274,0.999999938087,0.000225024914142,-0.000269402336302,2.47526656317e-05,1793246484763331840
+66,1.100000000,BASELINE,765,745,714,679,659,633.708635933,877.708635933,785,807.708635933,652,629,652,0.40096171149,-0.00539119157562,0.0598402202993,0.999999938503,0.000224008555062,-0.000268709377933,2.47003796507e-05,1793246484779998720
+67,1.116666667,BASELINE,765,745,714,679,659,633.118471407,877.118471407,785,807.118471407,652,629,652,0.400962696572,-0.00539494775609,0.059840638959,0.999999939966,0.000218663108632,-0.000267626698137,2.51254733402e-05,1793246484796665600
+68,1.133333333,BASELINE,765,745,714,679,658.537398269,633.462601731,877,785,807.462601731,652,629,652,0.400962849336,-0.00539596540145,0.0598409715352,0.999999940517,0.000216428541665,-0.000267376241738,2.51781298664e-05,1793246484813332224
+69,1.150000000,BASELINE,765.041309205,745,714,679.041309205,658,634,877,785,807.958690795,652,629,652,0.400962697608,-0.00539619608613,0.0598411693252,0.999999940733,0.000215306880199,-0.000267479013271,2.51398650123e-05,1793246484829998848
+70,1.166666667,BASELINE,765.618948199,745,714,679.618948199,658,634,877,785,807.381051801,652,629,652,0.400961306677,-0.00539513954615,0.0598398978566,0.999999939512,0.000218490101438,-0.00026945404161,2.51356255062e-05,1793246484846665728
+71,1.183333333,BASELINE,765.804902671,745,714,679.804902671,658,634,877,785,807,652,629,652,0.400960798486,-0.00539456233808,0.0598393569793,0.999999939093,0.000219508431427,-0.00027018762231,2.50689380671e-05,1793246484863332608
+72,1.200000000,BASELINE,765.231641296,745,714,679.231641296,658,634,877,785,807,652,629,652,0.400962001341,-0.00539491423581,0.0598402322329,0.999999940241,0.000216330476778,-0.000268514861541,2.48812055927e-05,1793246484879999232
+73,1.216666667,BASELINE,765,745,714,679,658,634,877,785,807,651.661184164,629,652,0.400962259528,-0.00539420009221,0.0598405847172,0.999999940125,0.000217655370789,-0.000267867584793,2.49519116304e-05,1793246484896665856
+74,1.233333333,BASELINE,765,745,714,679,658,634,877,785,807,651.09262853,629,652,0.400961877165,-0.00539276310127,0.0598405827289,0.999999939144,0.000222033497542,-0.000267915654898,2.51978562754e-05,1793246484913332480
+75,1.250000000,BASELINE,765,745,714,679,658,633.496122687,877,785,807,651.503877313,629.503877313,652,0.400961316682,-0.00539317662011,0.0598402157787,0.999999939028,0.000221245845325,-0.000268993361621,2.52201937583e-05,1793246484929999104
+76,1.266666667,BASELINE,765,745,714,679,658,633.101170714,877,785,807.101170714,652,629.898829286,651.898829286,0.400960773073,-0.00539385910385,0.0598398296512,0.999999939076,0.000219748653927,-0.000270047125937,2.51573912964e-05,1793246484946665472
+77,1.283333333,BASELINE,765,745,714,679,658,633.676652953,877,785,807.676652953,652,629.323347047,651.323347047,0.400960471102,-0.00539411404306,0.0598396866282,0.999999939106,0.000219638539792,-0.000270049141894,2.48994655267e-05,1793246484963332352
+78,1.300000000,BASELINE,765,745,714,678.750584631,658,634,876.750584631,784.750584631,808,652,629,651.249415369,0.400960420774,-0.0053947071888,0.0598396558195,0.999999939462,0.00021844180182,-0.000269699552559,2.49111884261e-05,1793246484979999232
+79,1.316666667,BASELINE,765,745,714,678.181310253,658,634,876.181310253,784.181310253,808,652,629,651.818689747,0.400960693163,-0.00539573406242,0.0598397689183,0.999999940231,0.000215851539381,-0.000268899052279,2.5268718245e-05,1793246484996666112
+80,1.333333333,BASELINE,765,745,714,678.812827334,658.406413667,634,876.406413667,784,807.593586333,652,629,652,0.40096002508,-0.00539601791219,0.0598390542887,0.999999939949,0.000215540484641,-0.000270189098654,2.5353075306e-05,1793246485013332480
+81,1.350000000,BASELINE,765,745,714,679.997320482,658.997320482,634,877,784.002679518,807,652,629,652,0.400958931983,-0.00539594709174,0.059837964965,0.999999939177,0.000216299126077,-0.000272434149048,2.53090461221e-05,1793246485029998848
+82,1.366666667,BASELINE,765,745,714,679.418323227,658.418323227,634,877,784.581676773,807,652,629,652,0.400960958342,-0.00539427881619,0.0598394855932,0.999999939479,0.000218033483513,-0.000269950091748,2.51096588795e-05,1793246485046665728
+83,1.383333333,BASELINE,765,745,714,679,658.159603773,634,877,785,807,652,629,652,0.400962336001,-0.00539286145606,0.0598405958724,0.999999939636,0.000219610883434,-0.000268102713491,2.48912316497e-05,1793246485063332608
+84,1.400000000,BASELINE,765,745,714,679,658.734744432,634,877,785,807,652,629,652,0.400962024733,-0.00539209736718,0.0598406377864,0.999999939436,0.000220779636517,-0.000267912962351,2.46232327605e-05,1793246485079998976
+85,1.416666667,BASELINE,765,745,714,679,658.683598919,634,876.683598919,785,807,651.683598919,629.316401081,652,0.400961340382,-0.00539289434175,0.0598401506796,0.999999939503,0.000219819246419,-0.000268453191097,2.46156724859e-05,1793246485096665600
+86,1.433333333,BASELINE,765,745,714,679,658.096364744,634,876.096364744,785,807,651.096364744,629.903635256,652,0.400960336678,-0.00539502755594,0.0598392107414,0.999999939792,0.000217036351627,-0.000269618268256,2.48310425514e-05,1793246485113332224
+87,1.450000000,BASELINE,765,745,714,679,658,634,876.96585594,785,807.48292797,651.48292797,629.51707203,652,0.400961080201,-0.00539542181305,0.0598397014164,0.999999939575,0.000218715797085,-0.00026903554304,2.51721687251e-05,1793246485129999104
+88,1.466666667,BASELINE,765.060533184,745,714,679,658,634,877.939466816,785,808,652,629,652,0.400962090587,-0.00539541485807,0.0598404125628,0.999999939318,0.000220915713721,-0.0002681640561,2.54788216068e-05,1793246485146665728
+89,1.483333333,BASELINE,765.637043304,745,714,679,658,634,877.362956696,785,808,652,629,652,0.400962451926,-0.00539489792212,0.059840609049,0.999999939615,0.000220084964328,-0.00026775590172,2.52811936475e-05,1793246485163332608
+90,1.500000000,BASELINE,765.785893233,745,714,678.785893233,658,634,877.214106767,785,808,652,629.214106767,652,0.400962240349,-0.00539490758794,0.0598403790196,0.999999939736,0.000219189732655,-0.000268053650191,2.51271018015e-05,1793246485179999232
+91,1.516666667,BASELINE,765.207889364,745,714,678.207889364,658,634,877.792110636,785,808,652,629.792110636,652,0.400961055039,-0.00539581226924,0.0598394240817,0.999999939555,0.000218184906613,-0.000269551155281,2.50470042063e-05,1793246485196665600
+92,1.533333333,BASELINE,765.376485452,745,714.376485452,678.752970905,658,634,877.623514548,785,808,652,629.623514548,652,0.400960779185,-0.00539536785312,0.0598392286775,0.999999939434,0.00021845662139,-0.000269795117765,2.48991084764e-05,1793246485213332224
+93,1.550000000,BASELINE,765.964438817,745,714.964438817,679.928877635,658,634,877.035561183,785,808,652,629.035561183,652,0.400961014162,-0.00539416566328,0.0598394598953,0.999999939346,0.000219445355605,-0.000269334978712,2.4713131241e-05,1793246485229998848
+94,1.566666667,BASELINE,765.454302245,745,714.454302245,679.454302245,658,634,877,785,807.454302245,652.545697755,629.545697755,652,0.400961374011,-0.00539517637675,0.0598399118921,0.999999939992,0.000217346273907,-0.000268605843893,2.50536915537e-05,1793246485246665472
+95,1.583333333,BASELINE,765.124374158,745.124374158,714,679,658,634,877,785,807,652.875625842,629.875625842,652,0.40096181894,-0.00539601619263,0.059840347209,0.999999940436,0.000216080932322,-0.0002679424253,2.53805548731e-05,1793246485263332352
+96,1.600000000,BASELINE,765.695325308,745.695325308,714,679,658,634,877,785,807,652.304674692,629.304674692,652,0.400962540497,-0.00539573087135,0.0598406716018,0.999999939999,0.00021852296184,-0.000267577145245,2.55365285421e-05,1793246485279998976
+97,1.616666667,BASELINE,766,746,714.268914144,679,658,634,877.268914144,785.268914144,807,652,629,652,0.400962334989,-0.00539466088368,0.0598407215274,0.999999939517,0.000220387955928,-0.000267849875964,2.55281759865e-05,1793246485296665856
+98,1.633333333,BASELINE,766,746,714.845520998,679,658,634,877.845520998,785.845520998,807,652,629,652,0.400961068728,-0.00539269307743,0.0598404574066,0.999999938987,0.000221592703475,-0.000268852621355,2.53318006553e-05,1793246485313332224
+99,1.650000000,BASELINE,765.5642736,746,714.5642736,679,658.4357264,634,877.5642736,785.5642736,807,652,629,652,0.400961260854,-0.00539415757405,0.0598407175941,0.999999939854,0.000218084214701,-0.000268512345828,2.51568167964e-05,1793246485329998848
+100,1.666666667,BASELINE,765,746,714,679,659,634,877,785,807,652,629,652,0.400961990011,-0.00539660008975,0.0598411758007,0.999999941109,0.000213317576017,-0.000267682416332,2.498354094e-05,1793246485346665472
+101,1.683333333,BASELINE,765,746,714,679,659,634,877,785,807,652,629,652,0.400962779948,-0.00539396653797,0.0598417462291,0.999999940521,0.000217070726741,-0.000266885872584,2.4698530732e-05,1793246485363332352
+102,1.700000000,BASELINE,765,745.829407752,714,678.829407752,658.829407752,634,877,785,807,652,629,652,0.400962845856,-0.0053925236672,0.0598417252591,0.99999993989,0.00022002055406,-0.000266845200607,2.45998452392e-05,1793246485379998976
+103,1.716666667,BASELINE,765,745.256254016,714,678.256254016,658.256254016,634,877,785,807,652,629,652,0.400961203211,-0.00539389055121,0.0598403087145,0.999999939182,0.000221074708166,-0.000268588225655,2.49408465582e-05,1793246485396665600
+104,1.733333333,BASELINE,765,745,714.33053169,678.33053169,658.33053169,634,877,785,807.33053169,652,629,652,0.400960714017,-0.00539548449875,0.0598397159949,0.999999939348,0.000219533153203,-0.000269213332518,2.51580783397e-05,1793246485413332480
+105,1.750000000,BASELINE,765,745,714.928340653,678.928340653,658.928340653,634,877,785,807.928340653,652,629,652,0.400961157538,-0.00539726205645,0.0598397894432,0.999999940213,0.000215892634579,-0.000268934459303,2.52752266095e-05,1793246485429999360
+106,1.766666667,BASELINE,765,745,714.490238933,679,658.490238933,634,876.490238933,785,808,652,629,652,0.400961075643,-0.00539739905612,0.0598398507902,0.99999994039,0.00021475929707,-0.000269183351762,2.52662943686e-05,1793246485446665984
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,652,629,652,0.400963854751,-0.00539404451348,0.0598417880431,0.999999939819,0.000221526670242,-0.00026580285362,2.52526857718e-05,1793246485490007296
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807.421096442,652,629,652,0.400963105095,-0.00539474315494,0.0598414427023,0.999999940222,0.000219425210144,-0.000266044449491,2.50620814217e-05,1793246485506673920
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,629,652,0.400962551257,-0.00539563683265,0.0598410950588,0.999999940539,0.000217493196035,-0.000266448901625,2.49828222263e-05,1793246485523340800
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,629,652,0.400962519941,-0.00539705095025,0.0598407412707,0.99999994063,0.000216013335505,-0.000267287923668,2.52006792673e-05,1793246485540007424
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.339182927,745,714,679,658,634,877,784.660817073,807,652,629,652,0.400961686862,-0.00539734856346,0.0598403938222,0.999999940352,0.000215969646473,-0.000268355075148,2.5260676267e-05,1793246485556673792
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.911450564,745,714,679,658,634,877,784.088549436,807,652,629,652,0.400960302817,-0.00539687892069,0.0598400507301,0.99999993982,0.000216912886967,-0.00026957899592,2.52121926701e-05,1793246485573340160
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634,877,784.486151052,807.486151052,652,629,652,0.40096032664,-0.00539541716785,0.0598400919121,0.999999939368,0.000218278747285,-0.00027017147613,2.5025656182e-05,1793246485590007040
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.936695851,745,714,679,658.063304149,634,877,785,807.936695851,652,629.063304149,652,0.400960639258,-0.00539405159251,0.0598402095621,0.999999939008,0.000219487594515,-0.000270538024867,2.48601952433e-05,1793246485606673664
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.342716041,745,714,679,658.657283959,634,877,785,807.342716041,652,629.657283959,652,0.400961212336,-0.00539501474363,0.0598403785403,0.999999939319,0.000218731663417,-0.000269979598771,2.50832632323e-05,1793246485623340288
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.244834559,745.244834559,714,679,659,634.244834559,877,785,807,652,630,652,0.400965953028,-0.00539600412093,0.0598425626505,0.99999994053,0.000217537272987,-0.000266416342721,2.53124949699e-05,1793246485640006912
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.823615867,745.823615867,714,679,659,634.823615867,877,785,807,652,630,652,0.400976378215,-0.00539702926985,0.0598474953383,0.999999942924,0.000215744837677,-0.000258754591797,2.55501338501e-05,1793246485656673536
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.602517997,745.602517997,714.397482003,679.397482003,658.602517997,634.602517997,877,785,807.397482003,652,629.602517997,652,0.401004420093,-0.00539731071251,0.0598584335071,0.999999947694,0.000216958830641,-0.000238442528767,2.61841694733e-05,1793246485673340160
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.030806296,745.030806296,714.969193704,679.969193704,658.030806296,634.030806296,877,785,807.969193704,652,629.030806296,652,0.401040183957,-0.00539726616385,0.0598720040802,0.999999952951,0.000219490641709,-0.000212585408725,2.69919590943e-05,1793246485690006784
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.443908522,679.443908522,658.556091478,634,877,785,808,652.556091478,629,652,0.401103802729,-0.00539871789355,0.0598929943414,0.999999960849,0.000217246177447,-0.000174171276805,2.77464061246e-05,1793246485706673408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.141600217,745,714.141600217,679,658.858399783,634,877,785,808,652.858399783,629.141600217,652,0.401171382936,-0.0054005098752,0.0599123559613,0.999999966444,0.000215440791467,-0.000141022763403,2.84607664704e-05,1793246485723340288
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.72015387,745,714.72015387,679,658.27984613,634,877,785,808,652.27984613,629.72015387,652,0.40124629202,-0.0054030888478,0.0599253878932,0.999999968307,0.000215829743198,-0.000126329881039,2.90608014611e-05,1793246485740007168
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.700098763,745,714.700098763,679,658.299901237,634,877,785,808,652,629.700098763,652,0.401328349255,-0.00540489438734,0.0599343387216,0.999999969888,0.000215652019208,-0.000113461034047,2.90760046374e-05,1793246485756673792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.119233093,745,714.119233093,679,658.880766907,634,877,785,808,652,629.119233093,652,0.401417103276,-0.00540597533093,0.0599394661409,0.99999997126,0.000214943401357,-0.000102301047406,2.85433042708e-05,1793246485773340416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785,808,652,629,652,0.401526626356,-0.00540901752826,0.0599447121558,0.999999972738,0.00021295609895,-9.15890327888e-05,2.80101301313e-05,1793246485790007040
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.970857779,634,876.970857779,785,807.970857779,652,629,652,0.401642554382,-0.0054124784851,0.0599498431138,0.999999974118,0.00021073792607,-8.12535965438e-05,2.74263142458e-05,1793246485806673664
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.379799796,634,876.379799796,785,807.379799796,652,629,652,0.401778547026,-0.00541424641424,0.0599521649302,0.99999997464,0.00021043628072,-7.59482820056e-05,2.58683915337e-05,1793246485823340288
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.207014718,679.207014718,658,634,876.207014718,785,807.207014718,652,629,652,0.401923639066,-0.00541755771909,0.0599530909811,0.999999975519,0.000207826613335,-7.19439495861e-05,2.43907667861e-05,1793246485840007168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.786200263,679.786200263,658,634,876.786200263,785,807.786200263,652,629,652,0.402085089978,-0.0054236437029,0.0599515077261,0.999999977051,0.000201067586544,-7.02785219386e-05,2.30575017972e-05,1793246485856673536
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.637567338,679.637567338,658,634,877,785,808,652,629,652,0.402269040979,-0.00542928046593,0.0599516905039,0.999999978572,0.000195311620035,-6.52809639558e-05,2.1140499016e-05,1793246485873340416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.063062871,679.063062871,658,634,877,785,808,652,629,652,0.402466157571,-0.00543465437504,0.059952906648,0.999999980043,0.000190142577914,-5.83336618509e-05,1.8881931066e-05,1793246485890007296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.513944537,745,714,679,658,634,877,785,808,652,629.513944537,652,0.40269810325,-0.00543912521975,0.0599518037801,0.999999980877,0.000186775424245,-5.55180436765e-05,1.67049057862e-05,1793246485906673664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.906863237,745,714,679,658.093136763,634,877,784.906863237,807.906863237,652,629.906863237,652,0.402941019004,-0.00544394442865,0.0599513237134,0.999999981847,0.000182772719255,-5.18701177942e-05,1.44956537256e-05,1793246485923340288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.317678144,745,714,679,658.682321856,634,877,784.317678144,807.317678144,652,629.317678144,652,0.403219488722,-0.00545121209496,0.0599556836414,0.999999983911,0.000174201716546,-4.10759415781e-05,1.20612096004e-05,1793246485940006912
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.733402498,634,877,784.266597502,807,652,629.266597502,652,0.403506620866,-0.00545905385164,0.0599543042424,0.999999985548,0.000164707027924,-4.11140405486e-05,9.24943704046e-06,1793246485956673536
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.154871212,634,877,784.845128788,807,652,629.845128788,652,0.403803888511,-0.00546756732529,0.0599462095141,0.999999986655,0.00015413157634,-5.38264996919e-05,5.99616954257e-06,1793246485973340160
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990883112,745,714,679.990883112,658.990883112,634,877,784.009116888,807.990883112,652,629.009116888,652,0.404446541898,-0.00548214414089,0.0599229359525,0.999999986468,0.00013495894146,-9.40553247241e-05,-2.15439703595e-06,1793246486006673920
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+141,2.350000000,POSE1_TO_POSE2_PRESS,765.745269739,745,714,679,659,634,877,784.254730261,807.254730261,652,629,652,0.405665004993,-0.0055023621115,0.0599103196176,0.999999985927,0.000116046574063,-0.000120406400436,-1.35022963633e-05,1793246486056673792
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+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.05323856,659,634,877,784.05323856,808,651.05323856,629.05323856,652,0.407748457492,-0.00549024483551,0.0600060157431,0.999999999097,8.03686951426e-06,3.43904343669e-05,-2.36371798577e-05,1793246486123340288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.645494763,659,634,877,784.645494763,808,651.645494763,629.645494763,652,0.40829733531,-0.0054868550358,0.0600005273028,0.999999998687,-4.24111176122e-05,9.52781641824e-06,-2.71335772735e-05,1793246486140006912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.535180259,659,634,877,784.76759013,808,652,630,652,0.408860102663,-0.0054907037733,0.0599913066214,0.999999996489,-7.58556392809e-05,-1.74489352122e-05,-3.10302524723e-05,1793246486156673536
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,678.377278096,659,634,877,784.188639048,808,652,630,652,0.409443580361,-0.00550534573355,0.0599765208783,0.999999994714,-8.39466672379e-05,-4.75780232346e-05,-3.55237728829e-05,1793246486173340416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,678.388795523,659,634,877.388795523,784.388795523,808,652,630,652,0.410084170279,-0.00551467823081,0.05997724449,0.999999994666,-8.48822206046e-05,-4.32695153896e-05,-3.98751074339e-05,1793246486190007040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,678.965497142,659,634,877.965497142,784.965497142,808,652,630,652,0.410752362696,-0.00552144464751,0.059985463822,0.999999995384,-8.23595103996e-05,-2.23172084829e-05,-4.41577229787e-05,1793246486206673920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.541494428,745,714,679.541494428,659,634,877.458505572,784.458505572,808,652,629.458505572,652,0.411444500047,-0.00551837187422,0.0599895959072,0.999999996627,-6.89409511644e-05,-8.78924801109e-06,-4.37614580023e-05,1793246486223340544
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679.879255672,659.120744328,633.879255672,877.120744328,784,808,652,629.120744328,652.120744328,0.412137059595,-0.00551264007076,0.0599875247049,0.999999998158,-4.40245994275e-05,-8.88423122627e-06,-4.08208514614e-05,1793246486240006912
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,679.287132934,659.712867066,633.287132934,877.712867066,784,808,652,629.712867066,652.712867066,0.412825318621,-0.00549897190278,0.0599622516335,0.999999997491,2.30715943917e-05,-6.03179386356e-05,-2.91096545193e-05,1793246486256673536
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.703640833,745,714,679,659.703640833,633,878,784,808.296359167,652,629.703640833,652.703640833,0.413526245967,-0.0054922498955,0.0599363311397,0.999999992468,4.19301970013e-05,-0.000112221545763,-2.67009669427e-05,1793246486273340160
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.128273985,745,714,679,659.128273985,633,878,784,808.871726015,652,629.128273985,652.128273985,0.414239099998,-0.00549206735762,0.0599098011263,0.999999985794,1.53754715801e-05,-0.000164567546608,-3.30501362476e-05,1793246486290006784
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.446356152,745,714,679,659,633.446356152,877.553643848,784.446356152,809,651.553643848,629.446356152,652,0.415071551624,-0.00550307767235,0.0599423950878,0.999999994245,7.39579707463e-07,-0.000101744356882,-3.40245474089e-05,1793246486306673664
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.020734544,784.979265456,809,651.020734544,630,652.020734544,0.415937049836,-0.00551689619764,0.059991127252,0.999999999362,-9.896917397e-06,-7.89773914005e-06,-3.34146345784e-05,1793246486323340544
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.594037802,784.405962198,809,651.594037802,630,652.594037802,0.416768790306,-0.00551997239742,0.0600178770337,0.999999998969,-5.08194759345e-06,3.21327661466e-05,-3.16782648771e-05,1793246486340007168
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,784.174268504,809,652,630,652.825731496,0.417607463108,-0.00552029353918,0.0600314715782,0.999999998097,-5.4111325863e-06,5.28299657656e-05,-3.13867057201e-05,1793246486356673792
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,784.771304849,809,652,630,652.228695151,0.418462953395,-0.00551393102933,0.0600131520856,0.999999998881,-1.82198145735e-05,2.66254010383e-05,-3.46001945489e-05,1793246486373340416
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.644972169,745,714.355027831,679,659,634,878,785,809,652,630,652,0.419308930232,-0.00551258240662,0.0599898090644,0.999999999021,-1.88764396051e-05,-1.29024001889e-05,-3.78953438307e-05,1793246486390006528
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.06951519,745,714.93048481,679,659,634,878,785,809,652,630,652,0.420149000341,-0.0055143467989,0.0599633470431,0.999999997235,-1.19881131971e-05,-6.07023115546e-05,-4.1241194155e-05,1793246486406673152
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.494971735,679,659,634,878.505028265,785,809,652,630,652.505028265,0.4209706057,-0.00551560289083,0.0599241986192,0.999999990963,-1.95847879011e-05,-0.000125686660025,-4.35152340832e-05,1793246486423340032
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.081783106,634,879,785,809,652,630,653,0.421799514356,-0.0055163513987,0.0598884209978,0.999999981542,-2.72383973081e-05,-0.000184660604304,-4.554044028e-05,1793246486440006656
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.673097231,634,879,785,809,652,630,653,0.422689730471,-0.00551437263671,0.0598845042824,0.999999980306,-2.28472060583e-05,-0.000191477769079,-4.69328406606e-05,1793246486456673536
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.257864701,660,634,879,785,809,652,630,653,0.423645325286,-0.00551582318115,0.0599157902689,0.999999988941,-2.39568517522e-05,-0.000139251183433,-4.64009042048e-05,1793246486473340416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.834538345,660,634,879,785,809,652,630,653,0.424681750649,-0.00552151352067,0.0599905988313,0.999999998448,-3.18674119926e-05,-1.40263321737e-05,-4.34898290759e-05,1793246486490006784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.411349877,745,714,680,660,634,879,785,809,652,630,653,0.425653917671,-0.00552416978104,0.0600262158742,0.999999997428,-3.64619827444e-05,4.49793770257e-05,-4.23248631787e-05,1793246486506673408
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.988216857,745,714,680,660,634,879,785,809,652,630,653,0.42660022865,-0.00552560520201,0.0600460632062,0.999999995344,-3.97222802764e-05,7.73401198828e-05,-4.18624891269e-05,1793246486523340288
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.424659154,745,714,680,660,634,879,785,809,652,630,653,0.427508423562,-0.00552812580831,0.0600260101478,0.999999996387,-4.20188598767e-05,5.88933015556e-05,-4.46298491057e-05,1793246486540006912
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.160387878,745,714,679.839612122,660,633.839612122,879,785,809.160387878,652,630.160387878,653,0.428409544129,-0.00552887436088,0.0600019080628,0.999999997457,-4.40875382964e-05,3.01736294479e-05,-4.72344739582e-05,1793246486556673536
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.739454843,745,714,679.260545157,660,633.260545157,879,785,809.739454843,652,630.739454843,653,0.429294272409,-0.00552493804656,0.0599694082115,0.999999997492,-4.56137571928e-05,-2.25968829612e-05,-4.92384898435e-05,1793246486573340416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.682526665,745,714,679.63494667,660,633,879.317473335,785,810,652,630.682526665,653,0.430194280795,-0.00552219033489,0.0599394692743,0.999999994918,-4.46092627405e-05,-7.43391083048e-05,-5.14569439751e-05,1793246486590006784
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.105365833,745,714,680.789268334,660,633,879.894634167,785,810,652,630.105365833,653,0.431106787991,-0.00552041487907,0.0599116251208,0.999999989845,-4.15346900423e-05,-0.000125240210601,-5.3850804629e-05,1793246486606673664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.529712036,660,633,880,785,810,651.529712036,630.470287964,653,0.432093193722,-0.00552301677444,0.0599524705134,0.999999996486,-4.138208041e-05,-5.03120815824e-05,-5.27710006077e-05,1793246486623340288
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.0466198,745.0466198,714,680,660,633.0466198,879.9533802,785,810,651,631,653,0.433087074555,-0.00552645632375,0.0600047552055,0.999999996793,-4.2453956267e-05,4.48152204339e-05,-5.10197833804e-05,1793246486640007168
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.634735926,745.634735926,714,680,660,633.634735926,879.365264074,785,810,651,631,653,0.43397608551,-0.00552827046154,0.0600117277726,0.999999996308,-5.01688277412e-05,4.81567729934e-05,-5.04807224877e-05,1793246486656673792
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.78057364,714.21942636,680,660,633.78057364,879,785,810.21942636,651,631,653,0.434863273855,-0.00553046714755,0.0600038462983,0.999999996624,-5.66441388683e-05,3.0473814417e-05,-5.11432393775e-05,1793246486673340416
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.201497969,714.798502031,680,660,633.201497969,879,785,810.798502031,651,631,653,0.435747475004,-0.00553329084699,0.0599716184077,0.999999996453,-6.10877580039e-05,-2.16692283708e-05,-5.37751941362e-05,1793246486690006784
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.375614221,715,680,660,633,879,785,810.624385779,651.375614221,631,653,0.436613840487,-0.0055324669861,0.059945590956,0.999999994111,-6.48706649563e-05,-6.66052926534e-05,-5.59834710937e-05,1793246486706673408
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.951678547,715,680,660,633,879,785,810.048321453,651.951678547,631,653,0.437470687743,-0.00552969656976,0.0599228724296,0.999999990188,-6.83009762679e-05,-0.000107695281082,-5.79656481775e-05,1793246486723340032
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.472797088,714.472797088,680,660,633,879,785,810.527202912,651.472797088,631,653,0.438281488601,-0.00552579556257,0.0599016084001,0.999999984474,-5.56297830801e-05,-0.000156823722344,-5.79923532385e-05,1793246486740006912
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680.105179728,660,633,879,785,810.894820272,651.105179728,631,653,0.439102242974,-0.00552345675254,0.0598926422934,0.999999980614,-4.59545220552e-05,-0.000182557586077,-5.7732779017e-05,1793246486756673536
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680.694676897,660,633,879,785,810.305323103,651.694676897,631,653,0.439988243762,-0.00552878801137,0.0599396907686,0.999999992038,-5.68631565713e-05,-9.71781205603e-05,-5.6979440487e-05,1793246486773340416
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633,879,785,810.277175931,651.722824069,631,653,0.440853061772,-0.0055341734159,0.0599827858063,0.999999995602,-7.10027932224e-05,-2.51420000515e-05,-5.58714030672e-05,1793246486790006784
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633,879,785,810.852155972,651.147844028,631,653,0.441695120469,-0.00553961699548,0.0600216331782,0.999999994065,-8.8613891359e-05,3.25577218973e-05,-5.43822693518e-05,1793246486806673408
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680.567656,660.432344,633.432344,879,785,810.567656,651.432344,631,653,0.442482775572,-0.00554006114306,0.0600092245843,0.999999994671,-8.53876120094e-05,1.468785251e-05,-5.61417581124e-05,1793246486823340288
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,680.014362582,660.985637418,633.985637418,879,785,810.014362582,652,631,653,0.443250015413,-0.00553885229852,0.0599794991217,0.999999995043,-7.49527923012e-05,-2.86477062893e-05,-5.89477487674e-05,1793246486840007168
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680.597484907,660.402515093,633.402515093,879,785,810.597484907,652,631,653,0.443954501805,-0.00554071067353,0.0599665757488,0.999999995193,-6.4671412408e-05,-4.46149298048e-05,-5.86673183165e-05,1793246486856673792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.819249552,660,633.180750448,879,785,810.819249552,652,631,653,0.444657135293,-0.00554293665588,0.0599592239889,0.999999995139,-5.74513674917e-05,-5.49090656474e-05,-5.83637245106e-05,1793246486873340416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.235664717,660,633.764335283,879,785,810.235664717,652,631,653,0.445355639391,-0.00554598191664,0.0599642895528,0.999999995309,-5.70540478548e-05,-5.25597239029e-05,-5.80085070507e-05,1793246486890007296
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.342768564,660,633.657231436,879,785,810.342768564,652,631,653,0.446010382043,-0.00554880716296,0.0599546131592,0.999999991444,-8.86905488336e-05,-7.63298267783e-05,-5.84733515224e-05,1793246486906673920
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680.917712392,660,633.082287608,879,785,810.917712392,652,631,653,0.446635482713,-0.00555148338167,0.0599349512585,0.999999981207,-0.000142025249144,-0.00011779200972,-5.94936670872e-05,1793246486923340288
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.507203906,745,714,680.507203906,660,633,879,785,811,652,631,653,0.447290604132,-0.00555078607906,0.059939101824,0.999999983809,-0.000135760518687,-0.000100983630042,-6.1269977854e-05,1793246486940007168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.06989071,745.06989071,714,680.06989071,660,633,879,785,811,652,631,653,0.447944254728,-0.0055496362137,0.0599497694504,0.999999988115,-0.000120608308559,-7.25906771534e-05,-6.28902801615e-05,1793246486956673792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.661831375,745.661831375,714,680.661831375,660,633,879,785,811,652,631,653,0.448549464438,-0.00554931480244,0.0599794074244,0.999999991159,-0.00011342847468,-3.0366184468e-05,-6.2402078154e-05,1793246486973340416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.752379267,745.752379267,714,681,660,633,879,785,811.247620733,651.752379267,630.752379267,653,0.449106800346,-0.00554915154004,0.0599859443906,0.999999991565,-0.000110508813118,-2.44271815179e-05,-6.37264456166e-05,1793246486990007040
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.174786996,745.174786996,714,681,660,633,879,785,811.825213004,651.174786996,630.174786996,653,0.449600341094,-0.00554919902181,0.0599616976839,0.999999989076,-0.000113266122779,-6.68410752619e-05,-6.74661857697e-05,1793246487006673664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.401319608,745,714,681,660.401319608,633,879,785,811.598680392,651,630.401319608,653,0.450056514604,-0.00555335127814,0.0599213575879,0.999999981897,-0.000119841004715,-0.000129466440814,-7.12977870344e-05,1793246487023340288
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.976781594,745,714,681,660.976781594,633,879,785,811.023218406,651,630.976781594,653,0.4504964736,-0.0055592846964,0.0598740341752,0.999999968801,-0.000128072424257,-0.000200862060684,-7.51692491234e-05,1793246487040006912
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.447524994,745,714,680.447524994,660.447524994,633,879,785,811,651.552475006,631,653,0.450943892056,-0.00556686090683,0.0598598176392,0.999999964587,-0.000135740256678,-0.000215683594746,-7.66910834197e-05,1793246487056673792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.130822906,745.130822906,714,680.130822906,660,633,879,784.869177094,811,652,631,653,0.451382599045,-0.00557291345942,0.059852096605,0.999999962586,-0.00014098279869,-0.000221134184196,-7.77888108661e-05,1793246487073340416
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.718404945,745.718404945,714,680.718404945,660,633,879,784.281595055,811,652,631,653,0.451789795678,-0.00557340511775,0.0598621943073,0.999999967041,-0.000137840339523,-0.000202171448002,-7.77507077186e-05,1793246487090007040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.697027443,745.697027443,714,681,660,632.697027443,879,784.302972557,811,651.697027443,630.697027443,653,0.452184649787,-0.00557334122622,0.0598769160542,0.999999976014,-0.000108620303922,-0.000178009034896,-6.69823571417e-05,1793246487106673664
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.115233994,745.115233994,714,681,660,632.115233994,879,784.884766006,811,651.115233994,630.115233994,653,0.452568145241,-0.00557276607082,0.059895893236,0.999999986282,-5.54014837469e-05,-0.000149061441327,-4.63391280176e-05,1793246487123340288
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,632,879,784.539947686,811.460052314,651.460052314,630.460052314,653,0.452896568507,-0.00556894438967,0.0598956213516,0.999999985337,-7.35288771041e-05,-0.000148015306646,-4.48382151755e-05,1793246487140006656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.033760041,745,714,681,660,632,879,784,811.966239959,651.966239959,631,653,0.453207831092,-0.00556426245417,0.0598897357572,0.999999981024,-0.000106795129448,-0.000155677018451,-4.8070288521e-05,1793246487156673536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.6079256,745,714,681,660,632,879,784,811.3920744,651.3920744,631,653,0.453462130625,-0.0055586456053,0.0598700927902,0.999999975136,-0.000100320036116,-0.000192416810279,-5.13838087567e-05,1793246487173340416
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.811401059,745,714,681.188598941,660,632,879,784.188598941,811,651.188598941,631,653,0.453707002749,-0.00555540799697,0.0598523262885,0.999999968628,-9.61079684118e-05,-0.000224852401358,-5.42969133081e-05,1793246487190007040
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.216715393,745,714,681.783284607,660,632,879,784.783284607,811,651.783284607,631,653,0.453931575967,-0.00555729331314,0.0598386001495,0.999999962973,-9.67685943613e-05,-0.000248020286121,-5.63478520798e-05,1793246487206673920
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.366299056,745,714,681.633700944,659.633700944,632,879.366299056,784.633700944,811.366299056,652,631,653,0.454148274286,-0.00556060568754,0.0598362507688,0.999999961975,-9.95195136736e-05,-0.000250668045148,-5.75492609548e-05,1793246487223340544
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.094585098,745,714,681,659.905414902,632,879,784.905414902,811,651,630.905414902,652.094585098,0.454735964749,-0.00556785479518,0.0598624606198,0.999999970977,-0.000107757624701,-0.000207313294648,-5.87893623015e-05,1793246487273340160
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.685648587,745,714,681,659.314351413,632,879,784.314351413,811,651,630.314351413,652.685648587,0.454888660164,-0.00556951342976,0.0598665148211,0.9999999725,-0.000108390888249,-0.000199491672045,-5.87829926301e-05,1793246487290006784
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714,681.153673585,659,632,879,784.846326415,811.846326415,652,630.846326415,653,0.455434968611,-0.00556456600048,0.0598376116147,0.999999964346,-0.000103366385676,-0.000238423361101,-6.14650962443e-05,1793246487390007040
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.062173526,745,714.937826474,682,659,632,879,784,811,652,630.062173526,653,0.455613831099,-0.00556411869364,0.0598343041543,0.999999962895,-0.000106613577653,-0.000243136352048,-6.10664093785e-05,1793246487473340416
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.64881342,745,714.35118658,682,659,632,879,784,811,652,630.64881342,653,0.455628779734,-0.00556403455206,0.0598323616275,0.999999962616,-0.000105582781908,-0.000244786815362,-6.08187989185e-05,1793246487490007040
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,714.811858381,681.188141619,659,632,879,784,811,652,630.188141619,653,0.455648270734,-0.00556684691463,0.0598302160755,0.999999961782,-0.000106764199712,-0.000247962142714,-5.95998334234e-05,1793246487523340544
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,631,879,784,811.539739294,651.460260706,631,653,0.455660012138,-0.00556092203029,0.0598289531423,0.999999961839,-0.000103139808887,-0.000248993211428,-6.07092140593e-05,1793246487573340416
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714,681.119403517,659,631,879,784.119403517,811.880596483,651,631,653,0.455661697951,-0.00555900689817,0.0598287428448,0.999999961883,-0.000101254040367,-0.000249529043517,-6.09716254811e-05,1793246487590007040
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714,681.707212838,659,631,879,784.707212838,811,651.292787162,631,653,0.45566263811,-0.00556281151803,0.0598278212586,0.999999961242,-0.000103872944411,-0.00025137403516,-5.94732136959e-05,1793246487623340032
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.025262042,714,681,659,632,879,784,812,652,631,653,0.455661199041,-0.00556120333833,0.0598235967259,0.999999959919,-0.000103920071641,-0.000256384807578,-6.02478479968e-05,1793246487673340416
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.611378791,714,681,659,632,879,784,812,652,631,653,0.455663462441,-0.00555902301562,0.0598251149707,0.999999961009,-9.93681463876e-05,-0.000254042221527,-5.9761078585e-05,1793246487690007040
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.225292225,745.225292225,714,681,659,632,879.774707775,784,812,651.225292225,631,653,0.455663823737,-0.00555887633763,0.0598251112619,0.999999961059,-9.91915926423e-05,-0.000254073198467,-5.90790354254e-05,1793246487723340032
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.352409636,659,632,880,784,811.647590364,651.352409636,631,653,0.455664454089,-0.00556053925976,0.0598252500682,0.999999960772,-0.000102245880881,-0.000253971715555,-5.91661444632e-05,1793246487740006656
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+245,4.083333333,HOLD_POSE2,765,745,714,682,659,632,879,784,811,651,631,653,0.455665967553,-0.00555868130076,0.0598256522559,0.999999961177,-9.82001135433e-05,-0.000254048959091,-5.88335036896e-05,1793246487816035328
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+252,4.200000000,HOLD_POSE2,766,745.939301394,714.060698606,682,659.939301394,632,879.060698606,784,811,652,631,653,0.455668639226,-0.00555805456242,0.0598263809411,0.999999961748,-9.73246006783e-05,-0.000252359773935,-5.78555300087e-05,1793246487932701696
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,681.919967217,659,631.919967217,879.919967217,784,811.080032783,651.080032783,630,653,0.455666890221,-0.00555410512902,0.0598241026415,0.999999960716,-9.61962406409e-05,-0.000256596050467,-5.89219134225e-05,1793246488220367360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.341023375,659,631.341023375,879.341023375,784,811.658976625,651.658976625,630,653,0.455667250648,-0.00555527311666,0.0598239481013,0.999999960953,-9.70435928964e-05,-0.000255502282817,-5.82686803474e-05,1793246488237034240
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.404073318,633,878,785,809.404073318,651.595926682,630,652,0.431822588316,-0.00539777598041,0.0597985655096,0.999999938223,0.000182637855756,-0.000299569380049,2.13489960555e-05,1793246489120367616
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.977193672,633,878,785,809.977193672,651.022806328,630,652,0.430922967861,-0.0053933948704,0.059812435197,0.999999947661,0.000169489812961,-0.000274783223677,2.10818242445e-05,1793246489137034496
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.847694414,745.847694414,714,680,659,633,878.847694414,785,809,651,630,652,0.4290767935,-0.00538076449298,0.059824884774,0.999999942791,0.000201024287756,-0.000271304205195,2.00501715161e-05,1793246489170367488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.268612521,745.268612521,714,680,659,633,878.268612521,785,809,651,630,652,0.428044426792,-0.00537462393307,0.0597668728429,0.999999907414,0.000206318467494,-0.000377177115013,1.84842751424e-05,1793246489187034112
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.306968069,714,679.306968069,659,634,878,785,808,652,630,652,0.417289477781,-0.0053764491199,0.0597684251276,0.999999910198,0.000218054319417,-0.000362744588537,2.17315352317e-05,1793246489387033856
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.40989534,745,714.59010466,679.40989534,659,634,877,785,808,652,630,652,0.413369034794,-0.00536827562824,0.0598259680503,0.999999928615,0.00022841278629,-0.000299782723658,2.69890715927e-05,1793246489470367232
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.175521799,745,714.824478201,679,659,634,877.175521799,785,808.175521799,652,630,652,0.412604395389,-0.00536931650584,0.059801195098,0.999999915779,0.000226447010673,-0.000341337042915,2.55383273449e-05,1793246489487034112
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,877,785,808,652,629,652,0.407014753916,-0.00536669357611,0.0598237722059,0.999999927688,0.000243032955202,-0.000291428974268,2.50652667261e-05,1793246489637033984
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.878319615,785,808,652,629.878319615,651.121680385,0.405589376791,-0.00535736108126,0.0598236464773,0.999999925696,0.000259605999214,-0.000283975636964,2.38892345443e-05,1793246489687034112
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807,652,629,652,0.403361405367,-0.00533277637107,0.0597796773189,0.999999898571,0.000288517171063,-0.000344863901147,2.6173965063e-05,1793246489787034112
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.358221282,658,634,876.716442564,785,807.358221282,652,629.641778718,652,0.402649025453,-0.00534597240691,0.0598317907369,0.99999992862,0.000271721129521,-0.000260539389202,3.23485709043e-05,1793246489837033984
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3db4f8e16a212e5e81468d98b7c56b324357a154
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c902721923fb0c60b196f8fa784081068e56ad05
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25980360
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31f140a8f9fcdaa17a63f512debcf93b77d23035
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+62,1.033333333,BASELINE,765.021127706,745,714,679.978872294,659,634,877.978872294,785,808,652,630,652,0.400964754799,-0.00536703969331,0.0598407449802,0.999999933503,0.000248691812216,-0.000266189556769,1.70114561581e-05,1793246491693004800
+63,1.050000000,BASELINE,765.556323614,745,714.556323614,679.443676386,659,634,877.443676386,785.556323614,808,652,629.443676386,652,0.400963961182,-0.00536754154311,0.059840589223,0.999999933488,0.000247872968645,-0.000267019088845,1.68747902909e-05,1793246491709671680
+64,1.066666667,BASELINE,765.864092857,745,714.864092857,679.135907143,659,634,877,785.864092857,808,652,629,652,0.40096319431,-0.00536783685792,0.0598402507394,0.999999933323,0.000247526236982,-0.000267965150363,1.67357415079e-05,1793246491726338304
+65,1.083333333,BASELINE,765.277433753,745,714.277433753,679.722566247,659,634,877,785.277433753,808,652,629,652,0.400962738053,-0.00536743939028,0.0598393861066,0.999999932796,0.000248492779758,-0.000269042902043,1.65717913651e-05,1793246491743004928
+66,1.100000000,BASELINE,765,745,714,680,658.694949897,634,877,785,807.694949897,652,629.305050103,652,0.400962748234,-0.0053660417568,0.0598395425453,0.999999932403,0.00025034966264,-0.000268786521748,1.65109373844e-05,1793246491759671552
+67,1.116666667,BASELINE,765,745,714,680,658.11621206,634,877,785,807.11621206,652,629.88378794,652,0.400963176896,-0.0053637467851,0.0598406150787,0.999999932124,0.000253005349215,-0.000267333172264,1.65425802009e-05,1793246491776338432
+68,1.133333333,BASELINE,765,745,714,679.538624784,658.461375216,634.461375216,877.461375216,785,807,652,629.538624784,652,0.400963185439,-0.00536520042698,0.0598404814535,0.999999932129,0.000252726668514,-0.000267552910132,1.69056487155e-05,1793246491793005312
+69,1.150000000,BASELINE,765,745,714.038511592,679.038511592,659,634.961488408,877.961488408,785,807,652,629,652,0.400963065092,-0.00536746398246,0.0598400580364,0.999999932184,0.000251826698695,-0.000268168998023,1.73310226587e-05,1793246491809671680
+70,1.166666667,BASELINE,765,745,714.613393678,679.613393678,659,634.386606322,877.386606322,785,807,652,629,652,0.400962619802,-0.0053678898636,0.0598398193234,0.999999931926,0.000252542129482,-0.000268450517702,1.74643775246e-05,1793246491826338304
+71,1.183333333,BASELINE,765,745,714.806940154,679.806940154,658.806940154,634.193059846,877.193059846,785,807,652,629,652,0.400962324959,-0.0053674882062,0.0598394532508,0.999999931513,0.000253724109742,-0.000268879019834,1.73978393046e-05,1793246491843004928
+72,1.200000000,BASELINE,765,745,714.217450227,679.217450227,658.217450227,634.782549773,877.782549773,785,807,652,629,652,0.400962339045,-0.00536538727696,0.0598388256574,0.999999930779,0.000255864105225,-0.000269609336548,1.69208396161e-05,1793246491859671552
+73,1.216666667,BASELINE,765,745,714,679,658.365525842,634.634474158,877.634474158,785,807,652,629,652,0.400962794921,-0.00536553204075,0.0598391866512,0.9999999313,0.000254472895285,-0.000268995154191,1.68824690324e-05,1793246491876338432
+74,1.233333333,BASELINE,765,745,714,679,658.944694647,634.055305353,877.055305353,785,807,652,629,652,0.400963509012,-0.00536698936991,0.0598401254556,0.999999932545,0.000251017762216,-0.000267595137428,1.71004689197e-05,1793246491893005312
+75,1.250000000,BASELINE,765,745,714,679,658.481097189,634,877.518902811,785,807,652,629,652,0.400964320161,-0.00536684115999,0.0598408584418,0.999999932891,0.000250664876428,-0.000266636778384,1.70563512971e-05,1793246491909671936
+76,1.266666667,BASELINE,765,745,714,679,658.095579401,634,877.904420599,785,807,652,629,652,0.400964953877,-0.00536667302896,0.0598414528731,0.999999933095,0.000250644155773,-0.000265892068679,1.70253135185e-05,1793246491926338560
+77,1.283333333,BASELINE,765,745,714,679,658.687803538,634,877.312196462,785,807,652,629,652,0.400964612389,-0.00536728213248,0.0598414402583,0.999999933058,0.0002506476203,-0.000266015233277,1.72060298717e-05,1793246491943005184
+78,1.300000000,BASELINE,765,745,714.27151419,679,658.72848581,633.72848581,877,785,807.27151419,652,629,652,0.400964325286,-0.00536795146379,0.0598410364588,0.99999993294,0.000250610540913,-0.000266481662086,1.74025544851e-05,1793246491959671808
+79,1.316666667,BASELINE,765,745,714.845733314,679,658.154266686,633.154266686,877,785,807.845733314,652,629,652,0.400964098814,-0.00536868794164,0.0598401965364,0.99999993273,0.000250528260049,-0.00026733078827,1.76167033526e-05,1793246491976338176
+80,1.333333333,BASELINE,765,745,714.575913263,678.575913263,658,633.424086737,877,784.575913263,807.575913263,652,629,651.575913263,0.400963505766,-0.00536680271566,0.0598394916524,0.999999932106,0.000252194666038,-0.000268117087954,1.72869372507e-05,1793246491993005056
+81,1.350000000,BASELINE,765,745,714.003923958,678.007847917,658,634,877,784.003923958,807.003923958,652,629,651.003923958,0.4009627881,-0.00536399149067,0.0598388491324,0.999999931338,0.000254471408477,-0.000268863241753,1.67646216468e-05,1793246492009671424
+82,1.366666667,BASELINE,765,745,714.578675974,679.157351948,658,634,877,784.578675974,807.578675974,652,629,651.578675974,0.400963531021,-0.0053665724058,0.0598400626364,0.999999932398,0.000252088372463,-0.000267126608088,1.72975672618e-05,1793246492026338304
+83,1.383333333,BASELINE,765,745,714.842159093,679.842159093,658,634,877,785,807.842159093,652,629,652,0.400964073634,-0.00536829943324,0.0598409633758,0.999999932968,0.000250863608287,-0.000266120608292,1.7632433305e-05,1793246492043004928
+84,1.400000000,BASELINE,765,745,714.250875847,679.250875847,658,634,877,785,807.250875847,652,629,652,0.400964066187,-0.00536768162503,0.0598410052417,0.999999932213,0.000252819540294,-0.000267120980598,1.74233588992e-05,1793246492059671552
+85,1.416666667,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.400964611665,-0.00536738226153,0.0598412528253,0.999999932478,0.000252720746057,-0.00026622218634,1.73500803432e-05,1793246492076338432
+86,1.433333333,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.400965564642,-0.00536731758766,0.0598416520202,0.999999933494,0.000251107645266,-0.000263923731039,1.73768815692e-05,1793246492093005312
+87,1.450000000,BASELINE,765,745,714,679,658,634,876.514858352,785,807,652,629,652,0.400964661607,-0.00536658480724,0.0598407533845,0.999999932676,0.000252358168069,-0.000265836632425,1.71697293968e-05,1793246492109671680
+88,1.466666667,BASELINE,765,745,714,679,658,634,876.062698201,785,807,652,629,652,0.400963668818,-0.00536597758215,0.0598399213145,0.999999931744,0.000253752918033,-0.000268019482281,1.69524431259e-05,1793246492126338304
+89,1.483333333,BASELINE,765,745,714,679,658,634,876.651307897,785,807,652,629,652,0.400964846482,-0.00536747581339,0.0598416917435,0.999999932808,0.000251847097228,-0.000265833564796,1.70186401327e-05,1793246492143004928
+90,1.500000000,BASELINE,765,745,714,679,658,634,877.236042718,785,807,652,629.236042718,652,0.400964797631,-0.00536772897131,0.0598420856251,0.999999933049,0.000251358164878,-0.000265387760523,1.7067206046e-05,1793246492159671552
+91,1.516666667,BASELINE,765,745,714,679,658,634,877.815145813,785,807,652,629.815145813,652,0.400962966184,-0.00536617256119,0.0598404788565,0.999999932097,0.000252928513709,-0.000267471006694,1.70901472291e-05,1793246492176338176
+92,1.533333333,BASELINE,765,745,714.391727484,679,658,634,877.608272516,785,807,652,629.608272516,652,0.400963771438,-0.00536677859606,0.0598412086805,0.999999932595,0.000252076615576,-0.000266412426985,1.70616146846e-05,1793246492193005056
+93,1.550000000,BASELINE,765,745,714.967126968,679,658,634,877.032873032,785,807,652,629.032873032,652,0.400965812979,-0.00536839855145,0.0598430340787,0.999999933767,0.000250088981742,-0.000263880717629,1.70089472959e-05,1793246492209671936
+94,1.566666667,BASELINE,765,745,714.455585971,679,658,634,877,785,807,652,629,652,0.400965040185,-0.00536755311637,0.0598421793017,0.999999933307,0.000251130118837,-0.000264623342809,1.71216683028e-05,1793246492226338560
+95,1.583333333,BASELINE,765,745,714,679,658.12405874,634,877.12405874,785,807,652,629.12405874,652,0.400964044905,-0.00536659944559,0.0598411471714,0.999999932775,0.00025205687736,-0.000265751303982,1.71530485575e-05,1793246492243005184
+96,1.600000000,BASELINE,765,745,714,679,658.712093402,634,877.712093402,785,807,652,629.712093402,652,0.4009628553,-0.00536579966858,0.05984005911,0.99999993234,0.000251869501658,-0.000267578399966,1.68427375619e-05,1793246492259671808
+97,1.616666667,BASELINE,765,745,714,679,658.705678562,634,877.705678562,785,807,652,629.705678562,652,0.400962757298,-0.00536569276698,0.0598397185128,0.999999932196,0.000251803513302,-0.000268181325909,1.67745819761e-05,1793246492276338432
+98,1.633333333,BASELINE,765,745,714,679,658.129020735,634,877.129020735,785,807,652,629.129020735,652,0.400963706447,-0.00536625052629,0.0598400949423,0.999999932334,0.000251853969299,-0.000267609931072,1.69387210198e-05,1793246492293005056
+99,1.650000000,BASELINE,765,745,714,679,658,634,877,784.552678869,807.447321131,652,629,652,0.40096328138,-0.00536543058349,0.0598401292878,0.999999931957,0.000253266483528,-0.00026770134397,1.66509573601e-05,1793246492309671680
+100,1.666666667,BASELINE,765,745,714,679,658,634,877.023484021,784.023484021,808,652,629,652,0.400962561024,-0.00536438734862,0.0598401026477,0.999999931508,0.000254865005278,-0.000267887213887,1.62831829757e-05,1793246492326338304
+101,1.683333333,BASELINE,765,745,714,679,658,634,877.597585995,784.597585995,808,652,629,652,0.400964204007,-0.00536741906184,0.0598409578793,0.99999993287,0.000251620107115,-0.000265808585649,1.70933479079e-05,1793246492343005184
+102,1.700000000,BASELINE,765,745,714,679,658,634,877.822692193,785,807.822692193,652.177307807,629.177307807,652,0.400964652527,-0.00536917117978,0.0598411476893,0.999999933429,0.000249947018455,-0.000265255799956,1.75590778011e-05,1793246492359672064
+103,1.716666667,BASELINE,765,745,714,679,658,634,877.229798303,785,807.229798303,652.770201697,629.770201697,652,0.40096230138,-0.00536792409498,0.0598397778391,0.999999932123,0.00025195804413,-0.000268279387956,1.72174973413e-05,1793246492376338688
+104,1.733333333,BASELINE,765,745,714,679,658.355206451,634,877,785,807,652.644793549,630,651.644793549,0.400962355774,-0.00536644295743,0.0598395220347,0.999999931781,0.000252762890579,-0.000268830120601,1.67285557339e-05,1793246492393005312
+105,1.750000000,BASELINE,765,745,714,679,658.935218335,634,877,785,807,652.064781665,630,651.064781665,0.400963932604,-0.00536481369088,0.0598399712948,0.999999932052,0.000252804362456,-0.00026781581632,1.61463511849e-05,1793246492409671936
+106,1.766666667,BASELINE,765,745,714,679,658.489893174,634,877,785,807,652,630,651.510106826,0.400963070735,-0.00536549121159,0.0598392544057,0.999999931792,0.000252914946835,-0.000268663928777,1.64072725569e-05,1793246492426338304
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,629,652,0.400963107172,-0.00536682718065,0.0598416477101,0.999999932937,0.000251577261178,-0.000265615780108,1.68418940692e-05,1793246492468780032
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.572909393,634,876.427090607,784.427090607,807.572909393,652,629,652,0.400962466311,-0.00536764830825,0.0598402647882,0.999999932459,0.000251435900726,-0.000267530203762,1.69972904179e-05,1793246492485446912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.147665428,745,714,679,658.852334572,634,876.147665428,784.147665428,808,652,629,652,0.40096245927,-0.00536802004235,0.0598396382497,0.999999932156,0.000251711176037,-0.000268393903697,1.71313353845e-05,1793246492502113792
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.727830252,745,714,679,658.272169748,634,876.727830252,784.727830252,808,652,629,652,0.400964308634,-0.00536707554154,0.0598412270929,0.999999932369,0.000253206741797,-0.00026618012426,1.7202844018e-05,1793246492518780416
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.687864654,744.687864654,714,679,658,634,877,785,808,652,629.312135346,652,0.400964473643,-0.00536717504822,0.0598413543761,0.999999932506,0.000252987151537,-0.000265881726726,1.71282714901e-05,1793246492535447296
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.099900912,744.099900912,714,679,658,634,877,785,808,652,629.900099088,652,0.400963150216,-0.00536819712559,0.059840190105,0.999999932575,0.000251251908639,-0.000267275917888,1.69246096608e-05,1793246492552113920
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.480719077,714,679,658,634,877,785,807.519280923,652,629.519280923,652,0.400962566023,-0.00536669846757,0.0598400648832,0.999999931919,0.000253081966375,-0.000267995777502,1.70187024489e-05,1793246492568780544
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,629,652,0.400962388193,-0.00536499045204,0.059840252895,0.999999931264,0.000255255441341,-0.000268370049019,1.71511142257e-05,1793246492585447168
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,629,652,0.400964423786,-0.00536594331278,0.0598413135392,0.999999931947,0.00025407592823,-0.000266943026759,1.70871507482e-05,1793246492602113792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.215112141,658.215112141,634,877.215112141,785,807.215112141,652,629,652,0.400968790853,-0.0053669190914,0.0598433475601,0.999999933159,0.000252570308441,-0.000263810969654,1.71651968858e-05,1793246492618780160
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.78847867,658.78847867,634,877.78847867,785,807.78847867,652,629,652,0.40097704083,-0.00536793303806,0.0598470026725,0.999999935226,0.000250521580655,-0.000257839295115,1.74797502183e-05,1793246492635446784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.628405651,658.628405651,634,877.628405651,784.628405651,807.628405651,652,629,652,0.40100342677,-0.00536958063986,0.0598579838357,0.999999940415,0.000249155294724,-0.00023824222532,1.82404087663e-05,1793246492652113664
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.039590924,658.039590924,634,877.039590924,784.039590924,807.039590924,652,629,652,0.401040414329,-0.00537159865323,0.059873247539,0.999999946823,0.000248187938837,-0.00021068025027,1.92618440222e-05,1793246492668780544
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785.081273604,807,652,629.540636802,652,0.401101695011,-0.00537219923518,0.0598936323929,0.999999953815,0.000249060463695,-0.000173050981843,1.9803560293e-05,1793246492685447424
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.119530555,634,877,785.880469445,807,652,630,652,0.401166919664,-0.00537324714128,0.0599128102142,0.999999958908,0.00024956120125,-0.000139591583262,2.04510989967e-05,1793246492702113792
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.695693114,634,877,785.304306886,807,652,630,652,0.401240521273,-0.00537639425379,0.0599259666547,0.999999961189,0.000248134966225,-0.000124834298737,2.16350074243e-05,1793246492718780416
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.729098154,634,877,785,807.270901846,652,629.729098154,652,0.401321459512,-0.00537879572362,0.0599359432265,0.999999963258,0.000246806786556,-0.000109949099732,2.19240179602e-05,1793246492735447040
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.154957141,634,877,785,807.845042859,652,629.154957141,652,0.401410610144,-0.00538036254383,0.0599423603504,0.999999965113,0.000245588367116,-9.4920718094e-05,2.12113073343e-05,1793246492752113664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.431488206,679,658.431488206,634,877,785,807.568511794,652,629,652,0.401515244459,-0.00538396002945,0.0599458151801,0.999999966472,0.000242940247181,-8.72624820891e-05,2.05256325462e-05,1793246492768780288
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.022006888,714.977993112,679.022006888,659,634,876.977993112,785,807.022006888,652,629,652,0.401626420271,-0.00538820705076,0.0599481668798,0.999999967644,0.000239851188948,-8.23967224943e-05,1.98429211403e-05,1793246492785446912
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.600511025,714.399488975,679.600511025,659,634,876.399488975,785,807.600511025,652,629,652,0.401758274637,-0.00538989680957,0.0599503143383,0.999999968125,0.000238976556359,-7.92504971933e-05,1.89824188893e-05,1793246492802113792
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.178075535,745.821924465,714,679.821924465,659,634,876.178075535,785,808,652,629,652,0.401898564446,-0.00539265452124,0.059951551771,0.999999968777,0.000237419453209,-7.58976476023e-05,1.78410685832e-05,1793246492818780672
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.753543105,745.246456895,714,679.246456895,659,634,876.753543105,785,808,652,629,652,0.40205767871,-0.0053977954683,0.0599507583963,0.999999969815,0.000234339353971,-7.20836972117e-05,1.60729799716e-05,1793246492835447296
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.335536133,714,679.335536133,658.664463867,634,877,785,807.664463867,652,629,652,0.402236070296,-0.00540154882184,0.0599512137316,0.999999971264,0.00022996457552,-6.62671332519e-05,1.40245015416e-05,1793246492852113664
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.922417345,714,679.922417345,658.077582655,634,877,785,807.077582655,652,629,652,0.40242890225,-0.00540426275043,0.0599526044566,0.999999972966,0.000224619971975,-5.89504411354e-05,1.17659871227e-05,1793246492868780288
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.497259688,745.497259688,714,679.497259688,658.502740312,634,877,785,807,652,629,652,0.402663997755,-0.00541163858706,0.0599542960075,0.999999975041,0.000217201942445,-5.14304453231e-05,9.79704315737e-06,1793246492885446912
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.081892585,679,659,634,876.918107415,785,807,652,629,652,0.402909604516,-0.00541946722484,0.059955929082,0.999999977075,0.000209393314128,-4.40954863149e-05,7.77039025361e-06,1793246492902113792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.660004939,679,659,634,876.339995061,785,807,652,629,652,0.40317989222,-0.00542573642951,0.05995693015,0.999999979035,0.000201131749314,-3.80693937268e-05,5.12676929085e-06,1793246492918780416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.760786127,679,658.760786127,634,876.239213873,785,807.239213873,652,629,652,0.40345398587,-0.00543288325495,0.0599542162149,0.999999980687,0.000192280965111,-4.06071942877e-05,2.33314328109e-06,1793246492935447040
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.180011481,679,658.180011481,634,876.819988519,785,807.819988519,652,629,652,0.403733513811,-0.00544128318808,0.0599461978243,0.999999981797,0.000182588866342,-5.53729229874e-05,-6.74666802682e-07,1793246492952113664
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,652,629,652,0.404052953247,-0.00544977647843,0.0599361053465,0.999999982561,0.000172316039059,-7.18739310242e-05,-4.39095181903e-06,1793246492968780288
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,652,629,652,0.40439031979,-0.00545831170198,0.0599250812477,0.999999982903,0.000161782365189,-8.91543769805e-05,-8.42546362944e-06,1793246492985446912
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.553695112,634,877,785,808,652,629.553695112,652,0.404758910574,-0.0054656447038,0.0599107183239,0.999999981155,0.000155191076436,-0.000115989148591,-1.23715636272e-05,1793246493002113536
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145477456,745,714,679,659,634,877,785,808,652,629.854522544,652,0.405147432163,-0.00547379504267,0.0599015675183,0.999999979958,0.000148097323232,-0.000133776986981,-1.59516944709e-05,1793246493018780160
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.717623327,745,714,679,659,634,877,785,808,652,629.282376673,652,0.405587001715,-0.00548462771284,0.0599084952514,0.999999982689,0.00013859473045,-0.000122764842921,-1.84794518643e-05,1793246493035446784
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.707835093,745,714,679,659,634,877,785,808,652,629.292164907,652,0.406064903224,-0.00549452833691,0.0599277104406,0.999999987122,0.000130841318071,-9.07333543082e-05,-2.00850467028e-05,1793246493052113664
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.130958853,745,714,679,659,634,877,785,808,652,629.869041147,652,0.406580158832,-0.0055035206941,0.0599588996151,0.999999991267,0.000124792460433,-3.82187553986e-05,-2.07920050297e-05,1793246493068780288
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,784.542161672,807.542161672,652,629.542161672,652,0.407115421744,-0.00550314899456,0.0599851708294,0.999999991366,0.000129616206082,5.16091272153e-06,-2.09777924715e-05,1793246493085446912
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.048829024,745,714,678.951170976,659,634,877.048829024,784,807,652,629,652,0.407656937386,-0.00550017981434,0.0600073164769,0.999999991256,0.000124179402763,4.01270867387e-05,-2.13763803537e-05,1793246493102113536
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625681463,745,714,678.374318537,659,634,877.625681463,784,807,652,629,652,0.408202529126,-0.00549886074108,0.0600004679616,0.999999999225,-2.67415142706e-05,1.31229921317e-05,-2.57312765841e-05,1793246493118780160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.79797029,745,714,678.20202971,659,634,877.79797029,784,807.20202971,652,629.20202971,652,0.408759476406,-0.00550271627262,0.0599910876863,0.999999991547,-0.000125608941208,-1.51180911256e-05,-2.9993848933e-05,1793246493135447040
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.222553915,745,714,678.777446085,659,634,877.222553915,784,807.777446085,652,629.777446085,652,0.409337410701,-0.00551613538988,0.0599770282709,0.99999999015,-0.000128272296888,-4.56453463536e-05,-3.40857910627e-05,1793246493152113664
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,784.361230902,808,652,629.638769098,652,0.409956246426,-0.00552583845803,0.059976450921,0.999999989951,-0.00012836102914,-4.6298240442e-05,-3.84370750561e-05,1793246493168780288
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,784.950293758,808,652,629.049706242,652,0.41060087907,-0.00553319777623,0.0599843768457,0.99999999064,-0.000126825920484,-2.81090740855e-05,-4.2951928414e-05,1793246493185447168
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.53062553,659,633.46937447,877,784.46937447,808,651.46937447,629.53062553,652,0.411302209333,-0.00553433748328,0.0599906551339,0.999999991516,-0.000121085015758,-9.42894534066e-06,-4.70842856231e-05,1793246493202113792
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.890662155,659,633.109337845,877.109337845,784.109337845,808,651.109337845,630,652,0.412006358776,-0.00553244979967,0.0599910718209,0.999999994403,-9.53065108827e-05,-3.26342077117e-06,-4.58229709474e-05,1793246493218780416
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.315422024,659,633.684577976,877.684577976,784.684577976,808,651.684577976,630,652,0.412700255833,-0.00552010445617,0.0599671585113,0.999999998382,1.42031134749e-05,-5.06170013664e-05,-2.1728747296e-05,1793246493235447040
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.259557694,659,634,878,784.740442306,808.259557694,652,629.740442306,652.259557694,0.413397246567,-0.00551049938717,0.0599401942485,0.999999992601,6.24759230749e-05,-0.000103670761801,-1.21143505849e-05,1793246493252113408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.834221344,659,634,878,784.165778656,808.834221344,652,629.165778656,652.834221344,0.414097993151,-0.00550422104054,0.059909526091,0.999999985746,3.6406566256e-05,-0.000163644611465,-2.00786234962e-05,1793246493268780032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.420702999,745,714,679.579297001,659,634,878,784,808.579297001,651.579297001,629.420702999,652.579297001,0.414904042972,-0.00551025230555,0.0599332915833,0.999999992696,1.3730742712e-05,-0.000117484528981,-2.48207722099e-05,1793246493285446912
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714.011799082,679,659.011799082,634,878,784,808,651.011799082,630,652,0.415752855072,-0.00552121178884,0.0599789013092,0.999999999157,-7.19587712352e-06,-2.89786904081e-05,-2.81854724918e-05,1793246493302113792
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714.594331715,679,659.594331715,634,878,784,808,651.594331715,630,652,0.416604961356,-0.00552914325854,0.0600136088933,0.999999999206,-1.00643565023e-05,2.63802012147e-05,-2.81125665371e-05,1793246493318780416
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.826749741,745.173250259,715,679,659.826749741,633.826749741,878,784,808.173250259,652,630,652.173250259,0.417458519638,-0.00553430383847,0.0600327588645,0.999999997761,-1.88611024416e-05,5.74566788314e-05,-2.86451854042e-05,1793246493335447040
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.256120758,745.743879242,715,679,659.256120758,633.256120758,878,784,808.743879242,652,630,652.743879242,0.418315408268,-0.00553310891434,0.0600162248212,0.999999998143,-4.12553286863e-05,3.28373363084e-05,-3.05666778532e-05,1793246493352113664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.687945544,714.687945544,679.312054456,659.312054456,633.312054456,878,784,809,652,630,652.687945544,0.419154769208,-0.00553085319744,0.0599945855937,0.999999998585,-4.1346900892e-05,-4.21368791748e-06,-3.32054922383e-05,1793246493368780288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.121768592,714.121768592,679.878231408,659.878231408,633.878231408,878,784,809,652,630,652.121768592,0.419979856376,-0.00552773362079,0.0599687889446,0.999999997745,-2.32762377877e-05,-5.13884887452e-05,-3.64284597858e-05,1793246493385447168
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.52482315,659.52482315,634,878,784,809,651.52482315,630,652,0.420818315891,-0.00552697274723,0.059936525022,0.99999999399,-2.13732090703e-05,-0.000100384998819,-3.85477298092e-05,1793246493402113792
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076657967,745,714,679,659.076657967,633.923342033,878.076657967,784.076657967,809,651.076657967,630,652,0.421666132675,-0.00552710048965,0.059905030127,0.999999987967,-2.47642054949e-05,-0.000147730472579,-4.0343847991e-05,1793246493418780672
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.652762252,745,714,679,659.652762252,633.347237748,878.652762252,784.652762252,809,651.652762252,630,652,0.422551041856,-0.00552880705865,0.0598900909766,0.999999982154,-3.37848243195e-05,-0.000181066899491,-4.20048589094e-05,1793246493435447040
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.227538361,660,633,878.772461639,785,809,652,630,652,0.423495045187,-0.00553117627689,0.0599103733591,0.999999986993,-3.77541027191e-05,-0.000151123572173,-4.18270489475e-05,1793246493452113664
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.800299442,660,633,878.199700558,785,809,652,630,652,0.42452870669,-0.0055345508712,0.0599840940838,0.999999998348,-3.40594547239e-05,-2.51717829359e-05,-3.88593675212e-05,1793246493468780288
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.383646405,878.383646405,785,809.383646405,651.616353595,630,652.383646405,0.425497835107,-0.00553712113063,0.0600254492535,0.999999997462,-4.14200324535e-05,4.43288483545e-05,-3.73666123567e-05,1793246493485447168
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.972659991,878.972659991,785,809.972659991,651.027340009,630,652.972659991,0.426432418689,-0.00553926082676,0.0600494790309,0.999999994337,-5.46985092049e-05,8.36109817548e-05,-3.66633904095e-05,1793246493502113536
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.447703249,745,714,680,660,633.447703249,878.447703249,785,810,651.552296751,630.552296751,653,0.427378301908,-0.00554127276131,0.0600362142339,0.99999999499,-5.05526030019e-05,7.66587974433e-05,-3.98366834105e-05,1793246493518780160
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,878,785,810,651.868950617,630.868950617,653,0.428309748062,-0.00554227329202,0.060016286943,0.999999996305,-4.8953577993e-05,5.61910773331e-05,-4.28412228016e-05,1793246493535447040
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,878,785,810,651.291654416,630.291654416,653,0.429190160431,-0.00553985098639,0.0599798542524,0.999999997265,-5.89152435254e-05,-2.63612212127e-06,-4.46285911846e-05,1793246493552113664
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,878.284202781,785,810,651.284202781,630.284202781,653,0.43008472688,-0.00553774620339,0.0599473034781,0.999999995355,-5.98912260323e-05,-5.94575965905e-05,-4.65502700451e-05,1793246493568780288
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,878.858590649,785,810,651.858590649,630.858590649,653,0.43099374529,-0.00553596562684,0.0599187163343,0.999999990958,-5.16923814092e-05,-0.000114231123038,-4.86090864504e-05,1793246493585446912
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.446846616,745,714,680,660,633,879,785,810,652,631,653,0.431967097784,-0.00553831264116,0.0599498540711,0.999999995825,-5.51517466914e-05,-5.45576858199e-05,-4.82830912824e-05,1793246493602113536
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.038641073,633.038641073,879,785,810,651.961358927,630.961358927,653,0.432957412272,-0.00554187975381,0.0599983155883,0.999999996266,-6.20223748923e-05,3.73985039238e-05,-4.71442868335e-05,1793246493618780416
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.616606217,633.616606217,879,785,810,651.383393783,630.383393783,653,0.433891208403,-0.00554366090088,0.0600163199321,0.99999999526,-6.33621536037e-05,5.82388187689e-05,-4.5531810528e-05,1793246493635447040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.806996021,745,714,679.806996021,660.806996021,633.806996021,879,785,810,651.193003979,630.193003979,653,0.434804549895,-0.00554556528742,0.0600160689366,0.999999995506,-6.50909239958e-05,5.17128067564e-05,-4.55661053135e-05,1793246493652113664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.23368661,745,714,679.23368661,660.23368661,633.23368661,879,785,810,651.76631339,630.76631339,653,0.435677586631,-0.00554771251195,0.0599798466411,0.999999996485,-6.75861846692e-05,-8.73728571373e-06,-4.88452861667e-05,1793246493668780544
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.340276468,660.340276468,633,879,785,810,652,631,653,0.436546945715,-0.00554731668615,0.0599526894977,0.999999994398,-7.41454486959e-05,-5.55004917735e-05,-5.12553927123e-05,1793246493685447168
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.914689285,660.914689285,633,879,785,810,652,631,653,0.437413774239,-0.00554517104624,0.0599317698775,0.999999990796,-8.35010590958e-05,-9.28460649786e-05,-5.30675092077e-05,1793246493702113536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.49350881,633,879,784.49350881,810,652,630.49350881,652.49350881,0.438200883839,-0.0055413844201,0.059912171689,0.999999986804,-6.75423510254e-05,-0.000137877956051,-5.31047299229e-05,1793246493718780416
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.09772789,745,714,680.09772789,660,633,879,784.09772789,810,651.90227211,630.09772789,652.09772789,0.439003784286,-0.00553893055064,0.059904399442,0.999999984158,-5.2835790436e-05,-0.000161617067165,-5.26458022656e-05,1793246493735447040
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.671439245,745,714,680.671439245,660,633,879,784.671439245,810,651.328560755,630.671439245,652.671439245,0.439951317425,-0.00554436193243,0.0599531028245,0.999999993703,-6.57330195981e-05,-7.51200035427e-05,-5.12782079865e-05,1793246493752113664
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.754299523,745,714,681,660,633,879,785,810,651.245700477,630.754299523,653,0.440851863296,-0.00555025965921,0.0599932626497,0.999999995224,-8.34498068402e-05,-8.34983934359e-06,-5.01903424374e-05,1793246493768780288
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+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.001064534,660,633,878.998935466,785,810.001064534,652,631,653,0.443248970682,-0.00555556546514,0.059986992622,0.999999994022,-9.32063794793e-05,-1.61485064481e-05,-5.48405678134e-05,1793246493818780672
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765.731555303,745,714,680.268444697,660,632.268444697,878,785,811,651.268444697,630.268444697,653,0.445412363875,-0.00555974724742,0.0599661893782,0.999999995114,-6.48036422104e-05,-5.28084954641e-05,-5.27551075906e-05,1793246493868780544
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.686810537,745,714,680,660,632.313189463,878.626378927,785,811,651,630.313189463,653,0.446081412125,-0.00556144864754,0.0599548741663,0.99999999101,-9.51079627967e-05,-7.75458573648e-05,-5.40552837742e-05,1793246493885447168
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.098238755,745,714,680,660,632.901761245,879.803522489,785,811,651,630.901761245,653,0.446721259964,-0.00556249125169,0.0599289578401,0.999999979267,-0.000149981736208,-0.000126019032888,-5.5594553593e-05,1793246493902113792
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.361532525,633,879,784,811,651,631,653,0.448681808143,-0.00556422365949,0.0599862226774,0.999999989793,-0.00012896925902,-2.04247976019e-05,-5.80059341974e-05,1793246493952113664
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.214594785,745,714,680.785405215,660,633,879.214594785,784.214594785,811,651,631,653,0.449263822956,-0.00556463662851,0.0599937939161,0.999999990411,-0.000124687878988,-1.13509308388e-05,-5.91781298032e-05,1793246493968780544
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.788985207,745,714,680.211014793,660,633,879.788985207,784.788985207,811,651,631,653,0.449763674005,-0.00556654936411,0.0599625750164,0.999999987841,-0.000127908753429,-6.34614641619e-05,-6.26888774003e-05,1793246493985447168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.626726537,745,714,680.373273463,660,632.626726537,879.626726537,784.626726537,811,651,631,652.626726537,0.450236260713,-0.00556991022707,0.0599199188759,0.999999980591,-0.00013273878025,-0.000129467978814,-6.66025140698e-05,1793246494002113536
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.326895898,714,682,659.673104102,631.326895898,879.673104102,784,811.673104102,652,630.673104102,653,0.45615845566,-0.00556990236137,0.0598173913487,0.999999958047,-0.000108416984788,-0.000262755949522,-5.57744234086e-05,1793246494718780672
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.914709064,714,682,659.085290936,631.914709064,879.085290936,784,811.085290936,652,630.085290936,653,0.456158070162,-0.00557067225388,0.0598167008941,0.999999957525,-0.00011046970437,-0.000263930951108,-5.55516307203e-05,1793246494735447040
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,681.505154885,659,632,879.494845115,784,811.494845115,652,630.494845115,653,0.456157775974,-0.00557175224982,0.0598161250765,0.999999957341,-0.000111085418813,-0.000264477320022,-5.50388466981e-05,1793246494752113664
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714,681,659,631.926644698,879.926644698,784.073355302,811.926644698,652,631,653,0.456157777267,-0.00557278311378,0.0598157701971,0.999999957279,-0.000111479225779,-0.000264635349515,-5.46055877428e-05,1793246494768780032
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,714,681,659,631.3503484,879.3503484,784.6496516,811.3503484,652,631,653,0.456159698187,-0.00557311625608,0.0598167967211,0.999999957661,-0.000112023795779,-0.000262862360034,-5.50550281695e-05,1793246494785446912
+247,4.116666667,HOLD_POSE2,766,745,714,681,659,632,879,784,811,652,631,653,0.456158943199,-0.00556960181352,0.0598164336494,0.999999957676,-0.000108225092642,-0.000264294169584,-5.55245591647e-05,1793246494824710144
+248,4.133333333,HOLD_POSE2,766,745.592041632,714,681.592041632,659,632,879.592041632,784,811.592041632,652,631,653,0.456159203594,-0.00556958808445,0.0598155808695,0.99999995758,-0.000109145643822,-0.000264387725547,-5.50060095436e-05,1793246494841376768
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+250,4.166666667,HOLD_POSE2,766,745.24005384,714,681.24005384,658.24005384,632,879.24005384,784,811.24005384,652,631,653,0.456159343217,-0.00556705141064,0.0598159561769,0.999999957542,-0.000107293697482,-0.000265291341083,-5.49956116649e-05,1793246494874709760
+251,4.183333333,HOLD_POSE2,766,745.336257435,714,681.336257435,658.336257435,631.663742565,879,784,811.336257435,652,631,653,0.456159166114,-0.0055671169315,0.0598161731782,0.999999957381,-0.00010766619237,-0.000265705251215,-5.51908233207e-05,1793246494891376384
+252,4.200000000,HOLD_POSE2,766,745.910173441,714,681.910173441,658.910173441,631.089826559,879,784,811.910173441,652,631,653,0.4561588853,-0.00556859128505,0.0598160243943,0.999999957091,-0.000109642407892,-0.000265959283473,-5.53369674318e-05,1793246494908043264
+253,4.216666667,HOLD_POSE2,766.487255152,745.512744848,714,682,659.487255152,631.487255152,879,784.487255152,811.512744848,652,631,653,0.456160102379,-0.00556919506955,0.0598162398873,0.999999957671,-0.000107946423567,-0.000264538593113,-5.50059360297e-05,1793246494924709888
+254,4.233333333,HOLD_POSE2,766.933787607,745,714,682,659.933787607,632,879,784.933787607,811,651.933787607,631,653,0.456161190702,-0.00556969320793,0.0598163016473,0.999999958212,-0.000106016279062,-0.000263358080642,-5.45885844572e-05,1793246494941376768
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+256,4.266666667,HOLD_POSE2,766,745,714,681.759865787,659,632,879,784,811,651,630.759865787,653,0.456158439942,-0.00557029315765,0.0598139430288,0.999999956869,-0.000107690740277,-0.000267871536128,-5.39435667991e-05,1793246494974710272
+257,4.283333333,HOLD_POSE2,766,745,714,681.181190744,659,632,879,784,811,651,630.181190744,653,0.456159922613,-0.00556815013074,0.0598146998008,0.999999957422,-0.000105606822452,-0.000266637841367,-5.39162472836e-05,1793246494991377152
+258,4.300000000,HOLD_POSE2,765.605402512,745.394597488,714,681.394597488,659,632,879.394597488,784,811.394597488,651.394597488,630.394597488,653,0.456160733527,-0.0055674641356,0.0598149797499,0.999999957476,-0.000106829974332,-0.000265868267299,-5.43077032195e-05,1793246495008043520
+259,4.316666667,HOLD_POSE2,765.030930165,745.969069835,714,681.969069835,659,632,879.969069835,784,811.969069835,651.969069835,630.969069835,653,0.456161238224,-0.00556744231932,0.0598150423423,0.999999957297,-0.000109560633602,-0.000265310259711,-5.48900553903e-05,1793246495024710144
+260,4.333333333,HOLD_POSE2,765.545663588,746,714,681.454336412,658.454336412,631.454336412,880,784,812,652,631,653,0.456161683162,-0.00556787694779,0.0598154763457,0.99999995764,-0.000108127541871,-0.000264613531651,-5.48490989497e-05,1793246495041376768
+261,4.350000000,HOLD_POSE2,765.874585954,746,714,681.125414046,658.125414046,631.125414046,879.874585954,784.125414046,811.874585954,652,631,653,0.45616200841,-0.00556807416144,0.0598158576254,0.999999957915,-0.000106807226644,-0.000264121875027,-5.47805488487e-05,1793246495058043392
+262,4.366666667,HOLD_POSE2,765.283564028,746,714,681.716435972,658.716435972,631.716435972,879.283564028,784.716435972,811.283564028,652,631,653,0.45616190192,-0.00556729352729,0.0598159646997,0.999999957841,-0.000106785247005,-0.000264420865858,-5.47412374013e-05,1793246495074710016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,632,879,784,811,651,631,653,0.456162850952,-0.00556739805904,0.0598163876925,0.99999995814,-0.000106181001612,-0.00026369756298,-5.39337751177e-05,1793246495111627264
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.15513764,745,714,681,659.84486236,631,879.84486236,784,811,652,630.15513764,652.15513764,0.456162750703,-0.00556563029172,0.0598167491814,0.999999958163,-0.000105912994134,-0.000263578676756,-5.46128555421e-05,1793246495144961280
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.744282683,745,714,681,659.255717317,631,879.255717317,784,811,652,630.744282683,652.744282683,0.456162580578,-0.00556682916057,0.059815683805,0.999999957883,-0.000106378682614,-0.00026443500597,-5.47039501875e-05,1793246495161627648
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.912409426,714,681.912409426,659.912409426,631,879,784,811,651.087590574,631,653,0.456161597668,-0.00556558644853,0.0598141448686,0.999999957655,-0.000104673055757,-0.000265968864297,-5.4723998523e-05,1793246495194960896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.511811433,714,681.511811433,659.023622866,631,879,784,811,651.488188567,630.511811433,653,0.456162085329,-0.00556464410743,0.0598148117774,0.999999957903,-0.000104467974652,-0.000265124585687,-5.46803164641e-05,1793246495211627264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.124940606,631.062470303,879,784,811,651.937529697,630,653,0.456162363792,-0.00556406703857,0.0598154626371,0.999999958076,-0.000104749129467,-0.000264367158178,-5.46442515893e-05,1793246495228293888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.268921877,631.634460939,879,784,811,651.365539061,630,653,0.45615939455,-0.00556620434167,0.0598140281794,0.999999957182,-0.000107534026563,-0.000266607412851,-5.47153882448e-05,1793246495244960768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.785361179,631.785361179,879,784,811,651.214638821,630,653,0.45615201057,-0.00556720139694,0.0598100767652,0.999999955495,-0.000108683679279,-0.000272385083902,-5.48070902012e-05,1793246495261627392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.190687184,631.190687184,879,784,811,651.809312816,630,653,0.456136809944,-0.00556617955211,0.0598016688788,0.999999952324,-0.000106938000914,-0.000284426032911,-5.49352046535e-05,1793246495278294016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,631.390326997,879.390326997,784.390326997,811,652,630.390326997,653,0.456106589323,-0.00556503550084,0.0597881109591,0.999999945684,-0.000105442201363,-0.000307323405573,-5.53786574523e-05,1793246495294960896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,631.964893613,879.964893613,784.964893613,811,652,630.964893613,653,0.45606927906,-0.00556383376639,0.0597721221532,0.999999936791,-0.000104064347773,-0.000335345157854,-5.59709541913e-05,1793246495311627776
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,681.540428393,659,632,879.459571607,784.459571607,811,652,630.459571607,653,0.45601090394,-0.00555990639492,0.0597517543926,0.999999926243,-0.000101168212222,-0.000366059831024,-5.72602933987e-05,1793246495328294144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.118571123,681.881428877,659,632,879,784,811.118571123,652,630,653,0.45594872423,-0.00555651059976,0.0597323235506,0.999999915641,-9.9210332538e-05,-0.000394282205988,-5.8449993018e-05,1793246495344960512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.706794374,681.293205626,659,632,879,784,811.706794374,652,630,653,0.455876904567,-0.00555592291487,0.0597177325145,0.999999908272,-0.000101360179796,-0.000411938627162,-5.90653543958e-05,1793246495361627136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.707657093,745,715,681.292342907,659,632,879,784,811.707657093,652,630.292342907,653,0.455798488066,-0.00555513521363,0.0597093570204,0.999999903706,-0.000101020685887,-0.00042298805042,-5.88470208888e-05,1793246495378293760
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.449498096,745,714.550501904,682,659,631.550501904,879,784,811,652,631,653,0.455617555122,-0.00555047640154,0.0597102278762,0.999999904318,-9.41122431031e-05,-0.000423406470694,-5.68620664777e-05,1793246495411627264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.021653465,714,681.978346535,659,631.021653465,879,784,811,652,631,653,0.455517441109,-0.00554609069288,0.059714638941,0.999999907374,-8.97749746019e-05,-0.000417204488634,-5.59742923158e-05,1793246495428294144
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.932167739,659,632,879,784,811,652,630.932167739,653,0.454712519139,-0.0055204098375,0.0597210952058,0.999999907502,-6.91633952556e-05,-0.000421539892575,-5.01609536264e-05,1793246495511627264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,681.492174345,659,632,879.507825655,784,811,652,631,653,0.454488258977,-0.00551424038922,0.0597234683979,0.999999907158,-6.35968826128e-05,-0.000423432775478,-4.84227330345e-05,1793246495528293888
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.79605704,714,680.407885921,660,633,878.20394296,785,810,651.20394296,631,653,0.447901615039,-0.00540773504151,0.0597517163772,0.999999932479,5.01076406553e-05,-0.000363735525471,-1.50598108882e-05,1793246495794960896
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,784.460663287,808,652,629,651.460663287,0.406009169217,-0.00536509393124,0.0598179246904,0.999999926297,0.000243874057074,-0.000295523444282,2.4432009466e-05,1793246496678294016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.117649832,634,877,784.117649832,808,652,629.117649832,651.117649832,0.405562591432,-0.00536062966306,0.0598228893188,0.999999926743,0.00025263613194,-0.000286503299392,2.45804463724e-05,1793246496694960640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.710166784,634,877,784.710166784,808,652,629.710166784,651.710166784,0.405128182618,-0.00535393449204,0.0598170749775,0.999999923712,0.000259327272899,-0.000291059626116,2.46910621325e-05,1793246496711627264
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.295539075,658.704460925,634,877,785,808,652,629.704460925,652,0.404703170391,-0.00534814996676,0.0598007915253,0.999999913891,0.000265506241568,-0.000317991927619,2.46056157439e-05,1793246496728294144
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.919371511,745.919371511,714.919371511,679.919371511,658,634,877,785,807.919371511,652,629.080628489,652,0.40200983644,-0.0053671358635,0.0598237902772,0.999999924569,0.000261460605831,-0.000285037899072,3.54037382131e-05,1793246496894961408
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.356565179,745.356565179,714.356565179,679.356565179,658,634,877,785,807.356565179,652,629.643434821,652,0.40185716236,-0.00536364617298,0.0598224681287,0.99999991172,0.000303591970483,-0.000289088303734,2.86370921589e-05,1793246496911627776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.22231677,658,634,877,785,807,652,629.77768323,652,0.401714014526,-0.00536377148552,0.0598227711822,0.999999908892,0.000311974464751,-0.000290601848643,2.09463818864e-05,1793246496928294144
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.203686794,745,714,679,658.203686794,634,877,785,808,652,629,652,0.400992702911,-0.00536421559191,0.0598295211295,0.999999928194,0.000250712856413,-0.000283820002758,1.41657519294e-05,1793246497128294400
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.619536772,745,714,679,658.619536772,634,877,785,808,652,629,652,0.40097371755,-0.00536393628294,0.059830042799,0.999999928226,0.000251204318259,-0.000283234557624,1.48857760738e-05,1793246497161627904
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.043917258,745,714,679,658.043917258,634,877,785,808,652,629,652,0.400966397439,-0.00536548133537,0.0598293237599,0.999999927726,0.00025084248048,-0.00028528767319,1.53934980757e-05,1793246497178294784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.531749695,679.531749695,658,634,877,785,807.468250305,652,629,652,0.400964416893,-0.00536468377402,0.0598296650135,0.99999992812,0.000250036944705,-0.000284629486809,1.50694922496e-05,1793246497194960896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.892713831,658,634,877,785,807,652,629,651.892713831,0.400963437858,-0.00536408041354,0.0598303903542,0.999999928674,0.000249379285192,-0.000283270143425,1.48309679948e-05,1793246497211627520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.317763365,658,634,877,785,807,652,629,651.317763365,0.400964901958,-0.00536516702916,0.0598324081911,0.999999929599,0.000249525975293,-0.000279830623148,1.52645208485e-05,1793246497228294400
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.140072986,679,658,634,877,785,807.859927014,652,629,651.859927014,0.400962587284,-0.00536188042071,0.0598314016055,0.999999928131,0.000254899302848,-0.000280254271092,1.48733135948e-05,1793246497261627648
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,784.559935371,808,652,629,652,0.400963303249,-0.00536319164946,0.0598323288954,0.999999928975,0.00025309612636,-0.000278875751275,1.48812581722e-05,1793246497278294528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,784,807.984159356,652,629,652,0.400964840393,-0.00536566926748,0.0598339502836,0.99999993045,0.000249686224153,-0.000276642577584,1.50249808122e-05,1793246497294961152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,784,807.409748465,652,629,652,0.40096406828,-0.00536579868242,0.0598340136341,0.999999930591,0.000249008759269,-0.00027673835448,1.51290524649e-05,1793246497311627776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.169438348,658,634,877,784.169438348,807,652.169438348,629,652,0.400964030388,-0.00536562253244,0.0598345124637,0.999999930763,0.000249087402282,-0.000276042067847,1.51873339544e-05,1793246497328294144
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.760509599,658,634,877,784.760509599,807,652.760509599,629,652,0.400965819542,-0.00536468601017,0.0598360949457,0.999999931006,0.000251047555469,-0.000273374798542,1.51316705143e-05,1793246497344960768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.344291188,714,679.655708812,658,634,877,785,807,652.655708812,629,652,0.40096639177,-0.00536407047316,0.0598366615103,0.999999930981,0.000251997437075,-0.000272598501898,1.49858452839e-05,1793246497361627392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.923107169,714,679.076892831,658,634,877,785,807,652.076892831,629,652,0.40096613505,-0.00536367358541,0.0598365360507,0.999999930779,0.000252259140276,-0.00027311030099,1.47786035107e-05,1793246497378294272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.502816275,714,679,658,634,877,785,807,652,629.497183725,652,0.40096539099,-0.00536388833759,0.0598364713744,0.999999931053,0.000251403885309,-0.00027289157334,1.48696681166e-05,1793246497394960896
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807,652,629.352840888,652,0.400965023769,-0.00536520499426,0.0598363944417,0.999999931749,0.00024866717011,-0.000272824173541,1.52575169388e-05,1793246497428294144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807,652,629,652,0.400965549116,-0.00536534023681,0.059836912224,0.999999932096,0.000247966717494,-0.000272183012501,1.54067080285e-05,1793246497444960768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807,652,629,652,0.40096641083,-0.00536421792403,0.0598382876142,0.999999932436,0.00024874279764,-0.000270216326935,1.54147622958e-05,1793246497461627392
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.598187633,658,634,877,785,807,652,629,652,0.400965043367,-0.00536363698048,0.0598373240966,0.999999931542,0.000250770200078,-0.000271657130031,1.52703649644e-05,1793246497478294272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.022431683,658,634,877,785,807,652,629,652,0.400962710898,-0.00536329039441,0.0598353480715,0.999999930101,0.000253339296803,-0.000274573026683,1.50599717112e-05,1793246497494961408
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.446129184,745,714,679.107741633,658,634,877.553870816,785,807,652,629.553870816,652,0.400964042314,-0.00536496281427,0.0598362769722,0.999999931452,0.000250178763195,-0.000272529569643,1.52831944922e-05,1793246497511628032
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a301b3cbde2a1cc185b47fc98c52279e525d7976
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+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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+366,6.100000000,pose2_to_pose3_retreat,0.584824818923,-7.21678822283e-05,1.05004274482,0.555396610797,0.00860229154421,1.04966612237
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+373,6.216666667,pose2_to_pose3_retreat,0.583768545624,-7.21396348623e-05,1.05004214586,0.554340337098,0.00860231883242,1.04966553278
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+375,6.250000000,pose2_to_pose3_retreat,0.583596439131,-7.21377288837e-05,1.05004238309,0.554168230147,0.0086023190522,1.04966576737
+376,6.266666667,pose2_to_pose3_retreat,0.583527729187,-7.20726196058e-05,1.05004236938,0.554099519124,0.00860238066329,1.04966575733
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+380,6.333333333,pose2_to_pose3_retreat,0.58334369221,-7.22442456919e-05,1.05004261913,0.553915486255,0.00860222272568,1.04966600126
+381,6.350000000,pose2_to_pose3_retreat,0.583317100483,-7.20223826717e-05,1.05004286108,0.553888891429,0.00860243380737,1.04966623705
+382,6.366666667,pose2_to_pose3_retreat,0.583296688866,-7.20347081734e-05,1.05004257683,0.553868481018,0.00860242573077,1.04966595649
+383,6.383333333,pose2_to_pose3_retreat,0.583281672101,-7.20942928457e-05,1.05004253745,0.553853464758,0.0086023680025,1.04966592037
+384,6.400000000,pose2_to_pose3_retreat,0.583270314908,-7.21293788845e-05,1.05004272772,0.553842106676,0.00860232986406,1.0496661098
+385,6.416666667,pose2_to_pose3_retreat,0.583262016044,-7.21326998566e-05,1.05004266828,0.553833807303,0.00860232451725,1.04966604357
+386,6.433333333,pose2_to_pose3_retreat,0.583255860631,-7.2229003729e-05,1.0500424616,0.553827652705,0.00860223132769,1.04966584491
+387,6.450000000,pose2_to_pose3_retreat,0.583251679221,-7.22552946106e-05,1.05004241183,0.553823471878,0.00860220718677,1.04966579911
+388,6.466666667,pose2_to_pose3_retreat,0.583249317459,-7.22232192975e-05,1.05004248403,0.553821110288,0.00860223979833,1.04966587031
+389,6.483333333,pose2_to_pose3_retreat,0.583248129067,-7.21939456568e-05,1.05004243784,0.553819921365,0.00860226732217,1.04966582529
+390,6.500000000,pose2_to_pose3_retreat,0.583247628592,-7.21802231249e-05,1.05004240963,0.553819420601,0.00860228009339,1.04966579775
+391,6.516666667,pose2_to_pose3_retreat,0.583247482311,-7.21762122605e-05,1.05004240138,0.553819274235,0.0086022838262,1.0496657897
+392,6.533333333,pose2_to_pose3_retreat,0.583247298084,-7.21711609355e-05,1.050042391,0.553819089902,0.00860228852734,1.04966577956
+393,6.550000000,pose2_to_pose3_retreat,0.583247188577,-7.21681583876e-05,1.05004238483,0.553818980332,0.00860229132173,1.04966577353
+394,6.566666667,pose2_to_pose3_retreat,0.583247094625,-7.21655823121e-05,1.05004237953,0.553818886326,0.00860229371922,1.04966576836
+395,6.583333333,pose2_to_pose3_retreat,0.583246675955,-7.21537886105e-05,1.05004236179,0.553818467434,0.00860230478092,1.04966575116
+396,6.600000000,pose2_to_pose3_retreat,0.583246364089,-7.21402389606e-05,1.05004243743,0.55381815569,0.0086023187529,1.04966582691
+397,6.616666667,pose2_to_pose3_retreat,0.583246233359,-7.21345591711e-05,1.05004246914,0.553818025012,0.00860232460972,1.04966585867
+398,6.633333333,pose2_to_pose3_retreat,0.583246099797,-7.21287563102e-05,1.05004250154,0.553817891503,0.00860233059345,1.04966589111
+399,6.650000000,pose2_to_pose3_retreat,0.58324603103,-7.21257685724e-05,1.05004251821,0.553817822762,0.00860233367432,1.04966590781
+400,6.666666667,pose2_to_pose3_retreat,0.583245950675,-7.21222774368e-05,1.0500425377,0.55381774244,0.00860233727427,1.04966592733
+401,6.683333333,pose2_to_pose3_retreat,0.583245865588,-7.21185806296e-05,1.05004255834,0.553817657386,0.0086023410863,1.049665948
+402,6.700000000,pose2_to_pose3_retreat,0.58324583774,-7.21173707552e-05,1.05004256509,0.553817629549,0.00860234233389,1.04966595476
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+404,6.733333333,pose2_to_pose3_retreat,0.583245663949,-7.21160006235e-05,1.05004263758,0.553817455691,0.00860234337458,1.04966602489
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5d02eb81072115a4cb0be806d246829bfa2d1fd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15984b7a57239a250466f5a4a1ffe93d725d93df00a47f3e791add1e6e1c0550
+size 26101597
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b54e627e602f5aa7bb7334bc1bf50d15f0105ee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+31,0.516666667,BASELINE,764.013252541,745,714.986747459,679,658,634,877,785,807,652,629,652,0.400964372603,-0.00536628993148,0.0598390972509,0.999999932753,0.000249811482565,-0.000268033254207,1.5713877049e-05,1793246498184240896
+32,0.533333333,BASELINE,764.561030815,745,714.438969185,679,658,634,877.561030815,785,807,652,629,652,0.400965485669,-0.00536501317503,0.0598405392697,0.999999932717,0.000251508995166,-0.000266592468818,1.53998192105e-05,1793246498200907520
+33,0.550000000,BASELINE,765,745,714,679.13588375,658,634,877.86411625,785,807.13588375,652,629,652,0.400966289628,-0.00536398113994,0.0598415014511,0.999999932762,0.000252402286655,-0.000265597927424,1.5083762491e-05,1793246498217574144
+34,0.566666667,BASELINE,765,745,714,679.713904939,658,634,877.286095061,785,807.713904939,652,629,652,0.40096597141,-0.00536393205332,0.0598407906867,0.999999933095,0.000250556971537,-0.00026610414327,1.48277163181e-05,1793246498234240768
+35,0.583333333,BASELINE,765,745,714.298192656,679.701807344,658.298192656,634,876.701807344,785,808,652,629,651.701807344,0.400966194401,-0.00536448800467,0.0598405829396,0.999999933604,0.000248657379612,-0.000265985439396,1.45998257936e-05,1793246498250907392
+36,0.600000000,BASELINE,765,745,714.888621802,679.111378198,658.888621802,634,876.111378198,785,808,652,629,651.111378198,0.400966947789,-0.00536563690882,0.0598408681622,0.999999934285,0.000246704594799,-0.000265254298148,1.43995284998e-05,1793246498267574016
+37,0.616666667,BASELINE,765,745,714.53254316,679,658.53254316,634,876.46745684,785,808,652,629,651.46745684,0.400967033002,-0.00536618257054,0.0598409934729,0.999999934125,0.000247298534996,-0.000265277775501,1.48697634157e-05,1793246498284240896
+38,0.633333333,BASELINE,765,745,714.04375642,678.95624358,658,634,877,785,808,652,629,652,0.400967033283,-0.005366516831,0.0598411225907,0.999999933797,0.000248481907258,-0.000265374368175,1.54361470924e-05,1793246498300907264
+39,0.650000000,BASELINE,765,745,714.622012689,678.377987311,658,634,877,785,808,652,629,652,0.400967893733,-0.00536598198403,0.0598417523685,0.999999933819,0.000249632599545,-0.000264220943844,1.52726841788e-05,1793246498317573888
+40,0.666666667,BASELINE,765.203234623,745,714.796765377,678.203234623,658,634,877,785,808,652,629,652,0.400968155819,-0.00536546947989,0.0598419050242,0.999999933672,0.000250606845751,-0.00026385896682,1.5172683226e-05,1793246498334240768
+41,0.683333333,BASELINE,765.790053913,745,714.209946087,678.790053913,658,634,877,785,808,652,629,652,0.400967288556,-0.00536499914564,0.0598411571604,0.999999933212,0.000251248067866,-0.00026499076611,1.51924602751e-05,1793246498350907392
+42,0.700000000,BASELINE,765.628318205,745,714.371681795,679,658,634,877.371681795,785,808,652,629,652,0.400966384539,-0.00536486511889,0.0598404636603,0.9999999329,0.000251358014094,-0.000266065187255,1.51450209732e-05,1793246498367574016
+43,0.716666667,BASELINE,765.049582338,745,714.950417662,679,658,634,877.950417662,785,808,652,629,652,0.400965460047,-0.00536491844015,0.0598398004448,0.99999993267,0.000251172000594,-0.00026710764452,1.50601372238e-05,1793246498384240896
+44,0.733333333,BASELINE,765,745.52864129,714.47135871,679,658,634,877.47135871,785,808,652.52864129,629,652,0.400965804941,-0.00536489893846,0.0598399249533,0.999999932965,0.000249999791731,-0.000267110431646,1.4911925806e-05,1793246498400907520
+45,0.750000000,BASELINE,765.105797425,745.894202575,714,679,658,634,877.105797425,785,807.894202575,652.894202575,629,651.894202575,0.40096588042,-0.00536506208242,0.0598400614408,0.999999933309,0.000248568303093,-0.000267167890745,1.47662120101e-05,1793246498417574144
+46,0.766666667,BASELINE,765.678454597,745.321545403,714,679,658,634,877.678454597,785,807.321545403,652.321545403,629,651.321545403,0.400964242158,-0.00536606131065,0.0598399250798,0.999999933652,0.000246400446763,-0.000267896489645,1.46577045428e-05,1793246498434240768
+47,0.783333333,BASELINE,765.741089878,745,714.258910122,679,658,633.741089878,877.741089878,785,807,652,629,651.258910122,0.40096372905,-0.00536625504823,0.0598399029582,0.99999993373,0.000246094626576,-0.000267882696456,1.47145864437e-05,1793246498450907392
+48,0.800000000,BASELINE,765.150648579,745,714.849351421,679,658,633.150648579,877.150648579,785,807,652,629,651.849351421,0.400964656686,-0.00536541736521,0.0598400271187,0.99999993347,0.000248173120111,-0.000266918279571,1.49832473491e-05,1793246498467574016
+49,0.816666667,BASELINE,765.429904906,745,714.570095094,679,658,633.429904906,876.570095094,785,807,652,629,652,0.400965887663,-0.00536635658202,0.0598410394508,0.999999933706,0.00024881920018,-0.000265403811727,1.54331046694e-05,1793246498484240640
+50,0.833333333,BASELINE,765.992927581,745,714,679,658.014144838,634,876.007072419,785,807,652,629.007072419,652,0.400967187968,-0.00536788070145,0.0598423274439,0.9999999341,0.000248967797842,-0.000263744982306,1.59359395516e-05,1793246498500907520
+51,0.850000000,BASELINE,765.415672995,745,714,679,659.16865401,634,876.584327005,785,807,652,629.584327005,652,0.400965700457,-0.00536748890968,0.0598413115263,0.999999933702,0.000248566802354,-0.000265637910692,1.57059142537e-05,1793246498517573888
+52,0.866666667,BASELINE,765,745,714,679,659.678469655,634,876.839234828,785,807,652,629.839234828,652,0.400964821121,-0.00536682008535,0.0598405569538,0.999999933385,0.000248604074094,-0.000266807898872,1.54466189169e-05,1793246498534240768
+53,0.883333333,BASELINE,765,745,714,679,658.529793905,634,876.264896952,785,807,652,629.264896952,652,0.400965506331,-0.00536543858737,0.0598404746988,0.999999933284,0.000249768800016,-0.00026611810394,1.51120256365e-05,1793246498550907648
+54,0.900000000,BASELINE,765,745,714,679,658,634,876.318775721,785,807,652.318775721,629,652,0.400966947147,-0.00536527101837,0.0598413315836,0.999999933847,0.000249200097399,-0.000264545953415,1.4833930318e-05,1793246498567574528
+55,0.916666667,BASELINE,765,745,714,679,658,634,876.910439418,785,807,652.910439418,629,652,0.400969034799,-0.00536614263343,0.0598429924193,0.999999934973,0.000247147493101,-0.000262218462359,1.46042001008e-05,1793246498584240896
+56,0.933333333,BASELINE,765,745,714,679,658.490799356,634,877,785,807,652.509200644,629,652,0.40096834636,-0.00536543234796,0.0598425898102,0.999999934011,0.000249845562445,-0.000263313765248,1.49013259595e-05,1793246498600907520
+57,0.950000000,BASELINE,765,745,714,679,659,634,877,785,807,652,629,652,0.400967253062,-0.00536445023489,0.0598419240311,0.999999932839,0.000253015198027,-0.000264714973595,1.51933878573e-05,1793246498617573888
+58,0.966666667,BASELINE,765,745,714,679,659,634,877,785,807,652,629,652,0.40096682488,-0.00536354425158,0.0598420306977,0.999999932967,0.000253417156375,-0.000263872812523,1.47560763374e-05,1793246498634240768
+59,0.983333333,BASELINE,765,745,714,679,658.787166271,633.787166271,877,785,807,652,629,652,0.400966504783,-0.0053637289336,0.0598419638198,0.999999933189,0.00025264437092,-0.000263780038906,1.4618628303e-05,1793246498650907392
+60,1.000000000,BASELINE,765,745,714,679,658.211239264,633.211239264,877,785,807,652,629,652,0.400966369076,-0.00536577428508,0.0598416008755,0.999999933567,0.000249867478476,-0.000264965716402,1.49927458047e-05,1793246498667574016
+61,1.016666667,BASELINE,765,745,714,679,658,633.378233794,877,785,807,652,629,652,0.400965381622,-0.00536617680485,0.0598407155898,0.999999933471,0.000248874820583,-0.000266260474576,1.501868968e-05,1793246498684240640
+62,1.033333333,BASELINE,765,745,714,679,658,633.97555314,877,785,807,652,629,652,0.400963900808,-0.00536562774192,0.0598395277464,0.999999933101,0.00024891565065,-0.000267618415824,1.48429598277e-05,1793246498700907520
+63,1.050000000,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.400965270669,-0.00536610903204,0.0598401534769,0.99999993387,0.000247527405495,-0.000266041945625,1.45885942095e-05,1793246498717574144
+64,1.066666667,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.400966225623,-0.0053663155656,0.0598406535276,0.999999934337,0.000246848726619,-0.000264921290922,1.44238441471e-05,1793246498734240768
+65,1.083333333,BASELINE,765,745,714,679,658,634,877,785,807,652,629,652,0.400965243159,-0.00536537123522,0.0598404203188,0.999999933554,0.000248952372187,-0.000265898666731,1.45947970881e-05,1793246498750907136
+66,1.100000000,BASELINE,765,745,714.265038181,679,658.265038181,634,877,785,807,652,629,652,0.400964513118,-0.00536522351426,0.0598399785905,0.999999932833,0.000250700446744,-0.000266950672383,1.48305914106e-05,1793246498767573760
+67,1.116666667,BASELINE,765,745,714.818703993,679,658.818703993,634,877,785,807,652,629,652,0.400964057966,-0.00536594330418,0.0598393097835,0.999999932183,0.000252061302915,-0.000268083950167,1.51369982443e-05,1793246498784240640
+68,1.133333333,BASELINE,764.584698366,745,715,679,658.584698366,634,877,785,807,652.415301634,629,652,0.400964787455,-0.0053676360616,0.0598402730649,0.999999933264,0.00024905155546,-0.000266859249391,1.52313055353e-05,1793246498800907264
+69,1.150000000,BASELINE,764.030786885,745,714.969213115,678.969213115,658,633.969213115,877,784.969213115,807,652.969213115,629,652,0.400965981107,-0.00536956253347,0.0598418927158,0.999999934997,0.000244374757837,-0.000264680591467,1.52200353014e-05,1793246498817574144
+70,1.166666667,BASELINE,764.610359496,745,714.389640504,678.389640504,658,633.389640504,877,784.389640504,807,652.389640504,629,652,0.400965167553,-0.00536721101603,0.0598410480733,0.999999933787,0.000247913107125,-0.000265961364455,1.51675451501e-05,1793246498834240768
+71,1.183333333,BASELINE,765,745,714,678.192388407,658,633.192388407,876.807611593,784.192388407,807.192388407,652,629,652,0.400964728662,-0.00536596757211,0.05984067724,0.999999932989,0.000250406710661,-0.000266619685358,1.52142635584e-05,1793246498850907392
+72,1.200000000,BASELINE,765,745,714,678.779456456,658,633.779456456,876.220543544,784.779456456,807.779456456,652,629,652,0.400965058383,-0.00536699731079,0.0598412784135,0.999999933063,0.000250757047043,-0.000266001062786,1.54645056494e-05,1793246498867574016
+73,1.216666667,BASELINE,765,745,714.361779342,679,658.361779342,634,876.361779342,785,807.638220658,652,629,652,0.400964402854,-0.00536640780149,0.0598407408447,0.999999932785,0.000250935168105,-0.000266886287994,1.52506998157e-05,1793246498884240640
+74,1.233333333,BASELINE,765,745,714.941246954,679,658.941246954,634,876.941246954,785,807.058753046,652,629,652,0.400963154485,-0.00536484396536,0.0598395180768,0.999999932295,0.000251009664503,-0.000268676401894,1.47576690956e-05,1793246498900907520
+75,1.250000000,BASELINE,765,745,714.481499166,679,658.481499166,634,877,785,807,652,629,652,0.40096438702,-0.00536520428061,0.0598402921467,0.999999933115,0.00024995320796,-0.000266592156225,1.49230735611e-05,1793246498917574400
+76,1.266666667,BASELINE,765,745,714,678.904848496,658.095151504,634,877,785,807,652,629,652,0.400965276961,-0.00536558355058,0.0598409589547,0.999999933783,0.000249141746107,-0.000264834013828,1.50395984922e-05,1793246498934241024
+77,1.283333333,BASELINE,765,745,714,678.32997971,658.67002029,634,877,785,807,652,629,652,0.400963028401,-0.00536496382283,0.059839949081,0.999999932968,0.000250208799734,-0.000266923901461,1.45351384979e-05,1793246498950907648
+78,1.300000000,BASELINE,765,744.749049506,714,678,658.749049506,634,877,785,807,652,629.250950494,652,0.400962517525,-0.00536506946139,0.0598397954126,0.999999932756,0.000250227203966,-0.00026770625723,1.44159325002e-05,1793246498967574272
+79,1.316666667,BASELINE,765,744.159951795,714,678,658.159951795,634,877,785,807,652,629.840048205,652,0.40096434812,-0.0053661525063,0.0598407954518,0.99999993336,0.000248832588886,-0.000266726758328,1.48158431389e-05,1793246498984240640
+80,1.333333333,BASELINE,765,744.422138203,714,678.422138203,658,634,877,784.577861797,807,652,629.577861797,652,0.400965427875,-0.00536633247274,0.0598412632214,0.999999933785,0.00024799519628,-0.000265908787344,1.4876684435e-05,1793246499000907264
+81,1.350000000,BASELINE,765,745,714,679,658,634,877,784.001610202,807.001610202,652,629.001610202,652,0.400966227069,-0.00536617677985,0.0598415332762,0.999999934143,0.000247367240129,-0.000265149438856,1.4811757329e-05,1793246499017574144
+82,1.366666667,BASELINE,765,745,714,679,658,634,877,784.57889244,807.57889244,652,629.57889244,652,0.400966773503,-0.00536635614892,0.0598420440835,0.999999934492,0.000247364170479,-0.000263824384247,1.49648958355e-05,1793246499034240768
+83,1.383333333,BASELINE,765,745,714,679,658.15427682,634,877,785,807.84572318,652,630,652,0.400966974529,-0.00536639124648,0.0598422402474,0.999999934547,0.000247722357876,-0.000263271977376,1.50642762889e-05,1793246499050907136
+84,1.400000000,BASELINE,765,745,714,679,658.724543968,634,877,785,807.275456032,652,630,652,0.400966244202,-0.00536603733196,0.0598415880104,0.999999933813,0.000249054634809,-0.000264802929096,1.50187041514e-05,1793246499067574272
+85,1.416666667,BASELINE,765,745,714,679,658.693300339,634,877,785.306699661,807,652,629.693300339,652,0.400965000629,-0.00536609091728,0.0598405609278,0.999999933613,0.00024804480226,-0.000266508867931,1.48539905397e-05,1793246499084241408
+86,1.433333333,BASELINE,765,745,714,679,658.100036649,634,877,785.899963351,807,652,629.100036649,652,0.400963277505,-0.00536652524903,0.0598391836093,0.999999933905,0.000244846625734,-0.000268378305427,1.45779574045e-05,1793246499100907776
+87,1.450000000,BASELINE,765,745,714,679,658,634,877,785.519666394,807,652,629,652,0.400964258029,-0.00536661867775,0.0598400542468,0.999999934253,0.0002452670165,-0.000266678544475,1.48826171116e-05,1793246499117574656
+88,1.466666667,BASELINE,765,745,714,679,658,634,877,785,807.057620149,652,629.057620149,652,0.400965524955,-0.00536663925516,0.059841134079,0.999999934491,0.000246392832944,-0.000264719425436,1.52572050909e-05,1793246499134241280
+89,1.483333333,BASELINE,765,745,714,679,658,634,877,785,807.630714076,652,629.630714076,652,0.400964448426,-0.00536662665036,0.0598400065821,0.999999933693,0.000247263734442,-0.000266916195143,1.52037393751e-05,1793246499150907648
+90,1.500000000,BASELINE,765,745,714,679,658,634,877.203774201,785,807.796225799,652,629.796225799,652,0.400964007905,-0.00536593677896,0.0598396821762,0.999999933002,0.000248934322246,-0.000267946828232,1.52405073488e-05,1793246499167574272
+91,1.516666667,BASELINE,765,745,714,679,658,634,877.776773017,785,807.223226983,652,629.223226983,652,0.400964719783,-0.00536401974783,0.0598408129152,0.999999932507,0.000252053885666,-0.000266864503011,1.54407724693e-05,1793246499184240640
+92,1.533333333,BASELINE,765,745,714,679,658,634,877.271259261,785,807,651.63562963,629,652,0.400964742001,-0.00536399324233,0.059840823948,0.99999993248,0.00025224890838,-0.000266789211687,1.52898758494e-05,1793246499200907264
+93,1.550000000,BASELINE,765,745,714,679,658,634,876.077430648,785,807,651.038715324,629,652,0.400964324072,-0.00536517328445,0.0598401203759,0.999999932754,0.000250577467311,-0.000267356616939,1.49148651598e-05,1793246499217573888
+94,1.566666667,BASELINE,765,745,714,679,658.538218507,634,876.538218507,785,807,651.538218507,629,652,0.400965458893,-0.00536715784715,0.0598411719344,0.999999933908,0.000247559654957,-0.000265826996683,1.52909262174e-05,1793246499234240768
+95,1.583333333,BASELINE,765,745,714,678.885868681,658.885868681,634,877,785,807,652,629,652,0.400966231166,-0.00536845837317,0.0598418891423,0.999999934662,0.000245631534104,-0.000264766056342,1.55186267809e-05,1793246499250907648
+96,1.600000000,BASELINE,765,745,714,678.308475048,658.308475048,634,877,785,807,652,629,652,0.400965094707,-0.00536675588308,0.0598407550999,0.99999993358,0.000248505537875,-0.000266197864585,1.49326829486e-05,1793246499267574784
+97,1.616666667,BASELINE,765,745,714,678.273776381,658,634,877,785,807.273776381,652,629,652,0.400964805133,-0.00536592445088,0.059840586532,0.999999933077,0.0002501879829,-0.000266522215554,1.47780296389e-05,1793246499284241408
+98,1.633333333,BASELINE,765,745,714,678.861600127,658,634,877,785,807.861600127,652,629,652,0.400965487016,-0.00536609220445,0.0598415254547,0.999999933244,0.000250503597342,-0.00026557620836,1.5118107325e-05,1793246499300907520
+99,1.650000000,BASELINE,765,745,714,679,658.445241803,634,877,785,808,652,629,652.445241803,0.400964999383,-0.00536616407371,0.0598410257898,0.99999993334,0.000249310090656,-0.000266345225371,1.49885356534e-05,1793246499317574144
+100,1.666666667,BASELINE,765,745,714.027271234,679,658.972728766,634,877,785,807.972728766,652,629,652.972728766,0.400964225818,-0.00536619646216,0.0598401939777,0.999999933423,0.000247769522237,-0.000267482598074,1.47384363387e-05,1793246499334241024
+101,1.683333333,BASELINE,765,745,714.602779803,679,658.397220197,634,877,785,807.397220197,652,629,652.397220197,0.400964944312,-0.00536602875826,0.0598415909029,0.999999933768,0.000248594517886,-0.000265407787194,1.49728357757e-05,1793246499350907648
+102,1.700000000,BASELINE,765,745,714.82195932,679,658,634,877,785,807,652,629,652,0.400965799725,-0.00536600688173,0.0598425912001,0.999999934196,0.000248672530091,-0.000263704201191,1.51472148886e-05,1793246499367574272
+103,1.716666667,BASELINE,765,745,714.247250371,679,658,634,877,785,807,652,629,652,0.400966960189,-0.0053663099034,0.0598427078241,0.99999993482,0.000247086289775,-0.000262827691225,1.51878708338e-05,1793246499384241152
+104,1.733333333,BASELINE,765,745,714,679,658,634,877,785,807,652,629.334988883,652,0.400966266657,-0.0053668244144,0.0598416678934,0.999999934906,0.000245667567804,-0.000263834583942,1.50687231762e-05,1793246499400907776
+105,1.750000000,BASELINE,765,745,714,679,658,634,877,785,807,652,629.922914021,652,0.400964173249,-0.00536749861225,0.0598397546959,0.999999934582,0.000244375331839,-0.000266263556052,1.48289144304e-05,1793246499417574400
+106,1.766666667,BASELINE,765.50097369,745,714,679,658.50097369,634,877,785,807,652,629.49902631,652,0.400964764912,-0.00536641874918,0.0598404164904,0.99999993401,0.000246903292296,-0.000266071842878,1.49975283087e-05,1793246499434241024
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,878,785,807,652,629,652,0.400963269809,-0.00536518542652,0.0598396694716,0.999999933426,0.000247435339192,-0.000267790558501,1.45789118319e-05,1793246499478776064
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.617515783,745,714,679,658,634,877.382484217,785,807.617515783,652,629,652,0.400964574129,-0.00536570278664,0.0598405045468,0.999999933457,0.000249121905207,-0.000266098551789,1.47122547603e-05,1793246499495442688
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.779502829,745,714.220497171,679,658,634,877.220497171,785,808,652,629,652,0.400965505806,-0.00536620352336,0.0598410771782,0.999999933591,0.00024987626693,-0.000264881637862,1.47539868294e-05,1793246499512109568
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.200174243,745,714.799825757,679,658,634,877.799825757,785,808,652,629,652,0.400965831056,-0.00536667720767,0.0598412227154,0.9999999339,0.000249113583676,-0.000264437877429,1.46466337678e-05,1793246499528775680
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.624002351,679,658.375997649,634,877.624002351,785,808,652,629,652,0.400966197162,-0.00536608217149,0.0598416394271,0.999999933993,0.000249092882609,-0.00026410631632,1.46337780265e-05,1793246499545442304
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.049497068,679,658.950502932,634,877.049497068,785,808,652,629,652,0.400966584836,-0.00536492290523,0.059842199305,0.999999933972,0.000249463910444,-0.000263833990778,1.46708120707e-05,1793246499562109184
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.475797177,634,877,785,807.475797177,652,629,652,0.400964495151,-0.00536457481237,0.0598407657481,0.99999993276,0.000251673135124,-0.000266304241996,1.48954075842e-05,1793246499578775808
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.898866596,785,807.101133404,652,629,652,0.400962971823,-0.00536451932712,0.0598396694859,0.999999931859,0.000253150978275,-0.000268269729853,1.50961153329e-05,1793246499595442432
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.30585372,785,807.69414628,652,629,652,0.400965339041,-0.005365515033,0.0598411277837,0.999999933062,0.000250228736004,-0.000266522633608,1.50946363975e-05,1793246499612109056
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.279520467,785,808,652,629,652,0.400972176804,-0.00536555031831,0.0598443581451,0.999999934212,0.000250457330577,-0.000261947341414,1.5191297412e-05,1793246499628775680
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.856758639,785,808,652,629,652,0.40098377615,-0.00536456265804,0.0598494759342,0.999999935263,0.000254041886766,-0.000254359733218,1.53924874461e-05,1793246499645442304
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.433392989,745,714,679,658,634,877,785,807.566607011,652,629,652,0.401020929063,-0.00536675796749,0.0598645186813,0.999999942614,0.00025120630674,-0.000226709238879,1.64265185791e-05,1793246499662108672
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.990288669,745,714.009711331,679,658,634,877,784.990288669,807,652,629,652,0.401066896596,-0.00536999109256,0.0598828791373,0.99999995099,0.000246326299096,-0.000192427018055,1.77271923482e-05,1793246499678775552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.420701805,745,714.579298195,679,658,634,877,784.420701805,807,652,629,652,0.401134807579,-0.0053724903664,0.0599036585925,0.999999957218,0.000245744205724,-0.000157572028532,1.85529292522e-05,1793246499695442432
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.842797879,679.157202121,658.157202121,634,877,784.157202121,807,652,629,652,0.401205161083,-0.00537474885409,0.059922213869,0.999999961583,0.000245426695862,-0.000127390982008,1.92695147322e-05,1793246499712108800
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.241392445,679.758607555,658.758607555,634,877,784.758607555,807,652,629,652,0.401282416391,-0.00537632695709,0.059934484327,0.999999963488,0.000245856815605,-0.000110417007778,1.96776731636e-05,1793246499728775168
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.655599326,658.655599326,633.655599326,876.655599326,784.655599326,807,652,629,652,0.401369892875,-0.00537880916707,0.0599418701279,0.999999965162,0.00024413854644,-9.84392018629e-05,1.95426508392e-05,1793246499745441792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.08027446,658.08027446,633.08027446,876.08027446,784.08027446,807,652,629,652,0.401464222758,-0.00538189758999,0.0599459807151,0.99999996675,0.000240979760423,-8.98113791736e-05,1.90434202125e-05,1793246499762108416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.495175271,633.495175271,876.495175271,784.495175271,807,652,629,652,0.401575795906,-0.00538492881766,0.0599494323009,0.999999967766,0.000239360005169,-8.2699468228e-05,1.82931489455e-05,1793246499778775040
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.072462721,745,714,679,658.927537279,634,877,785,807,652,629,652,0.401692728561,-0.00538795899434,0.0599523723606,0.999999968668,0.000237741281117,-7.64154934503e-05,1.74467790828e-05,1793246499795441408
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.662737655,745,714,679,658.337262345,634,877,785,807,652,629,652,0.401827979332,-0.00539104793513,0.0599524207105,0.99999996965,0.000234346591008,-7.42913314304e-05,1.6204587705e-05,1793246499812108288
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714.24821767,679,658,634,877,785,807,652,629,652,0.401975326476,-0.00539458312433,0.0599513763835,0.999999970497,0.000231234442864,-7.29596990642e-05,1.45799455886e-05,1793246499828774912
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714.827306077,679,658,634,877,785,807,652,629,652,0.402138797909,-0.0053987131563,0.0599488755332,0.999999971175,0.000228498919543,-7.26844979852e-05,1.24455020028e-05,1793246499845441536
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658.403194668,634,877,784.596805332,807.403194668,652,629,652,0.402335692748,-0.00540180207056,0.059950692319,0.999999972452,0.000225034185681,-6.59527738648e-05,1.03042133181e-05,1793246499862108416
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658.977723573,634,877,784.022276427,807.977723573,652,629,652,0.402546790599,-0.00540444857082,0.0599543438484,0.999999973894,0.000221259579579,-5.64774036863e-05,8.16001568195e-06,1793246499878775040
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.447178355,745,715,679,659,634,877,784,808,652,629,652,0.402786871732,-0.00541261500328,0.0599544709388,0.999999976153,0.00021228897497,-5.09106764499e-05,6.02575374773e-06,1793246499895441664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.868368723,679,658.868368723,634,877,784.131631277,808,652,629,652,0.403034258143,-0.00542051698307,0.0599543723135,0.999999978178,0.000203706398749,-4.61950535338e-05,3.78816321194e-06,1793246499912108288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.276666733,679,658.276666733,634,877,784.723333267,808,652,629,652,0.403303091425,-0.00542671643555,0.0599539816719,0.999999979589,0.000197212595141,-4.39031036297e-05,1.18802262323e-06,1793246499928775168
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.307751402,745,714,679,658,634,876.692248598,784.692248598,808,651.692248598,629,652,0.403591487492,-0.00543245404503,0.0599496868835,0.999999980481,0.000191263220591,-4.95181592394e-05,-2.07311778541e-06,1793246499945441792
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.885772756,745,714,679,658,634,876.114227244,784.114227244,808,651.114227244,629,652,0.403897063752,-0.00543778605961,0.0599419634397,0.999999980796,0.000185791968734,-6.20772158572e-05,-5.91475381732e-06,1793246499962108416
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.539052081,745,714.460947919,679,658,634,876.460947919,784.460947919,807.539052081,651.460947919,629,652,0.404229739073,-0.00544644007207,0.059929191393,0.99999998115,0.000174233394095,-8.51209100234e-05,-9.8091131377e-06,1793246499978774784
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.963726103,679,658,634,877,784.963726103,807.036273897,652,629,652,0.404570733308,-0.00545576458596,0.0599152160573,0.99999998074,0.000161573361801,-0.000110568032522,-1.37395060204e-05,1793246499995441408
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.37543736,679,658,634,877,784.37543736,807.62456264,652,629,652,0.404936756923,-0.00546284187852,0.0599018513382,0.999999978947,0.000154966747373,-0.000133293894444,-1.8020649555e-05,1793246500012108288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.209528865,745,714,679,658.209528865,634,877,784,808,652,629,652,0.405336044187,-0.00547004918811,0.0598979742241,0.999999978801,0.000149264211933,-0.000140150068263,-2.17983350012e-05,1793246500028775168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.788634617,745,714,679,658.788634617,634,877,784,808,652,629,652,0.405794003408,-0.00547748582709,0.0599108317963,0.999999982078,0.000145156334393,-0.000119014536043,-2.46879969022e-05,1793246500045441792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.633933106,745,714.366066894,678.633933106,658.633933106,634,877.366066894,784.366066894,808,652,629.366066894,652,0.406295800304,-0.00548230279629,0.0599362708022,0.999999986277,0.00014459457466,-7.63369621287e-05,-2.66487452627e-05,1793246500062108160
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.057462633,745,714.942537367,678.057462633,658.057462633,634,877.942537367,784.942537367,808,652,629.942537367,652,0.406822793743,-0.00548561406354,0.0599689412164,0.999999988711,0.000146071009653,-2.12777073447e-05,-2.80755839507e-05,1793246500078774784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.51787204,745,715,679.03574408,658,634,877.48212796,784.48212796,807.48212796,652,630,652,0.407380079187,-0.00547387226855,0.0599917705653,0.999999986618,0.000160330662273,1.08957904843e-05,-3.06546800151e-05,1793246500095441664
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714.904587277,679.904587277,658.095412723,634,877,784.095412723,807.095412723,652,629.904587277,652,0.407935169805,-0.00546232926037,0.0600081057528,0.999999988108,0.000147476919315,3.00853761903e-05,-3.35932730113e-05,1793246500112108544
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714.314968635,679.314968635,658.685031365,634,877,784.685031365,807.685031365,652,629.314968635,652,0.408461520501,-0.00546044842659,0.0599964469579,0.99999999919,-1.31459543769e-05,-4.85296731874e-06,-3.77331513039e-05,1793246500128775168
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.73180335,745,714,679,659.26819665,634,877,784.73180335,808,652,629,652,0.409016407307,-0.00546718246097,0.0599841064747,0.999999993241,-0.00010270604818,-3.46016390968e-05,-4.21012953059e-05,1793246500145442048
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.156038807,745,714,679,659.843961193,634,877,784.156038807,808,652,629,652,0.409604019289,-0.00548379602541,0.059970984232,0.999999991068,-0.000110771344321,-5.83987939903e-05,-4.6731215046e-05,1793246500162108672
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765.001674628,745,714,679.998325372,659,634,877,784.998325372,808,652,630,652,0.410942458498,-0.00550262067141,0.0599836184817,0.999999992453,-0.000108522145823,-1.95970220949e-05,-5.41633543036e-05,1793246500195441920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.587290651,745,714,679.412709349,659,634,877,784.412709349,808,652,630,652,0.411640614102,-0.00551810060627,0.0599867016957,0.999999991986,-0.000113782200285,-1.2685828307e-05,-5.40450391606e-05,1793246500212108544
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+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,878,784.091964127,808,651.091964127,629.908035873,652,0.414447691835,-0.00550374584465,0.0599034063475,0.999999984657,2.75380714198e-05,-0.000171677543974,-2.13349525038e-05,1793246500278775296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.51567537,745,714,680,659,633.51567537,878,784,808,651.48432463,630,652.48432463,0.415307367038,-0.00551100480587,0.0599485891635,0.999999995709,1.36882185255e-05,-8.8254696356e-05,-2.45948557235e-05,1793246500295441920
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.060221942,680,659.060221942,633.060221942,878,784.060221942,808.060221942,652,630,652.939778058,0.416186871824,-0.00552156107878,0.0600015618274,0.999999999606,3.06238413667e-06,8.09444934574e-06,-2.66931849558e-05,1793246500312108800
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.636319496,680,659.636319496,633.636319496,878,784.636319496,808.636319496,652,630,652.363680504,0.417043792862,-0.00553071487889,0.0600191865725,0.999999999104,-6.9656343837e-06,3.15368473466e-05,-2.73795720225e-05,1793246500328775424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.219003775,745,714.780996225,679.780996225,659.780996225,634,878,784.780996225,809,652,630,652.219003775,0.417890641521,-0.00553505554879,0.060023429531,0.999999998722,-1.9719710832e-05,3.65380960861e-05,-2.88532735739e-05,1793246500345442048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.81296519,745,714.18703481,679.18703481,659.18703481,634,878,784.18703481,809,652,630,652.81296519,0.418720245152,-0.00553115562984,0.0600047614537,0.999999998759,-3.71410863531e-05,9.96614421927e-06,-3.16749408105e-05,1793246500362108672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.606302668,745,714.393697332,679.393697332,659,634,878,784.393697332,809,652,630,652.606302668,0.419554816079,-0.00552749466328,0.0599785752092,0.999999998454,-2.96240603309e-05,-3.17142909431e-05,-3.47522563189e-05,1793246500378775296
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.031651085,745,714.968348915,679.968348915,659,634,878,784.968348915,809,652,630,652.031651085,0.42039167009,-0.005523943526,0.0599489334063,0.999999995996,-1.06446503002e-05,-8.03390047493e-05,-3.79470747411e-05,1793246500395441920
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.542611883,745,714.457388117,680,659.542611883,634,878,785,809,652,630,652.542611883,0.421221360998,-0.00552647738246,0.0599113060571,0.999999987985,-2.57836549309e-05,-0.000147649859341,-3.9546610811e-05,1793246500412108544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.879435309,745,714,679.879435309,660,633.879435309,878,785,809,652,630,653,0.42207431101,-0.0055292058624,0.0598829229424,0.99999997891,-3.89161781505e-05,-0.000197458849374,-4.09289364544e-05,1793246500428775168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.286951047,745,714,679.286951047,660,633.286951047,878,785,809,652,630,653,0.42301993694,-0.00553130780369,0.0598925459913,0.999999983238,-3.64104420134e-05,-0.000174497865883,-4.18250247089e-05,1793246500445441792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.298638704,745,714,679.298638704,660,633,878.298638704,784.701361296,809,652,630,652.701361296,0.424000825407,-0.00553331024278,0.0599347010542,0.999999993092,-3.60156853414e-05,-0.000104228309987,-4.06866231356e-05,1793246500462108672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.877753329,745,714,679.877753329,660,633,878.877753329,784.122246671,809,652,630,652.122246671,0.425014831903,-0.00553521923148,0.0600074095812,0.99999999853,-3.76035207179e-05,1.04725818041e-05,-3.76374662333e-05,1793246500478775296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.546924524,745,714,680,660,633.453075476,879,784.453075476,809,652,630,652.453075476,0.425973324183,-0.00553673132849,0.0600312171196,0.999999997091,-4.17287347295e-05,5.17272094656e-05,-3.74327872412e-05,1793246500495441920
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.02802148,745,714.02802148,679.97197852,660,633.97197852,878.97197852,785,809.02802148,651.97197852,630.02802148,653,0.426916671328,-0.00553818045797,0.0600401260253,0.999999995705,-4.62950107397e-05,7.06708268785e-05,-3.81108296169e-05,1793246500512108544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.615723775,745,714.615723775,679.384276225,660,633.384276225,878.384276225,785,809.615723775,651.384276225,630.615723775,653,0.427854209614,-0.00554049305298,0.0600128048914,0.999999997421,-4.61100810198e-05,3.65137209045e-05,-4.12177973098e-05,1793246500528775168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.799539052,745,714.799539052,679.200460948,660,633.200460948,878.200460948,785,809.799539052,651.200460948,631,653,0.428769913881,-0.00554101341118,0.0599820180894,0.999999997795,-4.9343059428e-05,-7.00511343904e-06,-4.38777979359e-05,1793246500545442048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.22040309,745,714.22040309,679.77959691,660,633.77959691,878.77959691,785,809.22040309,651.77959691,631,653,0.429644373165,-0.00553814819562,0.0599446845682,0.999999994887,-5.90325392752e-05,-6.82084505688e-05,-4.56934680037e-05,1793246500562108672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.35755287,745,714.35755287,680,660,633.64244713,879,785,809.35755287,651.64244713,631,653,0.430556858028,-0.00553741279212,0.0599251350831,0.999999992467,-5.71362279429e-05,-9.77428536319e-05,-4.74167843977e-05,1793246500578775040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.934783825,745,714.934783825,680,660,633.065216175,879,785,809.934783825,651.065216175,631,653,0.43149270552,-0.00553798593096,0.0599165119919,0.999999991825,-4.81216839749e-05,-0.000107820073946,-4.90833593155e-05,1793246500595441664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.481528723,745,714.481528723,680,660,633,879,785,810,651.518471277,630.481528723,653,0.432466448046,-0.00554120974465,0.059963305175,0.999999996644,-5.94445772671e-05,-3.03624305163e-05,-4.75073460067e-05,1793246500612108288
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.102025865,745,714,680,660,633.102025865,878.897974135,785,810,652,630.102025865,653,0.433440070082,-0.00554436993563,0.060007632263,0.999999995674,-6.9274185521e-05,4.18124716693e-05,-4.58805621418e-05,1793246500628774912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.681113668,745,714,680,660,633.681113668,878.318886332,785,810,652,630.681113668,653,0.434390559037,-0.00554565395376,0.0600074235271,0.999999996454,-6.00088584624e-05,3.7152137478e-05,-4.59475910685e-05,1793246500645441536
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.739935351,745,714,680,660,634,878.260064649,785,810.260064649,652,631,653,0.435307030173,-0.00554668700063,0.0599918881323,0.999999996934,-6.21332194881e-05,6.22663793413e-06,-4.7241226889e-05,1793246500662108928
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.161151972,745,714,680,660,634,878.838848028,785,810.838848028,652,631,653,0.436181811354,-0.00554741247321,0.0599575693568,0.999999994071,-7.82160579823e-05,-5.68877820566e-05,-5.00381141433e-05,1793246500678776832
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.583756394,879,785,810.583756394,652,631,653,0.437032235082,-0.00554524849035,0.0599303655579,0.999999990102,-7.88455282657e-05,-0.00010419220921,-5.21935956481e-05,1793246500695443200
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.006896362,879,785,810.006896362,652,631,653,0.437873259918,-0.00554196954978,0.0599059072256,0.999999985265,-7.35119876001e-05,-0.000145396011378,-5.41015769456e-05,1793246500712108544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.577542124,745,714.577542124,680.577542124,660,633.577542124,879,785,810.577542124,652,631,653,0.438697954615,-0.00554060501028,0.0598961376118,0.999999982788,-5.71190135048e-05,-0.000168254790349,-5.34108511306e-05,1793246500728774912
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.839287774,745,714.839287774,681,660,633.839287774,879,785,810.839287774,652,631,653,0.439560274571,-0.0055415526787,0.0599069976719,0.999999985173,-5.48817734881e-05,-0.000154594676029,-5.237650866e-05,1793246500745441536
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.259662892,745,714.259662892,681,660,633.259662892,879,785,810.259662892,652,631,653,0.440521183551,-0.00554846697251,0.0599711677949,0.99999999361,-8.98916883508e-05,-4.63229570977e-05,-5.05284548865e-05,1793246500762108416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.681165541,660,633,879,785,810,652,631,653,0.441405170379,-0.00555246489617,0.0600064381201,0.999999993207,-0.000104725006121,1.04646229554e-05,-5.00850694592e-05,1793246500778775296
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.103583258,660,633,879,785,810,652,631,653,0.442226731539,-0.00555409606017,0.0600182550179,0.999999993063,-0.000103184149889,2.54706129986e-05,-5.07816330418e-05,1793246500795441920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.472269268,745,714,680,660,633,879,785,810.472269268,651.527730732,631,653,0.442998152103,-0.00555442237221,0.0599971505227,0.99999999466,-8.91477172894e-05,-2.65283984295e-06,-5.22095973473e-05,1793246500812108800
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.951234916,745,714,680.048765084,660,633,879,785,811,651.048765084,631,653,0.443755869929,-0.00555471768564,0.0599707620693,0.999999995183,-7.3003414354e-05,-3.79021296278e-05,-5.35568069816e-05,1793246500828775168
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.363450814,745,714,680.636549186,660,633,879,785,811,651.636549186,631,653,0.444483240232,-0.00555782223099,0.0599654896993,0.999999995464,-6.37431118028e-05,-4.77367600967e-05,-5.22447048473e-05,1793246500845442048
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.2211911,745,714,680.7788089,660,633,879,785,811,652,631,652.7788089,0.445202815284,-0.00556037832628,0.0599596153876,0.99999999483,-5.98812274321e-05,-6.39240017044e-05,-5.16465772532e-05,1793246500862108672
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.800742329,745,714,680.199257671,660,633,879,785,811,652,631,652.199257671,0.445909761067,-0.00556204585721,0.0599527658465,0.999999992454,-6.47655245554e-05,-9.04033521705e-05,-5.22051867932e-05,1793246500878775296
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.376614551,660,633,879,785.376614551,811.376614551,652,631,652.376614551,0.446584005848,-0.00556310577934,0.0599399608974,0.999999987299,-0.000100059043424,-0.00011173432328,-5.39047023239e-05,1793246500895442176
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680.950559095,660,633,879,785.950559095,811.950559095,652,631,652.950559095,0.447241116655,-0.00556384734021,0.0599240355683,0.999999978479,-0.000151285699601,-0.000130367760913,-5.62020038781e-05,1793246500912108800
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.527117186,633,879,785.472882814,811.472882814,652,631,653,0.447926187476,-0.00556491967889,0.0599512756547,0.999999984918,-0.000142741750123,-8.09975441098e-05,-5.68181355727e-05,1793246500928775168
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.893702747,633,879,785,811,652,631,653,0.448593878578,-0.00556601952439,0.0599774582076,0.99999998919,-0.00013065639518,-3.53047234351e-05,-5.74758082473e-05,1793246500945441792
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.303712742,633,879,785,811,652,631,653,0.449170492489,-0.00556710265604,0.0599803136809,0.999999989422,-0.000128093654821,-3.55141925334e-05,-5.90436113659e-05,1793246500962108160
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632.720750021,879,785,811.279249979,651.720750021,631,653,0.449714844184,-0.00556861338618,0.0599603074679,0.9999999875,-0.000127856072169,-6.95175491422e-05,-6.18065343001e-05,1793246500978774784
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632.14524261,879,785,811.85475739,651.14524261,631,653,0.450224968725,-0.00557057775721,0.0599160471994,0.999999979659,-0.000130085258426,-0.000139372977373,-6.58373643557e-05,1793246500995441664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.569153187,745,714,681,660,632,879,785,812,651,631,653,0.450710492988,-0.00557483086004,0.0598829550981,0.999999971753,-0.000134730145321,-0.000183451040378,-6.84622421685e-05,1793246501012108544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,632.007164415,879,785,812,651.007164415,631,653,0.451187615677,-0.00557980028575,0.0598540598411,0.999999963885,-0.00014002777835,-0.000218268123424,-7.05782253862e-05,1793246501028775424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,632.586008822,879,785,812,651.586008822,631,653,0.451656966159,-0.00558027930648,0.0598592253868,0.999999967071,-0.000132341925223,-0.000208445825271,-6.99577719529e-05,1793246501045442048
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.169010164,745,714,681.169010164,660,632.830989836,879,784.830989836,811.830989836,651.830989836,631,653,0.452117665699,-0.00558089623462,0.059868344736,0.999999971831,-0.000121037860292,-0.000192621054612,-6.77141990693e-05,1793246501062108416
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.762450824,745,714,681.762450824,660,632.237549176,879,784.237549176,811.237549176,651.237549176,631,653,0.452556640473,-0.00558185948587,0.0598873931623,0.999999979973,-0.000100647479585,-0.000161722440484,-6.13945315448e-05,1793246501078775040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.653982687,745,714,682,659.653982687,632,879.346017313,784.346017313,811,651.346017313,630.653982687,653,0.452958672459,-0.00558292434888,0.0598936624773,0.999999983758,-7.99629659359e-05,-0.000152903797729,-5.20621562577e-05,1793246501095441664
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.077007008,745,714,682,659.077007008,632,879.922992992,784.922992992,811,651.922992992,630.077007008,653,0.453336045982,-0.00558405703527,0.0598914020371,0.999999984813,-5.90821267575e-05,-0.00015882301504,-4.07188702534e-05,1793246501112108288
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765.065005746,745,714,681,659.934994254,632,879,784.065005746,811.065005746,651.934994254,631,653,0.453928935394,-0.0055831688201,0.0598470261989,0.999999962036,-0.000123787642412,-0.000242214604718,-4.40056509587e-05,1793246501145442560
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.966717208,745.966717208,714,681.966717208,658.033282792,631,879,784.033282792,811,652,630,653,0.456535460964,-0.00557160064948,0.0597421693557,0.999999922234,-0.000103723263835,-0.000376489267044,-5.50332074782e-05,1793246502319697664
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.453090462,714,682,658.546909538,631.546909538,879,784,811.546909538,652,630,653,0.456476506856,-0.00556959581287,0.0597199195398,0.99999990946,-0.000103527359819,-0.000408880763764,-5.63830478446e-05,1793246502336364288
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,631.875278056,879.124721944,784,812,652,630.124721944,653,0.456414866156,-0.00556747193233,0.0596996159023,0.999999897453,-0.000103065903471,-0.000437208268284,-5.76137576444e-05,1793246502353030656
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,631.300877083,879.699122917,784,812,652,630.699122917,653,0.456347851018,-0.00556495119681,0.0596872615436,0.999999891757,-0.00010127376942,-0.00045038085862,-5.81961517578e-05,1793246502369697536
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,631,879.132629587,783.132629587,812,652,631,653,0.456197945898,-0.00556111128036,0.0596797968028,0.999999888203,-9.62088061517e-05,-0.000459417878181,-5.72074561512e-05,1793246502403031040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,682,658.551271856,631.448728144,879,783.448728144,812,651.551271856,630.551271856,653,0.456103933563,-0.00555947297337,0.0596852030843,0.99999989063,-9.51202189284e-05,-0.000454510646334,-5.57950264356e-05,1793246502419697920
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.971851234,745,714,682,658.028148766,632,879,784,812,651,630,653,0.456003628191,-0.00555768049932,0.0596922466018,0.99999989383,-9.43016182316e-05,-0.000447776552464,-5.42549790367e-05,1793246502436364544
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.394866747,745,714,682,658.605133253,632,879,784,812,651,630,653,0.455872952262,-0.00555249292061,0.0596966571856,0.999999897135,-8.90465704687e-05,-0.000441545258139,-5.32734507093e-05,1793246502453031168
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.181552875,745.181552875,714,682,659,631.818447125,879,784,811.818447125,651.181552875,630.181552875,653,0.455734821444,-0.00554777805464,0.0597016398687,0.999999900535,-8.46766979811e-05,-0.000434794122413,-5.20976185747e-05,1793246502469697792
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.660063365,714,682,659,631.339936635,879,784,811.339936635,652,631,653,0.455410455965,-0.00553865738952,0.0597139946804,0.999999907297,-7.79261824604e-05,-0.000420611034884,-4.91910405045e-05,1793246502503031040
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.071016123,714,682,659,631.928983877,879,784,811.928983877,652,631,653,0.455228823605,-0.00553195097153,0.0597200594092,0.999999909929,-7.22711587193e-05,-0.000415459221732,-4.80923862706e-05,1793246502519697664
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,632,879,784,811.491097842,652,631,653,0.455005246417,-0.00552465357696,0.0597209228614,0.999999908988,-6.5770515682e-05,-0.000418963663101,-4.65547602217e-05,1793246502536364544
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.912669505,745,714,682,659,632,879,784,811.087330495,652,631,653,0.454768978344,-0.00551728377745,0.0597209490858,0.999999907378,-5.91952565902e-05,-0.000423945245755,-4.482647132e-05,1793246502553031424
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.335578299,745,714,682,659,632,879,784,811.664421701,652,631,653,0.454493785664,-0.00550996226749,0.059720278823,0.999999905017,-5.28516591405e-05,-0.000430555813059,-4.23664058625e-05,1793246502569698048
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.817359042,745,714,682,659,632,879,784,811.182640958,651.182640958,630.182640958,653,0.453909846202,-0.00549204370714,0.0597192644697,0.99999990547,-3.14690098718e-05,-0.000431939113453,-3.87043146601e-05,1793246502603031040
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.598221277,745,714,682,659,632,879,784,811,651.401778723,630.401778723,653,0.453579097611,-0.00548291107971,0.0597137674383,0.99999990259,-2.15993458325e-05,-0.000439313116358,-3.68368426818e-05,1793246502619697664
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.009993438,745,714,682,659,632,879,784,811,651.990006562,630.990006562,653,0.453233544943,-0.00547400957238,0.0597059237938,0.999999897648,-1.29380766336e-05,-0.000450914119293,-3.48328043383e-05,1793246502636364544
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.568993335,745,714,681.431006665,659,632,878.431006665,784,811,652,631,653,0.452869584009,-0.00546897353469,0.0597155129877,0.999999907862,-7.08854889571e-06,-0.000428019068036,-3.20070980035e-05,1793246502653030912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.853943424,745,714,681.146056576,659,632,878.146056576,784,811,652,631,653,0.452493581484,-0.00546297128002,0.0597275443774,0.999999917956,6.32616105096e-07,-0.000404046934957,-2.88636525586e-05,1793246502669697536
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,632.298418826,879,784.298418826,810.701581174,652,631,653,0.451655835732,-0.00544535350172,0.0597620469814,0.999999936193,2.49975219773e-05,-0.000355734855015,-2.10066288054e-05,1793246502703031040
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.372864189,714,681,659.372864189,633,879,785,810.627135811,651,631,653,0.449601660519,-0.00545537693957,0.0597489205719,0.999999930766,8.22545323031e-06,-0.00037189561804,-9.69716569147e-06,1793246502769697536
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.776507194,659.776507194,633,879,785,810.223492806,651,631,653,0.448395619125,-0.00546118601918,0.0597386818621,0.99999992428,-9.65568205228e-07,-0.000389144079654,-2.29913305891e-06,1793246502803030784
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.890806907,659.890806907,633,878.890806907,785,810.890806907,651,630.109193093,652.890806907,0.445856683605,-0.00542318402538,0.0598217242331,0.999999955515,0.000109820963817,-0.00027684983623,1.62336658846e-05,1793246502869697536
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.768444985,659,633,879,785,809.231555015,651,630,652,0.434158009519,-0.00538294081128,0.0597463398941,0.999999919158,0.000164072951834,-0.000366985521153,9.23481466069e-06,1793246503103031040
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.383113278,633.383113278,878,785,809,651.383113278,629.616886722,652,0.42389247914,-0.00538016586483,0.0598213998398,0.999999937275,0.000203782366077,-0.000288673533955,2.42997411419e-05,1793246503286364416
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,877.806969204,784.806969204,809,651.193030796,630,652,0.422993164872,-0.00537916093101,0.0598385158912,0.999999943973,0.000205620165187,-0.000262864696617,2.60043263386e-05,1793246503303031040
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,877.232116265,784.232116265,809,651.767883735,630,652,0.422114356224,-0.00537928248361,0.0598494498958,0.999999947605,0.000217420862399,-0.000238397045053,2.61566791634e-05,1793246503319697920
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.351431627,745,714,680,658.648568373,633.351431627,877.351431627,784,809,652,629.648568373,652,0.421165513447,-0.00537788628187,0.0598186850719,0.999999932545,0.000217245552031,-0.000295092742514,2.51746686315e-05,1793246503336364544
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.940868086,745,714,680,658.059131914,633.940868086,877.940868086,784,809,652,629.059131914,652,0.420169240555,-0.00537546219066,0.0597596799812,0.999999895168,0.000208959563957,-0.000406755800107,2.34244174838e-05,1793246503353031168
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.478921386,658.521078614,633.478921386,877.478921386,784.521078614,808.478921386,651.478921386,629,652,0.419277460057,-0.00537450698129,0.0597259470594,0.999999879349,0.000212334840753,-0.000442515708772,1.99132885357e-05,1793246503369697792
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.325788415,745,714,679,658.325788415,633.674211585,877,785,808.674211585,651.674211585,629,652,0.417613208483,-0.00537700329702,0.0597523577787,0.999999902023,0.000216368465598,-0.000385597975048,2.12880320844e-05,1793246503403031040
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.249912518,745,714,679.249912518,658,634,877.249912518,785,808.750087482,652,629,652,0.416820535819,-0.00537804189901,0.05979326093,0.999999922436,0.000216052566966,-0.000328396329947,2.46002993263e-05,1793246503419697664
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.826893225,745,714,679.826893225,658,634,877.826893225,785,808.173106775,652,629,652,0.416035214195,-0.00537692475608,0.0598297124659,0.99999993587,0.000215136460478,-0.000285011745643,2.72936407007e-05,1793246503436364544
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.587532425,745,714,680,658.412467575,634,878,785,808,652,629,652,0.415242735442,-0.00537563253365,0.0598381086092,0.999999935854,0.00022348117831,-0.000278480079178,2.82424155926e-05,1793246503453031168
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.001694066,714,679.998305934,658.998305934,634,877.998305934,785,808,652,629,652,0.414447286156,-0.00537426686049,0.0598344902481,0.999999930425,0.000235720845936,-0.000287710341039,2.84426272666e-05,1793246503469698048
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.580268506,714,679.419731494,658.419731494,634,877.419731494,785,808,652,629,652,0.413684934432,-0.0053734430503,0.0598344414121,0.999999934082,0.000222629309712,-0.000285424601636,2.83655216275e-05,1793246503486364672
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.842000099,714,679.157999901,658,634,877,784.842000099,808,652,629,652,0.412913264757,-0.0053709369513,0.05981936616,0.999999926846,0.000221652930335,-0.000310514653684,2.75337047846e-05,1793246503503031552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.266496265,714,679.733503735,658,634,877,784.266496265,808,652,629,652,0.412116972865,-0.00536398551899,0.0597645846312,0.99999988456,0.000252690020134,-0.00040794336006,2.4707615008e-05,1793246503519699712
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.307769091,784.307769091,808,652,629,652,0.411397288014,-0.00536262563147,0.0597377618586,0.999999867832,0.000256580830333,-0.000444967637857,2.2506463433e-05,1793246503536366080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.880966317,784.880966317,808,652,629,652,0.410743671132,-0.0053660880392,0.0597350514538,0.999999879278,0.00023705997697,-0.000429897549458,2.08442752655e-05,1793246503553031424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.527496609,658,633.527496609,878,784.527496609,808,652,629,652,0.410126494487,-0.00536629065685,0.059773468791,0.999999904773,0.000228607001445,-0.000371019551316,2.31901893577e-05,1793246503569698048
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.066372711,745,714,679.066372711,658.066372711,633.066372711,878,784.066372711,808,652,629,652,0.409521726534,-0.00536527850275,0.0598198436697,0.999999927547,0.000227072416772,-0.000304380751467,2.63823301698e-05,1793246503586364672
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.641282644,745,714,679.641282644,658.641282644,633.641282644,878,784.641282644,808,652,629,652,0.40893885542,-0.00536150502604,0.05984459832,0.999999931313,0.00025631977153,-0.000266251691263,2.80093560028e-05,1793246503603031296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.78338616,745,714,679.78338616,658.78338616,634,877.78338616,785,808,652,629.21661384,652,0.408358685327,-0.00536045831972,0.0598536820456,0.999999932205,0.000268511949358,-0.000250380752654,2.82912105198e-05,1793246503619698176
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.207356045,745,714,679.207356045,658.207356045,634,877.207356045,785,808,652,629.792643955,652,0.407782996959,-0.00536393600455,0.0598367638043,0.999999930959,0.00025240534131,-0.000271441582415,2.63410909159e-05,1793246503636364544
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.377883627,784.622116373,808,652.377883627,629.622116373,652,0.407241801852,-0.00536658773172,0.0598220734767,0.999999927909,0.000241632983372,-0.000291794692774,2.55119539849e-05,1793246503653030912
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.968303151,784.031696849,808,652.968303151,629.031696849,652,0.406720006992,-0.00536877490969,0.0598086362098,0.99999992374,0.000233860805855,-0.000311749757188,2.53132994888e-05,1793246503669697536
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.876552844,745.876552844,714,680,659,634,876.123447156,785,807,652.123447156,629.876552844,652,0.405780181458,-0.00536209636266,0.0598221718367,0.999999927969,0.000248677186004,-0.000285672351397,2.47519975127e-05,1793246503703031296
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.303867239,745.303867239,714,680,659,634,876.696132761,785,807,652.696132761,629.303867239,652,0.405346151671,-0.00535632164291,0.0598181824712,0.999999924464,0.000258275423524,-0.00028933638101,2.55036530532e-05,1793246503719697920
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.722770858,658.722770858,634,877,785,807.277229142,652.722770858,629,652,0.404922709854,-0.00535075247079,0.0598066342447,0.99999991761,0.000264541962177,-0.000306814044253,2.57341368381e-05,1793246503736364544
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.132167127,658.132167127,634,877,785,807.867832873,652.132167127,629,652,0.404511236504,-0.00534541564618,0.0597865416248,0.999999906254,0.000267042410571,-0.000339906377705,2.5375497847e-05,1793246503753031168
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.449784916,658.449784916,634,877,785,808,652,629.449784916,652,0.404130867746,-0.00534085785472,0.0597685263328,0.999999894132,0.000272209673852,-0.0003701391708,2.51952791375e-05,1793246503769697792
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.971129542,659,634,877,785,807.971129542,652,629.971129542,652,0.403764082275,-0.00533666459972,0.059752979458,0.999999882524,0.000278222973266,-0.000396119244314,2.5188977826e-05,1793246503786364672
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.399047415,659,634,877,785,807.399047415,652,629.399047415,652,0.403484146023,-0.00533510441003,0.0597726085838,0.999999894876,0.000285688724307,-0.000357593918738,2.74871764528e-05,1793246503803031296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.824306065,745,714,679,658.824306065,634,877,785,807.175693935,652,629,652,0.403216217372,-0.00533440246191,0.0597924684538,0.999999905721,0.000291330660728,-0.000320629450802,2.9678674795e-05,1793246503819697920
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.243432181,745,714,679,658.243432181,634,877,785,807.756567819,652,629,652,0.402975980319,-0.00533567976433,0.0598128604564,0.999999915383,0.000292766571572,-0.000287264590926,3.16241039667e-05,1793246503836364544
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.68322889,745.341614445,714.341614445,679,658,634,877.341614445,785,808,652,629.341614445,652,0.402751623782,-0.00533980721173,0.0598288173586,0.999999922574,0.000290622472046,-0.000263194420604,3.34416414701e-05,1793246503853031168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.859342738,745.929671369,714.929671369,679,658,634,877.929671369,785,808,652,629.929671369,652,0.402538723509,-0.00534599076902,0.0598415747579,0.999999928297,0.000285895734221,-0.000245829485454,3.51669174541e-05,1793246503869697792
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.491225299,745.491225299,714.491225299,679,658,634,877.491225299,785,808,652,629.491225299,652,0.402322517018,-0.00535520913497,0.0598358797204,0.999999928294,0.000273162549701,-0.000259822253439,3.58820670156e-05,1793246503886364416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.086831253,634,877.086831253,785,807.913168747,652,629,652,0.402112120942,-0.00536337146537,0.0598282866939,0.999999926987,0.000260974662163,-0.00027678297133,3.61914431891e-05,1793246503903031296
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.665848723,634,877.665848723,785,807.334151277,652,629,652,0.401937205746,-0.00536321110122,0.0598241434247,0.999999925077,0.000258042543999,-0.000286421911195,3.49785561272e-05,1793246503919697920
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,877.75745393,785,807,652,629,652,0.401780821846,-0.0053634060069,0.0598224771292,0.999999930649,0.000229653344341,-0.000291926225144,2.72042767614e-05,1793246503936364288
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,877.183922724,785,807,652,629,652,0.401649726282,-0.00536408572372,0.0598241909814,0.99999994351,0.000166524700262,-0.000291788311744,1.04761383197e-05,1793246503953030912
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.596807593,633.596807593,877,785,807.403192407,652,629,652,0.401537565665,-0.00536870525932,0.0598266713344,0.999999940547,0.000189751253199,-0.000287842673476,6.79292392367e-06,1793246503969697280
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.003279905,633.003279905,877,785,807.996720095,652,629,652,0.401434343684,-0.00537518466751,0.0598295135299,0.999999927974,0.00025374355682,-0.000282099519651,9.26783505795e-06,1793246503986363904
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,633.571312735,877,785,808,652.571312735,629,652,0.401355984567,-0.00537011896119,0.0598339113676,0.999999929049,0.000257371470904,-0.000274910385574,9.27071258512e-06,1793246504003030784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.145850766,745,714,679,658,634,877,785.145850766,807.854149234,652.854149234,629,652,0.401279701695,-0.00536641408818,0.0598360623255,0.999999929403,0.000259760727358,-0.000271342041433,9.53482084372e-06,1793246504019697664
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.720537501,745,714,679,658,634,877,785.720537501,807.279462499,652.279462499,629,652,0.401209117271,-0.00536689901855,0.0598315815049,0.99999992751,0.000259494292279,-0.00027844330782,1.06073986962e-05,1793246504036364544
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.703464362,745,714,679,658,634,877,785.703464362,807.296535638,652,629,652,0.401149083318,-0.00536666059773,0.0598280793869,0.999999925697,0.000259300391309,-0.000285031220992,1.12730292652e-05,1793246504053031424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.126224771,745,714,679,658,634,877,785.126224771,807.873775229,652,629,652,0.401099036552,-0.00536573744462,0.0598255037192,0.999999923968,0.000259175151907,-0.000291133189101,1.15534391065e-05,1793246504069698048
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.464308745,658.464308745,634,877,785,807.535691255,652,629,652,0.401062199442,-0.00536342516484,0.0598249097313,0.99999992291,0.00026197392453,-0.000292260530123,1.15747096611e-05,1793246504086364672
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.943265011,658.943265011,634,877,785,807,652,629.056734989,652,0.401030681,-0.00536131902549,0.0598249849332,0.999999922323,0.000264865058059,-0.000291659990239,1.16205402735e-05,1793246504103031296
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.36755803,658.36755803,634,877,785,807,652,629.63244197,652,0.401013996757,-0.00536465473274,0.059826108236,0.999999924362,0.000261115459492,-0.000287989247898,1.25544359805e-05,1793246504119697920
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.207658838,679.207658838,658,634,877,785,807.207658838,652,629.792341162,652,0.400999028805,-0.00536560217297,0.0598270468594,0.99999992539,0.000259861969182,-0.000285523969096,1.29908398109e-05,1793246504136364544
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.782010212,679.782010212,658,634,877,785,807.782010212,652,629.217989788,652,0.400987091554,-0.00536233231266,0.0598276593683,0.999999924667,0.000263016209947,-0.000285187347727,1.25487519243e-05,1793246504153031168
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.633160612,679.633160612,658,634,877,785,807.633160612,652,629,652,0.400978120508,-0.00536160583436,0.0598284879977,0.99999992472,0.000263615476665,-0.000284444656808,1.2566402317e-05,1793246504169697792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.041922086,679.041922086,658,634,877,785,807.041922086,652,629,652,0.400970963919,-0.00536243516713,0.0598294488301,0.999999925251,0.000262651841367,-0.000283453569303,1.28652789994e-05,1793246504186364672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745.536880497,714.536880497,679,658.536880497,634,877,785,807.536880497,652,629,652,0.400968544313,-0.00536274848337,0.0598305945962,0.999999925629,0.000262011992166,-0.000282707769465,1.29797247947e-05,1793246504203031296
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1f41d54762d67410a27ae3ea6b0701b178b1fd9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f87e1840f4e1aeb070628ab1682787cc24df94c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a953d4d913f5ccf9fb6b69a7144ae374cf2cffed255d969f7c826282d5badb76
+size 25741332
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d5b8612e6a59e5fe36212d87dc06ac20f27dbcc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+3,0.050000000,BASELINE,765.244695249,745,714,679,659,634,877.244695249,785.244695249,807.244695249,653,629,652,0.400940064202,-0.00543441565061,0.0499313689006,0.999999975623,6.19779071879e-05,-0.000209712615683,-3.05451949226e-05,1793246505846376704
+4,0.066666667,BASELINE,765,745,714,679,659,634,877.334151574,785,807.334151574,653,629,652,0.400939772841,-0.00543397750967,0.0499313952922,0.999999975415,6.29520307595e-05,-0.000210428451516,-3.04441424378e-05,1793246505863043072
+5,0.083333333,BASELINE,765,745,714,679,659,634,877.912806089,785,807.912806089,653,629,652,0.400940944611,-0.00543414980314,0.0499325733583,0.999999975524,6.31910798976e-05,-0.000209866133569,-3.02345837861e-05,1793246505879709952
+6,0.100000000,BASELINE,765,745,714,679,659,634,877.51292897,785.48707103,808,653,629.48707103,652,0.400942222186,-0.00543562420123,0.0499334882356,0.999999976144,6.19036620936e-05,-0.000207344846296,-2.98028955525e-05,1793246505896376576
+7,0.116666667,BASELINE,765,745,714,679,659,634,877.06062031,786,808,652.93937969,629.93937969,652,0.400943348511,-0.00543715694107,0.0499341396073,0.999999976741,6.04792537495e-05,-0.000204925263799,-2.94095631084e-05,1793246505913043200
+8,0.133333333,BASELINE,765,745,714,679,659,634,877.634704309,786,808,652.365295691,629.365295691,652,0.400943034718,-0.00543722709688,0.0499329545531,0.999999976466,6.01884239604e-05,-0.000206310993566,-2.967491729e-05,1793246505929709824
+9,0.150000000,BASELINE,765.216941471,745,714,679,659.216941471,633.783058529,878,786,807.783058529,652,629,652,0.400942633948,-0.00543733355988,0.0499322178746,0.99999997631,5.94349057111e-05,-0.000207263640498,-2.98373310512e-05,1793246505946376704
+10,0.166666667,BASELINE,765.813443331,745,714,679,659.813443331,633.186556669,878,786,807.186556669,652,629,652,0.400942081004,-0.00543750354585,0.0499322656732,0.999999976361,5.78718686332e-05,-0.000207458566372,-2.98196404191e-05,1793246505963043328
+11,0.183333333,BASELINE,766,745.395418684,714,679,659.604581316,633.395418684,877.604581316,786,807.395418684,652.395418684,629,652,0.400940418784,-0.00543749377281,0.0499314155487,0.999999975987,5.95102983465e-05,-0.00020881855006,-2.96391544904e-05,1793246505979709952
+12,0.200000000,BASELINE,766,745.970783406,714,679,659.029216594,633.970783406,877.029216594,786,807.970783406,652.970783406,629,652,0.400938251758,-0.00543740219556,0.0499301567998,0.999999975409,6.26056425528e-05,-0.000210708725043,-2.93845841278e-05,1793246505996376576
+13,0.216666667,BASELINE,766,745.442420693,714,679,659,634,877,785.442420693,807.442420693,653,629,652,0.400940776338,-0.00543628131517,0.0499312834866,0.999999975812,6.25769214309e-05,-0.000208732181687,-2.98600879104e-05,1793246506013042944
+14,0.233333333,BASELINE,766,745,714,679,659,634,877,785.142890632,807,653,629,652,0.400942578867,-0.00543553792047,0.0499320269626,0.999999976098,6.22237066258e-05,-0.000207404531752,-3.02513992987e-05,1793246506029709568
+15,0.250000000,BASELINE,766,745,714,679,659,634,877,785.721805953,807,653,629,652,0.400941412233,-0.00543611443039,0.0499312116889,0.999999975882,6.13902853762e-05,-0.000208688154894,-3.02666240312e-05,1793246506046376448
+16,0.266666667,BASELINE,765.701376153,745,714,679,659,634,877,785.701376153,807,652.701376153,629,652,0.40094057775,-0.00543632158941,0.0499302467772,0.999999975618,6.05779697637e-05,-0.000210191774987,-3.02221812924e-05,1793246506063043072
+17,0.283333333,BASELINE,765.126498602,745,714,679,659,634,877,785.126498602,807,652.126498602,629,652,0.400940050535,-0.00543618706585,0.049929143437,0.999999975309,5.97851787986e-05,-0.000211898911812,-3.01225408172e-05,1793246506079709440
+18,0.300000000,BASELINE,765,745,714,679,659,634,877.448600361,785.448600361,807.448600361,652,629,652,0.400942319433,-0.00543723819511,0.0499310706317,0.999999975963,5.86357218922e-05,-0.000209150425469,-2.98666736297e-05,1793246506096376320
+19,0.316666667,BASELINE,765,745,714,678.9755634,659,634,877.9755634,786,807.9755634,652.0244366,629,652,0.400945250024,-0.00543857071633,0.0499337374032,0.999999976844,5.74714197641e-05,-0.000205265404459,-2.95826735339e-05,1793246506113043200
+20,0.333333333,BASELINE,765,745,714,678.384067805,659,634,877.384067805,786,807.384067805,652.615932195,629,652,0.400945229905,-0.00543867081493,0.0499337260374,0.999999977017,5.82976438449e-05,-0.00020417673748,-2.96686228052e-05,1793246506129709824
+21,0.350000000,BASELINE,765,745,714,678.203110618,659,634,877,786,807.203110618,653,629,652,0.400944597972,-0.00543852503126,0.0499333582725,0.999999976919,5.85550509048e-05,-0.00020457639801,-2.97036303777e-05,1793246506146376704
+22,0.366666667,BASELINE,765,745,714,678.782295419,659,634,877,786,807.782295419,653,629,652,0.400942833221,-0.00543792397857,0.0499323306084,0.999999976316,5.77592515088e-05,-0.000207731806023,-2.9644315655e-05,1793246506163043072
+23,0.383333333,BASELINE,765.356411674,745,714,679,659,634,877,786,808,653,629,652,0.400942340065,-0.0054372543913,0.0499321767299,0.999999976105,5.91888492962e-05,-0.000208358292352,-2.9564067548e-05,1793246506179709696
+24,0.400000000,BASELINE,765.92747541,745,714,679,659,634,877,786,808,653,629,652,0.400942612738,-0.00543654352841,0.0499325490965,0.999999976126,6.19587120021e-05,-0.000207461713693,-2.94712121204e-05,1793246506196376576
+25,0.416666667,BASELINE,766,745,714,679,659,634,877,786,807.49599816,652.49599816,629,652,0.400943282928,-0.00543691325717,0.0499324804563,0.999999976384,5.98220090548e-05,-0.000206813102382,-2.96900298191e-05,1793246506213043200
+26,0.433333333,BASELINE,765.916792226,745.083207774,714,679,659,634,877,786,807.083207774,652,629,651.916792226,0.400943825087,-0.00543730441642,0.0499322649887,0.999999976589,5.75743899989e-05,-0.000206430835947,-2.98792893674e-05,1793246506229709824
+27,0.450000000,BASELINE,765.326090288,745.673909712,714,679,659,634,877,786,807.673909712,652,629,651.326090288,0.400943233678,-0.00543686751222,0.049931545293,0.999999976302,5.90037012918e-05,-0.000207453025864,-2.96117337926e-05,1793246506246376448
+28,0.466666667,BASELINE,765,745.740650606,714,679,659,634,877,785.740650606,807.740650606,652.259349394,629,651.259349394,0.400942565124,-0.00543725881731,0.0499310841234,0.99999997619,5.8973708069e-05,-0.000208005929335,-2.95927351437e-05,1793246506263043328
+29,0.483333333,BASELINE,765,745.161695824,714,679,659,634,877,785.161695824,807.161695824,652.838304176,629,651.838304176,0.400941801503,-0.0054386707539,0.0499309415448,0.999999976293,5.71453624275e-05,-0.000207980514538,-2.9880041961e-05,1793246506279709952
+30,0.500000000,BASELINE,765.415575355,745,714,679,659,634,877,785.415575355,807,652.584424645,629,652,0.400942466578,-0.00543865730812,0.0499313148957,0.999999976469,5.64706309043e-05,-0.000207307328952,-2.99513564994e-05,1793246506296376576
+31,0.516666667,BASELINE,765.992194093,745,714,679,659,634,877,785.992194093,807,652.007805907,629,652,0.4009436853,-0.00543809149943,0.049931888179,0.999999976673,5.62429469151e-05,-0.000206383119822,-2.99389698999e-05,1793246506313042944
+32,0.533333333,BASELINE,765.420578533,745,714,679,659,634,877,786,807.579421467,652.579421467,629,652,0.400943030207,-0.0054378962678,0.0499319423239,0.999999976506,5.58319910738e-05,-0.000207295490954,-2.99802289926e-05,1793246506329709824
+33,0.550000000,BASELINE,765,745,714,678.835428606,659,634,877.164571394,786,807.835428606,652.835428606,629,652,0.400942245035,-0.00543765695615,0.0499317361312,0.999999976292,5.59606911463e-05,-0.000208284898684,-3.00374416498e-05,1793246506346376192
+34,0.566666667,BASELINE,765,745,714,678.25588423,659,634,877.74411577,786,807.25588423,652.25588423,629,652,0.400941196703,-0.00543729367184,0.0499308914514,0.99999997597,5.74564958857e-05,-0.000209405004941,-3.01330254896e-05,1793246506363042816
+35,0.583333333,BASELINE,765.321141176,745,714,678.321141176,659,634,877.678858824,786,807.321141176,652.321141176,629,652,0.40094208792,-0.00543698705229,0.049931166201,0.999999976119,5.83869215058e-05,-0.00020842211313,-3.02057454041e-05,1793246506379709696
+36,0.600000000,BASELINE,765.896175156,745,714,678.896175156,659,634,877.103824844,786,807.896175156,652.896175156,629,652,0.400944512535,-0.0054367252316,0.0499323259666,0.999999976637,5.8870361035e-05,-0.000205776600392,-3.02603892098e-05,1793246506396376576
+37,0.616666667,BASELINE,766,745,714.471908586,679,658.528091414,634,877.471908586,786,808,652.528091414,629,652,0.400944612468,-0.00543849778347,0.0499325414785,0.999999976924,5.58653676026e-05,-0.000205288074874,-2.9781204603e-05,1793246506413043200
+38,0.633333333,BASELINE,766,745,714.951004211,678.951004211,658.048995789,634,878,786,807.951004211,652,629,652,0.400944167824,-0.00544054592312,0.0499324890144,0.999999977113,5.24846064824e-05,-0.000205339609587,-2.92353377811e-05,1793246506429709824
+39,0.650000000,BASELINE,766,745,714.360661772,678.360661772,658.639338228,634,878,786,807.360661772,652,629,652,0.400943365617,-0.00544068637247,0.0499317744838,0.999999976904,5.34445280924e-05,-0.000206107064659,-2.92522982164e-05,1793246506446376448
+40,0.666666667,BASELINE,765.774686169,745,714,678.225313831,659,634,877.774686169,786,807.225313831,652.225313831,629,652,0.400942672407,-0.00544037596633,0.0499313617446,0.999999976723,5.459334643e-05,-0.000206653689804,-2.94497576628e-05,1793246506463043072
+41,0.683333333,BASELINE,765.195567735,745,714,678.804432265,659,634,877.195567735,786,807.804432265,652.804432265,629,652,0.400942150352,-0.00543935759319,0.0499314229005,0.999999976588,5.60387844587e-05,-0.00020685355126,-2.99306501352e-05,1793246506479709696
+42,0.700000000,BASELINE,765,745,714,679,659,634,877,785.61918985,808,652.61918985,629,652,0.400942550942,-0.00543924554768,0.0499312922451,0.999999976596,5.64616409848e-05,-0.000206699816894,-2.9933054587e-05,1793246506496376320
+43,0.716666667,BASELINE,765,745,714,679,659,634,877,785.044209353,808,652.044209353,629,652,0.400943421977,-0.00543959562735,0.0499310637877,0.999999976677,5.63630959115e-05,-0.000206365788421,-2.96914839497e-05,1793246506513042944
+44,0.733333333,BASELINE,765,745,714,679,659,634,877.528562966,785.528562966,808,652,629,652,0.400942822841,-0.00543892125571,0.0499313146663,0.999999976631,5.66170547958e-05,-0.000206524403943,-2.96510784813e-05,1793246506529709824
+45,0.750000000,BASELINE,765,745,714,678.894531073,659,634,878,786,808,652.105468927,629,652,0.40094250831,-0.00543859888307,0.0499316229161,0.999999976634,5.66515872149e-05,-0.000206518999949,-2.95421841267e-05,1793246506546376704
+46,0.766666667,BASELINE,765,745,714,678.29750237,659,634,878,786,808,652.70249763,629,652,0.40094409096,-0.00544031476975,0.0499320124766,0.99999997691,5.55265940474e-05,-0.000205557903203,-2.90359902632e-05,1793246506563043328
+47,0.783333333,BASELINE,765.287424308,745,714,678.287424308,659,634,877.712575692,785.712575692,808,653,629,652,0.400944501807,-0.00544125164067,0.049931885209,0.999999977024,5.41689186909e-05,-0.000205371542692,-2.89836206762e-05,1793246506579709952
+48,0.800000000,BASELINE,765.860330807,745,714,678.860330807,659,634,877.139669193,785.139669193,808,653,629,652,0.400943748768,-0.00544141475982,0.0499312446057,0.999999976977,5.25801332385e-05,-0.000205954683428,-2.93820088263e-05,1793246506596376576
+49,0.816666667,BASELINE,765.564269146,745,714.435730854,678.564269146,659.435730854,634,877,785.435730854,808,652.564269146,629,652,0.400944561321,-0.00544123805457,0.0499315272963,0.999999977056,5.38102986444e-05,-0.000205203234212,-2.97458694672e-05,1793246506613043456
+50,0.833333333,BASELINE,765.012267945,745,714.987732055,678.012267945,659.987732055,634,877,786,808,652.012267945,629,652,0.400945831555,-0.00544092220249,0.049932099515,0.99999997716,5.59802003064e-05,-0.000204060222575,-3.00804010432e-05,1793246506629709824
+51,0.850000000,BASELINE,765.60455835,745,714.39544165,678.60455835,659.39544165,634,877,786,808,652.60455835,629,652,0.400944877695,-0.00543920722836,0.0499322874502,0.999999976826,5.96133562825e-05,-0.000204746419401,-2.95545450886e-05,1793246506646376448
+52,0.866666667,BASELINE,765.807818782,745,714,679,659,634,877,786,807.807818782,653,629,652,0.400944135157,-0.00543855269075,0.0499321663875,0.999999976645,6.08077074591e-05,-0.000205332217684,-2.91660670158e-05,1793246506663043328
+53,0.883333333,BASELINE,765.229572378,745,714,679,659,634,877,786,807.229572378,653,629,652,0.400943817134,-0.00544002842188,0.0499314245914,0.999999976788,5.71028406899e-05,-0.000205716329301,-2.90535619246e-05,1793246506679709952
+54,0.900000000,BASELINE,765.346892155,745,714.346892155,679.346892155,659,634,877,786,807.346892155,653,629,652,0.400942569027,-0.00544029868133,0.0499306498188,0.999999976638,5.55075775164e-05,-0.000206851680977,-2.92455157019e-05,1793246506696376576
+55,0.916666667,BASELINE,765.922183454,745,714.922183454,679.922183454,659,634,877,786,807.922183454,653,629,652,0.400940708537,-0.0054397752396,0.0499298533342,0.999999976299,5.53013100265e-05,-0.000208481660679,-2.96379298974e-05,1793246506713043200
+56,0.933333333,BASELINE,765.502320821,745,714.502320821,679.502320821,659,634,877.497679179,786,807.502320821,653,629,652,0.400941955703,-0.00543999295415,0.0499301616946,0.999999976461,5.52359283467e-05,-0.000207709690763,-2.97431164968e-05,1793246506729710080
+57,0.950000000,BASELINE,765,745,714.075160797,679,659,634,877.924839203,786,807.075160797,653,629,652,0.400943625752,-0.00544044066209,0.0499307257257,0.999999976714,5.51401629951e-05,-0.000206518685679,-2.96973787496e-05,1793246506746376448
+58,0.966666667,BASELINE,765,745,714.666049247,679,659,634,877.333950753,786,807.666049247,653,629,652,0.400944861969,-0.00544167100656,0.0499318582276,0.999999977068,5.4684699502e-05,-0.000205030470159,-2.89243374198e-05,1793246506763043328
+59,0.983333333,BASELINE,765,745,714.748144186,679,659,634,877.251855814,786,807.748144186,653,629,652,0.400944633546,-0.00544185216214,0.0499318967312,0.999999977026,5.46967218478e-05,-0.000205256333703,-2.8757305231e-05,1793246506779709696
+60,1.000000000,BASELINE,765,745,714.168942639,679,659,634,877.831057361,786,807.168942639,653,629,652,0.400942501479,-0.00544066965073,0.0499305133273,0.999999976467,5.53163516833e-05,-0.000207710045027,-2.93779240267e-05,1793246506796376064
+61,1.016666667,BASELINE,765.406620887,745,714,679,659,634,877.593379113,786,807.406620887,652.593379113,629,652,0.400944115933,-0.00544026998647,0.0499321163058,0.999999976911,5.58492013696e-05,-0.00020541239228,-2.94096767768e-05,1793246506813042688
+62,1.033333333,BASELINE,765.980686259,745,714,679,659,634,877.019313741,786,807.980686259,652.019313741,629,652,0.400947273185,-0.0054401926949,0.0499349490621,0.999999977754,5.63463153783e-05,-0.000201158150983,-2.91989373423e-05,1793246506829709568
+63,1.050000000,BASELINE,766,745,714,679,659,634,877.567300064,786,808,652.567300064,629,652,0.400945072364,-0.00543954107281,0.0499327552492,0.999999977002,5.63424507124e-05,-0.000204805332722,-2.95880137583e-05,1793246506846376192
+64,1.066666667,BASELINE,765.84769852,745,714,679,659.15230148,634,878,786,808,653,629,652,0.400943056152,-0.00543939298236,0.049930895433,0.999999976361,5.62863845208e-05,-0.000207914855154,-2.9689173542e-05,1793246506863043072
+65,1.083333333,BASELINE,765.268441951,745,714,679,659.731558049,634,878,786,808,653,629,652,0.400942080405,-0.00544071252393,0.0499304625174,0.999999976219,5.61328740107e-05,-0.000208745955637,-2.89246593248e-05,1793246506879709952
+66,1.100000000,BASELINE,765,745,714,679,659.69083737,634,878,786,808,653,629,652,0.400943210579,-0.00544122872356,0.049931114562,0.99999997655,5.58002839294e-05,-0.000207268836974,-2.87476962142e-05,1793246506896376576
+67,1.116666667,BASELINE,765,745,714,679,659.114659594,634,878,786,808,653,629,652,0.400946159578,-0.00544105109909,0.0499327036565,0.999999977281,5.53130278216e-05,-0.000203798173728,-2.90781846564e-05,1793246506913043200
+68,1.133333333,BASELINE,765.461389347,745,714,678.538610653,659,634,877.538610653,785.538610653,808,653,629,652,0.400944874737,-0.00544072244652,0.049931954029,0.999999977035,5.56344067476e-05,-0.000204891976938,-2.92127824043e-05,1793246506929709568
+69,1.150000000,BASELINE,765.961580972,745,714,678.038419028,659,634,877.038419028,785.038419028,807.961580972,653,629.038419028,652,0.400942873852,-0.0054403271804,0.049930827868,0.999999976612,5.6184879874e-05,-0.000206788291852,-2.93034716537e-05,1793246506946376448
+70,1.166666667,BASELINE,765.369969422,745,714,678.630030578,659,634,877.630030578,785.630030578,807.369969422,653,629.630030578,652,0.40094570828,-0.00543951301943,0.0499326462709,0.999999977143,5.71413571029e-05,-0.000203911585389,-2.94626794072e-05,1793246506963043072
+71,1.183333333,BASELINE,765,745,714,679,659,634,877.783673404,786,807,653,629.783673404,652,0.400945748027,-0.00543868731102,0.0499329175632,0.999999977099,5.82195646572e-05,-0.000203798933078,-2.96448981653e-05,1793246506979709696
+72,1.200000000,BASELINE,765,745,714,679,659,634,877.206250085,786,807,653,629.206250085,652,0.400941122836,-0.00543784232727,0.0499306063877,0.999999976089,5.95009670831e-05,-0.000208300095338,-2.98655273821e-05,1793246506996376576
+73,1.216666667,BASELINE,765.370084822,745.370084822,714,679,659,634,877,786,807.370084822,652.629915178,629,652,0.400941389787,-0.00543859904008,0.0499304410585,0.999999976198,5.88238154996e-05,-0.000207996142263,-2.96942340965e-05,1793246507013043200
+74,1.233333333,BASELINE,765.945814897,745.945814897,714,679,659,634,877,786,807.945814897,652.054185103,629,652,0.400944375158,-0.00544024576863,0.0499314681131,0.999999976926,5.70583529731e-05,-0.000205022127632,-2.93051609887e-05,1793246507029709824
+75,1.250000000,BASELINE,765.480315938,745.480315938,714,679,659,634,877,786,808,652,629,652,0.400946079416,-0.00544060391466,0.0499326727024,0.999999977301,5.62250169981e-05,-0.000203434092795,-2.91634826072e-05,1793246507046376448
+76,1.266666667,BASELINE,765.0966414,745,714,679,659,634,877.0966414,786,807.9033586,652.0966414,629,652.0966414,0.400947072649,-0.00544060097544,0.049933446581,0.999999977512,5.5446941055e-05,-0.000202609408626,-2.91578555329e-05,1793246507063043072
+77,1.283333333,BASELINE,765.69048136,745,714,679,659,634,877.69048136,786,807.30951864,652.69048136,629,652.69048136,0.400945092572,-0.00543942909134,0.0499319096539,0.999999977069,5.44549359715e-05,-0.00020497117604,-2.97199476118e-05,1793246507079709696
+78,1.300000000,BASELINE,765.723442314,745,714,679,659,633.723442314,877.723442314,786,807,653,629,652.723442314,0.400944228653,-0.00543950812116,0.0499314108769,0.999999976922,5.45682295001e-05,-0.000205637224663,-2.98527267432e-05,1793246507096376320
+79,1.316666667,BASELINE,765.145817693,745,714,679,659,633.145817693,877.145817693,786,807,653,629,652.145817693,0.400944579807,-0.00544094892415,0.0499320422536,0.999999977101,5.58847760879e-05,-0.00020445727542,-2.95181460823e-05,1793246507113043200
+80,1.333333333,BASELINE,765.427812936,745,714,679,659,633.427812936,877,786,807.427812936,653,629,652,0.400944960082,-0.00544110876958,0.0499324968657,0.999999977206,5.60447940507e-05,-0.000203959580371,-2.91241765679e-05,1793246507129709824
+81,1.350000000,BASELINE,765.999902083,745,714,679,659,634,877.000097917,785.999902083,808,652.999902083,629,652,0.40094535005,-0.00544083603807,0.049932891527,0.999999977285,5.58140104869e-05,-0.000203692557306,-2.87103002708e-05,1793246507146376960
+82,1.366666667,BASELINE,765.409259722,745,714,679,659,634,877.590740278,785.409259722,808,652.409259722,629,652,0.400944885604,-0.00544051537384,0.0499317248577,0.999999977076,5.40683308276e-05,-0.00020511606647,-2.91913419643e-05,1793246507163043328
+83,1.383333333,BASELINE,765.177311243,745,714.177311243,679,659,634,878,785.177311243,807.822688757,652,629,652,0.400944668913,-0.00544036970273,0.0499310277496,0.999999976941,5.33898257326e-05,-0.0002059101069,-2.94776788042e-05,1793246507179709696
+84,1.400000000,BASELINE,765.754695895,745,714.754695895,679,659,634,878,785.754695895,807.245304105,652,629,652,0.400945011239,-0.00544061887453,0.0499313901279,0.99999997698,5.51192226816e-05,-0.000205283855828,-2.93246965326e-05,1793246507196376320
+85,1.416666667,BASELINE,766,745,714.6681109,679,659.3318891,634,877.6681109,786,807.3318891,652.3318891,629,652,0.400944843592,-0.00544036743602,0.0499316286615,0.999999976894,5.68233074409e-05,-0.000205263857124,-2.9139361067e-05,1793246507213043200
+86,1.433333333,BASELINE,766,745,714.091059151,679,659.908940849,634,877.091059151,786,807.908940849,652.908940849,629,652,0.400944299233,-0.00543974620245,0.0499317757126,0.999999976715,5.85086942736e-05,-0.000205691690092,-2.89301266792e-05,1793246507229709824
+87,1.450000000,BASELINE,765.515927136,745,714,679,659.515927136,634,877,786,808,653,629,652,0.400944416194,-0.00543829390014,0.0499315517246,0.999999976698,5.88174522171e-05,-0.000205633952043,-2.93269971723e-05,1793246507246376448
+88,1.466666667,BASELINE,765,745,714,679,659,634,877,786,808,653,629,652,0.400944691344,-0.00543703400723,0.0499313872091,0.999999976757,5.85867917833e-05,-0.00020534755737,-2.97524306105e-05,1793246507263043072
+89,1.483333333,BASELINE,765,745,714,679,659,634,877,786,808,653,629,652,0.400945267032,-0.00543882630814,0.0499323536459,0.999999977227,5.5888219023e-05,-0.000203854079559,-2.94326120267e-05,1793246507279709952
+90,1.500000000,BASELINE,765,745,714.236657256,679,659,634,877,786,808,652.763342744,629,652,0.400945282007,-0.0054397245041,0.0499324983311,0.99999997732,5.51659160136e-05,-0.000203614486833,-2.92831632323e-05,1793246507296376832
+91,1.516666667,BASELINE,765,745,714.814493755,679,659,634,877,786,808,652.185506245,629,652,0.400944488625,-0.00543933370477,0.0499314583299,0.999999976877,5.7292721821e-05,-0.000205182569909,-2.93793297363e-05,1793246507313043456
+92,1.533333333,BASELINE,765.392261826,745,714.607738174,679,659.392261826,634,877.392261826,785.607738174,807.607738174,652.392261826,629,652,0.400944270156,-0.00543925376251,0.0499308907243,0.999999976845,5.6823308233e-05,-0.000205451763838,-2.95016058349e-05,1793246507329709824
+93,1.550000000,BASELINE,765.969997593,745,714.030002407,679,659.969997593,634,877.969997593,785.030002407,807.030002407,652.969997593,629,652,0.400944323523,-0.00543932080339,0.0499305464822,0.999999977007,5.51263192387e-05,-0.00020510680156,-2.96362273938e-05,1793246507346376192
+94,1.566666667,BASELINE,765.441385704,745.558614296,714,679,659.441385704,634,878,785.558614296,807.558614296,653,629.558614296,652,0.400946147947,-0.00543845818995,0.049931760758,0.999999977206,5.61399308336e-05,-0.000203788786644,-3.01061740032e-05,1793246507363042816
+95,1.583333333,BASELINE,765,745.854681985,714,679,659,634,877.854681985,786,808,653,629.854681985,652,0.400946550162,-0.00543834874459,0.0499319542718,0.999999977123,5.66825780194e-05,-0.00020402502774,-3.02392512902e-05,1793246507379709696
+96,1.600000000,BASELINE,765,745.275469549,714,679,659,634,877.275469549,786,808,653,629.275469549,652,0.40094241625,-0.00544064017377,0.0499288450713,0.999999976184,5.53756876125e-05,-0.000209061150865,-2.93116527086e-05,1793246507396376320
+97,1.616666667,BASELINE,765,745.300933878,714,679,659,634,877,786,807.699066122,653,629,652,0.400940956338,-0.00544062308349,0.0499276595283,0.999999975738,5.6921361584e-05,-0.000210808285127,-2.90494473838e-05,1793246507413042944
+98,1.633333333,BASELINE,765,745.874789732,714,679,659,634,877,786,807.125210268,653,629,652,0.40094192152,-0.00543851235812,0.0499282185828,0.999999975744,6.10540740593e-05,-0.000209572579986,-2.93906984069e-05,1793246507429709824
+99,1.650000000,BASELINE,765,745.550540694,714,679,659,634,877.449459306,786,807.449459306,652.550540694,629,652,0.400943376042,-0.00543901877349,0.0499293453071,0.999999976277,5.97731461921e-05,-0.000207397208305,-2.93142350543e-05,1793246507446376704
+100,1.666666667,BASELINE,765,745,714,679,659,634,877.974917062,785.974917062,807.974917062,652,629,652,0.400944866448,-0.00544023858284,0.0499305448425,0.999999976908,5.7070299135e-05,-0.000205130105435,-2.91179111648e-05,1793246507463043328
+101,1.683333333,BASELINE,765,745,714,679,659,634,877.38286108,785.38286108,807.38286108,652,629,652,0.400944080973,-0.00544107388093,0.0499298090944,0.999999976629,5.63779987128e-05,-0.000206717326781,-2.88473851428e-05,1793246507479709952
+102,1.700000000,BASELINE,765.204525949,745,714,679,659,634,877,785.204525949,807.204525949,652.204525949,629,652,0.40094337496,-0.00544146547624,0.0499290361191,0.999999976353,5.62362003212e-05,-0.000208089931645,-2.87966452516e-05,1793246507496376320
+103,1.716666667,BASELINE,765.783367964,745,714,679,659,634,877,785.783367964,807.783367964,652.783367964,629,652,0.400942814372,-0.00544104502254,0.0499281950121,0.99999997609,5.7101911099e-05,-0.000209069752938,-2.91481500923e-05,1793246507513043200
+104,1.733333333,BASELINE,765.643774504,745,714,678.643774504,659,634,877,786,808,653,629,652,0.400943123391,-0.00544145944325,0.0499284675092,0.999999976283,5.61727635058e-05,-0.00020840965853,-2.90427746128e-05,1793246507529710080
+105,1.750000000,BASELINE,765.074496141,745,714,678.074496141,659,634,877,786,808,653,629,652,0.400943952507,-0.00544237318919,0.0499294060353,0.999999976745,5.41701394291e-05,-0.000206768756425,-2.86641462324e-05,1793246507546376704
+106,1.766666667,BASELINE,765,745,714,678.515384042,659,634,877.515384042,785.484615958,808,652.484615958,629,652,0.400943545484,-0.00544052958048,0.0499287890928,0.999999976439,5.65900732211e-05,-0.000207525399159,-2.92086410842e-05,1793246507563043072
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,808,653,629,652,0.400944250696,-0.00543950890517,0.0499301768145,0.999999976586,5.75809617329e-05,-0.000206551377491,-2.91353880451e-05,1793246507605453312
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.421365178,659,634,877.421365178,786,807.421365178,653,629,652,0.400942949038,-0.00543988936603,0.0499298887855,0.999999976375,5.79570882755e-05,-0.000207500201058,-2.888218907e-05,1793246507622119680
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.155966694,659,634,877,786,807.155966694,653,629.155966694,652,0.400942257917,-0.00543987879509,0.0499296297395,0.999999976209,5.88794387177e-05,-0.000208050228701,-2.88128430448e-05,1793246507638786304
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.729807764,659,634,877,786,807.729807764,653,629.729807764,652,0.40094320258,-0.00543882055076,0.049929448346,0.999999976161,6.12652617607e-05,-0.000207531781019,-2.92360856988e-05,1793246507655452928
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652.686666196,629.686666196,652,0.400944324783,-0.00543823980149,0.0499298273775,0.999999976288,6.18289393759e-05,-0.000206740619473,-2.93260934176e-05,1793246507672119552
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652.09452233,629.09452233,652,0.400945604966,-0.00543808393599,0.0499307050852,0.999999976572,6.07712390264e-05,-0.000205706792249,-2.91195826636e-05,1793246507688785920
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483396233,745,714,679,659.483396233,634,877.483396233,786,807.516603767,652,629,652,0.400948865531,-0.00543937423335,0.0499319348801,0.999999977143,5.85970769923e-05,-0.000203578521714,-2.89252956151e-05,1793246507705452544
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.058549819,714,679,659.941450181,634,878,785.941450181,807.058549819,652.058549819,629,652,0.400953621121,-0.00544068453953,0.0499335091481,0.999999977909,5.68568269372e-05,-0.000200307243025,-2.87355191179e-05,1793246507722119424
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.633148986,714,679,659.366851014,634,878,785.366851014,807.633148986,652.633148986,629,652,0.400968238132,-0.00543975007039,0.0499375300946,0.999999979922,6.08101646762e-05,-0.000188793951235,-2.85650333123e-05,1793246507738786304
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.786314336,745.786314336,714,679,659,634,877.786314336,785.213685664,808,652.786314336,629.213685664,652,0.400988036966,-0.00543959141375,0.0499428626035,0.999999982475,6.20542208793e-05,-0.00017432291363,-2.84647468185e-05,1793246507755452928
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.195292997,745.195292997,714,679,659,634,877.195292997,785.804707003,808,652.195292997,629.804707003,652,0.401016986091,-0.00544080272152,0.0499505111275,0.999999985927,5.85141064977e-05,-0.000154628957768,-2.84884214166e-05,1793246507772119552
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.387908044,714,679,659,634,877.387908044,785.612091956,808,652.387908044,629.612091956,652.387908044,0.401053829517,-0.00544088672386,0.0499560128394,0.999999988954,5.77903132728e-05,-0.000133885670078,-2.87465945796e-05,1793246507788786176
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.9672498,714,679,659,634,877.9672498,785.0327502,808,652.9672498,629.0327502,652.9672498,0.401094568805,-0.0054404143979,0.0499604550942,0.999999991525,5.84563821348e-05,-0.00011262453238,-2.91204934393e-05,1793246507805452800
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.544662838,745.455337162,714,679,659,634,878,785.544662838,807.455337162,653,629,652.455337162,0.401147506332,-0.00544294479659,0.0499641340237,0.999999993815,5.63701452835e-05,-9.12066658878e-05,-2.95428444993e-05,1793246507822119424
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.878631185,745,714.121368815,679,659,634,877.878631185,786,807.121368815,652.878631185,629,652,0.401203298919,-0.00544547414635,0.0499673006606,0.999999995309,5.46622267055e-05,-7.42266465688e-05,-2.97283676194e-05,1793246507838786048
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.304133392,745,714.695866608,679,659,634,877.304133392,786,807.695866608,652.304133392,629,652,0.40126702211,-0.00544732787158,0.0499687254165,0.99999999534,5.49824446726e-05,-7.38503293538e-05,-2.90188579506e-05,1793246507855452672
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.723008075,679,659,634,877,786,807.723008075,652.276991925,629,652,0.401339446831,-0.00545014675573,0.0499704017335,0.999999995543,5.38295660383e-05,-7.23008802299e-05,-2.80844634124e-05,1793246507872119296
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.134427481,679,659,634,877,786,807.134427481,652.865572519,629,652,0.401421659911,-0.00545405134861,0.0499723610318,0.999999995926,5.10195986037e-05,-6.94317731215e-05,-2.68970955585e-05,1793246507888785920
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.447579727,786,807,653,629,652,0.401524546809,-0.00545814322483,0.0499739117186,0.99999999631,4.81942744691e-05,-6.61560028244e-05,-2.60899138023e-05,1793246507905452800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807.027420784,653,629,652,0.401634533683,-0.00546233082709,0.0499751669541,0.999999996654,4.54139800855e-05,-6.31237253083e-05,-2.53812991109e-05,1793246507922119424
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,807.602856132,653,629,652,0.401764118457,-0.00546732365942,0.0499729346616,0.999999996482,4.36244651123e-05,-6.73633927778e-05,-2.43935589383e-05,1793246507938786304
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.178660332,745,714,679,659,634,877.821339668,786,808,653,629,652,0.401905785468,-0.00547214777469,0.0499716991295,0.99999999637,4.18960816867e-05,-7.04217171722e-05,-2.33571443517e-05,1793246507955452928
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.755286072,745,714,679,659,634,877.244713928,786,808,653,629,652,0.402074365612,-0.00547659607251,0.0499726838789,0.999999996431,4.03038688596e-05,-7.08486024832e-05,-2.22123077723e-05,1793246507972119296
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.340271048,786,808,652.659728952,629,652,0.402255849822,-0.00548251750772,0.0499707257413,0.99999999642,3.68446465468e-05,-7.31394034056e-05,-2.12708292171e-05,1793246507988786176
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.931419233,786,808,652.068580767,629,652,0.402446848041,-0.00548952506721,0.0499665978541,0.999999996329,3.20089038003e-05,-7.68044435664e-05,-2.04792836e-05,1793246508005452800
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.489285092,745,714.510714908,679,659,634,878,786,807.489285092,652.510714908,629,652,0.402672035292,-0.00549739734984,0.049966636232,0.999999996445,2.90434851096e-05,-7.69250032145e-05,-1.86805274882e-05,1793246508022119424
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.912140593,679,658.912140593,634,877.912140593,786,807.087859407,653,629,652.087859407,0.402909658265,-0.00550564546661,0.0499679839219,0.999999996726,2.57142915121e-05,-7.48788688431e-05,-1.67594422256e-05,1793246508038786304
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.33829081,679,658.33829081,634,877.33829081,786,807.66170919,653,629,652.66170919,0.403191249854,-0.00551534476101,0.0499735495635,0.999999997697,1.90151533151e-05,-6.34208357443e-05,-1.48928701507e-05,1793246508055452928
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.242124269,634,877.242124269,786,808,652.757875731,629,652.757875731,0.403493010134,-0.00552567367754,0.0499813960875,0.999999998743,1.37228263978e-05,-4.6588326489e-05,-1.24419932885e-05,1793246508072119296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.831967863,634,877.831967863,786,808,652.168032137,629,652.168032137,0.403823735042,-0.00553690680597,0.0499925182305,0.999999999661,1.04508486397e-05,-2.2037429242e-05,-9.1519851824e-06,1793246508088785664
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.587216415,785.587216415,808,652,629,652,0.404178183722,-0.00554601893182,0.0499999823712,0.999999999906,9.72307993568e-06,-7.15657598608e-06,-6.55674764849e-06,1793246508105452544
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.009997035,785.009997035,808,652,629,652,0.404542082957,-0.00555428613828,0.0500059893158,0.999999999933,1.00088182729e-05,3.87213375408e-06,-4.23827786394e-06,1793246508122119168
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.434646189,634,877,785,808,652.565353811,629,652,0.404945068064,-0.00556217493377,0.0500107215936,0.999999999771,1.07263062644e-05,1.85051138592e-05,-6.61926744623e-07,1793246508138786048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.143968071,714.143968071,679,658.143968071,634,877,785.143968071,808.143968071,652.856031929,629.143968071,652,0.405351520915,-0.00556642738737,0.0500096636295,0.999999999658,1.54708970674e-05,2.09568446775e-05,2.49997285445e-06,1793246508155452672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.732767238,714.732767238,679,658.732767238,634,877,785.732767238,808.732767238,652.267232762,629.732767238,652,0.405766559826,-0.00555946491367,0.0499907844468,0.999999999354,3.26348780915e-05,-1.44252035281e-05,4.31280427008e-06,1793246508172119296
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.684051701,715,679,659.315948299,634,877,786,808.684051701,652.315948299,629.684051701,652,0.406200654954,-0.00555111173611,0.0499701325826,0.999999997236,5.23499497898e-05,-5.2497807492e-05,5.54709476444e-06,1793246508188785920
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.105539417,715,679,659.894460583,634,877,786,808.105539417,652.894460583,629.105539417,652,0.406650586505,-0.00554160283469,0.0499480075565,0.999999992922,7.41850680816e-05,-9.28063603608e-05,6.30059790017e-06,1793246508205452800
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.526975479,679,659.526975479,633.526975479,877.473024521,785.526975479,808,653,629,652,0.407153538601,-0.0055453707717,0.0499379989164,0.999999990376,8.30673145099e-05,-0.000110692189017,9.72648812534e-06,1793246508222119424
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.051469168,745,714,679,659,633.051469168,878,785,808,652.948530832,629,652,0.407676065005,-0.00555207859093,0.0499334281287,0.999999988958,8.92893087683e-05,-0.000117980010415,1.38466758762e-05,1793246508238785792
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.628578199,745,714,679,659,633.628578199,878,785,808,652.371421801,629,652,0.408277671604,-0.0055585543964,0.0499567808934,0.999999992711,9.78608288477e-05,-6.81319092541e-05,1.89675044071e-05,1793246508255452672
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,785,808,652,629.208743325,652,0.408894059102,-0.00556238848623,0.0499810496839,0.999999993695,0.000107392241915,-2.23150029575e-05,2.40499125263e-05,1793246508272119552
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,785,808,652,629.794426992,652,0.409537137317,-0.0055614522713,0.0500069725956,0.999999992406,0.00011865699107,1.62225297922e-05,2.9062942346e-05,1793246508288786176
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,785,808.375631722,652,629.624368278,652,0.410169746889,-0.00555879554349,0.0500111381917,0.999999991515,0.000125257960269,1.82721249606e-05,3.07825593401e-05,1793246508305452800
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,785,808.954414116,652,629.045585884,652,0.410796694747,-0.00555520832096,0.0500035369072,0.999999991164,0.000129336644753,5.88164511738e-07,3.07210193009e-05,1793246508322119168
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.470092582,745,714,679,659,633.470092582,878,785,808.470092582,652,629.529907418,652,0.411424750781,-0.00555868727523,0.0499710473865,0.999999990466,0.00011551217689,-7.01694072684e-05,2.82919402178e-05,1793246508338786304
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.105519367,714,679,659,633.105519367,878,785,808,652,630,652.105519367,0.41207626373,-0.00556284191952,0.0499449045995,0.999999986696,0.000102755471972,-0.000123899957082,2.64086751519e-05,1793246508355453184
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.682919261,714,679,659,633.682919261,878,785,808,652,630,652.682919261,0.412832251659,-0.00556731659514,0.0499566599099,0.999999991152,0.00010161877349,-8.11941315248e-05,2.78714717684e-05,1793246508372119808
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.256343146,745.743656854,714,679,659.256343146,634,878,785.256343146,808.256343146,652,630,653,0.413598243402,-0.00556892828566,0.0499720092278,0.999999993079,0.000104158697773,-4.57468349277e-05,2.9987340974e-05,1793246508388786432
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.824924146,745.175075854,714,679,659.824924146,634,878,785.824924146,808.824924146,652,630,653,0.414376420356,-0.00556705272802,0.0499917362154,0.999999993096,0.000111176919235,-1.91407579921e-05,3.28986831389e-05,1793246508405452800
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.416731767,714,679,659.583268233,634,878,785.583268233,809,652,630,652.583268233,0.415148943681,-0.0055625334839,0.049975531416,0.999999991609,0.000116516716347,-4.63168516157e-05,3.25600932967e-05,1793246508422119168
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.982005196,714,679,659,634,878,785,809,652,630,652.017994804,0.415920390256,-0.00555720684579,0.0499442416401,0.999999987656,0.0001206180581,-9.5853336921e-05,3.08290428342e-05,1793246508438786048
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.407888474,714,679,659,634,878,785,809,652,630,652.592111526,0.416736298468,-0.00556327837873,0.0499408144448,0.999999988832,0.000109523593053,-9.6930419736e-05,3.07507326438e-05,1793246508455452672
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.834379906,745.165620094,714,679,659.165620094,634,878,785.165620094,809,652,630,653,0.417565580255,-0.00556913200537,0.0499465800394,0.99999999103,9.99830401983e-05,-8.34293895465e-05,3.13638142915e-05,1793246508472119296
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.262363651,745.737636349,714,679,659.737636349,634,878,785.737636349,809,652,630,653,0.418427677879,-0.00557445093637,0.0499749027673,0.999999994408,9.4255454844e-05,-3.41567990945e-05,3.36734230645e-05,1793246508488786176
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.677028292,714,679,659.677028292,634,878,785.677028292,809,652,630,653,0.419280889947,-0.00557478192729,0.0499786603115,0.999999994238,9.53806031508e-05,-3.46330974429e-05,3.50335012308e-05,1793246508505452800
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.080407901,714,679,659.080407901,634,878,785.080407901,809,652,630,653,0.420126573383,-0.0055708867173,0.049961604173,0.999999991148,0.000102311961706,-7.72608239131e-05,3.55890574176e-05,1793246508522119424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.500152781,634,878.500152781,785,809,652,630,653,0.42104490925,-0.00557122727758,0.0499707143633,0.999999993444,0.000100520966705,-4.17270683548e-05,3.5576321454e-05,1793246508538786304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.077559323,745,714.077559323,679,660.077559323,633.922440677,879,785.077559323,809.077559323,652.077559323,630,653,0.421972704343,-0.00557196468091,0.0499841706798,0.999999994593,9.76839434195e-05,2.75052677237e-06,3.5552764474e-05,1793246508555452928
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.650794909,745,714.650794909,679,660.650794909,633.349205091,879,785.650794909,809.650794909,652.650794909,630,653,0.422888627945,-0.00557102163829,0.0499993546177,0.999999994308,9.684479257e-05,2.65790473716e-05,3.60257773681e-05,1793246508572119808
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.769501709,745,714.769501709,679,660.769501709,633.230498291,879,785.769501709,810,652.769501709,630,653,0.423790387601,-0.00557124488738,0.0500015833246,0.999999994337,9.58286090554e-05,2.84127047434e-05,3.6554255452e-05,1793246508588786432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.179716629,745,714.179716629,679,660.179716629,633.820283371,879,785.179716629,810,652.179716629,630,653,0.424670069495,-0.00557328608126,0.0499836182038,0.999999994833,9.4536477603e-05,-4.03789628547e-06,3.71691893898e-05,1793246508605452800
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.402736533,745,714,679,660,634,879,785,810,652,630,653,0.425613358703,-0.0055770472453,0.0499907411914,0.999999995025,9.17048811849e-05,4.75465155711e-06,3.89605821666e-05,1793246508622119424
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.981976372,745,714,679,660,634,879,785,810,652,630,653,0.426584524399,-0.00558156220333,0.050008859294,0.999999994759,8.81985989243e-05,3.16224230954e-05,4.12675697253e-05,1793246508638786048
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444212244,745.555787756,714,679,659.444212244,633.444212244,879,785,810,652,630.555787756,652.444212244,0.427459710869,-0.00557995922999,0.0499976697319,0.99999999492,9.05070857475e-05,-1.41658487397e-05,4.20418745717e-05,1793246508655452672
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.867287933,714,679.132712067,659.132712067,633,879,785,810,652,631,652.132712067,0.428335006821,-0.00557788170966,0.049982400641,0.999999993224,9.237200038e-05,-5.69473997733e-05,4.21575984733e-05,1793246508672119552
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.279081097,714,679.720918903,659.720918903,633,879,785,810,652,631,652.720918903,0.429221257917,-0.00557484980432,0.0499563602529,0.999999991641,9.20735455073e-05,-8.14006696437e-05,4.01818808886e-05,1793246508688786176
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.30405891,745,714,679.69594109,659.69594109,633,879,785,810.30405891,652,631,652.69594109,0.430146666237,-0.0055743205636,0.0499521612108,0.999999992202,9.13278600318e-05,-7.55377413094e-05,3.93523579401e-05,1793246508705452800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.882624512,745,714,679.117375488,659.117375488,633,879,785,810.882624512,652,631,652.117375488,0.431107425949,-0.00557605074768,0.0499676807032,0.999999994257,9.01784113467e-05,-4.23051175841e-05,3.95576283062e-05,1793246508722119424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.538525043,745,714,679.461474957,659.461474957,633,879,785,810.538525043,652,630.538525043,652.461474957,0.43202741596,-0.00557895157758,0.0499545093474,0.99999999314,8.72987479754e-05,-6.70371653456e-05,4.00646302295e-05,1793246508738786048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.040069634,745,714,680,660,633,879,785,810,651.959930366,630,653,0.432937575977,-0.00558209272433,0.0499368475739,0.999999990546,8.39091501205e-05,-0.000101071050835,4.06540667303e-05,1793246508755452672
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.614287828,745,714,680,660,633,879,785,810,651.385712172,630,653,0.43385501521,-0.00558446577565,0.0499566654121,0.999999994029,7.95919524683e-05,-6.24469876909e-05,4.13187165417e-05,1793246508772119296
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,810.193215736,651.193215736,630,653,0.434751487415,-0.00558470563,0.049973199666,0.999999995416,7.83841877685e-05,-3.52419278812e-05,4.22115422007e-05,1793246508788786176
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,810.781780548,651.781780548,630,653,0.435605058028,-0.00558058063606,0.0499830152056,0.999999995068,8.35387999514e-05,-3.14018960928e-05,4.35712509218e-05,1793246508805452800
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,811,652,630.364150519,653,0.436441620996,-0.00557935577567,0.0499683183397,0.999999992905,8.6286228504e-05,-6.91671756871e-05,4.42697548458e-05,1793246508822119424
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,811,652,630.942870255,653,0.437268162461,-0.00557983976764,0.0499391779741,0.999999986529,8.76152663364e-05,-0.00013144764505,4.45786553827e-05,1793246508838786048
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,811,652,631,653,0.43817813938,-0.00558504675499,0.0499618007574,0.999999992972,7.9589983075e-05,-7.54155616355e-05,4.50973724021e-05,1793246508855452672
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.903714217,745,714,680.096285783,659.903714217,633,879,785,811.096285783,652,631,653,0.439076218511,-0.00558950208525,0.0499841602337,0.999999996141,7.24307766695e-05,-2.01509251851e-05,4.54567400828e-05,1793246508872119040
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.329272594,745,714,680.670727406,659.329272594,633,879,785,811.670727406,652,631,653,0.439869830357,-0.00558765571825,0.0499770567694,0.999999995658,7.46605799336e-05,-3.30507881079e-05,4.49106539828e-05,1793246508888785920
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.252116579,745,714.252116579,680.747883421,659.252116579,633,879,785,811.747883421,652,631,652.747883421,0.440645815801,-0.00558621680554,0.0499677153205,0.999999994931,7.58002080613e-05,-4.9247968743e-05,4.43542806806e-05,1793246508905452288
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.842836565,745,714.842836565,680.157163435,659.842836565,633,879,785,811.157163435,652,631,652.157163435,0.441398128167,-0.0055853251216,0.0499553681626,0.999999993752,7.54756839171e-05,-6.98735877943e-05,4.37840912618e-05,1793246508922118912
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714.57674183,680,660,633,879,785.42325817,811.42325817,652,631,652.42325817,0.442175152624,-0.00558742884902,0.049970438135,0.99999999556,7.22227616777e-05,-4.12086866784e-05,4.43317744241e-05,1793246508938786048
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714.000053321,680,660,633,879,785.999946679,811.999946679,652,631,652.999946679,0.442961135231,-0.00559061840769,0.0499954467677,0.999999996655,6.79083001438e-05,5.32393934532e-06,4.52846842968e-05,1793246508955452928
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.577752966,714,680,660,633.577752966,879,785.422247034,812,652,631,653,0.443676577701,-0.00559217195014,0.0499959133342,0.999999996624,6.76732400946e-05,-2.56860167327e-06,4.65468387947e-05,1793246508972119552
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.84517953,714,680.15482047,660,633.84517953,879,785,812,652,631,653,0.444370311909,-0.00559267115157,0.0499865829821,0.999999996331,6.78863954283e-05,-2.30599892024e-05,4.68867393669e-05,1793246508988786176
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.270117515,714,680.729882485,660,633.270117515,879,785,812,652,631,653,0.445005139521,-0.00559030888208,0.049950666233,0.999999993576,6.93151534335e-05,-7.77357716623e-05,4.47232151552e-05,1793246509005452800
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.312929042,633,879,785,812,652,631,653,0.445651767085,-0.00558800668385,0.0499408400293,0.999999993278,7.02787930319e-05,-8.11797328552e-05,4.3757732432e-05,1793246509022119168
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.903048209,633,879,785,812,652,631,653,0.446308846918,-0.00558575769642,0.0499541246312,0.99999999576,7.08304342976e-05,-3.92429397268e-05,4.38534657521e-05,1793246509038786048
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.485518338,681,660.514481662,633,879.485518338,785,812,651.514481662,631,653,0.446936228415,-0.00558189316367,0.0499698543233,0.999999996016,7.64842837805e-05,-1.30354787891e-05,4.41403312895e-05,1793246509055452672
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.934490595,680.934490595,660,633,879.934490595,785,812,651,631,653,0.447547116715,-0.0055788442142,0.0499808277724,0.999999995688,8.15371446716e-05,2.53718333685e-06,4.43755311394e-05,1793246509072119296
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.362047002,680.362047002,660,633,879.362047002,785,812,651,631,653,0.448075554547,-0.00558456422524,0.0499512761185,0.999999995474,7.41774585262e-05,-4.02571316092e-05,4.3920158495e-05,1793246509088786176
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.211726252,660,633,879,785,812.211726252,651.211726252,631,653,0.448594247826,-0.00558691853691,0.0499300520303,0.999999993994,7.0662458148e-05,-7.16638680212e-05,4.33928579818e-05,1793246509105452800
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.787787506,660,633,879,785,812.787787506,651.787787506,631,653,0.449096172782,-0.00558348120864,0.0499231578812,0.999999992882,7.37633298472e-05,-8.34750449552e-05,4.27417853507e-05,1793246509122119168
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680.625856322,660,633,879,785,812.625856322,652,631,653,0.449580417582,-0.00558088083881,0.0499321877996,0.999999993521,7.65906924258e-05,-7.21481609792e-05,4.34427136362e-05,1793246509138785792
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,680.03349565,660,633,879,785,812.03349565,652,631,653,0.450054350587,-0.0055787686195,0.0499505053318,0.99999999473,7.92585327545e-05,-4.73261465864e-05,4.49321880472e-05,1793246509155452672
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,812,652,631,653,0.450503298158,-0.00558205699863,0.0499683050502,0.999999995773,7.56274862879e-05,-2.46771245622e-05,4.61141748583e-05,1793246509172119296
+202,3.366666667,POSE1_TO_POSE2_PRESS,766.121095195,745,714,680,660,633,879,785,812,652,631,653,0.450935036591,-0.00558513176368,0.0499811227494,0.999999996238,7.20836813025e-05,-1.07980820583e-05,4.70147539329e-05,1793246509188785920
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.695581879,745,714,680,660,633,879,785,812,652,631,653,0.451307949365,-0.00558619483066,0.049975403517,0.999999996001,7.02800020765e-05,-2.92670135271e-05,4.69307181206e-05,1793246509205452800
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.722210725,745,714,680,660,633,879,785,812.277789275,652,631,653,0.451644263834,-0.00558553019917,0.0499614274206,0.999999994565,7.0577994728e-05,-6.0899804772e-05,4.66999474399e-05,1793246509222119424
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.131300669,745,714,680,660,633,879,785,812.868699331,652,631,653,0.451939325105,-0.00558291812637,0.0499381442853,0.999999990481,7.32449670506e-05,-0.000107370741701,4.63037788976e-05,1793246509238786048
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,812.549271023,652,631,653,0.452222964539,-0.00558445312939,0.0499215236815,0.999999987183,7.1232535885e-05,-0.000135822067864,4.59596312266e-05,1793246509255452672
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714,680.029954068,660,633,879,785,812.029954068,652,631,652.970045932,0.452502842826,-0.00558711327489,0.0499077872925,0.999999984267,6.78736595159e-05,-0.000157403906951,4.56368889717e-05,1793246509272119040
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680.604315576,660,633,879,785,812.604315576,652,631,652.395684424,0.45277366709,-0.00558869040153,0.0499118779696,0.999999985991,6.43396011182e-05,-0.000147694920124,4.54330850327e-05,1793246509288785920
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680.817331348,660,632.817331348,879.182668652,785,813,652,631,652.182668652,0.453034182821,-0.00558788885824,0.0499170131494,0.999999987624,6.42352143764e-05,-0.000136325394568,4.51713627074e-05,1793246509305452544
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680.23013893,660,632.23013893,879.76986107,785,813,652,631,652.76986107,0.453271870042,-0.00558181969765,0.0499244614028,0.999999989071,7.17259117559e-05,-0.000121278570608,4.47813788635e-05,1793246509322119168
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714,680.352101285,659.647898715,632.352101285,879.647898715,785,812.647898715,652,631,653,0.453481316385,-0.00558167239733,0.0499274824142,0.99999998962,7.2118054476e-05,-0.00011627760935,4.51533702885e-05,1793246509338785792
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714,680.931149615,659.068850385,632.931149615,879.068850385,785,812.068850385,652,631,653,0.45367256008,-0.00558534203417,0.0499276498456,0.999999989701,6.79348212968e-05,-0.000117751712014,4.60164931874e-05,1793246509355452416
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680.490408158,659,633,879.509591842,785,812,652,631,653,0.45382513413,-0.00558855987373,0.0499189895668,0.999999988459,6.45626852729e-05,-0.00012961243844,4.59812399756e-05,1793246509372119296
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680.087159383,659,632.912840617,879.912840617,785,812.087159383,652,631,653,0.453968342625,-0.00559058097668,0.0499094390369,0.999999986842,6.23486198475e-05,-0.000142625917786,4.56700034354e-05,1793246509388786176
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714,680.660306102,659,632.339693898,879.339693898,785,812.660306102,652,631,653,0.45408842731,-0.0055862692169,0.0499015670227,0.999999984937,6.59814658228e-05,-0.000154251545759,4.44959106005e-05,1793246509405452800
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714,680.759894444,659,632,879,785,813,651.759894444,631,653,0.454201246697,-0.00558392757946,0.0498958616508,0.999999983584,6.87781871177e-05,-0.000161831948502,4.37341892788e-05,1793246509422119168
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714,680.170414726,659,632,879,785,813,651.170414726,631,653,0.454303494445,-0.00558445263914,0.0498933089297,0.999999983205,7.0358275138e-05,-0.000163526201176,4.35725039282e-05,1793246509438785792
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714,680.414118632,659.414118632,632,879,785,813,651.414118632,631,653,0.454388704195,-0.00558650876835,0.0498918920967,0.999999983125,6.59077726802e-05,-0.00016592319976,4.32986945449e-05,1793246509455452416
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680.996640515,659.996640515,632,879,785,813,651.996640515,631,653,0.454466985362,-0.00558918751404,0.0498909371779,0.999999983122,5.90049027454e-05,-0.000168605973161,4.29792894085e-05,1793246509472119296
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.429683031,632,879,784.429683031,813,652,631,653,0.454527141677,-0.00558670343466,0.0498912156725,0.99999998331,6.04923406065e-05,-0.000167179369753,4.20935814474e-05,1793246509488785920
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.143966226,632,879.143966226,784,812.856033774,651.856033774,631,653,0.454581180337,-0.00558426064904,0.0498905457689,0.99999998309,6.23102796032e-05,-0.00016799706191,4.14067296597e-05,1793246509505452288
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.717687353,632,879.717687353,784,812.282312647,651.282312647,631,653,0.454617270955,-0.00558203052667,0.0498870234358,0.999999981621,6.49695187331e-05,-0.000175585377093,4.13232911775e-05,1793246509522118912
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680.698731937,659.698731937,632,879.698731937,784.301268063,812.301268063,651,631,653,0.454648162471,-0.00558152280362,0.0498841577027,0.999999980631,6.56794326518e-05,-0.000180898054538,4.12298039354e-05,1793246509538786048
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680.105599324,659.105599324,632,879.105599324,784.894400676,812.894400676,651,631,653,0.454674017169,-0.00558268371818,0.0498819280748,0.999999980145,6.45008661732e-05,-0.000184006124873,4.1126581578e-05,1793246509555452928
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680.474024072,659.474024072,632,879.474024072,785,813,651.474024072,631,653,0.454691301737,-0.00558502556219,0.0498801071794,0.999999979707,6.23373903472e-05,-0.00018699665366,4.1622292403e-05,1793246509572119552
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.949369905,745,714,681,660,632,879.949369905,785,813,652,630.949369905,653,0.454706404325,-0.00558727495682,0.0498785766524,0.999999979343,6.00247625425e-05,-0.000189566062383,4.21380018538e-05,1793246509588786176
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680.467942088,659,632,879.532057912,785,813,652,631,653,0.454731411128,-0.0055815462747,0.0498700204298,0.999999977082,6.21737950398e-05,-0.000200904077259,4.01073541896e-05,1793246509688785920
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.263868841,745,714.263868841,680.263868841,659,632,879.736131159,785,813,652,630.736131159,653,0.454734621517,-0.00557678595073,0.0498680381208,0.999999976189,6.45150799211e-05,-0.000204741706403,3.92493188213e-05,1793246509838786048
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.319423173,745,714,680,659.319423173,632,880,784.680576827,813,652,631,652.680576827,0.454734191433,-0.00557553253922,0.0498673352166,0.999999975854,6.54177191713e-05,-0.000206118932621,3.90853007669e-05,1793246509855452928
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.91389683,745,714,680,659.91389683,632,880,784.08610317,813,652,631,652.08610317,0.454734553627,-0.00557465466413,0.0498668175383,0.99999997574,6.64817961179e-05,-0.000206351247685,3.89869372346e-05,1793246509872119552
+244,4.066666667,HOLD_POSE2,766,745,714,681,660,632,879,785,813,652,631,653,0.454734650667,-0.0055782347427,0.0498671132885,0.99999997572,6.58264245694e-05,-0.000206595007711,3.93168904616e-05,1793246509903232512
+245,4.083333333,HOLD_POSE2,766,745,714,680.428188205,660,632,879,785,812.428188205,652,631,653,0.454734675715,-0.005577041042,0.0498670610862,0.999999975859,6.54767501733e-05,-0.000206044230215,3.92548304841e-05,1793246509919899136
+246,4.100000000,HOLD_POSE2,766,745,714,680,660,632,879,785,812.145044651,652,631,653,0.454734909577,-0.0055760277684,0.0498673278491,0.999999976001,6.54788682566e-05,-0.00020535418952,3.92516364886e-05,1793246509936565504
+247,4.116666667,HOLD_POSE2,766,745,714,680,660,632,879,785,812.722514285,652,631,653,0.454735765979,-0.00557555240602,0.04986854555,0.999999976151,6.65297933421e-05,-0.000204248960086,3.94239409972e-05,1793246509953232384
+248,4.133333333,HOLD_POSE2,766,745,714,680.308464112,659.691535888,632,879,785,813,652,631,653,0.454735978105,-0.00557621452753,0.0498687373121,0.999999976195,6.65457140522e-05,-0.000204007342867,3.95281107083e-05,1793246509969899008
+249,4.150000000,HOLD_POSE2,766,745,714,680.902258098,659.097741902,632,879,785,813,652,631,653,0.454735594274,-0.00557792882376,0.0498679800789,0.999999976142,6.56042537392e-05,-0.000204564568607,3.95692555958e-05,1793246509986565632
+250,4.166666667,HOLD_POSE2,766,745,714.481297938,680.518702062,659,632,879,785,813,652,631,653,0.454736259029,-0.00557782535681,0.0498678942515,0.999999976315,6.37423547465e-05,-0.00020437974519,3.91880154173e-05,1793246510003232512
+251,4.183333333,HOLD_POSE2,766.05725221,745,714.94274779,680,659,632,879,784.94274779,813,652,631,653,0.454737120254,-0.00557745067811,0.0498680165641,0.999999976513,6.19310347715e-05,-0.000204040815274,3.87943242271e-05,1793246510019899136
+252,4.200000000,HOLD_POSE2,766.631595073,745,714.368404927,680,659,632,879,784.368404927,813,652,631,653,0.454737889872,-0.00557786140114,0.0498688239073,0.99999997657,6.22145679695e-05,-0.000203630593426,3.90398639914e-05,1793246510036565760
+253,4.216666667,HOLD_POSE2,766.788119164,745,714,680.211880836,659.211880836,632,879,784.211880836,812.788119164,652,631,653,0.454738171741,-0.00557744294045,0.0498689854159,0.99999997647,6.35797249387e-05,-0.000203693687047,3.90682776546e-05,1793246510053232384
+254,4.233333333,HOLD_POSE2,766.197202138,745,714,680.802797862,659.802797862,632,879,784.802797862,812.197202138,652,631,653,0.454737581073,-0.00557554114289,0.049867991583,0.999999976083,6.6879811729e-05,-0.000204603500478,3.87082717813e-05,1793246510069899008
+255,4.250000000,HOLD_POSE2,766,745,714,681,659.616405044,632,879,785,812.383594956,652,631,653,0.454737665334,-0.00557611701484,0.0498678737234,0.999999976069,6.70943160597e-05,-0.000204569303943,3.88821576084e-05,1793246510086565888
+256,4.266666667,HOLD_POSE2,766,745,714,681,659.040676725,632,879,785,812.959323275,652,631,653,0.454738087651,-0.00557793389087,0.0498681946174,0.999999976244,6.57633276423e-05,-0.000204062275909,3.93234567428e-05,1793246510103232512
+257,4.283333333,HOLD_POSE2,766,745,714,681,659.537213301,632,879,785,812.462786699,652,630.462786699,653,0.454738507504,-0.00557847127161,0.0498684257762,0.999999976454,6.52999425401e-05,-0.000203147016127,3.94741838922e-05,1793246510119898880
+258,4.300000000,HOLD_POSE2,766,745,714,681,659.885944441,632,879,785,812.114055559,652,630.114055559,653,0.454738876677,-0.00557847748263,0.0498686753091,0.999999976581,6.50423965543e-05,-0.000202598629331,3.95118115496e-05,1793246510136565760
+259,4.316666667,HOLD_POSE2,766,745,714,681,659.313968493,632,879,785,812.686031507,652,630.686031507,653,0.454739043128,-0.00557674164372,0.0498690260016,0.999999976361,6.53464551132e-05,-0.000203647800098,3.91840479584e-05,1793246510153232384
+260,4.333333333,HOLD_POSE2,766,745.268200513,714,681,659.268200513,632,879.268200513,785,813,652,631,653,0.454739080368,-0.00557627188831,0.0498689860319,0.999999976284,6.48095245829e-05,-0.000204220872524,3.90597642562e-05,1793246510169899008
+261,4.350000000,HOLD_POSE2,766,745.862773384,714,681,659.862773384,632,879.862773384,785,813,652,631,653,0.45473896037,-0.00557734282602,0.0498684706667,0.99999997638,6.32491970593e-05,-0.000204214582316,3.91830946104e-05,1793246510186565632
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660,632,879,784,812,652,631,653,0.454737170115,-0.00557502986897,0.0498665968144,0.999999975734,6.64759615846e-05,-0.000206497212934,3.83639769298e-05,1793246510219252736
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.426526483,632,879,784.573473517,812.573473517,652,631,653,0.454737835463,-0.00557484404316,0.049867918212,0.999999975994,6.72626883411e-05,-0.000204930595086,3.86049854987e-05,1793246510235919616
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.849063131,745,714.150936869,681,659,632,879.150936869,785,812.849063131,652,631,653,0.454738276925,-0.00557536134427,0.0498687813981,0.999999976221,6.69608675204e-05,-0.000203864117935,3.89033043706e-05,1793246510252586496
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.260018804,745,714.739981196,681,659,632,879.739981196,785,812.260018804,652,631,653,0.454738068537,-0.00557791953269,0.0498683145854,0.99999997635,6.34994423585e-05,-0.000204249342521,3.93679714642e-05,1793246510269253376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.323337904,745,714.676662096,680.676662096,659.323337904,632,879.676662096,785,812.323337904,652,631,653,0.454738888219,-0.00557674754015,0.0498684044447,0.99999997642,6.40809530906e-05,-0.000203808777749,3.89388359538e-05,1793246510285920000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.902199827,745,714.097800173,680.097800173,659.902199827,632,879.097800173,785,812.902199827,652,631,653,0.454740520354,-0.00557262769995,0.0498689342248,0.999999976436,6.78574721439e-05,-0.000202715616976,3.78033556584e-05,1793246510302586624
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.479100596,745,714,680.479100596,660,632,879,785,812.520899404,652,630.520899404,653,0.454739280346,-0.00557299683806,0.0498688646724,0.999999976241,6.79476038845e-05,-0.000203535087919,3.84054103142e-05,1793246510319253504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.890032961,745,714.054983519,680.945016481,659.945016481,632,879,785,812.054983519,652,630.054983519,653,0.454737018605,-0.00557416205715,0.0498683235836,0.999999975939,6.71465245433e-05,-0.000205126172864,3.91940560106e-05,1793246510335920384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.749867593,745,714.625066204,680.374933796,659.374933796,632,879,785,812.625066204,652,630.625066204,653,0.454730655219,-0.00557423558257,0.0498645064962,0.999999975035,6.50173454342e-05,-0.000210303185677,3.84214744062e-05,1793246510352586752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,744.795141322,714.795141322,680,659,632,879,785,812.795141322,652,631,653,0.454719652035,-0.00557402336919,0.0498585604182,0.999999973261,6.4450197491e-05,-0.000218854447684,3.77850100402e-05,1793246510369252864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,744.196693783,714.196693783,680,659,632,879,785,812.196693783,652,631,653,0.454699734546,-0.00557326217438,0.0498485239742,0.999999969712,6.68841336166e-05,-0.000233888553281,3.74100637441e-05,1793246510385919488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.386465993,744,714,680.386465993,659,632,879.386465993,785,812.386465993,652,630.613534007,653,0.454660739659,-0.0055702517391,0.0498306655259,0.9999999622,6.96203520781e-05,-0.000263514237589,3.62312082299e-05,1793246510402586112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.962141118,744,714,680.962141118,659,632,879.962141118,785,812.962141118,652,630.037858882,653,0.454612404702,-0.00556614010251,0.0498089775168,0.999999951686,7.25045645021e-05,-0.000300283785498,3.4658768299e-05,1793246510419252480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,744.536972451,714,681,659,632,879.463027549,785,812.463027549,652,630.536972451,653,0.454545272156,-0.00556659428321,0.0497861348383,0.999999941855,7.12526648331e-05,-0.000331802580211,3.34809114407e-05,1793246510435919616
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.114814232,681,659,632,879,785,812,652,631,653,0.454474920084,-0.00556667024281,0.0497647489755,0.999999931955,7.02245365753e-05,-0.000360714675649,3.23038494271e-05,1793246510452586496
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.705376499,681,659,632,879,785,812,652,631,653,0.454396710448,-0.00556384720959,0.049749736416,0.999999924639,7.13300794514e-05,-0.000380357146351,3.10149864616e-05,1793246510469253120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.709684388,680.709684388,659,632,879,785,812,652,631,653,0.454312188894,-0.00556000043481,0.0497409994267,0.999999920324,7.29213516878e-05,-0.000391350251794,2.96510841281e-05,1793246510485919744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.130343473,680.130343473,659,632,879,785,812,652,631,653,0.45422138348,-0.00555513446865,0.0497385101166,0.999999919277,7.49961944133e-05,-0.000393732433022,2.82124760253e-05,1793246510502586368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.447502914,659,632,879,785,812.447502914,652,631,653,0.454114930311,-0.0055497736138,0.0497410381383,0.999999920192,7.94691973597e-05,-0.000390557675919,2.76576660472e-05,1793246510519252992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.975288204,659.024711796,632,879.024711796,785,813,652,631,653,0.454002543549,-0.00554433616739,0.0497450063804,0.999999921625,8.45259280109e-05,-0.000385819793082,2.73713956367e-05,1793246510535919360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.40259494,659.59740506,632,879.59740506,785,813,652,631,653,0.453859309991,-0.00554038607997,0.0497486130518,0.999999922798,8.70889688854e-05,-0.000382191706368,2.73506457061e-05,1793246510552586240
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.824594474,745,714,680,660,632,879.824594474,785,812.824594474,652,631,653,0.453708672249,-0.00553573278346,0.049752206277,0.999999923799,9.0426224387e-05,-0.000378797699065,2.71607128299e-05,1793246510569252864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.234032813,745,714,680,660,632,879.234032813,785,812.234032813,652,631,653,0.453540510037,-0.00552941510682,0.0497557676772,0.999999924406,9.55959186643e-05,-0.000375957719889,2.65703516517e-05,1793246510585919488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.349016571,745,714,680.349016571,660,632.349016571,879,785,812,651.650983429,631,653,0.453350662618,-0.00552223996342,0.0497589644785,0.999999924889,0.000101096220236,-0.000373288242646,2.56249683502e-05,1793246510602586368
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.927134801,745,714,680.927134801,660,632.927134801,879,785,812,651.072865199,631,653,0.453146580565,-0.00551450196057,0.0497619219498,0.999999925276,0.000106813539751,-0.000370730686092,2.44465411618e-05,1793246510619253248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.501558907,680.498441093,659.498441093,632.498441093,879,785,812,651,631,653,0.452909705172,-0.00550626046968,0.0497662363629,0.999999925082,0.000112635535644,-0.000369545902571,2.42042296611e-05,1793246510635919616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.924465891,680,659,632.075534109,879,785,812,651.075534109,630.924465891,653,0.452662102167,-0.00549800351787,0.0497705305599,0.999999924865,0.000118288547781,-0.000368380474418,2.3946983511e-05,1793246510652585984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.349936531,680,659,632.650063469,879,785,812,651.650063469,630.349936531,653,0.452374872857,-0.00549012410629,0.0497733984246,0.999999925221,0.000122725490924,-0.000366035045718,2.2699221076e-05,1793246510669252864
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.23212469,680.23212469,659,632.76787531,879,785,812,652,630.23212469,653,0.45207352566,-0.00548097077975,0.0497738221748,0.999999924629,0.000128784457073,-0.000365652905529,2.13245680105e-05,1793246510685919232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.825921214,680.825921214,659,632.174078786,879,785,812,652,630.825921214,653,0.451750181502,-0.0054698325758,0.0497704377674,0.999999922536,0.000137370685496,-0.000368329751381,1.97522076272e-05,1793246510702586112
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.591063684,681,659.408936316,632.408936316,879.408936316,785,812,652,631,653,0.451400881316,-0.00545811214138,0.0497666652182,0.999999921741,0.000144904922869,-0.000367731351197,1.71803975187e-05,1793246510719253248
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.505705957,745,714,679,658.494294043,634,877,785.494294043,808,652.494294043,629,652,0.401798469783,-0.00540488598504,0.0498147846607,0.999999937724,9.74069881643e-05,-0.000336648464032,-4.16027224292e-05,1793246511985919744
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.564325712,745.564325712,714,678.564325712,659,634,877,786,808,652,629,652,0.400984282995,-0.00543025342653,0.049847113894,0.999999961562,6.65377893067e-05,-0.000266146341421,-4.01851472853e-05,1793246512385919744
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.172561502,659,634,877,786,808,652,629,652,0.400982828381,-0.00543094161595,0.0498470390437,0.999999961445,6.56545379619e-05,-0.000266839512662,-3.99484114937e-05,1793246512419253248
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745.165839839,714,679.834160161,659,634,877,786,808,652.165839839,629,652,0.400981666392,-0.00543059899171,0.0498466511035,0.999999961219,6.63850072121e-05,-0.00026750633025,-3.99461631504e-05,1793246512435919872
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745.759335132,714,679.240664868,659,634,877,786,808,652.759335132,629,652,0.400981300442,-0.00543052106759,0.0498458461731,0.999999961144,6.6660157696e-05,-0.000267715825157,-3.99623630789e-05,1793246512452586496
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.50206395,745,714,679,658,634,877.50206395,786,807.49793605,652,629,652,0.400983758922,-0.00543194731265,0.0498483582437,0.999999962562,6.55579463399e-05,-0.000262692063332,-3.96241649767e-05,1793246512502586112
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.92607449,658.07392551,634,877,786,808,652,629.07392551,652,0.40098277225,-0.00543181995769,0.0498476976478,0.999999962368,6.54560700384e-05,-0.000263453097162,-3.96438169798e-05,1793246512519252992
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,678,659,634,877.823987802,785.176012198,808,652,629.176012198,652,0.40098367613,-0.00543319719591,0.0498479942232,0.999999962326,6.52888019091e-05,-0.00026370839868,-3.92914358407e-05,1793246512569252864
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.018395229,714,678.981604771,658.018395229,634,877.018395229,785.981604771,808,652,629,652,0.400982128692,-0.00543320785351,0.0498475240679,0.999999962504,6.20743876551e-05,-0.000263745903953,-3.97175872339e-05,1793246512602586368
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78581092e81480d447d0bc605d6ea3e99e347637
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+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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+16,0.266666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+367,6.116666667,pose2_to_pose3_retreat,0.584011626702,-7.22244429126e-05,1.04004258016,0.5545834196,0.00860223866155,1.03966596244
+368,6.133333333,pose2_to_pose3_retreat,0.583895230489,-7.21915916008e-05,1.04004247121,0.55446702243,0.00860226832481,1.03966585492
+369,6.150000000,pose2_to_pose3_retreat,0.583792817392,-7.21413914989e-05,1.0400423433,0.554364609101,0.0086023181729,1.03966573706
+370,6.166666667,pose2_to_pose3_retreat,0.583703023401,-7.21686248048e-05,1.0400423822,0.554274815,0.00860229024387,1.03966576903
+371,6.183333333,pose2_to_pose3_retreat,0.583622537934,-7.20931625177e-05,1.04004238815,0.554194328627,0.00860236252928,1.03966577257
+372,6.200000000,pose2_to_pose3_retreat,0.583550782151,-7.21287633715e-05,1.04004225729,0.554122573592,0.00860232954425,1.03966564345
+373,6.216666667,pose2_to_pose3_retreat,0.58348848844,-7.21569184932e-05,1.04004228698,0.554060281206,0.00860230616248,1.03966567951
+374,6.233333333,pose2_to_pose3_retreat,0.583435339638,-7.20858749056e-05,1.04004252984,0.554007132648,0.00860237824639,1.03966592721
+375,6.250000000,pose2_to_pose3_retreat,0.583391701969,-7.21053085531e-05,1.04004238896,0.553963494342,0.00860235616444,1.03966577508
+376,6.266666667,pose2_to_pose3_retreat,0.583356320967,-7.20807951618e-05,1.04004247829,0.553928112227,0.00860237699204,1.03966586651
+377,6.283333333,pose2_to_pose3_retreat,0.583328758017,-7.22109905669e-05,1.04004231083,0.553900550032,0.00860224962055,1.03966570516
+378,6.300000000,pose2_to_pose3_retreat,0.583306359155,-7.21549477223e-05,1.04004233671,0.553878150115,0.0086023020388,1.0396657299
+379,6.316666667,pose2_to_pose3_retreat,0.58328876845,-7.20271586534e-05,1.04004253194,0.553860558038,0.00860242485196,1.03966591783
+380,6.333333333,pose2_to_pose3_retreat,0.583275548662,-7.21879542927e-05,1.04004263564,0.553847340844,0.00860227259369,1.03966601548
+381,6.350000000,pose2_to_pose3_retreat,0.583265983763,-7.21225835515e-05,1.04004236498,0.553837775564,0.00860233691556,1.03966575043
+382,6.366666667,pose2_to_pose3_retreat,0.583259315286,-7.20950187247e-05,1.04004224393,0.553831106894,0.00860236398011,1.03966563297
+383,6.383333333,pose2_to_pose3_retreat,0.58325489903,-7.21051308419e-05,1.04004224633,0.553826690733,0.00860235424891,1.03966563676
+384,6.400000000,pose2_to_pose3_retreat,0.583252634496,-7.21910544973e-05,1.04004228892,0.553824427164,0.00860227154004,1.03966567799
+385,6.416666667,pose2_to_pose3_retreat,0.58325056691,-7.23062428909e-05,1.04004234663,0.553822360877,0.00860216066075,1.03966573351
+386,6.433333333,pose2_to_pose3_retreat,0.583248838368,-7.233726914e-05,1.04004239352,0.553820632701,0.00860213068854,1.03966577605
+387,6.450000000,pose2_to_pose3_retreat,0.583248002663,-7.22819050731e-05,1.04004241475,0.553819796398,0.00860218381499,1.03966579246
+388,6.466666667,pose2_to_pose3_retreat,0.583247482019,-7.22474133158e-05,1.04004242797,0.553819275382,0.00860221691272,1.03966580268
+389,6.483333333,pose2_to_pose3_retreat,0.583247001183,-7.22155586725e-05,1.04004244018,0.553818794202,0.00860224747991,1.03966581212
+390,6.500000000,pose2_to_pose3_retreat,0.58324692092,-7.22081708136e-05,1.04004244098,0.553818713856,0.00860225457816,1.03966581273
+391,6.516666667,pose2_to_pose3_retreat,0.583246707627,-7.21590753976e-05,1.0400424255,0.553818499979,0.00860230184105,1.03966580067
+392,6.533333333,pose2_to_pose3_retreat,0.583246617237,-7.21382696066e-05,1.04004241893,0.553818409342,0.00860232187024,1.03966579556
+393,6.550000000,pose2_to_pose3_retreat,0.583246331352,-7.20724649397e-05,1.04004239818,0.553818122674,0.00860238521869,1.0396657794
+394,6.566666667,pose2_to_pose3_retreat,0.583246015549,-7.19997738146e-05,1.04004237526,0.553817806006,0.00860245519655,1.03966576154
+395,6.583333333,pose2_to_pose3_retreat,0.58324581337,-7.19532366873e-05,1.04004236059,0.553817603274,0.00860249999664,1.03966575011
+396,6.600000000,pose2_to_pose3_retreat,0.58324579676,-7.19494132319e-05,1.04004235938,0.553817586618,0.00860250367738,1.03966574917
+397,6.616666667,pose2_to_pose3_retreat,0.583245726935,-7.1957852537e-05,1.04004238206,0.55381751661,0.00860249456356,1.03966577061
+398,6.633333333,pose2_to_pose3_retreat,0.583245654469,-7.19791216726e-05,1.04004241975,0.553817443959,0.00860247255632,1.0396658058
+399,6.650000000,pose2_to_pose3_retreat,0.58324556154,-7.20063971487e-05,1.0400424681,0.553817350792,0.00860244433431,1.03966585093
+400,6.666666667,pose2_to_pose3_retreat,0.58324552236,-7.20178969199e-05,1.04004248848,0.553817311511,0.00860243243546,1.03966586996
+401,6.683333333,pose2_to_pose3_retreat,0.583245471314,-7.20328793535e-05,1.04004251503,0.553817260334,0.00860241693309,1.03966589475
+402,6.700000000,pose2_to_pose3_retreat,0.583245439795,-7.20523159315e-05,1.04004250661,0.553817229122,0.00860239854798,1.03966588661
+403,6.716666667,pose2_to_pose3_retreat,0.583245417346,-7.2086189973e-05,1.0400424518,0.553817207652,0.00860236812185,1.0396658347
+404,6.733333333,pose2_to_pose3_retreat,0.583245396769,-7.21172396425e-05,1.04004240156,0.553817187972,0.00860234023261,1.03966578712
+405,6.750000000,pose2_to_pose3_retreat,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274893,1.03966575729
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52647921b1162d38ccb90aea8e66e9137d5570a5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f9109150f538755d52f2fbc01da7eafa7f32426d9dba1c94f7f88c6dc3b3a33
+size 25794584
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05d9b0aeb670837920009a31dc111103b0ba2b41
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+33,0.550000000,BASELINE,766,745,714,678.16838493,658.83161507,634,877.16838493,786,808,652,629,652,0.400980184501,-0.00543284120468,0.0498491509714,0.999999962985,6.45901377567e-05,-0.000261417161288,-3.898114188e-05,1793246513297206016
+34,0.566666667,BASELINE,766,745,714,678.746463417,658.253536583,634,877.746463417,786,808,652,629,652,0.400980548982,-0.00543440282982,0.0498493253869,0.999999963123,6.27332421351e-05,-0.000261354456177,-3.88770354896e-05,1793246513313872640
+35,0.583333333,BASELINE,765.676397214,745,714.323602786,678.676397214,658.323602786,634,877.676397214,786,808,652,629,652,0.400981086518,-0.00543449424655,0.0498495566724,0.999999963176,6.32478489067e-05,-0.000261038991535,-3.88225754188e-05,1793246513330539008
+36,0.600000000,BASELINE,765.099991437,745,714.900008563,678.099991437,658.900008563,634,877.099991437,786,808,652,629,652,0.400981759247,-0.00543343711621,0.0498498323855,0.999999963157,6.56151060984e-05,-0.000260526067628,-3.88068997314e-05,1793246513347205632
+37,0.616666667,BASELINE,765,745,714.515472491,678.484527509,658.515472491,634,877,785.515472491,808,652,629,652,0.400981606806,-0.00543286952223,0.0498497670792,0.999999963232,6.52337591804e-05,-0.000260270668691,-3.92299100109e-05,1793246513363872512
+38,0.633333333,BASELINE,765,745,714,679,658.069920473,634,877,785.069920473,808,652,629,652.069920473,0.400981347455,-0.00543252319418,0.0498496189524,0.999999963309,6.44091815439e-05,-0.000260121557167,-3.96309615852e-05,1793246513380539136
+39,0.650000000,BASELINE,765,745,714,679,658.649275158,634,877,785.649275158,808,652,629,652.649275158,0.400981571015,-0.00543304039482,0.0498493888868,0.999999963256,6.4558405362e-05,-0.000260353041102,-3.92011896546e-05,1793246513397206016
+40,0.666666667,BASELINE,765,745,714,679,659,634,877.227502856,786,808,652.227502856,629,652.772497144,0.400981663734,-0.00543348174819,0.0498494685033,0.999999963229,6.51455216985e-05,-0.000260367005413,-3.88154971181e-05,1793246513413872640
+41,0.683333333,BASELINE,765,745,714,679,659,634,877.804001688,786,808,652.804001688,629,652.195998312,0.400981555739,-0.00543380674961,0.049850023181,0.999999963242,6.64043778458e-05,-0.000260047288302,-3.84974236759e-05,1793246513430539264
+42,0.700000000,BASELINE,765.380133415,745,714,678.619866585,659.380133415,634,877.619866585,786,807.619866585,653,629,652,0.40098175653,-0.00543282876659,0.049850127756,0.999999963237,6.69264997554e-05,-0.000259910681995,-3.86361343039e-05,1793246513447205632
+43,0.716666667,BASELINE,765.956076026,745,714,678.043923974,659.956076026,634,877.043923974,786,807.043923974,653,629,652,0.400982116379,-0.0054311796078,0.0498500004802,0.999999963224,6.70691250275e-05,-0.000259868397263,-3.90101373878e-05,1793246513463872000
+44,0.733333333,BASELINE,766,745,714,678.546862079,659.453137921,634,877,786,807.546862079,652.453137921,629,652,0.40098145949,-0.0054312502293,0.0498497036572,0.999999962994,6.79862463217e-05,-0.000260511621823,-3.90368887019e-05,1793246513480538880
+45,0.750000000,BASELINE,765.864661132,745,714,679,659,634,877,786,808,652,629,652,0.400981029866,-0.00543156831579,0.0498495884152,0.9999999629,6.83166129014e-05,-0.000260787884119,-3.90167798607e-05,1793246513497205248
+46,0.766666667,BASELINE,765.287718195,745,714,679,659,634,877,786,808,652,629,652,0.400981615701,-0.00543223057261,0.049850111338,0.999999963312,6.65237841665e-05,-0.000259682095465,-3.89373156185e-05,1793246513513872128
+47,0.783333333,BASELINE,765,745,714,678.71185367,659,634,877,785.71185367,807.71185367,652,629.28814633,652,0.400981467669,-0.00543276182412,0.049850183894,0.99999996336,6.58644689762e-05,-0.000259668486963,-3.89021342019e-05,1793246513530539008
+48,0.800000000,BASELINE,765,745,714,678.137061872,659,634,877,785.137061872,807.137061872,652,629.862938128,652,0.400980589593,-0.00543316275274,0.0498498084291,0.99999996305,6.63327630072e-05,-0.000260741369662,-3.89110049461e-05,1793246513547205888
+49,0.816666667,BASELINE,765,745,714,678.448667136,658.551332864,634,877,785.448667136,807.448667136,652,629.551332864,652,0.40098091561,-0.00543268714951,0.0498499507032,0.999999963108,6.63561424915e-05,-0.000260494642685,-3.90411868355e-05,1793246513563872512
+50,0.833333333,BASELINE,764.962831271,745,714,679,658.037168729,634,877,785.962831271,807.962831271,652,629,652,0.400981621477,-0.0054320513975,0.0498502558734,0.999999963297,6.61535546373e-05,-0.000259798693514,-3.9181799983e-05,1793246513580539136
+51,0.850000000,BASELINE,764.38383472,745,714,679,658.61616528,634,877,785.38383472,807.38383472,652,629,652,0.400982368521,-0.00543308201004,0.0498505724404,0.999999963719,6.46877398906e-05,-0.000258577568497,-3.89207493992e-05,1793246513597205760
+52,0.866666667,BASELINE,764.193701304,745,714,678.806298696,658.806298696,634,877,785.193701304,807.193701304,652,629,652,0.400982684193,-0.005433945817,0.0498507061858,0.999999963955,6.38914462627e-05,-0.000257894395862,-3.87174776245e-05,1793246513613872384
+53,0.883333333,BASELINE,764.768364801,745,714,678.231635199,658.231635199,634,877,785.768364801,807.768364801,652,629,652,0.400982151465,-0.0054344815589,0.0498504803667,0.999999963828,6.4411933914e-05,-0.000258269241575,-3.86278423844e-05,1793246513630539008
+54,0.900000000,BASELINE,765,745,714,678,658,634,877,786,807.657081842,652,629,652,0.400982315855,-0.00543435556768,0.0498505492743,0.999999963834,6.43514340845e-05,-0.000258253419883,-3.86842355101e-05,1793246513647205376
+55,0.916666667,BASELINE,765,745,714,678,658,634,877,786,807.08260288,652,629,652,0.400982950986,-0.0054337827309,0.0498508172008,0.999999963929,6.38986134307e-05,-0.000257973793955,-3.88392365574e-05,1793246513663872000
+56,0.933333333,BASELINE,765,745,714,678.506735147,658.506735147,634,877,786,807.506735147,652,629,652,0.400981410865,-0.00543251595069,0.0498504361981,0.99999996351,6.48075469775e-05,-0.000259348158929,-3.89565127104e-05,1793246513680538624
+57,0.950000000,BASELINE,765.096144037,745,714,679,659,634,877.096144037,786,808,652,629,652,0.400980101222,-0.00543167164714,0.0498501517412,0.999999963157,6.56279846854e-05,-0.000260498230883,-3.89702366664e-05,1793246513697204992
+58,0.966666667,BASELINE,765.673419917,745,714,679,659,634,877.673419917,786,808,652,629,652,0.400981773018,-0.00543352471984,0.0498508957806,0.99999996358,6.48611583391e-05,-0.000259135878255,-3.84974598752e-05,1793246513713872128
+59,0.983333333,BASELINE,766,745,714,679,658.749587616,634,877.749587616,785.749587616,808,652,629,652,0.400982426282,-0.00543457120957,0.0498510454509,0.999999963753,6.4036924371e-05,-0.000258690791539,-3.8383178359e-05,1793246513730538752
+60,1.000000000,BASELINE,766,745,714,679,658.17296427,634,877.17296427,785.17296427,808,652,629,652,0.400981752709,-0.00543456696795,0.0498504208397,0.999999963602,6.31379056746e-05,-0.000259440622361,-3.87359067835e-05,1793246513747205376
+61,1.016666667,BASELINE,765.596490565,745,714,679,658.403509435,634,877,785,808,652,629,652,0.400981204153,-0.00543434871946,0.0498504186594,0.999999963399,6.49952040354e-05,-0.000259751968386,-3.88077951575e-05,1793246513763872256
+62,1.033333333,BASELINE,765.020081014,745,714,679,658.979918986,634,877,785,808,652,629,652,0.400980709166,-0.00543403877098,0.0498506831852,0.999999963167,6.8033559188e-05,-0.000259875427625,-3.87593461079e-05,1793246513780538880
+63,1.050000000,BASELINE,765,745,714,678.428422781,658.428422781,634,877,785.571577219,808,652,629,652,0.400982658142,-0.00543281324635,0.049851802197,0.999999963658,6.87239406998e-05,-0.000257779099689,-3.88822325516e-05,1793246513797205504
+64,1.066666667,BASELINE,765,745,714,678,658,634,877,785.840808365,807.840808365,652,629,652,0.40098430521,-0.00543223804837,0.0498526891738,0.999999964118,6.85357691994e-05,-0.000256038477497,-3.8860786253e-05,1793246513813872128
+65,1.083333333,BASELINE,765,745,714,678,658,634,877,785.265211329,807.265211329,652,629,652,0.400984931807,-0.00543345038788,0.0498528885269,0.999999964441,6.62712120251e-05,-0.000255437878208,-3.84456246935e-05,1793246513830538496
+66,1.100000000,BASELINE,765,745,714,678.310570342,658,634,877,785.310570342,807.310570342,652,629,652,0.400984605203,-0.00543337095512,0.0498525591272,0.999999964367,6.62119860727e-05,-0.000255750748003,-3.83760898002e-05,1793246513847205376
+67,1.116666667,BASELINE,765,745,714,678.886509749,658,634,877,785.886509749,807.886509749,652,629,652,0.400983464129,-0.00543218775819,0.0498517779309,0.999999963956,6.80371213667e-05,-0.000256844138057,-3.86018781197e-05,1793246513863872256
+68,1.133333333,BASELINE,765.47466843,745,714,678.52533157,658,634,877,785.52533157,808,652,629,652,0.400981784462,-0.00543279921503,0.049850834005,0.999999963488,6.73381031994e-05,-0.000258824935809,-3.87102402977e-05,1793246513880538880
+69,1.150000000,BASELINE,765.935751996,745.064248004,714,678.064248004,658,634,877,785,808,652,628.935751996,652,0.400980322087,-0.00543366046326,0.0498500450038,0.9999999631,6.6228745037e-05,-0.000260596442426,-3.87792308808e-05,1793246513897204992
+70,1.166666667,BASELINE,765.358765037,745.641234963,714,678.641234963,658,634,877,785,808,652,628.358765037,652,0.40098164869,-0.00543300030975,0.04985081111,0.999999963488,6.67882615911e-05,-0.000258959655923,-3.87639948081e-05,1793246513913871616
+71,1.183333333,BASELINE,765,745.78273251,714,679,658.21726749,634,877,785,807.78273251,652,628.21726749,652,0.400981967948,-0.00543320430189,0.049851174808,0.999999963686,6.63826209674e-05,-0.000258324278618,-3.86106420495e-05,1793246513930538240
+72,1.200000000,BASELINE,765,745.208269014,714,679,658.791730986,634,877,785,807.208269014,652,628.791730986,652,0.400980631093,-0.00543482898224,0.0498508769315,0.999999963569,6.43902253704e-05,-0.000259335255814,-3.82302202107e-05,1793246513947205120
+73,1.216666667,BASELINE,765,745,714,679,658.634035268,634,877,785,807,652,629,652.365964732,0.400980207126,-0.00543370072786,0.04985087803,0.999999963379,6.51856910742e-05,-0.000259812986685,-3.85886844095e-05,1793246513963871744
+74,1.233333333,BASELINE,765,745,714,679,658.059932226,634,877,785,807,652,629,652.940067774,0.400980302353,-0.00543100677283,0.0498510491671,0.999999963146,6.75667215467e-05,-0.000259987439667,-3.93673817252e-05,1793246513980538112
+75,1.250000000,BASELINE,765,745,714,679,658.531923718,634,877.531923718,785,807,652,629,652.468076282,0.400979568809,-0.00543209978341,0.0498504606946,0.999999963055,6.69343252869e-05,-0.000260521555989,-3.92208504824e-05,1793246513997205248
+76,1.266666667,BASELINE,765,745,714,679,658.877436764,634,877.877436764,785,807.122563236,652,629,652,0.400979238564,-0.0054333768026,0.0498498258051,0.999999963021,6.62875846504e-05,-0.000260851756279,-3.90035960571e-05,1793246514013872128
+77,1.283333333,BASELINE,765,745,714,679,658.299018015,634,877.299018015,785,807.700981985,652,629,652,0.400980767629,-0.00543369644774,0.0498493475886,0.999999963135,6.68939056737e-05,-0.000260267596418,-3.89244125054e-05,1793246514030538752
+78,1.300000000,BASELINE,765,744.722686107,714,679,658.277313893,634,877,785.277313893,808,652,629,652,0.400981491945,-0.00543378759176,0.0498494974081,0.999999963333,6.71309487259e-05,-0.000259452427597,-3.88815275659e-05,1793246514047205376
+79,1.316666667,BASELINE,765,744.148587599,714,679,658.851412401,634,877,785.851412401,808,652,629,652,0.400981355008,-0.00543363419114,0.0498503193592,0.999999963619,6.69727860765e-05,-0.000258390030288,-3.88774898363e-05,1793246514063871744
+80,1.333333333,BASELINE,765,744.43667938,714,678.56332062,658.56332062,634,877,786,807.56332062,652,629.43667938,652,0.400981618694,-0.00543356583635,0.0498504153255,0.999999963778,6.63835097386e-05,-0.000257921145341,-3.89116486069e-05,1793246514080538112
+81,1.350000000,BASELINE,765,745,714,678.025191281,658.025191281,634,877,785.974808719,807.025191281,652.025191281,629.974808719,652,0.400982005352,-0.00543353917537,0.0498502708362,0.999999963888,6.56418768124e-05,-0.000257677565471,-3.89499813565e-05,1793246514097204736
+82,1.366666667,BASELINE,765,745,714,678.59942457,658.59942457,634,877,785.40057543,807.59942457,652.59942457,629.40057543,652,0.400982023157,-0.00543377396558,0.0498504109209,0.999999963907,6.48607416794e-05,-0.000257827421291,-3.87885817332e-05,1793246514113871360
+83,1.383333333,BASELINE,765,745,714,679,658.824022157,634,876.824022157,785.175977843,808,652.824022157,629,652,0.400981887627,-0.00543411743111,0.0498505863142,0.999999963908,6.39738730057e-05,-0.000258067339029,-3.86297998956e-05,1793246514130538240
+84,1.400000000,BASELINE,765,745,714,679,658.242117278,634,876.242117278,785.757882722,808,652.242117278,629,652,0.4009813984,-0.00543471157736,0.049850843154,0.99999996387,6.28431092517e-05,-0.000258515002086,-3.84770564566e-05,1793246514147205120
+85,1.416666667,BASELINE,765,745,714,679,658.334195569,634,876.334195569,786,807.665804431,652,629,652,0.400981453912,-0.00543479441415,0.0498510539385,0.999999963868,6.27773787718e-05,-0.000258572134813,-3.82498260041e-05,1793246514163871744
+86,1.433333333,BASELINE,765,745,714,679,658.906523752,634,876.906523752,786,807.093476248,652,629,652,0.40098189758,-0.00543451291496,0.049851231906,0.999999963892,6.34705427967e-05,-0.0002583509933,-3.79695194909e-05,1793246514180538368
+87,1.450000000,BASELINE,765,745.494634914,714,678.505365086,659,634,877,785.505365086,807.494634914,652,629,652.494634914,0.400982154094,-0.00543466781647,0.0498508458955,0.99999996375,6.50341221399e-05,-0.000258459940831,-3.83244188716e-05,1793246514197204992
+88,1.466666667,BASELINE,765,745.830941527,714,678.084529236,658.915470764,634,877,785,807.915470764,652,629,652.915470764,0.400982319191,-0.00543491839967,0.0498504582983,0.999999963641,6.60596075986e-05,-0.000258562504942,-3.87173326199e-05,1793246514213871872
+89,1.483333333,BASELINE,765,744.666436467,714,678.666781766,658.333218234,634,877,785,807.333218234,652,629,652.333218234,0.400982161133,-0.00543523076341,0.049850709609,0.99999996393,6.29162217764e-05,-0.000258248069381,-3.86039595608e-05,1793246514230538240
+90,1.500000000,BASELINE,765,744.245824444,714,678.754175556,658,634,877,785.245824444,807.245824444,652,629,652,0.400981765887,-0.00543540047789,0.0498508660908,0.999999964039,6.17295850692e-05,-0.000258143913991,-3.83854296746e-05,1793246514247205120
+91,1.516666667,BASELINE,765,744.820572158,714,678.179427842,658,634,877,785.820572158,807.820572158,652,629,652,0.400981053274,-0.00543537932173,0.0498508956876,0.999999963917,6.31611598496e-05,-0.000258321122194,-3.80261956148e-05,1793246514263871744
+92,1.533333333,BASELINE,765,745,714,678.40364555,658,634,877,786,807.59635445,652.40364555,629,652,0.400981815678,-0.00543530659933,0.0498512911015,0.999999964008,6.37893782669e-05,-0.000257816539012,-3.80122482107e-05,1793246514280538624
+93,1.550000000,BASELINE,765,745,714,678.990497852,658,634,877,786,807.009502148,652.990497852,629,652,0.400983247562,-0.00543521047201,0.0498518525525,0.999999964196,6.4052969204e-05,-0.000257002504184,-3.81550195765e-05,1793246514297205504
+94,1.566666667,BASELINE,765,745,714,679,658.536223546,634,877,786,807.536223546,652.463776454,629,652,0.400982260207,-0.00543467443862,0.0498514225647,0.999999964042,6.49949340208e-05,-0.000257312937771,-3.84819998818e-05,1793246514313871872
+95,1.583333333,BASELINE,765.090910993,745,714,679,658.909089007,634,877,786,808,652,629,652,0.400981503071,-0.00543430184103,0.0498511809008,0.999999963974,6.54599448637e-05,-0.000257424835471,-3.87341820603e-05,1793246514330538496
+96,1.600000000,BASELINE,765.700600974,745,714,679,658.299399026,634,877,786,808,652,629,652,0.400982286873,-0.0054349031964,0.0498521070114,0.99999996442,6.31395308782e-05,-0.000256298190562,-3.85422321212e-05,1793246514347204864
+97,1.616666667,BASELINE,766,745,714,679,658,634,877,786,808,652.294935528,629,652,0.400982384651,-0.00543552061787,0.0498520147515,0.999999964395,6.2304155505e-05,-0.000256604148474,-3.84949484288e-05,1793246514363871744
+98,1.633333333,BASELINE,766,745,714,679,658,634,877,786,808,652.874453633,629,652,0.400981820488,-0.00543615354144,0.0498509398684,0.99999996392,6.29016904269e-05,-0.000258292421441,-3.85872528587e-05,1793246514380538368
+99,1.650000000,BASELINE,765.537634696,745,714,679,658,634,877,786,808,652.537634696,629,652,0.400981815699,-0.0054349952834,0.0498507511941,0.999999963927,6.3958092066e-05,-0.00025799082737,-3.86698340168e-05,1793246514397204736
+100,1.666666667,BASELINE,765,745,714,678.948612238,658,634,877,785.948612238,808,652,629,652,0.40098199155,-0.00543353886721,0.0498508440131,0.999999964059,6.51034610143e-05,-0.000257182543889,-3.87335652569e-05,1793246514413871616
+101,1.683333333,BASELINE,765,745,714,678.371962512,658,634,877,785.371962512,808,652,629,652,0.400982432593,-0.00543409808726,0.0498513090097,0.999999964107,6.58610988484e-05,-0.000256820026058,-3.86321068764e-05,1793246514430538496
+102,1.700000000,BASELINE,765,745,714,678.204585263,658,634,877,785.204585263,808,652,629,652,0.400982400429,-0.00543515991299,0.0498513766431,0.999999964131,6.53098456307e-05,-0.000256895474049,-3.84403923313e-05,1793246514447205120
+103,1.716666667,BASELINE,765,745,714,678.780947706,658,634,877,785.780947706,808,652,629,652,0.400981508344,-0.00543713508559,0.0498507221787,0.999999964107,6.23800445421e-05,-0.000257766803932,-3.80846621591e-05,1793246514463872000
+104,1.733333333,BASELINE,765,745,714,679,658.354567241,634,877,786,808,652,629,652,0.400980829765,-0.00543632879288,0.0498503288505,0.99999996388,6.33000441787e-05,-0.0002583990451,-3.82511436945e-05,1793246514480538624
+105,1.750000000,BASELINE,765,745,714,679,658.926505267,634,877,786,808,652,629,652,0.400980282078,-0.00543381729687,0.0498500956142,0.999999963523,6.65802001028e-05,-0.000258884710765,-3.87377719981e-05,1793246514497205248
+106,1.766666667,BASELINE,765,745,714,678.483374635,658.483374635,634,877,785.483374635,807.483374635,652,629,652,0.400981468461,-0.00543353276346,0.0498508542607,0.999999963857,6.55031054074e-05,-0.000257832571281,-3.89650754426e-05,1793246514513871872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,679,658,634,877,786,808,652,629,652,0.400982945546,-0.00543170035721,0.0498516931668,0.999999964117,6.8147068793e-05,-0.000256174520172,-3.86773904052e-05,1793246514556165376
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.431010768,714.568989232,679,658,634,877,785.431010768,808,652,629,652,0.400981484111,-0.00543325249328,0.0498510738028,0.999999963845,6.647383006e-05,-0.000257687882745,-3.85684164666e-05,1793246514572832512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.144130838,745,714.855869162,679,658.144130838,634,877.144130838,785.144130838,807.855869162,652,629,652,0.400980781941,-0.00543416668201,0.0498508606713,0.999999963705,6.56339668936e-05,-0.000258459070337,-3.84961192059e-05,1793246514589499392
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.738491096,745,714.261508904,679,658.738491096,634,877.738491096,785.738491096,807.261508904,652,629,652,0.400982451525,-0.00543308807999,0.0498519165105,0.999999963984,6.73973643701e-05,-0.000256911885535,-3.85383908737e-05,1793246514606166016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.675773666,745,714,678.675773666,658.675773666,634,877.675773666,786,807.324226334,652.324226334,629,652,0.400983026709,-0.00543272910358,0.0498521255311,0.99999996406,6.76628216732e-05,-0.000256545065887,-3.8553538125e-05,1793246514622832640
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.096814822,745,714,678.096814822,658.096814822,634,877.096814822,786,807.903185178,652.903185178,629,652,0.400982742064,-0.00543293551019,0.0498516692379,0.999999963978,6.67514032676e-05,-0.000257105615114,-3.85473747338e-05,1793246514639499008
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,678,658.480903198,634,877,786,808,652.519096802,629,652,0.400981582979,-0.00543371732718,0.0498512000105,0.999999963961,6.47120195055e-05,-0.000257668296022,-3.8697249273e-05,1793246514656165632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.057722705,745,714,678.057722705,659,634,877,786,808,652,629,652,0.400980675982,-0.00543443650129,0.0498508765958,0.999999963993,6.27734606709e-05,-0.000258001703236,-3.88529154525e-05,1793246514672832256
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.628767603,745,714,678.628767603,659,634,877,786,808,652,629,652,0.400983572256,-0.00543357108841,0.0498518729758,0.999999964373,6.37457350436e-05,-0.000256292396126,-3.87814492309e-05,1793246514689498624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.792622828,745,714,679,658.792622828,634,877.207377172,785.792622828,808,652,629,652,0.400990400504,-0.00543346964734,0.0498545036247,0.999999965583,6.41836921144e-05,-0.00025144965175,-3.85686466241e-05,1793246514706165248
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.199958893,745,714,679,658.199958893,634,877.800041107,785.199958893,808,652,629,652,0.40100453398,-0.00543478759221,0.0498601705871,0.999999968261,6.36289391175e-05,-0.00024078528366,-3.80932546666e-05,1793246514722832128
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.380651001,745,714,679,658,634,877.619348999,785.380651001,808,652,629,652,0.401038562672,-0.0054356282934,0.0498729605397,0.99999997406,6.43986442401e-05,-0.0002152957263,-3.71638249179e-05,1793246514739498752
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.95512323,745,714,679,658,634,877.04487677,785.95512323,808,652,629,652,0.401082721682,-0.00543622599008,0.0498893774021,0.999999980575,6.58427415404e-05,-0.000182257425317,-3.60032065207e-05,1793246514756165376
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.46616713,745,714,678.46616713,658,634,877,786,808,652,629,652,0.401148683653,-0.00543926356266,0.0499088060202,0.999999987118,6.52365816875e-05,-0.000142515962987,-3.45917313384e-05,1793246514772832256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,678,658,634,877,785.88756587,807.88756587,652,629,652,0.401218193512,-0.00544254630168,0.0499269666723,0.999999991646,6.39341718019e-05,-0.000107342574582,-3.31509561069e-05,1793246514789498880
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,678,658,634,877,785.310894521,807.310894521,652,629,652,0.4012947241,-0.00544598766297,0.0499388381827,0.99999999331,6.04743100938e-05,-9.33759198003e-05,-3.16769713562e-05,1793246514806165504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.273799983,745,714,678.273799983,658,634,877,785.273799983,807.273799983,652,629,652,0.40137684411,-0.00544899744666,0.0499462867823,0.999999994277,5.81746111619e-05,-8.44617244294e-05,-3.04742081794e-05,1793246514822831872
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.867879599,745,714,678.867879599,658,634,877,785.867879599,807.867879599,652,629,652,0.401465502383,-0.00545150238892,0.0499485616474,0.999999994607,5.72320217681e-05,-8.1457683121e-05,-2.95887086163e-05,1793246514839498752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634,877,786,808,652,629,652,0.401567967259,-0.00545477938366,0.0499479901736,0.999999994546,5.54814678308e-05,-8.36400409133e-05,-2.88926372493e-05,1793246514856165376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975611432,745,714,679,658,634,877.024388568,785.975611432,808,652.024388568,629.024388568,652,0.401675603927,-0.00545834896117,0.0499467127,0.999999994366,5.35431555493e-05,-8.7206996697e-05,-2.82152257991e-05,1793246514872832000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.400586215,745,714,679,658,634,877.599413785,785.400586215,808,652.599413785,629.599413785,652,0.401810855408,-0.00546353906557,0.0499478748233,0.99999999434,5.25828982279e-05,-8.85452483943e-05,-2.67359332494e-05,1793246514889498624
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.82092471,785,808,652.82092471,629.82092471,652,0.401957605587,-0.00546853292995,0.049949207649,0.99999999442,5.12026105632e-05,-8.88496509405e-05,-2.53886846257e-05,1793246514906165248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.230616395,785,808,652.230616395,629.230616395,652,0.402130761646,-0.00547307614307,0.04995093248,0.999999994745,4.88577547228e-05,-8.67798959515e-05,-2.43446652187e-05,1793246514922831616
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.352876311,745,714,679,658,634,877,785,807.647123689,652,629,652,0.402316821428,-0.0054794787438,0.0499484581875,0.999999994552,4.50508617506e-05,-9.12135422345e-05,-2.33579629129e-05,1793246514939498240
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.931999247,745,714,679,658,634,877,785,807.068000753,652,629,652,0.40251115445,-0.00548707349123,0.0499432916276,0.999999993955,4.03065835299e-05,-9.9816843621e-05,-2.24080093582e-05,1793246514956164864
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492894709,745,714,679,658,634,877,785.507105291,807,652,629,652,0.402744186261,-0.00549476483936,0.0499445605568,0.999999994184,3.79877741642e-05,-9.8894285716e-05,-2.02187519892e-05,1793246514972831232
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.081421314,745,714,679,658,634,877,786,807.081421314,652.081421314,629,652,0.402988873461,-0.00550302034414,0.0499472279052,0.999999994684,3.51650868371e-05,-9.52595200491e-05,-1.79188147368e-05,1793246514989498112
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.654195091,745,714,679,658,634,877,786,807.654195091,652.654195091,629,652,0.403272827423,-0.0055146028056,0.0499531674359,0.999999996062,2.73543201828e-05,-8.29054233284e-05,-1.59459546837e-05,1793246515006164736
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.764656736,745,714,679,658.235343264,634,877,785.764656736,808,653,629,652,0.40357823764,-0.00552504693226,0.0499604584788,0.999999997347,2.2559705806e-05,-6.7905551519e-05,-1.36481072271e-05,1793246515022831360
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.170749547,745,714,679,658.829250453,634,877,785.170749547,808,653,629,652,0.403916338128,-0.00553375671584,0.0499698086564,0.999999998497,2.23604365127e-05,-4.88746345435e-05,-1.08551160847e-05,1793246515039497984
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.587091917,634,877.412908083,785.412908083,808,652.587091917,629,652,0.404279960616,-0.00554321653229,0.0499789822508,0.999999999267,2.00861818825e-05,-3.16359974005e-05,-7.81775478307e-06,1793246515056164864
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.007570131,634,877.992429869,785.992429869,808,652.007570131,629,652,0.404653881548,-0.00555297899641,0.0499880845915,0.999999999731,1.69746440726e-05,-1.5120568601e-05,-4.68178705616e-06,1793246515072831744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.565671735,634,877.434328265,786,808,652,629,652,0.405062514853,-0.00555946327925,0.0499923167143,0.999999999787,1.96980744245e-05,-6.0967623547e-06,-9.46653645849e-07,1793246515089498112
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652,629.142562926,652,0.405469803422,-0.00556165335008,0.0499903669235,0.999999999579,2.75649109357e-05,-8.82623706332e-06,2.27692428043e-06,1793246515106164736
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652,629.731130877,652,0.40587144759,-0.00555054481116,0.0499692788113,0.999999997525,5.12811711457e-05,-4.80153901325e-05,3.8753013985e-06,1793246515122831360
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785.685204052,808,652,629.685204052,652,0.406315739819,-0.00554104105715,0.0499505539447,0.999999994061,7.22267512508e-05,-8.14674128011e-05,4.98380826769e-06,1793246515139497984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,785.105662275,808,652,629.105662275,652,0.406795899441,-0.00553288693844,0.0499338165835,0.999999989797,9.08421705749e-05,-0.000110094468734,5.6803306438e-06,1793246515156164864
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,678.529269775,658.529269775,634,877,785,808,652,629,652,0.407313447647,-0.00553698373806,0.0499293112786,0.999999988268,9.93265362609e-05,-0.000116253944191,9.17840994906e-06,1793246515172832000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.046163681,745,714,678,658.092327363,634,877,785.046163681,808,652.046163681,629,652,0.407846064146,-0.00554347901837,0.0499299082052,0.9999999879,0.000106073416019,-0.000113001854507,1.34085416066e-05,1793246515189499648
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.61866917,745,714,678,659.23733834,634,877,785.61866917,808,652.61866917,629,652,0.408455432935,-0.00554617594009,0.0499575819204,0.999999990996,0.000118765848976,-5.95608266457e-05,1.8862997827e-05,1793246515206166272
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.802105327,745,714,678,659.802105327,634,877,786,808,652.802105327,629.197894673,652,0.40906974871,-0.00554823826312,0.0499813483115,0.999999990908,0.000131619375172,-1.66469854605e-05,2.41531833476e-05,1793246515222832896
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.20947563,745,714,678,659.20947563,634,877,786,808,652.20947563,629.79052437,652,0.409693932066,-0.00554903476955,0.0499973208695,0.99999998908,0.000144794229375,5.26856461085e-06,2.91157024144e-05,1793246515239499264
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,678,659,634,877.374721963,785.625278037,808,652,630,652.374721963,0.410332829029,-0.00554749842417,0.0499972392741,0.999999986928,0.000158284368112,-3.35329685541e-06,3.28510321036e-05,1793246515256165888
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,678,659,634,877.95430959,785.04569041,808,652,630,652.95430959,0.410979770103,-0.00554468667652,0.049988380651,0.999999984161,0.00017194687675,-2.86703829431e-05,3.5915440263e-05,1793246515272832256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.52835249,659,633.47164751,877.47164751,785,808.52835249,652,629.47164751,652.47164751,0.411620363288,-0.00554385747711,0.0499566002747,0.999999978959,0.000180535828455,-9.01173426456e-05,3.69706075381e-05,1793246515289498624
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,633.104506337,877.104506337,785,808.895493663,652,629.104506337,652,0.412280370709,-0.00554438518174,0.0499313650857,0.999999974967,0.000174979095167,-0.000134967590088,3.51031561751e-05,1793246515306165248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,633.692624435,877.692624435,785,808.307375565,652,629.692624435,652,0.413032732839,-0.00555040693589,0.0499454958717,0.99999999024,0.00010597127961,-8.8706852665e-05,2.05067521989e-05,1793246515322831872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.276510005,745,714,679,659.276510005,633.723489995,878,785,808.276510005,652,629.723489995,652.276510005,0.413802369158,-0.00555637596907,0.049961826025,0.999999995521,7.57957298204e-05,-5.43063938173e-05,1.62343635168e-05,1793246515339499008
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.855761595,745,714,679,659.855761595,633.144238405,878,785,808.855761595,652,629.144238405,652.855761595,0.414590918503,-0.00556228728056,0.0499805641938,0.999999995304,8.81363251304e-05,-3.28913532351e-05,2.3265393277e-05,1793246515356166144
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659.565706929,633,878,785,809,652,629,652.565706929,0.415372866526,-0.00555928487038,0.0499610338649,0.99999999229,0.000100978623958,-6.77362165517e-05,2.51975901631e-05,1793246515372832512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633,877.987470145,785,809,652,629.012529855,652,0.41615386334,-0.00555350778547,0.0499297639533,0.999999986074,0.000113647452486,-0.000119532941663,2.54601974854e-05,1793246515389498880
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633,877.411745386,785,809,652,629.588254614,652,0.416990490592,-0.00555586047908,0.0499411587418,0.999999988985,0.000111041955193,-9.48110835401e-05,2.66686604087e-05,1793246515406165504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633,877.1672438,785,809,652,630,652,0.417829351328,-0.00555813101463,0.0499548643204,0.999999991462,0.000108661268933,-6.69632652298e-05,2.80192736101e-05,1793246515422831872
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633,877.75442979,785,809,652,630,652,0.418673820199,-0.00556019525459,0.0499743721958,0.999999993361,0.000106845073987,-3.12662931178e-05,2.97268201574e-05,1793246515439498496
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633.338069723,878,785,809.338069723,652,630,652,0.419515174493,-0.00556055017546,0.0499703745748,0.999999992746,0.000107991626768,-4.36356386263e-05,3.06834550288e-05,1793246515456165120
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633.919160552,878,785,809.919160552,652,630,652,0.420354289838,-0.00555967635381,0.049949480049,0.999999989226,0.000111267947948,-9.05574131958e-05,3.11002976349e-05,1793246515472832000
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,633.505638722,878,785,810,652,630,652.494361278,0.421304622736,-0.00556145760118,0.0499654162216,0.999999992629,0.0001087960858,-4.36881479133e-05,3.15585093156e-05,1793246515489499136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931236016,745,714,679,659.068763984,633.068763984,878,785,810,652,630,652.931236016,0.42226502851,-0.00556376872942,0.0499849352902,0.999999993888,0.000105229910918,1.10963905281e-05,3.20633735168e-05,1793246515506165760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.355700086,745,714,679,659.644299914,633.644299914,878,785,810,652,630,652.355700086,0.42316721573,-0.00556682293126,0.0499869965025,0.999999994337,0.000100444641146,1.25156646334e-05,3.28627869484e-05,1793246515522832128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.226599105,660,633.773400895,878.226599105,785,810,652,630,652,0.42406363006,-0.00556789766666,0.0499815521726,0.999999994661,9.7859762789e-05,3.00090067575e-06,3.30488785616e-05,1793246515539498496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.819841524,660,633.180158476,878.819841524,785,810,652,630,652,0.424950703844,-0.00556576957377,0.0499639636783,0.999999994303,9.88351748277e-05,-2.42054242649e-05,3.22425994489e-05,1793246515556165120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.598303824,660,633,879,785,810,651.598303824,630,652,0.425884925729,-0.00556738359793,0.0499764507117,0.999999994569,9.74014514987e-05,-1.41279933533e-05,3.42721439498e-05,1793246515572831744
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.021415759,660,633,879,785,810,651.021415759,630,652,0.42683971028,-0.005570629673,0.0500020545962,0.999999994716,9.49170310438e-05,1.22100163423e-05,3.75384772046e-05,1793246515589498624
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.552730446,679,659.447269554,633,879,784.447269554,810,651.552730446,630,652,0.427730566081,-0.00556964564772,0.0499776897623,0.999999993269,9.85058014099e-05,-4.80012033413e-05,3.81371231656e-05,1793246515606165504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.130365372,745,714.869634628,679,659,633.130365372,878.869634628,784.130365372,810,651.869634628,630,652.130365372,0.42862663284,-0.00556879470534,0.0499545134494,0.999999989483,0.000100664170896,-9.71800042649e-05,3.81749445949e-05,1793246515622832384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.720682037,745,714.279317963,679,659,633.720682037,878.279317963,784.720682037,810,651.279317963,630,652.720682037,0.429549780648,-0.00556898870411,0.049942327468,0.999999990055,9.69497334394e-05,-9.566163449e-05,3.65969555291e-05,1793246515639499008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.694968501,745,714,679,659.305031499,634,878.305031499,785,810,651.305031499,630,653,0.430480273455,-0.00556987879349,0.0499417614195,0.999999991211,9.46353864393e-05,-8.54236266733e-05,3.6389985417e-05,1793246515656165888
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.115978407,745,714,679,659.884021593,634,878.884021593,785,810,651.884021593,630,653,0.431417362992,-0.00557139406422,0.049951631607,0.999999992653,9.35785058648e-05,-6.73542316825e-05,3.74143715778e-05,1793246515672832768
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.459975368,745,714,679.459975368,660,633.540024632,879,785,810.459975368,652,630,652.540024632,0.432329958134,-0.00557253503113,0.049943295844,0.999999991959,9.13730353937e-05,-7.9584863597e-05,3.74041194352e-05,1793246515689499136
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.035103618,879,785,810.964896382,652,630,652,0.433238948904,-0.00557362046417,0.0499327604679,0.999999990786,8.89303975277e-05,-9.5565264159e-05,3.7232213517e-05,1793246515706165504
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.60923365,879,785,810.39076635,652,630,652,0.434186805277,-0.00557529284241,0.0499584749775,0.999999994067,8.72638108298e-05,-5.25814008328e-05,3.85575976993e-05,1793246515722832384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.81081384,745,714,679.81081384,660,633.81081384,879,785,810.18918616,651.81081384,630,652,0.435101432534,-0.00557584467776,0.0499756192427,0.999999995001,8.65301235842e-05,-3.03854181197e-05,3.98431604196e-05,1793246515739499264
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.218452935,745,714,679.218452935,660,633.218452935,879,785,810.781547065,651.218452935,630,652,0.435945245375,-0.00557400852376,0.0499744994599,0.999999993927,8.77845388887e-05,-5.2490492767e-05,4.10438599619e-05,1793246515756165632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.364654575,745,714,679.364654575,659.635345425,633,879,785,811,651.364654575,630.364654575,652.364654575,0.436789805981,-0.00557238717799,0.0499588791562,0.999999991624,9.08045844391e-05,-8.24534801417e-05,4.13258209002e-05,1793246515772832512
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.942355823,745,714,679.942355823,659.057644177,633,879,785,811,651.942355823,630.942355823,652.942355823,0.437634803411,-0.00557089133243,0.0499347870331,0.999999987812,9.48561859426e-05,-0.000117007392127,4.10710156618e-05,1793246515789499648
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.482166117,744.482166117,714,680,659.517833883,633,879,785,811.517833883,652,630.482166117,652.482166117,0.438524260862,-0.00557528669834,0.0499589276769,0.999999992833,8.95417406043e-05,-6.73592456036e-05,4.21726229454e-05,1793246515806166016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.095169401,714,680,659.904830599,633,879,785,811.904830599,652,630.095169401,652.095169401,0.439402504422,-0.00557920093794,0.0499810347463,0.999999995289,8.4166929371e-05,-2.20923545201e-05,4.30049122892e-05,1793246515822832384
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.683404969,714,680,659.316595031,633,879,785,811.316595031,652,630.683404969,652.683404969,0.440197117724,-0.00557723937863,0.0499649076176,0.99999999447,8.38579603897e-05,-4.78787411558e-05,4.16629442312e-05,1793246515839498752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.7324829,714,680,659.2675171,633,879,785,811.2675171,652,630.7324829,653,0.440991366028,-0.00557639312869,0.0499560530095,0.999999993957,8.10732442172e-05,-6.22250444302e-05,4.05125872738e-05,1793246515856165120
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.153176646,714,680,659.846823354,633,879,785,811.846823354,652,630.153176646,653,0.441785188873,-0.00557684676353,0.0499556744702,0.999999994374,7.54030635083e-05,-6.32380153927e-05,3.95855517205e-05,1793246515872831488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.423026589,714,680.423026589,660,633,879,785,812.423026589,652,630.423026589,653,0.442563838337,-0.00558024113001,0.0499708576828,0.999999996067,7.16056222999e-05,-3.34936572575e-05,4.02158704605e-05,1793246515889498368
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.998114459,714,680.998114459,660,633,879,785,812.998114459,652,630.998114459,653,0.443337033636,-0.00558469257292,0.049991634728,0.999999996771,6.84813561009e-05,7.30674078302e-06,4.14059961688e-05,1793246515906164992
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.574403677,745,714,680.425596323,660,633,879,785,811.851192647,651.425596323,631,653,0.444016333578,-0.0055858617888,0.0499747373988,0.999999996045,7.10947279974e-05,-3.18640263189e-05,4.28897713275e-05,1793246515922831616
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.154271079,660,633,879,785,811.154271079,651.154271079,631,652.845728921,0.444693680412,-0.00558545633973,0.0499559285331,0.999999994043,7.42550635552e-05,-6.70967592581e-05,4.35590256285e-05,1793246515939498240
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.744232925,660,633,879,785,811.744232925,651.744232925,631,652.255767075,0.445366383754,-0.00558063423096,0.0499320711223,0.999999991916,7.89068256144e-05,-9.04648039539e-05,4.19251910877e-05,1793246515956164608
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.671866308,660,633,879.328133692,785,812,652,631,652.328133692,0.446051621812,-0.00557768370745,0.0499383729432,0.999999993353,8.36040137912e-05,-6.72652891246e-05,4.21755394921e-05,1793246515972831488
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680.092604263,660,633,879.907395737,785,812,652,631,652.907395737,0.446746452939,-0.00557616555201,0.0499677563276,0.999999995101,8.8335967153e-05,-8.42653530187e-06,4.38678969653e-05,1793246515989498112
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.516856748,745,714,680,660,633.483143252,879.516856748,785,812,652,631,653,0.447342291271,-0.00557439319153,0.0499646868748,0.999999994404,9.46425571971e-05,-1.42202416834e-05,4.50937713003e-05,1793246516006164736
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.058400641,745,714,680,660,633.941599359,879,785,812.058400641,652,631,653,0.447914903312,-0.00557301605065,0.0499539221021,0.999999993315,0.000100410890312,-3.40818572635e-05,4.61067903098e-05,1793246516022831360
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.635243902,745,714,680,660,633.364756098,879,785,812.635243902,652,631,653,0.4484485498,-0.00557557682276,0.0499296638321,0.999999991641,9.87409979225e-05,-6.9649658e-05,4.60182194422e-05,1793246516039498240
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,812.783459736,651.783459736,631,652.783459736,0.448978177813,-0.00557711156318,0.0499165870333,0.999999990006,9.90609257386e-05,-8.95276488913e-05,4.64693961987e-05,1793246516056164864
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,812.19450481,651.19450481,631,652.19450481,0.449500894636,-0.00557688169272,0.0499227405809,0.999999990174,0.000102803026777,-8.24216697572e-05,4.78488527324e-05,1793246516072831232
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.611958841,745,714,680.388041159,659.611958841,633,879,785,812.388041159,651.388041159,630.611958841,652,0.450009060392,-0.00557502959664,0.049941485626,0.999999991499,0.000106297783907,-5.7401854499e-05,4.90708597554e-05,1793246516089498112
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.0325731,745,714,680.9674269,659.0325731,633,879,785,812.9674269,651.9674269,630.0325731,652,0.450510051009,-0.00557237757486,0.0499664395872,0.999999992448,0.000109670575043,-2.3548657322e-05,5.02152278986e-05,1793246516106164736
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.542918367,745,714,681,660.085836733,633,879,785,813,651.457081633,630,652.542918367,0.450936860607,-0.00557674312306,0.0499694498823,0.999999996834,6.48162751518e-05,-2.48759249665e-05,3.88817731435e-05,1793246516122831360
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.880174479,745,714,680.880174479,660.880174479,633,879,785,813,651.119825521,630,653,0.451345678708,-0.00558100905294,0.0499680001157,0.999999998579,2.80300537608e-05,-3.41375254132e-05,2.98491352463e-05,1793246516139497984
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.296894405,745,714,680.296894405,660.296894405,633,879,785,813,651.703105595,630,653,0.451702001556,-0.00558327285307,0.0499543557412,0.999999996729,3.35605056303e-05,-6.59815998735e-05,3.25903301363e-05,1793246516156164608
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.713917673,879,785,813,651.713917673,630,653,0.452032898554,-0.00558350272006,0.0499334044828,0.999999992857,3.85628783419e-05,-0.000107932841025,3.38924487553e-05,1793246516172831488
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.13125545,879,785,813,651.13125545,630,653,0.452337436699,-0.00558162402015,0.049904878221,0.999999985649,4.30177940594e-05,-0.000160362121468,3.37026851071e-05,1793246516189498112
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448803842,745,714,680,660,632.448803842,879,785,813,651,630.448803842,653,0.452648835302,-0.00558238978237,0.0498984090837,0.999999984553,4.53619245328e-05,-0.000166330693264,3.4206693212e-05,1793246516206164736
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714,680.027839052,660.027839052,632.972160948,879,785,813,651.027839052,630.972160948,653,0.452960495171,-0.00558395780464,0.0498989306324,0.99999998578,4.70135706419e-05,-0.000158138600477,3.49470960184e-05,1793246516222831360
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680.60163378,660.60163378,632.39836622,879,785,813,651.60163378,630.39836622,653,0.45323815827,-0.005586179474,0.0499107705694,0.99999998882,4.71211962799e-05,-0.000137173876902,3.63673550926e-05,1793246516239497984
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680.82030071,660.82030071,632,878.82030071,784.82030071,813,652,630.17969929,653,0.453502670881,-0.00558758019433,0.0499203092716,0.999999990814,4.77704332135e-05,-0.000121106173942,3.7717816391e-05,1793246516256164864
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680.232537109,660.232537109,632,878.232537109,784.232537109,813,652,630.767462891,653,0.453737321095,-0.00558711668883,0.0499246222878,0.999999991264,4.96495706388e-05,-0.000116158714597,3.89097795078e-05,1793246516272831488
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632,878.35106317,784.35106317,813,651.64893683,631,653,0.453940630871,-0.00558257913141,0.0499189505264,0.999999989835,5.65193096352e-05,-0.000124854987431,3.93361652257e-05,1793246516289498112
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632,878.931938127,784.931938127,813,651.068061873,631,653,0.454123424697,-0.00557537463181,0.049906742564,0.999999986857,6.66559795504e-05,-0.000142482673626,3.92613913576e-05,1793246516306164736
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632,879,785,813,651,630.492018277,653,0.454281005818,-0.00557055356597,0.0498985749737,0.999999985217,7.14595121307e-05,-0.000151624566814,3.83356574594e-05,1793246516322831360
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632,879,785,813,651.082730956,630.082730956,653,0.454430714577,-0.0055671504041,0.0498915344994,0.999999983774,7.43119399596e-05,-0.000159770248584,3.74583498382e-05,1793246516339497984
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632,879,785,813,651.653626544,630.653626544,653,0.454553716759,-0.00557024718684,0.049887980511,0.999999982631,6.98282536161e-05,-0.00016868328017,3.75332137144e-05,1793246516356164608
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.765193544,745,714,680,659.765193544,632,879.234806456,785,813,651.765193544,631,653,0.454667802406,-0.00557314038979,0.0498842772753,0.999999981564,6.65329176656e-05,-0.00017610637626,3.78448503731e-05,1793246516372831488
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.168147895,745,714,680,659.168147895,632,879.831852105,785,813,651.168147895,631,653,0.454768132381,-0.00557571952717,0.049880343794,0.999999980719,6.50708667017e-05,-0.000181230927585,3.85217597021e-05,1793246516389498368
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.413684634,745,714,680,659,632,879.586315366,785,813,651,631,653,0.454846703969,-0.00557707583036,0.0498739669073,0.999999978821,6.33731096144e-05,-0.000191993498153,3.84753450259e-05,1793246516406164992
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.553291624,632.553291624,879,785,813,651.553291624,631,653,0.45496999983,-0.00557759197095,0.0498625994114,0.99999997505,6.28451726555e-05,-0.000211025717282,3.7656769305e-05,1793246516439498240
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632.8749734,879,785,813,652,630.8749734,653,0.455020067157,-0.00557776146996,0.0498588030387,0.999999973817,6.30605445628e-05,-0.000216807301525,3.72139572372e-05,1793246516456164864
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.049485373,632,879.049485373,784.950514627,813.950514627,652,631,653,0.455156515989,-0.00557706679076,0.0498451565003,0.999999969677,6.09311022491e-05,-0.00023587332605,3.6007033684e-05,1793246516539499008
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680.202677671,659.797322329,632,879.797322329,784.202677671,813,652,631,653,0.455177953805,-0.00557189459718,0.0498465437454,0.9999999694,6.6939280992e-05,-0.000235470756551,3.56702283234e-05,1793246516572831488
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.472299038,879,785,813,651,630.472299038,653,0.455185930229,-0.00557035875745,0.0498409289111,0.999999967439,6.68615869944e-05,-0.000243706663202,3.5473758412e-05,1793246516639498240
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714.895441281,681,660,632,879,785,813,651.104558719,630.104558719,653,0.455184302225,-0.00557010846561,0.0498389818193,0.999999966473,6.7153783431e-05,-0.000247540308952,3.56071261122e-05,1793246516656165120
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.720027299,660,632,879,784.720027299,813,652,631,653,0.455187162883,-0.00557072969066,0.0498386715635,0.999999966428,6.72401750596e-05,-0.000247754685546,3.52306350991e-05,1793246516689498624
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.140658094,660,632,879,784.140658094,813,652,631,653,0.455187804176,-0.00556834849898,0.0498387833325,0.999999966089,6.99014745641e-05,-0.000248439215963,3.48475492641e-05,1793246516706164992
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+253,4.216666667,HOLD_POSE2,766.789376695,745,714.789376695,680.789376695,660,632,879,784.789376695,813,652,631,653,0.455189854069,-0.00556536549945,0.0498351315034,0.999999965078,7.12503167685e-05,-0.000252193892016,3.41498505801e-05,1793246517004130048
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+256,4.266666667,HOLD_POSE2,765.034206904,745,714,680.965793096,659.034206904,632,879,784,813,652,631,653,0.455189362861,-0.0055652890863,0.04983399317,0.999999965021,6.95365805153e-05,-0.000252920144856,3.39583892662e-05,1793246517054129920
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.291030934,714,681,659.708969066,632,879.708969066,784.291030934,812.708969066,651,630,653,0.454866650676,-0.00555067045308,0.0497219473782,0.999999907917,7.70246545091e-05,-0.000421377229274,2.59819922714e-05,1793246517420113920
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.08252681,659.91747319,632.08252681,879.91747319,785,812.08252681,651.91747319,631,653,0.453191559126,-0.00549226295183,0.0497571710049,0.99999991997,0.000118637073681,-0.000381499803147,2.10497139933e-05,1793246517603447296
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,632.588897843,879.588897843,785,812,652,631,652.411102157,0.451958362273,-0.00545273659203,0.0497742822055,0.999999922269,0.000145704346922,-0.000366056205531,1.53611303681e-05,1793246517670113792
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.264131467,633,878.735868533,785,811.735868533,651.264131467,631,652.735868533,0.450382449149,-0.00542491931086,0.049788166228,0.999999939187,0.000153389035451,-0.000313162587573,5.11090615396e-06,1793246517736780288
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.796345983,745,714,680.796345983,659.796345983,633,879,785,811,652,631,652.796345983,0.44718615919,-0.005427910401,0.0497668813562,0.999999938956,0.000100262983064,-0.000334530709449,-1.11728133439e-05,1793246517836780544
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.375593943,745,714,680.375593943,659.375593943,633,879,785,811,651.624406057,630.624406057,652.375593943,0.445892960099,-0.00541770483108,0.0497416760039,0.999999925244,9.16898899829e-05,-0.000375161244377,-1.8923146933e-05,1793246517870113792
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744.30147241,714,680,659.30147241,633,878.30147241,785,811,651.30147241,631,653,0.443141548233,-0.00542687250024,0.0497823153431,0.999999939588,4.2873346867e-05,-0.000343871370647,-2.71756404166e-05,1793246517936780544
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.600681622,745,714,678.399318378,658.600681622,634,877.600681622,786,807.600681622,652,629,652,0.400978629186,-0.00542709866042,0.0498440511725,0.99999995913,8.15140323919e-05,-0.00027135923255,-3.81945506057e-05,1793246519370113792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,678.185878139,659.185878139,634,877.814121861,786,808,652,629,652,0.400979383382,-0.00542629452366,0.0498448279544,0.999999959387,8.34782376553e-05,-0.000269783269058,-3.83927978118e-05,1793246519386780416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,678.768681843,659.768681843,634,877.231318157,786,808,652,629,652,0.400982264801,-0.00542689902643,0.0498463908081,0.999999960634,8.04335749909e-05,-0.000266048769796,-3.84683297177e-05,1793246519403447040
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.34578398,714,678.65421602,659.65421602,634.34578398,877,786.34578398,808,652,629,652,0.400982427847,-0.00542692024289,0.0498470562221,0.999999960905,7.99144846932e-05,-0.000265206331131,-3.83239665773e-05,1793246519420113664
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.919133802,714,678.080866198,659.080866198,634.919133802,877,786.919133802,808,652,629,652,0.40098080189,-0.00542655758948,0.0498471310168,0.999999960542,8.10575131702e-05,-0.000266267202904,-3.80348870667e-05,1793246519436780288
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,658.92623384,634,878,786,808,652.92623384,629.92623384,652.92623384,0.400981818637,-0.00542656110828,0.0498464168457,0.999999960536,8.19727130367e-05,-0.000265982551646,-3.82421493184e-05,1793246519470113792
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,678.600212866,659,634,877,786,808,653,629,652,0.400980847517,-0.00542630475219,0.049847384184,0.999999960702,8.18172814464e-05,-0.000265443643768,-3.79729434717e-05,1793246519536780544
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,678.549754469,658.450245531,634,877,786,808,652.450245531,629,652,0.40098252518,-0.00542777180546,0.0498480188374,0.999999961295,7.97839024834e-05,-0.000263844626669,-3.78151619347e-05,1793246519570113792
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ceb3318f324daec599234527db951ca3e17d7374
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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+3,0.050000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+6,0.100000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d484d17d5a2bd24e6b089109986c677e548e96c0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e68e3eab6637018f5c1618ba32b6ee658e7f58f52fbadc697c49de8c3426e0c
+size 25853693
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85f1b0b9f22acfcc8b4285da19dafe3c8cf1aabc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+6,0.100000000,BASELINE,766,745,714.507169847,678.492830153,658.492830153,634,877,786,808,652.507169847,629,652,0.400982079805,-0.00542844947131,0.0498488388581,0.99999996175,8.13360833327e-05,-0.00026166697401,-3.76104388454e-05,1793246519798456320
+7,0.116666667,BASELINE,766,745,714.900472722,678,658.099527278,634,877,786,808,653,629,652,0.40098037779,-0.00542762259518,0.0498480845877,0.999999961243,8.09099643489e-05,-0.000263688614909,-3.78965893577e-05,1793246519815123200
+8,0.133333333,BASELINE,766,745,714.322791317,678,658.677208683,634,877,786,808,653,629,652,0.400981845839,-0.00542706346307,0.0498489075785,0.999999961669,8.13304982783e-05,-0.000261914593117,-3.80508899503e-05,1793246519831789824
+9,0.150000000,BASELINE,766,745,714,678,658.745719065,634,877.254280935,786,808,653,629.254280935,652,0.40098301885,-0.00542779589253,0.0498493548305,0.999999962175,8.00336084589e-05,-0.00026039692161,-3.79228154336e-05,1793246519848456448
+10,0.166666667,BASELINE,766,745,714,678,658.169418284,634,877.830581716,786,808,653,629.830581716,652,0.400983818225,-0.00543016394784,0.0498493262493,0.999999962775,7.65617835049e-05,-0.000259203890697,-3.74371427655e-05,1793246519865122816
+11,0.183333333,BASELINE,766,745,714,678.41436558,658.41436558,634,877.58563442,786,808,653,629.58563442,652,0.400983079261,-0.00543057866168,0.0498489031853,0.999999962445,7.70651272012e-05,-0.000260356607581,-3.72276631031e-05,1793246519881789440
+12,0.200000000,BASELINE,766,745,714,678.998754327,658.998754327,634,877,786,808,652.998754327,629,652,0.400981704762,-0.00543017809334,0.0498483195284,0.999999961726,7.92185720898e-05,-0.00026247743429,-3.7134061518e-05,1793246519898456064
+13,0.216666667,BASELINE,766,745,714,678.420962339,658.420962339,634,877,786,808,652.420962339,629,652,0.40098264541,-0.00542887628171,0.049849430969,0.999999962218,7.90184417067e-05,-0.000260610443412,-3.7446123982e-05,1793246519915122688
+14,0.233333333,BASELINE,765.842878481,745,714,678.157121519,658,634,877.157121519,786,807.842878481,652,629,652,0.400983094056,-0.00542807178399,0.0498501221076,0.999999962467,7.90393625779e-05,-0.000259620480527,-3.76258886657e-05,1793246519931789568
+15,0.250000000,BASELINE,765.264011055,745,714,678.735988945,658,634,877.735988945,786,807.264011055,652,629,652,0.400982222072,-0.00542860217699,0.0498496850709,0.99999996207,7.96536296399e-05,-0.00026098463758,-3.74505394431e-05,1793246519948456448
+16,0.266666667,BASELINE,765.312879576,745,714,679,658.312879576,634,877.687120424,786,807.312879576,652,629,652,0.400981922064,-0.00542852950081,0.0498495177091,0.999999961898,8.05725546062e-05,-0.00026137515811,-3.73436130254e-05,1793246519965123584
+17,0.283333333,BASELINE,765.888112604,745,714,679,658.888112604,634,877.111887396,786,807.888112604,652,629,652,0.400982101665,-0.00542795114353,0.0498495764731,0.999999961916,8.17469390125e-05,-0.000260949272114,-3.72940599988e-05,1793246519981791232
+18,0.300000000,BASELINE,766,745,714,679,658.525874426,634,877.474125574,786,808,652,629.474125574,652,0.400980457053,-0.00542878638911,0.0498481618614,0.999999961581,8.08054277799e-05,-0.000262501340096,-3.74440285356e-05,1793246519998457600
+19,0.316666667,BASELINE,766,745,714,679,658,634,877.938094368,786,808,652,629.938094368,652.061905632,0.400978779973,-0.00542974959061,0.0498466526827,0.999999961213,7.96991345002e-05,-0.000264210659175,-3.76096479356e-05,1793246520015123968
+20,0.333333333,BASELINE,766,745,714,679,658,634,877.357321462,786,808,652,629.357321462,652.642678538,0.400980522895,-0.005428924188,0.0498473329392,0.99999996133,8.1494197465e-05,-0.000263234689354,-3.75026224499e-05,1793246520031790592
+21,0.350000000,BASELINE,766,745,714,678.779078062,658,634,877,786,808,652,629,652.779078062,0.400982382291,-0.00542843086973,0.0498484479564,0.999999961761,8.21843814134e-05,-0.000261388883942,-3.74146259633e-05,1793246520048457216
+22,0.366666667,BASELINE,766,745,714,678.204879651,658,634,877,786,808,652,629,652.204879651,0.400984427942,-0.00542846858793,0.0498502582,0.999999962692,8.11077521503e-05,-0.000258152123739,-3.73570587768e-05,1793246520065124096
+23,0.383333333,BASELINE,766,745,714,678.370042174,658,634,877,786,808,652,629,652,0.400984282228,-0.0054288332178,0.0498503491291,0.99999996276,8.02101844178e-05,-0.000258191977462,-3.71815751515e-05,1793246520081790208
+24,0.400000000,BASELINE,766,745,714,678.945365366,658,634,877,786,808,652,629,652,0.400982920854,-0.00542937920203,0.0498494862679,0.999999962352,7.9411951028e-05,-0.000260049533539,-3.69406773377e-05,1793246520098456064
+25,0.416666667,BASELINE,766,745,714.537068721,679,658,634,877.537068721,786,808,652,629.537068721,652,0.400982056908,-0.00542902746372,0.0498491978045,0.999999962153,8.07701530335e-05,-0.00026035786929,-3.71990898546e-05,1793246520115122944
+26,0.433333333,BASELINE,766,745.127035919,714.872964081,678.872964081,658.127035919,634,877.872964081,786,808,652,629.872964081,652,0.400981192435,-0.00542859401179,0.0498488267928,0.999999961893,8.18855195425e-05,-0.000260967010551,-3.74921033027e-05,1793246520131789312
+27,0.450000000,BASELINE,766,745.704746654,714.295253346,678.295253346,658.704746654,634,877.295253346,786,808,652,629.295253346,652,0.400980140925,-0.00542820484224,0.0498479491163,0.999999961338,8.13366807064e-05,-0.000263219981365,-3.77220028257e-05,1793246520148455936
+28,0.466666667,BASELINE,766,745.719742202,714,678,658.719742202,634,877,786,808,652,629,652,0.400981498903,-0.00542821823443,0.0498487669191,0.999999961781,8.11937088797e-05,-0.000261572739958,-3.77503614034e-05,1793246520165122816
+29,0.483333333,BASELINE,766,745.146530329,714,678,658.146530329,634,877,786,808,652,629,652,0.400985375523,-0.00542865242531,0.0498513570102,0.999999963246,8.14749907357e-05,-0.000255848598247,-3.75680487861e-05,1793246520181789440
+30,0.500000000,BASELINE,765.560423588,745,714,678,658,634,877.439576412,786,808,652,629,652,0.400985821784,-0.00542798631122,0.049851768966,0.99999996334,8.16564057657e-05,-0.000255432403623,-3.74990864214e-05,1793246520198456064
+31,0.516666667,BASELINE,765,745,714,678,658.029511962,634,877.970488038,786,808,652,629,652,0.400985046598,-0.0054270143911,0.049851384859,0.999999962961,8.18700204621e-05,-0.000256848234936,-3.74744179134e-05,1793246520215122688
+32,0.533333333,BASELINE,765,745,714,678,658.608289538,634,877.391710462,786,808,652,629,652,0.400983463689,-0.00542738360653,0.0498501064473,0.999999962429,8.33212298067e-05,-0.00025843489903,-3.7549643291e-05,1793246520231789312
+33,0.550000000,BASELINE,765.186169547,745,714,678,659,634,877,786,808,652,629,652,0.400981945396,-0.00542783728247,0.049849158708,0.999999961997,8.39727161856e-05,-0.000259906583517,-3.74517424283e-05,1793246520248455936
+34,0.566666667,BASELINE,765.76217002,745,714,678,659,634,877,786,808,652,629,652,0.400980562405,-0.00542846781497,0.0498489033826,0.999999961779,8.29496173099e-05,-0.000261137505513,-3.6991322746e-05,1793246520265122816
+35,0.583333333,BASELINE,766,745,714,678,658.662203585,633.662203585,877.337796415,786,808,652,629.337796415,652.337796415,0.400980693717,-0.00542905684766,0.0498489229692,0.999999961926,8.15216402918e-05,-0.000261017324651,-3.70446080655e-05,1793246520281789440
+36,0.600000000,BASELINE,766,745,714,678,658.086840213,633.086840213,877.913159787,786,808,652,629.913159787,652.913159787,0.400981890015,-0.00542961669424,0.0498491358972,0.999999962327,7.98089186794e-05,-0.000259946934324,-3.74591740622e-05,1793246520298456064
+37,0.616666667,BASELINE,766,745,714,678.501307971,658,633.501307971,877.498692029,786,808,652,629.498692029,652.498692029,0.400982616166,-0.00542970781664,0.0498494141874,0.999999962598,7.88907000114e-05,-0.000259197979162,-3.73699674097e-05,1793246520315122688
+38,0.633333333,BASELINE,766,745,714,678.910418809,658.089581191,634,877,786,808,652,629,652,0.400983047592,-0.00542948865574,0.0498497195228,0.999999962758,7.86889564121e-05,-0.000258657892788,-3.727024014e-05,1793246520331789568
+39,0.650000000,BASELINE,766,745,714,678.333820997,658.666179003,634,877,786,808,652,629,652,0.400982331073,-0.00542803559134,0.049850108726,0.999999962437,8.16145791775e-05,-0.000258942702017,-3.7600168808e-05,1793246520348457216
+40,0.666666667,BASELINE,766,745,714,678,658.757088305,634,877.242911695,786,808,652,629,652,0.400982179332,-0.00542765093617,0.0498505503581,0.999999962409,8.25063184458e-05,-0.00025875327274,-3.76951773478e-05,1793246520365124864
+41,0.683333333,BASELINE,766,745,714,678,658.180170186,634,877.819829814,786,808,652,629,652,0.400982804168,-0.00542873535628,0.0498510640803,0.999999962791,8.06014439286e-05,-0.000257911759949,-3.74671679425e-05,1793246520381791744
+42,0.700000000,BASELINE,765.596069744,745,714,678.403930256,658.403930256,634,877.596069744,786,808,652,629,652,0.400982210383,-0.00542875609187,0.0498505398292,0.999999962766,8.01114920213e-05,-0.000258154561922,-3.75057984411e-05,1793246520398458112
+43,0.716666667,BASELINE,765.008707701,745,714,678.991292299,658.991292299,634,877.008707701,786,808,652,629,652,0.4009810632,-0.00542829378971,0.0498495442163,0.999999962558,8.02640812503e-05,-0.000258889770202,-3.7665514786e-05,1793246520415124224
+44,0.733333333,BASELINE,765.570751949,745,714,679,658.429248051,634,877,786,808,652,629,652,0.400982460579,-0.00542864085174,0.049850726718,0.999999962771,8.11022100079e-05,-0.00025784173664,-3.7394361183e-05,1793246520431790848
+45,0.750000000,BASELINE,765.850619727,745,714,679,658.149380273,634,877,786,808,652,629,652,0.400983192988,-0.00542900875009,0.0498511623601,0.999999962799,8.14724986931e-05,-0.00025763892531,-3.72397739142e-05,1793246520448457216
+46,0.766666667,BASELINE,765.274028917,745,714,679,658.725971083,634,877,786,808,652,629,652,0.400981914148,-0.00542940140601,0.0498493683314,0.999999962279,8.04753150447e-05,-0.000259930097106,-3.74370960761e-05,1793246520465123840
+47,0.783333333,BASELINE,765,745,714,679,658.698481851,634,877,786,808,652.301518149,629,652,0.400981393141,-0.0054300735201,0.049848899311,0.999999962183,7.96459334455e-05,-0.000260549403083,-3.74798481442e-05,1793246520481790464
+48,0.800000000,BASELINE,765,745,714,679,658.123880035,634,877,786,808,652.876119965,629,652,0.4009815585,-0.00543099873827,0.0498496303445,0.999999962473,7.89685293143e-05,-0.000259654507765,-3.7382606777e-05,1793246520498457344
+49,0.816666667,BASELINE,765.46272257,745,714,678.53727743,658.46272257,634,877,786,808,652.53727743,629.46272257,652.46272257,0.400982162196,-0.0054313052233,0.0498500293387,0.999999962628,7.94446870107e-05,-0.000258945892676,-3.713472434e-05,1793246520515124224
+50,0.833333333,BASELINE,766,745,714,678,658.948282333,634,877,786,808,652,629.948282333,652.948282333,0.400982773943,-0.00543134341282,0.0498503131172,0.999999962721,8.02221358164e-05,-0.000258382512764,-3.68795037624e-05,1793246520531790848
+51,0.850000000,BASELINE,766,745,714,678,658.368535939,634,877,786,808,652,629.368535939,652.368535939,0.400982237843,-0.00543037861034,0.0498503523165,0.999999962566,8.08386456038e-05,-0.000258779228378,-3.69720837409e-05,1793246520548457728
+52,0.866666667,BASELINE,766,745,714,678,658,634,877,785.790607962,807.790607962,652.209392038,629,652,0.400982013836,-0.00542998514324,0.0498503310755,0.999999962556,8.0272482815e-05,-0.000258978078684,-3.70861589544e-05,1793246520565124352
+53,0.883333333,BASELINE,766,745,714,678,658,634,877,785.215852928,807.215852928,652.784147072,629,652,0.40098233439,-0.00543058858518,0.0498502043738,0.999999962796,7.76427038182e-05,-0.000258831678677,-3.72377406669e-05,1793246520581790464
+54,0.900000000,BASELINE,766,745.366190861,714,678,658.366190861,634,877,785.366190861,807.366190861,652.633809139,629,652,0.400981951014,-0.00543000118023,0.0498501600646,0.999999962623,7.93085367254e-05,-0.000258980385601,-3.733843502e-05,1793246520598457344
+55,0.916666667,BASELINE,766,745.952618273,714,678,658.952618273,634,877,785.952618273,807.952618273,652.047381727,629,652,0.400981144278,-0.00542869756947,0.0498501653083,0.999999962189,8.35578606189e-05,-0.000259306577386,-3.74085244075e-05,1793246520615124224
+56,0.933333333,BASELINE,766,745.46703835,714,678.53296165,659,634,877.53296165,786,808,652,629.53296165,652,0.400981059845,-0.00542930677222,0.0498500636381,0.999999962116,8.15271605309e-05,-0.000260258295145,-3.72337156348e-05,1793246520631790592
+57,0.950000000,BASELINE,766,745,714,678.887707321,659,634,877.887707321,786,808.112292679,652,629.887707321,652,0.400981110439,-0.00542991541945,0.0498499557088,0.999999962104,7.97131354802e-05,-0.000260881903238,-3.71140504178e-05,1793246520648457472
+58,0.966666667,BASELINE,766,745,714,678.310354291,659,634,877.310354291,786,808.689645709,652,629.310354291,652,0.400981457302,-0.00542982543462,0.049849860778,0.999999962238,8.10826199712e-05,-0.000259918930867,-3.73119139089e-05,1793246520665124096
+59,0.983333333,BASELINE,766,745,714,678.26554598,659,634,877,786,808.73445402,652.26554598,629,652,0.400982119222,-0.00542981173718,0.0498501367556,0.99999996257,8.12683253572e-05,-0.000258590543254,-3.72466957299e-05,1793246520681790976
+60,1.000000000,BASELINE,766,745,714,678.839757665,659,634,877,786,808.160242335,652.839757665,629,652,0.400983147358,-0.00542988671476,0.0498508438702,0.999999963131,8.00780281205e-05,-0.000256837403637,-3.68756763397e-05,1793246520698457344
+61,1.016666667,BASELINE,766,745,714,679,659,634,877,786,808,653,629.424832599,652.424832599,0.400983366511,-0.00543050233345,0.0498510252945,0.999999963153,8.02027794754e-05,-0.000256741543801,-3.66664439633e-05,1793246520715123968
+62,1.033333333,BASELINE,765.986062456,745,714,678.986062456,658.986062456,634,877,786,808,653,629.986062456,652.986062456,0.400983221906,-0.00543127008395,0.0498509738552,0.99999996296,8.07905475374e-05,-0.000257326784504,-3.65401888117e-05,1793246520731790848
+63,1.050000000,BASELINE,765.404088939,745,714,678.404088939,658.404088939,634,877,786,808,653,629.404088939,652.404088939,0.400981014685,-0.00542970890355,0.0498497251946,0.999999962469,7.95026496861e-05,-0.000259525482315,-3.7243375464e-05,1793246520748457472
+64,1.066666667,BASELINE,765,745,714,678.1758102,658.1758102,634,877,786,808,652.8241898,629,652,0.400979645429,-0.00542864573836,0.0498489315516,0.999999962101,7.92238233803e-05,-0.000260967449986,-3.76558445019e-05,1793246520765123840
+65,1.083333333,BASELINE,765,745,714,678.750997072,658.750997072,634,877,786,808,652.249002928,629,652,0.400980179724,-0.00542871388225,0.0498491715428,0.999999962021,8.12372397878e-05,-0.000260690402562,-3.74079090762e-05,1793246520781790464
+66,1.100000000,BASELINE,765.324485597,745,714,679,658.675514403,634,877,786,808,652,629,652,0.400981429608,-0.00542904975962,0.0498498671621,0.999999962372,8.1633395291e-05,-0.00025922533778,-3.73319615214e-05,1793246520798457088
+67,1.116666667,BASELINE,765.896677608,745,714,679,658.103322392,634,877,786,808,652,629,652,0.400983225759,-0.00542959001985,0.0498509105994,0.99999996305,8.07949630873e-05,-0.000256853362127,-3.73873063961e-05,1793246520815123968
+68,1.133333333,BASELINE,766,745,714,678.512749951,658,634,877.487250049,786,808,652,629.487250049,652,0.40098349652,-0.00542830907926,0.049851348119,0.999999963095,8.27612719601e-05,-0.000256059854268,-3.7340730316e-05,1793246520831790592
+69,1.150000000,BASELINE,766,745,714,678,658,634,877.920749588,786,808,652,629.920749588,652,0.400983268305,-0.00542700146461,0.0498514556099,0.999999962948,8.46179917683e-05,-0.000256036339488,-3.72778020847e-05,1793246520848457216
+70,1.166666667,BASELINE,766,745,714,678,658,634,877.34517343,786,808,652,629.34517343,652,0.400982020307,-0.00542804021999,0.0498503324342,0.999999962499,8.19175840573e-05,-0.000258656672558,-3.7253124567e-05,1793246520865123584
+71,1.183333333,BASELINE,766,745,714,678,658,634,877,786,808,652,629.23106594,652,0.400981819487,-0.00542914590077,0.0498501288617,0.999999962385,8.09103817249e-05,-0.000259434067806,-3.71147757289e-05,1793246520881789952
+72,1.200000000,BASELINE,766,745,714,678,658,634,877,786,808,652,629.808298974,652,0.400983187476,-0.00543035184476,0.0498513029755,0.999999962784,8.24398227914e-05,-0.000257450500804,-3.68061323361e-05,1793246520898456576
+73,1.216666667,BASELINE,766,745,714,678,658.381700367,634,877,785.618299633,807.618299633,652,629.618299633,652,0.400983258276,-0.00542926080476,0.0498511410771,0.999999962645,8.39166295104e-05,-0.0002574634825,-3.7145835479e-05,1793246520915123456
+74,1.233333333,BASELINE,766,745,714,678,658.953196489,634,877,785.046803511,807.046803511,652,629.046803511,652,0.400982684065,-0.00542702761799,0.0498503148631,0.999999962238,8.53672643636e-05,-0.000258469223302,-3.78079208843e-05,1793246520931790080
+75,1.250000000,BASELINE,765.452051597,745,714,678.547948403,659,634,877.547948403,785.547948403,807.547948403,652.547948403,629,652,0.40098110367,-0.00542784469291,0.0498498373513,0.999999962327,8.24406703289e-05,-0.00025912259755,-3.74845947459e-05,1793246520948456960
+76,1.266666667,BASELINE,765,745,714,678.860199758,658.860199758,634,877.860199758,786,808.139800242,652.860199758,629,652,0.400980625854,-0.00542854086219,0.0498499146985,0.999999962586,8.04030104741e-05,-0.000258814821349,-3.71371133191e-05,1793246520965123840
+77,1.283333333,BASELINE,765,745,714,678.283880657,658.283880657,634,877.283880657,786,808.716119343,652.283880657,629,652,0.400983871033,-0.00542800992724,0.0498516274399,0.999999963258,8.23601806894e-05,-0.000255604047609,-3.69886728247e-05,1793246520981790464
+78,1.300000000,BASELINE,765,745,714,678,658,634,877.291865277,786,808.708134723,652,629.291865277,652,0.40098466491,-0.00542810913471,0.0498520257218,0.999999963429,8.31049371506e-05,-0.000254705909941,-3.68877227379e-05,1793246520998457088
+79,1.316666667,BASELINE,765,745,714,678,658,634,877.867054784,786,808.132945216,652,629.867054784,652,0.400983079221,-0.00542882004437,0.0498511480099,0.999999963123,8.26727594087e-05,-0.000256052732341,-3.68328733244e-05,1793246521015123712
+80,1.333333333,BASELINE,765,745,714,678,658.453552693,634,877.546447307,786,808,652,629.546447307,652,0.400982667552,-0.00542944667267,0.0498514043343,0.999999963229,8.16611626122e-05,-0.000255957233393,-3.687496174e-05,1793246521031790592
+81,1.350000000,BASELINE,765.042644732,745,714,678,659,634,877,786,808,652.042644732,629,652,0.400982644177,-0.00543006190549,0.0498519675258,0.99999996345,8.04976022757e-05,-0.000255454699813,-3.69232905702e-05,1793246521048457216
+82,1.366666667,BASELINE,765.621607855,745,714,678,659,634,877,786,808,652.621607855,629,652,0.400983065568,-0.00543085246242,0.0498521026018,0.999999963573,7.9613471855e-05,-0.0002552860537,-3.66836123504e-05,1793246521065123584
+83,1.383333333,BASELINE,766,745,714,678.1988315,658.8011685,634,876.8011685,786,808,652.8011685,629.1988315,652,0.400982923419,-0.00543091984408,0.0498518902731,0.999999963444,7.94718768498e-05,-0.000255843318159,-3.66165571439e-05,1793246521081789952
+84,1.400000000,BASELINE,766,745,714,678.772773588,658.227226412,634,876.227226412,786,808,652.227226412,629.772773588,652,0.400981718112,-0.00542962290131,0.0498510225389,0.999999962839,8.07311306363e-05,-0.000257770067511,-3.68751682023e-05,1793246521098456832
+85,1.416666667,BASELINE,765.651931685,745,714,679,658,634,876.696136629,786,808,652,630,652,0.400981442723,-0.00542956485303,0.0498506678268,0.999999962805,8.09280911249e-05,-0.000257843792347,-3.68327420373e-05,1793246521115123456
+86,1.433333333,BASELINE,765.075750518,745,714,679,658,634,877.848498964,786,808,652,630,652,0.400981776774,-0.00543031873668,0.0498506493329,0.999999963148,8.04288584499e-05,-0.000256703104003,-3.65930256787e-05,1793246521131789824
+87,1.450000000,BASELINE,765,745,714,679,658,634,877.485944705,786,808,652.514055295,629.485944705,652,0.400981534796,-0.00543064196272,0.049850839765,0.999999962943,8.19666063418e-05,-0.000257025692374,-3.6520654808e-05,1793246521148456448
+88,1.466666667,BASELINE,765,745,714,679,658,634,877,786,808,653,629.103272589,652,0.400981139075,-0.00543069019351,0.0498509669187,0.9999999627,8.33347906972e-05,-0.000257531902134,-3.65066570242e-05,1793246521165122816
+89,1.483333333,BASELINE,765,745,714,679,658,634,877,786,808,653,629.680328394,652,0.400980438043,-0.00542977589676,0.0498506586838,0.999999962678,8.2510503147e-05,-0.000257864349364,-3.66442453792e-05,1793246521181789440
+90,1.500000000,BASELINE,765.255854339,745,714,679,658.255854339,634,877,785.744145661,808,652.744145661,629.744145661,652,0.400980612467,-0.00542928839944,0.049850729385,0.999999962766,8.23738595065e-05,-0.00025755565466,-3.67034492722e-05,1793246521198456320
+91,1.516666667,BASELINE,765.829480151,745,714,679,658.829480151,634,877,785.170519849,808,652.170519849,629.170519849,652,0.400981874208,-0.00542933098771,0.0498512707255,0.999999962992,8.30912706965e-05,-0.000256450660685,-3.66652995354e-05,1793246521215123968
+92,1.533333333,BASELINE,766,745,714,678.585334479,658.585334479,634,877,785.414665521,807.585334479,652,629,652,0.400982600329,-0.00542983876737,0.0498520173891,0.999999963309,8.21702548095e-05,-0.000255529461517,-3.65207530676e-05,1793246521231791104
+93,1.550000000,BASELINE,766,745,714,678,658.004651619,634,877.004651619,785.995348381,807.004651619,652,629.004651619,652,0.400983081585,-0.00543053473054,0.0498528332315,0.999999963654,8.05926490106e-05,-0.000254708349304,-3.63319053003e-05,1793246521248457472
+94,1.566666667,BASELINE,766,745,714,678,658.583626025,634,877.583626025,785.416373975,807.583626025,652,629.583626025,652,0.40098130469,-0.00543016894337,0.0498514666761,0.999999962922,8.35202869884e-05,-0.000256645382221,-3.62302408148e-05,1793246521265124096
+95,1.583333333,BASELINE,765.837658147,745,714,678,659,634,877.837658147,785,808,652,629.837658147,652,0.400980348783,-0.00542991943944,0.0498505436804,0.999999962449,8.55711708917e-05,-0.000257827375048,-3.61258801403e-05,1793246521281790976
+96,1.600000000,BASELINE,765.259604341,745,714,678,659,634,877.259604341,785,808,652,629.259604341,652,0.400981495196,-0.00542996770421,0.0498507565165,0.999999962663,8.5376934147e-05,-0.000257075922394,-3.60146152616e-05,1793246521298457344
+97,1.616666667,BASELINE,765.315071528,745,714,678.315071528,658.684928472,634,877,785.315071528,808,652.315071528,629,652,0.400981704742,-0.0054299209454,0.0498508703737,0.999999962731,8.52025260529e-05,-0.000256873327504,-3.59898044508e-05,1793246521315123968
+98,1.633333333,BASELINE,765.886993623,745,714,678.886993623,658.113006377,634,877,785.886993623,808,652.886993623,629,652,0.400981150541,-0.00542979672208,0.049850903542,0.99999996268,8.50442825543e-05,-0.000257118168923,-3.60354721705e-05,1793246521331790592
+99,1.650000000,BASELINE,765.524612375,745,714,679,658,634,877,785.524612375,807.524612375,652.524612375,629.475387625,652,0.40098090898,-0.00542861395543,0.0498506409684,0.999999962541,8.57385230115e-05,-0.000257387302355,-3.63022782526e-05,1793246521348456704
+100,1.666666667,BASELINE,765,745,714,679,658,634,877,785.066115633,807.066115633,652.066115633,629.933884367,652,0.400980777032,-0.00542741120647,0.0498503801415,0.999999962414,8.64208760426e-05,-0.000257615582897,-3.65815170378e-05,1793246521365123328
+101,1.683333333,BASELINE,765,745,714,679,658,634,877,785.643525754,807.643525754,652.643525754,629.356474246,652,0.400980897396,-0.00542806971894,0.0498506960049,0.999999962539,8.53879084455e-05,-0.000257481674823,-3.65357867865e-05,1793246521381789952
+102,1.700000000,BASELINE,765,745,714,678.779815803,658,634,877,786,808,653,629,652.220184197,0.400981661982,-0.0054288695821,0.0498513770817,0.99999996285,8.42490026237e-05,-0.00025664641575,-3.6531556904e-05,1793246521398456832
+103,1.716666667,BASELINE,765,745,714,678.204370228,658,634,877,786,808,653,629,652.795629772,0.400983466003,-0.00542989751079,0.0498526474204,0.99999996346,8.29391683784e-05,-0.000254679545413,-3.65942867726e-05,1793246521415123968
+104,1.733333333,BASELINE,765.379259109,745,714,678,658,633.620740891,877,786,808,652.620740891,629,652.620740891,0.400982534616,-0.005430658317,0.0498519135749,0.999999963148,8.30694445637e-05,-0.000255901193102,-3.63071505246e-05,1793246521431790592
+105,1.750000000,BASELINE,765.967395718,745,714,678,658,633.032604282,877,786,808,652.032604282,629,652.032604282,0.400980096699,-0.00543127200521,0.0498500759222,0.999999962322,8.39928635223e-05,-0.000258878921505,-3.58273250142e-05,1793246521448457216
+106,1.766666667,BASELINE,765.450231013,745,714,678,658.549768987,633.549768987,877.549768987,785.450231013,808,652,629,652,0.400980815499,-0.00543218241335,0.0498506458382,0.999999962899,7.99023790467e-05,-0.000257893267569,-3.61803138719e-05,1793246521465123584
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652,629,652,0.400982371846,-0.0054312006485,0.0498522548068,0.999999963454,8.03969724487e-05,-0.00025558103635,-3.61440861615e-05,1793246521507136512
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.576411798,745,714,679,658.423588202,634,877,785.423588202,808,652,629,652,0.400982268975,-0.00543097730704,0.0498523688721,0.999999963403,8.22351079068e-05,-0.000255223884716,-3.59483097225e-05,1793246521523803648
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.84281146,745,714,679,658.15718854,634,877,785.15718854,808,652.15718854,629.15718854,652,0.400982419075,-0.00543074942729,0.0498524746407,0.999999963388,8.34021893093e-05,-0.000254914045345,-3.58778028384e-05,1793246521540470528
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.249936067,745,714,679,658.750063933,634,877,785.750063933,808,652.750063933,629.750063933,652,0.400983270347,-0.00543050896851,0.049852557413,0.999999963481,8.27092791096e-05,-0.000254735343511,-3.61545114151e-05,1793246521557137408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.333792224,745,714,679,659,634,877,786,808,653,630,652,0.400983349044,-0.00543079818838,0.0498522879376,0.999999963488,8.08592099155e-05,-0.000255271237068,-3.63641817054e-05,1793246521573804288
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.910854024,745,714,679,659,634,877,786,808,653,630,652,0.400982864684,-0.00543147344094,0.0498517617421,0.999999963426,7.81657970407e-05,-0.000256327931612,-3.65249941139e-05,1793246521590470912
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.513984992,745,714,679,658.513984992,634,877.486015008,786,808,653,629.513984992,652,0.40098197311,-0.00543086938436,0.0498509544086,0.999999963032,8.0184627042e-05,-0.000257251293558,-3.64523340145e-05,1793246521607137536
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,678.937590743,658.062409257,634,877.937590743,785.937590743,808,652.937590743,629,652,0.400981155799,-0.00543014905356,0.0498503263186,0.999999962658,8.26856008592e-05,-0.000257922575189,-3.63616040577e-05,1793246521623804160
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,678.347841196,658.652158804,634,877.347841196,785.347841196,808,652.347841196,629,652,0.400981594662,-0.0054304212715,0.049851646813,0.999999963034,8.19856612015e-05,-0.000256669693183,-3.64786302805e-05,1793246521640470528
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.236700323,745,714,678,659,634,877,785.236700323,808,652,629.236700323,652,0.400987146643,-0.00543036166401,0.0498547985472,0.999999964357,8.20194786124e-05,-0.000251464161655,-3.63862071412e-05,1793246521657137152
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.813753147,745,714,678,659,634,877,785.813753147,808,652,629.813753147,652,0.4010000508,-0.00542982492317,0.0498605834296,0.999999966961,8.3108368791e-05,-0.000240575097014,-3.59926157732e-05,1793246521673803520
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.608129576,745,714,678,658.608129576,634,877,786,808,652,629.608129576,652,0.401026970016,-0.00543059740585,0.0498704064511,0.999999971512,8.34483930097e-05,-0.00022084520361,-3.5201513547e-05,1793246521690470144
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.02950496,745,714,678,658.02950496,634,877,786,808,652,629.02950496,652,0.401060568407,-0.00543199382682,0.0498821539344,0.999999976549,8.34315292727e-05,-0.000196902023992,-3.42209690085e-05,1793246521707137024
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.544946805,745,714,678,658,634,877,786,808,652,629,652,0.401120959378,-0.00543392066445,0.0499012174189,0.999999983963,8.30437126471e-05,-0.000155171367799,-3.31604218869e-05,1793246521723803904
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.877316162,745,714,678,658.122683838,634,877,786,807.877316162,652.122683838,629,652,0.40118519681,-0.00543617218991,0.0499199363367,0.999999989287,8.19807333621e-05,-0.000116969405093,-3.19832076066e-05,1793246521740470528
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.286178418,745,714,678,658.713821582,634,877,786,807.286178418,652.713821582,629,652,0.401258624573,-0.00543955467449,0.04993583857,0.999999991867,7.8415831981e-05,-9.5890738348e-05,-3.03769271822e-05,1793246521757137152
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.297052721,745,714,678,659,634,877.297052721,786,807.297052721,652.702947279,629,652,0.401337195879,-0.00544325831645,0.049945819066,0.999999993399,7.52582187914e-05,-8.18172556811e-05,-2.9041590014e-05,1793246521773803520
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.872864148,745,714,678,659,634,877.872864148,786,807.872864148,652.127135852,629,652,0.40142059396,-0.00544726333709,0.0499502425144,0.999999994221,7.24828111549e-05,-7.43175436086e-05,-2.79605101461e-05,1793246521790470144
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,678,658.551566991,634,878,786,808,652,629,652,0.401515037964,-0.00545056289903,0.0499504787669,0.999999994092,7.23664013099e-05,-7.64935551677e-05,-2.69838610583e-05,1793246521807136512
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,678,658,634,877.976158129,786,808,652,629,652,0.401613675482,-0.00545365861835,0.0499494821755,0.999999993687,7.29683173348e-05,-8.13835323026e-05,-2.60532835118e-05,1793246521823803136
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,678,658,634,877.4028524,786,808,652,629,652,0.401736824088,-0.00545666341744,0.0499474169799,0.999999993361,7.27607909736e-05,-8.56344652861e-05,-2.55025119937e-05,1793246521840469760
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714.177349841,678,658,634,877.177349841,786,808,652,629.177349841,652,0.401870667328,-0.00546046881295,0.0499467610929,0.99999999333,7.09157954599e-05,-8.77281169194e-05,-2.48011053477e-05,1793246521857136384
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714.773851339,678,658,634,877.773851339,786,808,652,629.773851339,652,0.402029786435,-0.00546616635135,0.0499494359904,0.999999994004,6.52007773013e-05,-8.47232122138e-05,-2.37436851357e-05,1793246521873803264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.64279851,745.35720149,714.64279851,678.35720149,658.35720149,634,877.64279851,786,808,652,629.64279851,652,0.40220608171,-0.00547286652777,0.049948381277,0.999999993904,6.17869364319e-05,-8.8701731174e-05,-2.24918708926e-05,1793246521890469888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.067478912,745.932521088,714.067478912,678.932521088,658.932521088,634,877.067478912,786,808,652,629.067478912,652,0.402392865293,-0.00548017894605,0.0499450491498,0.999999993291,5.9778263933e-05,-9.69445409803e-05,-2.11213536315e-05,1793246521907136512
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.496968977,714,678.496968977,658.496968977,634,877.503031023,786,808,652,629,652,0.402602553905,-0.00548758355696,0.0499459382313,0.999999993731,5.53654782371e-05,-9.54204929334e-05,-1.91911397243e-05,1793246521923803392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.076353523,714,678,658,634,877.923646477,786,808,652.076353523,629,652,0.402823419857,-0.00549495995416,0.0499478017215,0.999999994312,5.11902436733e-05,-9.19654322518e-05,-1.72401096018e-05,1793246521940470272
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.673206009,714,678,658,634,877.326793991,786,808,652.673206009,629,652,0.40309973407,-0.00550206051511,0.0499524841553,0.999999995042,5.0812024628e-05,-8.41935335995e-05,-1.56541473392e-05,1793246521957136640
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.738027998,714,678.261972002,658.261972002,634,877,786,808,652.738027998,629.261972002,652,0.403394149785,-0.00551089204918,0.0499585865386,0.999999996097,4.79780671068e-05,-7.29649947329e-05,-1.3418691241e-05,1793246521973803008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.159047392,714,678.840952608,658.840952608,634,877,786,808,652.159047392,629.840952608,652,0.403710469856,-0.00552181820884,0.0499664071824,0.9999999974,4.21724553056e-05,-5.75536250297e-05,-1.03972919583e-05,1793246521990469632
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652,629.583607577,652,0.404060461575,-0.00553322446108,0.0499742112973,0.999999998295,3.89825283213e-05,-4.29021805633e-05,-6.98937100293e-06,1793246522007136512
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,808,652,629.009508832,652,0.404423206238,-0.00554481254547,0.0499820091518,0.99999999891,3.67832775967e-05,-2.85385539153e-05,-3.43505717343e-06,1793246522023803392
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.578520417,745,714,679,659,634,877.578520417,786,808,652,629.578520417,652,0.40479300681,-0.0055494308032,0.0499870902345,0.999999999129,3.9025627351e-05,-1.47721157947e-05,-8.82269410331e-07,1793246522040469760
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714,678.83578725,659,634,878,785.83578725,808.16421275,652.16421275,629.83578725,652,0.40518062026,-0.00555007042418,0.0499879956829,0.999999998828,4.72450747523e-05,-1.04471569811e-05,1.69292265291e-06,1793246522057136640
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714,678.256593512,659,634,878,785.256593512,808.743406488,652.743406488,629.256593512,652,0.405612948154,-0.00554095230227,0.049978464541,0.999999997065,7.03801663816e-05,-2.99562848912e-05,4.36735838691e-06,1793246522073803520
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714,678,659,634,877.679466285,785.320533715,808.679466285,652.679466285,629,652.320533715,0.406047501503,-0.00553213695769,0.049961272901,0.999999993804,9.15529446969e-05,-6.30513008346e-05,5.80358585998e-06,1793246522090470144
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714,678,659,634,877.10398268,785.89601732,808.10398268,652.10398268,629,652.89601732,0.406483825007,-0.00552356243873,0.0499379881623,0.999999988082,0.000111164917461,-0.000106952422789,6.25495291137e-06,1793246522107136768
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,714,678.473456011,659,634,877,785.526543989,808,652,629,652.526543989,0.406984509543,-0.00552884381481,0.049924875536,0.999999984734,0.00011647979659,-0.000129913657774,9.27806109101e-06,1793246522123803136
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.052224221,785,808.052224221,652,629,652,0.407505230846,-0.00553654194778,0.0499169124939,0.999999982636,0.000119337917536,-0.000142551339953,1.29001127884e-05,1793246522140469760
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.640208886,785,808.640208886,652,629,652,0.408085893695,-0.0055376850967,0.0499387644581,0.999999986823,0.000129338847675,-9.66565001439e-05,1.68482277021e-05,1793246522157136640
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714.224807669,679,659,634,878,785,809,652,629.224807669,652.224807669,0.408686962991,-0.0055385063686,0.0499627660565,0.999999988617,0.000140386535694,-5.10217783911e-05,2.13359770761e-05,1793246522173803264
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714.804067922,679,659,634,878,785,809,652,629.804067922,652.804067922,0.409320206946,-0.0055388201393,0.0499901569659,0.99999998791,0.000153084638647,-5.7971857582e-06,2.66745638802e-05,1793246522190470144
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.618480512,785.381519488,808.618480512,652,629.618480512,653,0.409955298232,-0.00553827452139,0.0500005280478,0.999999985442,0.000167632517263,6.82482983672e-06,3.11380774126e-05,1793246522207136768
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.041953447,785.958046553,808.041953447,652,629.041953447,653,0.410591333731,-0.00553728964076,0.0500021997167,0.999999982611,0.000183125878788,2.78255877684e-06,3.51543111036e-05,1793246522223803392
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.466837708,678.466837708,659,634,877.533162292,785.466837708,809.066324585,652,629,652.466837708,0.411222345868,-0.00553803173881,0.0499687922978,0.99999997815,0.000193687352482,-6.87948092104e-05,3.81148130041e-05,1793246522240470016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.888998567,745,714.111001433,678.111001433,659,634,878.111001433,785,809.888998567,652,629,652.111001433,0.411871484126,-0.00553888871002,0.0499401285988,0.999999970421,0.000203932842899,-0.000126050093514,4.09869962465e-05,1793246522257136640
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.298927669,745,714.701072331,678.701072331,659,634,878.701072331,785,809.298927669,652,629,652.701072331,0.412600553939,-0.00553965651268,0.0499438199535,0.999999971175,0.000214485074609,-9.86179666754e-05,4.38355948902e-05,1793246522273803264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.285448295,745.285448295,715,679,659.285448295,634,878.714551705,785,809.285448295,652,629.285448295,652.714551705,0.413358856296,-0.00554065465955,0.0499592072099,0.999999977239,0.000199586327271,-6.31978462261e-05,4.11404625094e-05,1793246522290469632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863977126,745.863977126,715,679,659.863977126,634,878.136022874,785,809.863977126,652,629.863977126,652.136022874,0.414147172899,-0.00554188930961,0.0499866030901,0.999999986702,0.000158556100157,-1.95761478198e-05,3.27533725403e-05,1793246522307136256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.561798649,745.561798649,714.561798649,679,660,634,878,785,809.561798649,652,630,652.438201351,0.414909099538,-0.00554817431553,0.0499752094387,0.99999999275,0.000110640007906,-4.15287823218e-05,2.31306847052e-05,1793246522323803136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.011432223,745,714,679,660,634,878,785,809,652,630,653,0.415663939046,-0.00555588358613,0.0499520845694,0.999999994535,6.19229806056e-05,-8.31588195853e-05,1.34066884892e-05,1793246522340470016
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.601355793,745,714,679,660,634,878,785,809,652,630,653,0.416470644616,-0.00555710697963,0.0499386944723,0.999999991607,7.97839569394e-05,-0.000100518591104,1.77755134199e-05,1793246522357136384
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660,634,878,785.187777071,809,652.187777071,630,653,0.417299982932,-0.00555640424076,0.049938797492,0.999999990483,9.60713176085e-05,-9.65971666063e-05,2.17647772392e-05,1793246522373803264
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,634,878,785.766899207,809,652.766899207,630,653,0.418176489973,-0.00555168726088,0.0499670214364,0.999999992572,0.000109079114189,-4.83237281777e-05,2.49629997499e-05,1793246522390469888
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714.344420806,679,660,634,878,785.655579194,809.344420806,652.655579194,630,653,0.419024785957,-0.0055511716953,0.0499734022411,0.999999991995,0.000115351737653,-4.40936073888e-05,2.75787774096e-05,1793246522407136256
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714.920864163,679,660,634,878,785.079135837,809.920864163,652.079135837,630,653,0.419854077245,-0.00555348645504,0.0499650681934,0.999999990284,0.000117087143348,-6.95337138356e-05,2.98021851069e-05,1793246522423803136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.501900805,745,714.501900805,679,660,634,878,785,810,652,630,653,0.420754992679,-0.00555549386115,0.0499631982735,0.999999991819,0.000111545200597,-5.52254790998e-05,2.94785491603e-05,1793246522440470272
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076736801,745,714,679,660,634,878.076736801,785,810,652,630,653,0.42167090608,-0.00555726408633,0.0499652731514,0.999999993446,0.000105993909177,-3.21246058712e-05,2.90127507151e-05,1793246522457137408
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.663865032,745,714,679,660,634,878.663865032,785,810,652,630,653,0.422610766812,-0.00555778207546,0.0499867440478,0.999999993673,0.000108082751795,7.3883580556e-06,3.02971808879e-05,1793246522473803776
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.75234457,745,714,679.24765543,660,634,879,785,810,652,630,653,0.423534004386,-0.00555727549695,0.049992063579,0.999999993382,0.000109696395813,1.58161283944e-05,3.08760720693e-05,1793246522490470400
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.173024181,745,714,679.826975819,660,634,879,785,810,652,630,653,0.424434980033,-0.00555539679764,0.0499757528913,0.999999993259,0.000110673645023,-1.73859905693e-05,3.05100919396e-05,1793246522507137024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.400562919,745,714.400562919,680,660,633.599437081,879,785,810.400562919,652,630,653,0.425360451689,-0.00555902830269,0.0499816300437,0.999999993847,0.000105886811181,-8.78442791456e-06,3.18897874595e-05,1793246522523803392
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.971708421,745,714.971708421,680,660,633.028291579,879,785,810.971708421,652,630,653,0.42629635509,-0.00556500636778,0.0499969560475,0.999999994401,9.86453012634e-05,1.76195334633e-05,3.40128914481e-05,1793246522540470016
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714.453947342,679.453947342,660,633.546052658,879,785,810.453947342,652,630.546052658,653,0.427202147325,-0.0055647104709,0.049995579942,0.99999999409,0.000101984496095,-1.12539845267e-05,3.59504101969e-05,1793246522557136640
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.125023172,660,634,879,785,810.125023172,652,630.874976828,653,0.428108156001,-0.0055633299262,0.0499863637681,0.999999992683,0.000105456365647,-4.63029189708e-05,3.69914763687e-05,1793246522573803008
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.720784876,660,634,879,785,810.720784876,652,630.279215124,653,0.429020888271,-0.00555909658849,0.0499509055286,0.999999989241,0.000107351541092,-9.37565424476e-05,3.46936272951e-05,1793246522590469888
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.309247449,680,660,634,879,785,811,652,630,653,0.42996959938,-0.00555993672375,0.0499434174879,0.999999989477,0.000104620570563,-9.45385505318e-05,3.41118101657e-05,1793246522607136768
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.891271673,680,660,634,879,785,811,652,630,653,0.430950046164,-0.00556525199915,0.0499606010209,0.999999993136,9.78090321519e-05,-5.41530935985e-05,3.50436472382e-05,1793246522623803392
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.534857011,680,660,634,879,785.465142989,811,652,630.465142989,653,0.43185344613,-0.00556563474203,0.0499508470922,0.999999991883,9.73869244358e-05,-7.42194533298e-05,3.5230441091e-05,1793246522640470016
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,785.961649167,811,652,630.961649167,653,0.432743472435,-0.00556505014397,0.04993702269,0.99999998921,9.80557924559e-05,-0.000103546704833,3.52705783034e-05,1793246522657136640
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,785.371024995,811,652,630.371024995,653,0.433695794461,-0.00556685300866,0.0499536952144,0.999999992817,9.32979259057e-05,-6.62503746079e-05,3.56635163371e-05,1793246522673803264
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.784999171,879,785.215000829,811.215000829,652,630,653,0.43462844693,-0.0055674634978,0.049969322052,0.999999994388,9.16957563186e-05,-3.8408408358e-05,3.66168108258e-05,1793246522690469888
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.20674242,879,785.79325758,811.79325758,652,630,653,0.435527866739,-0.00556605940206,0.0499831821463,0.999999994353,9.54253126098e-05,-2.65401128008e-05,3.8516859007e-05,1793246522707136768
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.369106986,680,660.738213973,633,879,785.630893014,812,652,630,653,0.436381656188,-0.00556496633374,0.0499683573008,0.999999992183,9.86189882668e-05,-6.59865411604e-05,3.94112951299e-05,1793246522723803392
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.943616706,680,661.887233412,633,879,785.056383294,812,652,630,653,0.437210052944,-0.00556404634779,0.0499375696977,0.999999985081,0.00010151445346,-0.000133988876392,3.97461223333e-05,1793246522740470272
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.469370731,745,714.469370731,680,660.938741461,633,879,785,811.469370731,652,630.530629269,653,0.438105974799,-0.00556849894715,0.0499594585859,0.999999991796,9.57979380933e-05,-7.49955662784e-05,4.00731039554e-05,1793246522757137152
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,879,785,811.117164207,652,631,653,0.438998252643,-0.00557249028485,0.0499807517411,0.999999994981,8.97361396304e-05,-1.92588432899e-05,4.01873404433e-05,1793246522773804032
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,879,785,811.696448862,652,631,653,0.439847174914,-0.00557235631432,0.0499770856564,0.999999995046,8.60088648751e-05,-3.08752336892e-05,3.94658331663e-05,1793246522790470400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.275329626,745,714,680,660,633.275329626,879,785,812,652,631,653,0.440668062486,-0.00557233798802,0.049967752222,0.999999994677,8.29460203676e-05,-4.77899765501e-05,3.84882209222e-05,1793246522807136768
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.853765714,745,714,680,660,633.853765714,879,785,812,652,631,653,0.441458087,-0.00557244697282,0.0499521796835,0.99999999357,8.06146378767e-05,-7.05375993561e-05,3.72286664068e-05,1793246522823803392
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.572259962,745,714,680,659.572259962,634,879,785,812,652,631,653,0.442256789793,-0.00557579686399,0.0499673758331,0.999999995469,7.7504984972e-05,-3.97996424016e-05,3.83581073393e-05,1793246522840469760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000211089,745,714,680,659.000211089,633.999788911,879,785,812,651.999788911,631,653,0.443058393744,-0.00558024079486,0.0499929716526,0.9999999964,7.41349295878e-05,9.01099531722e-06,4.02954377362e-05,1793246522857136128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.590305637,745,714,680,659.590305637,633.409694363,879,785,812,651.409694363,631,653,0.443761690182,-0.00557766394566,0.0499882955304,0.999999995998,7.89347931975e-05,-9.30564983609e-06,4.10573417736e-05,1793246522873803008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.177160633,879,785,812,651,631,653,0.444461842294,-0.00557529044317,0.0499753116856,0.999999994983,8.35582933237e-05,-3.65083183693e-05,4.14543947455e-05,1793246522890469888
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.756658623,879,785,812,651,631,653,0.445154853681,-0.00557337874693,0.0499434607412,0.999999991787,8.77812673217e-05,-8.38914283639e-05,4.10228596173e-05,1793246522907136768
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.667475847,879,785,812.332524153,651.332524153,631,653,0.445853271705,-0.00557282838787,0.0499406392146,0.999999992204,9.03595843544e-05,-7.54965302115e-05,4.15564158304e-05,1793246522923803392
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.094239862,879,785,812.905760138,651.905760138,631,653,0.446555603513,-0.00557326349106,0.0499588318757,0.999999994519,9.1747345778e-05,-2.67243322351e-05,4.27885946858e-05,1793246522940469760
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.480701453,680,660,633,879,785,812.519298547,651.519298547,630.519298547,653,0.447192574893,-0.00557182798351,0.0499664215483,0.999999993936,9.9767759463e-05,-1.40905842566e-05,4.44494224353e-05,1793246522957136384
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.942331482,680,660,633,879,785.057668518,812.057668518,651.057668518,630.057668518,653,0.447808875052,-0.00557013724019,0.0499686853626,0.999999992992,0.000108264319823,-1.33418551995e-05,4.60060201811e-05,1793246522973803008
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.349684442,680,660,633,879,785.650315558,812.650315558,651.650315558,630.650315558,653,0.448352705783,-0.00556949288704,0.0499408944449,0.999999991384,0.00010907236051,-5.68895667063e-05,4.5813346949e-05,1793246522990469888
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.237324747,660,633,879,785.762675253,813,651.762675253,631,653,0.448903592772,-0.00556941239484,0.0499250211464,0.999999989398,0.000111629178753,-8.111474823e-05,4.65156660521e-05,1793246523007136512
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.816219598,660,633,879,785.183780402,813,651.183780402,631,653,0.449464635447,-0.00557014344067,0.0499263003069,0.999999989008,0.000116702928659,-7.75299372846e-05,4.85061047286e-05,1793246523023803392
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.60575786,745,714,681,660,633,879,785,813,651.39424214,631,653,0.449997963445,-0.00556934037038,0.0499418033155,0.999999989838,0.000121343431449,-5.52247767643e-05,5.04888834376e-05,1793246523040470272
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.028141007,745,714,681,660,633,879,785,813,651.971858993,631,653,0.450518400503,-0.00556782373334,0.0499639222939,0.99999999042,0.000125782417402,-2.42121785269e-05,5.24680993831e-05,1793246523057137152
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,680.888157809,660.888157809,633,879,785,813,652,631,653,0.451403530053,-0.0055673113652,0.0499740499534,0.99999998923,0.000133131808929,-2.66581033768e-05,5.57199787265e-05,1793246523090470400
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714,680.290515386,660.290515386,633,879,785,813,652,631,653,0.451776279787,-0.00556825457551,0.0499556115923,0.999999987581,0.000131108505847,-6.70624436958e-05,5.6140740871e-05,1793246523107137280
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632.702031891,879,785,813,652,630.702031891,653,0.452131794546,-0.00556951232711,0.0499314427146,0.999999987603,9.74628641948e-05,-0.000114907931936,4.57189184084e-05,1793246523123803904
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632.122211976,879,785,813,652,630.122211976,653,0.452471006502,-0.00557106760724,0.0499018532701,0.999999984697,3.39052519501e-05,-0.00016979209324,2.5040957708e-05,1793246523140470272
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.547209543,632.452790457,879,785,813,652,630.452790457,653,0.452809042933,-0.00557410666739,0.0498978350578,0.999999985373,2.00366555972e-05,-0.00016845286405,2.18045519507e-05,1793246523157136640
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714.026504005,680.026504005,659.026504005,633,879,785,813.026504005,652,631,653,0.45314520255,-0.00557749558062,0.0499011199799,0.999999988006,1.96144307916e-05,-0.000151864469601,2.32681164276e-05,1793246523173803264
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714.600170338,680.600170338,659.600170338,633,879,785,813.600170338,652,631,653,0.453449097577,-0.00557992626746,0.0499141883856,0.999999990903,2.28271979126e-05,-0.00013045034166,2.55968221546e-05,1793246523190470144
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.819233698,745,714.819233698,680.819233698,660,632.819233698,879,784.819233698,814,651.819233698,630.819233698,653,0.45373643658,-0.00558111076806,0.0499228955379,0.999999992539,2.6976886016e-05,-0.00011589118729,2.7637848208e-05,1793246523207136768
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.22269945,745,714.22269945,680.22269945,660,632.22269945,879,784.22269945,814,651.22269945,630.22269945,653,0.453985696185,-0.00557942900243,0.0499215716741,0.999999992169,3.32815202094e-05,-0.00011709868192,2.90172020383e-05,1793246523223803392
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.360108855,745,714,680.360108855,660,632,879,784.360108855,813.639891145,651.360108855,630.360108855,653,0.454208857514,-0.0055756520287,0.0499132261291,0.999999990445,4.1334696595e-05,-0.000128548379921,2.96148456071e-05,1793246523240470016
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.934740447,745,714,680.934740447,660,632,879,784.934740447,813.065259553,651.934740447,630.934740447,653,0.454416471696,-0.00557062690506,0.0499006976536,0.999999987613,5.04295087677e-05,-0.000146099526143,2.97468117052e-05,1793246523257136640
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.490928112,745,714,680.490928112,659.490928112,632,879,785,813,652,631,653,0.454586386105,-0.00556897198411,0.0498899702132,0.999999984533,5.45707268742e-05,-0.000164411291362,3.03991223615e-05,1793246523273803264
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.085998343,745,714,680.085998343,659.085998343,632,879.085998343,785,813.085998343,652,631,653,0.454746871109,-0.00556774316833,0.0498799035379,0.999999981268,5.7997759176e-05,-0.000182025753301,3.1089681628e-05,1793246523290470144
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.678433302,745,714,680.678433302,659.678433302,632,879.678433302,785,813.678433302,652,631,653,0.454880270728,-0.00556648091884,0.0498723692125,0.999999978638,6.09563717047e-05,-0.000194959999005,3.16128977198e-05,1793246523307137280
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632,879.735801437,785,813.735801437,652,631,653,0.455003799947,-0.00556753731313,0.0498652625087,0.999999976125,6.06382154073e-05,-0.000207488552127,3.19630871552e-05,1793246523323804416
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,632,879.157954274,785,813.157954274,652,631,653,0.455115611314,-0.00557134633175,0.0498586634648,0.999999973794,5.64299774051e-05,-0.000219535478433,3.21078645112e-05,1793246523340471040
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714,680.583289343,659.583289343,632,879,785,813,652,631,653,0.455213384714,-0.00557219014354,0.0498531161678,0.999999972594,5.57878614018e-05,-0.00022512960108,3.18834117158e-05,1793246523357137408
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680.009821508,659.009821508,632,879,785,813,652,631,653,0.455305877344,-0.00557191851113,0.0498479645144,0.999999971848,5.64872403859e-05,-0.000228296323855,3.15200628393e-05,1793246523373803520
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680.578154202,659,632,879,785,813,652,630.421845798,653,0.455373068811,-0.00557090624031,0.0498454615337,0.99999996991,5.79216521279e-05,-0.000236282384824,3.15651635014e-05,1793246523390470144
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.835856295,745,714,680.835856295,659,632,879.164143705,785,813,651.835856295,630.164143705,653,0.455434748002,-0.00556986386078,0.0498425835062,0.999999967961,5.93365612626e-05,-0.000244066502398,3.14446126062e-05,1793246523407136768
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.255543643,745,714,680.255543643,659,632,879.744456357,785,813,651.255543643,630.744456357,653,0.455483569173,-0.00556877786471,0.0498386375721,0.999999966151,6.0669550297e-05,-0.000251125698639,3.08860248246e-05,1793246523423803392
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+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680.359881323,659.359881323,632,879,785,813.359881323,652,631,652.640118677,0.455632445663,-0.00556560548591,0.0498347951381,0.999999964061,6.38235727343e-05,-0.00025852431802,3.11543002797e-05,1793246523507136768
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.865824475,631.134175525,879,784,813,651.134175525,631,653,0.455668013267,-0.0055613299426,0.0498293964095,0.999999961709,6.80216497711e-05,-0.000266495341065,3.05725803197e-05,1793246523657136128
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.558888663,631.441111337,879.441111337,784.441111337,813,651.441111337,631,653,0.455667794937,-0.00556015208578,0.0498290004293,0.999999961439,6.88084239529e-05,-0.000267272679002,3.08709086814e-05,1793246523673803520
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+245,4.083333333,HOLD_POSE2,766,745,714,680,660,632,879,785,814,652,631,653,0.455669974748,-0.00555708587453,0.049826639597,0.999999960374,7.14598076363e-05,-0.000270627700709,3.00966331918e-05,1793246523833153024
+246,4.100000000,HOLD_POSE2,766,745,714.577917847,680,659.422082153,632,879,785,813.422082153,652,631,653,0.455668534667,-0.00555795834891,0.0498266263595,0.999999960171,7.04134838673e-05,-0.000271594315738,3.05912497401e-05,1793246523849819648
+247,4.116666667,HOLD_POSE2,766,745,714.845402017,680,659,632,879,785,813,651.845402017,631,653,0.455667273551,-0.0055581999293,0.0498263073001,0.999999959904,7.01249622155e-05,-0.000272620611066,3.08770019484e-05,1793246523866486272
+248,4.133333333,HOLD_POSE2,766,745,714.272074107,680,659,632,879,785,813,651.272074107,631,653,0.455666497161,-0.00555673272824,0.0498251599195,0.999999959462,7.18889536981e-05,-0.000273808551198,3.05970434566e-05,1793246523883153152
+249,4.150000000,HOLD_POSE2,765.700630799,745,714,680.299369201,659.299369201,632,879,785,813,651.299369201,630.700630799,653,0.455666406488,-0.00555700268389,0.0498246151122,0.999999959317,7.06898581309e-05,-0.000274676200281,3.03491781859e-05,1793246523899819776
+250,4.166666667,HOLD_POSE2,765.130889583,745,714,680.869110417,659.869110417,632,879,785,813,651.869110417,630.130889583,653,0.455666935113,-0.00555884153369,0.0498246145123,0.999999959431,6.68146828369e-05,-0.000275254581936,3.01302975731e-05,1793246523916486656
+251,4.183333333,HOLD_POSE2,765.458079334,745,714,681,659.541920666,632,879,784.541920666,813,652,630.458079334,653,0.455667861823,-0.00555861700855,0.049825540224,0.999999959807,6.60958570212e-05,-0.000274066473053,3.00881677783e-05,1793246523933153536
+252,4.200000000,HOLD_POSE2,766,745,714,681,659,632,879,784.049707552,813,651.950292448,631,652.950292448,0.455668896488,-0.0055578228957,0.0498266756896,0.999999960226,6.65290481595e-05,-0.000272424110463,3.01141381649e-05,1793246523949820160
+253,4.216666667,HOLD_POSE2,766,745,714,681,659,632,879,784.609760309,813,651.390239691,631,652.390239691,0.455669820508,-0.00555749925227,0.0498271281677,0.999999960288,6.9124672972e-05,-0.000271527236243,3.0298049341e-05,1793246523966486784
+254,4.233333333,HOLD_POSE2,766,745,714,680.819922622,659,632,879,785,813,651.180077378,631,652.180077378,0.455670266288,-0.00555714611629,0.0498272325318,0.999999960248,7.0797814264e-05,-0.000271217497064,3.05488617311e-05,1793246523983153664
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+256,4.266666667,HOLD_POSE2,766,745,714,680.366929888,659,632,879,784.633070112,813,652,631,652.633070112,0.455668438777,-0.00555615012204,0.0498254040599,0.99999995946,7.08516785449e-05,-0.000274078085166,3.06731718851e-05,1793246524016486656
+257,4.283333333,HOLD_POSE2,766,745,714,680.959289339,659,632,879,784.040710661,813,652,631,652.040710661,0.455666944407,-0.00555548032132,0.0498240025887,0.999999958771,7.19343802091e-05,-0.000276379290454,2.99722087997e-05,1793246524033153536
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+260,4.333333333,HOLD_POSE2,766,745,714,680.690611314,659,632,879.309388686,784.309388686,813.690611314,652,631,652.309388686,0.45566805613,-0.00555523066108,0.049823983864,0.999999959025,7.02875183149e-05,-0.000275916228541,2.9669468358e-05,1793246524083153664
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,632,879,785,814,652,630,653,0.45567208946,-0.00555555646174,0.049827656532,0.999999960098,7.30407704458e-05,-0.000271216647287,3.0175302687e-05,1793246524121513472
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.604654478,660.209308955,632,879.604654478,785,813.395345522,652,630.604654478,653,0.455670162724,-0.00555725739428,0.0498261316037,0.99999995983,6.96446698793e-05,-0.000273098429728,3.01175627482e-05,1793246524138180352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.80284858,660.60569716,632,879.80284858,785,813.19715142,652,630.80284858,653,0.455668823993,-0.00555761293428,0.0498250437442,0.999999959525,6.85978097702e-05,-0.000274496575952,2.99478676771e-05,1793246524154846720
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.341620892,659,632,879,785,813.316758215,652,630.341620892,653,0.455668775165,-0.0055554712478,0.0498246830879,0.999999959291,7.1164373652e-05,-0.000274758611733,2.93438534086e-05,1793246524188179968
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.920305263,659,632,879,785,812.159389473,652,630.920305263,653,0.455669237131,-0.00555706243681,0.049824698541,0.99999995975,6.74160813186e-05,-0.000274045205642,2.92308473752e-05,1793246524204846848
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.89816317,681,659.10183683,632,879.10183683,784.10183683,813,651,631,653,0.455669423342,-0.00555678204854,0.0498258186039,0.999999959363,6.95561936473e-05,-0.000274794369521,3.03814369303e-05,1793246524238180608
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.319205492,681,659.680794508,632,879.680794508,784.680794508,813,651,631,653,0.455669172833,-0.00555679456718,0.0498255152462,0.999999959692,7.06565021534e-05,-0.000273344334478,3.01142912526e-05,1793246524254847232
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.165731222,659.165731222,632,880,784.165731222,813,651.834268778,630.165731222,653,0.455649054675,-0.0055534849697,0.0498153718061,0.999999955292,7.16733454902e-05,-0.000288865629542,2.88910640098e-05,1793246524288180224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.409595971,659,632,879.590404029,784,813,651.590404029,630.409595971,653,0.455624148431,-0.00555279401582,0.0498029448066,0.999999949279,7.01262087458e-05,-0.000309413641316,2.80737680688e-05,1793246524304846848
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.425458492,659,632,879,784,813,651,631,653,0.455537647272,-0.00555103731004,0.0497654184357,0.999999927813,7.03852352818e-05,-0.000372465214008,2.62431580791e-05,1793246524338179840
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.161512165,745,714,680,659,632,879,784.161512165,813,651.161512165,630.838487835,653,0.455475670208,-0.00554900283973,0.0497422733857,0.999999913836,7.2754311115e-05,-0.000407931473839,2.50153373164e-05,1793246524354846976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.740017059,745,714,680,659,632,879,784.740017059,813,651.740017059,630.259982941,653,0.45540306787,-0.00554625244849,0.049718972553,0.999999902839,7.43262226591e-05,-0.000433891468493,2.31654801409e-05,1793246524371514112
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,745,714,680,659,632,879,785,813,652,630.315905608,653,0.455325224992,-0.00554221895984,0.0497024182804,0.999999893949,7.70614791176e-05,-0.000453552775501,2.13081731925e-05,1793246524388180736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,745,714,680,659,632,879,785,813,652,630.889658617,653,0.455243104704,-0.00553713818597,0.0496913706634,0.999999887005,8.07462769275e-05,-0.000468072987637,1.94447857317e-05,1793246524404847360
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.534440244,745,714,680,659.465559756,632,879.465559756,785,812.534440244,652,631,653,0.455149906807,-0.00553448207419,0.0496894052329,0.99999988677,8.30292834521e-05,-0.000468193585088,1.89711900415e-05,1793246524421513472
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.043085911,660,632,880,785,812.043085911,652,631,652.956914089,0.455052738164,-0.00553214812691,0.0496900146758,0.999999888236,8.50509969993e-05,-0.000464694197104,1.8813984355e-05,1793246524438180096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.634790891,660,632,880,785,812.634790891,652,631,652.365209109,0.454938595033,-0.00552656514426,0.0496958745608,0.999999890728,8.79956450013e-05,-0.000458758428289,1.84717834048e-05,1793246524454846720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.77869627,745,714,680.77869627,660,632,879.77869627,785.22130373,813,652,631,652.22130373,0.454811985353,-0.00552145599749,0.0497019845369,0.999999893733,9.14932217524e-05,-0.000451475000695,1.8281540718e-05,1793246524471513344
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.375368772,745,714,680,660,632,879,785.624631228,813,652,631,653,0.454505164358,-0.00551091792121,0.0497182051618,0.999999903196,0.000100075637132,-0.000428107600738,1.7790122685e-05,1793246524504847104
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,631.462641741,879,785,812.462641741,652,630.462641741,653,0.454135356724,-0.00549873126519,0.0497359470046,0.999999913116,0.000109093481688,-0.000401959178102,1.7183420018e-05,1793246524538180864
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.123783235,659.876216765,631.123783235,879,785,812.123783235,652,630.123783235,652.876216765,0.453918750859,-0.00549298155877,0.04974147285,0.999999915619,0.000114207825495,-0.000394237255195,1.72084528849e-05,1793246524554846976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.702833435,659.297166565,631.702833435,879,785,812.702833435,652,630.702833435,652.297166565,0.453662920734,-0.00548376356482,0.0497457830826,0.999999915804,0.000119711941748,-0.000392181903459,1.59811057591e-05,1793246524571513344
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.801074196,745.801074196,714,678.198925804,658,634,877.198925804,785.801074196,808,652,629,652,0.402780273071,-0.00540952906361,0.0498206137579,0.999999941662,3.73199413898e-05,-0.00033539765684,-5.28328800506e-05,1793246525838181120
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.055205366,714,678.944794634,658,634,877,785.055205366,807.055205366,652,629.944794634,652,0.402302861017,-0.00540638687228,0.0498048589738,0.999999931272,3.57256546784e-05,-0.000364820342264,-5.55482992669e-05,1793246525871513600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.462926744,745,714,679,658,634,877,785.537073256,807.537073256,652,629.462926744,652,0.402125572274,-0.00540744643438,0.0498086469561,0.999999935054,3.31226262942e-05,-0.000354516978599,-5.57891154538e-05,1793246525888179968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.126844927,714,679,658,634,877,785.873155073,808,652,629,652,0.40195983569,-0.00540806439121,0.0498137460517,0.999999939325,3.84303950038e-05,-0.00034196220601,-5.41775151317e-05,1793246525904846848
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.726510467,714,679,658,634,877,785.273489533,808,652,629,652,0.401682508982,-0.00540204042285,0.0498240983266,0.999999942495,0.000109713011345,-0.000318462345265,-3.94384838985e-05,1793246525938180352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745.151923364,714,679,658,634,877,785.848076636,808,652,629,652,0.401563112392,-0.0053961311078,0.0498280177701,0.999999941255,0.000150788188277,-0.000306043485652,-3.30236969043e-05,1793246525954846720
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.505299668,745,714,679,658.505299668,634,877.494700332,786,808,652,629,652,0.401064949959,-0.00541685654844,0.0498387500351,0.999999953673,0.000117060610584,-0.000278889907227,-3.42348600961e-05,1793246526088180224
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.563207841,745,714,678,658.436792159,634,877.436792159,785.436792159,808,652.563207841,629,652.436792159,0.400986458133,-0.00541850972844,0.0498407452802,0.999999956188,0.000109159931151,-0.000272878713044,-3.5275073687e-05,1793246526204847360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.848483651,745,714,678.151516349,658,634,877,785.151516349,808,652.848483651,629,652,0.400985372153,-0.00541925430405,0.0498417000961,0.999999956747,0.00010852241643,-0.000271126827039,-3.49117122949e-05,1793246526221513984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.26943667,745,714,678.73056333,658,634,877,785.73056333,808,652.26943667,629,652,0.400985572784,-0.00541766701173,0.0498423560918,0.999999956921,0.000110131167864,-0.000269768246834,-3.54286665857e-05,1793246526238181120
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.307770142,745,714,679,658,634,877,786,808,652,629,652,0.400984505205,-0.0054184117821,0.0498422662255,0.99999995701,0.000109595495532,-0.000269635052758,-3.55827485433e-05,1793246526254848256
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.883375621,745,714,679,658,634,877,786,808,652,629,652,0.400982333974,-0.00542118601752,0.049841527277,0.999999957024,0.00010719364995,-0.000270568244322,-3.54210428317e-05,1793246526271515136
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.531683187,745,714,679,658,634,877,786,808,652,629,652,0.400982989746,-0.00542142500833,0.0498422462669,0.999999957549,0.000105906644399,-0.000269135140229,-3.53827653298e-05,1793246526288181248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.054843923,714,679,658,634,877.054843923,786,808,652.054843923,629.054843923,652,0.400984197718,-0.00542107202628,0.0498432493963,0.999999958138,0.000104970326942,-0.000267309261596,-3.53653019035e-05,1793246526304847616
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745.633857029,714,679,658,634,877.633857029,786,808,652.633857029,629.633857029,652,0.400983817965,-0.00542121811382,0.0498434275825,0.999999958128,0.000104678314667,-0.0002674759917,-3.52470233927e-05,1793246526321514496
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.212055898,745.787944102,714,678.787944102,658.212055898,634,877.787944102,786,808,652.787944102,629.787944102,652,0.400983298805,-0.00542090930561,0.0498434288013,0.999999958018,0.000105261216428,-0.000267654080789,-3.53008441401e-05,1793246526338181120
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.788854221,745.211145779,714,678.211145779,658.788854221,634,877.211145779,786,808,652.211145779,629.211145779,652,0.400982539858,-0.00541981806322,0.049843125631,0.99999995773,0.000107348996273,-0.000267851707656,-3.56506807169e-05,1793246526354847232
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.365088504,678.365088504,659,634,877,786,808,652,629,652,0.400982366906,-0.00542052086399,0.0498433443049,0.99999995789,0.000106135018391,-0.00026775075109,-3.55768031555e-05,1793246526371513856
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.940997064,678.940997064,659,634,877,786,808,652,629,652,0.400982532336,-0.00542225963352,0.0498438643175,0.9999999583,0.000103014443171,-0.000267477377761,-3.52582522037e-05,1793246526388180224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.471860895,679,658.471860895,634,877,785.471860895,808,652,629,652,0.400983609761,-0.00542098345144,0.0498447244123,0.999999958533,0.000105597539038,-0.000265563327481,-3.54783320774e-05,1793246526404847104
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.885330077,745,714,679,658,634,877.114669923,785.114669923,808,652.114669923,629,652,0.400984261352,-0.00541994496093,0.0498453155022,0.999999958678,0.000107884399739,-0.000264076555987,-3.56047485133e-05,1793246526421513984
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.30646444,745,714,679,658,634,877.69353556,785.69353556,808,652.69353556,629,652,0.400982767707,-0.00542126180948,0.0498446604879,0.999999958597,0.000106336536017,-0.000265077572243,-3.5103116886e-05,1793246526438180864
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.270335512,745,714,679,658,634,877.729664488,786,808,652.729664488,629,652,0.400982844345,-0.00542187634427,0.0498446088651,0.999999958818,0.000105342353061,-0.000264656795384,-3.49801321066e-05,1793246526454847488
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.844811542,745,714,679,658,634,877.155188458,786,808,652.155188458,629,652,0.400984687627,-0.00542170074231,0.0498452360867,0.999999959379,0.000104971087532,-0.00026263643267,-3.52831432704e-05,1793246526471513600
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.570751345,745,714,678.570751345,658,634,877,786,808,652,629,652.429248655,0.400984583111,-0.00542207725724,0.0498456077801,0.999999959364,0.00010513492697,-0.000262624741429,-3.53213854492e-05,1793246526488180224
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.017093242,658,634,877,786,808,652,629,652.982906758,0.400983736253,-0.00542260812634,0.0498458571505,0.999999959133,0.000105471779769,-0.00026337395833,-3.52674519848e-05,1793246526504846848
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.595760951,658,634,877,786,808,652,629,652.404239049,0.400982185817,-0.00542149639484,0.049845194979,0.99999995883,0.000104985916504,-0.000264696482255,-3.54047839222e-05,1793246526521513728
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,786,808,652.17504284,629,652,0.400981607549,-0.00542080549016,0.0498448664785,0.999999958646,0.000105351930549,-0.000265249133066,-3.53844710311e-05,1793246526538180608
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,786,808,652.755748059,629,652,0.400983282285,-0.00542108985314,0.0498453112618,0.999999958736,0.000107692173182,-0.00026401760024,-3.49988157056e-05,1793246526554847744
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db7eaf61eb5a79714efd72f937204b1b570d85a8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+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,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+1,0.016666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+2,0.033333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+3,0.050000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+4,0.066666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+5,0.083333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+6,0.100000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+7,0.116666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+8,0.133333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+9,0.150000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+10,0.166666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+11,0.183333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+12,0.200000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+13,0.216666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+14,0.233333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+15,0.250000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+16,0.266666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+17,0.283333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+18,0.300000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+19,0.316666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+21,0.350000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+23,0.383333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+24,0.400000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+373,6.216666667,pose2_to_pose3_retreat,0.583559305502,-7.20352571382e-05,1.04004249644,0.554131093785,0.00860241214809,1.03966587829
+374,6.233333333,pose2_to_pose3_retreat,0.583495187103,-7.2008971034e-05,1.04004251528,0.554066975911,0.00860244037288,1.03966590073
+375,6.250000000,pose2_to_pose3_retreat,0.583441154466,-7.20397961832e-05,1.0400424547,0.554012944867,0.008602415012,1.03966584142
+376,6.266666667,pose2_to_pose3_retreat,0.583397515704,-7.21255595026e-05,1.04004241991,0.553969307359,0.0086023334964,1.03966580648
+377,6.283333333,pose2_to_pose3_retreat,0.583361940046,-7.22039950423e-05,1.04004250397,0.553933732179,0.00860225658084,1.03966588823
+378,6.300000000,pose2_to_pose3_retreat,0.583333436057,-7.22005968677e-05,1.04004238613,0.553905228807,0.00860226230835,1.03966577587
+379,6.316666667,pose2_to_pose3_retreat,0.583310477916,-7.20022894703e-05,1.0400425038,0.553882266843,0.00860244784363,1.03966589801
+380,6.333333333,pose2_to_pose3_retreat,0.583291930795,-7.19780243574e-05,1.04004261275,0.553863719134,0.008602469864,1.03966600124
+381,6.350000000,pose2_to_pose3_retreat,0.583277372997,-7.2146016682e-05,1.04004260028,0.553849164313,0.00860231153988,1.03966597884
+382,6.366666667,pose2_to_pose3_retreat,0.583266296531,-7.23464734428e-05,1.04004242318,0.553838091131,0.00860212217932,1.03966580073
+383,6.383333333,pose2_to_pose3_retreat,0.583258475021,-7.22118027797e-05,1.0400423825,0.553830268026,0.00860225179395,1.03966576827
+384,6.400000000,pose2_to_pose3_retreat,0.58325346473,-7.22073320231e-05,1.04004246801,0.553825256811,0.00860225298957,1.03966585057
+385,6.416666667,pose2_to_pose3_retreat,0.583250510265,-7.22067682214e-05,1.04004254397,0.553822301643,0.00860225109771,1.03966592501
+386,6.433333333,pose2_to_pose3_retreat,0.583248981288,-7.21739599679e-05,1.04004258009,0.553820771969,0.00860228170094,1.03966596476
+387,6.450000000,pose2_to_pose3_retreat,0.583248031932,-7.21535890165e-05,1.04004260251,0.553819822181,0.00860230070277,1.03966598945
+388,6.466666667,pose2_to_pose3_retreat,0.583247348165,-7.21161338518e-05,1.04004258412,0.553819138071,0.00860233694055,1.03966596981
+389,6.483333333,pose2_to_pose3_retreat,0.583246957829,-7.20880796867e-05,1.0400425635,0.55381874753,0.00860236423202,1.03966594764
+390,6.500000000,pose2_to_pose3_retreat,0.583246825657,-7.20785802297e-05,1.04004255651,0.553818615288,0.00860237347322,1.03966594013
+391,6.516666667,pose2_to_pose3_retreat,0.583246628168,-7.20643863171e-05,1.04004254608,0.553818417695,0.00860238728125,1.03966592892
+392,6.533333333,pose2_to_pose3_retreat,0.583246492398,-7.20546283101e-05,1.04004253891,0.553818281854,0.00860239677397,1.0396659212
+393,6.550000000,pose2_to_pose3_retreat,0.583246469228,-7.20529630104e-05,1.04004253769,0.553818258672,0.00860239839399,1.03966591989
+394,6.566666667,pose2_to_pose3_retreat,0.583246399133,-7.20479251481e-05,1.04004253398,0.55381818854,0.00860240329489,1.03966591591
+395,6.583333333,pose2_to_pose3_retreat,0.583246214152,-7.20362201745e-05,1.0400425249,0.553818003497,0.00860241475886,1.03966590605
+396,6.600000000,pose2_to_pose3_retreat,0.583246195987,-7.20383434534e-05,1.04004252543,0.553817985401,0.00860241285981,1.03966590641
+397,6.616666667,pose2_to_pose3_retreat,0.583246112011,-7.20481595746e-05,1.04004252788,0.55381790174,0.00860240408033,1.03966590809
+398,6.633333333,pose2_to_pose3_retreat,0.583246092133,-7.20504831945e-05,1.04004252845,0.553817881937,0.0086024020021,1.03966590849
+399,6.650000000,pose2_to_pose3_retreat,0.583246050479,-7.20553521506e-05,1.04004252967,0.553817840439,0.00860239764733,1.03966590933
+400,6.666666667,pose2_to_pose3_retreat,0.583245862444,-7.20773319581e-05,1.04004253514,0.55381765311,0.00860237798871,1.0396659131
+401,6.683333333,pose2_to_pose3_retreat,0.583245777525,-7.2087258249e-05,1.04004253761,0.55381756851,0.0086023691107,1.0396659148
+402,6.700000000,pose2_to_pose3_retreat,0.583245731714,-7.20926132451e-05,1.04004253895,0.553817522871,0.00860236432122,1.03966591572
+403,6.716666667,pose2_to_pose3_retreat,0.583245680947,-7.20985473998e-05,1.04004254043,0.553817472295,0.00860235901374,1.03966591673
+404,6.733333333,pose2_to_pose3_retreat,0.583245599537,-7.20799432001e-05,1.04004253355,0.553817390852,0.00860237758898,1.03966591175
+405,6.750000000,pose2_to_pose3_retreat,0.583245540977,-7.20188040932e-05,1.04004251289,0.553817331695,0.00860243695132,1.03966589692
+406,6.766666667,pose2_to_pose3_retreat,0.583245445115,-7.20585568124e-05,1.04004243572,0.553817236169,0.00860239848871,1.03966582312
+407,6.783333333,pose2_to_pose3_retreat,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274905,1.03966575729
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09f8031155ca09510f3c63db46fe90c24f1c7ffc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005ae29d2ff1ea62094a4a8963cf3fec324baa9cc22a476537500bc13c3a0750
+size 25858046
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e17a9b99a114fe152d707db6ee645be9d4c64df0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+37,0.616666667,BASELINE,765.524854242,745.475145758,714,678,658.475145758,634,877,786,808,652,629,652,0.400984536824,-0.00542233607556,0.0498474385606,0.999999960448,0.000104324285131,-0.000258807700682,-3.52137740817e-05,1793246527293778688
+38,0.633333333,BASELINE,765.05330382,745.94669618,714,678,658.94669618,634,877.05330382,786,808,652,629,652,0.400986057522,-0.00541983755775,0.0498486158536,0.999999960619,0.000106770213181,-0.000257053247117,-3.58445740294e-05,1793246527310445824
+39,0.650000000,BASELINE,765.640978367,745.359021633,714,678,658.359021633,634,877.640978367,786,808,652,629,652,0.4009836598,-0.00542134099555,0.0498473094993,0.999999959999,0.000106516399504,-0.000259570126731,-3.57691962605e-05,1793246527327112704
+40,0.666666667,BASELINE,765.774650331,745,714,678.225349669,658,634,877.774650331,786,808.225349669,652,629,652,0.400982468079,-0.00542246394469,0.0498468573988,0.999999959787,0.000105944885661,-0.000260641420188,-3.56012676739e-05,1793246527343779328
+41,0.683333333,BASELINE,765.195465686,745,714,678.804534314,658,634,877.195465686,786,808.804534314,652,629,652,0.400983169974,-0.00542298946577,0.049847746613,0.999999960223,0.000104874531825,-0.000259442912315,-3.52880195244e-05,1793246527360445952
+42,0.700000000,BASELINE,765.383044448,745,714,679,658,634,877,786,808.616955552,652,629,652,0.40098280851,-0.00542322374908,0.0498474073635,0.999999960216,0.000104018316691,-0.000259811827094,-3.53022083556e-05,1793246527377112320
+43,0.716666667,BASELINE,765.961210971,745,714,679,658,634,877,786,808.038789029,652,629,652,0.400981905374,-0.00542330967646,0.0498464423371,0.999999959983,0.000103271183417,-0.000260979183863,-3.54831929376e-05,1793246527393778944
+44,0.733333333,BASELINE,766,745,714,678.465253562,658,634,877,786,808,652,629,652,0.400982117182,-0.00542257117248,0.0498467346071,0.999999960088,0.000103131131566,-0.000260611842393,-3.56236505538e-05,1793246527410446080
+45,0.750000000,BASELINE,766,745,714.11123192,678.11123192,658.11123192,634,877,786,808,652.11123192,629,652,0.400982462597,-0.00542199444583,0.0498470918918,0.999999960193,0.000103255970839,-0.000260154197607,-3.56689357233e-05,1793246527427112960
+46,0.766666667,BASELINE,766,745,714.701867018,678.701867018,658.701867018,634,877,786,808,652.701867018,629,652,0.400983038273,-0.00542237050052,0.0498473396902,0.99999996019,0.000104334312529,-0.000259783026113,-3.53165942965e-05,1793246527443778816
+47,0.783333333,BASELINE,765.713091426,745,715,679,659,634,877,786,808,652.713091426,629,652,0.400983184186,-0.00542270521142,0.049847562406,0.999999960257,0.000104437530839,-0.00025951042497,-3.51149919984e-05,1793246527460444928
+48,0.800000000,BASELINE,765.133751019,745,715,679,659,634,877,786,808,652.133751019,629,652,0.400982892064,-0.00542299778269,0.0498477595564,0.999999960396,0.000103546853864,-0.000259338291708,-3.50670306547e-05,1793246527477111552
+49,0.816666667,BASELINE,765,745,714.556367488,679,659,634.443632512,877,786,808,652.443632512,629,652,0.40098333776,-0.00542439433596,0.049848381835,0.999999960871,0.000101639118889,-0.000258288888345,-3.48549831523e-05,1793246527493778176
+50,0.833333333,BASELINE,765,745,714,678.97965566,658.97965566,634.97965566,877,786,808,652.97965566,629,652,0.400983991729,-0.00542600569598,0.0498490610445,0.999999961396,9.96303942704e-05,-0.000257067206045,-3.46142976757e-05,1793246527510444800
+51,0.850000000,BASELINE,765,745,714,678.405239127,658.405239127,634.405239127,877,786,808,652.405239127,629,652,0.400984286297,-0.00542444226217,0.0498478153491,0.9999999607,0.000103185638866,-0.000258325192403,-3.49350607082e-05,1793246527527111424
+52,0.866666667,BASELINE,765.173768589,745,714,678.173768589,658,634,877,786,808,652,629,652,0.400984255088,-0.0054233501876,0.0498468309511,0.99999996022,0.000105282138294,-0.000259300482992,-3.52068662853e-05,1793246527543778304
+53,0.883333333,BASELINE,765.763773757,745,714,678.763773757,658,634,877,786,808,652,629,652,0.400983443528,-0.00542338718341,0.0498464724518,0.999999960283,0.000103884432358,-0.000259598618219,-3.53614016063e-05,1793246527560444928
+54,0.900000000,BASELINE,765.650634521,745,714,678.650634521,658,634,876.650634521,786,808,652,629,652,0.400983211626,-0.00542350977317,0.0498465928714,0.999999960341,0.000103327946681,-0.000259601143648,-3.53297359466e-05,1793246527577111552
+55,0.916666667,BASELINE,765.067989781,745,714,678.067989781,658,634,876.067989781,786,808,652,629,652,0.400983366775,-0.00542368951595,0.0498470330762,0.999999960397,0.000103333162925,-0.000259406283692,-3.51737396589e-05,1793246527593778176
+56,0.933333333,BASELINE,765.506148469,745,714.506148469,678.506148469,658,634,877.012296937,786,808,652.506148469,629,652,0.400983280904,-0.00542253627091,0.0498470103416,0.999999959995,0.000104851806852,-0.000260328338179,-3.52908914049e-05,1793246527610445056
+57,0.950000000,BASELINE,766,745,714.919027499,679,658,634,877.919027499,786,808,653,629,652,0.400983168884,-0.00542148753726,0.0498469321,0.999999959653,0.000106075480674,-0.000261129386226,-3.54158274352e-05,1793246527627111424
+58,0.966666667,BASELINE,766,745,714.332914954,679,658,634,877.332914954,786,808,653,629,652,0.400983092366,-0.0054221893599,0.0498468891105,0.999999960078,0.000104211729557,-0.000260255050071,-3.53642123985e-05,1793246527643778048
+59,0.983333333,BASELINE,765.748471588,745,714.251528412,678.748471588,658,634,877,786,808,652.748471588,629,652,0.400983125835,-0.00542255324171,0.0498468973299,0.999999960421,0.000102457984875,-0.000259636377938,-3.5333761485e-05,1793246527660445184
+60,1.000000000,BASELINE,765.166222848,745,714.833777152,678.166222848,658,634,877,786,808,652.166222848,629,652,0.400983303921,-0.00542247278455,0.0498469728811,0.999999960658,0.000100848881111,-0.000259353863691,-3.53311380602e-05,1793246527677112832
+61,1.016666667,BASELINE,765.408975119,745.408975119,714.591024881,678.408975119,658,634,877,785.591024881,808,652,629,652,0.400983929153,-0.00542213801328,0.0498476653987,0.999999960835,0.000102086229067,-0.00025817683745,-3.54011482966e-05,1793246527693779712
+62,1.033333333,BASELINE,765.98135592,745.98135592,714.01864408,678.98135592,658,634,877,785.01864408,808,652,629,652,0.400984733042,-0.00542170163102,0.0498486044247,0.999999960981,0.000104460874626,-0.000256642409675,-3.5500179254e-05,1793246527710446592
+63,1.050000000,BASELINE,765.441446585,745.441446585,714,679,658,634,877,785,808,652,629,652,0.400982297738,-0.00542182812517,0.0498472660149,0.99999996022,0.000104903385943,-0.000259430197704,-3.53778356748e-05,1793246527727112192
+64,1.066666667,BASELINE,765.139356469,745,714,679,658,634,877,785.139356469,808,652,629,652,0.400980617312,-0.00542188074481,0.0498462993036,0.999999959649,0.000105283076738,-0.000261479738862,-3.52988526881e-05,1793246527743778048
+65,1.083333333,BASELINE,765.731343622,745,714,679,658,634,877,785.731343622,808,652,629,652,0.400981742969,-0.00542163186398,0.04984678893,0.999999959819,0.000105670022319,-0.000260658776242,-3.53849144822e-05,1793246527760444928
+66,1.100000000,BASELINE,766,745,714,678.684285658,658,634,877,786,808,652,629,652,0.400982626078,-0.00542223309557,0.0498470471586,0.999999960177,0.000104106745271,-0.0002599080265,-3.54386358024e-05,1793246527777111552
+67,1.116666667,BASELINE,766,745,714,678.10624348,658,634,877,786,808,652,629,652,0.400983307652,-0.00542354068769,0.0498471131182,0.999999960682,0.000100923023346,-0.000259215616852,-3.54654853377e-05,1793246527793777920
+68,1.133333333,BASELINE,765.530610508,745,714,678,658,634,877,786,808,652,629,652,0.400982741362,-0.00542391270292,0.0498465346807,0.999999960508,0.000101342759303,-0.000259718116988,-3.55032315415e-05,1793246527810444544
+69,1.150000000,BASELINE,765,745,714,678,658,634,877,785.954536416,808,652.045463584,629,652,0.400981940015,-0.00542395576113,0.0498459105345,0.999999960195,0.000102547007062,-0.000260442951593,-3.55572392011e-05,1793246527827111168
+70,1.166666667,BASELINE,765,745,714,678,658,634,877,785.366728744,808,652.633271256,629,652,0.40098168679,-0.00542258787919,0.0498464721735,0.999999960052,0.000103429830592,-0.000260610154417,-3.57759610748e-05,1793246527843778048
+71,1.183333333,BASELINE,765,745,714,678.217767256,658.217767256,634,877,785.217767256,808,652.782232744,629,652.217767256,0.400981252893,-0.00542238283678,0.0498467180642,0.999999959925,0.00010379790869,-0.000260960967001,-3.5711881235e-05,1793246527860444928
+72,1.200000000,BASELINE,765,745,714,678.796769902,658.796769902,634,877,785.796769902,808,652.203230098,629,652.796769902,0.400980519295,-0.00542410672872,0.049846440187,0.999999959823,0.000103312119965,-0.000261616354064,-3.51786859683e-05,1793246527877111552
+73,1.216666667,BASELINE,765.373695402,745,714,679,658.626304598,634,877,785.626304598,808,652.373695402,629,652.626304598,0.400980915477,-0.00542389399056,0.0498463859994,0.999999959891,0.000103492409876,-0.000261300933773,-3.50664644119e-05,1793246527893778176
+74,1.233333333,BASELINE,765.94949748,745,714,679,658.05050252,634,877,785.05050252,808,652.94949748,629,652.05050252,0.400981922683,-0.0054226338595,0.0498464527904,0.99999996005,0.00010403293689,-0.000260460469124,-3.5181919216e-05,1793246527910444800
+75,1.250000000,BASELINE,765.47574688,745,714,679,658.52425312,634,877.52425312,785,808,652.47574688,629,652,0.400983287085,-0.00542158830887,0.0498477031347,0.999999960415,0.000104238002944,-0.000258926469356,-3.5526325014e-05,1793246527927111424
+76,1.266666667,BASELINE,765.101812919,745,714,678.898187081,658.898187081,634,877.898187081,785.101812919,808,652,629,652,0.400984191328,-0.00542102492574,0.0498486983594,0.999999960699,0.000104119274193,-0.000257838948984,-3.57895354666e-05,1793246527943778048
+77,1.283333333,BASELINE,765.69334458,745,714,678.30665542,658.30665542,634,877.30665542,785.69334458,808,652,629,652,0.400982717032,-0.00542268153232,0.0498479191474,0.999999960507,0.000102598225468,-0.000259219702711,-3.55563226664e-05,1793246527960444672
+78,1.300000000,BASELINE,766,745,714.277837181,678.277837181,658,634,877,785.722162819,808,652,629,652.277837181,0.400982665399,-0.00542342397728,0.049847891323,0.999999960507,0.000102611137863,-0.000259258286767,-3.52377450762e-05,1793246527977111552
+79,1.316666667,BASELINE,766,745,714.854752539,678.854752539,658,634,877,785.145247461,808,652,629,652.854752539,0.400984145194,-0.00542318237171,0.0498486723309,0.999999960713,0.000104275284702,-0.000257852090532,-3.48272764674e-05,1793246527993778432
+80,1.333333333,BASELINE,766,745.435107648,714.564892352,679,658.435107648,634,877,785.435107648,808,652,629,652.564892352,0.400985042148,-0.0054240958707,0.0498488875927,0.999999961126,0.000102914693825,-0.000256784562137,-3.49023893597e-05,1793246528010445056
+81,1.350000000,BASELINE,766,745.983733935,714,678.983733935,658.983733935,634,877,786,808,652,629,652,0.400985673724,-0.00542533992389,0.0498488903656,0.999999961576,0.00010059990175,-0.000255917888308,-3.51293484624e-05,1793246528027111424
+82,1.366666667,BASELINE,766,745.414612291,714,678.414612291,658.414612291,634,877,786,808,652,629,652,0.400983951134,-0.00542460874599,0.0498481410877,0.999999961061,0.000100445461618,-0.000258004789462,-3.49640114231e-05,1793246528043779328
+83,1.383333333,BASELINE,766,745,714,678,658,634,877,786,808,652,629,652,0.400982994594,-0.00542405861242,0.0498477213751,0.999999960767,0.000100570936766,-0.000259102674934,-3.48789602717e-05,1793246528060446976
+84,1.400000000,BASELINE,766,745,714,678,658,634,877,786,808,652,629,652,0.400984093685,-0.00542399429543,0.0498481860219,0.999999961076,0.000101447540209,-0.000257546623244,-3.50093492851e-05,1793246528077113856
+85,1.416666667,BASELINE,765.663752034,745,714,678.336247966,658,634,877,785.663752034,808,652,629,652,0.400984412446,-0.00542296561305,0.049848470956,0.999999960969,0.000103439677423,-0.000257137859615,-3.52415693461e-05,1793246528093780224
+86,1.433333333,BASELINE,765.086549041,745,714,678.913450959,658,634,877,785.086549041,808,652,629,652,0.400984172025,-0.00542124586718,0.0498486271081,0.999999960559,0.000106231205204,-0.000257551241796,-3.55467614471e-05,1793246528110446592
+87,1.450000000,BASELINE,765,745,714,679,658,634,877,785,807.510236479,652,629,652,0.400983885846,-0.00542166136587,0.0498483274906,0.999999960685,0.00010522112967,-0.000257502805935,-3.53631330999e-05,1793246528127113216
+88,1.466666667,BASELINE,765,745,714,678.932683787,658,634,877,785.067316213,807.067316213,652,629,652,0.400983703469,-0.00542229334477,0.0498480623685,0.999999960887,0.000103753882501,-0.000257346632885,-3.51400946219e-05,1793246528143779840
+89,1.483333333,BASELINE,765,745,714,678.344316272,658,634,877,785.655683728,807.655683728,652,629,652,0.400984387023,-0.00542168557574,0.0498486865432,0.999999960955,0.000103938529295,-0.000256987084617,-3.52794245868e-05,1793246528160446208
+90,1.500000000,BASELINE,765,745,714,678,658,634,877.240104513,786,808,652,629,652,0.400984150871,-0.00542195519784,0.0498486459576,0.999999960896,0.000103684101577,-0.000257306499546,-3.53575734685e-05,1793246528177112832
+91,1.516666667,BASELINE,765,745,714,678,658,634,877.818957062,786,808,652,629,652,0.400982617166,-0.00542346267479,0.0498476675043,0.999999960657,0.000102810211817,-0.000258583820072,-3.5349405878e-05,1793246528193779712
+92,1.533333333,BASELINE,765,745,714,678.396065244,658,634,877.207869513,785.603934756,808,652,629,652,0.400982131851,-0.00542399156121,0.0498473637391,0.999999960528,0.000101833999232,-0.000259490214311,-3.51997457223e-05,1793246528210446336
+93,1.550000000,BASELINE,765,745,714,678.972379616,658,634,876.055240769,785.027620384,808,652,629,652,0.400982123656,-0.00542407509161,0.0498473670242,0.999999960447,0.000100811219494,-0.000260227800262,-3.49856923582e-05,1793246528227112704
+94,1.566666667,BASELINE,765,745,714,678.454587307,658,634,876.545412693,785.545412693,808,652.545412693,629,652,0.400982245292,-0.00542314453257,0.0498474165192,0.999999960342,0.000102769509554,-0.000259848143862,-3.51145102264e-05,1793246528243779584
+95,1.583333333,BASELINE,765,745,714,678.122295771,658.122295771,634,877,786,808,652.877704229,629,652,0.400982753036,-0.00542244202509,0.0498477600071,0.999999960387,0.000104506091948,-0.000258959962142,-3.52611484173e-05,1793246528260445952
+96,1.600000000,BASELINE,765,745,714,678.71461053,658.71461053,634,877,786,808,652.28538947,629,652,0.400984719588,-0.00542281217852,0.0498492244566,0.999999961027,0.000104813852421,-0.000256333514204,-3.54099416992e-05,1793246528277112064
+97,1.616666667,BASELINE,765,745,714,678.700094174,658.700094174,634,877,786,808,652.299905826,629,652,0.400985657957,-0.005423123562,0.0498499232872,0.999999961436,0.000104075030726,-0.000255043254384,-3.5333144193e-05,1793246528293778944
+98,1.633333333,BASELINE,765,745,714,678.121325844,658.121325844,634,877,786,808,652.878674156,629,652,0.400985640286,-0.00542338029919,0.0498499102197,0.999999961635,0.000102363061784,-0.000254995427286,-3.50465847915e-05,1793246528310446592
+99,1.650000000,BASELINE,765.454705252,745,714,677.545294748,658.454705252,634,876.545294748,786,808,653,629,652,0.4009862536,-0.00542298054929,0.0498500846287,0.999999961468,0.00010411033431,-0.000254969591485,-3.48683941339e-05,1793246528327113216
+100,1.666666667,BASELINE,765.969174988,745,714,677.061650025,658.969174988,634,876.061650025,786,808,652.969174988,629,652,0.40098689998,-0.00542251977525,0.0498502492324,0.999999961218,0.000106430840309,-0.000255009602624,-3.47300626145e-05,1793246528343779840
+101,1.683333333,BASELINE,765.378252717,745,714,678.243494566,658.378252717,634,877.243494566,786,808,652.378252717,629,652,0.40098510633,-0.00542411393679,0.0498493321806,0.999999961338,0.000102496269792,-0.00025614008619,-3.4793727248e-05,1793246528360445952
+102,1.700000000,BASELINE,765,745,714,678.792399788,658,634,877.792399788,786,808,652,629,652,0.400983777411,-0.00542490805379,0.0498486433251,0.999999961317,0.000100638867804,-0.000256962652646,-3.4764277667e-05,1793246528377112064
+103,1.716666667,BASELINE,765,745,714,678.215563221,658,634,877.215563221,786,808,652,629,652,0.400983275063,-0.00542427921671,0.049848360338,0.999999961066,0.000102475904371,-0.000257237559662,-3.45692157572e-05,1793246528393778432
+104,1.733333333,BASELINE,765,745,714,678,658.361031938,634,877,786,808,652.361031938,629,652,0.400984141765,-0.00542372008089,0.0498487063609,0.999999961157,0.000103129040548,-0.000256605036973,-3.47163367006e-05,1793246528410445056
+105,1.750000000,BASELINE,765,745,714,678,658.937483111,634,877,786,808,652.937483111,629,652,0.400985825348,-0.0054232025341,0.0498494276993,0.99999996145,0.000103075771493,-0.000255431072431,-3.50676300547e-05,1793246528427112192
+106,1.766666667,BASELINE,765,745,714,678.508408973,658.491591027,634,877,785.491591027,808,652.491591027,629,652,0.400984387974,-0.00542198830744,0.0498486071688,0.999999960788,0.000104538943571,-0.000257379052671,-3.53815529177e-05,1793246528443779072
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658,635,878,786,808,652,629,652,0.400984524322,-0.00542313899451,0.0498484035332,0.999999961051,0.000103257255032,-0.000256892791952,-3.52300969592e-05,1793246528486082048
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634.421572745,877.421572745,786,808,652,629,652,0.400984463817,-0.00542372861821,0.049848967748,0.999999961183,0.00010364950553,-0.000256279631121,-3.47949303821e-05,1793246528502748672
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844072896,745,714,679,658,634,877,786,808,652,629,652,0.400984194145,-0.00542418441148,0.0498492001487,0.999999961208,0.000103462218199,-0.000256293440046,-3.45474033346e-05,1793246528519415296
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.26906548,745,714,679,658,634,877,786,808,652,629,652,0.400983362303,-0.00542428051311,0.0498485407433,0.999999960941,0.000101717325576,-0.000257992335483,-3.48041889792e-05,1793246528536081152
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.312654743,745,714,679,658,634,877,786,808,652,629,652,0.400983796684,-0.00542430819758,0.0498484327367,0.999999960903,0.000102052999539,-0.000257976097791,-3.50259499016e-05,1793246528552747264
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.900278615,745,714,679,658,634,877,786,808,652,629,652,0.400985344666,-0.0054242757115,0.0498488096666,0.999999961065,0.000104218460602,-0.0002564514592,-3.52169077659e-05,1793246528569413632
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.519763467,745.480236533,714,679,658,634,877,786,808,652,629,652,0.400984471112,-0.00542424199026,0.0498484497863,0.9999999609,0.000103318848805,-0.000257476885241,-3.50726847087e-05,1793246528586080512
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.058734743,745.941265257,714,679,658,634,877,785.941265257,808,652,629,652,0.40098332657,-0.0054240903725,0.0498480799235,0.999999960709,0.000102084868035,-0.000258734080764,-3.49035041722e-05,1793246528602747392
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.638182652,745.361817348,714,679,658,634,877,785.361817348,808,652,629,652,0.400984167397,-0.0054228957805,0.0498489566635,0.999999960899,0.000103440456581,-0.000257425306802,-3.51204115818e-05,1793246528619415040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.786533473,745,714,679,658.213466527,634,877,785.213466527,808,652,629,652,0.400988904345,-0.00542254037204,0.049851137418,0.999999961835,0.000103756867145,-0.000253636683771,-3.51047477814e-05,1793246528636082176
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.218172487,745,714,679,658.781827513,634,877,785.781827513,808,652,629,652,0.401000118708,-0.0054235801313,0.0498554861354,0.99999996397,0.000102345613221,-0.000245725237916,-3.47024273936e-05,1793246528652748800
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.366335369,745,714,679,658.633664631,634,877,786,808,652,629,652,0.401030259579,-0.00542589935226,0.0498669320521,0.999999969579,0.000100539139835,-0.000222690806093,-3.38033941439e-05,1793246528669414912
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.960903016,745,714,679,658.039096984,634,877,786,808,652,629,652,0.40107219194,-0.00542901569663,0.0498827996279,0.999999976524,9.84864387405e-05,-0.000190234532464,-3.25949014687e-05,1793246528686081280
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679,658.54087682,634.54087682,877,786,808,652.54087682,629.54087682,652,0.401138551774,-0.00542992670626,0.0499045274088,0.999999983997,9.8643440219e-05,-0.000145906962827,-3.13981876606e-05,1793246528702747648
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.880844609,745,714,679,658.880844609,634.880844609,877,785.880844609,808,652.880844609,629.880844609,652,0.401207484172,-0.00543133144786,0.049924658449,0.999999988887,9.86023516356e-05,-0.000107721279219,-3.00064555586e-05,1793246528719414016
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.305125577,745,714,679,658.305125577,634.305125577,877,785.305125577,808,652.305125577,629.305125577,652,0.401279685876,-0.00543522276904,0.0499370908624,0.999999990253,9.72063074362e-05,-9.62708443281e-05,-2.78643017039e-05,1793246528736080640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.268677437,634,877,785.268677437,808,652,629,652,0.401359400745,-0.00543863555328,0.0499457932386,0.999999991408,9.53643583344e-05,-8.59668329832e-05,-2.64386919856e-05,1793246528752747520
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.840319885,634,877,785.840319885,808,652,629,652,0.401447587574,-0.00544150873132,0.0499502895641,0.999999992379,9.30195997639e-05,-7.69555480044e-05,-2.58210691177e-05,1793246528769414656
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,678.569538545,658.569538545,634,877,786,808,652,629,652,0.401547106425,-0.00544418299783,0.0499506717517,0.999999992438,9.23433964966e-05,-7.72323234231e-05,-2.51200383012e-05,1793246528786081792
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,678,658,634,877,786,808,652,629,652,0.401652158733,-0.00544691951842,0.0499495106166,0.999999992173,9.21446468481e-05,-8.1045910571e-05,-2.43750670688e-05,1793246528802748928
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,678,658,634,877,786,808,652,629,652,0.401780610535,-0.00545251371399,0.0499494025409,0.999999992321,8.84742810054e-05,-8.35610270106e-05,-2.33919978795e-05,1793246528819415040
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678,658,634.180918134,877,786,808,652,629,652,0.401919417865,-0.00545787238799,0.0499497413523,0.99999999238,8.62325795471e-05,-8.5522782421e-05,-2.21127761054e-05,1793246528836081408
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678,658,634.75452677,877,786,808,652,629,652,0.402080702293,-0.00546271985164,0.0499510501513,0.999999992281,8.70918553745e-05,-8.62834438597e-05,-2.01907426807e-05,1793246528852747776
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,678,658.337218857,634.662781143,876.662781143,786,808,652,629,652,0.402261107697,-0.00546911062004,0.0499502759854,0.999999992379,8.32638045233e-05,-8.91715392314e-05,-1.89228864878e-05,1793246528869414400
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,678,658.926706199,634.073293801,876.073293801,786,808,652,629,652,0.402455817239,-0.0054766559126,0.0499479435842,0.999999992567,7.59292333463e-05,-9.36511368328e-05,-1.81444104949e-05,1793246528886080768
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.506584876,678,658.493415124,634,876.506584876,786,808,652,629,652,0.402681922605,-0.00548343425253,0.0499491362642,0.999999992683,7.41449870776e-05,-9.41290878247e-05,-1.66275674325e-05,1793246528902748160
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.91532413,678.08467587,658,634,877,786,808,652,629,652,0.402919222485,-0.00549054016955,0.0499513517173,0.999999992968,7.26300363806e-05,-9.25643468179e-05,-1.48896016881e-05,1793246528919415552
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.339687578,678.660312422,658,634,877,786,808,652,629,652,0.403195582363,-0.00550017682812,0.0499565952407,0.999999994204,6.81070827256e-05,-8.24502679758e-05,-1.2477414559e-05,1793246528936081408
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.759532301,658,634,877.240467699,785.759532301,808,652,629,652,0.40349403561,-0.00550944386845,0.0499638327949,0.999999995614,6.43772667796e-05,-6.72962112182e-05,-9.90768720884e-06,1793246528952748032
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.172871607,658,634,877.827128393,785.172871607,808,652,629,652,0.403824295896,-0.00551817878168,0.0499739410859,0.999999997058,6.17893039053e-05,-4.48862738852e-05,-7.11115481646e-06,1793246528969415424
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.40877235,658.40877235,634,877.59122765,785.40877235,808,652,629,652,0.404175804685,-0.00552678675109,0.0499804455831,0.999999997611,6.13319635112e-05,-3.16023163706e-05,-4.19029377794e-06,1793246528986081792
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.988320414,658.988320414,634,877.011679586,785.988320414,808,652,629,652,0.404536190604,-0.00553534168608,0.0499854444975,0.999999997847,6.17647484016e-05,-2.21309845262e-05,-1.21749115255e-06,1793246529002747648
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.566431686,745,714,678.433568314,659,634,877,786,807.433568314,652,629,652,0.404940653498,-0.0055399151841,0.0499903164404,0.99999999771,6.68115694699e-05,-1.05762904438e-05,1.91143513378e-06,1793246529019414272
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714,678.143754431,658.856245569,634,877,785.856245569,807.143754431,652,629,652,0.405346195395,-0.00554092141955,0.0499896471263,0.999999997085,7.5576005041e-05,-9.85036659513e-06,4.62041426953e-06,1793246529036081152
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714,678.718799998,658.281200002,634,877,785.281200002,807.718799998,652,629,652,0.405752254613,-0.00553147085494,0.0499723608021,0.999999994578,9.52092884667e-05,-4.17414094198e-05,6.05983623485e-06,1793246529052748032
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.706523321,745,714,679,658,634,877,785,808,652,629,652,0.406182436646,-0.00552546474414,0.049953992203,0.999999990782,0.000112277922908,-7.59681341303e-05,7.64265266675e-06,1793246529069414912
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.132199582,745,714,679,658,634,877,785,808,652,629,652,0.40663570343,-0.00552275485573,0.0499345879022,0.999999985585,0.00012689227901,-0.000112430029557,9.36269282411e-06,1793246529086081536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.457922001,745,714,679,658.457922001,634,877,785,808.457922001,652,629,652,0.407137084786,-0.00552825332296,0.0499236587721,0.999999982399,0.000131898234042,-0.000132852304725,1.24854824097e-05,1793246529102748416
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877,785,809,652.051136433,629,652,0.407661146991,-0.00553555080979,0.0499183721847,0.99999998067,0.000134923174931,-0.000142115433061,1.61078315629e-05,1793246529119415040
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877,785,809,652.627597395,629,652,0.408270414899,-0.00553611577384,0.0499450179892,0.999999985269,0.000147111577396,-8.60100540845e-05,2.05532901199e-05,1793246529136081664
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,679,658.797352123,634,877,785,809,652.797352123,629,652,0.408885353344,-0.00553681576321,0.0499700350998,0.999999986256,0.000159169142751,-3.88877281586e-05,2.53110381517e-05,1793246529152748288
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,679,658.224875772,634,877,785,809,652.224875772,629,652,0.409510640372,-0.00553776217119,0.0499920798737,0.999999984879,0.000170987932792,-8.15930477454e-06,3.06387082808e-05,1793246529169414656
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.641485394,745,714,679,658.358514606,634,877,785,808.641485394,652,629.358514606,652,0.41014257803,-0.00553747616258,0.0499969919364,0.999999982436,0.000184085099703,-5.81263845494e-06,3.47446820423e-05,1793246529186081280
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.051034348,745,714,679,658.948965652,634,877,785,808.051034348,652,629.948965652,652,0.410778818203,-0.0055363928578,0.0499908202097,0.999999979434,0.000198009295748,-2.18271882149e-05,3.80602947542e-05,1793246529202747904
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.472800989,659,634,877,785,808.527199011,652,629.472800989,652,0.411411084181,-0.00553396038943,0.0499597896546,0.999999972912,0.000211841981134,-8.76032456499e-05,4.03160321335e-05,1793246529219414528
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.104584833,745,714,678.104584833,659,634,877.104584833,785.104584833,809.104584833,652.104584833,629,652,0.412067483347,-0.0055321220921,0.0499351718129,0.999999964548,0.000224679150606,-0.000136393822085,4.26558673337e-05,1793246529236081664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.683368714,745,714,678.683368714,659,634,877.683368714,785.683368714,809.683368714,652.683368714,629,652,0.412835009661,-0.00553355658688,0.0499502936943,0.999999968026,0.000233041797712,-8.68240013619e-05,4.58316694503e-05,1793246529252748800
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659.257752632,634,878,785.742247368,809.742247368,652.742247368,629,652,0.413600319879,-0.00553471928667,0.0499649165534,0.999999979147,0.000193492865625,-5.3745133997e-05,3.71227071404e-05,1793246529269415680
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659.826822294,634,878,785.173177706,809.173177706,652.173177706,629,652,0.41436295357,-0.00553555370909,0.0499789366886,0.999999994462,9.60756960245e-05,-4.05842508812e-05,1.40591697451e-05,1793246529286082048
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659.582871402,633.582871402,878,785.417128598,809.417128598,652,629,652,0.415140078804,-0.00554212376166,0.0499640000855,0.999999995406,6.93109992039e-05,-6.55552981994e-05,9.2565755438e-06,1793246529302748416
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,678.984045373,659,633.015954627,878,785.984045373,809.984045373,651.984045373,629.015954627,652,0.415924447876,-0.00555091568443,0.0499372092249,0.999999991579,7.38966053962e-05,-0.000105949343419,1.25012576411e-05,1793246529319414528
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,678.41205225,659,633.58794775,878,785.41205225,809.41205225,651.41205225,629.58794775,652,0.416740348674,-0.00554970164715,0.0499387344117,0.999999990171,9.39670536691e-05,-0.000102524625059,1.78115092416e-05,1793246529336081152
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,678.161560175,659.161560175,633.838439825,878,785.161560175,809,651.161560175,630,652.161560175,0.417573573851,-0.00554773194585,0.0499471392716,0.999999989708,0.000111668748622,-8.72444367956e-05,2.23994273275e-05,1793246529352748288
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,678.739344337,659.739344337,633.260655663,878,785.739344337,809,651.739344337,630,652.739344337,0.418451431402,-0.00554381544378,0.0499732680843,0.999999991229,0.000123267874361,-4.1421257965e-05,2.51264128707e-05,1793246529369415168
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,633.322827353,878,785.677172647,809.322827353,651.677172647,630,653,0.419290925216,-0.00554261244335,0.0499748080734,0.999999990376,0.000128478072818,-4.49216781056e-05,2.68985348287e-05,1793246529386081536
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660,633.910994369,878,785.089005631,809.910994369,651.089005631,630,653,0.420098886898,-0.00554363973622,0.0499561379083,0.999999987406,0.000128437055761,-8.89623676177e-05,2.78858310129e-05,1793246529402747648
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.492241442,660,634,878,785,810,651.492241442,630,652.507758558,0.421038894406,-0.00554546010273,0.0499632239555,0.999999990439,0.000123016706496,-5.6949099098e-05,2.73186106578e-05,1793246529419414272
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.928359699,745,714,679.928359699,660,634,878,785,810,651.928359699,630,652,0.42199694177,-0.0055474200474,0.049974909774,0.999999992689,0.000117008995134,-1.47101305971e-05,2.67231799494e-05,1793246529436081152
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.353278139,745,714,679.353278139,660,634,878,785,810,651.353278139,630,652,0.422916301141,-0.00554936709535,0.0499866459913,0.999999993149,0.000113614255504,4.08905452414e-06,2.78773907443e-05,1793246529452747776
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.778995828,633.778995828,878.221004172,785,810,651.221004172,630,652,0.423831242255,-0.0055511787045,0.04998888372,0.999999993321,0.000111625183228,8.73950705709e-06,2.86624712676e-05,1793246529469414144
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.205986433,633.205986433,878.794013567,785,810,651.794013567,630,652,0.424739146317,-0.0055527745933,0.0499759926972,0.999999993284,0.000111874992386,-9.14548424449e-06,2.88596183562e-05,1793246529486080768
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.382256909,745,714,679,659.382256909,633.382256909,878.617743091,785,810,652,630,652.382256909,0.425670274554,-0.00555599006105,0.0499832585912,0.99999999345,0.000110243510732,-2.7411208944e-06,3.06344392637e-05,1793246529502747648
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.979050053,745,714,679,659.979050053,633.979050053,878.020949947,785,810,652,630,652.979050053,0.426614436972,-0.00556011449428,0.0500018372678,0.999999993512,0.000107556181422,1.72952971411e-05,3.32947070652e-05,1793246529519414528
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.556579264,660,633.443420736,878,785,810,652,630,653,0.427522344792,-0.00555581568545,0.049984020959,0.999999992215,0.000113091129187,-4.00788483072e-05,3.42623539492e-05,1793246529536081408
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.867139713,745,714,679.867139713,660,633,878.132860287,785,810,652,630,652.867139713,0.428434737443,-0.00555241688934,0.0499648250824,0.999999988613,0.000116941070194,-8.8908381649e-05,3.45616903164e-05,1793246529552748288
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.292677974,745,714,679.292677974,660,633,878.707322026,785,810,652,630,652.292677974,0.429366420815,-0.00555302813428,0.049945444837,0.999999987943,0.000114196107118,-9.99764758737e-05,3.28443735243e-05,1793246529569414656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,633,879,785,810,652,630,652.289303986,0.430300729798,-0.00555547118576,0.04994259751,0.999999989032,0.000110139853403,-9.34967406243e-05,3.26159865682e-05,1793246529586081280
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,633,879,785,810,652,630,652.879096872,0.431237765843,-0.00555981686409,0.0499569222896,0.999999991575,0.000104721612765,-6.87907504578e-05,3.39340937455e-05,1793246529602748160
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.460378863,745,714,679.460378863,660,633,879,785,810.920757726,652,630.460378863,653,0.432161128873,-0.00556020781294,0.049947573882,0.999999990574,0.000103853313496,-8.3276873324e-05,3.36280211705e-05,1793246529619414784
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.960814861,745,714.039185139,679.960814861,660,633,879,785,811.960814861,652,630.960814861,653,0.433084029641,-0.00555949856053,0.049934803611,0.999999988692,0.000104181566369,-0.000103310784853,3.30084867579e-05,1793246529636081152
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.385853763,745,714.614146237,679.385853763,660,633,879,785,811.385853763,652,630.385853763,653,0.434048814073,-0.00555768897787,0.0499587077702,0.999999992071,0.000104829092072,-6.10249313069e-05,3.38291590026e-05,1793246529652747776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.189374806,745,715,679.189374806,660,633,879,785,811.189374806,652,630,652.810625194,0.43498324076,-0.00555647589483,0.0499741801491,0.999999993037,0.000105851088298,-3.87132567824e-05,3.49651486348e-05,1793246529669414400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.765149229,745,715,679.765149229,660,633,879,785,811.765149229,652,630,652.234850771,0.435855725796,-0.00555647990695,0.0499724483607,0.999999991899,0.000107637153136,-5.71568116964e-05,3.67445108798e-05,1793246529686081536
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.649747016,680,660.350252984,633.350252984,879,785,811.649747016,652,630.350252984,652,0.436712695908,-0.00555760048438,0.0499593834331,0.999999989875,0.000107711199994,-8.51248200699e-05,3.74421608056e-05,1793246529702748160
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.058216636,680,660.941783364,633.941783364,879,785,811.058216636,652,630.941783364,652,0.437558978263,-0.00555949022577,0.0499385114904,0.99999998646,0.000106605895565,-0.000119653900083,3.73946556825e-05,1793246529719414528
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.478309137,745,714,680,660.478309137,633.478309137,879,785,811.521690863,652,630.478309137,652.521690863,0.43847240196,-0.00556256892085,0.0499618217376,0.999999991686,0.000101372240134,-7.02108622382e-05,3.77064411451e-05,1793246529736081152
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.90022157,660,633,879,785,811.90022157,651.90022157,630.09977843,653,0.439378223251,-0.00556490452715,0.0499823895283,0.999999994331,9.61366925679e-05,-2.59012010001e-05,3.77488233919e-05,1793246529752747776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.324761685,660,633,879,785,811.324761685,651.324761685,630.675238315,653,0.440212860093,-0.0055630788076,0.0499668902319,0.999999993774,9.30405525306e-05,-4.97640414366e-05,3.63198816072e-05,1793246529769414656
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.249868722,745,714,679.249868722,660,633,879,785,811.499737443,651,630.750131278,653,0.441036601027,-0.00556265937996,0.0499602376234,0.999999993386,9.09558316265e-05,-6.06196203664e-05,3.57785783894e-05,1793246529786081536
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.823424554,745,714,679.823424554,660,633,879,785,812.646849109,651,630.176575446,653,0.441846227023,-0.00556406170334,0.0499650452695,0.99999999378,9.01813323786e-05,-5.46252177301e-05,3.63871477692e-05,1793246529802748672
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785,812.589371651,651.410628349,630,653,0.442642669002,-0.00556811785319,0.0499818686386,0.999999995208,8.685910577e-05,-2.4884122659e-05,3.76958768574e-05,1793246529819415552
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.003787812,714.003787812,680,660,633,879.003787812,785,812,652,630.003787812,652.996212188,0.443432628801,-0.00557329368516,0.0500037202693,0.999999995716,8.24787873203e-05,1.48268966192e-05,3.93061323714e-05,1793246529836082176
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.579588333,714.579588333,680,660,633,879.579588333,785,812,652,630.579588333,652.420411667,0.444129255293,-0.00556929831745,0.0499778075786,0.999999994612,8.94439441674e-05,-3.49413068643e-05,3.94210199155e-05,1793246529852748800
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.844557377,714.844557377,680,660,633,880,785,812.155442623,652,631,652.155442623,0.444832943314,-0.00556579935308,0.0499544246841,0.999999991863,9.62773888623e-05,-7.38031981257e-05,3.94749006752e-05,1793246529869415168
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.268557481,714.268557481,680,660,633,880,785,812.731442519,652,631,652.731442519,0.445555736785,-0.00556364343022,0.0499378862655,0.999999990488,0.000102754482253,-8.31575639445e-05,3.93637249875e-05,1793246529886081536
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.685271497,745,714,680.314728503,660,633,879.685271497,785,813,652,631,653,0.446265008915,-0.00556242037566,0.0499429672471,0.999999991683,0.0001067268744,-6.03022281383e-05,4.00855030964e-05,1793246529902747904
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.095620996,745,714,680.904379004,660,633,879.095620996,785,813,652,631,653,0.446962469824,-0.00556201220141,0.0499669332326,0.999999993207,0.000108511356492,-9.3110366364e-06,4.15348838783e-05,1793246529919414272
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.484145685,745,714,681,660,633,878.515854315,785,813,652,631,652.515854315,0.447583682122,-0.00556075477894,0.0499628923005,0.999999992319,0.000114982928373,-1.77591508211e-05,4.2724571878e-05,1793246529936081408
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680.938374376,660,633,878.061625624,785,813.061625624,652,631,652.061625624,0.448186423974,-0.00555965623462,0.0499524976673,0.999999990906,0.000121644834944,-3.83617241816e-05,4.38165032727e-05,1793246529952748544
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680.364003684,660,633,878.635996316,785,813.635996316,652,631,652.635996316,0.44875827846,-0.00556124725833,0.0499343412346,0.999999989454,0.000122342180705,-6.437076792e-05,4.45132840243e-05,1793246529969415680
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.211306805,660,633,879,785,813.788693195,652,631,653,0.449328579617,-0.00556177450388,0.049927650416,0.999999988325,0.000125174574025,-7.47265813473e-05,4.57972360077e-05,1793246529986082560
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.788243392,660,633,879,785,813.211756608,652,631,653,0.449896192947,-0.00556046106562,0.0499407988563,0.999999988489,0.000131701296899,-5.79971916868e-05,4.80971859395e-05,1793246530002749184
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.374202818,714.374202818,681,660,633,879,785,813.374202818,652,631,653,0.450426466293,-0.00556107261659,0.049956255047,0.999999988827,0.000135130573061,-3.92541114628e-05,5.04536198027e-05,1793246530019415552
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.965394367,714.965394367,681,660,633,879,785,813.965394367,652,631,653,0.450935087381,-0.00556280040962,0.0499730494326,0.999999989065,0.000136763735519,-1.93433522847e-05,5.28428071721e-05,1793246530036081920
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.454778302,746,714.454778302,681,660,633,878.454778302,785,813.454778302,651.454778302,631,653,0.451381594767,-0.00556135329233,0.0499710935103,0.999999988556,0.000137593476784,-3.24034581938e-05,5.39164945633e-05,1793246530052748288
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.876658751,714,680.876658751,660,633,878.123341249,785,813,651.123341249,631,653,0.451807130707,-0.00555951976063,0.0499614135737,0.999999987146,0.000139099677008,-5.82369041383e-05,5.4480627484e-05,1793246530069414400
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.302200937,714,680.302200937,660,633,878.697799063,785,813,651.697799063,631,653,0.452170089193,-0.00555699491263,0.0499277471723,0.999999980708,0.0001432627035,-0.000123290772336,5.34802296788e-05,1793246530086081024
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.278177326,745,714,680.278177326,660,633,879,785,813,652,631,653,0.452531175958,-0.00555680234917,0.049902018993,0.99999997766,0.000122749594837,-0.000165903916082,4.56891697017e-05,1793246530102747904
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.865127163,745,714,680.865127163,660,633,879,785,813,652,631,653,0.452890185119,-0.00555919858548,0.0498851021192,0.999999979882,7.48463595162e-05,-0.000183608200584,3.03605803634e-05,1793246530119414784
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,680.580080263,660,632.580080263,879,784.580080263,813,652,631,653,0.453240803798,-0.00556635299036,0.0498933573521,0.999999985138,4.3518513938e-05,-0.00016511049671,2.38402090798e-05,1793246530136081152
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714,680.03488151,660,632.03488151,879,784.03488151,813,652,631,653,0.453588919252,-0.00557492694904,0.0499091224413,0.999999990432,1.71357773565e-05,-0.000135812277199,1.99476852239e-05,1793246530152747520
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632.577263339,879,784.577263339,813.577263339,652,631,653,0.453898734224,-0.00557553700809,0.0499173156204,0.999999991884,2.00742734769e-05,-0.000123964752573,2.15048152347e-05,1793246530169414400
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,744.819164804,714,680.180835196,659.819164804,633,879,784.819164804,814,652,631,652.819164804,0.454186745813,-0.00557466888059,0.0499192854144,0.999999992068,2.54036292936e-05,-0.000121191118371,2.3042224572e-05,1793246530186081024
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,744.244247617,714,680.755752383,659.244247617,633,879,784.244247617,814,652,631,652.244247617,0.45443294781,-0.0055717657129,0.0499088208853,0.999999990027,3.15756440944e-05,-0.000135592215671,2.37248978192e-05,1793246530202747392
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,744.338923134,714,680.661076866,659,632.661076866,879,784.677846269,813.661076866,651.661076866,631,652.338923134,0.45465048644,-0.0055683077467,0.0498949705461,0.999999986714,3.8274684787e-05,-0.000156616197582,2.40536611411e-05,1793246530219414016
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,744.928190407,714,680.071809593,659,632.071809593,879,785.856380813,813.071809593,651.071809593,631,652.928190407,0.454846853022,-0.00556443998062,0.0498786192914,0.999999982021,4.53630115497e-05,-0.000182532146596,2.4121010456e-05,1793246530236080896
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680.507386817,659.507386817,632,879,785.492613183,813,651.507386817,631,653,0.455011367092,-0.00556291228906,0.0498635015099,0.999999976904,4.88387430982e-05,-0.000207852071904,2.45954099134e-05,1793246530252747776
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680.914883172,659.914883172,632,879,784.914883172,813,651.914883172,631,653,0.455168460261,-0.0055618101231,0.0498494489521,0.999999971552,5.18379669623e-05,-0.000231476080156,2.50708153481e-05,1793246530269415168
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714,680.337550941,659.337550941,632,879,784.337550941,813,651.337550941,631,653,0.455308201528,-0.00556129077519,0.049840566518,0.999999967969,5.49807568112e-05,-0.000245771225689,2.52253789403e-05,1793246530286081792
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,632,879.238820519,784.238820519,813,651.238820519,631,653,0.455439199133,-0.00556115541298,0.0498344573994,0.99999996531,5.73227407575e-05,-0.000255820571697,2.5482403341e-05,1793246530302748672
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+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,632,880,784.010175886,813.989824114,652,631,653,0.455759929248,-0.00556239253859,0.0498343581494,0.999999964103,5.92491346769e-05,-0.000259932613573,2.68122431812e-05,1793246530352747776
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680.568796572,659,632,879.431203428,784.568796572,813.431203428,652,631,653,0.455839765104,-0.00556404930951,0.0498369028981,0.999999965059,5.81893641423e-05,-0.000256349464149,2.79482072243e-05,1793246530369414144
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680.853703808,659,632,879,785,813,652,630.853703808,653,0.455911487106,-0.00556508366785,0.0498380325472,0.999999965341,5.79864839435e-05,-0.000255204727746,2.8746441621e-05,1793246530386081024
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680.279917501,659,632,879,785,813,652,630.279917501,653,0.455960410347,-0.00556423581224,0.049834982951,0.999999963625,6.03515482658e-05,-0.000261329754066,2.8524008665e-05,1793246530402747648
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,632,879,785,813.301563617,652,630,653,0.456003877306,-0.00556339108105,0.0498315716998,0.999999962208,6.18664701687e-05,-0.00026638833029,2.81904594574e-05,1793246530419414272
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,632,879,785,813.890374309,652,630,653,0.456042147024,-0.00556254932587,0.0498278159626,0.999999961091,6.25716099069e-05,-0.000270431086186,2.77510691468e-05,1793246530436081152
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.528551475,745,714,680,659.471448525,632,879,785,813.528551475,652,630,653,0.456068727238,-0.00556045370888,0.0498265710729,0.999999960163,6.42609452978e-05,-0.000273469546843,2.75437933591e-05,1793246530452747776
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.050574594,745,714,680.050574594,659.949425406,631.949425406,879,784.949425406,813,652,630,653,0.456092146216,-0.00555825158528,0.049826028847,0.999999959392,6.61446465483e-05,-0.000275838476735,2.74492504226e-05,1793246530469414656
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.627844915,745,714,680.627844915,659.372155085,631.372155085,879,784.372155085,813,652,630,653,0.456110493823,-0.00555792762572,0.0498268221827,0.999999959881,6.77076553031e-05,-0.000273627510864,2.79757163854e-05,1793246530486081024
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659,631.204194161,879,784.204194161,813,652,630.204194161,653,0.456124908073,-0.00555742923251,0.0498267990794,0.999999959915,6.88213981432e-05,-0.000273193409228,2.82654057968e-05,1793246530502747648
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,631.778872202,879,784.778872202,813,652,630.778872202,653,0.456132185752,-0.00555661435206,0.0498252946534,0.999999959132,6.91200060311e-05,-0.000275983197926,2.81254947676e-05,1793246530519414272
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,879,785,813,652,631,653,0.456137816543,-0.00555523413874,0.049824308431,0.999999958549,7.02227110623e-05,-0.000277829370803,2.79400504641e-05,1793246530536080896
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,879,785,813,652,631,653,0.456142417289,-0.00555350033837,0.0498236463187,0.999999958092,7.18283381323e-05,-0.000279085359656,2.77261274082e-05,1793246530552747776
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714.530495587,680.469504413,659,632,879,785,813,652,631,653,0.456143378845,-0.00555311666827,0.0498219436498,0.999999957457,7.17095501011e-05,-0.00028139405717,2.75807446049e-05,1793246530569414912
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714.891798415,680.108201585,659,632,879.108201585,784.891798415,813.108201585,652,631,653,0.456144087582,-0.00555271302383,0.0498205437406,0.999999956877,7.1876342757e-05,-0.000283415865162,2.74975154745e-05,1793246530586082048
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,714.314234066,680.685765934,659,632,879.685765934,784.314234066,813.685765934,652,631,653,0.456145105471,-0.00555170117089,0.0498208591319,0.999999956616,7.39480941669e-05,-0.000283786520192,2.76574225141e-05,1793246530602748672
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714.26737414,680.73262586,659,632,879.73262586,784.26737414,813.73262586,652,630.73262586,653,0.45614718306,-0.00555144375399,0.0498217863719,0.999999956907,7.45650053272e-05,-0.000282575447885,2.78689247771e-05,1793246530619415040
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714.853807991,680.146192009,659,632,879.146192009,784.853807991,813.146192009,652,630.146192009,653,0.456150525197,-0.00555208661155,0.049823443736,0.999999957853,7.34458442034e-05,-0.000279476887687,2.81419960558e-05,1793246530636081152
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714.565296745,680,659.434703255,632,879.434703255,785,813,652,630.434703255,652.565296745,0.45615050148,-0.0055521587889,0.0498224285918,0.999999957352,7.34516780115e-05,-0.000281250978321,2.82544982994e-05,1793246530652747776
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680.013652823,660.013652823,632,879.986347177,785,813,652,630.986347177,652.013652823,0.456149398788,-0.00555202818434,0.0498205819058,0.999999956396,7.37833207131e-05,-0.00028454143018,2.8301700487e-05,1793246530669414400
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680.588228888,660.588228888,632,879.411771112,785,813,652,630.411771112,652.588228888,0.456149887346,-0.00555135218067,0.0498210328224,0.999999956779,7.21523248628e-05,-0.000283653161377,2.78567249265e-05,1793246530686081280
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.673164053,632,879,785,813,652,630,653,0.456150388728,-0.00555066227636,0.0498213164582,0.999999956979,7.18612719302e-05,-0.000283051080259,2.75714708007e-05,1793246530702748160
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.519685009,632,879,785,813,652,630,653,0.456150922545,-0.00554993721417,0.0498211770024,0.999999956714,7.49592421603e-05,-0.000283172833506,2.76901888553e-05,1793246530719414784
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.32412661,632,879,784.67587339,813,651.67587339,630,653,0.456150896336,-0.00554805984961,0.049821380901,0.99999995645,7.67161512999e-05,-0.000283652019524,2.7505809599e-05,1793246530736081408
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.914023662,632,879,784.085976338,813,651.085976338,630,653,0.456150410928,-0.00554523764468,0.0498218663361,0.999999956192,7.73734455389e-05,-0.000284424285657,2.7072903051e-05,1793246530752748032
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,744.505056856,714,680.505056856,659.505056856,632,879,784,813,651.494943144,630.494943144,652.505056856,0.456150669477,-0.00554530787383,0.0498210631788,0.999999955984,7.8844343332e-05,-0.000284740590112,2.71887909517e-05,1793246530769414400
+245,4.083333333,HOLD_POSE2,766,745,715,681,659,632,879,785,813,652,631,653,0.456152096467,-0.00554927516342,0.0498207254922,0.99999995626,7.74787077881e-05,-0.000284062932739,2.80378050761e-05,1793246530812918272
+246,4.100000000,HOLD_POSE2,766,745,714.425281637,680.425281637,659,632,879,785,813,652,630.425281637,653,0.4561513491,-0.00554845685613,0.0498203364787,0.999999955987,7.67582151817e-05,-0.000285278886165,2.73843996284e-05,1793246530829585152
+247,4.116666667,HOLD_POSE2,766,745,714,680.153827152,659,632,879,785,813,652,630.153827152,653,0.456150821261,-0.00554768545661,0.0498198325749,0.999999955768,7.60004695711e-05,-0.000286296143252,2.68790131836e-05,1793246530846251776
+248,4.133333333,HOLD_POSE2,766,745,714,680.745430785,659,632,879,785,813,652,630.745430785,653,0.45615091818,-0.00554704755166,0.0498190017052,0.999999955706,7.51367055217e-05,-0.000286747930989,2.67948736635e-05,1793246530862918656
+249,4.150000000,HOLD_POSE2,766,745,714,681,659,632,879.329927799,785,813,651.670072201,630.670072201,653,0.456151370434,-0.00554746415225,0.0498192261665,0.99999995582,7.57775447512e-05,-0.00028616018661,2.7004116369e-05,1793246530879585024
+250,4.166666667,HOLD_POSE2,766,745,714,681,659,632,879.909056998,785,813,651.090943002,630.090943002,653,0.45615209108,-0.00554867724308,0.0498202477415,0.999999956064,7.7554842514e-05,-0.000284787261743,2.74349568411e-05,1793246530896251648
+251,4.183333333,HOLD_POSE2,766,745,714,680.514900309,659,632,879.514900309,784.514900309,813,651.485099691,630,653,0.456152106382,-0.00554874890365,0.0498198058503,0.999999955933,7.62979801041e-05,-0.000285595835557,2.73312413408e-05,1793246530912918272
+252,4.200000000,HOLD_POSE2,766,745,714,680.061829028,659,632,879,784,813,652,630,652.938170972,0.456151976154,-0.00554841742764,0.0498191847695,0.999999955733,7.50951305705e-05,-0.000286628652048,2.71685897573e-05,1793246530929584640
+253,4.216666667,HOLD_POSE2,766,745,714,680.649283786,659,632,879,784,813,652,630,652.350716214,0.456151725774,-0.00554646643819,0.049819358014,0.999999955563,7.91566042907e-05,-0.000286113017605,2.73514728401e-05,1793246530946251264
+254,4.233333333,HOLD_POSE2,766,745,714,680.766687364,659,632,879,784.233312636,813,652,630,652.233312636,0.45615174834,-0.00554563210904,0.0498195593472,0.999999955473,8.09033086406e-05,-0.000285927645702,2.74705575924e-05,1793246530962917888
+255,4.250000000,HOLD_POSE2,766,745,714,680.187733875,659,632,879,784.812266125,813,652,630,652.812266125,0.45615217526,-0.00554645205574,0.0498198022925,0.99999995552,7.92207990404e-05,-0.000286231541076,2.74951283333e-05,1793246530979584512
+256,4.266666667,HOLD_POSE2,766,745,714,680,659,632,879,784.609221742,813,652,630,653,0.456151193368,-0.00554797549287,0.0498187437882,0.999999955246,7.86741556096e-05,-0.000287319513686,2.76645134092e-05,1793246530996250880
+257,4.283333333,HOLD_POSE2,766,745,714,680,659,632,879,784.030921351,813,652,630,653,0.456149535432,-0.0055498365129,0.0498170607596,0.999999954818,7.86725782978e-05,-0.0002887837402,2.79033903088e-05,1793246531012917760
+258,4.300000000,HOLD_POSE2,766,745,714,680.542984402,659,632,879,784,813,652,630.542984402,653,0.4561500437,-0.00554790717888,0.0498175477666,0.999999954902,7.81127644921e-05,-0.000288690235809,2.74375193271e-05,1793246531029584128
+259,4.316666667,HOLD_POSE2,766,745,714,680.880071366,659,632,879,784.119928634,813,652,631,653,0.456150683574,-0.00554622213813,0.0498180629502,0.999999955033,7.79970232704e-05,-0.000288298992624,2.70922699904e-05,1793246531046250752
+260,4.333333333,HOLD_POSE2,766,745,714,680.290249196,659,632,879,784.709750804,813,652,631,653,0.456151359642,-0.00554633319635,0.049818208232,0.999999955237,7.97447633073e-05,-0.000287085953959,2.73756135541e-05,1793246531062917376
+261,4.350000000,HOLD_POSE2,766,744.706103154,714.293896846,680.293896846,659,632,879.293896846,785,813,652,631,653,0.456152468541,-0.00554723226462,0.0498187519194,0.999999955612,7.85587714957e-05,-0.000286095463281,2.74578617344e-05,1793246531079584000
+262,4.366666667,HOLD_POSE2,766,744.127456615,714.872543385,680.872543385,659,632,879.872543385,785,813,652,631,653,0.4561539968,-0.00554889481715,0.0498196816126,0.999999956145,7.45303562704e-05,-0.000285320594147,2.73452733435e-05,1793246531096250624
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,632,880,784,813,651,631,653,0.456152022079,-0.00554915836168,0.0498193433157,0.999999955667,7.61978601257e-05,-0.000286554451721,2.73274159032e-05,1793246531128854272
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.574893152,745.425106848,714,680.574893152,659.425106848,631.425106848,879.425106848,784.574893152,813,651.574893152,631,653,0.456151812547,-0.0055479825839,0.049818543922,0.999999955323,7.70633112102e-05,-0.000287534048101,2.71918677399e-05,1793246531145520896
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.15415476,681,659,631.15415476,879,785,813,652,630.84584524,653,0.456151653436,-0.0055469066539,0.0498179882376,0.999999955029,7.80922036163e-05,-0.000288279904405,2.71644217968e-05,1793246531162187520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.745814572,681,659,631.745814572,879,785,813,652,630.254185428,653,0.456151637425,-0.00554611410056,0.0498181242217,0.99999995488,7.95849573695e-05,-0.000288362385605,2.7443779631e-05,1793246531178854144
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.670009809,680.670009809,659,632,879,784.670009809,813,652,630.329990191,653,0.45615226247,-0.00554660676315,0.0498182658022,0.999999955019,7.90889137065e-05,-0.000288008081163,2.75424717806e-05,1793246531195520512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.091471314,680.091471314,659,632,879,784.091471314,813,652,630.908528686,653,0.456153370359,-0.00554806744921,0.0498184115979,0.999999955372,7.70949095869e-05,-0.000287324790175,2.75050866874e-05,1793246531212187136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,632,879,784,813,652,631,653,0.456152473764,-0.00554704875152,0.0498180777766,0.999999955108,7.74327838851e-05,-0.000288159794605,2.741309765e-05,1793246531228853760
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.06169199,659,632,879,784.06169199,813,652,630.93830801,653,0.456150678537,-0.0055456942509,0.0498173625891,0.999999954657,7.80561335684e-05,-0.00028956783551,2.72672592425e-05,1793246531245520640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.648629011,659,632,879,784.648629011,813,652,630.351370989,653,0.456144437388,-0.00554544508616,0.0498141673276,0.999999953599,7.73815096889e-05,-0.000293427056862,2.67502556326e-05,1793246531262187520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.767596796,659,632,879,784.767596796,813,652,630.232403204,653,0.456130669611,-0.00554533710551,0.0498075438383,0.999999950473,7.7253857406e-05,-0.000303968901208,2.62313938356e-05,1793246531278853888
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.53764675,659,632,879.53764675,784.46235325,813,652,631,653,0.455940117367,-0.00554059354925,0.0497272680411,0.999999905679,7.75444937912e-05,-0.000426831417906,2.10757886473e-05,1793246531345522176
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,632,880,784,813.114233957,652,631,653,0.455868871622,-0.00553751639619,0.049706362532,0.999999893921,8.03889264477e-05,-0.000453135029112,1.90821502172e-05,1793246531362188288
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.446586157,659,632,879,785,813,652,630,653,0.455510847561,-0.00552273739569,0.0496892223508,0.999999884411,9.05774246e-05,-0.000471919268284,1.63253199315e-05,1793246531428854528
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.804776896,632,879.804776896,784.804776896,813,652,631,653,0.455103617634,-0.00550606175949,0.049693179168,0.999999887359,0.000103664758793,-0.000462966063509,1.40839462785e-05,1793246531478855168
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.999117884,634,877,786,808.999117884,652,629.000882116,652.999117884,0.41334092765,-0.00538002846561,0.0497766899128,0.999999929513,7.74409484898e-05,-0.000364198920799,-4.83293465374e-05,1793246532478854912
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.151925726,745,714,679,658.303851452,633.848074274,877,785.848074274,808.151925726,652,629.848074274,652,0.411933568602,-0.00537663845072,0.0497908607101,0.999999939594,8.75734741029e-05,-0.000332873924519,-4.83587369928e-05,1793246532512188672
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.743843429,745,714,679,659.487686857,633.256156571,877,785.256156571,808.743843429,652,629.256156571,652,0.411274456737,-0.00537693241588,0.0498165309653,0.999999950977,8.73949235959e-05,-0.000296996973004,-4.69088869345e-05,1793246532528855040
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.784325356,679,658.784325356,634,877.784325356,785.784325356,808.784325356,652,629.784325356,652,0.407607806077,-0.00538440637149,0.0498325404918,0.999999954883,8.9111236412e-05,-0.000283166439717,-4.59242982838e-05,1793246532628855552
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.138152764,658,634,877,785.138152764,808,652,629,652,0.405128403772,-0.00538506306987,0.0497701045941,0.99999991563,8.8578405019e-05,-0.0003977525065,-5.1839361178e-05,1793246532712187648
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f01748cf40d6216d56bd494d2c87181de1959b24
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1950bafa75a576db80090877148e0efeadf4b6e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6d711d29c1d029853afe59bddc585f0f2b9903115b1e3626c797284171a2f4
+size 25875839
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f6f3ce2f0622b613d7505034a485d24fd0168f9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+13,0.216666667,BASELINE,765.457655041,745,714,678.542344959,658,634,876.457655041,786,808,652,629,652,0.400988887384,-0.00541488408755,0.0498503069844,0.999999959462,0.000119045743217,-0.000256288594118,-3.49435403457e-05,1793246533901587456
+14,0.233333333,BASELINE,765,745,714.119211039,678.880788961,658,634,876.119211039,786,808,652.119211039,629,652,0.400988998038,-0.0054155790966,0.0498503075562,0.999999959639,0.000118767149785,-0.000255775592145,-3.45738664602e-05,1793246533918254080
+15,0.250000000,BASELINE,765,745,714.693453311,678.306546689,658,634,876.693453311,786,808,652.693453311,629,652,0.400988155446,-0.00541420770648,0.0498497580602,0.999999959072,0.000121058237647,-0.000256830835679,-3.51859525647e-05,1793246533934920960
+16,0.266666667,BASELINE,765,745,714.725416227,678,658,634,877,785.725416227,808,652.725416227,629,652,0.400988114576,-0.0054137175601,0.0498498996433,0.999999959029,0.000121301456937,-0.000256841425561,-3.55063466084e-05,1793246533951587840
+17,0.283333333,BASELINE,765,745,714.136397916,678,658,634,877,785.136397916,808,652.136397916,629,652,0.400988991781,-0.00541423655378,0.049850832603,0.999999959586,0.000119199597198,-0.000255655749534,-3.54927148365e-05,1793246533968254976
+18,0.300000000,BASELINE,765.448064093,745,714,678.448064093,658,634,877,785.448064093,808,652,629,652,0.400989255872,-0.00541424280802,0.049850800975,0.999999959493,0.000120873762878,-0.000255285365097,-3.51258732859e-05,1793246533984921344
+19,0.316666667,BASELINE,765.969380495,745,714,679,658.030619505,634,877,785.969380495,808,652,629,652,0.400989302384,-0.00541419101887,0.0498504907485,0.999999959237,0.000123284289718,-0.000255193844387,-3.46830379445e-05,1793246534001587456
+20,0.333333333,BASELINE,765.396277759,745,714,679,658.603722241,634,877,785.396277759,808,652,629,652,0.400988767494,-0.00541584840731,0.0498503945699,0.999999959676,0.000118580581541,-0.000255690068886,-3.47796218141e-05,1793246534018254080
+21,0.350000000,BASELINE,765,745,714,679,658.830266482,634,877,785.169733518,808,652,629,652,0.400988416446,-0.00541684135517,0.0498502966288,0.999999959931,0.000115801480501,-0.000255961080664,-3.48161366014e-05,1793246534034920704
+22,0.366666667,BASELINE,765,745,714,679,658.280147757,634,877,785.719852243,808,652,629,652,0.4009884774,-0.00541634524297,0.049850194738,0.999999959815,0.000117335565215,-0.000255727374235,-3.47180321777e-05,1793246534051587584
+23,0.383333333,BASELINE,765,745,714,678.695327913,658.304672087,634,877,785.695327913,807.695327913,652,629,652,0.400989284421,-0.00541583779967,0.0498510339034,0.999999959974,0.000118471801957,-0.000254586508762,-3.46858904675e-05,1793246534068254720
+24,0.400000000,BASELINE,765,745,714,678.074498786,658.925501214,634,877,785.074498786,807.074498786,652,629,652,0.400990865632,-0.00541531859807,0.0498528495992,0.999999960414,0.000119195193589,-0.000252504287846,-3.47221979967e-05,1793246534084921856
+25,0.416666667,BASELINE,765,744.489738185,714,678,658.489738185,634,877,785,807.510261815,652,629,652,0.400988820558,-0.00541456583252,0.049851179106,0.999999959808,0.000118629702549,-0.000255070909512,-3.53660879688e-05,1793246534101588480
+26,0.433333333,BASELINE,765,744.088836803,714,678.088836803,658,634,877,785.088836803,808,652,629,652,0.400986876461,-0.00541420432627,0.0498495011305,0.999999959256,0.000117862224897,-0.000257503988687,-3.58970195977e-05,1793246534118255104
+27,0.450000000,BASELINE,765,744.660524285,714,678.660524285,658,634,877,785.660524285,808,652,629,652,0.400988168868,-0.00541614252284,0.0498503663206,0.999999959828,0.00011695217053,-0.00025576568092,-3.53636764064e-05,1793246534134921472
+28,0.466666667,BASELINE,765,745,714,679,658,634,877,786,808,652,629,652,0.400988457002,-0.00541662479413,0.0498506062345,0.999999959959,0.000116638360647,-0.000255425900377,-3.51411420299e-05,1793246534151588096
+29,0.483333333,BASELINE,765,745,714,679,658,634,877,786,808,652,629,652,0.400987276966,-0.00541497861494,0.0498499320427,0.999999959449,0.000117196214237,-0.000257130658801,-3.53729861832e-05,1793246534168254208
+30,0.500000000,BASELINE,765,744.587140643,714,678.587140643,658,634,877.412859357,785.587140643,808,652,629,652,0.400988422822,-0.00541403572876,0.0498508301993,0.999999959522,0.000119369849126,-0.000255835627675,-3.54317011419e-05,1793246534184920576
+31,0.516666667,BASELINE,765,744.007937607,714,678.007937607,658,634,877.992062393,785.007937607,808,652,629,652,0.400990505795,-0.00541337620388,0.0498523618651,0.999999959818,0.000122194492638,-0.000253331962076,-3.5420661233e-05,1793246534201587200
+32,0.533333333,BASELINE,765,744.567009118,714,678,658,634,877.432990882,785,808,652,629,652,0.400990231027,-0.00541454187052,0.0498522550685,0.999999960126,0.000120199055737,-0.00025307478494,-3.53918742129e-05,1793246534218254080
+33,0.550000000,BASELINE,765,745,714,678.141606785,658,634,877,785.141606785,807.858393215,652,629,652,0.400990133909,-0.00541559201329,0.0498521011557,0.99999996032,0.000118898926535,-0.000252945624015,-3.52258733629e-05,1793246534234920960
+34,0.566666667,BASELINE,765,745,714,678.715319676,658,634,877,785.715319676,807.284680324,652,629,652,0.400990678847,-0.0054162122537,0.0498518729399,0.999999960176,0.000119924862502,-0.000253111848888,-3.46419237614e-05,1793246534251588096
+35,0.583333333,BASELINE,765,745,714.298767101,678.701232899,658,634,877,786,807.298767101,652,629,652,0.400991129514,-0.00541629695848,0.0498522639498,0.999999960376,0.000119815939898,-0.000252389593805,-3.45344980406e-05,1793246534268254720
+36,0.600000000,BASELINE,765,745,714.891802547,678.108197453,658,634,877,786,807.891802547,652,629,652,0.400991487327,-0.00541585419165,0.0498532648613,0.999999960911,0.000118589247243,-0.000250792237279,-3.48964207617e-05,1793246534284921088
+37,0.616666667,BASELINE,765,745,714.528614345,678.471385655,658.471385655,634,877,786,808,652,629,652,0.400990502788,-0.00541546459175,0.0498522575225,0.999999960542,0.00011742866314,-0.000252756087069,-3.52179188439e-05,1793246534301587456
+38,0.633333333,BASELINE,765,745,714,679,658.952062566,634,877,786,808.047937434,652,629,652,0.400989427679,-0.0054151340706,0.0498510120172,0.999999960039,0.000116445046161,-0.000255154590735,-3.54797923848e-05,1793246534318253824
+39,0.650000000,BASELINE,765,745,714,679,658.375833016,634,877,786,808.624166984,652,629,652,0.400990655759,-0.00541532386774,0.0498520807922,0.999999960355,0.000117249101939,-0.000253584937298,-3.51839950515e-05,1793246534334920704
+40,0.666666667,BASELINE,765,745,714,679,658,634,877,785.795321254,808.795321254,652,629,652,0.400991347081,-0.00541529062726,0.049852853147,0.999999960491,0.000118366730412,-0.000252549978892,-3.50180812089e-05,1793246534351587328
+41,0.683333333,BASELINE,765,745,714,679,658,634,877,785.206778466,808.206778466,652,629,652,0.40099103174,-0.00541483909161,0.0498530695815,0.999999960293,0.000120072447663,-0.000252517812512,-3.50957569255e-05,1793246534368254208
+42,0.700000000,BASELINE,765,745,714,679,658,634,877,785.375086867,808,652,629.375086867,652.375086867,0.400990255499,-0.00541410143406,0.0498526342824,0.999999960077,0.000121196519337,-0.000252805199943,-3.53134089676e-05,1793246534384920832
+43,0.716666667,BASELINE,765,745,714,679,658,634,877,785.953335413,808,652,629.953335413,652.953335413,0.400989229617,-0.00541320880174,0.049851845979,0.999999959852,0.000122005549025,-0.00025326567018,-3.56068776451e-05,1793246534401587968
+44,0.733333333,BASELINE,765.529802009,744.470197991,714,678.470197991,658,634,877.529802009,786,808.529802009,652.529802009,629.470197991,652.470197991,0.40098910167,-0.00541477465101,0.0498509563217,0.999999960035,0.000119408576173,-0.000253788239987,-3.55390163887e-05,1793246534418254336
+45,0.750000000,BASELINE,766,744.10596677,714,678.10596677,658,634,877.788066461,786,808.89403323,652.89403323,629.10596677,652,0.400989195492,-0.00541626053717,0.0498504214058,0.999999960273,0.00011683405653,-0.00025406190664,-3.54349260526e-05,1793246534434920448
+46,0.766666667,BASELINE,766,744.681487038,714,678.681487038,658,634,876.637025923,786,808.318512962,652.318512962,629.681487038,652,0.400989922724,-0.00541643578689,0.0498514978239,0.999999960628,0.000115683909103,-0.000253208492952,-3.53108509624e-05,1793246534451587072
+47,0.783333333,BASELINE,765.736333766,745,714,679,658,634,876.263666234,786,808,652,629.736333766,652,0.40099032083,-0.00541653345939,0.0498521454014,0.999999960764,0.000115378464334,-0.00025281907621,-3.52549183919e-05,1793246534468253696
+48,0.800000000,BASELINE,765.145901984,745,714,679,658,634,876.854098016,786,808,652,629.145901984,652,0.400990311044,-0.00541653498928,0.0498522615105,0.99999996063,0.000116119872175,-0.000253004697777,-3.52834358589e-05,1793246534484920320
+49,0.816666667,BASELINE,765.435731573,745.435731573,714,679,658.435731573,634,877,786,808,652,629,652,0.400989103681,-0.00541596772923,0.0498520134694,0.999999960229,0.000117422715654,-0.000254008335097,-3.51366014634e-05,1793246534501587200
+50,0.833333333,BASELINE,765.985598701,745.985598701,714,679,658.985598701,634,877,786,808,652,629,652,0.400987564189,-0.00541526033638,0.0498516638076,0.999999959769,0.000118800023461,-0.00025520359908,-3.49373033619e-05,1793246534518254080
+51,0.850000000,BASELINE,765.409893987,745.409893987,714,679,658.409893987,634,877,786,808,652,629,652,0.400988399722,-0.00541636740207,0.0498520117889,0.999999960567,0.000115897467755,-0.000253403196966,-3.49363786629e-05,1793246534534920704
+52,0.866666667,BASELINE,765.168971631,745,714,679,658,634,877,786,808,652,629,652,0.400988785133,-0.00541690627274,0.0498519983004,0.999999960887,0.000114444780009,-0.00025279864079,-3.49539848523e-05,1793246534551587584
+53,0.883333333,BASELINE,765.755651159,745,714,679,658,634,877,786,808,652,629,652,0.400988057816,-0.0054160405315,0.049851091237,0.999999960041,0.000116576252053,-0.000255150286832,-3.50174004975e-05,1793246534568254208
+54,0.900000000,BASELINE,765.661875296,745,714,678.661875296,658.338124704,634,877,786,808,652,629,652,0.400987848416,-0.00541561907427,0.0498505591674,0.999999959783,0.000117443154493,-0.000255751126335,-3.51043681131e-05,1793246534584921088
+55,0.916666667,BASELINE,765.082403922,745,714,678.082403922,658.917596078,634,877,786,808,652,629,652,0.400988008695,-0.00541551473815,0.0498502947608,0.999999959949,0.000117407432278,-0.000255102274948,-3.52081466528e-05,1793246534601587968
+56,0.933333333,BASELINE,765,745,714,678,658.504578737,634,877,785.504578737,808,652.495421263,629,652,0.400987831584,-0.00541536936933,0.0498504483575,0.999999959941,0.000118059116682,-0.000254839208628,-3.51746183305e-05,1793246534618254592
+57,0.950000000,BASELINE,765,745,714.072599192,678.072599192,658.072599192,634,877,785.072599192,808,652.927400808,629,652,0.400987605174,-0.00541527768642,0.049850594121,0.999999959893,0.000118597316142,-0.000254782935202,-3.51243889342e-05,1793246534634921216
+58,0.966666667,BASELINE,765,745,714.64718837,678.64718837,658.64718837,634,877,785.64718837,808,652.35281163,629,652,0.400987424643,-0.00541560425245,0.0498502065667,0.999999959778,0.000117562849371,-0.000255714316611,-3.511607329e-05,1793246534651587840
+59,0.983333333,BASELINE,765,745,714.772612836,679,659,634.227387164,877,785.772612836,808,652.227387164,629,652,0.400987570914,-0.00541596591646,0.0498502148969,0.999999959839,0.000117092321167,-0.000255701948859,-3.50441810781e-05,1793246534668254464
+60,1.000000000,BASELINE,765,745,714.183489971,679,659,634.816510029,877,785.183489971,808,652.816510029,629,652,0.400988237071,-0.00541638341566,0.0498508530143,0.999999960181,0.00011751892661,-0.000254188231056,-3.48711489687e-05,1793246534684921088
+61,1.016666667,BASELINE,765.400098103,745,714,678.599901897,658.599901897,634.599901897,877,785.400098103,808,652.599901897,629,652,0.400987709596,-0.00541524363969,0.0498507111928,0.999999959982,0.00011781485555,-0.000254807986805,-3.50535846027e-05,1793246534701587712
+62,1.033333333,BASELINE,765.981182454,745,714,678.018817546,658.018817546,634.018817546,877,785.981182454,808,652.018817546,629,652,0.400986642176,-0.005413399423,0.0498502165623,0.999999959537,0.000118051672338,-0.000256392829379,-3.53968177426e-05,1793246534718254336
+63,1.050000000,BASELINE,765.448345213,745,714,678.551654787,658.551654787,634,877,786,808,652.551654787,629,652,0.400987259122,-0.0054148000191,0.0498504912583,0.999999959872,0.000116491768058,-0.000255797449465,-3.54156271961e-05,1793246534734920960
+64,1.066666667,BASELINE,765,745,714,678.876539013,658.876539013,634,877,786,808.123460987,652.876539013,629,652,0.400987929571,-0.00541584733023,0.0498509891247,0.999999960144,0.000115784479667,-0.00025506254393,-3.53419966344e-05,1793246534751587584
+65,1.083333333,BASELINE,765,745,714,678.29851413,658.29851413,634,877,786,808.70148587,652.29851413,629,652,0.400988589464,-0.00541519407172,0.0498522138713,0.999999960096,0.000118437782964,-0.000254082576899,-3.49679924087e-05,1793246534768253952
+66,1.100000000,BASELINE,765.287386967,745,714,678.574773934,658,634,877,786,808.712613033,652,629,652,0.400988691228,-0.00541516154433,0.0498524319285,0.999999960086,0.000118773672754,-0.000253972043882,-3.49079589801e-05,1793246534784920576
+67,1.116666667,BASELINE,765.881699729,745,714,679.763399458,658,634,877,786,808.118300271,652,629,652,0.400988196918,-0.00541579195028,0.0498515748535,0.99999996012,0.000116634592858,-0.00025479005591,-3.51832425788e-05,1793246534801587456
+68,1.133333333,BASELINE,766,745,714,679.538404225,658,634,877.461595775,786,808,652,629,652,0.400987798901,-0.00541561747082,0.0498508584231,0.999999959931,0.000116320205777,-0.00025565124603,-3.53695286364e-05,1793246534818254592
+69,1.150000000,BASELINE,765.962152746,745,714,679,658,634,877.962152746,786,808,652.037847254,629,652.037847254,0.400987527875,-0.0054153447457,0.0498502683739,0.999999959741,0.000116417567655,-0.000256329736762,-3.54978499435e-05,1793246534834921728
+70,1.166666667,BASELINE,765.386777794,745,714,679,658,634,877.386777794,786,808,652.613222206,629,652.613222206,0.400988720561,-0.0054165176599,0.0498509768329,0.99999996034,0.000115922256665,-0.000254261024215,-3.51170553133e-05,1793246534851587840
+71,1.183333333,BASELINE,765.192395115,745.192395115,714,679,658,634,877,786,808,652.807604885,629,652.807604885,0.400989689736,-0.00541695495463,0.0498516689918,0.999999960805,0.000115650038673,-0.000252574638481,-3.49381267763e-05,1793246534868253952
+72,1.200000000,BASELINE,765.779357038,745.779357038,714,679,658,634,877,786,808,652.220642962,629,652.220642962,0.400990200535,-0.00541588363004,0.0498523277224,0.999999961003,0.00011583534308,-0.000251672333975,-3.51731882036e-05,1793246534884920320
+73,1.216666667,BASELINE,766,745.636637255,714,679,658,634,877,786,808,652,629,652,0.400988668331,-0.00541548657377,0.0498515908299,0.999999960684,0.000115348897294,-0.000253132577036,-3.53730004005e-05,1793246534901586944
+74,1.233333333,BASELINE,766,745.054412184,714,679,658,634,877,786,808,652,629,652,0.400985905575,-0.00541549564597,0.0498500133194,0.999999960046,0.00011445783982,-0.000256015840704,-3.55515811039e-05,1793246534918253568
+75,1.250000000,BASELINE,766,745,714,679,658.521653665,634,876.478346335,785.478346335,808,652,629,652,0.400987449363,-0.00541538935884,0.0498503735126,0.999999959855,0.000117062244972,-0.000255579140472,-3.5581937049e-05,1793246534934920448
+76,1.266666667,BASELINE,765.903094073,745,714,678.903094073,659,634.096905927,876.096905927,785.096905927,807.903094073,652,629,652,0.400988858252,-0.00541524833556,0.0498508488817,0.999999959764,0.000119202312371,-0.000254947836339,-3.55649507454e-05,1793246534951587072
+77,1.283333333,BASELINE,765.328721975,745,714,678.328721975,659,634.671278025,876.671278025,785.671278025,807.328721975,652,629,652,0.400987415028,-0.00541499475851,0.0498509075071,0.999999959973,0.000117279067475,-0.000255044024379,-3.53899925672e-05,1793246534968253696
+78,1.300000000,BASELINE,765,745.25309811,714,678,658.74690189,634.74690189,877.25309811,786,807.25309811,652,629,652,0.400987559282,-0.00541557083163,0.0498513192217,0.999999960337,0.000116300521703,-0.000254096955761,-3.5142880571e-05,1793246534984920320
+79,1.316666667,BASELINE,765,745.844884832,714,678,658.155115168,634.155115168,877.844884832,786,807.844884832,652,629,652,0.400989827851,-0.00541725711877,0.0498522034303,0.999999960908,0.000116586145289,-0.000251753831075,-3.47992144249e-05,1793246535001586944
+80,1.333333333,BASELINE,765,745.573630383,714,678,658,634,878,786,808,652,629,652,0.400989975004,-0.00541702333437,0.0498524354078,0.999999961055,0.000115679662536,-0.000251566890485,-3.49521227834e-05,1793246535018253824
+81,1.350000000,BASELINE,765.004174352,745,714.004174352,678.004174352,658,634,877.995825648,786,808,652,629,652,0.400989371672,-0.00541610553201,0.049852433695,0.999999961049,0.000114372965761,-0.000252144119098,-3.52807902891e-05,1793246535034920448
+82,1.366666667,BASELINE,765.579158737,745,714.579158737,678.579158737,658,634,877.420841263,786,808,652,629,652,0.400989190854,-0.00541491875648,0.0498521579807,0.999999960739,0.00011624525203,-0.000252481501347,-3.55226444475e-05,1793246535051587072
+83,1.383333333,BASELINE,765.846068403,745.153931597,714.846068403,679,658,634,877,786,808,652,629,652.153931597,0.4009894301,-0.00541432704439,0.0498521778505,0.999999960636,0.000117313295045,-0.00025238500154,-3.5597646726e-05,1793246535068253440
+84,1.400000000,BASELINE,765.27187292,745.72812708,714.27187292,679,658,634,877,786,808,652,629,652.72812708,0.400990816208,-0.00541535997365,0.0498530047241,0.999999961104,0.000116185594385,-0.000251103917469,-3.52171102288e-05,1793246535084920064
+85,1.416666667,BASELINE,765.312424624,745.687575376,714,678.687575376,658,634,877,786,808,652,629,652.687575376,0.400990828171,-0.00541584980231,0.0498530589803,0.999999961105,0.000116045122806,-0.000251176725302,-3.51390142659e-05,1793246535101587200
+86,1.433333333,BASELINE,765.905806724,745.094193276,714,678.094193276,658,634,877,786,808,652,629,652.094193276,0.40098960439,-0.00541585123095,0.0498524184365,0.999999960686,0.00011679244748,-0.000252467062248,-3.53328973004e-05,1793246535118253824
+87,1.450000000,BASELINE,765.514576916,745,714,678.485423084,658,634,877,786,808,652,629,652,0.400989622276,-0.0054156478118,0.0498526193255,0.999999960762,0.000117279537217,-0.000251955787885,-3.52005104519e-05,1793246535134920192
+88,1.466666667,BASELINE,765.062154435,745,714,679,658.062154435,634,877,786,808,652,629,652,0.400989895651,-0.00541559947089,0.049852827049,0.999999960913,0.000117474406583,-0.000251289945777,-3.50181955109e-05,1793246535151587072
+89,1.483333333,BASELINE,765.636516418,745,714,679,658.636516418,634,877,786,808,652,629,652,0.400990343692,-0.00541714764904,0.0498517826706,0.99999996091,0.000115665785434,-0.000252151824599,-3.49317768231e-05,1793246535168253696
+90,1.500000000,BASELINE,765.783171491,745.216828509,714,679,658.783171491,634,877.216828509,786,808,652,629,652,0.400990035308,-0.00541747802166,0.0498512376491,0.999999960776,0.000115102453996,-0.000252937077494,-3.49614594051e-05,1793246535184920320
+91,1.516666667,BASELINE,765.192603469,745.807396531,714,679,658.192603469,634,877.807396531,786,808,652,629,652,0.4009884231,-0.0054157093065,0.0498515533512,0.999999960419,0.000116685583878,-0.000253590252941,-3.51912615839e-05,1793246535201586944
+92,1.533333333,BASELINE,765.390377669,745.609622331,714,678.609622331,658.390377669,634.390377669,877.609622331,786,808,652,629,652,0.400988964729,-0.00541513004385,0.0498521982965,0.999999960632,0.000116958017988,-0.000252605989515,-3.53108155145e-05,1793246535218253568
+93,1.550000000,BASELINE,765.969687025,745.030312975,714,678.030312975,658.969687025,634.969687025,877.030312975,786,808,652,629,652,0.400990548753,-0.0054151264422,0.0498530025861,0.999999961119,0.000116596112773,-0.000250829252317,-3.53770124501e-05,1793246535234920192
+94,1.566666667,BASELINE,765.45628323,745,714,678,658.45628323,634.45628323,877,786,807.45628323,652,629,652,0.400989868736,-0.00541502983054,0.049852605089,0.999999960635,0.000117195367353,-0.000252500509378,-3.51927840991e-05,1793246535251587072
+95,1.583333333,BASELINE,765.120463665,745,714,678.120463665,658,634,877,786,807.120463665,652,629,652,0.400989273063,-0.00541517115066,0.0498521794478,0.999999960272,0.000117477700076,-0.00025383195502,-3.49911756478e-05,1793246535268253440
+96,1.600000000,BASELINE,765.708898644,745,714,678.708898644,658,634,877,786,807.708898644,652,629,652,0.400989490677,-0.0054162567268,0.0498519022539,0.999999960599,0.000116322704195,-0.000253103732376,-3.47757653803e-05,1793246535284920064
+97,1.616666667,BASELINE,765.707260186,745,714,679,658.292739814,634,877,786,808,652,629,652,0.400988604032,-0.00541665052867,0.0498515212313,0.999999960562,0.000115695317258,-0.000253527307884,-3.48549159273e-05,1793246535301586688
+98,1.633333333,BASELINE,765.127916572,745,714,679,658.872083428,634,877,786,808,652,629,652,0.400986636274,-0.00541636705624,0.0498510385565,0.999999960167,0.000115584480315,-0.000255078539161,-3.52224531185e-05,1793246535318253568
+99,1.650000000,BASELINE,765,745,714,679,658.549738465,634,877,786,808,652,629.450261535,652,0.400987586442,-0.00541631972498,0.0498518610032,0.999999960306,0.000116348340572,-0.000254210577273,-3.50427794636e-05,1793246535334920192
+100,1.666666667,BASELINE,765,745,714,679,658,634,877,786,808,652.027955789,629.944088422,652,0.400989279203,-0.00541637392682,0.0498529753841,0.9999999606,0.000117176933629,-0.000252713198123,-3.47327524374e-05,1793246535351586816
+101,1.683333333,BASELINE,765,745,714,679,658,634,877,786,808,652.602646354,628.794707293,652,0.400989324621,-0.005417105197,0.049852566547,0.999999961013,0.000114424191628,-0.000252312707435,-3.49058750927e-05,1793246535368253440
+102,1.700000000,BASELINE,765.181712574,745,714,679,658,634,877,786,808,652.818287426,628.181712574,652,0.400988952505,-0.00541714245021,0.0498519981455,0.999999961057,0.000113378968372,-0.000252579831376,-3.51264123395e-05,1793246535384920064
+103,1.716666667,BASELINE,765.770583119,745,714,679,658,634,877,786,808,652.229416881,628.770583119,652,0.400987644834,-0.00541562464012,0.0498510722128,0.99999996028,0.000116159732064,-0.00025434285966,-3.54531900308e-05,1793246535401586688
+104,1.733333333,BASELINE,766,745,714,678.64680587,658.35319413,634.35319413,877,785.64680587,808,652,629,652,0.400988339879,-0.00541513797586,0.0498512501425,0.99999996026,0.000117167615967,-0.000253956205647,-3.54608291991e-05,1793246535418253312
+105,1.750000000,BASELINE,766,745,714,678.068189871,658.931810129,634.931810129,877,785.068189871,808,652,629,652,0.400990313134,-0.00541530942777,0.049852132599,0.999999960727,0.000117043981132,-0.000252197543164,-3.52647821098e-05,1793246535434919936
+106,1.766666667,BASELINE,765.496803121,745,714,678.503196879,658.496803121,634.496803121,877,785.503196879,808,652.503196879,629,652,0.400990215605,-0.00541419872725,0.0498520946278,0.999999960615,0.000118255760283,-0.000252043580196,-3.5500559565e-05,1793246535451587840
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877,786,807,652,629,652,0.400990432677,-0.00541541645553,0.0498537724785,0.999999961157,0.000117744310591,-0.000250180688896,-3.50953564659e-05,1793246535494876160
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.408018468,634,877,786,807.591981532,652,629,652,0.400989617686,-0.0054152584423,0.0498525102032,0.99999996048,0.000118589440926,-0.000252452345607,-3.52804366118e-05,1793246535511542784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.179988193,714.179988193,679,658.179988193,634,877,786,808,652.179988193,629,652,0.400989251265,-0.00541499836708,0.0498520043822,0.999999960175,0.000119064979977,-0.00025341369519,-3.54192049649e-05,1793246535528209408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.759178951,714.759178951,679,658.759178951,634,877,786,808,652.759178951,629,652,0.400989879745,-0.00541451192473,0.0498531763294,0.999999960706,0.000118720788818,-0.00025146886588,-3.5455256691e-05,1793246535544876032
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.335599569,745.664400431,714.664400431,679,658.664400431,634,877,786,807.664400431,652.664400431,629,652,0.400989964506,-0.00541491964773,0.0498533060269,0.999999961003,0.000117826590258,-0.000250729765526,-3.53049765628e-05,1793246535561542912
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.910048617,745.089951383,714.089951383,679,658.089951383,634,877,786,807.089951383,652.089951383,629,652,0.400989662298,-0.00541596375694,0.0498526939453,0.999999961133,0.000116540946103,-0.000250848794315,-3.5022082239e-05,1793246535578210304
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.504670591,745.495329409,714.495329409,679,658.495329409,634,877,786,807.495329409,652,629,652,0.400988643768,-0.00541660337132,0.0498518787325,0.999999960762,0.000116041483539,-0.000252539639601,-3.51310876264e-05,1793246535594876928
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.918484176,714.918484176,678.918484176,658.918484176,634,876.918484176,786,808,652,629,652,0.400988183874,-0.00541702182988,0.0498514805904,0.999999960492,0.000115714376363,-0.000253737099621,-3.52597171473e-05,1793246535611543040
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.339049744,714.339049744,678.339049744,658.339049744,634,876.339049744,786,808,652,629,652,0.400991948616,-0.00541654813236,0.0498538603802,0.999999961425,0.000115548488067,-0.000250138321609,-3.50637814183e-05,1793246535628209664
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.239669713,745,714,678,658.239669713,634,876.239669713,786,808,652,629,652,0.401002582735,-0.00541664090895,0.0498585675937,0.999999963558,0.000115355311246,-0.000241607562308,-3.4680892314e-05,1793246535644876032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.817380689,745,714,678,658.817380689,634,876.817380689,786,808,652,629,652,0.401022905738,-0.00541753266692,0.0498665575134,0.999999967229,0.000115123645425,-0.000226120508486,-3.40343155233e-05,1793246535661542656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.607199643,745,714,678,658.607199643,634,877,786,808,652,629,652,0.401062970339,-0.00541903289362,0.0498806517794,0.999999973245,0.000115935430785,-0.000197414073835,-3.31238276253e-05,1793246535678209536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.032839011,745,714,678,658.032839011,634,877,786,808,652,629,652,0.401112159907,-0.00542081436695,0.0498975675987,0.999999979395,0.000117229520266,-0.000162597372309,-3.20913545845e-05,1793246535694876672
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,678.55548251,658.55548251,634,877.55548251,786,808,652.55548251,629,652,0.401183132631,-0.00542318567852,0.0499154420268,0.999999984755,0.000114718464587,-0.000128039905141,-3.05856998491e-05,1793246535711543296
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.857864866,633.857864866,877.857864866,786,808,652.857864866,629.142135134,652,0.401256608232,-0.00542540475231,0.0499310705995,0.999999988231,0.000112737946339,-9.98945210764e-05,-2.91497791072e-05,1793246535728209920
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.278942386,633.278942386,877.278942386,786,808,652.278942386,629.721057614,652,0.401333715882,-0.00542704607373,0.0499396189249,0.999999989035,0.000113096902783,-9.14054247548e-05,-2.80163337708e-05,1793246535744876800
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.298642416,877.298642416,786,808,652,629.701357584,652,0.401419589083,-0.00542964814966,0.0499449713522,0.999999989563,0.000113335174324,-8.54271500425e-05,-2.70469136182e-05,1793246535761542912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.874983319,877.874983319,786,808,652,629.125016681,652,0.4015136131,-0.00543314360187,0.0499473520107,0.999999989875,0.000113461224632,-8.1783612382e-05,-2.62300155574e-05,1793246535778209280
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,678.550975594,658,634,877.550975594,786,808.449024406,652,629,652,0.401621097439,-0.00543676548585,0.0499461150701,0.999999990009,0.000110558322028,-8.42951639015e-05,-2.55646814992e-05,1793246535794875904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023148224,745,714,678,658.023148224,634,877,786,808.976851776,652,629,652,0.401733850331,-0.00544052042566,0.0499441189563,0.999999990093,0.000106824354735,-8.82254613985e-05,-2.48882101435e-05,1793246535811542272
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.614954306,745,714,678,658.614954306,634,877,786,808.385045694,652,629,652,0.401884435972,-0.00544668367048,0.0499480899263,0.999999990781,0.000103285793586,-8.51246945337e-05,-2.29067840197e-05,1793246535828208640
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.797936321,745,714,678.202063679,658.797936321,634,876.797936321,786,808,652.202063679,629,652,0.402042088031,-0.00545264720783,0.0499497889718,0.999999991092,0.000100637296044,-8.50633290719e-05,-2.12917455935e-05,1793246535844875776
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.219573599,745,714,678.780426401,658.219573599,634,876.219573599,786,808,652.780426401,629,652,0.402212899719,-0.00545823883338,0.0499472570587,0.999999990718,9.96463460944e-05,-9.06621788205e-05,-2.03590236801e-05,1793246535861543168
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.35716861,745,714,679,658.35716861,634,876.35716861,786,808,652.64283139,629,652.35716861,0.402407012809,-0.00546479413352,0.0499466417833,0.999999990848,9.71652565893e-05,-9.218817882e-05,-1.91013083318e-05,1793246535878209792
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.932919145,745,714,679,658.932919145,634,876.932919145,786,808,652.067080855,629,652.932919145,0.40261538603,-0.00547193918883,0.0499471994617,0.999999991287,9.37722235479e-05,-9.1221655355e-05,-1.76447017022e-05,1793246535894876416
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.481450065,745,714,679,658.481450065,634,877,785.481450065,808,652,629,652.481450065,0.402851564438,-0.00547979951573,0.0499480206727,0.999999991666,8.81914385364e-05,-9.29476849187e-05,-1.5865552342e-05,1793246535911542784
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765.687033017,745,714,678.312966983,658.687033017,634,877,785,808,652,629,652,0.403415019392,-0.00550021558499,0.0499598204716,0.999999994363,7.89953317628e-05,-7.00697305594e-05,-1.10913630938e-05,1793246535944876032
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,714,678.26615819,659,634,877.26615819,785,808,652,629,652.26615819,0.403737965495,-0.00550963444779,0.0499682516636,0.999999995627,7.7045302379e-05,-5.23249035673e-05,-8.45771354307e-06,1793246535961542656
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714,678.841514217,659,634,877.841514217,785,808,652,629,652.841514217,0.404074964907,-0.00551631634189,0.0499755492091,0.999999996278,7.71446492729e-05,-3.81754526596e-05,-5.99435264948e-06,1793246535978209024
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.415795751,714,679,658.584204249,634,877.584204249,785.415795751,807.584204249,652,629,652.584204249,0.404440624748,-0.00552397997879,0.0499823098733,0.999999996753,7.62904925203e-05,-2.57553404987e-05,-3.10024835115e-06,1793246535994876160
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.989668771,714,679,658.010331229,634,877.010331229,785.989668771,807.010331229,652,629,652.010331229,0.404817180705,-0.0055320168546,0.0499888664258,0.999999997084,7.50738326522e-05,-1.39926888283e-05,-4.23840401832e-08,1793246536011543296
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.416817959,714.583182041,679,658.583182041,634,877,786,807.583182041,652,629,652.583182041,0.405224952544,-0.0055316953617,0.0499874423799,0.99999999611,8.70492299504e-05,-1.38798075746e-05,3.20673208379e-06,1793246536028210432
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.827992448,745,714.827992448,679,658.827992448,634,877,785.827992448,808,652,629,652.827992448,0.405639378295,-0.00552793022292,0.0499798791834,0.999999994342,0.000102842853063,-2.65993449256e-05,5.72521096809e-06,1793246536044877056
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.25105043,745,714.25105043,679,658.25105043,634,877,785.25105043,808,652,629,652.25105043,0.40606812119,-0.00551641889935,0.0499582078306,0.999999989525,0.000127055869604,-6.90257532461e-05,6.51539336438e-06,1793246536061543424
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.32287788,745,714,679,658.32287788,634,877,785,808,652,629,652,0.406521591763,-0.00551285583492,0.0499405067344,0.999999984986,0.000140896140949,-0.000100566478896,7.88504723928e-06,1793246536078209792
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.894484641,745,714,679,658.894484641,634,877,785,808,652,629,652,0.406994111342,-0.00551541570837,0.0499258641218,0.999999981532,0.000146745773733,-0.000123721426637,9.70109688867e-06,1793246536094876416
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.482858896,785,808,652,629.482858896,652,0.407520095284,-0.00552282949753,0.049927453682,0.999999981583,0.000150303815371,-0.000118558949448,1.36526500663e-05,1793246536111543040
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.926703657,785,808.073296343,652,630,652,0.408069258927,-0.00553026978505,0.0499356834492,0.999999982742,0.000154472280869,-0.000101617715386,1.81267730331e-05,1793246536128209920
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.348208582,785,808.651791418,652,630,652,0.408694766471,-0.00553031886663,0.0499643531636,0.999999984754,0.000166423829737,-4.76761504622e-05,2.28705844562e-05,1793246536144876800
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877,785,809,652,630,652,0.409329947548,-0.00552953674621,0.049986909213,0.999999983225,0.000180826188337,-9.12153026586e-06,2.77215791804e-05,1793246536161543424
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877,785,809,652,630,652,0.409979755618,-0.00552749779286,0.0500002209913,0.999999979658,0.000198934334653,6.16699922425e-06,3.27346420014e-05,1793246536178210048
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877,785,809,652,629.620779048,652,0.410604252482,-0.00552500602863,0.0499904062983,0.999999976195,0.000214020956509,-2.21015826393e-05,3.6277067425e-05,1793246536194876672
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877,785,809,652,629.046764632,652,0.411215747784,-0.00552228167025,0.0499687122892,0.9999999707,0.000227555518559,-7.27440358288e-05,3.90640740372e-05,1793246536211543296
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.544775519,785,809,652,629,652,0.411877568137,-0.00552178080666,0.0499468745479,0.999999965353,0.00023685701314,-0.000107376378921,4.07713323118e-05,1793246536228209664
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,785,809,652,629,652.134576556,0.412575078231,-0.0055224867865,0.0499363874117,0.999999962385,0.000243617153261,-0.000118638190953,4.24949139754e-05,1793246536244876032
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878,785,809,652,629,652.713502656,0.413375691728,-0.0055265263967,0.0499634201951,0.999999967778,0.00024322584504,-5.7423047184e-05,4.45886049079e-05,1793246536261542656
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,678.710005261,659.289994739,634,877.710005261,785.289994739,809,652,629,652.710005261,0.414165663923,-0.00553093646743,0.0499765494458,0.999999980325,0.000192795374064,-3.18195458085e-05,3.41536791466e-05,1793246536278209536
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,678.135897754,659.864102246,634,877.135897754,785.864102246,809,652,629,652.135897754,0.41494521075,-0.00553570948511,0.0499760571729,0.999999994733,9.33406851566e-05,-4.11053673782e-05,1.14442550779e-05,1793246536294876672
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.449303096,714,678.449303096,660,634,877.449303096,785.550696904,809.449303096,652,629.449303096,652,0.41570848608,-0.00553677260338,0.0499547191459,0.999999993621,8.19985203829e-05,-7.72067809567e-05,8.59316803972e-06,1793246536311543296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.962633081,745.962633081,714,679,659.962633081,634,878,785.037366919,809.962633081,652,630,652.037366919,0.416472939237,-0.0055368090154,0.04992989572,0.999999988373,9.78861162562e-05,-0.00011631189559,1.20322420076e-05,1793246536328209920
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.382947241,745.382947241,714,679,659.382947241,634,878,785.617052759,809.382947241,652,630,652.617052759,0.417327723405,-0.0055386423098,0.0499483117748,0.999999990467,0.000112384442195,-7.8316959693e-05,1.73825364837e-05,1793246536344876288
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.195341413,745,714,679,659.195341413,634,878,785.804658587,809.195341413,652,630,653,0.418186735564,-0.0055389561289,0.0499654928192,0.999999990913,0.000124664228624,-4.64730123745e-05,2.173820888e-05,1793246536361542656
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.770910441,745,714,679,659.770910441,634,878,785.229089559,809.770910441,652,630,653,0.419053977361,-0.00553631232381,0.0499802699429,0.99999999056,0.000132625677795,-2.66018267897e-05,2.41578717576e-05,1793246536378209280
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.653649926,745,714,679,659.653649926,633.653649926,878,785,810,652,630,652.653649926,0.419924312471,-0.00553376596319,0.049973288484,0.999999989718,0.000136102625568,-3.80864813373e-05,2.42864198259e-05,1793246536394875904
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.07829587,745,714,679,659.07829587,633.07829587,878,785,810,652,630,652.07829587,0.42079669282,-0.0055312840322,0.0499519204186,0.999999987935,0.000136614455412,-7.0303374854e-05,2.29001004484e-05,1793246536411542784
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.509786793,745,714,679.509786793,659.509786793,633.509786793,878,785,810,652,630,652.509786793,0.421728612325,-0.00553620923104,0.0499723701752,0.999999990812,0.000131118360593,-2.41570711448e-05,2.45143589699e-05,1793246536428209664
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.902193618,660,633.902193618,878.097806382,785,810,652,630,653,0.42266238435,-0.00554126851102,0.0499937471245,0.999999991554,0.000125496288384,2.13394317348e-05,2.62316171235e-05,1793246536444876288
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.324324903,660,633.324324903,878.675675097,785,810,652,630,653,0.423559216254,-0.00554125909833,0.0499873436747,0.999999991978,0.00012390089509,3.06023260623e-06,2.61345394931e-05,1793246536461542912
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.252501409,660,633.252501409,879,785,810.252501409,652,630,652.747498591,0.424475307761,-0.00554206121274,0.0499834380675,0.999999992109,0.00012268413352,-5.20471137733e-06,2.65152642487e-05,1793246536478209792
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.827994393,660,633.827994393,879,785,810.827994393,652,630,652.172005607,0.425416035649,-0.00554390140616,0.0499827276184,0.999999992185,0.000121951705134,-6.59748978347e-07,2.75071782431e-05,1793246536494876416
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.58782862,878.58782862,785.41217138,810.58782862,652,630,652.41217138,0.426363613417,-0.00554466145317,0.0499955427758,0.99999999183,0.000123915048384,9.96946202311e-06,2.9760855835e-05,1793246536511542784
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.999950409,745,714,679.999950409,660,633.000049591,878,785.999950409,810.000049591,652,630,653,0.427314104938,-0.00554496074893,0.0500141187954,0.999999991133,0.000127027446878,2.31844604573e-05,3.25520444581e-05,1793246536528209152
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.420347182,745,714,679.420347182,660,633.579652818,878,785.420347182,810.579652818,652,630,653,0.42819124223,-0.00554189824412,0.0499734758069,0.999999989701,0.000128446398529,-5.60533779663e-05,3.09572355693e-05,1793246536544875776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.158927742,745,714,679.158927742,660,634,878.158927742,785,811,652,630,653,0.429096609422,-0.00554107725307,0.0499458719215,0.999999985954,0.000127434501423,-0.000104689448805,2.98922829689e-05,1793246536561542400
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.737336093,745,714,679.737336093,660,634,878.737336093,785,811,652,630,653,0.430076487753,-0.00554617260847,0.0499526839988,0.99999998971,0.000120006520881,-7.25539149722e-05,3.02258560013e-05,1793246536578209280
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,785,811,652,630,653,0.431026513112,-0.00554812631917,0.049954753082,0.999999990704,0.000116297348446,-6.43007729132e-05,3.05218805302e-05,1793246536594876416
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,785,811,652,630,653,0.431951704108,-0.00554746653445,0.0499528765271,0.999999989953,0.00011568180669,-7.59150973778e-05,3.07866689261e-05,1793246536611543296
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,879,785,811.472313966,652,630,653,0.432884170842,-0.00554789059415,0.0499470811616,0.999999989805,0.000115251717575,-7.8552633152e-05,3.05895647811e-05,1793246536628209664
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.060220294,680,660,633.939779706,879.060220294,785,811.939779706,651.939779706,630.060220294,652.939779706,0.433819973044,-0.00554896614385,0.0499440998085,0.999999990199,0.000114312651038,-7.48319833914e-05,3.05790597859e-05,1793246536644876544
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.639718727,680,660,633.360281273,879.639718727,785,811.360281273,651.360281273,630.639718727,652.360281273,0.434769052389,-0.0055533528859,0.0499737234612,0.999999992928,0.000108590012517,-3.53888569338e-05,3.31605741682e-05,1793246536661542912
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.781820537,745,715,680,660,633.218179463,879.781820537,785,811,651.218179463,630.781820537,652,0.435676936604,-0.00555492652898,0.0499825155171,0.999999993037,0.00010716172306,-3.48886840426e-05,3.50007111788e-05,1793246536678209280
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.205065153,745,715,680,660,633.794934847,879.205065153,785,811,651.794934847,630.205065153,652,0.436517117157,-0.00555187687073,0.0499570710421,0.999999988164,0.000112791155414,-9.8390887266e-05,3.56224017508e-05,1793246536694875648
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.368959812,745,714.631040188,680,660,633.631040188,879,785.368959812,811.368959812,652,630.368959812,652.368959812,0.437409675846,-0.00555044328617,0.0499538732518,0.999999988296,0.000114682125459,-9.49755469285e-05,3.5163025721e-05,1793246536711542272
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.941478344,745,714.058521656,680,660,633.058521656,879,785.941478344,811.941478344,652,630.941478344,652.941478344,0.438331132014,-0.00554990130537,0.0499629491755,0.999999991369,0.000114510549135,-5.46411425474e-05,3.41072146916e-05,1793246536728209152
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633,879,785.468328469,812,651.468328469,630.468328469,653,0.43921650121,-0.00555312558912,0.0499739566425,0.999999993301,0.000103809695427,-3.86872009379e-05,3.35254306855e-05,1793246536744876032
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.120946089,879,785,812,651,630.120946089,653,0.440085425248,-0.00555629661323,0.049979634193,0.999999994522,9.37898112127e-05,-3.2694194417e-05,3.30299453662e-05,1793246536761542656
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.699139735,879,785,812,651,630.699139735,653,0.440907710242,-0.005557645122,0.049964330096,0.999999993887,9.08766479661e-05,-5.38649979293e-05,3.26566783829e-05,1793246536778209280
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714.275806354,680,660.275806354,633.724193646,879,785,812,651.275806354,631,653,0.441729007081,-0.00555869320925,0.0499648180245,0.999999994121,9.07952096154e-05,-4.9085037709e-05,3.32290544217e-05,1793246536794875648
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714.850816369,680,660.850816369,633.149183631,879,785,812,651.850816369,631,653,0.442549231885,-0.00555941538944,0.0499824376546,0.999999994865,9.3785718244e-05,-1.61528475759e-05,3.48272946307e-05,1793246536811542272
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714.564273636,680,660.564273636,633,879,785,812,652,631,652.564273636,0.443337444621,-0.00555911020003,0.0499923314767,0.999999994546,9.78398379154e-05,-3.20925659126e-06,3.63958794434e-05,1793246536828208896
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.976261032,745,714.023738968,680,660,633,879,785,812.023738968,652,631,652,0.444110956128,-0.00555831353078,0.0499976379365,0.999999994051,0.00010230229284,-1.65338549679e-07,3.7851786998e-05,1793246536844875520
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.396811235,745,714.603188765,680,660,633,879,785,812.603188765,652,631,652,0.444802858065,-0.00555443733006,0.0499589184262,0.999999991421,0.000107600698951,-6.49352650998e-05,3.69132130145e-05,1793246536861542144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.181655747,745,714.818344253,680.181655747,660,633,879,785,813,652,631,652.181655747,0.445510871098,-0.00555207855566,0.049936463422,0.999999988596,0.000111814410209,-9.47193211986e-05,3.65341629815e-05,1793246536878209024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.757987517,745,714.242012483,680.757987517,660,633,879,785,813,652,631,652.757987517,0.446253888185,-0.00555301663072,0.0499493456386,0.999999991665,0.000113671450952,-4.84910183123e-05,3.73707678367e-05,1793246536894875904
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.666147979,660.333852021,633,879,785,812.666147979,651.666147979,631,653,0.446951759283,-0.00555266255406,0.0499607462154,0.999999992094,0.000117711291024,-2.13824736741e-05,3.87246230393e-05,1793246536911542784
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680.090621763,660.909378237,633,879,785,812.090621763,651.090621763,631,653,0.44761694933,-0.00555137309368,0.0499710742382,0.999999991544,0.000123331251145,-8.11465141773e-06,4.04529137671e-05,1793246536928209664
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.50322039,633,879,785,812.49677961,651.49677961,631,653,0.448231028877,-0.0055507255805,0.0499528059841,0.999999990446,0.0001269397583,-3.65446355136e-05,4.0719149445e-05,1793246536944875776
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.084226168,633,879,785,813,652,631,653,0.448831909549,-0.00555034048613,0.0499327287623,0.999999988436,0.000130048262092,-6.74161476536e-05,4.08757457782e-05,1793246536961542144
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.659010062,633,879,785,813,652,631,653,0.449411548758,-0.00555078505033,0.0499332419864,0.999999988097,0.000132434022629,-6.71207110621e-05,4.19851847686e-05,1793246536978208768
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.188669286,633,879,785,813,652,631,653,0.450542537177,-0.00555414851802,0.0499629737818,0.999999989132,0.000137517248394,-2.52716114828e-05,4.67644103054e-05,1793246537011542272
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680.386572439,660.386572439,633,879,785,813,652,631,653,0.451049185998,-0.00555403831794,0.0499708340991,0.999999988895,0.000139340887056,-2.14752863502e-05,4.8292591188e-05,1793246537028208640
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,680.961085421,660.961085421,633,879,785,813,652,631,653,0.451530126012,-0.00555280327853,0.0499723458305,0.999999988426,0.000140783513536,-3.02357228938e-05,4.91394995247e-05,1793246537044875264
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633,879.300856263,784.699143737,813,652,630.699143737,653,0.453119987113,-0.00555469112185,0.0498892833951,0.999999981873,7.23593094544e-05,-0.000174036489262,2.69941416962e-05,1793246537111542016
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633,879.875708474,784.124291526,813,652,630.124291526,653,0.453504515928,-0.00556158118663,0.0498999673482,0.999999987917,3.00834913137e-05,-0.000151510342398,1.74796292812e-05,1793246537128208896
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.539224588,632.539224588,879.539224588,784.460775412,813.460775412,652,630.460775412,653,0.453848170318,-0.00556416292659,0.049910125129,0.999999990443,2.48090613226e-05,-0.000134937425906,1.70429248357e-05,1793246537144875520
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.04633536,632,879,785,813.95366464,652,631,653,0.454176930885,-0.00556539587467,0.049918802669,0.99999999197,2.97729006625e-05,-0.000121701310129,1.90552535837e-05,1793246537161541888
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.606133002,632,879,785,813.393866998,652,631,653,0.454465596456,-0.00556485248232,0.0499126854868,0.99999999108,3.50811320844e-05,-0.000127243177109,2.04562418665e-05,1793246537178208768
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680.823918783,660,632,879,785,813,652,631,653,0.454733799004,-0.00556375442618,0.0499025402097,0.999999989015,4.02971831796e-05,-0.000141021033408,2.14374981312e-05,1793246537194875648
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680.229876399,660,632,879,785,813,652,631,653,0.454953428762,-0.00556133977356,0.0498828335094,0.999999983546,4.52944265274e-05,-0.000174348524991,2.14224430034e-05,1793246537211542528
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.646954269,632,879,785,813,652,631,653,0.455151256999,-0.00555827051448,0.0498613386053,0.999999976963,4.99493329307e-05,-0.000207680890254,2.11543292111e-05,1793246537228209152
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.07105164,632,879,785,813,652,631,653,0.455335323246,-0.00555478804081,0.049838714912,0.999999969262,5.43881427275e-05,-0.000241016335154,2.07264744349e-05,1793246537244875264
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,632,879,785,813,652,631,653,0.455501026918,-0.0055550444379,0.0498278110127,0.999999964275,5.89805983346e-05,-0.000259826946069,2.14928158588e-05,1793246537261541632
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.106977554,632,879,785,813.106977554,652,631,653,0.455662149951,-0.00555569758165,0.0498207572491,0.999999960438,6.28804911352e-05,-0.000273252063642,2.24196338057e-05,1793246537278208256
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.685948782,632,879,785,813.685948782,652,631,653,0.455814465069,-0.00555577956433,0.0498234132259,0.99999996073,6.36293361306e-05,-0.000271935101432,2.33129552157e-05,1793246537294875136
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714,680.250708665,659.749291335,632,879.250708665,785,813.749291335,652,630.749291335,652.749291335,0.455953202366,-0.00555517473169,0.0498280904939,0.99999996195,6.51037358662e-05,-0.000266991371309,2.40331740871e-05,1793246537311542016
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714,680.79862158,659.20137842,632,879.79862158,785,813.20137842,652,630.20137842,652.20137842,0.456075843736,-0.00555375570928,0.0498351639148,0.999999964208,6.74382492325e-05,-0.000257748265168,2.45481873507e-05,1793246537328209152
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714.381007662,681,659,632,879.618992338,784.618992338,813.381007662,652,630,652.381007662,0.456176996199,-0.00555207684438,0.0498354574254,0.999999963769,7.08190196322e-05,-0.000258511376635,2.48561056099e-05,1793246537344875776
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714.983426799,681,659,632,879.016573201,784.016573201,813.983426799,652,630,652.983426799,0.456265661007,-0.00555024697963,0.0498318109888,0.999999961752,7.48077916656e-05,-0.000265089309523,2.50436766379e-05,1793246537361542400
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.420995322,659,631.420995322,879,784.579004678,814,652,630.579004678,653,0.456330538744,-0.00555242168835,0.0498262209057,0.999999959125,7.07075794836e-05,-0.000275865193745,2.54774387711e-05,1793246537378208768
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714.832447058,680,659,631.167552942,879,785,814,652,631,653,0.456391423078,-0.0055539072419,0.049821234905,0.999999956802,6.86362195858e-05,-0.000284642505736,2.57510107462e-05,1793246537394875392
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714.260401968,680,659,631.739598032,879,785,814,652,631,653,0.456444291377,-0.00555345560757,0.0498178399684,0.999999955518,7.20151711607e-05,-0.000288308338164,2.56210518075e-05,1793246537411542528
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+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.888482715,632,879,784.111517285,813.111517285,652,631,653,0.456528501486,-0.00554961163374,0.0498162722719,0.999999954794,7.66426229798e-05,-0.000289672578325,2.5037125796e-05,1793246537444875776
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,632,879,784,813,651.537952207,631,653,0.456556418723,-0.0055495232448,0.0498160928696,0.99999995477,7.65564678894e-05,-0.000289764444112,2.52300778923e-05,1793246537461542400
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680.0368881,659.9631119,631.9631119,879.0368881,784.0368881,813,651.0368881,630.9631119,653,0.456580905681,-0.0055499190051,0.0498157267172,0.999999954679,7.59618780344e-05,-0.000290207648402,2.55373093855e-05,1793246537478209024
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680.637016633,659.362983367,631.362983367,879.637016633,784.637016633,813,651.637016633,630.362983367,653,0.456593474302,-0.00554938179875,0.0498131150047,0.99999995334,7.52650937593e-05,-0.000294954105332,2.56332221328e-05,1793246537494875648
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,744.772734715,714,681,659,631.227265285,879.772734715,785,813,652,630,653,0.456605427803,-0.00554833048994,0.0498117171121,0.999999952665,7.59303013057e-05,-0.000297068292947,2.56094305575e-05,1793246537511542272
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,744.951605975,714,680.048394025,659,631.048394025,879,785,813,652,630.951605975,653,0.456627975199,-0.00554423221272,0.0498118348359,0.999999952692,7.98657678695e-05,-0.000296014255443,2.47446119253e-05,1793246537561542144
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632,879,784.133874366,813.866125634,652,631,653,0.456629400265,-0.00554219647496,0.0498088994706,0.999999950776,8.6348435898e-05,-0.000300588640413,2.52786737821e-05,1793246537594875392
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.863851123,632,879.863851123,784.136148877,813,652,631,653,0.45662940069,-0.0055427303547,0.0498068184172,0.999999949977,8.32436415165e-05,-0.000304128019258,2.49676449637e-05,1793246537644875520
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.594293931,632,880,784.405706069,813,652,631,653,0.456630983582,-0.00554279572354,0.0498070640139,0.99999995023,8.26133919504e-05,-0.000303459605767,2.50573674647e-05,1793246537661542400
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.063496032,632,880,784.936503968,813,652,631,653,0.456632695262,-0.00554266881118,0.0498073682059,0.999999950576,8.18396931872e-05,-0.000302523606652,2.50917124264e-05,1793246537678209536
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714.570348685,681,659.570348685,632,879.429651315,785,813.570348685,652,631,653,0.456632465613,-0.00554103047208,0.0498072133282,0.999999950123,8.38004328211e-05,-0.000303509323054,2.47890317196e-05,1793246537694875904
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+245,4.083333333,HOLD_POSE2,766,745,714,680,659,632,879,784,814,652,630,653,0.456631530329,-0.00554114116208,0.0498054411149,0.999999949207,8.40133041968e-05,-0.000306401219331,2.54214585829e-05,1793246537820885760
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+256,4.266666667,HOLD_POSE2,766,745,714,681,659,631.368850308,879,784.368850308,813.631149692,651.368850308,630.631149692,652.631149692,0.45663445965,-0.00553998789064,0.0498044070153,0.999999949013,8.60034200701e-05,-0.000306535893923,2.47687930698e-05,1793246538004218624
+257,4.283333333,HOLD_POSE2,766,745,714,681,659,631.96367947,879,784.96367947,813.03632053,651.96367947,630.03632053,652.03632053,0.456634109315,-0.00553915509464,0.0498039294891,0.999999948674,8.62592122582e-05,-0.000307565469546,2.48019665443e-05,1793246538020885248
+258,4.300000000,HOLD_POSE2,766,745,714,681,659,631.45916807,879.54083193,784.45916807,813,652,630.54083193,652.54083193,0.456633752753,-0.00553848348894,0.0498043856815,0.999999948735,8.57201861036e-05,-0.000307532552121,2.46033080872e-05,1793246538037552128
+259,4.316666667,HOLD_POSE2,766.116586153,745,714,680.883413847,659,631.116586153,880,784.116586153,813.116586153,652,630.883413847,653,0.456633753933,-0.0055379262933,0.0498048519474,0.999999948887,8.5526516152e-05,-0.000307102330759,2.44810211263e-05,1793246538054219264
+260,4.333333333,HOLD_POSE2,766.691363144,745,714,680.308636856,659,631.691363144,880,784.691363144,813.691363144,652,630.308636856,653,0.456635162653,-0.00553777753957,0.049805119166,0.99999994929,8.68932546574e-05,-0.000305382228923,2.47181297372e-05,1793246538070885888
+261,4.350000000,HOLD_POSE2,766.72658179,745,714,680.27341821,659,631.72658179,880,785,813.72658179,652,630.27341821,653,0.456634739488,-0.00553711731351,0.0498045245066,0.999999948997,8.77487534716e-05,-0.000306107503871,2.45750970255e-05,1793246538087552768
+262,4.366666667,HOLD_POSE2,766.136086534,745,714,680.863913466,659,631.136086534,880,785,813.136086534,652,630.863913466,653,0.456632191927,-0.0055358639443,0.0498029303465,0.999999947892,8.8011378851e-05,-0.000309668628242,2.39912228231e-05,1793246538104219392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,631,879,785,813,652,630,653,0.456637614275,-0.00553717543099,0.0498072963224,0.999999949797,8.68142608868e-05,-0.000303799673533,2.39742076316e-05,1793246538136894464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.423688378,659,631,879,785,813.576311622,652,630,653,0.456636628949,-0.00553636808537,0.0498061831705,0.999999949435,8.68918072778e-05,-0.000304969139501,2.39620543178e-05,1793246538153560576
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.155515423,680.155515423,659.155515423,631.155515423,879.155515423,785,814,652,630.155515423,653,0.456635622488,-0.00553590563245,0.0498051826526,0.99999994907,8.70548206541e-05,-0.000306115673262,2.3951190127e-05,1793246538170226944
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.742748163,680.742748163,659.742748163,631.742748163,879.742748163,785,814,652,630.742748163,653,0.456634557355,-0.0055364006159,0.0498044948113,0.999999948704,8.74550939746e-05,-0.000307198546518,2.39439045919e-05,1793246538186893824
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.674380959,745,714.674380959,681,659.674380959,632,879.674380959,785,814,652,631,653,0.456634662136,-0.005535911606,0.0498047576451,0.99999994882,8.74013964298e-05,-0.000306837473754,2.39004955785e-05,1793246538203560448
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.094910607,745,714.094910607,681,659.094910607,632,879.094910607,785,814,652,631,653,0.456635678979,-0.00553465547878,0.0498057616215,0.999999949313,8.69937849781e-05,-0.000305350706341,2.38289248452e-05,1793246538220227328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.483286079,745,714,680.516713921,659,631.516713921,879,784.516713921,813.516713921,651.516713921,631,652.516713921,0.456634981392,-0.00553613310227,0.0498057671283,0.999999949198,8.60941199474e-05,-0.000305953661033,2.41769512826e-05,1793246538236894208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.06093492,659,631.06093492,879,784.06093492,813,651.06093492,631,652.06093492,0.456633634287,-0.00553772648201,0.0498052842354,0.999999948879,8.53575053968e-05,-0.000307176399469,2.44824884086e-05,1793246538253561088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.636065978,659,631.636065978,879,784.636065978,813,651.636065978,631,652.636065978,0.456629639933,-0.00553577822105,0.0498023303139,0.999999947846,8.68100680649e-05,-0.000310175181028,2.37359560482e-05,1793246538270226944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.783965138,659,632,878.783965138,785,813,652,630.783965138,653,0.456618009273,-0.00553450424458,0.0497957847777,0.999999944779,8.80942579263e-05,-0.000319605421246,2.31201058217e-05,1793246538286893312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.195659789,659,632,878.195659789,785,813,652,630.195659789,653,0.45659321976,-0.0055343921929,0.0497830501846,0.999999937933,8.90883082068e-05,-0.000340118327188,2.27294466429e-05,1793246538303559936
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.38642829,659,631.61357171,878.38642829,784.61357171,813,652,630,653,0.45654969569,-0.0055325532073,0.0497636764701,0.999999925835,9.12999190037e-05,-0.000373519307705,2.18737410117e-05,1793246538320226560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.965418283,659,631.034581717,878.965418283,784.034581717,813,652,630,653,0.456496835971,-0.00552985367045,0.0497409944033,0.999999909929,9.41182543258e-05,-0.000413342566846,2.07862972716e-05,1793246538336893184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.459262386,745,714,680.459262386,659,631.540737614,879.540737614,784.540737614,813,652,630,653,0.456427272461,-0.00552766411704,0.0497173077484,0.999999896458,9.42524503585e-05,-0.000444796673193,1.88987028486e-05,1793246538353559552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.115533338,745,714,680,659,631.884466662,879.884466662,784.884466662,813,652,630.115533338,653,0.456354720721,-0.00552548716946,0.0496955099448,0.999999883512,9.40050852863e-05,-0.000473125345665,1.70498612589e-05,1793246538370226432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.689177591,745,714,680,659,631.310822409,879.310822409,784.310822409,813,652,630.689177591,653,0.456274527345,-0.00552323175352,0.0496814548072,0.999999874938,9.29208283016e-05,-0.000491169089838,1.55562192429e-05,1793246538386893312
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.554974529,659.445025471,632,879,784.445025471,813,651.554974529,631,653,0.455990479893,-0.00551254097971,0.0496760867218,0.99999987305,0.000101141419031,-0.000493429842108,1.40724733083e-05,1793246538436893184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.021470866,680,659.978529134,632,879.021470866,784.978529134,813,651.021470866,630.978529134,653,0.455881807227,-0.00550829510392,0.0496824523804,0.999999876896,0.000106112990393,-0.000484512577329,1.3988627517e-05,1793246538453559808
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,744.69908448,714,680.34954224,659,632,879,785,813.34954224,651.34954224,630.34954224,653,0.455232511442,-0.0054824055346,0.0496890307982,0.999999879756,0.000123496285274,-0.00047447252793,1.05863518917e-05,1793246538520226304
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.85778225,714,680.928891125,659,632,879,785,813.928891125,651.928891125,630.928891125,653,0.455016717782,-0.00547722732509,0.0496830507213,0.999999876955,0.000124846313233,-0.000480009671683,9.70452944235e-06,1793246538536892928
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.495462705,714,681,659.504537295,632,879.504537295,785,812.99092541,652,631,653,0.454779040113,-0.00546870850479,0.0496827948881,0.999999874317,0.000131378091623,-0.000483773753955,8.28966033867e-06,1793246538553560064
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.34593803,745,714,681,659.34593803,632,880,785,812.65406197,652,631,653,0.454279748209,-0.00545061860762,0.0497041884861,0.999999887933,0.000144828150601,-0.000450682432241,6.63690226669e-06,1793246538586893568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.235540835,745,714,681,659.235540835,632,879.764459165,784.764459165,813,652,631,652.764459165,0.454007636856,-0.00544132125897,0.0497238497367,0.999999900723,0.000151202395456,-0.00041911088578,6.16269958614e-06,1793246538603559936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.827604935,745,714,681,659.827604935,632,879.172395065,784.172395065,813,652,631,652.172395065,0.45371172185,-0.00543170914219,0.0497454528771,0.999999912374,0.000157654691094,-0.000387772718567,5.46213458303e-06,1793246538620226560
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.982099553,680.017900447,660,632.982099553,879,784,812.017900447,651.017900447,631,652.982099553,0.453001359073,-0.00541808676835,0.0497711146459,0.999999922426,0.000164178713469,-0.000358026897243,3.14325888661e-06,1793246538653560832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,714.441271367,680,660,632.441271367,879,784.558728633,812,651.558728633,631,653,0.452594997246,-0.00541499412044,0.0497726380427,0.999999921124,0.000161831350091,-0.000362710387885,1.75412389512e-06,1793246538670226944
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.013222238,659.013222238,633,879,785,811,652,631,653,0.441364814998,-0.00539611851704,0.0497794592573,0.999999942681,2.6847514501e-05,-0.000333757441159,-5.02313114873e-05,1793246538970226432
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.927408975,745,714,680.927408975,660,633.072591025,879,785,810,652,631,652.072591025,0.435237247617,-0.00538833605215,0.0497979640715,0.999999945842,-3.08568055147e-05,-0.000320571655915,-6.78088113269e-05,1793246539086893056
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.999700127,714,679.000299873,658,634,877.000299873,785,809,652,629.999700127,652,0.413770547268,-0.00537423749667,0.0497924257869,0.999999939491,7.97089227062e-05,-0.000334963409907,-4.96406375781e-05,1793246539486893056
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.659322572,745,714,679,658,634,877,785.340677428,807.340677428,652,629,652,0.401773339502,-0.00538352249399,0.0498131914919,0.999999930908,0.00014816746926,-0.00033854439235,-4.0217907147e-05,1793246539936893184
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.985185287,745,714,678.985185287,658,634,876.014814713,785.985185287,808,652,629.985185287,652.985185287,0.400988595948,-0.00540246152343,0.0498463109173,0.999999955432,0.000133623512016,-0.000264374247703,-3.72333191872e-05,1793246540320227840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.410218774,745,714,678.410218774,658,634,876.589781226,785.410218774,808,652,629.410218774,652.410218774,0.400988472157,-0.0054024910651,0.0498462760798,0.999999955616,0.000133517441692,-0.000263727677548,-3.72799693777e-05,1793246540336893952
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.163211973,658,634,877,785.163211973,808,652.163211973,629,652,0.400988083268,-0.00540261742364,0.0498462205721,0.99999995572,0.000133029077367,-0.000263569736771,-3.73268350179e-05,1793246540353560320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.732818659,658,634,877,785.732818659,808,652.732818659,629,652,0.400987034294,-0.00540298485435,0.0498461135959,0.99999995563,0.000131588808254,-0.000264628473897,-3.73742371209e-05,1793246540370226944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.318130413,745,714,678.681869587,658,634,877,786,807.681869587,652.681869587,629,652,0.400987510507,-0.00540261039862,0.0498468186081,0.999999955805,0.000132339137405,-0.000263573128279,-3.74791719465e-05,1793246540386893568
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.50470067,745,714,678.49529933,658,634,877,786,807.49529933,652,629.49529933,652,0.400988543537,-0.00540246468658,0.0498477867434,0.999999956236,0.000133246367277,-0.000261454009118,-3.76217198596e-05,1793246540420227584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,786,808,652.070080991,629.929919009,652,0.400987464838,-0.00540362385713,0.0498471714356,0.999999956213,0.000131124469071,-0.000262623434085,-3.75353679598e-05,1793246540436894720
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,786,808,652.646261277,629.353738723,652,0.400987328074,-0.00540455620942,0.0498475624058,0.999999956287,0.000131682712025,-0.000262123655728,-3.71161948571e-05,1793246540453561088
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.771635598,658,634,877.228364402,786,808,653,629.228364402,652,0.400987065618,-0.00540425011739,0.0498476086137,0.999999956189,0.000132341749599,-0.000262166506386,-3.71090870892e-05,1793246540470227712
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.180113559,658,634,877.819886441,786,808,653,629.819886441,652,0.400986603279,-0.00540197458319,0.0498471065616,0.999999955818,0.000133161076412,-0.000263072275483,-3.77572682257e-05,1793246540486894080
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,678,658,634,877.597911247,786,808,653,629.597911247,652,0.400986319144,-0.00540217872905,0.0498468922941,0.999999955865,0.000132364175269,-0.000263281576538,-3.78362698257e-05,1793246540503560448
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,678,658,634,877.019789121,786,808,653,629.019789121,652,0.400986113025,-0.00540346847231,0.0498468040178,0.999999956095,0.000130859693834,-0.000263185965704,-3.76660861193e-05,1793246540520226816
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,678,658,634,877,786,808,652.445396423,629,652,0.400986921481,-0.00540270894174,0.0498474693273,0.999999956473,0.000131370469408,-0.000261469467501,-3.78106910189e-05,1793246540536893440
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f3c5b7da2ad81fc0116417315910b73a8586ada
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+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,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+2,0.033333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+3,0.050000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+6,0.100000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+12,0.200000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+15,0.250000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+16,0.266666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+17,0.283333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+18,0.300000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+19,0.316666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+21,0.350000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+388,6.466666667,pose2_to_pose3_retreat,0.583248420715,-7.21575019217e-05,1.04004239852,0.553820212326,0.00860230120948,1.03966578078
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+390,6.500000000,pose2_to_pose3_retreat,0.583246783423,-7.21408112489e-05,1.04004237976,0.553818574592,0.0086023164986,1.03966576431
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+396,6.600000000,pose2_to_pose3_retreat,0.583246103186,-7.20296379366e-05,1.04004235679,0.553817893931,0.00860242648996,1.03966574724
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73a1c53f8da508faefe46a00ba97d8efd8c39449
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1463920cf1a2dcf0d377644d7f8af6312bb8f7c1017d77e2460523bbc4f556ec
+size 25724234
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f02366b30f34ce4823a5debda1a880a77e6d3246
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+45,0.750000000,BASELINE,765,745,714.130175408,679,658.130175408,634,877.130175408,784.869824592,808,652,629,652,0.401014881409,-0.00549070692455,0.0698460494262,0.999999984705,5.66319125229e-05,-0.000164786555559,1.51235775161e-05,1793246542850898432
+46,0.766666667,BASELINE,765,745,714.709587072,679,658.709587072,634,877.709587072,784.290412928,808,652,629,652,0.401015047869,-0.00548978023546,0.0698468131399,0.999999984704,5.68707651464e-05,-0.000164726834696,1.49147538192e-05,1793246542867565056
+47,0.783333333,BASELINE,765.287503065,744.712496935,714.712496935,679,658.712496935,634,877.712496935,784.287503065,808,652,629,652,0.401015440003,-0.0054887684084,0.0698473206137,0.99999998479,5.75581569916e-05,-0.000163983011252,1.46926108036e-05,1793246542884231936
+48,0.800000000,BASELINE,765.863916139,744.136083861,714.136083861,679,658.136083861,634,877.136083861,784.863916139,808,652,629,652,0.401016058914,-0.00548767102664,0.0698475705937,0.999999984961,5.86962830879e-05,-0.000162551737454,1.4457083264e-05,1793246542900899072
+49,0.816666667,BASELINE,765.560960509,744.439039491,714.439039491,679,658.439039491,634,877,785,808,652,629.439039491,652,0.401015909871,-0.00548862064249,0.0698477290655,0.999999984811,5.99896329269e-05,-0.000162963718961,1.48922663494e-05,1793246542917565952
+50,0.833333333,BASELINE,765.014128573,744.985871427,714.985871427,679,658.985871427,634,877,785,808,652,629.985871427,652,0.401015486664,-0.00549017086382,0.0698478233831,0.999999984559,6.12655145737e-05,-0.000163975465867,1.55146449044e-05,1793246542934232576
+51,0.850000000,BASELINE,765.604066865,744.395933135,714.395933135,679,658.395933135,634,877,785,808,652,629.395933135,652,0.401013562576,-0.005490416128,0.0698464556779,0.999999984277,5.98743883796e-05,-0.000166214219389,1.5318346015e-05,1793246542950899200
+52,0.866666667,BASELINE,765.809522272,744.190477728,714,679,658.190477728,634,877,785,808,652,629,652,0.401012463964,-0.0054903089611,0.0698455832106,0.999999984086,5.92540676939e-05,-0.000167594936823,1.51585064827e-05,1793246542967565824
+53,0.883333333,BASELINE,765.230310353,744.769689647,714,679,658.769689647,634,877,785,808,652,629,652,0.401013050013,-0.00548948253947,0.0698457214439,0.999999984092,6.0206836288e-05,-0.000167224541437,1.50730746047e-05,1793246542984232192
+54,0.900000000,BASELINE,765,745,714.346367013,679,658.653632987,634,877.346367013,785,808,652,629,652.346367013,0.401014126976,-0.0054895388546,0.0698462816765,0.999999984329,5.92235837498e-05,-0.000166163482099,1.49708589461e-05,1793246543000898816
+55,0.916666667,BASELINE,765,745,714.921371294,679,658.078628706,634,877.921371294,785,808,652,629,652.921371294,0.40101552799,-0.00549017786534,0.0698471204713,0.999999984713,5.69623613668e-05,-0.000164646514697,1.48575642976e-05,1793246543017565440
+56,0.933333333,BASELINE,765,745,714.492653761,679,658.507346239,634,877.492653761,785,808,652,629,652.492653761,0.401015428125,-0.00549057348321,0.0698472389955,0.99999998468,5.78517976492e-05,-0.000164534128135,1.49206536714e-05,1793246543034232064
+57,0.950000000,BASELINE,765.094097941,745,714.094097941,679,658.905902059,634,877.094097941,785,808,652,629,652,0.401015138144,-0.00549070679696,0.069847236423,0.999999984581,5.91952236491e-05,-0.000164646281118,1.50014283888e-05,1793246543050898688
+58,0.966666667,BASELINE,765.675868638,745,714.675868638,679,658.324131362,634,877.675868638,785,808,652,629,652,0.401015095022,-0.00548968050558,0.0698471975629,0.999999984494,6.03049524901e-05,-0.000164769037553,1.50290560191e-05,1793246543067565824
+59,0.983333333,BASELINE,765.745120425,745,714.745120425,679.254879575,658.254879575,634,877.745120425,784.745120425,808,652,629,652.254879575,0.40101539109,-0.00548958592381,0.0698473936419,0.999999984606,5.92608525204e-05,-0.00016447277767,1.50193266626e-05,1793246543084232448
+60,1.000000000,BASELINE,765.169581415,745,714.169581415,679.830418585,658.830418585,634,877.169581415,784.169581415,808,652,629,652.830418585,0.401016113885,-0.00549066350909,0.0698478852936,0.999999984957,5.55070591929e-05,-0.000163649360866,1.49625991529e-05,1793246543100899072
+61,1.016666667,BASELINE,765,745,714,680,658.594498214,634,877,784.405501786,808,652,629,653,0.40101589309,-0.00549140456921,0.0698477111047,0.999999984925,5.59060633407e-05,-0.000163685141775,1.52222740642e-05,1793246543117565696
+62,1.033333333,BASELINE,765,745,714,680,658.019605454,634,877,784.980394546,808,652,629,653,0.401015278129,-0.00549200505201,0.0698472587731,0.999999984733,5.80398231078e-05,-0.000164079836904,1.56141203187e-05,1793246543134232320
+63,1.050000000,BASELINE,765,745,714,679.428468425,658,634,877,784.428468425,808,652,629,652.428468425,0.401014902055,-0.00549154703095,0.0698473843505,0.999999984682,5.68103841822e-05,-0.000164841282821,1.53346431848e-05,1793246543150898688
+64,1.066666667,BASELINE,765,745,714.159462872,679,658,634,877,784.159462872,808,652,629,652,0.401014704387,-0.00549084675488,0.0698474386535,0.999999984649,5.608930248e-05,-0.000165315821217,1.5048685232e-05,1793246543167565312
+65,1.083333333,BASELINE,765,745,714.737474544,679,658,634,877,784.737474544,808,652,629,652,0.401014952848,-0.0054896087151,0.0698472523242,0.999999984652,5.70141993846e-05,-0.000165003314223,1.48079292925e-05,1793246543184232448
+66,1.100000000,BASELINE,765.313422797,745,714.686577203,679,658.313422797,634,877.313422797,785,808,652,629,652,0.401015532793,-0.00548937694374,0.0698475405215,0.999999984705,5.81957184965e-05,-0.000164275693142,1.47039940712e-05,1793246543200899072
+67,1.116666667,BASELINE,765.887653989,745,714.112346011,679,658.887653989,634,877.887653989,785,808,652,629,652,0.401016388574,-0.00548998251818,0.0698482235865,0.999999984799,5.95907805033e-05,-0.000163202643346,1.47139114351e-05,1793246543217565696
+68,1.133333333,BASELINE,765.526288147,745,714,678.526288147,658.526288147,634,877.526288147,785,808,651.526288147,629,652,0.401015870647,-0.00548960050632,0.0698478021644,0.9999999847,5.95192626759e-05,-0.000163828592985,1.47254677938e-05,1793246543234232576
+69,1.150000000,BASELINE,765.061595889,745,714,678.123191778,658,634,877,785,808.061595889,651.061595889,629,652,0.401015195718,-0.0054889882971,0.069847228351,0.999999984572,5.93258789959e-05,-0.000164678611755,1.47308391114e-05,1793246543250899200
+70,1.166666667,BASELINE,765.640654619,745,714,679.281309239,658,634,877,785,808.640654619,651.640654619,629,652,0.401016008848,-0.00548846023897,0.069847631205,0.999999984587,6.11055021271e-05,-0.000163939302406,1.46809012109e-05,1793246543267565568
+71,1.183333333,BASELINE,765.781208279,745,714,679.781208279,658.218791721,634,877,784.781208279,808.781208279,652,629,652,0.401016531591,-0.00548833598227,0.0698480047941,0.999999984657,6.14827777774e-05,-0.000163368169053,1.47024615328e-05,1793246543284231936
+72,1.200000000,BASELINE,765.204578429,745,714,679.204578429,658.795421571,634,877,784.204578429,808.204578429,652,629,652,0.401016579403,-0.00548887215061,0.0698483305202,0.99999998482,5.95664870331e-05,-0.000163072090709,1.48409585853e-05,1793246543300898560
+73,1.216666667,BASELINE,765,745,714,679,658.629166495,634,877,784,808,652,629,652,0.40101627267,-0.00548929895398,0.069848082104,0.999999984803,5.91325433081e-05,-0.00016332786763,1.48942949571e-05,1793246543317565184
+74,1.233333333,BASELINE,765,745,714,679,658.054424285,634,877,784,808,652,629,652,0.401015770985,-0.00548966562125,0.0698475179866,0.999999984689,5.9513691798e-05,-0.000163887090968,1.49008043652e-05,1793246543334232064
+75,1.250000000,BASELINE,765,744.466322956,714,679,658,634,877,784,808,652,629,652,0.401014973743,-0.00549057002037,0.0698466005643,0.999999984647,5.68581110204e-05,-0.000165093920869,1.4751632435e-05,1793246543350899200
+76,1.266666667,BASELINE,765,744,714,679,658,634,877,784.121088952,808,652,629,652,0.401014371079,-0.00549093679497,0.0698461152094,0.999999984624,5.50468570816e-05,-0.000165856014537,1.46032641177e-05,1793246543367566080
+77,1.283333333,BASELINE,765,744,714,679,658,634,877,784.700600709,808,652,629,652,0.401014622096,-0.00548905527464,0.0698474054962,0.999999984674,5.76346037958e-05,-0.00016467796355,1.45195866074e-05,1793246543384232704
+78,1.300000000,BASELINE,765.278053694,744.278053694,714,679,658,634,876.721946306,785,808,652,629,652,0.401014765875,-0.00548904026107,0.0698478568817,0.999999984706,5.7873789986e-05,-0.000164401634134,1.45480419127e-05,1793246543400899328
+79,1.316666667,BASELINE,765.853306114,744.853306114,714,679,658,634,876.146693886,785,808,652,629,652,0.401014795031,-0.0054910202703,0.0698474116042,0.999999984719,5.56027083428e-05,-0.000165089113253,1.46963508013e-05,1793246543417565952
+80,1.333333333,BASELINE,765.565254513,745,714,679.434745487,658,634,876.434745487,785,808,651.565254513,628.565254513,652.434745487,0.401015080244,-0.00549127107054,0.0698471099436,0.999999984626,5.67351573137e-05,-0.000165219058009,1.52017922091e-05,1793246543434232320
+81,1.350000000,BASELINE,765.018254062,745,714,679.981745938,658,634,877,785,808,651.018254062,628.018254062,652.981745938,0.401015420413,-0.00549090413653,0.0698468469112,0.999999984493,5.89730375491e-05,-0.000165188888418,1.57891655123e-05,1793246543450898944
+82,1.366666667,BASELINE,765.600261254,745,714,679.399738746,658,634,877,785,808,651.600261254,628.600261254,652.399738746,0.401014750954,-0.00548973938826,0.069846258636,0.999999984327,5.93707445985e-05,-0.000166107696653,1.51315176962e-05,1793246543467565568
+83,1.383333333,BASELINE,766,745,714.181007193,679,658.181007193,634,877,785,808,652,629,652,0.401014386297,-0.00548879420968,0.0698462596325,0.999999984293,5.96724778101e-05,-0.000166247195358,1.46751091484e-05,1793246543484232448
+84,1.400000000,BASELINE,766,745,714.758987149,679,658.758987149,634,877,785,808,652,629,652,0.40101469011,-0.00548833057631,0.06984755298,0.999999984547,5.97637277527e-05,-0.000164677565159,1.46600448607e-05,1793246543500899584
+85,1.416666667,BASELINE,765.665624393,745,714.665624393,679,658.665624393,634,876.665624393,784.665624393,808,652,629,652,0.401014792418,-0.00548887574275,0.0698476143674,0.999999984601,5.93468731606e-05,-0.000164485967518,1.48591462329e-05,1793246543517566464
+86,1.433333333,BASELINE,765.092089516,745,714.092089516,679,658.092089516,634,876.092089516,784.092089516,808,652,629,652,0.401014750603,-0.00549014244459,0.0698467946058,0.999999984511,5.85666011753e-05,-0.000165279995878,1.52114277476e-05,1793246543534232832
+87,1.450000000,BASELINE,765,745,714,679,658,634,876,784.495694003,808,652,629,652,0.401015446176,-0.00549013582983,0.0698478201051,0.999999984715,5.86872348878e-05,-0.000163997097703,1.51667473359e-05,1793246543550899200
+88,1.466666667,BASELINE,765.084539063,745,714,679,658.084539063,634,876.084539063,785,808,651.915460937,629,652,0.401016119613,-0.00548991015387,0.0698489180804,0.999999984926,5.88653430906e-05,-0.000162656075419,1.50396811275e-05,1793246543567565824
+89,1.483333333,BASELINE,765.663649951,745,714,679,658.663649951,634,876.663649951,785,808,651.336350049,629,652,0.401015838397,-0.00548982778026,0.0698483751853,0.999999984852,5.83715643244e-05,-0.000163299122286,1.48748457198e-05,1793246543584232448
+90,1.500000000,BASELINE,765.758261828,745,714,679.241738172,658.758261828,634,877,785,808.241738172,651.241738172,629,652,0.401015106239,-0.00548936939486,0.0698477688665,0.999999984698,5.86238595595e-05,-0.000164162469107,1.47434943193e-05,1793246543600898816
+91,1.516666667,BASELINE,765.181590578,745,714,679.818409422,658.181590578,634,877,785,808.818409422,651.818409422,629,652,0.401013749294,-0.0054883900376,0.0698470746733,0.999999984431,5.99098552988e-05,-0.000165331045872,1.46585356946e-05,1793246543617565440
+92,1.533333333,BASELINE,765,745,714,680,658.392930008,634,877,784.607069992,808.607069992,652,629,652,0.401014231648,-0.00548909298799,0.0698473905494,0.999999984516,5.97886713835e-05,-0.000164848753022,1.48027326137e-05,1793246543634232320
+93,1.550000000,BASELINE,765,745,714,680,658.966462136,634,877,784.033537864,808.033537864,652,629,652,0.401015559399,-0.00549056917609,0.0698481706829,0.999999984761,5.90207066658e-05,-0.000163607672328,1.50522561137e-05,1793246543650899456
+94,1.566666667,BASELINE,765.556429876,745,714,679.443570124,658.443570124,634,877,784.556429876,808,652,629,652,0.401014182171,-0.00548963443918,0.0698475767124,0.999999984402,5.93601518584e-05,-0.0001656957796,1.47528003178e-05,1793246543667566080
+95,1.583333333,BASELINE,765.855562183,744.855562183,714,679,658,633.855562183,877,785,808,652,629,652,0.401013482584,-0.00548895556783,0.0698472454134,0.999999984204,5.9606249191e-05,-0.000166819157366,1.45269731522e-05,1793246543684232960
+96,1.600000000,BASELINE,765.276522423,744.276522423,714,679,658,633.276522423,877,785,808,652,629,652,0.401015327464,-0.00548949712302,0.0698479612612,0.999999984614,5.93645203235e-05,-0.000164417590772,1.46252804932e-05,1793246543700899328
+97,1.616666667,BASELINE,765.300825974,744.300825974,714,679,658,633.300825974,877,784.699174026,808,652,629,652,0.401015505908,-0.00548956184352,0.0698477983458,0.999999984619,5.94333239863e-05,-0.000164355278689,1.47127348732e-05,1793246543717565696
+98,1.633333333,BASELINE,765.87662831,744.87662831,714,679,658,633.87662831,877,784.12337169,808,652,629,652,0.40101416111,-0.00548919070311,0.0698468321782,0.999999984254,5.9785976511e-05,-0.000166431211964,1.47902688681e-05,1793246543734232064
+99,1.650000000,BASELINE,765.538942327,745,714,679,658,634,877,784.461057673,808,652,629,652,0.401013997816,-0.00548908598654,0.069846318904,0.999999984295,5.92490441289e-05,-0.000166396976218,1.45662216895e-05,1793246543750898688
+100,1.666666667,BASELINE,765.047477338,745,714,679,658,634,876.952522662,784.952522662,808,652,629,652,0.4010142256,-0.00548901983331,0.0698460386558,0.999999984439,5.87182234437e-05,-0.000165738524766,1.42950811197e-05,1793246543767565312
+101,1.683333333,BASELINE,765.629816981,745,714,679,658,634,876.370183019,784.370183019,808,652,629,652,0.401015229561,-0.00548856967058,0.0698469923105,0.999999984501,6.09890465504e-05,-0.000164530295817,1.44198565356e-05,1793246543784232192
+102,1.700000000,BASELINE,765.79062156,745,714,679,658.20937844,634,876.20937844,784.20937844,808.20937844,652,629,652,0.401015816739,-0.00548831877161,0.0698477106774,0.999999984555,6.20566056054e-05,-0.000163784558628,1.46116215189e-05,1793246543800899328
+103,1.716666667,BASELINE,765.215907696,745,714,679,658.784092304,634,876.784092304,784.784092304,808.784092304,652,629,652,0.401015676691,-0.00548841555943,0.069848018501,0.999999984604,6.10246407991e-05,-0.000163845803519,1.49202737002e-05,1793246543817565952
+104,1.733333333,BASELINE,765.359291575,745,714.359291575,679,658.640708425,634,877.359291575,785,808.640708425,652,629,652,0.401016176271,-0.0054880825692,0.0698484263819,0.999999984734,6.09362908234e-05,-0.000163092791463,1.47880862286e-05,1793246543834232576
+105,1.750000000,BASELINE,765.934782989,745,714.934782989,679,658.065217011,634,877.934782989,785,808.065217011,652,629,652,0.401017060739,-0.00548749096468,0.0698488944715,0.999999984913,6.14157508184e-05,-0.000161849809057,1.43906282694e-05,1793246543850899200
+106,1.766666667,BASELINE,766,745,714.475696183,679,658.524303817,634,877.475696183,785,808,652,629,652,0.401015749049,-0.00548845032067,0.0698481840891,0.999999984701,6.09332407528e-05,-0.000163303194859,1.47086476e-05,1793246543867565824
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,652,629,653,0.401014977963,-0.00548812115835,0.0698480246596,0.999999984363,6.0794141672e-05,-0.000165386633368,1.49935191764e-05,1793246543909871616
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.575224367,745,714,679.575224367,658.575224367,634,877,785,808,652,629,652.424775633,0.401015691512,-0.00548998571298,0.0698486418231,0.999999984836,5.7103442064e-05,-0.000163827862613,1.50720955087e-05,1793246543926538240
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,877,785,808.150343536,652,629,652,0.401015983783,-0.00549136097743,0.0698487401742,0.999999985099,5.44477914569e-05,-0.000163123288269,1.51028130392e-05,1793246543943205376
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,877,785,808.725165824,652,629,652,0.401015086624,-0.00549135478428,0.0698473737147,0.999999984806,5.47144891703e-05,-0.000164830444964,1.49984064263e-05,1793246543959875328
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.690122153,745,714,679.690122153,659,634,877,785,808.690122153,652,629,652.309877847,0.4010142439,-0.00549081406009,0.0698466093355,0.999999984582,5.55384404446e-05,-0.00016593407238,1.47554931976e-05,1793246543976541952
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.096349681,745,714,679.096349681,659,634,877,785,808.096349681,652,629,652.903650319,0.401013451047,-0.00548978362521,0.0698463965522,0.999999984421,5.68729196145e-05,-0.000166484776277,1.4385687124e-05,1793246543993206016
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.482478697,659,634,877,785,808,652,629,652.517521303,0.401013626585,-0.0054905075215,0.069846601795,0.999999984388,5.64269864679e-05,-0.000166807490991,1.46837324244e-05,1793246544009871616
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.058275944,745,714,679.941724056,659,634,877,785,808,652,629,652,0.401014132879,-0.00549139108295,0.0698469812064,0.999999984337,5.59007294655e-05,-0.000167251738402,1.50746993706e-05,1793246544026537984
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.632863919,745,714,679.367136081,659,634,877,785,808,652,629,652,0.401015907731,-0.00549067860064,0.0698481863299,0.999999983911,5.77182210723e-05,-0.000169163995439,1.51428188744e-05,1793246544043204864
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714.21250912,679,659,634.21250912,877,785,808,651.78749088,629,652,0.401021381018,-0.00549050627966,0.0698511905701,0.999999983749,5.86298031378e-05,-0.000169795547921,1.52740431677e-05,1793246544059871488
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714.801104237,679,659,634.801104237,877,785,808,651.198895763,629,652,0.401033399574,-0.00549128990413,0.06985737878,0.999999984062,5.79381601989e-05,-0.000168160585467,1.55169465556e-05,1793246544076538112
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.615326994,745,715,679,659,634.615326994,877,785,808,651.769346012,629,652,0.40106162969,-0.00549228421771,0.0698694127325,0.999999985612,5.77450953375e-05,-0.000158673417744,1.6256797714e-05,1793246544093204992
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034323534,745,715,679,659,634.034323534,877,785,808,652.931352932,629,652,0.401098133905,-0.00549338606343,0.0698844302515,0.999999987642,5.7806496039e-05,-0.000145178619984,1.72502824458e-05,1793246544109871616
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.534940258,745,715,679,658.465059742,634,877.534940258,784.465059742,808,652.465059742,629,652,0.401156239992,-0.00549536780129,0.0698996357325,0.999999990673,5.51627206165e-05,-0.000123705074055,1.75690601857e-05,1793246544126537984
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,877.894822956,784.105177044,808,652,629,652,0.401218719139,-0.00549721328989,0.069913779277,0.999999993063,5.29932774107e-05,-0.000103698781795,1.76856120232e-05,1793246544143204352
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,877.316899598,784.683100402,808,652,629,652,0.401294758016,-0.00549819805978,0.069923096626,0.999999994129,5.37192628131e-05,-9.25390956326e-05,1.7083611941e-05,1793246544159870976
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.269239341,658.269239341,634,877,785,808,652,629,652,0.401377516548,-0.00549941667738,0.0699288375583,0.999999994833,5.35489979411e-05,-8.49281664848e-05,1.5930731018e-05,1793246544176537600
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.865352485,658.865352485,634,877,785,808,652,629,652,0.401468433165,-0.00550091920101,0.0699302364912,0.999999995202,5.22906277978e-05,-8.16256563138e-05,1.41090455109e-05,1793246544193204224
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.554635394,679.554635394,659,634,877.890729211,785,808,652,629,652,0.401567282602,-0.00550230759315,0.0699249091672,0.999999994296,5.13590033303e-05,-9.29303729402e-05,1.16146261409e-05,1793246544209870848
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,878.958632358,785,808,652,629,652.020683821,0.401669855752,-0.00550360838455,0.0699179199072,0.99999999285,5.05410930762e-05,-0.000108012717689,8.8885029545e-06,1793246544226537472
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,634,877.807720455,785,808,652,629,652.596139772,0.401810222059,-0.00550345278789,0.0699189949918,0.999999992665,5.02160448284e-05,-0.000110099961839,5.21257497539e-06,1793246544243204352
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.823834417,745,714.176165583,679,659,634,877,785,808,652,629,652.823834417,0.401961600164,-0.00550460083366,0.0699208133497,0.999999992688,4.8966752449e-05,-0.000110557470809,1.79961615853e-06,1793246544259870976
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.233053269,745,714.766946731,679,659,634,877,785,808,652,629,652.233053269,0.402138895133,-0.00550881707494,0.0699243810425,0.999999993219,4.55421997823e-05,-0.000107179306451,-9.94429485894e-07,1793246544276537600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.649340378,634,877,785,808,652,629,652.350659622,0.402334915082,-0.00551185972912,0.0699270872494,0.999999993733,3.94013862304e-05,-0.000104674440053,-4.95420919331e-06,1793246544293203968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.070232272,634,877,785,808,652,629,652.929767728,0.402543134039,-0.00551413781268,0.0699292322141,0.99999999418,3.14909768624e-05,-0.000102738511343,-9.67344410793e-06,1793246544309870592
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.506884218,745,714.493115782,679,658,634,877,785,808,652,629,652.493115782,0.402785408931,-0.00551463939794,0.0699325602813,0.999999994701,2.81434743583e-05,-9.79387136074e-05,-1.46356792173e-05,1793246544326537472
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.916665228,745,714,679,658.083334772,634,877.083334772,785,808,652,629,652,0.403038499935,-0.00551496825928,0.0699362961926,0.999999995258,2.44804859455e-05,-9.21880856428e-05,-1.96692412101e-05,1793246544343204352
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.342517673,745,714,679,658.657482327,634,877.657482327,785,808,652,629,652,0.403327611544,-0.00551572387728,0.0699414724715,0.999999996115,1.52504004215e-05,-8.31653145303e-05,-2.49253712017e-05,1793246544359870976
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.238231356,745,714.238231356,679.238231356,659,634,877.761768644,785,808,652,629,652,0.403634343754,-0.00551858561387,0.0699474340421,0.999999996842,-5.6682272491e-06,-7.3706641376e-05,-2.91648831547e-05,1793246544376537600
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.828742135,745,714.828742135,679.828742135,659,634,877.171257865,785,808,652,629,652,0.403967132026,-0.00552456172737,0.0699545568453,0.999999996506,-4.38710312367e-05,-6.36033880564e-05,-3.19010930065e-05,1793246544393204224
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.589087378,745.410912622,714.589087378,679.589087378,659,634,877,785,808,652,629,652.410912622,0.404323535285,-0.00552762661305,0.0699583962971,0.999999996954,-4.07269650851e-05,-5.87638339876e-05,-3.13068263182e-05,1793246544409870848
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.010323777,745.989676223,714.010323777,679.010323777,659,634,877,785,808,652,629,652.989676223,0.404689584864,-0.00552950231039,0.0699608945541,0.999999997783,-2.06933885168e-05,-5.60744138602e-05,-2.93521152334e-05,1793246544426537728
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.435230221,714,679.564769779,659,634,877,784.435230221,808.564769779,652,629,652.435230221,0.405093925851,-0.00553337214175,0.069964098874,0.999999997856,-2.76135215379e-05,-5.02999910724e-05,-3.15392181856e-05,1793246544443204352
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.142880119,745,714,679.857119881,659,634,877,784.142880119,808.857119881,651.857119881,629,652,0.405509930168,-0.00553609430964,0.0699671331294,0.999999997876,-3.45226793798e-05,-4.41893962103e-05,-3.32173062659e-05,1793246544459870976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.73059004,745,714,679.26940996,659,634,877,784.73059004,808.26940996,651.26940996,629,652,0.405960080849,-0.00553513069342,0.0699695979987,0.999999997966,-3.98736324919e-05,-3.72066295262e-05,-3.30764847553e-05,1793246544476537344
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714.313814501,679,659,634,877.313814501,785,808.313814501,651,629,652,0.406418031393,-0.00553049421738,0.0699614831688,0.999999997534,-3.36887154319e-05,-5.15606929479e-05,-3.3753911333e-05,1793246544493203968
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714.893242522,679,659,634,877.893242522,785,808.893242522,651,629,652,0.406882583814,-0.00552274902183,0.0699444136506,0.9999999957,-1.77398044013e-05,-8.39743114678e-05,-3.51239054574e-05,1793246544509870592
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.528840089,714.528840089,679.471159911,659,634,878,784.528840089,809,651,629,652.471159911,0.407406677692,-0.00552277549144,0.0699345983646,0.999999994641,-2.38608000798e-05,-9.39935926232e-05,-3.62586493739e-05,1793246544526537472
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.048489257,714.048489257,679.951510743,659,634,878,784,809,651.048489257,629,652.951510743,0.407949833187,-0.00552513212655,0.0699286157906,0.999999994138,-3.44635474825e-05,-9.56170491474e-05,-3.73183196234e-05,1793246544543204096
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.623140384,714.623140384,679.376859616,659,634,878,784,809,651.623140384,629,652.376859616,0.408553902475,-0.00553372657766,0.069946443453,0.999999996626,-3.96086050711e-05,-6.10213274086e-05,-3.81399174166e-05,1793246544559870720
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.20280594,659,634,877.79719406,784.20280594,809,652,629,652,0.409166614478,-0.00554056441308,0.0699591448637,0.999999997589,-4.56689682448e-05,-3.49882840225e-05,-3.88950701223e-05,1793246544576537344
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.792025637,659,634,877.207974363,784.792025637,809,652,629,652,0.409795793734,-0.00554405530227,0.0699620790338,0.99999999747,-5.34732972171e-05,-2.52700347893e-05,-3.95236225334e-05,1793246544593203968
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.37492416,634,877.37492416,784.62507584,809,651.62507584,629.37492416,652,0.410433056386,-0.00554595001407,0.0699586170291,0.999999997088,-5.69229411449e-05,-3.05374370561e-05,-4.06302309708e-05,1793246544609870592
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.95437438,634,877.95437438,784.04562562,809,651.04562562,629.95437438,652,0.411074728616,-0.00554697398998,0.0699516658266,0.999999996469,-5.79970468502e-05,-4.3979709612e-05,-4.19976252333e-05,1793246544626537216
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.470837938,680,659.470837938,634,878,784.529162062,809,651.529162062,629.470837938,652.529162062,0.411784346502,-0.00554493545073,0.0699647642866,0.999999997361,-5.52675355734e-05,-2.18104201849e-05,-4.17955471367e-05,1793246544643204608
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679.896368036,659,634,878.103631964,785,809.103631964,652,629,653,0.412508422826,-0.00554266333294,0.069982707411,0.999999997765,-5.19906983554e-05,7.72192241417e-06,-4.13150809341e-05,1793246544659872000
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,679.321531256,659,634,878.678468744,785,809.678468744,652,629,653,0.413271834999,-0.00554051931356,0.0700148870478,0.999999996437,-4.77033875603e-05,5.68939712388e-05,-4.0178740081e-05,1793246544676538624
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714.260773867,679.260773867,659,634,878.739226133,785,809.739226133,652,629,653,0.414033299229,-0.00554005162955,0.0700290147863,0.99999999511,-4.82674413519e-05,7.64135854762e-05,-4.01508958828e-05,1793246544693205504
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714.852558951,679.852558951,659,634,878.147441049,785,809.147441049,652,629,653,0.414792290959,-0.0055417117881,0.0700202284969,0.999999995927,-5.49895353698e-05,5.8294126642e-05,-4.153011295e-05,1793246544709872128
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680.434759796,659,634,878,785,809,652,629,653,0.41552973365,-0.00554014642386,0.0699722954242,0.999999997068,-5.73660143304e-05,-2.36992170559e-05,-4.48463832173e-05,1793246544726538496
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714.986330128,680.986330128,659.013669872,634,878,784.986330128,809,652,629,653,0.416262970017,-0.00553762906396,0.0699131196574,0.999999989427,-5.84512330152e-05,-0.000123911370312,-4.87335981244e-05,1793246544743204864
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714.411953206,680.411953206,659.588046794,634,878,784.411953206,809,652,629,653,0.417116965324,-0.00553996363066,0.0699255970677,0.999999991398,-6.57174403289e-05,-0.000102069311491,-4.9675636975e-05,1793246544759871232
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679.833746565,659.833746565,634,878,784,809,652,629,653,0.417971060569,-0.00554202941688,0.0699434463891,0.999999993647,-7.04775282366e-05,-7.24766088603e-05,-4.9861753311e-05,1793246544776537600
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679.245826689,659.245826689,634,878,784,809,652,629,653,0.418825409238,-0.00554341349853,0.0699749204187,0.9999999962,-6.88813774011e-05,-2.32260497541e-05,-4.81306330613e-05,1793246544793203968
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679.336974932,659.336974932,634,878,784,809,652,629,653,0.419724742286,-0.00554589880335,0.07000210409,0.999999996196,-7.10766452606e-05,1.7764188898e-05,-4.73395558326e-05,1793246544809870848
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679.916098572,659.916098572,634,878,784,809,652,629,653,0.420656400873,-0.00554917544226,0.0700262047275,0.999999994602,-7.59964100458e-05,5.28185953606e-05,-4.72239894817e-05,1793246544826538240
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506852549,745,714,680.493147451,660,634,878,784.493147451,809.493147451,652,629.493147451,653,0.421558496256,-0.00554897877262,0.0700336841034,0.999999993539,-8.15476857296e-05,6.29841809356e-05,-4.80113281053e-05,1793246544843205120
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069704251,745,714,680.930295749,660,634,878,785,810,651.930295749,630,653,0.422445199899,-0.00554785855622,0.0700291285279,0.999999993678,-8.55073762474e-05,5.3927191328e-05,-4.92354838939e-05,1793246544859872000
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.645240678,745,714,680.354759322,660,634,878,785,810,651.354759322,630,653,0.423256554729,-0.00554430662863,0.0699576725774,0.999999993596,-7.71407729054e-05,-6.40248865123e-05,-5.25194577375e-05,1793246544876538112
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,878.22588688,784.77411312,810,651.22588688,630,653,0.424088284625,-0.00554070334602,0.0698956267414,0.999999982847,-7.74228594004e-05,-0.000158128937818,-5.75103948801e-05,1793246544893204480
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,878.814743901,784.185256099,810,651.814743901,630,653,0.424952754667,-0.00553701754217,0.0698487016955,0.999999970797,-9.16022389043e-05,-0.00021391240509,-6.52441961304e-05,1793246544909871104
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714.396568124,680.396568124,660,634,879,784.396568124,809.603431876,651.603431876,629.603431876,653,0.42592213714,-0.00554058157201,0.0698822379147,0.999999981451,-8.75743693149e-05,-0.000159820392369,-6.23471798885e-05,1793246544926537984
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714.975164202,680.975164202,660,634,879,784.975164202,809.024835798,651.024835798,629.024835798,653,0.426939675209,-0.00554747333395,0.0699527065036,0.999999994156,-7.51892246135e-05,-5.52946474077e-05,-5.4570532072e-05,1793246544943204608
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.447580033,745,714.447580033,681,660,633.447580033,879,785,809.552419967,651,629.552419967,653,0.427913445094,-0.00554779685021,0.0700004029572,0.999999994245,-9.23335791367e-05,4.94559857291e-06,-5.44047317913e-05,1793246544959871488
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.127657835,879,785,810,651,630,653,0.428878414547,-0.00554868644667,0.0700398570275,0.999999991184,-0.000106218666403,5.82108723486e-05,-5.44210410748e-05,1793246544976538368
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.69613518,879,785,810,651,630,653,0.429819773304,-0.00555254802325,0.0700543757874,0.99999998867,-0.000104275811284,9.42491673016e-05,-5.38875011172e-05,1793246544993204992
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.7206463,660,633.7206463,879,785,810.2793537,651.2793537,630,653,0.430706433917,-0.00555357871095,0.0700312405525,0.999999991876,-9.94387581065e-05,5.77113565586e-05,-5.50423399259e-05,1793246545009871616
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.12049996,660,633.12049996,879,785,810.87950004,651.87950004,630,653,0.431530282473,-0.00555135857936,0.0699648657806,0.999999992212,-9.12781847373e-05,-6.21684017715e-05,-5.8136008783e-05,1793246545026538240
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.460568868,745,714,680.460568868,660,633.460568868,878.539431132,785,810.539431132,651.539431132,630,653,0.432397829476,-0.0055506513509,0.0699137295226,0.999999983537,-9.44057275751e-05,-0.000142484935749,-6.09233597581e-05,1793246545043204608
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.963258312,745,714,680.963258312,660,633.963258312,878,785,810.036741688,651,630,653,0.433282364853,-0.00555045899216,0.0698737390009,0.999999972848,-0.000100125909075,-0.00020067124712,-6.33207357032e-05,1793246545059870976
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.388597455,745,714,680.388597455,660,633.388597455,878,785,810.611402545,651,630,653,0.434254891404,-0.00555224000841,0.0699408796425,0.99999998967,-0.000102284956859,-8.03759985684e-05,-6.11353224582e-05,1793246545076537600
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.191235111,745,714,680.191235111,660,633.191235111,878.191235111,785,811,651,630,653,0.43520108028,-0.0055536642411,0.0699967479968,0.999999992866,-0.000102469595637,1.67897697151e-05,-5.90386077257e-05,1793246545093204480
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.781869016,745,714,680.781869016,660,633.781869016,878.781869016,785,811,651,630,653,0.436092262518,-0.00555434332372,0.0700290739399,0.999999991359,-9.8530640011e-05,6.56491231748e-05,-5.71271428608e-05,1793246545109871104
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.63506043,745,714,681,660,633.63506043,878.63506043,785,811,651,630.36493957,653,0.43697274283,-0.00555697141593,0.0700386120196,0.999999989474,-0.000103500951661,8.43882354089e-05,-5.67236467843e-05,1793246545126537984
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.056418873,745,714,681,660,633.056418873,878.056418873,785,811,651,630.943581127,653,0.437846956235,-0.00556074081274,0.0700348059382,0.999999988247,-0.000113688368818,8.54894782925e-05,-5.72031900204e-05,1793246545143204864
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.511818407,745,714.511818407,680.488181593,660.511818407,633,878.511818407,785,811.511818407,651,631,653.511818407,0.438631114123,-0.00556027180642,0.0699840420405,0.999999991971,-0.000110634711093,1.43506756873e-05,-6.01003095133e-05,1793246545159871744
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.917037802,745,715,680.082962198,660.917037802,633,878.917037802,785,811.917037802,651,631,653.917037802,0.439397067516,-0.00555890585446,0.0699279216356,0.999999990079,-0.000106307386499,-6.75687975029e-05,-6.30418172172e-05,1793246545176538624
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.320965634,745,715,680.679034366,660.320965634,633,878.320965634,785,811.320965634,651,631,653.320965634,0.440110602598,-0.00555482446657,0.0698700486234,0.999999978517,-0.000102950139487,-0.000167895302802,-6.46424654082e-05,1793246545193204736
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.732707641,681,660.267292359,633,878,785,811,651,630.732707641,652.732707641,0.440885839106,-0.00555440837216,0.0698630970474,0.999999976457,-0.00010338315205,-0.000179442861708,-6.47970816034e-05,1793246545209871104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.153566453,681,660.846433547,633,878,785,811,651,630.153566453,652.153566453,0.441733062349,-0.00555826855994,0.0699155552928,0.999999988321,-0.000108238244444,-8.74124046969e-05,-6.32646186507e-05,1793246545226537728
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.424198183,681,661,633,878.424198183,785,811.424198183,651.424198183,630.424198183,652.424198183,0.442549521406,-0.00556376186447,0.0699761263765,0.999999992127,-0.000109936669149,3.01144244358e-06,-6.04222436281e-05,1793246545243204352
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.998541234,681,660.998541234,633,879,785,812,651.998541234,630.998541234,653,0.443354643988,-0.00556983049598,0.0700394492726,0.999999987977,-0.000110506250879,9.25869363138e-05,-5.71160836681e-05,1793246545259871232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.424178802,681,660.424178802,633,879,785,812,651.424178802,630.424178802,653,0.4440673005,-0.00557041058206,0.0700337814237,0.999999988796,-0.0001150914451,7.66654024581e-05,-5.73015697842e-05,1793246545276538112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.154180468,745,714,681.154180468,660.154180468,633,879,785,812,651,630.154180468,653,0.444757174926,-0.00557066697632,0.0700209182718,0.999999990077,-0.000117674769174,5.15479940612e-05,-5.77995886661e-05,1793246545293204992
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.743828543,745,714,681.743828543,660.743828543,633,879,785,812,651,630.743828543,653,0.445382703746,-0.00557000913491,0.0699877326909,0.999999991682,-0.000114604008331,4.57736397537e-07,-5.91803256731e-05,1793246545309871616
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.672358132,745,714,681.672358132,660.672358132,633,878.672358132,785,812,651,631,652.672358132,0.445996619445,-0.0055704937636,0.0699617530269,0.999999991743,-0.000108563898584,-3.43088727296e-05,-5.95907589753e-05,1793246545326538240
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093027003,745,714,681.093027003,660.093027003,633,878.093027003,785,812,651,631,652.093027003,0.446601614091,-0.00557185601966,0.0699413088354,0.999999991622,-0.000100242782644,-5.65359122117e-05,-5.9255820416e-05,1793246545343204864
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.483459495,660,633,878.483459495,785,812.483459495,651.483459495,631,652.483459495,0.447160938983,-0.00556989365029,0.0699278432797,0.999999987973,-0.000111416672452,-8.94915167499e-05,-6.02563815248e-05,1793246545359871744
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.059276782,745,714,682,660.059276782,633,879,785,812.940723218,651.940723218,631,653,0.447710950599,-0.00556769153943,0.0699160989195,0.999999982992,-0.0001240409179,-0.00012190666172,-6.13871878938e-05,1793246545376538624
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.634006685,745,714,682,660.634006685,633,879,785,812.365993315,651.365993315,631,653,0.44825594541,-0.00556893500417,0.0699077130579,0.999999982604,-0.000116848363212,-0.000131775872566,-6.14290528141e-05,1793246545393204992
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.785430676,745,714,682.214569324,660.785430676,633,879,785,812,651.214569324,631,653,0.44878827908,-0.00557014505723,0.0699085859139,0.999999983706,-0.000111000201247,-0.000128636776006,-6.09814637113e-05,1793246545409871872
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.19464113,745,714,682.80535887,660.19464113,633,879,785,812,651.80535887,631,653,0.44929841298,-0.00557129652702,0.0699256927632,0.999999987168,-0.000107509262942,-0.000102689253456,-5.96756787463e-05,1793246545426539008
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.388024953,745,714,683,660.388024953,633,879,785,812,651.611975047,631,652.611975047,0.449785215853,-0.00557435019615,0.0699427906266,0.999999989052,-0.000111789667081,-7.75363237941e-05,-5.81995583112e-05,1793246545443205632
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.966699754,745,714,683,660.966699754,633,879,785,812,651.033300246,631,652.033300246,0.450260555444,-0.00557833848058,0.0699598840765,0.999999989817,-0.000119888395583,-5.27738022821e-05,-5.66397461328e-05,1793246545459872256
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.881386338,745,714,683,660,632.881386338,879.118613662,784,812.881386338,651.881386338,630,652.118613662,0.45100571302,-0.00557853309665,0.0699098762342,0.999999981638,-0.000124618919735,-0.000133373234581,-5.8353399803e-05,1793246545493204992
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,632,879.708569046,784.291430954,812.291430954,651.291430954,630,653,0.451654345565,-0.00557738797761,0.0698453186218,0.999999964835,-0.00012029017151,-0.000228370634646,-6.08803192161e-05,1793246545526537472
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,632,879.12950188,784.87049812,812.87049812,651.87049812,630,653,0.451967052161,-0.00557844528521,0.0698267471278,0.999999958689,-0.000120266196392,-0.000253782145825,-6.12667921898e-05,1793246545543204096
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,632.447503057,879,784.552496943,813,652,630.447503057,653,0.452266038045,-0.00558145679022,0.0698234592194,0.999999957913,-0.00012599145063,-0.000254034530493,-6.13668301874e-05,1793246545559871488
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.023837431,745,714,683,659.976162569,632.976162569,879,784,813,651.976162569,631,653,0.452558968665,-0.00558487564555,0.069824335634,0.999999958611,-0.000133021170066,-0.00024762218361,-6.13793694698e-05,1793246545576538880
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,713.235105993,683,659,632,879.764894007,784,813,651,631,653,0.45324316395,-0.00558501705798,0.0698088787132,0.999999951193,-0.000132785396445,-0.000276044512776,-6.14873437882e-05,1793246545626537728
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,713.348944955,683,659,632,879.651055045,784,812.651055045,651,631,653,0.453438311543,-0.00558652925249,0.0698089414248,0.999999950379,-0.000135490480323,-0.000277640372057,-6.1637421946e-05,1793246545643204352
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878,784.253566812,808,652,629,652,0.410414773854,-0.00538426106205,0.0698696322607,0.999999960173,0.000191843994267,-0.000204747837298,3.0469504823e-05,1793246547923848448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.328468043,745,714,679.328468043,658,633.671531957,878,784,808,652,629,652,0.409742926525,-0.00538001423925,0.0698384397933,0.999999946322,0.000196714678024,-0.000260429088992,2.89156495507e-05,1793246547940515328
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.519681348,745,714,680.480318652,658,633.480318652,877.519681348,784.480318652,808,652,629,652,0.408455595993,-0.00537201261724,0.0697759118219,0.999999912969,0.00020562264568,-0.000362188220752,2.45243014678e-05,1793246547973850112
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.766633835,744.766633835,714,680,658,634,877,785,807.766633835,651,629,652,0.406844131636,-0.00537494941735,0.0697988470974,0.999999926349,0.000202010094225,-0.000325427213431,2.43318966335e-05,1793246548023848960
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.187324037,744.187324037,714,680,658,634,877,785,807.187324037,651,629,652,0.406342608199,-0.00537327087072,0.0698007867445,0.999999924863,0.000203059127197,-0.000329292924874,2.46304572333e-05,1793246548040515584
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.45950804,658,634,877.54049196,784.45950804,808,652,629.54049196,651.45950804,0.405019781969,-0.00537004452381,0.0698106353365,0.999999928862,0.000205014460409,-0.000315715258272,2.38702057834e-05,1793246548090515968
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,785,808,651,629,652,0.403969652147,-0.00536875573112,0.069844109086,0.999999944769,0.000216067255559,-0.00025140242282,2.39646685467e-05,1793246548140515328
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.977044001,714,679.022955999,657.022955999,634,877,784.977044001,807.022955999,651,629,652,0.403038364576,-0.00536764334505,0.0698230700073,0.999999935635,0.000216883566915,-0.000284917053748,2.26888857686e-05,1793246548190515200
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.4382365,679.4382365,658,634,877.5617635,785,808,651,629,652,0.401132881935,-0.00535924583913,0.069797700169,0.999999922474,0.0002247160672,-0.000322964987244,1.57410526085e-05,1793246548407182336
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.267917813,634,877.267917813,785,807.267917813,651.732082187,629,652,0.401054837355,-0.00536038442415,0.0698015165438,0.999999924946,0.00022257029098,-0.00031671215491,1.62600894193e-05,1793246548440515328
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.897419423,679.897419423,657.897419423,634,877.897419423,785,807.897419423,652,629,652,0.401009372697,-0.00535906043811,0.0698076946401,0.9999999275,0.000225849844167,-0.000306118055269,1.68104908837e-05,1793246548473848832
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.196436702,714,679,658,634,877,784.196436702,808,652,629,652,0.400968650258,-0.00536018429766,0.0698137894504,0.999999930598,0.000225321058818,-0.000296201489195,1.72745178848e-05,1793246548557181952
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.381207412,714,679,658,634,877,784,808,651.618792588,629,652,0.400967168972,-0.00536043417795,0.0698149807811,0.999999931363,0.000224718471453,-0.000294067733477,1.73407159969e-05,1793246548573848576
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2d09a9f53c030b556b2615af10ec3a499ce76e2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.583252491095,-7.21278336138e-05,1.06004238962,0.553824282141,0.00860232890014,1.05966577045
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+390,6.500000000,pose2_to_pose3_retreat,0.583247565732,-7.21628523446e-05,1.06004230163,0.553819357925,0.00860229837181,1.05966569631
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+394,6.566666667,pose2_to_pose3_retreat,0.583246856578,-7.21144494354e-05,1.06004246987,0.553818648047,0.00860234409501,1.05966585942
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+396,6.600000000,pose2_to_pose3_retreat,0.583246241264,-7.20822944031e-05,1.06004259373,0.553818032176,0.00860237418075,1.05966597914
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18d375037fdedcedbc1b1078e9c03dc488fd9c69
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccb3b522c48ae7836613e0ef05124f42f542c0416c9016f1e0c93f18e1d4f712
+size 33216171
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16753b15c133d7fe305edab49390a92210b1e1a3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,525 @@
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+18,0.300000000,BASELINE,765,745,714,679,659.131723981,634,876.56586199,784.868276019,807,651,629,652,0.400969129244,-0.00536400728379,0.0698254236035,0.999999937981,0.000217737287455,-0.000276365502547,1.58179700343e-05,1793246549351096064
+19,0.316666667,BASELINE,765,745,714,679.024516131,658,634,876.024516131,785.950967737,807.024516131,651,629,652,0.400968002313,-0.00536288018919,0.069824326669,0.999999937104,0.000219812414367,-0.000277902552927,1.56386120002e-05,1793246549367762688
+20,0.333333333,BASELINE,765,745,714,679.603589353,658,634,876.603589353,784.792821294,807.603589353,651,629,652,0.400967503856,-0.00536259859582,0.0698242622369,0.999999937241,0.000218672819939,-0.000278320426451,1.54141876793e-05,1793246549384429568
+21,0.350000000,BASELINE,765,745,714,679.818562767,658,634,877,784.181437233,808,651.181437233,629,652,0.40096722938,-0.00536276463158,0.0698242989561,0.99999993736,0.000217841348504,-0.000278551123511,1.52938616468e-05,1793246549401096448
+22,0.366666667,BASELINE,765,745,714,679.243374173,658,634,877,784.756625827,808,651.756625827,629,652,0.400967440986,-0.00536390210295,0.0698245551919,0.999999937443,0.000217678559416,-0.000278375613995,1.53994476131e-05,1793246549417763328
+23,0.383333333,BASELINE,765,745,714,679,658,634,877,784.661240924,807.661240924,652,629,652,0.400967646495,-0.00536333402108,0.0698248724433,0.999999937081,0.000219860039273,-0.000277955502223,1.55060694387e-05,1793246549434429696
+24,0.400000000,BASELINE,765,745,714,679,658,634,877,784.074013956,807.074013956,652,629,652,0.400967847532,-0.00536151497587,0.0698252344475,0.99999993638,0.000223760958105,-0.00027735598326,1.56134510416e-05,1793246549451096064
+25,0.416666667,BASELINE,765,745,714,679.506552315,658,634,877.506552315,784.506552315,807,652,629,652,0.400968302605,-0.00536217802902,0.0698261731992,0.999999937038,0.000222047552405,-0.000276357550498,1.56893361155e-05,1793246549467762944
+26,0.433333333,BASELINE,765,745,714,680,658,634,877.914162932,784.914162932,807,651.914162932,629,652,0.400968614956,-0.00536291350742,0.0698267884464,0.999999937673,0.000219977458559,-0.000275711460244,1.57101316108e-05,1793246549484429824
+27,0.450000000,BASELINE,765,745,714,680,658,634,877.336716006,784.336716006,807,651.336716006,629,652,0.40096790008,-0.00536201365688,0.0698250745315,0.999999937091,0.000220501759394,-0.000277412810034,1.54414306941e-05,1793246549501096192
+28,0.466666667,BASELINE,765,744.760591411,714,679.760591411,658,634,877,784,807.239408589,651,629,652,0.400967120812,-0.00536123474596,0.0698243341222,0.999999936625,0.000221495197418,-0.000278304449804,1.53613965418e-05,1793246549517762816
+29,0.483333333,BASELINE,765,744.186316428,714,679.186316428,658,634,877,784,807.813683572,651,629,652,0.400966251478,-0.00536062499617,0.0698249553783,0.999999936323,0.000223144828577,-0.000278063529121,1.55452550241e-05,1793246549534430208
+30,0.500000000,BASELINE,765,744.398343344,714,679,658,634,876.601656656,784.398343344,808,651,629,652,0.400966542856,-0.00536083110066,0.0698250304165,0.999999936261,0.000223373667376,-0.00027809883526,1.56044290455e-05,1793246549551097088
+31,0.516666667,BASELINE,765,744.987990376,714,679,658,634,876.012009624,784.987990376,808,651,629,652,0.400967391666,-0.00536142901773,0.0698248431346,0.999999936315,0.000222920173105,-0.000278266798849,1.56037235693e-05,1793246549567763712
+32,0.533333333,BASELINE,765,745,714,679,658,634,876.567402783,784.432597217,808,651.567402783,629,652,0.400968631584,-0.00536245859799,0.0698252807573,0.999999937295,0.000219968027247,-0.000277105708234,1.5361968838e-05,1793246549584429824
+33,0.550000000,BASELINE,765,745,714.14555247,679,658,634,877,784.14555247,807.85444753,652,629,651.85444753,0.40096943446,-0.00536305668889,0.0698257061893,0.999999937963,0.000218039369928,-0.000276224074118,1.52730036708e-05,1793246549601096192
+34,0.566666667,BASELINE,765,745,714.72060389,679,658,634,877,784.72060389,807.27939611,652,629,651.27939611,0.400968923707,-0.00536235505006,0.06982605731,0.999999937678,0.000219284135289,-0.000276248603553,1.56496812947e-05,1793246549617762560
+35,0.583333333,BASELINE,765,745,714.705337743,679,658,634,877,784.705337743,807.294662257,652,629,651.294662257,0.400968559515,-0.00536223016874,0.0698261886031,0.99999993743,0.000220361493859,-0.000276276865309,1.58645710406e-05,1793246549634429440
+36,0.600000000,BASELINE,765,745,714.132217748,679,658,634,877,784.132217748,807.867782252,652,629,651.867782252,0.400968333823,-0.00536265032692,0.0698261121577,0.999999937217,0.000221280652073,-0.000276308654134,1.59265702406e-05,1793246549651096064
+37,0.616666667,BASELINE,765,745,714,679,658,634,876.543256521,784.456743479,808,652,629.456743479,652,0.400969374623,-0.00536217781529,0.0698264415777,0.999999937413,0.000221835371539,-0.000275172923047,1.55579703633e-05,1793246549667763200
+38,0.633333333,BASELINE,765,745,714.049159842,679.049159842,657.950840158,634,876.049159842,784.950840158,808,651.950840158,629.950840158,652,0.400970561233,-0.00536155398691,0.0698267648967,0.999999937669,0.000222219957483,-0.000273955503948,1.51202274414e-05,1793246549684430592
+39,0.650000000,BASELINE,765,745,714.627629618,679.627629618,657.372370382,634,876.627629618,784.372370382,808,651.372370382,629.372370382,652,0.400969228496,-0.00536218320367,0.0698257120495,0.999999937266,0.000221949411341,-0.000275628278427,1.53283497819e-05,1793246549701096960
+40,0.666666667,BASELINE,765,745,715,679.795099889,657.204900111,634,876.795099889,784.204900111,807.795099889,651,629,652,0.400968498437,-0.00536251234408,0.0698253099194,0.999999937174,0.000221324935524,-0.000276456705793,1.54596080302e-05,1793246549717763328
+41,0.683333333,BASELINE,765,745,715,679.219996237,657.780003763,634,876.219996237,784.780003763,807.219996237,651,629,652,0.400968857268,-0.00536229932111,0.0698260834733,0.999999937646,0.000220060996825,-0.000275759607816,1.5451991968e-05,1793246549734429696
+42,0.700000000,BASELINE,765,745,714.637008331,679,658,634,876.362991669,785,807.362991669,651.362991669,629,652,0.400968673973,-0.00536245199495,0.0698260907099,0.999999937586,0.00022025668781,-0.000275817322797,1.54685376271e-05,1793246549751096320
+43,0.716666667,BASELINE,765,745,714.049135992,679,658,634,876.950864008,785,807.950864008,651.950864008,629,652,0.400968154819,-0.00536283122536,0.0698256231972,0.999999937198,0.000221356648913,-0.000276342659679,1.55000519606e-05,1793246549767762944
+44,0.733333333,BASELINE,765,744.470107917,714,679,658,634,877,785,808,652,629,652,0.400967264934,-0.00536301093368,0.069825211021,0.999999937184,0.000219965676434,-0.00027750707357,1.53840293203e-05,1793246549784429568
+45,0.750000000,BASELINE,765,744.107971685,714,679,658,634,877,785,808,652,629,651.892028315,0.400966687297,-0.00536303959307,0.0698249102871,0.999999937138,0.00021912528903,-0.000278341924124,1.52964331572e-05,1793246549801095936
+46,0.766666667,BASELINE,765,744.685434437,714,679,658,634,877,785,808,652,629,651.314565563,0.400967614425,-0.00536249057775,0.0698250721906,0.999999936813,0.000221666877292,-0.000277490289779,1.5390954872e-05,1793246549817763072
+47,0.783333333,BASELINE,765,745,714,679,658,634,877,785,808,651.738210688,629,651.261789312,0.400968518484,-0.00536260269806,0.0698256211907,0.999999937121,0.000221877362219,-0.000276206417132,1.54323132684e-05,1793246549834430208
+48,0.800000000,BASELINE,765,745,714,679,658,634,877,785,808,651.163181351,629,651.836818649,0.400969394939,-0.0053635058901,0.0698266333655,0.999999938186,0.000219298601176,-0.000274405356197,1.54100599158e-05,1793246549851096832
+49,0.816666667,BASELINE,765.424606775,745,714,679,658,634,877,784.575393225,807.575393225,651,629,652,0.400969004572,-0.00536301674536,0.0698266519725,0.999999937953,0.000219909597582,-0.000274767371905,1.54021780677e-05,1793246549867763456
+50,0.833333333,BASELINE,765.983001005,744.983001005,714,679,657.983001005,634,877,784.016998995,807,651,629,652,0.400968143185,-0.00536207149976,0.0698262792024,0.999999937242,0.000221645857633,-0.000275954923771,1.53991500672e-05,1793246549884429568
+51,0.850000000,BASELINE,765.405483926,744.405483926,714,679,657.405483926,634,877,784.594516074,807,651,629,652,0.400968301227,-0.00536427744817,0.0698259819971,0.999999937826,0.000218812842719,-0.00027610339726,1.53684112739e-05,1793246549901095936
+52,0.866666667,BASELINE,765,744.171210245,714,679.171210245,657.171210245,634,876.828789755,784.828789755,807,651,629.171210245,652,0.40096797356,-0.00536518058186,0.0698255019799,0.999999937907,0.000217660340868,-0.00027672191914,1.53060637479e-05,1793246549917762560
+53,0.883333333,BASELINE,765,744.745964783,714,679.745964783,657.745964783,634,876.254035217,784.254035217,807,651,629.745964783,652,0.40096650107,-0.00536301296783,0.069824591073,0.999999936815,0.000220468825608,-0.000278448349863,1.51692141184e-05,1793246549934429440
+54,0.900000000,BASELINE,765,745,714,680,658,634,876.328777568,784,807.328777568,651,629.671222432,652,0.400966686771,-0.00536194874155,0.0698247679808,0.999999936369,0.000222569732508,-0.000278370167028,1.53185986455e-05,1793246549951096320
+55,0.916666667,BASELINE,765,745,714,680,658,634,876.917973096,784,807.917973096,651,629.082026904,652,0.400968185889,-0.00536175848617,0.0698258065244,0.999999936438,0.000224110181397,-0.000276862586766,1.56947033774e-05,1793246549967762944
+56,0.933333333,BASELINE,765,744.501643362,714,679.501643362,658,634,877,784,807.501643362,651,629,652,0.400968022388,-0.00536220217382,0.0698257611679,0.999999936614,0.000223537936315,-0.000276693395996,1.56354873065e-05,1793246549984430336
+57,0.950000000,BASELINE,765.076886109,744.076886109,714,679.076886109,658,634,876.923113891,784.076886109,807,651.076886109,629,652,0.400967596387,-0.00536270183201,0.0698255778001,0.999999936787,0.000222696353004,-0.000276750290642,1.55359314091e-05,1793246550001097472
+58,0.966666667,BASELINE,765.652632705,744.652632705,714,679.652632705,658,634,876.347367295,784.652632705,807,651.652632705,629,652,0.400967211937,-0.00536289939308,0.0698256364032,0.999999936835,0.000222324252618,-0.000276869609418,1.5631457945e-05,1793246550017763584
+59,0.983333333,BASELINE,765.767070557,745,714,679.767070557,658,634,876.465858885,785,807.232929443,652,629,652,0.400966736396,-0.00536301071372,0.0698253189386,0.999999936922,0.000221259545194,-0.000277416050728,1.54951293157e-05,1793246550034429696
+60,1.000000000,BASELINE,765.17985292,745,714,679.17985292,658,634,877.640294159,785,807.82014708,652,629,652,0.400966122305,-0.00536299086173,0.0698244294711,0.999999937064,0.000219141374939,-0.000278612150039,1.50061464938e-05,1793246550051096064
+61,1.016666667,BASELINE,765,745,714,679,658,634,877.598325467,785,807.598325467,652,629,652,0.400966439301,-0.00536332809643,0.0698246371289,0.999999937359,0.00021871668064,-0.000277881530391,1.50414318931e-05,1793246550067762688
+62,1.033333333,BASELINE,765,745,714,679,658,634,877.019310284,785,807.019310284,652,629,652,0.400967167375,-0.0053638229861,0.0698253291712,0.999999937723,0.000219039661767,-0.000276300257805,1.53081834949e-05,1793246550084429312
+63,1.050000000,BASELINE,765,745,714,679,658,634,877,785,807.558909282,652,629.558909282,652,0.400966537286,-0.00536305947728,0.0698248570256,0.999999936822,0.000221347677881,-0.000277710777045,1.54273191466e-05,1793246550101096192
+64,1.066666667,BASELINE,765,745,714,679,658,634.136285678,877,785,808,652,629.863714322,652,0.400966520693,-0.0053625671256,0.0698246758755,0.999999936275,0.000223005175661,-0.000278345745227,1.55701589948e-05,1793246550117762816
+65,1.083333333,BASELINE,765,745,714,679,658,634.711037659,877,785,808,652,629.288962341,652,0.400968628628,-0.00536308683648,0.0698255601559,0.999999937025,0.000222349452332,-0.000276153481603,1.58056464643e-05,1793246550134429440
+66,1.100000000,BASELINE,765,745,714,679.292755275,658,634.707244725,877,784.707244725,807.707244725,652,629,652,0.400968673002,-0.00536333033916,0.0698253839584,0.999999937227,0.000221167776676,-0.000276377489923,1.57068485982e-05,1793246550151096064
+67,1.116666667,BASELINE,765,745,714,679.881515817,658,634.118484183,877,784.118484183,807.118484183,652,629,652,0.400966630908,-0.0053632945673,0.0698241355104,0.99999993687,0.000219454309925,-0.00027904459432,1.52700543466e-05,1793246550167762432
+68,1.133333333,BASELINE,765,745,714,680,658,634,877,784.462471248,807,652,629.462471248,652,0.400966067687,-0.00536346907389,0.0698240622997,0.999999936958,0.000218638518323,-0.00027936447808,1.53739981554e-05,1793246550184428800
+69,1.150000000,BASELINE,765.041317775,745,714,679.958682225,658,634,876.958682225,784.958682225,807.041317775,651.958682225,630,652,0.400965977855,-0.00536364226224,0.0698243066621,0.999999937166,0.000218108146954,-0.000279023122081,1.55640890622e-05,1793246550201095680
+70,1.166666667,BASELINE,765.618317059,745,714,679.381682941,658,634,876.381682941,784.381682941,807.618317059,651.381682941,630,652,0.400967194789,-0.00536311149391,0.0698248294726,0.999999937469,0.000218346008339,-0.000277775943512,1.5104772011e-05,1793246550217762304
+71,1.183333333,BASELINE,765.805719012,745,714,679.194280988,658,634,876.194280988,784.194280988,808,651,629.805719012,652,0.400967854521,-0.00536270540701,0.0698252274045,0.999999937463,0.00021926211115,-0.000277084810985,1.487603841e-05,1793246550234428928
+72,1.200000000,BASELINE,765.231778248,745,714,679.768221752,658,634,876.768221752,784.768221752,808,651,629.231778248,652,0.400967425382,-0.00536254296981,0.0698253813014,0.999999936856,0.00022150361898,-0.000277480291593,1.50979060031e-05,1793246550251095552
+73,1.216666667,BASELINE,765,745,714,679.647827734,658,634,877,785,808,651,629,652,0.400967342791,-0.0053630831021,0.0698258310714,0.999999937062,0.000221113905318,-0.000277039834806,1.52978934559e-05,1793246550267762176
+74,1.233333333,BASELINE,765,745,714,679.057096729,658,634,877,785,808,651,629,652,0.40096749495,-0.00536409914947,0.0698264812635,0.999999937815,0.000218941822655,-0.000276033120539,1.54830594593e-05,1793246550284428800
+75,1.250000000,BASELINE,765,745,714,679.523378579,657.476621421,634,877,784.476621421,808,651,629,652,0.400968304432,-0.00536384091875,0.0698266440155,0.999999937827,0.000219477741925,-0.000275563395558,1.55231727722e-05,1793246550301095424
+76,1.266666667,BASELINE,765.101919002,745,714,679.898080998,657.101919002,634,877,784.101919002,807.898080998,651,629,652,0.400968752138,-0.00536358363744,0.0698264949843,0.999999937717,0.000220048831296,-0.000275505567141,1.55221895563e-05,1793246550317762304
+77,1.283333333,BASELINE,765.676574474,745,714,679.323425526,657.676574474,634,877,784.676574474,807.323425526,651,629,652,0.400967195581,-0.00536396316545,0.0698251417014,0.999999937415,0.000219439110333,-0.000277091761126,1.54025735936e-05,1793246550334429184
+78,1.300000000,BASELINE,765.743371002,745,714,679,658,634,877,785,807,651.256628998,629,652,0.400966728738,-0.00536445704607,0.0698248406605,0.999999937587,0.000218197570729,-0.000277450895701,1.54055995274e-05,1793246550351096064
+79,1.316666667,BASELINE,765.156365955,745,714,679,658,634,877,785,807,651.843634045,629,652,0.400967664757,-0.00536509814058,0.0698258942428,0.999999938368,0.000216142647852,-0.000276230352711,1.55665107664e-05,1793246550367763456
+80,1.333333333,BASELINE,765,744.575183707,714,679,658,634,877,785,807.424816293,651.575183707,629.424816293,652,0.400968056924,-0.00536376268959,0.0698266041825,0.999999937723,0.000219564819632,-0.000275861459359,1.57079479273e-05,1793246550384430080
+81,1.350000000,BASELINE,765,744.003877632,714,679,658,634,877.003877632,785,808,651,629.996122368,652,0.400968248664,-0.00536173182342,0.0698271811672,0.999999936547,0.000224923344058,-0.000275797735868,1.58424437834e-05,1793246550401096192
+82,1.366666667,BASELINE,765,744.581948801,714,679,658,634,877.581948801,785,808,651,629.418051199,652,0.400968003152,-0.00536299907447,0.0698265471829,0.999999937265,0.000222523697535,-0.000275131941294,1.59961547324e-05,1793246550417763328
+83,1.383333333,BASELINE,765,745,714,679.159186104,658,634,877.840813896,784.840813896,807.840813896,651.159186104,629,652,0.40096728719,-0.005364038381,0.0698256458498,0.999999937724,0.000219980492059,-0.000275511509711,1.59537067771e-05,1793246550434430464
+84,1.400000000,BASELINE,765,745,714,679.734245064,658,634,877.265754936,784.265754936,807.265754936,651.734245064,629,652,0.400965342177,-0.00536448218398,0.0698240460696,0.999999937508,0.000217062239065,-0.000278622083268,1.53987947562e-05,1793246550451097088
+85,1.416666667,BASELINE,765,745,714,679.683511195,658,634,877,784,807.316488805,652,629,652,0.400965244966,-0.00536331252576,0.069823803364,0.99999993718,0.000217569334343,-0.000279424479125,1.50207982009e-05,1793246550467763200
+86,1.433333333,BASELINE,765,745,714,679.095094305,658,634,877,784,807.904905695,652,629,652,0.400966735393,-0.00536075657706,0.0698247266608,0.999999936756,0.000221019498827,-0.000278243681915,1.4794807953e-05,1793246550484429312
+87,1.450000000,BASELINE,765,745,714.485981255,679.485981255,658,634,877,784.485981255,807.514018745,652,629,652,0.400968325659,-0.00536205108472,0.0698258405384,0.999999937551,0.000219568417738,-0.000276519068124,1.49871153838e-05,1793246550501095680
+88,1.466666667,BASELINE,765,745,715,679.934776163,658,634,877,785,807.065223837,651.934776163,629,652,0.400969588099,-0.00536386510102,0.0698267650451,0.999999938403,0.00021749108723,-0.000275062210619,1.52428711789e-05,1793246550517762560
+89,1.483333333,BASELINE,765,745,715,679.358805543,658,634,877,785,807.641194457,651.358805543,629,652,0.400968132736,-0.00536393509568,0.0698259189747,0.999999937908,0.000217908054381,-0.000276522937606,1.53640652639e-05,1793246550534429440
+90,1.500000000,BASELINE,765,744.784073883,714.784073883,679.215926117,658,634,877,785,807.784073883,651,629,652,0.400966911702,-0.00536424632451,0.0698251215734,0.999999937479,0.000218365074681,-0.000277701307764,1.54928552777e-05,1793246550551096320
+91,1.516666667,BASELINE,765,744.211389321,714.211389321,679.788610679,658,634,877,785,807.211389321,651,629,652,0.400966077834,-0.00536495612637,0.0698244045844,0.999999937165,0.000218888271744,-0.000278413160874,1.56341954602e-05,1793246550567763200
+92,1.533333333,BASELINE,765,744.374042723,714,679.625957277,658,634,877,784.625957277,807.374042723,651,629,651.625957277,0.400966671534,-0.0053643871113,0.0698250289034,0.999999937533,0.000218296409532,-0.000277572134656,1.53241290815e-05,1793246550584429824
+93,1.550000000,BASELINE,765,744.966933217,714,679.033066783,658,634,877,784.033066783,807.966933217,651,629,651.033066783,0.400968100485,-0.00536306987632,0.0698264380052,0.999999938296,0.000217052139985,-0.000275822538019,1.47499503216e-05,1793246550601096448
+94,1.566666667,BASELINE,765,745,714,679,658,634,877,784,808,651,629.546773291,651.546773291,0.400968254778,-0.00536363426797,0.0698258763916,0.999999938049,0.000217740235682,-0.000276160747972,1.50555688311e-05,1793246550617763072
+95,1.583333333,BASELINE,764.875137786,745,714.124862214,679,658,634,877,784.124862214,808,651,629.875137786,652,0.400968203147,-0.00536430846746,0.0698253622362,0.999999937741,0.00021857138844,-0.000276602249962,1.53848876135e-05,1793246550634429440
+96,1.600000000,BASELINE,764.300579331,745,714.699420669,679,658,634,877,784.699420669,808,651,629.300579331,652,0.400967681031,-0.0053649778659,0.0698254382339,0.99999993743,0.000219506694938,-0.000276971623235,1.56124046376e-05,1793246550651096320
+97,1.616666667,BASELINE,764.280420621,745,714.719579379,679,658,634,877,784.719579379,807.719579379,651,629,651.719579379,0.400968195933,-0.00536575779308,0.0698258645944,0.999999937868,0.000218490830171,-0.000276191799126,1.56281391189e-05,1793246550667762944
+98,1.633333333,BASELINE,764.868487427,745,714.131512573,679,658,634,877,784.131512573,807.131512573,651,629,651.131512573,0.400969848537,-0.00536665897999,0.0698266753337,0.999999939117,0.00021533435815,-0.000274151203975,1.54115294334e-05,1793246550684429568
+99,1.650000000,BASELINE,765,745,714,679,658,634,877,784,807.449475909,651,629,651.449475909,0.400969266969,-0.00536586289345,0.0698265827297,0.999999938754,0.000216730255803,-0.000274371126408,1.55301898666e-05,1793246550701096192
+100,1.666666667,BASELINE,765,744.971658914,714,679,658.028341086,634,877,784,807.971658914,651.028341086,629,652,0.400968150543,-0.00536463211924,0.0698262878811,0.999999937972,0.000219315882614,-0.000275154892824,1.57219588035e-05,1793246550717763328
+101,1.683333333,BASELINE,765,744.394427414,714,679,658.605572586,634,877,784,807.394427414,651.605572586,629,652,0.40096913945,-0.00536445143695,0.0698271157085,0.999999938174,0.000219546405082,-0.000274247726811,1.54592233886e-05,1793246550734430208
+102,1.700000000,BASELINE,765,744.181784543,714,679.181784543,658.818215457,634,877,784.181784543,807.181784543,652,629,651.818215457,0.400969063472,-0.00536464234575,0.0698270886892,0.99999993809,0.000219180097945,-0.000274854901557,1.53319182077e-05,1793246550751096832
+103,1.716666667,BASELINE,765,744.755796606,714,679.755796606,658.244203394,634,877,784.755796606,807.755796606,652,629,651.244203394,0.400966689846,-0.00536563501832,0.0698252172089,0.999999937376,0.000217526041048,-0.000278729494614,1.54968241816e-05,1793246550767762944
+104,1.733333333,BASELINE,765,745,714,679.660865545,658,634,877,785,807.660865545,651.660865545,629,651.339134455,0.400966285343,-0.00536501544366,0.0698249468612,0.999999937259,0.000217644289219,-0.000279061002314,1.5444586217e-05,1793246550784429312
+105,1.750000000,BASELINE,765,745,714,679.070622455,658,634,877,785,807.070622455,651.070622455,629,651.929377545,0.400967338856,-0.00536320209715,0.0698258620555,0.999999937587,0.000219074822364,-0.00027676906913,1.5231566263e-05,1793246550801096192
+106,1.766666667,BASELINE,765.510721138,745,714,679,658,634,877,785,807,651.510721138,629,652,0.400967971519,-0.00536295209257,0.069825969779,0.999999937439,0.000220347156659,-0.000276295972511,1.51633037054e-05,1793246550817762816
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634,877,785,808,652,629,652,0.400970282425,-0.00536364850413,0.0698272969578,0.999999938479,0.000218701784937,-0.000273822202668,1.52902910443e-05,1793246550860943872
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.410570864,745,714,679,658,634,877,784.410570864,808,652,629,652,0.40096729112,-0.00536442109871,0.0698257652915,0.999999937645,0.000218514822157,-0.000276988611564,1.54353219381e-05,1793246550877610240
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.175887427,808,651.824112573,629,652,0.400965233188,-0.00536416824087,0.0698246569156,0.999999936841,0.000219420334338,-0.000279169823337,1.53871531314e-05,1793246550894276864
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.755526233,808,651.244473767,629,652,0.400965317821,-0.00536156144672,0.0698245202066,0.999999936116,0.00022283363387,-0.000279089505724,1.48954924763e-05,1793246550910942976
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,651.334194135,629,652,0.400966109438,-0.00536171328184,0.0698249910623,0.999999936595,0.000221793952307,-0.000278200042832,1.4905724459e-05,1793246550927609344
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,651.912153813,629,652,0.400967416736,-0.00536387729715,0.0698259050836,0.999999937942,0.000217506208287,-0.000276720378867,1.528204348e-05,1793246550944276224
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,652,629,652,0.400967649814,-0.00536404815532,0.0698261297341,0.999999937904,0.00021814340716,-0.000276356731525,1.52265220956e-05,1793246550960942592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.063272707,679,658,634,877,785,808,652,629,652,0.400968419705,-0.00536391567097,0.0698266854323,0.999999937851,0.000219389646975,-0.000275567830773,1.51433095412e-05,1793246550977609216
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.651630294,679,658,634,877,785,808,652,629,652,0.400975242331,-0.00536423052149,0.0698310138139,0.999999939699,0.000218364614798,-0.000269589847515,1.54726312119e-05,1793246550994276352
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.763177474,679,658,634,877,785,808,652,629,652,0.400987923223,-0.00536408968958,0.0698372011379,0.999999942158,0.000218610917679,-0.000260086931475,1.57282354735e-05,1793246551010943488
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.182580165,679,658,634,877,785,808,652,629,652,0.401009108051,-0.00536328738284,0.0698460869279,0.999999945392,0.000220702707803,-0.000245467175794,1.58768305161e-05,1793246551027610368
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.394720351,658,634,877,784.605279649,808,652,629,652,0.401051636118,-0.00536490652138,0.0698627766026,0.999999952191,0.000220186373887,-0.000216481201315,1.6505981425e-05,1793246551044276736
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.970508599,658,634,877,784.029491401,808,652,629,652,0.401103954854,-0.00536763643612,0.0698830461113,0.999999959621,0.000218473629533,-0.000180905088787,1.73555750805e-05,1793246551060943104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.456471997,658.543528003,634,877.543528003,784.543528003,808.543528003,651.456471997,629.543528003,652,0.401166167924,-0.00537050968572,0.0698982577798,0.999999963483,0.000214217463056,-0.000163850145239,1.72879996397e-05,1793246551077609472
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.879783943,634,877.879783943,785,808.879783943,651,629.879783943,652,0.401232200133,-0.00537288688467,0.0699111838893,0.999999966523,0.00021118024023,-0.000148545685792,1.70621564822e-05,1793246551094275584
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.288122367,634,877.288122367,785,808.288122367,651,629.288122367,652,0.401311114992,-0.00537328840147,0.0699162176177,0.999999967809,0.000213461749785,-0.000136184944989,1.64098137767e-05,1793246551110942464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.705159109,714,679,657.705159109,634,877,785,808,651,629,652,0.401394271771,-0.0053740937709,0.0699170889463,0.999999968315,0.000212702799006,-0.00013382567042,1.47647594553e-05,1793246551127609600
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.130452414,714,679,657.130452414,634,877,785,808,651,629,652,0.401481455017,-0.00537528248111,0.0699140092847,0.999999968138,0.000209057813965,-0.000140959884359,1.21774137788e-05,1793246551144276224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.447800847,714,679,657.447800847,634,877,785,807.552199153,651.447800847,629,652,0.401589833393,-0.00537748375524,0.069911716358,0.99999996787,0.000206682642426,-0.000146446207991,9.82630094427e-06,1793246551160943104
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.027487947,785,807.027487947,652,629,652,0.401706003968,-0.00537991469376,0.0699099173946,0.999999967621,0.000204759888606,-0.000150912475016,7.47700387418e-06,1793246551177610240
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.615172509,785,807.615172509,652,629,652,0.401854137829,-0.00538096656827,0.0699134771507,0.999999968658,0.000204458241957,-0.000144451868145,3.75100541778e-06,1793246551194276352
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.199862448,745,714,679.199862448,658.199862448,634,877.800137552,785,808,652,629.199862448,652,0.402016700326,-0.00538333851419,0.0699174031384,0.999999970162,0.000201865335687,-0.000137575439898,1.42023249218e-07,1793246551210942464
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.77887141,745,714,679.77887141,658.77887141,634,877.22112859,785,808,652,629.77887141,652,0.40220663447,-0.00538821468464,0.0699220238808,0.999999972558,0.00019492582456,-0.000129910183741,-3.24497423587e-06,1793246551227609088
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.642648016,745,714,679.642648016,658.642648016,634,877,784.642648016,807.642648016,651.642648016,629.642648016,652,0.402412623305,-0.00539201491364,0.0699250545024,0.999999974614,0.000188114472302,-0.000123808812786,-7.50368576112e-06,1793246551244275968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.064493869,745,714,679.064493869,658.064493869,634,877,784.064493869,807.064493869,651.064493869,629.064493869,652,0.4026285321,-0.00539515033584,0.0699271026139,0.999999976433,0.000181382306713,-0.000118673741124,-1.23010159942e-05,1793246551260942592
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.510512769,784.510512769,807.510512769,651.510512769,629,652,0.402877427617,-0.00539979969309,0.0699286994068,0.999999978117,0.000173466039334,-0.000115629478472,-1.74885404161e-05,1793246551277609472
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.087643818,658,634,877.912356182,785,808,651.912356182,629,652,0.403137129637,-0.00540477914256,0.0699313542842,0.999999980005,0.000165089063369,-0.000110542029334,-2.27320171756e-05,1793246551294276352
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.679263516,658,634,877.320736484,785,808,651.320736484,629,652,0.403435156039,-0.00541056366908,0.0699404192841,0.999999983358,0.000154917793153,-9.21961568057e-05,-2.80155211508e-05,1793246551310942976
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.735188071,658,634,877,785,808,651.264811929,629,652,0.403756291618,-0.00541631450739,0.0699493063454,0.999999988285,0.000128794191086,-7.58279976976e-05,-3.30329402115e-05,1793246551327609600
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.156828333,658,634,877,785,808,651.843171667,629,652,0.404104789358,-0.00542202545719,0.0699579827199,0.999999993869,8.37823970232e-05,-6.18015305828e-05,-3.77353038428e-05,1793246551344275968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.41891092,784.58108908,808,652,629,652,0.404468942214,-0.00542646012225,0.0699614654688,0.999999994349,8.25081096636e-05,-5.85329302632e-05,-3.26770435847e-05,1793246551360942336
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.993675225,784.006324775,808,652,629,652,0.404838919457,-0.00543041995282,0.0699630159591,0.999999993202,9.75061096902e-05,-5.92667323834e-05,-2.39873995767e-05,1793246551377608960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.418193319,784,808,652,629,652,0.405243713639,-0.00543389458855,0.0699648632966,0.999999993658,9.35502980774e-05,-5.51748537398e-05,-2.98140031348e-05,1793246551394275840
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.167356896,658,634,877,784,808,652,629,652,0.405661153482,-0.00544002447979,0.0699647683832,0.999999994424,8.40009206946e-05,-5.39652939719e-05,-3.43927277064e-05,1793246551410942720
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.746194829,658,634,877,784,808,652,629,652,0.406108732719,-0.00545269613072,0.069959889929,0.999999995697,6.1217140195e-05,-5.99745189099e-05,-3.55061668902e-05,1793246551427609600
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.676676958,658.323323042,634,877,784.323323042,808,652,629.323323042,652,0.406577642359,-0.00546818171156,0.0699483253088,0.999999995353,4.1934239728e-05,-7.9390828239e-05,-3.51149820087e-05,1793246551444276224
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.100883738,658.899116262,634,877,784.899116262,808,652,629.899116262,652,0.407063208116,-0.00548586458035,0.0699315397255,0.999999993144,2.53850355919e-05,-0.000109276200234,-3.35488957869e-05,1793246551460942592
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.472662287,745,714.472662287,679.472662287,658.527337713,634,877,785,808,652,629.527337713,652,0.407600553215,-0.00550321306015,0.0699264059239,0.999999993185,-4.24649093189e-06,-0.000111492893371,-3.43666434641e-05,1793246551477609472
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.952672645,745,715,680,658,634,877,784.952672645,808,652,629.047327355,652,0.408153707368,-0.00551898884561,0.0699253768986,0.999999993266,-3.32068258003e-05,-0.000105316174496,-3.56816595762e-05,1793246551494276096
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.359598454,745,715,680,658,634,877,784.359598454,808,652,629.640401546,652,0.408762324226,-0.00551744851196,0.0699431395372,0.99999999661,-2.23814352258e-05,-7.01286226097e-05,-3.68914772407e-05,1793246551510942720
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.772104475,680,658,634,877.227895525,784,808,652,629.772104475,652,0.409376492143,-0.00552050913026,0.0699529486167,0.999999997874,-2.25592489039e-05,-4.80139477647e-05,-3.79108011715e-05,1793246551527609088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.193205155,680,658,634,877.806794845,784,808,652,629.193205155,652,0.409999209745,-0.00553065611687,0.0699505076548,0.999999997407,-3.96841554307e-05,-4.6034069236e-05,-3.86367273802e-05,1793246551544275712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.381240547,634,878,784,808.381240547,652,629.381240547,652,0.410646218355,-0.00553739700921,0.0699458046724,0.999999996412,-5.05661186061e-05,-5.50557568377e-05,-3.98492613892e-05,1793246551560942592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.953455287,634,878,784,808.953455287,652,629.953455287,652,0.411305395002,-0.00554243169211,0.0699399685799,0.999999995025,-5.83208140155e-05,-6.9588440741e-05,-4.13055510087e-05,1793246551577609216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.526996903,745,714,680.526996903,659,634,878,784,809,652,629.473003097,652,0.412033709599,-0.00553550601033,0.0699612819786,0.999999997552,-4.78295943106e-05,-3.18357205218e-05,-3.99359246681e-05,1793246551594276096
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.895455417,745,714,680.790910834,659,634,877.895455417,784,808.895455417,651.895455417,629,652.104544583,0.412773528225,-0.00552492032462,0.0699861877355,0.999999998654,-3.26792879997e-05,1.09900839071e-05,-3.87645591624e-05,1793246551610942720
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.299634704,745,714,679.599269407,659,634,877.299634704,784,808.299634704,651.299634704,629,652.700365296,0.413538639172,-0.00550211206232,0.0700166782273,0.999999997644,-3.22683362892e-06,5.5900190626e-05,-3.97006812474e-05,1793246551627609344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.286089387,745,714.286089387,679,659,634,877.286089387,784,808.286089387,651,629,652.713910613,0.414289298014,-0.0054942280126,0.0700211947874,0.999999997501,4.05271872814e-06,5.74769216366e-05,-4.09744589983e-05,1793246551644275968
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861599361,745,714.861599361,679,659,634,877.861599361,784,808.861599361,651,629,652.138400639,0.415025336563,-0.005501441949,0.0699994349811,0.999999998916,-1.10988068292e-05,1.52157121327e-05,-4.25898241889e-05,1793246551660942592
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563250125,745,714.563250125,679.436749875,659,634,877.563250125,784,809,651,629.436749875,652,0.415785731181,-0.00551023822768,0.0699512481344,0.99999999656,-2.59522617532e-05,-6.38480743115e-05,-4.61529608867e-05,1793246551677608960
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.987887882,877.012112118,784,809,651,629.987887882,652,0.416555568083,-0.00551938945043,0.0698963069904,0.99999998636,-4.05961590177e-05,-0.000152008945997,-5.02474937571e-05,1793246551694275328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.396966938,877.603033062,784,809,651,629.396966938,652,0.417408103299,-0.00552156045099,0.0699184574897,0.999999990533,-4.97359139039e-05,-0.000118043874518,-5.02647714999e-05,1793246551710942208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.189398914,745,714,680,659,633.189398914,878,784,809,651,629.189398914,652.189398914,0.418268650006,-0.00552354321106,0.0699443523048,0.999999994091,-5.61671475209e-05,-7.86558499689e-05,-4.97560528051e-05,1793246551727609344
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.766441793,745,714,680,659,633.766441793,878,784,809,651,629.766441793,652.766441793,0.419145593831,-0.005525140698,0.0699779106337,0.999999996815,-5.70548328486e-05,-2.81686349108e-05,-4.81707738674e-05,1793246551744275968
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.343036713,634,878,784,809,651,630,652.656963287,0.420047193895,-0.0055217783097,0.0700054375038,0.999999997399,-5.20752115523e-05,1.55437467584e-05,-4.74282815583e-05,1793246551760942592
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.919327013,634,878,784,809,651,630,652.080672987,0.420965559348,-0.00551504337068,0.0700288631805,0.999999996461,-4.31060163391e-05,5.46494643619e-05,-4.72588562625e-05,1793246551777609216
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680.493071857,660,634,878,784.493071857,809,651.493071857,630,652.493071857,0.421872571704,-0.00551263480532,0.0700276596256,0.999999996828,-4.12372289143e-05,4.76276515327e-05,-4.87270896046e-05,1793246551794275840
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931157369,745,714,680.931157369,660,633.931157369,878,785,809,651.931157369,630,653,0.422764210239,-0.00551187703741,0.0700128139749,0.999999997665,-4.20452111082e-05,1.8253700937e-05,-5.06880807732e-05,1793246551810942464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.336757493,745,714,680.336757493,660,633.336757493,878,785,809,651.336757493,630,653,0.423552589503,-0.00551834564873,0.0699244272629,0.999999989296,-5.44649138384e-05,-0.000124440782614,-5.4375858884e-05,1793246551827609088
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.250065726,745,714,680.250065726,660,633.250065726,878,785,809.250065726,651.250065726,630,653,0.424400136912,-0.00552208123202,0.0698691557728,0.99999997489,-6.53215107005e-05,-0.000206160818259,-5.87456615351e-05,1793246551844275712
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.826985776,745,714,680.826985776,660,633.826985776,878,785,809.826985776,651.826985776,630,653,0.425325021556,-0.00552224454723,0.0698571683048,0.999999973534,-7.41350159321e-05,-0.000208182781344,-6.40069221614e-05,1793246551860942336
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.596534508,745,714,680.596534508,660,634,878.403465492,785,810,652,630,653,0.426298900578,-0.00552211453614,0.069901181079,0.999999986336,-6.67238959827e-05,-0.000138500545519,-6.07785107618e-05,1793246551877609216
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.020243446,745,714,680.020243446,660,634,878.979756554,785,810,652,630,653,0.427293766425,-0.0055218588779,0.0699691817141,0.99999999645,-5.23629114106e-05,-3.81036144838e-05,-5.39135237916e-05,1793246551894276096
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,785,810,651.444440241,630,652.444440241,0.428294242248,-0.00552201082399,0.070014104356,0.999999996393,-6.18637497158e-05,2.3227271331e-05,-5.33572044833e-05,1793246551910942464
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,785,810.13578016,651,630,652.13578016,0.429278533043,-0.0055236252243,0.0700482394048,0.999999993476,-7.14708875672e-05,7.13836700016e-05,-5.33403750073e-05,1793246551927609088
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,785,810.731007347,651,630,652.731007347,0.430207366507,-0.00553013800155,0.0700487148137,0.999999992259,-7.84982055007e-05,7.97733098062e-05,-5.43718905736e-05,1793246551944275456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.68837366,879,785,810.68837366,651,630,653,0.431058818992,-0.00553212948559,0.0700042954908,0.999999995353,-7.80478539181e-05,3.64573982517e-06,-5.64804780172e-05,1793246551960942080
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.119799702,879,785,810.119799702,651,630,653,0.431846467908,-0.0055303929933,0.0699228587757,0.999999985574,-7.1431881394e-05,-0.000142169444066,-5.94771506971e-05,1793246551977608960
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.465384236,745,714,680.465384236,660.930768472,633.465384236,879,785,810,651,630,653,0.432273325419,-0.00553546827476,0.0698926366437,0.999999980132,-7.67127635792e-05,-0.000173791008548,-6.038979414e-05,1793246551994275840
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,662.108840986,633.945579507,879,785.163261479,810,651.054420493,630,653.054420493,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552010942720
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681,663.275604646,633.362197677,879,786.913406968,810,651.637802323,630,653.637802323,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552027609088
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,681,663.122115862,633.219471035,879,787.341586896,810,651.780528965,630,653.561057931,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552044275712
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.806661839,633.79833454,879,785.604996379,810,651.20166546,630,652.403330919,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552060942336
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680.622640051,659.622640051,634,878.622640051,784.622640051,810,651,630,652.377359949,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552077609472
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680.043528116,659.043528116,634,878.043528116,784.043528116,810,651,630,652.956471884,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552094276864
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680.53872871,659.53872871,634,878.53872871,784.53872871,810,651.53872871,630,653,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552110942976
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.48233852,633.87941537,879,785,809.87941537,652,630,653,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552127608832
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,681,662.799771297,633.300057176,879,785,809.300057176,652,630,653,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552144275712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.72078889,745,714,680.72078889,662.883155561,633,879,784.72078889,809.27921111,651.72078889,630,653,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552160942336
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.141617232,745,714,680.141617232,660.566468929,633,879,784.141617232,809.858382768,651.141617232,630,653,0.432573035454,-0.00554171887759,0.069877630079,0.999999979315,-8.43806142168e-05,-0.000174822603868,-6.07128702789e-05,1793246552177609216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.029198925,660,633.014599463,878.985400537,784.014599463,810,651,630,653,0.43256124124,-0.00554089252006,0.0698769370365,0.999999979147,-8.33580225181e-05,-0.00017632141759,-6.056268383e-05,1793246552194276096
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.067848269,660,633.033924134,878.966075866,784.033924134,810,651,630,653,0.432545629754,-0.00553979870664,0.0698760196864,0.999999978919,-8.20044624982e-05,-0.000178305331923,-6.03638885795e-05,1793246552210942720
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.106497612,660,633.053248806,878.946751194,784.053248806,810,651,630,653,0.432530018268,-0.00553870489323,0.0698751023363,0.999999978686,-8.06509024775e-05,-0.000180289246257,-6.01650933286e-05,1793246552227609344
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.145146953,660,633.072573477,878.927426523,784.072573477,810,651,630,653,0.432514406783,-0.00553761107988,0.0698741849863,0.999999978446,-7.92973425371e-05,-0.00018227316047,-5.99662980893e-05,1793246552244276224
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.183796297,660,633.091898148,878.908101852,784.091898148,810,651,630,653,0.432498795297,-0.00553651726646,0.0698732676362,0.999999978201,-7.79437825148e-05,-0.000184257074803,-5.97675028375e-05,1793246552260942848
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.22244564,660,633.11122282,878.88877718,784.11122282,810,651,630,653,0.432483183811,-0.00553542345304,0.0698723502861,0.99999997795,-7.65902224915e-05,-0.000186240989134,-5.95687075854e-05,1793246552277609472
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.261094982,660,633.130547491,878.869452509,784.130547491,810,651,630,653,0.432467572325,-0.00553432963969,0.0698714329361,0.999999977693,-7.52366625489e-05,-0.000188224903346,-5.93699123449e-05,1793246552294276096
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.299744325,660,633.149872163,878.850127837,784.149872163,810,651,630,653,0.432451960839,-0.00553323582628,0.069870515586,0.99999997743,-7.38831025242e-05,-0.000190208817677,-5.9171117092e-05,1793246552310942720
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.338393669,660,633.169196834,878.830803166,784.169196834,810,651,630,653,0.432436349353,-0.00553214201286,0.0698695982359,0.999999977162,-7.25295424989e-05,-0.000192192732006,-5.89723218387e-05,1793246552327609344
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.37704301,660,633.188521505,878.811478495,784.188521505,810,651,630,653,0.432420737868,-0.00553104819951,0.0698686808858,0.999999976888,-7.1175982554e-05,-0.000194176646217,-5.8773526597e-05,1793246552344275968
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.415692353,660,633.207846177,878.792153823,784.207846177,810,651,630,653,0.432405126382,-0.0055299543861,0.0698677635357,0.999999976607,-6.98224225273e-05,-0.000196160560544,-5.8574731343e-05,1793246552360942848
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.454341697,660,633.227170848,878.772829152,784.227170848,810,651,630,653,0.432389514896,-0.00552886057268,0.0698668461857,0.999999976322,-6.84688624999e-05,-0.000198144474872,-5.83759360885e-05,1793246552377609472
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.492991038,660,633.246495519,878.753504481,784.246495519,810,651,630,653,0.432373903411,-0.00552776675933,0.0698659288356,0.99999997603,-6.71153025532e-05,-0.000200128389079,-5.81771408457e-05,1793246552394276096
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.531640381,660,633.265820191,878.734179809,784.265820191,810,651,630,653,0.432358291925,-0.00552667294592,0.0698650114855,0.999999975732,-6.57617425246e-05,-0.000202112303405,-5.79783455906e-05,1793246552410942720
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680.570289725,660,633.285144862,878.714855138,784.285144862,810,651,630,653,0.432342680439,-0.0055255791325,0.0698640941354,0.999999975429,-6.44081824955e-05,-0.00020409621773,-5.77795503351e-05,1793246552427609344
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.608939066,660,633.304469533,878.695530467,784.304469533,810,651,630,653,0.432327068953,-0.00552448531915,0.0698631767854,0.99999997512,-6.30546225469e-05,-0.000206080131935,-5.75807550911e-05,1793246552444275968
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.64758841,660,633.323794205,878.676205795,784.323794205,810,651,630,653,0.432311457467,-0.00552339150573,0.0698622594353,0.999999974805,-6.17010625167e-05,-0.000208064046258,-5.73819598349e-05,1793246552460942592
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680.686237753,660,633.343118877,878.656881123,784.343118877,810,651,630,653,0.432295845981,-0.00552229769232,0.0698613420852,0.999999974484,-6.0347502486e-05,-0.00021004796058,-5.71831645783e-05,1793246552477609472
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680.724887094,660,633.362443547,878.637556453,784.362443547,810,651,630,653,0.432280234496,-0.00552120387897,0.0698604247352,0.999999974157,-5.8993942536e-05,-0.000212031874782,-5.69843693333e-05,1793246552494276096
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680.763536438,660,633.381768219,878.618231781,784.381768219,810,651,630,653,0.43226462301,-0.00552011006555,0.0698595073851,0.999999973825,-5.76403825043e-05,-0.000214015789102,-5.67855740761e-05,1793246552510942720
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680.802185781,660,633.401092891,878.598907109,784.401092891,810,651,630,653,0.432249011524,-0.00551901625214,0.069858590035,0.999999973487,-5.62868224722e-05,-0.000215999703421,-5.65867788184e-05,1793246552527609344
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.840835122,660,633.420417561,878.579582439,784.420417561,810,651,630,653,0.432233400039,-0.00551792243879,0.0698576726849,0.999999973143,-5.49332625209e-05,-0.000217983617619,-5.63879835724e-05,1793246552544275968
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.879484466,660,633.439742233,878.560257767,784.439742233,810,651,630,653,0.432217788553,-0.00551682862537,0.0698567553349,0.999999972793,-5.35797024881e-05,-0.000219967531936,-5.6189188314e-05,1793246552560942592
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.918133809,660,633.459066905,878.540933095,784.459066905,810,651,630,653,0.432202177066,-0.00551573481195,0.0698558379848,0.999999972438,-5.22261424548e-05,-0.00022195144625,-5.59903930555e-05,1793246552577609216
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.956783151,660,633.478391575,878.521608425,784.478391575,810,651,630,653,0.432186565581,-0.0055146409986,0.0698549206347,0.999999972076,-5.08725825025e-05,-0.000223935360446,-5.57915978084e-05,1793246552594276096
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.995432494,660,633.497716247,878.502283753,784.497716247,810,651,630,653,0.432170954095,-0.00551354718519,0.0698540032846,0.999999971709,-4.95190224686e-05,-0.000225919274759,-5.55928025491e-05,1793246552610942720
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,681.034081838,660,633.517040919,878.482959081,784.517040919,810,651,630,653,0.432155342609,-0.00551245337177,0.0698530859345,0.999999971336,-4.81654624344e-05,-0.00022790318907,-5.53940072894e-05,1793246552627609344
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681.072731179,660,633.536365589,878.463634411,784.536365589,810,651,630,653,0.432139731124,-0.00551135955842,0.0698521685845,0.999999970957,-4.68119024811e-05,-0.000229887103261,-5.51952120415e-05,1793246552644275968
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681.111380522,660,633.555690261,878.444309739,784.555690261,810,651,630,653,0.432124119638,-0.00551026574501,0.0698512512344,0.999999970572,-4.54583424465e-05,-0.000231871017569,-5.49964167813e-05,1793246552660942592
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681.150029866,660,633.575014933,878.424985067,784.575014933,810,651,630,653,0.432108508152,-0.00550917193159,0.0698503338843,0.999999970182,-4.41047824115e-05,-0.000233854931877,-5.47976215207e-05,1793246552677609216
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681.188679207,660,633.594339603,878.405660397,784.594339603,810,651,630,653,0.432092896667,-0.00550807811824,0.0698494165343,0.999999969786,-4.27512224577e-05,-0.000235838846063,-5.45988262718e-05,1793246552694275840
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681.22732855,660,633.613664275,878.386335725,784.613664275,810,651,630,653,0.432077285181,-0.00550698430483,0.0698484991842,0.999999969384,-4.13976624223e-05,-0.000237822760368,-5.44000310105e-05,1793246552710942720
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681.265977894,660,633.632988947,878.367011053,784.632988947,810,651,630,653,0.432061673694,-0.00550589049141,0.0698475818341,0.999999968976,-4.0044102387e-05,-0.00023980667467,-5.42012357491e-05,1793246552727609344
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681.304627235,660,633.652313618,878.347686382,784.652313618,810,651,630,653,0.432046062209,-0.00550479667806,0.069846664484,0.999999968562,-3.86905424326e-05,-0.000241790588853,-5.40024404992e-05,1793246552744275968
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681.343276579,660,633.671638289,878.328361711,784.671638289,810,651,630,653,0.432030450723,-0.00550370286464,0.069845747134,0.999999968143,-3.7336982397e-05,-0.000243774503153,-5.38036452372e-05,1793246552760942592
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681.381925922,660,633.690962961,878.309037039,784.690962961,810,651,630,653,0.432014839237,-0.00550260905123,0.0698448297839,0.999999967717,-3.59834223612e-05,-0.000245758417451,-5.36048499748e-05,1793246552777609216
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681.420575263,660,633.710287632,878.289712368,784.710287632,810,651,630,653,0.431999227752,-0.00550151523788,0.0698439124338,0.999999967286,-3.46298624067e-05,-0.000247742331628,-5.3406054724e-05,1793246552794275840
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681.459224607,660,633.729612303,878.270387697,784.729612303,810,651,630,653,0.431983616266,-0.00550042142446,0.0698429950837,0.999999966849,-3.32763023708e-05,-0.000249726245922,-5.32072594612e-05,1793246552810942464
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681.49787395,660,633.748936975,878.251063025,784.748936975,810,651,630,653,0.43196800478,-0.00549932761105,0.0698420777336,0.999999966407,-3.19227423351e-05,-0.000251710160216,-5.30084641979e-05,1793246552827609344
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681.536523291,660,633.768261646,878.231738354,784.768261646,810,651,630,653,0.431952393295,-0.0054982337977,0.0698411603836,0.999999965958,-3.05691823804e-05,-0.000253694074388,-5.28096689464e-05,1793246552844275968
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681.575172635,660,633.787586317,878.212413683,784.787586317,810,651,630,653,0.431936781808,-0.00549713998428,0.0698402430335,0.999999965504,-2.92156223447e-05,-0.000255677988678,-5.26108736826e-05,1793246552860942592
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681.613821978,660,633.806910989,878.193089011,784.806910989,810,651,630,653,0.431921170322,-0.00549604617086,0.0698393256834,0.999999965044,-2.7862062309e-05,-0.000257661902966,-5.24120784186e-05,1793246552877609216
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681.65247132,660,633.82623566,878.17376434,784.82623566,810,651,630,653,0.431905558837,-0.00549495235751,0.0698384083334,0.999999964578,-2.65085023546e-05,-0.000259645817132,-5.22132831661e-05,1793246552894275840
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.691120663,660,633.845560332,878.154439668,784.845560332,810,651,630,653,0.431889947351,-0.0054938585441,0.0698374909833,0.999999964106,-2.51549423191e-05,-0.000261629731416,-5.20144879016e-05,1793246552910942464
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.729770007,660,633.864885003,878.135114997,784.864885003,810,651,630,653,0.431874335865,-0.00549276473068,0.0698365736332,0.999999963628,-2.38013822838e-05,-0.000263613645697,-5.18156926367e-05,1793246552927609088
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.768419348,660,633.884209674,878.115790326,784.884209674,810,651,630,653,0.43185872438,-0.00549167091733,0.0698356562832,0.999999963145,-2.24478223297e-05,-0.000265597559859,-5.16168973835e-05,1793246552944275968
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.807068691,660,633.903534346,878.096465654,784.903534346,810,651,630,653,0.431843112894,-0.00549057710392,0.0698347389331,0.999999962656,-2.10942622948e-05,-0.000267581474136,-5.14181021183e-05,1793246552960942592
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.845718035,660,633.922859017,878.077140983,784.922859017,810,651,630,653,0.431827501408,-0.0054894832905,0.069833821583,0.999999962161,-1.97407022599e-05,-0.000269565388412,-5.12193068526e-05,1793246552977609216
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.884367376,660,633.942183688,878.057816312,784.942183688,810,651,630,653,0.431811889922,-0.00548838947715,0.0698329042329,0.99999996166,-1.83871423066e-05,-0.000271549302567,-5.10205115987e-05,1793246552994275840
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.923016719,660,633.96150836,878.03849164,784.96150836,810,651,630,653,0.431796278436,-0.00548729566374,0.0698319868828,0.999999961153,-1.70335822722e-05,-0.000273533216839,-5.08217163326e-05,1793246553010942464
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.961666063,660,633.980833031,878.019166969,784.980833031,810,651,630,653,0.43178066695,-0.00548620185032,0.0698310695327,0.999999960641,-1.56800222382e-05,-0.000275517131109,-5.06229210663e-05,1793246553027609088
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,744.995197188,714,681.995197188,660,633.995197188,878.004802812,785,810,651,630,653,0.431765190472,-0.00548513687377,0.0698301663612,0.999999960128,-1.43588575543e-05,-0.000277480360501,-5.0423656566e-05,1793246553044275712
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,744.406664923,714,681.406664923,660,633.406664923,878.593335077,785,810,651,630,653,0.43176612258,-0.00548757669568,0.0698309864263,0.999999960253,-1.69749849395e-05,-0.000276929583237,-5.01673603472e-05,1793246553060942592
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.177706056,744.177706056,714,681.177706056,660,633,879,785,810,651.177706056,630.177706056,653,0.431766925987,-0.00548883435687,0.0698315460424,0.999999960416,-1.86128524073e-05,-0.000276255344625,-5.00514690631e-05,1793246553077608960
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.752772144,744.752772144,714,681.752772144,660,633,879,785,810,651.752772144,630.752772144,653,0.431767441608,-0.00548744864471,0.0698315232807,0.999999960678,-1.80632793898e-05,-0.00027530504002,-5.02495305709e-05,1793246553094275584
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681.662950686,660,633,879,784.662950686,810,651.662950686,630.662950686,653,0.431766884571,-0.00548622001645,0.0698315369923,0.999999960677,-1.71848528415e-05,-0.000275318557242,-5.04985345048e-05,1793246553110942208
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681.071727323,660,633,879,784.071727323,810,651.071727323,630.071727323,653,0.431765518625,-0.00548510984763,0.0698315782092,0.999999960477,-1.60584328352e-05,-0.000276058907305,-5.07859548931e-05,1793246553127608832
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+248,4.133333333,POSE1_TO_POSE2_PRESS,765.281876305,745,714,681,660,633,878.718123695,784.281876305,809.281876305,651,630.718123695,652,0.431765815924,-0.00548898549361,0.0698305946516,0.999999960231,-1.82187416134e-05,-0.000276851373926,-5.05814504632e-05,1793246553210943232
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+440,7.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,633,878.580459818,785,809.580459818,651,630,652.419540182,0.429552709833,-0.00539490509546,0.0697263034228,0.999999893507,0.000158304261394,-0.000433016138345,2.05499329401e-05,1793246556449671168
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+442,7.366666667,POSE2_TO_POSE3_RETREAT,765.256209432,745,714,682,659.743790568,633,878.256209432,784.256209432,809.256209432,651.743790568,630,652,0.42776246331,-0.00539341835313,0.0697653735686,0.999999918964,0.000156454458868,-0.000370338272732,2.10729887629e-05,1793246556483004160
+443,7.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.676443902,659.676443902,633.323556098,878.323556098,784.323556098,809,651.676443902,630,652.323556098,0.426894161836,-0.00539430510207,0.0698209764951,0.999999947358,0.000152561547431,-0.000285323655321,2.44901586812e-05,1793246556499671296
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+445,7.416666667,POSE2_TO_POSE3_RETREAT,765.490227558,745,714,681.490227558,659,634,878.509772442,784.509772442,809,651,630,652.509772442,0.425085114095,-0.00539871558879,0.0698625673212,0.999999963603,0.00015057655284,-0.00022198117218,2.90868183836e-05,1793246556533004544
+446,7.433333333,POSE2_TO_POSE3_RETREAT,765.928263078,744.928263078,714,681.928263078,659,634,878,784.071736922,809,651,630,652,0.424138982044,-0.00540188129801,0.0698376692228,0.999999953828,0.000150112389148,-0.000262696045859,2.8301984599e-05,1793246556549670656
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+448,7.466666667,POSE2_TO_POSE3_RETREAT,765.225413736,744.225413736,714,681,659,633.774586264,878.225413736,784.774586264,809,651,630,652,0.422177971677,-0.00539405082198,0.0697288168866,0.99999988526,0.000168101079112,-0.000447960585737,2.35143909397e-05,1793246556583003904
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+451,7.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633.952427289,878.047572711,784.952427289,809,651,629.047572711,652,0.419590786952,-0.00538531924465,0.0697830512389,0.999999924268,0.000163551963204,-0.000352417633433,2.27219102289e-05,1793246556633005056
+452,7.533333333,POSE2_TO_POSE3_RETREAT,765.455629726,745,714,680.455629726,659,633.455629726,878,785,809,651,629.544370274,652,0.418794161135,-0.00538870686297,0.0698480508844,0.999999953878,0.000171372745988,-0.000249038813276,2.92348448284e-05,1793246556649671680
+453,7.550000000,POSE2_TO_POSE3_RETREAT,765.133362055,745,714,680.133362055,659,633.133362055,878,785,809,651,630,652.133362055,0.417982078054,-0.00539164708478,0.0698906623817,0.999999966757,0.000178168187884,-0.000183238781941,3.41448028181e-05,1793246556666338048
+454,7.566666667,POSE2_TO_POSE3_RETREAT,765.708167061,745,714,680.708167061,659,633.708167061,878,785,809,651,630,652.708167061,0.417120660334,-0.00539165620419,0.0698617645761,0.999999956064,0.000177525498224,-0.000235263466506,3.17424564434e-05,1793246556683004416
+455,7.583333333,POSE2_TO_POSE3_RETREAT,766,744.716740051,714,681,659,634,878,784.716740051,809,651.283259949,630,652.716740051,0.41627546442,-0.00539200003976,0.0698307627966,0.999999945702,0.000174941164869,-0.000277757076631,2.90121636081e-05,1793246556699670784
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+458,7.633333333,POSE2_TO_POSE3_RETREAT,765.03700218,745,714.96299782,680.03700218,658.96299782,634,877.03700218,785,808.96299782,651,629.96299782,652,0.413741170808,-0.00538443888143,0.0697322025204,0.999999884097,0.000184611879472,-0.000443919753409,2.57004152249e-05,1793246556749670400
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+460,7.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.806625967,658.193374033,634,878,785,808,651.193374033,629,652,0.412367325027,-0.00537584268949,0.0697927365807,0.999999926551,0.00019745380842,-0.000327490802789,2.56841357954e-05,1793246556783004416
+461,7.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.231832444,658.768167556,634,878,785,808,651.768167556,629,652,0.411741581354,-0.00537345080286,0.0698516846247,0.999999953551,0.000201328001456,-0.000227034749387,2.86555095259e-05,1793246556799671040
+462,7.700000000,POSE2_TO_POSE3_RETREAT,765.657173494,744.657173494,714,680,659,634,878,785,808,652,629.342826506,652.342826506,0.41108852205,-0.0053679808014,0.0698747579907,0.999999958974,0.00021018432112,-0.000192321120655,2.97758683164e-05,1793246556816337408
+463,7.716666667,POSE2_TO_POSE3_RETREAT,765.082605545,744.082605545,714,680,659,634,878,785,808,652,629.917394455,652.917394455,0.410416998156,-0.00536043007775,0.0698735810417,0.999999954416,0.000222408424281,-0.000202047599095,2.96449910491e-05,1793246556833004288
+464,7.733333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.507773446,659,634,877.492226554,784.492226554,808,651.492226554,629.492226554,652.492226554,0.409729032779,-0.00535669156076,0.0698349904456,0.999999937916,0.000226170734419,-0.000268825814047,2.7322591124e-05,1793246556849670912
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+472,7.866666667,POSE2_TO_POSE3_RETREAT,765.842962194,745,714,680.842962194,658,634,877.842962194,785.685924387,807.157037806,651.842962194,630,652,0.405410497579,-0.00539178768256,0.0697998600139,0.999999926386,0.000179173682297,-0.000338446152163,2.40491940647e-05,1793246556983004416
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+476,7.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,785,808,652,629,652,0.403984337842,-0.00537571085024,0.0698419706282,0.99999994621,0.000207747564338,-0.000252709576011,2.36364018332e-05,1793246557049670400
+477,7.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,785,808,652,629,652,0.403646813065,-0.0053765541635,0.0698437939453,0.999999947814,0.000201651000662,-0.000251371083286,2.28520334257e-05,1793246557066337280
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+496,8.266666667,POSE2_TO_POSE3_RETREAT,765.916394866,744.916394866,714,679,658,634,877,784.916394866,807.083605134,651,629,652,0.401008677204,-0.00535750418817,0.0698064532182,0.999999926747,0.000225598954593,-0.000308827362641,1.54154486189e-05,1793246557383003648
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+499,8.316666667,POSE2_TO_POSE3_RETREAT,765.81733313,744.81733313,714,679,658,634,877,784.81733313,808,651.81733313,629,652,0.400978930418,-0.00535630484705,0.0698145985105,0.99999992907,0.000232226896041,-0.000296084323295,1.63001449417e-05,1793246557433003264
+500,8.333333333,POSE2_TO_POSE3_RETREAT,765.608560668,744.608560668,714,679,658,634,877,784.608560668,808,651.608560668,629,652,0.4009744025,-0.00535710065252,0.0698155342904,0.999999930009,0.000230485975965,-0.000294279587999,1.60385532463e-05,1793246557449669888
+501,8.350000000,POSE2_TO_POSE3_RETREAT,765.035048433,744.035048433,714,679,658,634,877,784.035048433,808,651.035048433,629,652,0.400970943606,-0.00535829260362,0.0698161223337,0.999999931101,0.000227228536389,-0.000293121534663,1.56217073897e-05,1793246557466336768
+502,8.366666667,POSE2_TO_POSE3_RETREAT,765.558333486,744.558333486,714,679.558333486,658,634,877,784.558333486,808,651.558333486,629,652,0.400970067327,-0.00535851069691,0.069817651578,0.999999931828,0.000226682199758,-0.000291047142612,1.58261212408e-05,1793246557483003392
+503,8.383333333,POSE2_TO_POSE3_RETREAT,765.851436741,745,714,680,658,634,877,785,808,652,629,652,0.400969311445,-0.00535875131045,0.0698189491773,0.999999932481,0.000226120080763,-0.000289225198202,1.60013266606e-05,1793246557499670016
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+505,8.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.300589684,680,658,634,877,785,808,652,629,652,0.400967377027,-0.00535922010356,0.0698194629275,0.999999932867,0.000225813845613,-0.000288133559383,1.59041111787e-05,1793246557533003264
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+508,8.466666667,POSE2_TO_POSE3_RETREAT,765.045091512,745,714,679.954908488,658,634,877.045091512,785,808,652,629,652,0.400968500952,-0.00535778891558,0.0698217190815,0.999999933076,0.000228882872298,-0.000284999253253,1.53933493456e-05,1793246557583003392
+509,8.483333333,POSE2_TO_POSE3_RETREAT,765.623229195,745,714,679.376770805,658,634,877.623229195,785,808,652,629,652,0.400968302935,-0.00535751616964,0.0698212904943,0.999999932746,0.000230127243103,-0.000285146802026,1.55070753802e-05,1793246557599670016
+510,8.500000000,POSE2_TO_POSE3_RETREAT,765.798428287,745,714,679,658,634,878,785,808,651.798428287,629,652,0.400968141107,-0.00535787109776,0.0698212708689,0.999999932774,0.00023021678383,-0.00028496944242,1.56669078368e-05,1793246557616336640
+511,8.516666667,POSE2_TO_POSE3_RETREAT,765.219702543,745,714,679,658,634,878,785,808,651.219702543,629,652,0.400968046988,-0.00535940044562,0.0698220164381,0.999999933468,0.000228145560882,-0.000284184157696,1.59130084582e-05,1793246557633003264
+512,8.533333333,POSE2_TO_POSE3_RETREAT,765.356446095,745,714,679,658,634,877.643553905,784.643553905,808,651.356446095,629,652,0.400967635769,-0.00535992571035,0.0698223759376,0.999999933934,0.000226706512158,-0.000283703731944,1.57573256715e-05,1793246557649669888
+513,8.550000000,POSE2_TO_POSE3_RETREAT,765.931017663,745,714,679,658,634,877.068982337,784.068982337,808,651.931017663,629,652,0.400967030503,-0.00535983653118,0.0698224991834,0.999999934262,0.000225654319484,-0.000283409863201,1.53557734518e-05,1793246557666336512
+514,8.566666667,POSE2_TO_POSE3_RETREAT,765.478592246,745,714,679.521407754,658,634,877,784.521407754,808,651.478592246,629.521407754,652.521407754,0.400967162429,-0.00536109444935,0.0698224310322,0.999999934501,0.000224568344031,-0.000283428304877,1.53360431482e-05,1793246557683003392
+515,8.583333333,POSE2_TO_POSE3_RETREAT,765.111336549,745,714,679.888663451,658,634,877.111336549,785,807.888663451,651,629.888663451,652.888663451,0.400967002889,-0.00536190601949,0.0698222580537,0.999999934518,0.000224117362698,-0.000283723487735,1.53670049072e-05,1793246557699670016
+516,8.600000000,POSE2_TO_POSE3_RETREAT,765.690263533,745,714,679.309736467,658,634,877.690263533,785,807.309736467,651,629.309736467,652.309736467,0.400965196827,-0.00536007110956,0.0698217544957,0.999999933651,0.000226352583527,-0.000285001966832,1.53920721413e-05,1793246557716336640
+517,8.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,658,634,877.733819516,785,807.266180484,651,629,652,0.400965366228,-0.00535857689243,0.0698217446726,0.999999933419,0.000227831332175,-0.000284642730273,1.52946236556e-05,1793246557733003264
+518,8.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,658,634,877.161365901,785,807.838634099,651,629,652,0.400967808639,-0.0053574746837,0.0698223029517,0.99999993392,0.000228439667554,-0.000282399102158,1.50562058858e-05,1793246557749670144
+519,8.650000000,POSE2_TO_POSE3_RETREAT,765.576588079,745,714,679,658,634,877.423411921,785,808,651.423411921,629,652,0.400968528176,-0.00535794621581,0.0698231850891,0.999999934295,0.0002278706868,-0.00028153226607,1.49744513373e-05,1793246557766337536
+520,8.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.987207037,785,808,652,629,652,0.400968584619,-0.00535904789192,0.0698241862449,0.999999934618,0.000226864884832,-0.000281196176206,1.49684301434e-05,1793246557783005184
+521,8.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.408201073,785,808,652,629,652,0.400969224951,-0.00536069826934,0.0698248285902,0.999999934798,0.000226979531882,-0.000280431144737,1.55925662432e-05,1793246557799671552
+522,8.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.169813131,784.830186869,808,652,629,652,0.400969532172,-0.00536145125765,0.069824948319,0.999999934944,0.000226760267722,-0.000280070484558,1.58669894956e-05,1793246557816337920
+523,8.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.745457124,784.254542876,808,652,629,652,0.400969043303,-0.00536005960489,0.0698238190638,0.999999935013,0.000225743000047,-0.00028067621818,1.53056453866e-05,1793246557833004544
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38a309b03b1d65f6a985cf18b4ba47fd9cb8c2b1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,525 @@
+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,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+5,0.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+16,0.266666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+17,0.283333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+18,0.300000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+19,0.316666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+21,0.350000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+22,0.366666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+23,0.383333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+24,0.400000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+26,0.433333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+27,0.450000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+28,0.466666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+29,0.483333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+30,0.500000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+516,8.600000000,pose2_to_pose3_retreat,0.583246465625,-7.2044406937e-05,1.06004238859,0.55381825519,0.0086024074832,1.05966577356
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f4b5a36ecf4ecea638dd49f9586c7d488d3d08d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c06acc6a7f71ad86b1a10cfa5306a4c4da2a9bf4f19635b6c5aa5a62c917b1f2
+size 25846177
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bb4f26678a32d75333eb7ce1daf7f5cf480326f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+52,0.866666667,BASELINE,765.811966239,745,714,679.811966239,658,634,877,785,808,651,629,652,0.400966379647,-0.00535984754184,0.069825035149,0.999999935492,0.000225038424102,-0.000279575859902,1.4547941346e-05,1793246558822003712
+53,0.883333333,BASELINE,765.232222805,745,714,679.232222805,658,634,877,785,808,651,629,652,0.400966646086,-0.0053587367317,0.0698251457726,0.999999934768,0.000228772785802,-0.000279133101067,1.45604195709e-05,1793246558838670848
+54,0.900000000,BASELINE,765.344505986,745,714,679,658,634,877,785,808,651,629,652,0.400966465099,-0.00535948082594,0.0698248768061,0.999999934937,0.000227574505919,-0.000279510981174,1.44776804336e-05,1793246558855337728
+55,0.916666667,BASELINE,765.919220286,745,714,679,658,634,877,785,808,651,629,652,0.40096598513,-0.00536146441804,0.0698243541872,0.999999935692,0.000223080099988,-0.000280437234662,1.43313144521e-05,1793246558872004352
+56,0.933333333,BASELINE,765.494738801,745,714,679.505261199,658,634,877,785,808,651,629,652,0.400966416799,-0.00536243312307,0.069824898459,0.999999936023,0.00022329330072,-0.000279074774603,1.45198931796e-05,1793246558888670976
+57,0.950000000,BASELINE,765,745,714,680,658,634,877,785,808,651.091736046,629.091736046,652,0.400967109057,-0.00536293072249,0.0698257408588,0.999999936284,0.000224336064372,-0.000277286433833,1.47501249821e-05,1793246558905337344
+58,0.966666667,BASELINE,765,745,714,680,658,634,877,785,808,651.670677329,629.670677329,652,0.400968393465,-0.00536180780532,0.0698272399312,0.999999936545,0.000225695706264,-0.000275224171847,1.49106510377e-05,1793246558922003968
+59,0.983333333,BASELINE,765,745,714,680,658,634,877.24887312,785,808,652,629.75112688,652,0.400968577952,-0.00536071017012,0.0698274589173,0.999999936558,0.000225703735768,-0.000275170365251,1.49309547289e-05,1793246558938670592
+60,1.000000000,BASELINE,765,745,714,680,658,634,877.826085463,785,808,652,629.173914537,652,0.400967311312,-0.0053596458894,0.069825989081,0.999999936242,0.000223928578265,-0.000277766320953,1.47662625612e-05,1793246558955337472
+61,1.016666667,BASELINE,765.401398634,745,714,680,658.401398634,634,877.598601366,785,808,652,629,652,0.400968164886,-0.00535888369726,0.069826338424,0.999999935857,0.000226765451441,-0.000276862742709,1.44817388335e-05,1793246558972004096
+62,1.033333333,BASELINE,765.975892788,745,714,680,658.975892788,634,877.024107212,785,808,652,629,652,0.400969932764,-0.00535825177515,0.0698274722535,0.999999935421,0.000231591175165,-0.000274450056894,1.4145540036e-05,1793246558988670976
+63,1.050000000,BASELINE,766,745,714.565364693,679.434635307,658.434635307,634,877,785,808,652,629,652,0.400968388109,-0.00536060367774,0.0698264565236,0.999999935894,0.000227202059428,-0.000276371911479,1.44963667891e-05,1793246559005337600
+64,1.066666667,BASELINE,765.847455675,745,715,679,658.152544325,634,877.152544325,785,808,652,629,652,0.400967279508,-0.00536215694612,0.0698258818368,0.999999936289,0.000223911155979,-0.000277615261413,1.46970574326e-05,1793246559022004480
+65,1.083333333,BASELINE,765.268517223,745,715,679,658.731482777,634,877.731482777,785,808,652,629,652,0.400967795329,-0.00536111254551,0.0698268031346,0.999999936418,0.000224818180664,-0.000276431359813,1.43939716761e-05,1793246559038670592
+66,1.100000000,BASELINE,765,745,714.691096902,679.308903098,658.691096902,634,878,785,808,652,629.308903098,652,0.400968543807,-0.00535997129588,0.069827455508,0.999999936214,0.000226445226396,-0.000275843582184,1.43239463263e-05,1793246559055336960
+67,1.116666667,BASELINE,765,745,714.11498981,679.88501019,658.11498981,634,878,785,808,652,629.88501019,652,0.400969493536,-0.00535874627103,0.0698278752592,0.99999993572,0.000228695096849,-0.000275771457281,1.44555203682e-05,1793246559072003840
+68,1.133333333,BASELINE,765,745,714,679.539668185,658,634,877.539668185,785,808,652,630,652,0.400968310004,-0.0053591088703,0.0698268118511,0.999999935506,0.000228608179809,-0.00027661987741,1.44389450647e-05,1793246559088670208
+69,1.150000000,BASELINE,765,745,714,679.036340559,658,634,877,785,808,652,630,652,0.400966751209,-0.00535975916757,0.0698255481484,0.999999935401,0.000227952154958,-0.00027754070393,1.43889581239e-05,1793246559105337088
+70,1.166666667,BASELINE,765,745,714,679.625787894,658,634,877,785,808,652,630,652,0.400967577605,-0.00535876247827,0.0698268652304,0.99999993591,0.000227503457738,-0.000276069662241,1.43927390287e-05,1793246559122003968
+71,1.183333333,BASELINE,765,745,714,680,658,634,877,785,808,651.788485861,629.788485861,652,0.400968613811,-0.00535866813677,0.0698279393131,0.999999936402,0.00022720437433,-0.000274524762468,1.45094595843e-05,1793246559138671104
+72,1.200000000,BASELINE,765,745,714,680,658,634,877,785,808,651.209229076,629.209229076,652,0.400970014796,-0.00536014263474,0.0698285909126,0.999999936864,0.000227165412372,-0.000272851451333,1.48225392401e-05,1793246559155337728
+73,1.216666667,BASELINE,765,745,714,680,658,634,877,785,807.633166524,651.366833476,629,652,0.400970435036,-0.00535994490793,0.0698288866742,0.999999937041,0.000227034239311,-0.000272320353605,1.46957107468e-05,1793246559172004352
+74,1.233333333,BASELINE,765,745,714,680,658,634,877,785,807.05891016,651.94108984,629,652,0.400970300721,-0.00535880163566,0.0698289812301,0.999999937056,0.000226850926265,-0.000272435110897,1.43201398895e-05,1793246559188670720
+75,1.250000000,BASELINE,765.528269781,745,714,680,658,634,877,785,807.528269781,652,629,652,0.400970166422,-0.00535925640658,0.0698285054615,0.999999936838,0.000227186603345,-0.000272953173534,1.4402143563e-05,1793246559205337088
+76,1.266666667,BASELINE,766,745,714.115691804,680,658,634,877,785,808,652,629.115691804,652.115691804,0.400969664532,-0.00536025159539,0.0698277694659,0.999999936669,0.000226750508566,-0.000273924541032,1.4562309671e-05,1793246559222003712
+77,1.283333333,BASELINE,766,745,714.698130372,680,658,634,877,785,808,652,629.698130372,652.698130372,0.400967679618,-0.00536269006046,0.0698262466335,0.999999936797,0.00022296143153,-0.000276538724552,1.48267902088e-05,1793246559238670336
+78,1.300000000,BASELINE,765.72261221,745,715,679.72261221,658,634,877.27738779,785,808,652,630,652.72261221,0.400965854353,-0.00536360855959,0.0698253397335,0.99999993657,0.000221714709465,-0.000278355607856,1.48654918061e-05,1793246559255337216
+79,1.316666667,BASELINE,765.146777491,745,715,679.146777491,658,634,877.853222509,785,808,652,630,652.146777491,0.400964200857,-0.00536289169759,0.0698250955274,0.999999935974,0.000223203356906,-0.000279314660154,1.46612734244e-05,1793246559272004352
+80,1.333333333,BASELINE,765,745,714.572350291,679.427649709,658,634,877.572350291,785,808,652,629.572350291,652,0.400964857091,-0.00536179962328,0.0698255765668,0.999999935957,0.000224220583189,-0.000278574359949,1.44080221296e-05,1793246559288671232
+81,1.350000000,BASELINE,765,745,714,679.998354054,658,634,877,785,808,651.998354054,629,652,0.400966307292,-0.00536058200121,0.0698263076355,0.999999936137,0.000225076757076,-0.000277248766848,1.41391273228e-05,1793246559305337856
+82,1.366666667,BASELINE,765,745,714,679.406244527,658,634,877,785,808,651.406244527,629,652,0.40096912988,-0.00536037238691,0.0698277302132,0.999999936681,0.000226010932727,-0.000274503961257,1.42757243729e-05,1793246559322004224
+83,1.383333333,BASELINE,765.180871006,745,714,679.180871006,658,634,877,785,808,651.180871006,629,652,0.400970574835,-0.00536000824066,0.0698283725495,0.99999993693,0.000226538146944,-0.000273156320804,1.43211953089e-05,1793246559338670336
+84,1.400000000,BASELINE,765.757071291,745,714,679.757071291,658,634,877,785,808,651.757071291,629,652,0.4009690087,-0.0053593063343,0.0698273095147,0.999999936547,0.000226175866819,-0.000274862459974,1.41674921646e-05,1793246559355336960
+85,1.416666667,BASELINE,766,745,714.33247354,679.66752646,658,634,877,785,808,652,629.33247354,652,0.400967265552,-0.0053598149298,0.0698268672739,0.999999936225,0.000225982621388,-0.000276179764808,1.44013978552e-05,1793246559372003840
+86,1.433333333,BASELINE,766,745,714.907294048,679.092705952,658,634,877,785,808,652,629.907294048,652,0.400965393376,-0.00536120588566,0.0698268775431,0.999999935947,0.00022591258893,-0.000277213639999,1.49178398021e-05,1793246559388670464
+87,1.450000000,BASELINE,766,745,714.5191011,679,658,634,877,785,807.5191011,651.5191011,630,652,0.400967326631,-0.00536050163918,0.0698273917825,0.99999993625,0.000226261008903,-0.00027583941769,1.47503273215e-05,1793246559405337088
+88,1.466666667,BASELINE,765.943549437,745,714.056450563,679.056450563,658,634,877,785,807.056450563,651,629.943549437,652,0.400969718951,-0.00535953858337,0.0698279996412,0.999999936667,0.000226529056518,-0.000274116809464,1.44810500331e-05,1793246559422003456
+89,1.483333333,BASELINE,765.347140231,745,714.652859769,679.652859769,658,634,877,785,807.652859769,651,629.347140231,652,0.400969503013,-0.00535995365427,0.0698285760377,0.999999937126,0.000225258675449,-0.000273491017592,1.44963648514e-05,1793246559438670336
+90,1.500000000,BASELINE,765,745,714.759337104,679.759337104,658,634,877.240662896,785,808,651.240662896,629,652,0.400969456498,-0.00536011388347,0.0698287198494,0.999999937225,0.000224998975215,-0.000273343967411,1.4456383503e-05,1793246559455337216
+91,1.516666667,BASELINE,765,745,714.183519137,679.183519137,658,634,877.816480863,785,808,651.816480863,629,652,0.400969645928,-0.0053599192117,0.0698282612295,0.999999936825,0.00022614678249,-0.00027386362872,1.43393948908e-05,1793246559472004608
+92,1.533333333,BASELINE,765,744.607498907,714,679.392501093,658,634,877.607498907,785,808,652,629,652,0.400970225636,-0.0053605161645,0.0698285006234,0.999999936973,0.00022600646304,-0.000273428962971,1.4561378346e-05,1793246559488670976
+93,1.550000000,BASELINE,765,744.031384008,714,679.968615992,658,634,877.031384008,785,808,652,629,652,0.400970987918,-0.00536148344288,0.0698290665513,0.999999937375,0.000225263552117,-0.000272547858704,1.49419344743e-05,1793246559505336832
+94,1.566666667,BASELINE,765,744.556395056,714,679.443604944,658,634,877,785,808,652,629,652,0.400970172663,-0.00536007557935,0.0698288196588,0.999999936918,0.00022674550292,-0.000273010756713,1.46757669009e-05,1793246559522003456
+95,1.583333333,BASELINE,765,745,714,679.142295567,658,634,877,785,808,651.857704433,629,652,0.400969660809,-0.00535910058858,0.0698286482224,0.999999936572,0.000227891952775,-0.00027332863138,1.45519509268e-05,1793246559538670080
+96,1.600000000,BASELINE,765,745,714,679.720384862,658,634,877,785,808,651.279615138,629,652,0.400970356505,-0.00535987039982,0.069828851298,0.999999936728,0.00022761832767,-0.000272965212274,1.49782131217e-05,1793246559555336960
+97,1.616666667,BASELINE,765.29772344,745,714,679.70227656,658.29772344,634,877,784.70227656,808,651,629,652,0.400970064596,-0.00536049070137,0.0698287170438,0.999999936848,0.000226790606568,-0.000273214119802,1.49522917598e-05,1793246559572003840
+98,1.633333333,BASELINE,765.874358702,745,714,679.125641298,658.874358702,634,877,784.125641298,808,651,629,652,0.400968847486,-0.00536097093993,0.069828266774,0.999999936934,0.000225443799974,-0.000274036664203,1.4502757978e-05,1793246559588670208
+99,1.650000000,BASELINE,765.550340202,745,714.449659798,679,658.550340202,634,877,784.449659798,808,651.449659798,629,652,0.400969226692,-0.00536073533857,0.0698279817358,0.999999937131,0.000224815988319,-0.000273834012584,1.45413275814e-05,1793246559605337344
+100,1.666666667,BASELINE,765.025303795,745,714.974696205,679,658,634,877,785,808,651.974696205,629,652,0.400969994266,-0.00536035012938,0.0698277517912,0.999999937337,0.000224401038186,-0.000273412151904,1.47041827757e-05,1793246559622004480
+101,1.683333333,BASELINE,765.61694135,745,714.38305865,679,658,634,877,785,808,651.38305865,629,652,0.400969500773,-0.00536107987634,0.0698277246716,0.999999937077,0.000224267164261,-0.000274476364612,1.46053117957e-05,1793246559638670848
+102,1.700000000,BASELINE,765.795765586,745,714,679,658,634,877,785,808,651.204234414,629,652,0.40096890161,-0.00536174928553,0.0698273015638,0.999999936903,0.000223794381472,-0.000275495660905,1.45760145268e-05,1793246559655337472
+103,1.716666667,BASELINE,765.216451318,745,714,679,658,634,877,785,808,651.783548682,629,652,0.400968108381,-0.0053623078833,0.0698261512172,0.999999936887,0.000222699187006,-0.000276432467341,1.46744905311e-05,1793246559672004352
+104,1.733333333,BASELINE,765,745,714,679,658,634,877,785,808,652,629,652,0.400968179216,-0.0053618383626,0.0698265519556,0.999999936955,0.000223663244628,-0.000275411224153,1.46208474097e-05,1793246559688671232
+105,1.750000000,BASELINE,765,745,714,679,658,634,877,785,808,652,629,652,0.400968765474,-0.00536075555901,0.0698278779315,0.999999937065,0.000225855666576,-0.000273221984901,1.44764637202e-05,1793246559705338112
+106,1.766666667,BASELINE,765,745,714,679,658,634,877.505599291,785,808,651.494400709,629,652.505599291,0.400970405086,-0.00536103572176,0.0698292319821,0.999999937839,0.000224073011717,-0.000271858837753,1.4363221717e-05,1793246559722004992
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634,878,785,807,651,629,652,0.400969185996,-0.00536168915442,0.0698276723527,0.999999936811,0.000225509699526,-0.000274428375097,1.458442142e-05,1793246559764609792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.580939181,658,634,878,785,807.580939181,651.580939181,629,652,0.400969506763,-0.00536169124358,0.0698278378729,0.999999937024,0.000224924882904,-0.000274126791638,1.46566788927e-05,1793246559781276672
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.840235524,745,714.159764476,679.840235524,658,634,878,785,808,651.840235524,629,652,0.400969313417,-0.00536145689216,0.069827625003,0.999999936948,0.000224702129186,-0.000274587738217,1.46720012448e-05,1793246559797943296
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.266882408,745,714.733117592,679.266882408,658,634,878,785,808,651.266882408,629,652,0.400967789164,-0.00536061045762,0.0698264325796,0.999999936117,0.000225416661948,-0.000277022676514,1.45399334052e-05,1793246559814609664
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.315879526,745,714.684120474,679.315879526,658,634,877.684120474,785,807.684120474,651.315879526,629,652,0.400968010866,-0.00536048917693,0.0698268786275,0.999999936454,0.00022502828409,-0.000276117960326,1.46005550066e-05,1793246559831276288
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.90683486,745,714.09316514,679.90683486,658,634,877.09316514,785,807.09316514,651.90683486,629,652,0.40096975299,-0.00536099937844,0.0698287514974,0.999999937799,0.000223679463977,-0.000272304989166,1.48289754101e-05,1793246559847942912
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.512097866,745,714,679.512097866,658,634,877.487902134,785,807.487902134,652,629,652,0.400969120847,-0.0053613526686,0.0698280057854,0.999999937278,0.000223478414908,-0.000274376850974,1.47617463667e-05,1793246559864609536
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.066410023,679.066410023,658,633.933589977,877.933589977,785,807.933589977,651.933589977,629,652,0.400968642092,-0.00536171564748,0.0698272638211,0.999999936662,0.000223468374552,-0.000276625495786,1.46930111413e-05,1793246559881276416
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.639510276,679.639510276,658,633.360489724,877.360489724,785,807.360489724,651.360489724,629,652,0.400972724001,-0.00536237661175,0.0698302896797,0.999999938018,0.000223276707207,-0.000271819641099,1.50349597044e-05,1793246559897943040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.213915693,745,714.786084307,679.786084307,658,633.213915693,877,784.786084307,807.213915693,651,629,652,0.400981946502,-0.00536277139968,0.0698351253475,0.999999940085,0.000223486660255,-0.000263908052406,1.53805052308e-05,1793246559914609664
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.790534012,745,714.209465988,679.209465988,658,633.790534012,877,784.209465988,807.790534012,651,629,652,0.400999885081,-0.00536271487491,0.0698430296192,0.999999943271,0.000224377576765,-0.000250730567785,1.57321495168e-05,1793246559931276288
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679.377378045,658,634,877.377378045,784.377378045,808,651,629,652,0.401032697237,-0.00536282901371,0.0698561972122,0.999999948507,0.000225161074794,-0.000228098585091,1.6116435624e-05,1793246559947942912
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679.970056058,658,634,877.970056058,784.970056058,808,651,629,652,0.401073995,-0.0053630405187,0.0698723676116,0.999999954337,0.000225883288886,-0.000200072664722,1.65193444151e-05,1793246559964609536
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.451350965,744.451350965,714,680,658,634,877.451350965,785,807.451350965,651,629.548649035,652,0.401131397467,-0.00536519228666,0.069887911792,0.999999958768,0.000223218714117,-0.000179893179611,1.66263704708e-05,1793246559981276160
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.126073361,714.126073361,680,658,634,877,785,807.126073361,651,630,652,0.401193566265,-0.00536729007284,0.0699019236637,0.999999962473,0.000220904906554,-0.000161185420379,1.65332235034e-05,1793246559997942528
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.70200218,714.70200218,680,658,634,877,785,807.70200218,651,630,652,0.401269684527,-0.0053688268447,0.06991058685,0.999999964876,0.000220485755564,-0.000146239274425,1.57819975561e-05,1793246560014609152
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.283465612,785,808,651,629.716534388,652,0.401349726583,-0.00536935620089,0.0699150851209,0.999999966066,0.000220345183745,-0.000138242733387,1.4347950435e-05,1793246560031275776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.870863226,785,808,651,629.129136774,652,0.401433975729,-0.00536880540531,0.0699151177666,0.999999966135,0.000220503304749,-0.000137697563908,1.21817820819e-05,1793246560047942400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.548174913,679.548174913,658,634,877.548174913,785,807.548174913,651.451825087,629,652,0.401533225183,-0.00537132059668,0.0699123675419,0.999999965771,0.000218397291912,-0.000143740560505,9.97490148541e-06,1793246560064609024
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.96917043,785,807.03082957,652,629,652,0.401638624782,-0.00537467136361,0.0699090881197,0.9999999653,0.000215635673499,-0.000151134983309,7.71738803041e-06,1793246560081275648
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.392710799,785,807.607289201,652,629,652,0.401778059861,-0.00537751928803,0.069910321906,0.999999966209,0.000212562950111,-0.000149589963205,4.76680538219e-06,1793246560097942272
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.182499371,785,808,651.817500629,629,652,0.401930650258,-0.00538020312671,0.0699132545563,0.999999967748,0.000208514732971,-0.000144990793175,1.58931262739e-06,1793246560114609152
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,876.7550391,785,808,651.2449609,629,652,0.402111356377,-0.00538253627855,0.0699198180435,0.999999970559,0.000202381676517,-0.000133864248881,-2.0731353892e-06,1793246560131276800
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.338390829,745,714,679,658,634,877,785,808,651.338390829,629,652,0.402305224828,-0.00538471922618,0.0699242387629,0.999999972749,0.000196639467217,-0.00012567372443,-6.39628128694e-06,1793246560147943680
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.92982775,745,714,679,658,634,877,785,808,651.92982775,629,652,0.402508935992,-0.00538678985249,0.0699270571374,0.999999974499,0.000191189529814,-0.000119678732161,-1.12134924276e-05,1793246560164610304
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714,679.511085262,658.511085262,634,877.511085262,785,808,652,629.511085262,652,0.40274498012,-0.00539163414456,0.0699275688909,0.999999976064,0.000184232078801,-0.000116902586642,-1.62342805371e-05,1793246560181276928
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.909929046,745,714,680,658.909929046,634,878,784.909929046,808,651.909929046,629.909929046,652,0.402992251981,-0.0053968882931,0.0699283767548,0.999999977692,0.000176849818216,-0.00011351095561,-2.13363744987e-05,1793246560197943296
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.335787959,745,714,680,658.335787959,634,878,784.335787959,808,651.335787959,629.335787959,652,0.403276472896,-0.00540233843277,0.0699324448204,0.999999980026,0.000168275158592,-0.000104482714263,-2.67281488094e-05,1793246560214609920
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.238926468,745,714.238926468,679.761073532,658.238926468,634,877.761073532,784.238926468,808,651.238926468,629,652,0.403583395149,-0.00540830104764,0.0699401450681,0.999999982648,0.000159558895537,-9.07490823511e-05,-3.17851483989e-05,1793246560231276288
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.81444857,745,714.81444857,679.18555143,658.81444857,634,877.18555143,784.81444857,808,651.81444857,629,652,0.403922298649,-0.00541498562872,0.0699529622735,0.999999985515,0.000150643144413,-7.03865749963e-05,-3.63705225997e-05,1793246560247942912
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714.59857746,679.40142254,658.59857746,634,877,784.59857746,807.59857746,651.59857746,629,652,0.404269901722,-0.0054218067288,0.069956897725,0.999999993586,8.22475690455e-05,-6.59568203292e-05,-4.13867101865e-05,1793246560264609280
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,714.00615461,679.99384539,658.00615461,634,877,784.00615461,807.00615461,651.00615461,629,652,0.404621644116,-0.00542869278561,0.0699566071611,0.999999996422,-1.44490206172e-05,-6.91080070249e-05,-4.66078820518e-05,1793246560281275904
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.432767445,745,714.567232555,680,658,633.432767445,877.567232555,784,807.567232555,651.567232555,629,652,0.405025305481,-0.00544849537641,0.0699626384227,0.999999997401,3.24611190876e-05,-5.6640603937e-05,-3.05983715717e-05,1793246560297942784
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.85851633,679.85851633,658,633.14148367,878,784.14148367,808,652,629,652,0.405438174351,-0.00546846563243,0.069966626033,0.999999996742,6.19304093879e-05,-4.79797439794e-05,-1.94453117657e-05,1793246560314609408
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.280986784,679.280986784,658,633.719013216,878,784.719013216,808,652,629,652,0.405877740438,-0.00548853471736,0.06996411067,0.99999999784,3.30015569208e-05,-5.15557960536e-05,-2.39465035968e-05,1793246560331276032
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.303599637,658,634,877.696400363,784.696400363,808,651.696400363,629,652,0.406328392973,-0.00549562579837,0.0699550974371,0.999999997133,1.87261258716e-05,-6.79269622225e-05,-2.77400992047e-05,1793246560347942912
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.894872814,658,634,877.105127186,784.105127186,808,651.105127186,629,652,0.40678955044,-0.00549041967223,0.0699399271965,0.999999994707,1.83354301176e-05,-9.64220424201e-05,-3.08632178857e-05,1793246560364609280
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.476083234,745,714,680,658,634,877.476083234,784,808,651,629,652,0.407310244967,-0.00549461490862,0.0699300790497,0.999999993874,7.70913361449e-06,-0.000105275723243,-3.33017774224e-05,1793246560381275904
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,679.945425727,658.054574273,634,878,784.054574273,808,651,629.054574273,652.054574273,0.407849404133,-0.00550119956954,0.0699234920529,0.99999999363,-5.10022841622e-06,-0.00010700537965,-3.55600404923e-05,1793246560397942784
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,679.372099099,658.627900901,634,878,784.627900901,808,651,629.627900901,652.627900901,0.408441698845,-0.00551117212751,0.0699369640694,0.999999995829,-1.76211706598e-05,-8.13912409161e-05,-3.75116291172e-05,1793246560414609408
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.793192941,745,714,679,658.793192941,634,878,784.793192941,808,651,629.793192941,653,0.409047734745,-0.00551914832436,0.0699481953383,0.999999997127,-2.91740904758e-05,-5.80241832508e-05,-3.90790945176e-05,1793246560431276288
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.203969453,745,714,679,658.203969453,634,878,784.203969453,808,651,629.203969453,653,0.409679180072,-0.00552343295758,0.0699552831372,0.999999997691,-3.89369948306e-05,-3.88123079969e-05,-3.9936259941e-05,1793246560447943168
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.378780084,745,714,679.378780084,658.378780084,634,878,784,808.378780084,651,629,652.621219916,0.410310651531,-0.005530429864,0.0699505692717,0.999999997147,-4.48561915437e-05,-4.47576213579e-05,-4.11113267501e-05,1793246560464609536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.958102025,745,714,679.958102025,658.958102025,634,878,784,808.958102025,651,629,652.041897975,0.410942136805,-0.00553886275997,0.0699396071163,0.999999995862,-4.87403700055e-05,-6.40221923424e-05,-4.24547036784e-05,1793246560481275904
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.533304295,680,659,634,878,784,809,651,629.533304295,652,0.411642097179,-0.00554702565748,0.0699496663297,0.999999995937,-6.16201477424e-05,-5.01673888973e-05,-4.25669938841e-05,1793246560497942272
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.108455128,878.108455128,784,809,651.108455128,630,652.108455128,0.412359276537,-0.00555343087463,0.0699658705852,0.999999996162,-7.21748895158e-05,-2.6400484976e-05,-4.20807559211e-05,1793246560514609152
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.684769401,878.684769401,784,809,651.684769401,630,652.684769401,0.413127706882,-0.00555234452375,0.0700015139098,0.999999996375,-6.96744525818e-05,2.89873188857e-05,-3.94265852425e-05,1793246560531275776
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714.739265385,680,659,634.739265385,878.478530771,784.260734615,809,652,629.739265385,652.739265385,0.413890932553,-0.00553727447918,0.0700200884951,0.999999996306,-5.06764962486e-05,5.75641855827e-05,-3.88011390534e-05,1793246560547942400
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714.163721546,680,659,634.163721546,877.327443091,784.836278454,809,652,629.163721546,652.163721546,0.414647874236,-0.00550532061651,0.0700180544037,0.99999999766,-1.17595454431e-05,5.37697139556e-05,-4.06251609238e-05,1793246560564609024
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,877.848737278,785,809,651.575631361,629,652.424368639,0.415387286761,-0.00549339778292,0.0699746530044,0.99999999879,-9.10345440862e-07,-2.2645202315e-05,-4.36564197036e-05,1793246560581275392
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.983067898,745,714,679.983067898,659,634,878.983067898,784.983067898,809,651.016932102,629.016932102,652.983067898,0.416123055323,-0.00548999444618,0.0699166433225,0.999999991117,-1.93454814961e-06,-0.000124673842071,-4.71095095608e-05,1793246560597942272
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.407480847,745,714,679.407480847,659,634,878.407480847,784.407480847,809,651.592519153,629.592519153,652.407480847,0.416968524014,-0.00550493843727,0.0699192580593,0.999999991354,-2.65480182136e-05,-0.000119247886326,-4.8645327195e-05,1793246560614609408
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.167044532,745,714,679.167044532,659,634,878,784.167044532,809,651.832955468,630,652,0.417819074303,-0.00551619695879,0.0699303505521,0.999999992787,-4.37875056579e-05,-0.000100382506401,-4.93179969014e-05,1793246560631276032
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.73899644,745,714,679.73899644,659,634,878,784.73899644,809,651.26100356,630,652,0.418681942075,-0.00551852209031,0.0699619926905,0.999999996724,-4.31528360988e-05,-4.89406521548e-05,-4.78984402085e-05,1793246560647942656
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.325637891,634,878,784.674362109,809,651,630,652.325637891,0.419583153433,-0.0055220726682,0.0699910650233,0.999999997814,-4.63837217071e-05,-5.32177527962e-06,-4.68204808678e-05,1793246560664609280
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.924609409,634,878,784.075390591,809,651,630,652.924609409,0.420516549553,-0.00552665186,0.0700179803135,0.99999999704,-5.28592734277e-05,3.17306555728e-05,-4.60292512884e-05,1793246560681275904
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.500999979,680,659.499000021,634,878.500999979,784,809,651,630,653,0.421420927346,-0.00552320525627,0.0700309581504,0.999999996333,-5.27523682981e-05,4.90812988075e-05,-4.62849891089e-05,1793246560697942528
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,879,784.074565215,809,651.074565215,630,653,0.422310726893,-0.00551843150866,0.0700315518252,0.999999996486,-5.06528262557e-05,4.71861766421e-05,-4.72737481852e-05,1793246560714608896
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,879,784.650998125,809,651.650998125,630,653,0.423130528664,-0.00551250342085,0.0699623001464,0.999999995654,-4.15209864604e-05,-6.51504773904e-05,-5.21815129001e-05,1793246560731275776
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.766766759,745,715,680.233233241,659,633.766766759,879,784.766766759,809.233233241,652,630,653,0.42396676505,-0.00551073754719,0.0698984891987,0.999999984218,-4.52915117556e-05,-0.000161819703193,-5.76878733202e-05,1793246560747942656
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.175627842,745,715,680.824372158,659,633.175627842,879,784.175627842,809.824372158,652,630,653,0.424828221131,-0.00551535875566,0.0698430272584,0.999999968091,-6.88612281581e-05,-0.000234446655453,-6.4112803986e-05,1793246560764609536
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.407588871,745,714.592411129,680.592411129,659.407588871,633,878.592411129,784.407588871,810,652,630,652.592411129,0.425802466225,-0.00552027562021,0.0698709785041,0.999999978128,-6.74206848747e-05,-0.000188129973705,-6.16933073787e-05,1793246560781276160
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.987457,745,714.012543,680.012543,659.987457,633,878.012543,784.987457,810,652,630,652.012543,0.426824384816,-0.00552531745208,0.0699341867552,0.999999992733,-5.54088281802e-05,-9.1538310104e-05,-5.55354563097e-05,1793246560797942784
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.436259244,745,714,680.563740756,660,633.563740756,878,784.436259244,810,651.436259244,630,652.563740756,0.427810044838,-0.00552456299665,0.069987790734,0.999999995909,-6.91185913794e-05,-2.24073904586e-05,-5.38718938879e-05,1793246560814609408
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.142296351,745,714,680.857703649,660,634,878.142296351,784,810,651,630,653,0.428785425256,-0.00552374100335,0.0700332026651,0.99999999474,-7.80343975965e-05,4.05661874859e-05,-5.27708020356e-05,1793246560831276032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.728181086,745,714,680.271818914,660,634,878.728181086,784,810,651,630,653,0.429731259437,-0.00552310796031,0.0700537390066,0.999999992405,-7.02329560604e-05,8.62377755558e-05,-5.31133780116e-05,1793246560847942656
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.310342155,680.310342155,660,634,879,784.310342155,810,651.310342155,630,653,0.430625883805,-0.00552391681185,0.070030930654,0.999999995015,-6.73538432716e-05,4.92013793647e-05,-5.48964611352e-05,1793246560864609280
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.889280421,680.889280421,660,634,879,784.889280421,810,651.889280421,630,653,0.43147618686,-0.00552597359985,0.0699706081696,0.999999994195,-6.87349262016e-05,-5.9417440885e-05,-5.79262794322e-05,1793246560881275904
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.532139877,680.532139877,660.467860123,633.532139877,879,784.532139877,810,651.532139877,630,653,0.432356312141,-0.005529268738,0.0699158478417,0.999999984804,-7.27370809413e-05,-0.000146417979937,-6.05215609737e-05,1793246560897942784
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714.729280771,683,659,632,879,784,812,651.270719229,630.270719229,653,0.455571581928,-0.00557467064568,0.0697675170074,0.999999922797,-0.0001193285299,-0.000370285910027,-5.52814042804e-05,1793246561897942784
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714.140967219,683,659,632,879,784,812,651.859032781,630.859032781,653,0.455572529454,-0.00557294471928,0.0697676279055,0.999999923033,-0.000117176434948,-0.000370364752961,-5.50770074389e-05,1793246561914609664
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,683.01933946,658.98066054,632,879,783.98066054,812,651.98066054,630,653,0.455573091793,-0.00557512132798,0.0697669637562,0.999999922379,-0.000117229020443,-0.000372285984993,-5.38732724173e-05,1793246561947943424
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714,683.594603278,658.405396722,632,879,783.405396722,812,651.405396722,630,653,0.45557216547,-0.00557546358604,0.0697658494051,0.999999922099,-0.000117280748758,-0.000372987036475,-5.41104535952e-05,1793246561964609792
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,634,877.350221076,785,808,651.649778924,629.649778924,652,0.407754660587,-0.00534346473305,0.0697754969126,0.999999906073,0.000241588765251,-0.000359148329951,2.238585054e-05,1793246563890559744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.766726954,745,714,680,658.466546093,634,877.233273046,785,808,652,630,652.233273046,0.407237536558,-0.00534468730858,0.0697901689118,0.999999914647,0.000241568172864,-0.000334432470121,2.25068667744e-05,1793246563907226368
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.38669987,745,714,680,659.226600261,634,877.61330013,785,808,652,629.61330013,652.61330013,0.406224514161,-0.00536352999597,0.0698053027949,0.999999923285,0.00021616698694,-0.000325807985031,2.34938133181e-05,1793246563940559616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.965263645,745,714,680,658.06947271,634,877.034736355,785,808,652,629.034736355,652.034736355,0.40572006353,-0.00538760495611,0.0697953179458,0.999999920417,0.000191366196099,-0.000349145260326,2.5365828085e-05,1793246563957226240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,634,877,785,808,652,629,652,0.405313231931,-0.00538834111817,0.0698032288049,0.999999928238,0.00018087126049,-0.000332002155403,2.41511920142e-05,1793246563973893120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,634,877,785,808,652,629,652,0.404922833865,-0.00538572681483,0.0698133572343,0.999999935381,0.000179161400917,-0.000310811962216,2.31333308069e-05,1793246563990560000
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.262240897,785,808,651.737759103,629,652,0.401499947848,-0.00535696160068,0.0697958323632,0.999999921341,0.00021787380372,-0.000330961984472,1.77243734619e-05,1793246564223893248
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.225512958,745,714.225512958,679.225512958,658,634,877.225512958,785,808,651.225512958,629,652,0.400980669208,-0.00535885434734,0.0698162112458,0.999999930694,0.000228559318799,-0.000293472865603,1.56735200442e-05,1793246564423892992
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.802877513,745,714.802877513,679.802877513,658,634,877.802877513,785,808,651.802877513,629,652,0.400977407057,-0.00535908136957,0.0698176053025,0.999999931641,0.000228822275437,-0.000290019870018,1.56910688598e-05,1793246564440559616
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.620786576,679.620786576,658,634,878,785,808,651.620786576,629,652,0.400974508333,-0.00535944565386,0.0698181558384,0.999999931879,0.000228624219825,-0.000289358950472,1.56368599399e-05,1793246564457226496
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.044983946,679.044983946,658,634,878,785,808,651.044983946,629,652,0.400971798013,-0.00535988109659,0.069818269082,0.999999931752,0.000228187169416,-0.000290145479821,1.55454508697e-05,1793246564473893120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.457575705,745,714,679.542424295,658,634,877.457575705,785,808,651.542424295,629,652,0.400970608446,-0.00535934243035,0.0698190430428,0.999999931951,0.000229067211696,-0.00028877538647,1.53547430679e-05,1793246564490559744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.128765657,745,714.128765657,680,658,634,877.128765657,785,808,651.871234343,629,652,0.400970003338,-0.00535901228223,0.069819950888,0.999999932262,0.000229842974435,-0.000287079490397,1.52713771692e-05,1793246564507226368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.70793492,745,714.70793492,680,658,634,877.70793492,785,808,651.29206508,629,652,0.400970991793,-0.00535970024955,0.0698211311887,0.999999932881,0.000229863564527,-0.000284883258411,1.55929122489e-05,1793246564523892992
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.437762263,745,714.437762263,679.437762263,658,634.562237737,877.437762263,784.562237737,808,651.562237737,629.437762263,652,0.400969061714,-0.00536074355944,0.0698210445183,0.999999933589,0.0002259152373,-0.000285575026206,1.52079459846e-05,1793246564573893120
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.987615962,679.987615962,658,634,878,784.012384038,808,651.012384038,629.987615962,652,0.400970380463,-0.00536150650042,0.0698231187966,0.999999934782,0.000223801746447,-0.000283048775024,1.52671895748e-05,1793246564590560000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.397198111,679.397198111,658,634,878,784.602801889,808,651.602801889,629.397198111,652,0.400970305621,-0.00536100745686,0.0698234523742,0.99999993421,0.000226567429278,-0.000282867045649,1.52867570627e-05,1793246564607226624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.810482315,745,714,679.189517685,658,634,877.810482315,785,808,652,629.189517685,652,0.400970200637,-0.00536079094567,0.0698234927672,0.999999933857,0.000228234796088,-0.000282770367118,1.53352319771e-05,1793246564623893248
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.2313768,745,714,679.7686232,658,634,877.2313768,785,808,652,629.7686232,652,0.400970033687,-0.00536115523078,0.0698229304666,0.999999933968,0.000227644375787,-0.000282848525971,1.54431313268e-05,1793246564640559872
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.493668032,680,658.506331968,634,877.506331968,785,808,652,629.506331968,652,0.400966780017,-0.00536194222278,0.0698218294423,0.999999934225,0.000223655334869,-0.000285137554706,1.49928278126e-05,1793246564690559744
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.068743479,745,714.931256521,679.931256521,658,634,877,785,808,651.931256521,629,652,0.400965522991,-0.00536265057241,0.0698202611324,0.999999933616,0.000223042408094,-0.000287741849335,1.49758617507e-05,1793246564707226368
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.403969995,658,634,877,785,807.403969995,652,629.596030005,652,0.400969075935,-0.00536168613926,0.0698236593295,0.999999934596,0.000226485420348,-0.000281558653645,1.54166381391e-05,1793246564773893120
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.980061919,658,634,877,785,807.980061919,652,629.019938081,652,0.400968949713,-0.00536359091844,0.0698241089303,0.999999935467,0.000223893342157,-0.000280531623429,1.55018923129e-05,1793246564790559744
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf08654bbe8d4b6a14379b223eeec10868ddc0c5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+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,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+5,0.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+16,0.266666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+17,0.283333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+18,0.300000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+19,0.316666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+20,0.333333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+21,0.350000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+22,0.366666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+23,0.383333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+24,0.400000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+25,0.416666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+26,0.433333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+27,0.450000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+28,0.466666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+29,0.483333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+30,0.500000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+31,0.516666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+32,0.533333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+33,0.550000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+34,0.566666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+35,0.583333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+36,0.600000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+37,0.616666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+38,0.633333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+39,0.650000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+40,0.666666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+41,0.683333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+42,0.700000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+43,0.716666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+44,0.733333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+45,0.750000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+46,0.766666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+47,0.783333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+48,0.800000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+49,0.816666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+50,0.833333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+51,0.850000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+56,0.933333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+58,0.966666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+60,1.000000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+61,1.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+62,1.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+63,1.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+64,1.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+65,1.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+66,1.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+67,1.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+68,1.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+69,1.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+70,1.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+71,1.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+72,1.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+73,1.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+74,1.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+75,1.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+76,1.266666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+77,1.283333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+78,1.300000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+79,1.316666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+80,1.333333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+81,1.350000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+82,1.366666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+83,1.383333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+84,1.400000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+85,1.416666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+86,1.433333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+87,1.450000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+88,1.466666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+89,1.483333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+90,1.500000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+91,1.516666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+92,1.533333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+93,1.550000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+94,1.566666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+95,1.583333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+96,1.600000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+97,1.616666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+98,1.633333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+99,1.650000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+100,1.666666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+101,1.683333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+102,1.700000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+103,1.716666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+104,1.733333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+105,1.750000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+108,1.800000000,pose1_to_pose2_press,0.583245458889,-7.21287106872e-05,1.06004212102,0.553817249379,0.00860232643525,1.05966550885
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+114,1.900000000,pose1_to_pose2_press,0.583247861466,-7.20854203317e-05,1.06004233167,0.553819652594,0.00860237212066,1.0596657247
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+381,6.350000000,pose2_to_pose3_retreat,0.583280815496,-7.19433868165e-05,1.06004227618,0.553852603689,0.00860250413585,1.05966566762
+382,6.366666667,pose2_to_pose3_retreat,0.583269612714,-7.20168463534e-05,1.06004224792,0.553841402533,0.00860243632727,1.05966564252
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+384,6.400000000,pose2_to_pose3_retreat,0.583256799669,-7.20621169113e-05,1.06004220324,0.553828590429,0.00860239405283,1.0596655933
+385,6.416666667,pose2_to_pose3_retreat,0.583253572157,-7.21083096371e-05,1.06004212725,0.553825363224,0.00860234892375,1.0596655179
+386,6.433333333,pose2_to_pose3_retreat,0.583251393596,-7.21185007238e-05,1.0600422997,0.553823185964,0.00860234317597,1.05966569099
+387,6.450000000,pose2_to_pose3_retreat,0.5832499186,-7.21254006079e-05,1.06004241646,0.553821711848,0.00860233928444,1.05966580818
+388,6.466666667,pose2_to_pose3_retreat,0.583249057386,-7.2121536841e-05,1.06004245837,0.553820850795,0.00860234370318,1.05966585032
+389,6.483333333,pose2_to_pose3_retreat,0.583248567435,-7.21043350688e-05,1.06004243226,0.553820360262,0.00860235893657,1.05966582431
+390,6.500000000,pose2_to_pose3_retreat,0.583248165076,-7.20902085838e-05,1.06004241082,0.553819957426,0.00860237144657,1.05966580295
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+394,6.566666667,pose2_to_pose3_retreat,0.583247809077,-7.20777097752e-05,1.06004239186,0.553819601006,0.00860238251515,1.05966578405
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+396,6.600000000,pose2_to_pose3_retreat,0.583247586756,-7.20699042656e-05,1.06004238001,0.553819378421,0.00860238942748,1.05966577225
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+405,6.750000000,pose2_to_pose3_retreat,0.583245387416,-7.20920872222e-05,1.06004219132,0.553817176822,0.00860235943084,1.05966558019
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf1c32ec42abbdd43dd25968e0bd91d463ab6b9f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d656c0010b35e718a0e287b8133b2914060f8431fe669414f89e6ff9b24a828
+size 25982044
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..933a0fcab097dfe2e930dee5aaf146c17b1645c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+23,0.383333333,BASELINE,766,744.662249943,714.662249943,679,658,634,877.662249943,785,808,651.337750057,629.662249943,652,0.400971719433,-0.00536218988486,0.0698274375417,0.999999936843,0.000224149590998,-0.000275416519905,1.46894321326e-05,1793246565317763584
+24,0.400000000,BASELINE,766,744.074474133,714.074474133,679,658,634,877.074474133,785,808,651.925525867,629.074474133,652,0.400971930983,-0.00536092116786,0.0698276624603,0.999999936219,0.000227289661063,-0.000275100124289,1.48902731393e-05,1793246565334430208
+25,0.416666667,BASELINE,765.49265807,744.50734193,714,679,658,634,877.50734193,785,808,651.49265807,629,652,0.40097110507,-0.00536100485062,0.0698275221544,0.999999936223,0.00022683093421,-0.000275473404708,1.46920486476e-05,1793246565351097088
+26,0.433333333,BASELINE,765,745,714,679.087394508,658,634,877.912605492,785,808,651.087394508,629,652,0.400970257565,-0.00536121485181,0.0698273444753,0.999999936347,0.000225908178891,-0.000275792342987,1.44787534238e-05,1793246565367763712
+27,0.450000000,BASELINE,765,745,714,679.662432238,658,634,877.337567762,785,808,651.662432238,629,652,0.400970129472,-0.00536103483053,0.069827253934,0.999999936631,0.000225309694585,-0.000275249727184,1.45044353273e-05,1793246565384430336
+28,0.466666667,BASELINE,765,745,714,679.761692763,658,634,877,785,807.761692763,651.761692763,629,652,0.400970482311,-0.00536088857052,0.0698272881252,0.999999936738,0.000225606998808,-0.000274617836292,1.45253172074e-05,1793246565401096960
+29,0.483333333,BASELINE,765,745,714,679.184627607,658,634,877,785,807.184627607,651.184627607,629,652,0.400971518805,-0.00536079030278,0.0698274996256,0.99999993659,0.000227177682177,-0.000273859039325,1.45393757683e-05,1793246565417763840
+30,0.500000000,BASELINE,765.401972971,745,714,679,658,634,877,784.598027029,807.401972971,651.401972971,629,652,0.400970601268,-0.00536054985821,0.0698265793286,0.999999936191,0.00022693028118,-0.000275515271029,1.45303385483e-05,1793246565434430464
+31,0.516666667,BASELINE,765.993059603,745,714,679,658,634,877,784.006940397,807.993059603,651.993059603,629,652,0.40096876443,-0.00536024252463,0.069825126562,0.999999935668,0.00022582753758,-0.000278307685886,1.45104356032e-05,1793246565451097088
+32,0.533333333,BASELINE,766,744.429140907,714,679.570859093,658,634,877,784,807.429140907,652,629,652,0.400971274683,-0.00535956890507,0.0698271503993,0.999999936645,0.000225719095077,-0.000274877399043,1.42486737907e-05,1793246565467763968
+33,0.550000000,BASELINE,765.852415887,744.147584113,714,679.852415887,658,634,877,784.147584113,807.147584113,651.852415887,629,652,0.400972477681,-0.00535948216824,0.06982824426,0.999999937201,0.000225328285889,-0.000273178605923,1.40651752792e-05,1793246565484430336
+34,0.566666667,BASELINE,765.278339783,744.721660217,714,679.278339783,658,634,877,784.721660217,807.721660217,651.278339783,629,652,0.400969753688,-0.00536110399516,0.0698265312845,0.999999936512,0.000224087347848,-0.000276697179071,1.41161480816e-05,1793246565501096960
+35,0.583333333,BASELINE,765,745,714.303751035,679,658,634,877,785,808,651,629,652,0.400967848716,-0.00536157676685,0.0698253600687,0.999999935735,0.00022436569582,-0.000279257259856,1.4312696384e-05,1793246565517763840
+36,0.600000000,BASELINE,765,745,714.893385175,679,658,634,877,785,808,651,629,652,0.400966714587,-0.0053609680758,0.0698246987437,0.999999934881,0.000226073958782,-0.000280915231298,1.46462568211e-05,1793246565534430464
+37,0.616666667,BASELINE,765.474473902,745,714.525526098,679,658,634,877,785,808,651,629,652,0.400969276565,-0.00536061214028,0.069826448066,0.999999935557,0.000227087364875,-0.000277678784153,1.45709203721e-05,1793246565551097088
+38,0.633333333,BASELINE,765.946652194,745,714.053347806,679,658,634,877,785,808,651.053347806,629,652,0.4009722144,-0.00536049457717,0.0698284751157,0.99999993651,0.000227562017367,-0.000273838403575,1.44354675582e-05,1793246565567763456
+39,0.650000000,BASELINE,765.370995402,745,714.629004598,679,658,634,877,785,808,651.629004598,629,652,0.400970844648,-0.00536216461516,0.0698280117744,0.999999937027,0.000224263547449,-0.000274662191644,1.45950821718e-05,1793246565584430336
+40,0.666666667,BASELINE,765.203762875,745,714.796237125,679.203762875,658.203762875,634,877.203762875,785,808,651.796237125,629.203762875,652,0.40097015142,-0.00536300282701,0.0698278605889,0.999999937341,0.000222357127184,-0.000275068130188,1.46187903791e-05,1793246565601096960
+41,0.683333333,BASELINE,765.776892354,745,714.223107646,679.776892354,658.776892354,634,877.776892354,785,808,651.223107646,629.776892354,652,0.400970684549,-0.0053623331645,0.0698282752568,0.999999937303,0.000222974114064,-0.000274716621284,1.43961372721e-05,1793246565617763584
+42,0.700000000,BASELINE,766,745,714,679.638099785,658.638099785,634,877.638099785,785,808,651.361900215,629.638099785,652,0.400971584293,-0.00536175166761,0.0698286146222,0.99999993743,0.000223511243028,-0.000273822583033,1.43123204419e-05,1793246565634430464
+43,0.716666667,BASELINE,766,745,714,679.045520538,658.045520538,634,877.045520538,785,808,651.954479462,629.045520538,652,0.40097271772,-0.00536122636845,0.0698289059892,0.999999937659,0.000223997469684,-0.000272582730844,1.43169993336e-05,1793246565651097344
+44,0.733333333,BASELINE,766,745,714,679.534008594,658,634,877,784.465991406,808,651.465991406,629,652,0.400972300406,-0.00535963583597,0.0698287853583,0.999999937213,0.000226521752376,-0.000272154192338,1.39443714042e-05,1793246565667763968
+45,0.750000000,BASELINE,766,745,714.111945915,680,658,634,877.111945915,784.111945915,807.888054085,651,629.111945915,652,0.400971503258,-0.00535857013987,0.0698285454826,0.99999993679,0.000228147046198,-0.000272363742547,1.3652656345e-05,1793246565684430592
+46,0.766666667,BASELINE,766,745,714.687786602,680,658,634,877.687786602,784.687786602,807.312213398,651,629.687786602,652,0.400969666826,-0.00536004663075,0.069827953528,0.999999936719,0.000225344252581,-0.000274937728442,1.38263383629e-05,1793246565701097216
+47,0.783333333,BASELINE,765.731190295,745,714.731190295,680,658,634,877.731190295,784.731190295,807,651,629.731190295,652,0.400969272424,-0.00536098203496,0.069827826884,0.999999936718,0.000224566648101,-0.00027555968986,1.4149295811e-05,1793246565717763840
+48,0.800000000,BASELINE,765.14402959,745,714.14402959,680,658,634,877.14402959,784.14402959,807,651,629.14402959,652,0.400970585817,-0.00536127663111,0.0698282513066,0.99999993681,0.000226187472244,-0.000273869871448,1.46490399893e-05,1793246565734430464
+49,0.816666667,BASELINE,765,745,714,679.562997411,658,634,877,784.437002589,807,651.437002589,629,651.562997411,0.400969981818,-0.00536174752531,0.0698279654251,0.999999936563,0.000226590706774,-0.000274435221835,1.46749968004e-05,1793246565751097088
+50,0.833333333,BASELINE,765.016004019,745,714,679,658,634,877.016004019,785,807.016004019,652,629,651.016004019,0.40096879866,-0.0053622320386,0.0698274664251,0.999999936227,0.000226574536953,-0.000275677809452,1.45378706821e-05,1793246565767763968
+51,0.850000000,BASELINE,765.593644675,745,714,679,658,634,877.593644675,785,807.593644675,652,629,651.593644675,0.400969161178,-0.00536118358118,0.0698275903174,0.999999936622,0.000225728237561,-0.00027496381276,1.40817716861e-05,1793246565784430592
+52,0.866666667,BASELINE,765.830577547,745,714,679.169422453,658,634,877.830577547,784.830577547,808,651.830577547,629,652,0.400969650085,-0.00536018351878,0.0698278985621,0.999999936852,0.000225637592806,-0.000274211741943,1.38662320602e-05,1793246565801097216
+53,0.883333333,BASELINE,765.259219272,745,714,679.740780728,658,634,877.259219272,784.259219272,808,651.259219272,629,652,0.400970438841,-0.00535929826818,0.0698286441623,0.999999936692,0.000227339654209,-0.000273369344561,1.42213926618e-05,1793246565817763840
+54,0.900000000,BASELINE,765.322961016,745,714,680,658,634.322961016,877,784.322961016,807.677038984,651.322961016,629,652,0.400970326044,-0.005360702398,0.0698286916083,0.999999937131,0.000225320808123,-0.000273421033261,1.44876337186e-05,1793246565834430464
+55,0.916666667,BASELINE,765.914128533,745,714,680,658,634.914128533,877,784.914128533,807.085871467,651.914128533,629,652,0.400969464545,-0.00536400776884,0.0698281592644,0.999999938049,0.000220211893694,-0.000274215225548,1.46800305507e-05,1793246565851097088
+56,0.933333333,BASELINE,765.503789681,745,714,679.503789681,658,634.503789681,877,785,807,651.503789681,629,652,0.400968831583,-0.0053612401081,0.0698279406446,0.999999937014,0.000224363308455,-0.000274643416589,1.42725817586e-05,1793246565867763712
+57,0.950000000,BASELINE,765,745,714,679.076213081,658,634,877,785,807.076213081,651.076213081,629,652,0.400968538538,-0.00535830028367,0.0698279395072,0.999999935972,0.000228869275309,-0.000274738146252,1.39104593282e-05,1793246565884430592
+58,0.966666667,BASELINE,765,745,714,679.652703932,658,634,877,785,807.652703932,651.652703932,629,652,0.400970221833,-0.00536100504661,0.0698290159954,0.99999993722,0.000225372333609,-0.000273052257782,1.45150194034e-05,1793246565901097216
+59,0.983333333,BASELINE,765,745,714,679.771476802,658.228523198,634,876.771476802,785,808,651.771476802,629,652,0.400971444314,-0.00536263488821,0.0698296650743,0.999999937991,0.000222913779312,-0.000272228834302,1.48149481562e-05,1793246565917764352
+60,1.000000000,BASELINE,765,745,714,679.196675092,658.803324908,634,876.196675092,785,808,651.196675092,629,652,0.400971968529,-0.00536263591457,0.0698296665051,0.999999938058,0.00022202868069,-0.000272712293618,1.46532727451e-05,1793246565934431744
+61,1.016666667,BASELINE,765,745,714,679,658.611659489,634,876.776681023,785,808,651,629.388340511,652,0.400971055022,-0.00536131874589,0.0698291661972,0.999999937378,0.000224433297192,-0.000273246630502,1.44764126049e-05,1793246565951098112
+62,1.033333333,BASELINE,765,745,714,679,658.021331366,634,877.957337268,785,808,651,629.978668634,652,0.400969393713,-0.00535931594423,0.0698284049199,0.999999936295,0.000228548993788,-0.00027380743031,1.42916544388e-05,1793246565967763968
+63,1.050000000,BASELINE,765,745,714,679.558310326,658.558310326,634,877.441689674,785,807.441689674,651,629.441689674,652,0.400969303827,-0.00536046478284,0.0698285826798,0.999999936638,0.000226929948896,-0.000273904211165,1.42368998892e-05,1793246565984430592
+64,1.066666667,BASELINE,765.136202291,745,714,679.863797709,658.863797709,634,877,785,807,651,629.136202291,652,0.400969603232,-0.00536151262202,0.0698288599438,0.999999937049,0.000225404075719,-0.000273665284175,1.42431497772e-05,1793246566001097472
+65,1.083333333,BASELINE,765.709762156,745,714,679.290237844,658.290237844,634,877,785,807,651,629.709762156,652,0.400970963512,-0.00536185674264,0.0698293436809,0.999999937511,0.00022486774418,-0.000272404229153,1.4429640219e-05,1793246566017764352
+66,1.100000000,BASELINE,765.709459211,744.709459211,714,679.290540789,657.709459211,634,877.290540789,785,807.290540789,651,629.709459211,652,0.400970629978,-0.0053616731138,0.0698290631036,0.999999937379,0.000225087751476,-0.000272707557346,1.44381574648e-05,1793246566034430976
+67,1.116666667,BASELINE,765.121285635,744.121285635,714,679.878714365,657.121285635,634,877.878714365,785,807.878714365,651,629.121285635,652,0.400968561283,-0.0053609488533,0.0698279995551,0.999999936635,0.000226082559601,-0.000274613454869,1.4264357241e-05,1793246566051098112
+68,1.133333333,BASELINE,765,744.460360462,714,680,657.460360462,634,878,785,807.539639538,651.460360462,629,652,0.400968762808,-0.00535986056595,0.0698280667291,0.999999936182,0.000228533587684,-0.00027423450676,1.42977253492e-05,1793246566067764992
+69,1.150000000,BASELINE,765,745,714,679.959980964,658.040019036,634,877.959980964,785,807.040019036,651.959980964,629,652,0.40096958706,-0.00535884540229,0.0698284699962,0.999999935887,0.00023094771491,-0.000273280853746,1.43792851123e-05,1793246566084431104
+70,1.166666667,BASELINE,765,745,714,679.384229952,658.615770048,634,877.384229952,785,807.615770048,651.384229952,629,652,0.400970852837,-0.00536007507555,0.0698294403352,0.999999936799,0.000227803722574,-0.000272579411367,1.43855377038e-05,1793246566101097728
+71,1.183333333,BASELINE,765,745,714,679,658.805479669,634,877,785,807.805479669,651,629,652,0.400970977018,-0.00536102855155,0.0698296184777,0.999999937362,0.000225218694259,-0.000272665091887,1.43832259402e-05,1793246566117764608
+72,1.200000000,BASELINE,765,745,714,679,658.220712138,634,877,785,807.220712138,651,629,652,0.400968810929,-0.00536142792009,0.0698282073136,0.999999937235,0.000223755060473,-0.000274329900317,1.43637323461e-05,1793246566134431232
+73,1.216666667,BASELINE,765,745,714,679.36167858,658,634,877,784.63832142,807.36167858,651.36167858,629,652,0.400967447497,-0.00536137200539,0.0698272547627,0.999999936605,0.00022412809005,-0.000276315801448,1.43707285749e-05,1793246566151097856
+74,1.233333333,BASELINE,765,745,714,679.942628297,658,634,877,784.057371703,807.942628297,651.942628297,629,652,0.400966570684,-0.0053610400708,0.0698265802506,0.999999935665,0.000225614614642,-0.000278496368031,1.43937845161e-05,1793246566167764224
+75,1.250000000,BASELINE,765,745,714,680,658,634,877,784.518789482,808,651.481210518,629,652,0.40096848225,-0.00536031660356,0.0698276803647,0.999999936151,0.000227056492389,-0.000275568340346,1.43502047645e-05,1793246566184431104
+76,1.266666667,BASELINE,765,745,714,680,658,634,877,785,807.904905012,651.095094988,629.095094988,652,0.40097001839,-0.00535972571449,0.0698286210499,0.999999936584,0.000228282207967,-0.000272973480254,1.42883730116e-05,1793246566201098240
+77,1.283333333,BASELINE,765,745,714,680,658,634,877,785,807.32519003,651.67480997,629.67480997,652,0.400968084205,-0.00536002910524,0.0698277582737,0.999999936016,0.000228431256539,-0.000274929233264,1.41707366294e-05,1793246566217764864
+78,1.300000000,BASELINE,765,745,714,680,658,634,877,785,807.257424134,652,629.742575866,652,0.400967549678,-0.00536028985878,0.0698274389785,0.999999936039,0.000227386750052,-0.000275710915285,1.4135767687e-05,1793246566234431232
+79,1.316666667,BASELINE,765,745,714,680,658,634,877,785,807.843742352,652,629.156257648,652,0.400968803405,-0.00536049613748,0.0698278140536,0.999999936817,0.000224817315837,-0.000274992562969,1.42064175683e-05,1793246566251097856
+80,1.333333333,BASELINE,765.426185609,744.573814391,714.426185609,680,658,634,877,785,807.573814391,652,629.426185609,652,0.400969533219,-0.00536034969551,0.0698281204437,0.99999993691,0.0002252603794,-0.000274294034536,1.41646376307e-05,1793246566267764480
+81,1.350000000,BASELINE,766,744,714.992824506,679.992824506,658,634,876.992824506,784.992824506,807.007175494,652,629.992824506,652,0.400970061838,-0.0053600869108,0.0698283911378,0.999999936754,0.00022677291404,-0.000273617999969,1.40845135727e-05,1793246566284430848
+82,1.366666667,BASELINE,766,744,714.415450075,679.415450075,658,634,876.415450075,784.415450075,807.584549925,652,629.415450075,652,0.400969729148,-0.00536076295044,0.0698278083692,0.999999936714,0.000226291989745,-0.00027415707221,1.42035274566e-05,1793246566301097984
+83,1.383333333,BASELINE,765.839615985,744.160384015,714,679,658,634,876.160384015,784.160384015,807.839615985,652,629,652,0.400969343933,-0.00536144975704,0.0698274651645,0.999999936752,0.000225629579921,-0.000274559564479,1.42957008737e-05,1793246566317764608
+84,1.400000000,BASELINE,765.267733831,744.732266169,714,679,658,634,876.732266169,784.732266169,807.267733831,652,629,652,0.400968823956,-0.00536216418865,0.0698277366101,0.999999936991,0.000224501531587,-0.000274611632888,1.43190095844e-05,1793246566334431232
+85,1.416666667,BASELINE,765,745,714,679.314045639,658,634,877,785,807.314045639,651.685954361,629,652,0.400969214932,-0.00536262166118,0.0698283805165,0.999999937127,0.000224650816375,-0.000273984027259,1.45346261882e-05,1793246566351097856
+86,1.433333333,BASELINE,765,745,714,679.904537422,658,634,877,785,807.904537422,651.095462578,629,652,0.400970407797,-0.00536285293934,0.0698293522905,0.999999937169,0.000225924504098,-0.000272758122387,1.49195263879e-05,1793246566367764992
+87,1.450000000,BASELINE,765,745,714,679.51263917,658,634,877,785,807.51263917,651,629,652,0.400969991909,-0.00536309275066,0.0698284132983,0.999999937409,0.000223787201587,-0.000273645700344,1.48420723821e-05,1793246566384431360
+88,1.466666667,BASELINE,765,745,714,679,658,634,877,784.932123967,807,651.067876033,629,652,0.400969505329,-0.00536305175224,0.0698273844773,0.999999937584,0.000221835617439,-0.000274600475538,1.46589264501e-05,1793246566401097472
+89,1.483333333,BASELINE,765,745,714,679,658,634,877,784.357797373,807,651.642202627,629,652,0.40097080607,-0.00536090324057,0.0698284347596,0.99999993705,0.000226177740263,-0.000273015599853,1.43524399832e-05,1793246566417764096
+90,1.500000000,BASELINE,765,745,714,679,658,634,877.22124809,784.22124809,807,651.77875191,629.22124809,651.77875191,0.400971541044,-0.00535998363142,0.0698293220049,0.999999936995,0.000227839834276,-0.000271837033288,1.42826311145e-05,1793246566434430720
+91,1.516666667,BASELINE,765,745,714,679,658,634,877.808091053,784.808091053,807,651.191908947,629.808091053,651.191908947,0.400971341134,-0.00536109468615,0.0698299398445,0.999999937754,0.000225073393412,-0.000271329860388,1.46039131833e-05,1793246566451097344
+92,1.533333333,BASELINE,765,745,714,679,658,634,877.610220086,785,807,651,629.610220086,651.389779914,0.400969877614,-0.00536167801455,0.0698289002057,0.999999937768,0.000223041534513,-0.000272965937103,1.43393303347e-05,1793246566467763968
+93,1.550000000,BASELINE,765,745,714,679,658,634,877.031035688,785,807,651,629.031035688,651.968964312,0.400967800072,-0.0053620049067,0.0698270551539,0.999999937414,0.000221366628387,-0.000275643476075,1.37900600833e-05,1793246566484430848
+94,1.566666667,BASELINE,765,745,714,679.545969942,658,634,877,784.454030058,807.545969942,651.545969942,629,652,0.40096905598,-0.00536340267993,0.0698279266628,0.999999937723,0.000221496086583,-0.000274380936859,1.44193226935e-05,1793246566501097984
+95,1.583333333,BASELINE,765.122849451,745,714,680,658,634,877,784.122849451,807.877150549,652,629,652,0.400970123364,-0.00536414787986,0.0698287690954,0.999999937897,0.000222126670438,-0.000273210644876,1.48564404523e-05,1793246566517764608
+96,1.600000000,BASELINE,765.699718922,745,714,680,658,634,877,784.699718922,807.300281078,652,629,652,0.400969796488,-0.00536225725539,0.0698289356298,0.999999937437,0.000224231723469,-0.000273205734586,1.43368327807e-05,1793246566534430976
+97,1.616666667,BASELINE,765.718014421,745,714,679.718014421,658,634,877.281985579,785,807.281985579,651.718014421,629,652,0.400969780672,-0.00536100598948,0.0698288570014,0.999999937035,0.000226009389526,-0.00027322698823,1.40259979337e-05,1793246566551097600
+98,1.633333333,BASELINE,765.129888286,745,714,679.129888286,658,634,877.870111714,785,807.870111714,651.129888286,629,652,0.400970102565,-0.0053604488499,0.0698285122095,0.9999999367,0.00022743162441,-0.000273276647019,1.39418194906e-05,1793246566567764224
+99,1.650000000,BASELINE,765,745,714,679.45130311,658.45130311,634,877.54869689,785,807.54869689,651.45130311,629,652,0.400969619004,-0.00536090088826,0.0698281619308,0.99999993678,0.000226443901804,-0.000273788910899,1.42410120639e-05,1793246566584431104
+100,1.666666667,BASELINE,765,745,714.030259953,680,658.969740047,634,877.030259953,784.969740047,807.030259953,652,629.030259953,651.969740047,0.400968943456,-0.00536159734198,0.0698278630575,0.999999936981,0.000224816716722,-0.000274373121751,1.46278070963e-05,1793246566601097728
+101,1.683333333,BASELINE,765,745,714.604384176,680,658.395615824,634,877.604384176,784.395615824,807.604384176,652,629.604384176,651.395615824,0.400968920676,-0.00536154543649,0.069828516051,0.999999937302,0.00022397394806,-0.000273893700575,1.46360049434e-05,1793246566617764608
+102,1.700000000,BASELINE,765,745,714.820677002,680,658.179322998,634,877.641354004,784.179322998,808,651.820677002,629.820677002,651.179322998,0.400968873346,-0.00536145345398,0.0698290269309,0.999999937345,0.000224058044949,-0.000273669646704,1.46182866764e-05,1793246566634431232
+103,1.716666667,BASELINE,765,745,714.243932915,680,658.756067085,634,876.487865829,784.756067085,808,651.243932915,629.243932915,651.756067085,0.400968771609,-0.00536127265153,0.0698292228541,0.999999936771,0.000226196289602,-0.000274011545698,1.45431323266e-05,1793246566651097856
+104,1.733333333,BASELINE,765.340832851,745,714,680,658.659167149,634,876.340832851,785,807.659167149,651,629,652,0.400968933025,-0.00536010494219,0.0698288209049,0.999999936391,0.00022794304608,-0.000273955406909,1.44540636497e-05,1793246566667764736
+105,1.750000000,BASELINE,765.931478142,745,714,680,658.068521858,634,876.931478142,785,807.068521858,651,629,652,0.40096928732,-0.0053582138823,0.0698279807467,0.999999936154,0.000229402862667,-0.000273607527531,1.43547964992e-05,1793246566684431360
+106,1.766666667,BASELINE,765.489576339,745,714,679.489576339,658,634,877.510423661,785,807.510423661,651.510423661,629,652,0.400969790406,-0.00536095154758,0.0698288863744,0.999999936891,0.00022723405285,-0.000272716117493,1.44698760248e-05,1793246566701097728
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,680,658,634,878,785,807,652,630,652,0.400966391937,-0.00535990929363,0.0698267225399,0.999999935115,0.000230288334686,-0.000276615370778,1.48671064932e-05,1793246566744141824
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.587607209,714.412392791,679.412392791,658,633.412392791,877.412392791,785,807.587607209,651.412392791,629.412392791,652,0.400970068575,-0.00535982085698,0.0698291970398,0.999999936805,0.000228950447026,-0.000271578523144,1.47050740015e-05,1793246566760808704
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.172234099,877,784.827765901,808,651,629,652,0.400972083421,-0.0053597299575,0.0698304273404,0.999999937739,0.000227949772328,-0.000268979510187,1.45041130606e-05,1793246566777475840
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,633.749846488,877,784.250153512,808,651,629,652,0.400970187,-0.00535963326139,0.0698287292349,0.999999936941,0.00022774277769,-0.000272118298777,1.42115282563e-05,1793246566794142720
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.327502768,808,651,629.327502768,652,0.400969243461,-0.00535973786164,0.0698278592845,0.999999936441,0.000227859707171,-0.000273851280109,1.42358268257e-05,1793246566810809344
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.905192543,808,651,629.905192543,652,0.400969027851,-0.0053599962369,0.0698276219811,0.999999936174,0.000228224089859,-0.000274510332283,1.45022000166e-05,1793246566827475712
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.479845809,658,634,877,785,808,651.479845809,629.520154191,652,0.400967742962,-0.00536185799417,0.0698270731248,0.99999993683,0.000224678279273,-0.000275049269135,1.43912754147e-05,1793246566844142080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.055567644,745,714,680,657.944432356,634,877.055567644,785,808,651.944432356,629.055567644,652,0.400966697483,-0.00536375075818,0.0698267696793,0.99999993763,0.000220802941263,-0.000275288423068,1.42137376428e-05,1793246566860808448
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.647354037,745,714,680,657.352645963,634,877.647354037,785,808,651.352645963,629.647354037,652,0.400969988152,-0.00536290493909,0.0698294246819,0.999999938219,0.000221156031761,-0.000272862292942,1.41082280263e-05,1793246566877475328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.766156854,745,714,679.766156854,657.233843146,634,877.766156854,784.766156854,808,651,630,652,0.400975989886,-0.00536202542375,0.0698325461913,0.999999938917,0.000222817675455,-0.000268916104399,1.42146096338e-05,1793246566894142208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.18747938,745,714,679.18747938,657.81252062,634,877.18747938,784.18747938,808,651,630,652,0.400985989467,-0.00536109621867,0.0698363556297,0.999999939749,0.000226408963276,-0.000262728377957,1.46334544085e-05,1793246566910808832
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.389107673,808,651.389107673,629.610892327,652,0.401014858691,-0.00536273323144,0.0698482257659,0.999999944861,0.000226987340636,-0.000241907989011,1.53438233553e-05,1793246566927475712
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.964692955,808,651.964692955,629.035307045,652,0.401052771086,-0.00536560008924,0.0698639589455,0.999999951389,0.000226121798196,-0.000214074980193,1.61939036089e-05,1793246566944142592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.551078456,745,714,679,658,634,877,784.448921544,808,652,629,652,0.401108026998,-0.00536533230277,0.0698814232406,0.99999995715,0.000225264749263,-0.000186263972116,1.61992637044e-05,1793246566960808960
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.86374385,745,714,679.13625615,658,634,877,784.13625615,808,651.86374385,629,652,0.401166652488,-0.00536558297879,0.0698971854001,0.999999961473,0.000224345997637,-0.000162667929355,1.61747668076e-05,1793246566977475584
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.284783402,745,714,679.715216598,658,634,877,784.715216598,808,651.284783402,629,652,0.401232543478,-0.00536818373396,0.0699070496651,0.999999963285,0.000223224967147,-0.000152761880385,1.62326181636e-05,1793246566994141952
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877,784.706425151,808,651,629,652,0.401308531817,-0.00537022303191,0.0699136431049,0.999999965079,0.000221147197175,-0.000143871438327,1.53980467514e-05,1793246567010808576
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877,784.128649903,808,651,629,652,0.401394295073,-0.00537171880098,0.0699170701631,0.99999996687,0.000218143238458,-0.000135964173356,1.3699549466e-05,1793246567027475456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.446813745,745,714,679.553186255,658,634,877,784,808,651,629,652,0.401487438786,-0.00537189183791,0.0699154990265,0.999999966248,0.000219050396265,-0.000139258935209,1.1307270591e-05,1793246567044141824
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.022118677,658,634,877,784,808,651,629,652,0.401583931264,-0.00537183660693,0.0699125600633,0.999999964961,0.000220846532621,-0.000145702752971,8.70684455651e-06,1793246567060808448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679.610307806,658,634,877,784,808,651,629,652,0.401712021884,-0.00537563617473,0.0699112560301,0.999999965156,0.000216722045032,-0.000150618360425,5.86542415617e-06,1793246567077475584
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.803316337,745,714.196683663,680,658,634,877,784,808,651.196683663,629,652,0.401852911835,-0.00537880020227,0.0699114257342,0.999999965856,0.000212793184686,-0.000151655124026,2.68631517104e-06,1793246567094142464
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.22050039,745,714.77949961,680,658,634,877,784,808,651.77949961,629,652,0.402018929606,-0.0053807165273,0.0699144887014,0.999999967583,0.000209248383135,-0.00014507688328,-1.1557487166e-06,1793246567110809088
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.643729129,679.643729129,658,633.643729129,877.356270871,784,808,652,629,652,0.402205203673,-0.00538392323971,0.0699193532824,0.999999970345,0.000202061735962,-0.000135848735841,-5.07036348046e-06,1793246567127475456
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.070636527,679.070636527,658,633.070636527,877.929363473,784,808,652,629,652,0.402403805468,-0.00538791526498,0.0699253143021,0.999999973587,0.000192658709442,-0.000125007889656,-9.029132116e-06,1793246567144142080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.504268839,658,633.504268839,878,784,807.495731161,651.495731161,629,652,0.402627125241,-0.00539233741561,0.0699265177214,0.999999975551,0.00018438980764,-0.000121268161207,-1.39047608001e-05,1793246567160808960
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,807.081525372,651.081525372,629,652,0.402860885955,-0.00539677603588,0.0699276622409,0.999999977358,0.000176354342207,-0.000117567697997,-1.89910307005e-05,1793246567177475584
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,807.671865699,651.671865699,629,652,0.403138123028,-0.00540094005555,0.0699326134813,0.999999979635,0.000168780710344,-0.000107881764697,-2.45874993711e-05,1793246567194142464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,807.742290235,652,629,652,0.403435623291,-0.00540570962721,0.0699398977616,0.999999982077,0.000161806177702,-9.36254668244e-05,-2.99921927466e-05,1793246567210809088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,807.162072994,652,629,652,0.403758481637,-0.00541123700866,0.0699501016935,0.999999984567,0.000155581380287,-7.36496472087e-05,-3.5156891124e-05,1793246567227475968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.414962944,745,714,680,658,634,877.585037056,784,807.414962944,652,629,652,0.404097774273,-0.00541676208652,0.0699541941876,0.999999992218,9.58713236475e-05,-6.87199312373e-05,-4.06265176851e-05,1793246567244142592
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990765792,745,714,680,658,634,877.009234208,784,807.990765792,652,629,652,0.404443436842,-0.00542228627138,0.0699559178843,0.999999996389,1.54303456471e-05,-6.96220948323e-05,-4.62143342643e-05,1793246567260808960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.435044668,745,714,680,658,634,876.435044668,784.564955332,808,652,629,652.564955332,0.404834131722,-0.00542924492401,0.0699618564384,0.999999996985,-4.20132302294e-06,-5.90945551467e-05,-5.0198692978e-05,1793246567277475328
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+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.737710675,634,876.737710675,785,808,652,629,652.262289325,0.405670855521,-0.00543763100618,0.069966167431,0.999999995314,7.36939717442e-05,-5.24017439856e-05,-3.45750473591e-05,1793246567310808576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.321140703,679.678859297,659,634,877,785,808,652,629,652,0.406115183073,-0.00545384303759,0.0699599587819,0.999999994307,8.17474930479e-05,-6.24414959766e-05,-2.83648853118e-05,1793246567327475200
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.469996975,659,634,877.469996975,784.530003025,808,651.530003025,629,652,0.407056649272,-0.00549722578896,0.0699333708744,0.999999994362,5.50941178796e-06,-0.000101259662995,-3.14883349642e-05,1793246567360808960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.04475395,745,714.95524605,679.95524605,659,634,877.95524605,784,808,651,629,652.04475395,0.407560518474,-0.00550994160503,0.06991877492,0.999999991943,-2.09310112865e-05,-0.000120456972405,-3.41390132852e-05,1793246567377476352
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.637211864,745,714.362788136,679.362788136,659,634,877.362788136,784,808,651,629,652.637211864,0.408137642336,-0.00550751225164,0.0699292386903,0.999999994703,-1.11518057251e-05,-9.5939045529e-05,-3.55737375405e-05,1793246567394142976
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,679.22420932,659,634,877.22420932,784.22420932,808,651,629,653,0.408740145971,-0.00551154713099,0.0699407136956,0.99999999682,-1.34036855277e-05,-6.94445349094e-05,-3.68530351596e-05,1793246567410809600
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,679.80258136,659,634,877.80258136,784.80258136,808,651,629,653,0.409382739651,-0.0055257929609,0.0699537860544,0.999999997889,-3.46599584748e-05,-3.98277992848e-05,-3.78868196121e-05,1793246567427475968
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.621059649,634,878,785,808,651,629.378940351,652.621059649,0.410008719704,-0.00553219325583,0.069952895455,0.999999997508,-4.32647369701e-05,-3.93883094789e-05,-3.95149543314e-05,1793246567444142080
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658.045743885,634,878,785,808,651,629.954256115,652.045743885,0.410626090183,-0.00553452781758,0.069944768936,0.999999996653,-4.53132257898e-05,-5.40691257398e-05,-4.14510947075e-05,1793246567460808448
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714,679.459096413,658.540903587,634,877.459096413,784.459096413,808.540903587,651,629.459096413,652,0.411281051052,-0.0055443676934,0.0699444745503,0.999999995464,-6.0872213528e-05,-6.05419715011e-05,-4.1243149392e-05,1793246567477474816
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714,679.253516212,659,633.873241894,877.126758106,784,809,651,629,652,0.411963735047,-0.00555489734639,0.0699521674943,0.999999994946,-7.56458228138e-05,-5.21925272411e-05,-4.07596546213e-05,1793246567494141440
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680.412567765,659,633.293716118,877.706283882,784,809,651,629,652,0.412733845167,-0.00556557514414,0.0699859739001,0.999999995699,-8.34456383541e-05,6.56823632861e-06,-3.99534545352e-05,1793246567510808064
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.717225523,745,714,680.434451045,659,633,878,784,809,651,629,652,0.413510970863,-0.0055662549734,0.0700111271821,0.999999994644,-8.37438914086e-05,4.68859392431e-05,-3.87411983916e-05,1793246567527474688
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.143854003,745,714,679.287708007,659,633,878,784,809,651,629,652,0.414295306305,-0.0055566602555,0.0700273879676,0.999999994069,-7.63330627739e-05,6.82503869232e-05,-3.71116532064e-05,1793246567544141312
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,633.441108362,878,784,808.558891638,651,629.441108362,652.441108362,0.415016824939,-0.0055264404484,0.0699932315975,0.999999998315,-4.13848772794e-05,6.07109554595e-06,-4.0244111006e-05,1793246567560808192
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.029459449,745,714,679.029459449,659,633.970540551,878,784,808.029459449,651,630,652.970540551,0.415722541163,-0.00549136789106,0.0699434131012,0.999999995664,3.07481979588e-08,-8.15778647126e-05,-4.49081683183e-05,1793246567577475072
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.608606956,745,714,679.608606956,659,633.391393044,878,784,808.608606956,651,630,652.391393044,0.416525961125,-0.00549463991082,0.069916425636,0.999999991291,-9.96644726693e-06,-0.000122377563783,-4.83912912483e-05,1793246567594141696
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.812296118,745,714,680.187703882,659,633.187703882,878,784,809,651,630,652,0.417356256227,-0.00550191585645,0.06990952606,0.999999989763,-2.37242338847e-05,-0.000131834218207,-5.0313748802e-05,1793246567610808320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.233304671,745,714,680.766695329,659,633.766695329,878,784,809,651,630,652,0.418242575202,-0.00551753838688,0.0699445017054,0.999999994889,-4.53213492948e-05,-7.5953150346e-05,-4.89828426863e-05,1793246567627474944
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.343175698,745,714,680.656824302,659,634,878,784,809,651,630,652,0.419148989227,-0.00552478424487,0.0699759372376,0.999999997035,-5.34998230874e-05,-2.84333664361e-05,-4.75364863252e-05,1793246567644141568
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.917961311,745,714,680.082038689,659,634,878,784,809,651,630,652,0.4200689654,-0.00552637667043,0.0700049835393,0.999999997467,-5.26220298667e-05,1.34433690918e-05,-4.60122124485e-05,1793246567660808192
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506239564,745,714,680.493760436,659,633.506239564,878,784,809,651.493760436,630,652.493760436,0.420982415886,-0.00553086707549,0.0700247834903,0.999999996131,-6.2767287514e-05,4.14707488889e-05,-4.55939873193e-05,1793246567677474816
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071594886,745,714,680.928405114,659,633.071594886,878.071594886,784.071594886,809.071594886,651.928405114,630,653,0.421885901378,-0.00553382232236,0.0700363803996,0.999999994842,-7.08235214992e-05,5.65885275596e-05,-4.57988141038e-05,1793246567694141696
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.662980748,745,714,680.337019252,659,633.662980748,878.662980748,784.662980748,809.662980748,651.337019252,630,653,0.422724926886,-0.00552212908545,0.0699995984862,0.999999997507,-5.0388817258e-05,-5.27899059756e-06,-4.91901513733e-05,1793246567710808320
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,633.751172943,878.751172943,784.751172943,809.751172943,651,630,653,0.42356529826,-0.00551394220551,0.0699437698509,0.999999993236,-4.50050445065e-05,-9.27080567996e-05,-5.39182448505e-05,1793246567727474944
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,633.172666101,878.172666101,784.172666101,809.172666101,651,630,653,0.424407452934,-0.00551040102051,0.0698627055338,0.999999973502,-5.956278113e-05,-0.000214004531841,-6.04174541305e-05,1793246567744141568
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659.402554208,633,878,784,809.402554208,651,630.402554208,653,0.425361728563,-0.00551701204652,0.069866556126,0.999999975936,-6.45810147163e-05,-0.000200682618193,-6.06899132026e-05,1793246567760808448
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.976376217,633,878,784,809.976376217,651,630.976376217,653,0.426363706312,-0.00552794235899,0.0699065340061,0.999999987691,-6.55406394751e-05,-0.000130086931698,-5.83131837897e-05,1793246567777475072
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.435826021,745,714,680.564173979,660,633,878.564173979,784.564173979,810,651,630.435826021,653,0.42732993475,-0.00553171256374,0.0699646695138,0.99999999409,-7.53606857546e-05,-5.61834942142e-05,-5.46290480559e-05,1793246567794141696
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.150480453,745,714,680.849519547,660,633.150480453,879,785,810,651,630,653,0.428302355872,-0.00553418003791,0.0700176139368,0.999999995174,-8.20933685153e-05,1.55085160799e-05,-5.16844658035e-05,1793246567810808320
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.730812852,745,714,680.269187148,660,633.730812852,879,785,810,651,630,653,0.429296851202,-0.00553380441299,0.070053502826,0.999999992346,-7.89201701309e-05,8.04778163091e-05,-5.10127950792e-05,1793246567827474944
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680.309494047,660,633.690505953,879,785,810,651.309494047,630,653,0.430236856485,-0.00553084341296,0.0700491459604,0.999999993177,-7.23505470536e-05,7.53802760652e-05,-5.22488894245e-05,1793246567844141568
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680.886746674,660,633.113253326,879,785,810,651.886746674,630,653,0.431129719688,-0.0055256456773,0.0700099705037,0.999999996459,-6.28425094232e-05,9.66444967924e-06,-5.51354855095e-05,1793246567860808192
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.460262648,879,785,810,651.539737352,630,653,0.431980044865,-0.00552729351831,0.0699366150387,0.999999989751,-6.63631344721e-05,-0.000112912177772,-5.78290197535e-05,1793246567877474816
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.965987288,660,634,878.965987288,785,810,651,630,652.965987288,0.432828014967,-0.00553070510095,0.069862495886,0.999999967705,-7.31674602795e-05,-0.000235786625524,-6.0337572854e-05,1793246567894141440
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.373416048,660,634,878.373416048,785,810,651,630,652.373416048,0.433807814391,-0.00553564175815,0.0699128395118,0.999999985631,-8.16740090523e-05,-0.000135636157637,-6.05822185517e-05,1793246567910808064
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.785710007,745,714,680.214289993,660,633.785710007,878,785.214289993,810,651,630,652.214289993,0.434776942225,-0.00553977590848,0.0699632373353,0.999999993526,-8.65128692704e-05,-4.40188210713e-05,-5.93839672746e-05,1793246567927474944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.20629363,745,714,680.79370637,660,633.20629363,878,785.79370637,810,651,630,652.79370637,0.43572788701,-0.00554254267693,0.070013727514,0.99999999428,-8.51023970925e-05,3.30590207071e-05,-5.57271802032e-05,1793246567944141568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,878,785.63080924,810.36919076,651,630.36919076,653,0.43664955478,-0.00554530012663,0.0700334577224,0.999999992276,-8.86027187098e-05,6.77766209225e-05,-5.48093323215e-05,1793246567960808192
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,878,785.057498818,810.942501182,651,630.942501182,653,0.437555035701,-0.00554805242398,0.0700361812325,0.999999990844,-9.48181398782e-05,7.90739170767e-05,-5.54058004127e-05,1793246567977474816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,878.529071098,784.470928902,811,651,630.470928902,653,0.438387425859,-0.00554602982029,0.0699963543161,0.999999993626,-9.21086199177e-05,2.9767757849e-05,-5.8126566397e-05,1793246567994141696
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.115521357,745,714,681,660.231042715,633,879,784,811,651,630,653,0.4391953174,-0.00554340027796,0.0699470692196,0.999999993528,-8.77745412184e-05,-3.93030853738e-05,-6.0790813667e-05,1793246568010808064
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.695547235,745,714,681,661.39109447,633,879,784,811,651,630,653,0.439937462492,-0.00554047049856,0.0698788254828,0.999999981878,-8.09085847395e-05,-0.000160682601743,-6.22756404416e-05,1793246568027474688
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,681.273382036,661.453235927,633,879,784,811,651.273382036,630.273382036,653,0.440734595983,-0.00554104074342,0.0698576982379,0.999999975555,-8.07586142081e-05,-0.000196062691062,-6.26641905588e-05,1793246568044141312
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,681.848796101,660.302407797,633,879,784,811,651.848796101,630.848796101,653,0.441592480519,-0.00554547780959,0.0698886252211,0.999999984907,-8.80284552527e-05,-0.000136430747084,-6.18415765228e-05,1793246568060808192
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.574353645,745,714,682,660,633,879,784.425646355,811,651.574353645,631,653,0.442455604732,-0.00555135447206,0.0699537120592,0.999999993483,-9.00168548392e-05,-3.78638459632e-05,-5.91359125116e-05,1793246568077474816
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003068222,745,714.003068222,682,660,633.003068222,878.996931778,785,811,651,631,653,0.443320020271,-0.00555772560869,0.0700306126287,0.999999991642,-9.01650183467e-05,7.39904100587e-05,-5.57742806776e-05,1793246568094141440
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.591879039,745,714.591879039,682,660,633.591879039,878.408120961,785,811,651,631,653,0.44407440586,-0.00556053620959,0.0700383886,0.999999990957,-9.83813025625e-05,7.31171867833e-05,-5.53183171034e-05,1793246568110808320
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.822200628,682.177799372,660,633.822200628,878,785,811.177799372,651,630.822200628,653,0.444808127746,-0.00556197337285,0.0700321731369,0.999999991678,-0.000102928509009,5.46977101972e-05,-5.53050265971e-05,1793246568127474944
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.242808865,682.757191135,660,633.242808865,878,785,811.757191135,651,630.242808865,653,0.445495177027,-0.00556030837662,0.069994355462,0.999999993491,-9.91884338442e-05,-3.35318801388e-06,-5.62915939505e-05,1793246568144141568
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,878.332044604,785,811.667955396,651,630,653,0.446153681781,-0.00555854426641,0.0699651722584,0.999999993011,-9.38969693404e-05,-4.28656834785e-05,-5.7651588856e-05,1793246568160808704
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,878.903624141,785,811.096375859,651,630,653,0.446791594648,-0.00555670865609,0.0699422179114,0.999999992035,-8.7486342462e-05,-6.90046859008e-05,-5.92809721038e-05,1793246568177476608
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.519028849,745,714,682.519028849,660.480971151,633,879,785,811.480971151,651,630,653,0.447389059204,-0.00555667667507,0.0699208107727,0.999999986921,-9.63148656396e-05,-0.000115365590728,-5.97751990639e-05,1793246568194143488
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.060782384,745,714,682.060782384,660.939217616,633,879.060782384,784.939217616,812,651,630,653,0.447979320506,-0.00555744210224,0.0699015211203,0.999999979602,-0.000106834154414,-0.000160594054802,-5.9927996248e-05,1793246568210809600
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.651888309,745,714,682.651888309,660.348111691,633,879.651888309,784.348111691,812,651,630,653,0.448578307236,-0.00556197334978,0.0698979686473,0.9999999799,-0.000105139555971,-0.000160159284692,-5.91104993473e-05,1793246568227476224
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879.762807209,784.237192791,811.762807209,651,630.237192791,653,0.449170863863,-0.00556652904459,0.0699073340974,0.999999982482,-0.000105821601981,-0.000142978517518,-5.82636844239e-05,1793246568244142592
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879.185813878,784.814186122,811.185813878,651,630.814186122,653,0.449754208724,-0.00557111976199,0.0699352056635,0.999999987132,-0.000109908410295,-0.000101807565573,-5.73748687299e-05,1793246568260809472
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714.390167454,683,660,633,879,784.609832546,811.390167454,651,631,653,0.450281038646,-0.00557444997237,0.0699457930045,0.99999998839,-0.00011344950059,-8.44031286604e-05,-5.67839182271e-05,1793246568277476352
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714.965668128,683,660,633,879,784.034331872,811.965668128,651,631,653,0.45078102349,-0.00557718143043,0.069948170178,0.999999988536,-0.000116731370098,-7.82880069508e-05,-5.63344564492e-05,1793246568294143488
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.460211391,745,714.460211391,683,660,633,879,784.539788609,812,651,631,653,0.451192641396,-0.00557782503813,0.0699085279697,0.999999980755,-0.000123337234657,-0.000141158058796,-5.79002516835e-05,1793246568310809344
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.117863399,745,714,683,660,633,879,784.882136601,812,651,630.882136601,653,0.45159574497,-0.00557814302036,0.0698679456293,0.999999969274,-0.000127299883934,-0.000204351478237,-5.90446960717e-05,1793246568327475456
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.712280743,745,714,683,660,633,879,784.287719257,812,651,630.287719257,653,0.451987089556,-0.00557767995647,0.0698343402957,0.999999959613,-0.000119722669738,-0.000251157260035,-5.79685792692e-05,1793246568344142080
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,633.462210393,878,784.537789607,809.537789607,651.462210393,630,652,0.425270525976,-0.00540810704059,0.0698621981968,0.999999964017,0.000146757638013,-0.000222146186362,3.28578649967e-05,1793246570519663872
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.675076057,658.324923943,634,878.675076057,785,809,651,629.675076057,652,0.417257234143,-0.00540459835356,0.0698630946827,0.999999958264,0.000160738330616,-0.000237618713563,3.42299259792e-05,1793246570669663488
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.053031109,877.946968891,785,807.946968891,651,629,652,0.401019508305,-0.00536084259572,0.0698096033412,0.999999927883,0.000227779869503,-0.000303550662546,1.44258875745e-05,1793246571369664000
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.628753462,877.371246538,785,807.371246538,651,629,652,0.401004196433,-0.00536267714202,0.0698120311773,0.999999929961,0.000223667461146,-0.000299695801627,1.53029974758e-05,1793246571386330624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.796203604,658,634,877.203796396,785,807.203796396,651,629,652,0.400991043471,-0.0053630045918,0.0698131720579,0.999999930982,0.00022181392294,-0.000297648729894,1.55111167931e-05,1793246571402997248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.222394258,658,634,877.777605742,785,807.777605742,651,629,652,0.400981810229,-0.00536059575547,0.0698119763405,0.999999930127,0.000224061591991,-0.00029888388234,1.4504616056e-05,1793246571419663616
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.362452319,745,714.362452319,679.362452319,658,634,877.637547681,785,808,651.362452319,629,652,0.400976208254,-0.00535960250283,0.0698122623789,0.999999929813,0.000226141870163,-0.00029837231314,1.44110532132e-05,1793246571436330240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.954283823,745,714.954283823,679.954283823,658,634,877.045716177,785,808,651.954283823,629,652,0.400972904338,-0.00535950510727,0.0698134861516,0.999999929839,0.000228116214362,-0.000296755325144,1.48952462666e-05,1793246571452997120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.465266317,745,715,680,658,634,877,784.465266317,808,652,629,652,0.400970588637,-0.00536080255223,0.0698149889694,0.999999931007,0.000225919513995,-0.000294487399393,1.49714751087e-05,1793246571469663488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.88648177,680,658,634,877,784.11351823,808,652,629,652,0.400968910407,-0.00536154697407,0.069816469703,0.999999932001,0.000224573773982,-0.000292132517131,1.49657822339e-05,1793246571486330112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.310599578,680,658,634,877,784.689400422,808,652,629,652,0.400969491678,-0.00535956332644,0.0698177653429,0.999999931925,0.000228116188693,-0.00028964540238,1.47655187855e-05,1793246571502996736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.268943802,785,808,652,629.268943802,652,0.400969514356,-0.00535937317765,0.0698182705082,0.999999932149,0.000228471859048,-0.000288598825535,1.4598166184e-05,1793246571519663616
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.85277387,785,808,652,629.85277387,652,0.40096888302,-0.0053612829028,0.0698178501659,0.999999932732,0.000225096408274,-0.000289238866899,1.44693464157e-05,1793246571536330240
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.565349204,785,808,651.565349204,629.565349204,652,0.400970237433,-0.00536182022243,0.0698195225047,0.999999933612,0.000224014717588,-0.000287033419839,1.43438133625e-05,1793246571552996864
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.015733189,745,714.015733189,680,658,634,877,784.984266811,807.984266811,651,629.015733189,652,0.400972169578,-0.00536187993194,0.0698218338916,0.999999934544,0.000223777152419,-0.000283958822968,1.42336534298e-05,1793246571569663744
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.591974633,745,714.591974633,680,658,634,877,784.408025367,807.408025367,651,629.591974633,652,0.400970828465,-0.00536141150051,0.0698217719026,0.999999933985,0.000226056637497,-0.000284103737274,1.46316894291e-05,1793246571586330368
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.831915158,745,715,679.831915158,658,634,877,784.168084842,807,651.168084842,629.831915158,652,0.40097028937,-0.00536083084948,0.0698221157559,0.999999933764,0.000227674279748,-0.000283571859944,1.49412711669e-05,1793246571602996992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.256123305,745,715,679.256123305,658,634,877,784.743876695,807,651.743876695,629.256123305,652,0.400971695655,-0.00535997799836,0.0698234440213,0.999999934374,0.00022768655426,-0.000281398355133,1.5036298004e-05,1793246571619663616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.672663743,679,658,634,877.327336257,785,807.327336257,651.672663743,629,652,0.400971670398,-0.00535980189794,0.0698236628498,0.9999999345,0.000227427609922,-0.000281165720204,1.49485898964e-05,1793246571636330240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.083060724,679,658,634,877.916939276,785,807.916939276,651.083060724,629,652,0.40097049817,-0.00536016802046,0.0698229927806,0.999999934239,0.000226951360938,-0.000282488139692,1.47144717821e-05,1793246571652996864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.497771788,679,658,634,877.502228212,784.502228212,808,651.497771788,629,652,0.400970361047,-0.00536173928995,0.06982318714,0.999999934428,0.000225951301273,-0.000282597402318,1.50924390398e-05,1793246571669664000
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.076755891,745,715,679.076755891,658,634,877,784,808,652,629,652,0.400970668134,-0.00536318577759,0.0698236851239,0.999999934798,0.000225021306845,-0.000282011989018,1.54535764543e-05,1793246571686330624
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.653069605,745,715,679.653069605,658,634,877,784,808,652,629,652,0.400972761624,-0.00536253397738,0.0698252366816,0.999999935853,0.000225106346661,-0.000278200054463,1.50519484554e-05,1793246571702996992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.766786545,680,658.233213455,634,877,784.233213455,807.766786545,652,629.233213455,652,0.400973614563,-0.00536187160955,0.0698259457945,0.999999936223,0.000225622632539,-0.00027646115933,1.47725576522e-05,1793246571719664128
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.180849724,680,658.819150276,634,877,784.819150276,807.180849724,652,629.819150276,652,0.400972591232,-0.00536119325862,0.069825380753,0.999999935573,0.000226791155935,-0.000277857629212,1.4678044265e-05,1793246571736331776
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.40072002,714,679.59927998,659,634,877,785,807,651.59927998,629.59927998,652,0.400971800516,-0.00536157423885,0.0698252316543,0.999999935465,0.000225963080068,-0.000278915279754,1.47292754167e-05,1793246571752998656
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.980340064,714,679.019659936,659,634,877,785,807,651.019659936,629.019659936,652,0.40097111365,-0.00536242815372,0.0698252682517,0.999999935597,0.000224243629514,-0.000279821665527,1.48455737035e-05,1793246571769664768
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.441101716,745.441101716,714,679,658.441101716,634,877,785,807,651,629,652,0.400969893582,-0.00536253305516,0.069824351759,0.999999935762,0.000223046493703,-0.000280190959767,1.48113386689e-05,1793246571786330880
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807,651.136256405,629,652,0.400969153545,-0.00536244013729,0.0698238853152,0.999999935801,0.000222727958997,-0.000280307450415,1.47754725164e-05,1793246571802997248
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,785,807,651.709881966,629,652,0.400970014447,-0.00536179665197,0.0698249708942,0.999999935432,0.000225170780397,-0.000279672996462,1.47513354493e-05,1793246571819663872
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb53633c80abde3ba8db3f589ea68946e5309cdf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_04/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
+0,0.000000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+5,0.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+16,0.266666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+17,0.283333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+18,0.300000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+19,0.316666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+21,0.350000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+23,0.383333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+24,0.400000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+401,6.683333333,pose2_to_pose3_retreat,0.583246886962,-7.2072010247e-05,1.06004237471,0.553818678475,0.00860238671251,1.05966576495
+402,6.700000000,pose2_to_pose3_retreat,0.583246654996,-7.20859711446e-05,1.06004239817,0.553818446666,0.00860237326529,1.05966578793
+403,6.716666667,pose2_to_pose3_retreat,0.583246495465,-7.20955725226e-05,1.0600424143,0.553818287243,0.00860236401719,1.05966580374
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+406,6.766666667,pose2_to_pose3_retreat,0.583245661664,-7.2137197281e-05,1.06004241689,0.55381745313,0.00860232126836,1.05966580481
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+408,6.800000000,pose2_to_pose3_retreat,0.58324538759,-7.20872023972e-05,1.06004217589,0.553817176875,0.00860236390849,1.05966556489
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccf1cc09a7cd1cc2890bdbd1131526de7a5945c5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7557e9831af2ea3c159e9e19d33c81da0db961d5526bfa2f37f73988c0c7b2ac
+size 25988974
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e29b5cbf93ac413817bdbc17ae46baf441736b62
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+52,0.866666667,BASELINE,765.191722453,745,715,679.191722453,658,634,877,785,807.191722453,652,630,652,0.400973434252,-0.00536177983369,0.0698285045539,0.999999937662,0.000224173528915,-0.000272447057188,1.39863062374e-05,1793246572809807104
+53,0.883333333,BASELINE,765.76896063,745,715,679.76896063,658,634,877,785,807.76896063,652,630,652,0.400972933103,-0.00536287048122,0.0698288939902,0.999999937655,0.000224562186141,-0.000272122030282,1.45118768068e-05,1793246572826473472
+54,0.900000000,BASELINE,765.65622329,745,714.65622329,680,658,634,877,784.65622329,808,651.65622329,630,652,0.400971814105,-0.00536252317263,0.0698281257275,0.999999937225,0.000225020374195,-0.000273325748724,1.44285168286e-05,1793246572843139840
+55,0.916666667,BASELINE,765.083023645,745,714.083023645,680,658,634,877,784.083023645,808,651.083023645,630,652,0.400970282781,-0.00536121622913,0.0698265848625,0.999999936508,0.000225524964348,-0.000275549691164,1.39387807429e-05,1793246572859806464
+56,0.933333333,BASELINE,765,745,714.50895314,679.49104686,658,634,877.50895314,784.50895314,808,651.50895314,630,652,0.400970200089,-0.00536181156742,0.0698263567849,0.999999936401,0.000224833781605,-0.000276505526145,1.39006458146e-05,1793246572876473344
+57,0.950000000,BASELINE,765,745,714.899282367,679.100717633,658,634,877.899282367,785,807.899282367,652,629.899282367,652,0.400970438417,-0.00536247647566,0.0698265391276,0.999999936329,0.000224643455249,-0.000276915612081,1.39760090553e-05,1793246572893139968
+58,0.966666667,BASELINE,765,745,714.323519958,679.676480042,658,634,877.323519958,785,807.323519958,652,629.323519958,652,0.400971033592,-0.00536194983206,0.0698276085061,0.999999935936,0.00022777074136,-0.000275764677137,1.42259248947e-05,1793246572909806592
+59,0.983333333,BASELINE,765.251439441,745,714.251439441,679.748560559,658,634,877.251439441,785,807.251439441,652,629,652,0.400972039137,-0.00536195059903,0.0698284621729,0.999999936245,0.000228160469415,-0.000274314417505,1.43134213439e-05,1793246572926473216
+60,1.000000000,BASELINE,765.825368999,745,714.825368999,679.174631001,658,634,877.825368999,785,807.825368999,652,629,652,0.40097357101,-0.0053626278099,0.0698290391733,0.999999937455,0.00022503907246,-0.000272480251146,1.41926026645e-05,1793246572943139840
+61,1.016666667,BASELINE,765.600081395,745,714.600081395,679.799837211,658,634,877.600081395,785,808,652,629,652,0.400972870028,-0.00536222159531,0.0698282365974,0.999999937171,0.000225393290836,-0.000273237146067,1.40644597783e-05,1793246572959806720
+62,1.033333333,BASELINE,765.025260648,745,714.025260648,680.949478704,658,634,877.025260648,785,808,652,629,652,0.40097119252,-0.00536134155069,0.0698268306716,0.99999993623,0.000227267550114,-0.0002751272271,1.39331136991e-05,1793246572976473344
+63,1.050000000,BASELINE,765,745,714,679.85844892,658,634,877,784.42922446,807.42922446,651.42922446,629,652,0.400971141111,-0.00536143358531,0.0698275429311,0.999999936515,0.000226750220271,-0.000274507357402,1.41115892415e-05,1793246572993139968
+64,1.066666667,BASELINE,765,745,714,679,658,634,877,784.162139574,807.162139574,651.162139574,629,652,0.400971630573,-0.00536141355267,0.0698284117251,0.999999936984,0.000226001530958,-0.000273411389486,1.42124859387e-05,1793246573009806592
+65,1.083333333,BASELINE,765,745,714,679,658,634,877,784.739056854,807.739056854,651.739056854,629,652,0.400973312462,-0.005360992532,0.069829431889,0.999999937774,0.000224942206372,-0.000271392625013,1.40784934426e-05,1793246573026473216
+66,1.100000000,BASELINE,765,745,714,679.313810434,658,634,877.313810434,785,808,652,629,652,0.400973604821,-0.00536166508234,0.0698293599326,0.999999938132,0.000224000571923,-0.000270857555687,1.40068365612e-05,1793246573043139840
+67,1.116666667,BASELINE,765,745,714,679.886777121,658,634,877.886777121,785,808,652,629,652,0.400972749654,-0.00536324074405,0.0698283860629,0.999999938134,0.000223156130394,-0.000271547776751,1.3986658741e-05,1793246573059806720
+68,1.133333333,BASELINE,765.473435451,745,714,680,657.526564549,634,877.526564549,784.526564549,807.526564549,652,629,652,0.400971355304,-0.00536227761066,0.0698276146871,0.999999937372,0.000224478855066,-0.000273269350391,1.37770955409e-05,1793246573076473344
+69,1.150000000,BASELINE,766,745,714,680,657.062388984,634,877,784,807,651.937611016,629,652,0.400970067598,-0.00536095991596,0.069827044262,0.999999936584,0.000225929828005,-0.000274961191873,1.35797560391e-05,1793246573093140224
+70,1.166666667,BASELINE,766,745,714,680,657.642409023,634,877,784,807,651.357590977,629,652,0.400970766395,-0.00536188798884,0.069827727337,0.999999937192,0.000224016698186,-0.000274298993534,1.38708045747e-05,1793246573109806848
+71,1.183333333,BASELINE,766,745,714.220059636,679.779940364,658.220059636,634,877.220059636,784,807,651.220059636,629,652,0.400971840986,-0.00536232308452,0.0698287783902,0.999999937781,0.000223086690072,-0.000272889956182,1.41608549065e-05,1793246573126473472
+72,1.200000000,BASELINE,766,745,714.793901101,679.206098899,658.793901101,634,877.793901101,784,807,651.793901101,629,652,0.400973519727,-0.00536196563892,0.0698304210284,0.999999938341,0.000223737210475,-0.000270280252956,1.44493005085e-05,1793246573143140352
+73,1.216666667,BASELINE,765.630227699,745,714.630227699,679,658.630227699,634,878,784.369772301,807,651.630227699,629,652,0.400973389603,-0.00536183947677,0.0698297314271,0.999999938187,0.00022369227316,-0.000270892360245,1.42990343409e-05,1793246573159806976
+74,1.233333333,BASELINE,765.053218982,745,714.053218982,679,658.053218982,634,878,784.946781018,807,651.053218982,629,652,0.400972245714,-0.00536184293592,0.0698277347375,0.999999937632,0.000223257571173,-0.000273310109877,1.39028950745e-05,1793246573176473600
+75,1.250000000,BASELINE,765,745,714.536318082,679,658,634,877.463681918,784.463681918,807,651.536318082,629,652,0.400972439058,-0.00536183742506,0.0698282377975,0.999999937473,0.00022464821944,-0.000272737485269,1.42132722967e-05,1793246573193139968
+76,1.266666667,BASELINE,765,745,714.87555705,679,658,634,877,784.12444295,807.12444295,651.87555705,629,652,0.400972520663,-0.00536179601982,0.0698287169404,0.99999993732,0.000225911912562,-0.000272237544865,1.44851172408e-05,1793246573209806592
+77,1.283333333,BASELINE,765,745,714.297225811,679,658,634,877,784.702774189,807.702774189,651.297225811,629,652,0.400971699156,-0.00536162701891,0.0698281824782,0.999999937056,0.000226036106377,-0.000273110898897,1.43545963975e-05,1793246573226473216
+78,1.300000000,BASELINE,765,745,714.276678197,679,658,634,877,784.723321803,807.723321803,651,629,652,0.400971471764,-0.00536154761831,0.0698279860335,0.999999936993,0.000225969367356,-0.000273399530934,1.42828111007e-05,1793246573243140096
+79,1.316666667,BASELINE,765,745,714.845901051,679,658,634,877,784.154098949,807.154098949,651,629,652,0.400971872557,-0.00536156295628,0.0698281469903,0.999999937144,0.000225700746205,-0.000273069909301,1.42731296227e-05,1793246573259806720
+80,1.333333333,BASELINE,765,745,714.566507642,679,658,634,877,784.433492358,807.433492358,651,629,651.566507642,0.400972486256,-0.00536179796716,0.0698287707118,0.999999937673,0.000224398164662,-0.000272204702613,1.42615002035e-05,1793246573276473600
+81,1.350000000,BASELINE,765.027072278,745,714,679.027072278,658,634,877,784.972927722,808,651.027072278,629,651.027072278,0.400973109547,-0.00536217394219,0.0698294997415,0.999999938307,0.000222707848682,-0.000271263512932,1.4269671012e-05,1793246573293140224
+82,1.366666667,BASELINE,765.60379998,745,714,679.60379998,658,634,877,784.39620002,808,651.60379998,629,651.60379998,0.40097232295,-0.00536375631483,0.069828879099,0.999999938271,0.000220938028015,-0.000272816226338,1.46945322136e-05,1793246573309806848
+83,1.383333333,BASELINE,765.819485557,745,714,680,658,634,877,784.180514443,808,652,629,652,0.400971942945,-0.00536457101081,0.0698284179254,0.999999938177,0.000220492720906,-0.00027350890922,1.48866187821e-05,1793246573326473472
+84,1.400000000,BASELINE,765.242800041,745,714,680,658,634,877,784.757199959,808,652,629,652,0.400972455279,-0.00536370090398,0.0698283067345,0.999999937962,0.000222954294206,-0.000272314102343,1.45678400689e-05,1793246573343140096
+85,1.416666667,BASELINE,765,745,714,680,658,634,877,785,808,652,629,652,0.400972305067,-0.00536342143225,0.0698284585233,0.999999937698,0.000224356609956,-0.000272140185136,1.4424139077e-05,1793246573359806976
+86,1.433333333,BASELINE,765,745,714,680,658,634,877,785,808,652,629,652,0.400971673053,-0.00536357146773,0.0698288015497,0.999999937401,0.000224988638261,-0.00027270865435,1.44077538311e-05,1793246573376473600
+87,1.450000000,BASELINE,765.49734207,745,714,679.50265793,658,634,877,785,808,652,629.49734207,652,0.400971916087,-0.00536358785876,0.0698289929507,0.999999937747,0.000223127724035,-0.000272976040505,1.429495691e-05,1793246573393140224
+88,1.466666667,BASELINE,766,745,714.087367039,679.087367039,658,634,877,785,807.912632961,651.912632961,629.912632961,652,0.400972318475,-0.00536332795348,0.0698291671494,0.999999938108,0.000221665879984,-0.000272850017534,1.41753476438e-05,1793246573409807104
+89,1.483333333,BASELINE,766,745,714.666536307,679.666536307,658,634,877,785,807.333463693,651.333463693,629.333463693,652,0.400972680847,-0.00536165584862,0.069829406883,0.999999937886,0.000225120044399,-0.000270831851889,1.41206336756e-05,1793246573426473984
+90,1.500000000,BASELINE,765.764252416,745,714.764252416,679.764252416,658,634,877,784.764252416,807.235747584,651,629,652,0.400972406805,-0.00536093969199,0.0698294152996,0.99999993759,0.000226856804708,-0.000270470848853,1.42114042814e-05,1793246573443140352
+91,1.516666667,BASELINE,765.208555851,745,714.208555851,679.208555851,658,634,877,784.208555851,807.791444149,651,629,652,0.400971269041,-0.00536152091746,0.0698291097803,0.999999937208,0.000226262759534,-0.000272358893378,1.44996218419e-05,1793246573459806720
+92,1.533333333,BASELINE,765,745,714,679,658,634,877.37057158,784,808,651.37057158,629.37057158,652,0.400971976782,-0.00536074374958,0.0698291433144,0.999999937136,0.000226765800658,-0.000272210947493,1.43721917528e-05,1793246573476473344
+93,1.550000000,BASELINE,765,745,714,679,658,634,877.963775907,784,808,651.963775907,629.963775907,652,0.400973793268,-0.00535915048343,0.0698293805456,0.999999937249,0.000227927951459,-0.000270839815332,1.39950480515e-05,1793246573493139968
+94,1.566666667,BASELINE,765.558003154,745,714.558003154,679.558003154,658,634,877.441996846,784.558003154,808,652,630,652,0.400973580853,-0.00536012489563,0.069829509421,0.999999937295,0.000227784458796,-0.000270777995382,1.42547040514e-05,1793246573509806848
+95,1.583333333,BASELINE,765.851891929,744.851891929,715,680,658,634,877,785,807.851891929,652,629.851891929,652,0.400973269955,-0.0053611203966,0.0698295650781,0.999999937413,0.000227095176554,-0.000270913341667,1.44019972233e-05,1793246573526473472
+96,1.600000000,BASELINE,765.273943801,744.273943801,715,680,658,634,877,785,807.273943801,652,629.273943801,652,0.40097305619,-0.00536169245364,0.0698294286926,0.999999937751,0.000225068340329,-0.000271373772816,1.41029947997e-05,1793246573543140608
+97,1.616666667,BASELINE,765,744.302671405,714.697328595,679.697328595,658,634,877.302671405,785,807.605342809,651.697328595,629,652,0.400973257613,-0.00536229516006,0.0698295344095,0.999999938153,0.000223337693386,-0.000271333199529,1.3880059045e-05,1793246573559807232
+98,1.633333333,BASELINE,765,744.878085455,714.121914545,679.121914545,658,634,877.878085455,785,808.75617091,651.121914545,629,652,0.40097383317,-0.00536292548514,0.0698298582891,0.999999938614,0.00022187394805,-0.000270841162109,1.37256683516e-05,1793246573576473856
+99,1.650000000,BASELINE,765.463504363,745,714,679.463504363,658,634,877.536495637,784.536495637,808.536495637,651,629.463504363,652,0.400974100704,-0.00536252978105,0.0698297829631,0.999999938232,0.000223296640519,-0.000271065910709,1.40785831536e-05,1793246573593140224
+100,1.666666667,BASELINE,765.949010274,745,714,679.949010274,658,634,877,784,807.949010274,651,629.949010274,652,0.400974138353,-0.00536190407445,0.0698295591517,0.999999937679,0.000225228322699,-0.000271486387488,1.45025867111e-05,1793246573609806848
+101,1.683333333,BASELINE,765.368002312,745,714,679.368002312,658,634,877,784,807.368002312,651,629.368002312,652,0.400972647175,-0.00536175470631,0.06982890743,0.999999937749,0.00022438492426,-0.000271938403246,1.42479212813e-05,1793246573626473472
+102,1.700000000,BASELINE,765.210817279,745,714,679.210817279,658,634,877,784.210817279,807.210817279,651.210817279,629.210817279,652,0.400971891753,-0.005361700039,0.0698287754949,0.999999937778,0.000224190286581,-0.000271996438135,1.41519122523e-05,1793246573643140096
+103,1.716666667,BASELINE,765.785856041,745,714,679.785856041,658,634,877,784.785856041,807.785856041,651.785856041,629.785856041,652,0.400972407471,-0.00536180898291,0.0698295415765,0.999999937737,0.000225116489777,-0.000271373806305,1.43300082455e-05,1793246573659806464
+104,1.733333333,BASELINE,766,745,714,680,658,634,877.719990402,785,807.640004799,651.640004799,629.640004799,652,0.400974062592,-0.0053615136671,0.069830618142,0.999999938064,0.000225941659599,-0.00026948140616,1.42430872206e-05,1793246573676473600
+105,1.750000000,BASELINE,766,745,714,680,658,634,878.867201239,785,807.06639938,651.06639938,629.06639938,652,0.400976393801,-0.00536097847587,0.0698318789393,0.999999938603,0.000226706879373,-0.000266835564003,1.39989131635e-05,1793246573693140736
+106,1.766666667,BASELINE,766,745,714,679.477582089,658,634,877.955164178,784.477582089,807,651,629,652,0.400973386114,-0.00536193999045,0.0698293433308,0.999999937853,0.000225315699462,-0.000270784527119,1.4257475467e-05,1793246573709807872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807,652,630,652,0.400969218724,-0.00536361115794,0.0698273299226,0.999999937178,0.000221486599188,-0.000276365800641,1.44913616514e-05,1793246573752096000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807.575881795,652,629.424118205,652,0.400971011307,-0.00536310917655,0.0698284035914,0.999999937542,0.000222361745876,-0.000274359538534,1.40439733942e-05,1793246573768762624
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.151942965,658,634,877,785,808,652,629,652,0.400972242505,-0.00536245986385,0.0698290696086,0.999999937646,0.000223764842769,-0.000272849945463,1.3799289576e-05,1793246573785429248
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.728505551,658,634,877,785,808,652,629,652,0.400971904854,-0.00536139881916,0.069828596404,0.999999937026,0.000226643348846,-0.000272728342598,1.41210832283e-05,1793246573802095360
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.312522304,745,714,680,658,634,877,785,807.687477696,651.687477696,629,652,0.400972144391,-0.00536107895097,0.0698285600111,0.999999937048,0.000227123951992,-0.000272241743393,1.42351513092e-05,1793246573818761984
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.903172835,745,714,680,658,634,877,785,807.096827165,651.096827165,629,652,0.400972897594,-0.00536141869051,0.0698289123572,0.999999937644,0.000225470548912,-0.000271430316872,1.41643546623e-05,1793246573835428608
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,877,784.516861473,807,651.483138527,629,652,0.400972271789,-0.00536248556309,0.0698287208145,0.999999937843,0.000224005353534,-0.000271918743019,1.40224483579e-05,1793246573852095488
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.939485167,745,714,680,658,634,877,784,807.060514833,651.939485167,629,652,0.400971576826,-0.00536350134684,0.0698285366345,0.999999937938,0.000222799776866,-0.000272562960829,1.39176116676e-05,1793246573868762368
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366296812,745,714,680,658,634,877,784,807.633703188,651.366296812,629,652,0.40097258669,-0.00536287644755,0.0698293183039,0.999999937835,0.000223481016739,-0.000272367795427,1.42449464124e-05,1793246573885428480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.214349878,744.785650122,714,680,658,634,877,784.214349878,808,651.214349878,629,652,0.400977640102,-0.00536251186006,0.0698321349006,0.999999938745,0.000223454417142,-0.000269010483334,1.45214323018e-05,1793246573902094592
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.808201321,744.191798679,714,680,658,634,877,784.808201321,808,651.808201321,629,652,0.400989852524,-0.00536260814875,0.0698385542899,0.999999941397,0.000222174603845,-0.00026005466274,1.47078914182e-05,1793246573918761472
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.389448519,714.389448519,679.610551481,658,634,877,784.610551481,808,651.610551481,629,652,0.401020731538,-0.00536332930711,0.0698509339223,0.999999946675,0.000222749673443,-0.000238343554819,1.5020509462e-05,1793246573935428096
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.964682932,714.964682932,679.035317068,658,634,877,784.035317068,808,651.035317068,629,652,0.401060515425,-0.00536434855872,0.0698661568813,0.999999952581,0.000224209612185,-0.000210547553249,1.53933114603e-05,1793246573952094720
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.461649322,745,714.461649322,679,658,634,877,784,808,651.538350678,629,652,0.401118707907,-0.00536571501773,0.0698845140761,0.999999958151,0.00022305852174,-0.000183531306549,1.60814228603e-05,1793246573968761344
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.110996786,808,652,629,652,0.401179451971,-0.00536693568543,0.0699008840112,0.999999962432,0.000221915804276,-0.000160055815283,1.64718566126e-05,1793246573985427968
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.679851571,808,652,629,652,0.401245754191,-0.00536746128504,0.0699082108859,0.999999963949,0.000221512139009,-0.000150975417628,1.55493028771e-05,1793246574002094592
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.263624835,745,714,679.263624835,658,634,877.263624835,785,808,651.736375165,629,652,0.401320606719,-0.00536958702755,0.069913343124,0.999999965336,0.00022019393267,-0.000143641065693,1.45197602303e-05,1793246574018761216
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.866601946,745,714,679.866601946,658,634,877.866601946,785,808,651.133398054,629,652,0.401406465667,-0.00537377256133,0.0699156503055,0.999999966616,0.000217698479191,-0.00013855431965,1.33524956743e-05,1793246574035427584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.553102818,745,714,679.553102818,658,634,877.553102818,784.553102818,807.553102818,651,629,652,0.401505359856,-0.00537523161049,0.0699141887357,0.999999966292,0.000216241494099,-0.000143299182268,1.10358747394e-05,1793246574052094208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.020804351,807.020804351,651.020804351,629,652,0.401609140824,-0.00537594994963,0.0699117932452,0.999999965518,0.000215079325666,-0.00015045113843,8.36858135526e-06,1793246574068761088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.596188544,807.596188544,651.596188544,629,652,0.401744476323,-0.00537757009118,0.0699130419298,0.999999966257,0.000213912051688,-0.000147316977497,5.05717054384e-06,1793246574085427712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807.822810081,651.822810081,629,652,0.401888423202,-0.00537960185548,0.0699146108525,0.999999967405,0.000210742646925,-0.00014413606789,1.6527634029e-06,1793246574102094336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,807.228588263,651.228588263,629,652,0.402052637694,-0.00538260240954,0.0699169334833,0.999999969503,0.000202861053228,-0.000140845131652,-1.97051822759e-06,1793246574118760960
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.645240078,745,714,679,658,634,877,785,807.354759922,651,629,652,0.402239575569,-0.00538537778521,0.069920455431,0.999999971486,0.00019763974255,-0.000133908094474,-5.90755792261e-06,1793246574135427840
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068689857,745,714,679,658,634,877,785,807.931310143,651,629,652,0.402440719761,-0.0053880123832,0.069924727173,0.999999973342,0.000194081598001,-0.000124691572276,-1.00407545546e-05,1793246574152094720
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.504525485,745,714,679,658,634,877,785,808,651,629,652,0.402676573605,-0.00539349793703,0.0699273293199,0.999999975929,0.000183783958353,-0.000118916123556,-1.49696079295e-05,1793246574168761088
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.07754292,745,714,679,658,634,877,784.92245708,808,651,629,652,0.402921860063,-0.00539913566169,0.0699300336012,0.999999978459,0.00017291943883,-0.000113038106871,-2.00886816555e-05,1793246574185427712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.652183428,745,714,679,658,634,877,784.347816572,808,651,629,652,0.4031975202,-0.00540327695506,0.0699348402624,0.999999980819,0.000164264395904,-0.000103518956562,-2.57373065475e-05,1793246574202094336
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,714,679.23581638,658,634,877,784,808,651,629,652,0.403491146467,-0.00540765217535,0.0699413899332,0.999999983114,0.000156454936782,-9.12281173954e-05,-3.11642973477e-05,1793246574218760960
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714,679.833238499,658,634,877,784,808,651,629,652,0.403812322356,-0.00541238610379,0.0699506123707,0.999999985313,0.000149942113959,-7.46871134926e-05,-3.62514294852e-05,1793246574235427584
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.585825939,714,680,658,634,877.414174061,784,808,651.414174061,629,652,0.404154749037,-0.00541791751034,0.0699550340468,0.999999993999,7.42337633315e-05,-6.86056672493e-05,-4.2248998328e-05,1793246574252094464
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.011274357,714,680,658,634,877.988725643,784,808,651.988725643,629,652,0.404505404496,-0.00542375771827,0.0699575967597,0.999999996203,-2.82686541703e-05,-6.65743970023e-05,-4.85991082646e-05,1793246574268761088
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.459542467,744.540457533,714,680,658.540457533,634,877.459542467,784.540457533,808,652,629,652,0.404901237014,-0.00543072261799,0.0699623498797,0.999999996558,-2.69418777688e-05,-5.69851870273e-05,-5.39439627587e-05,1793246574285427968
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.89693164,658.89693164,634,877,784.89693164,807.89693164,652,629,652,0.405304662084,-0.00543633240882,0.0699663099593,0.999999997281,-7.96724491244e-06,-4.86883378762e-05,-5.48148366368e-05,1793246574302094848
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.277533925,658.277533925,634,877,784.277533925,807.277533925,652,629,652,0.40574159264,-0.00543504089621,0.0699660776051,0.999999994348,8.90048099664e-05,-4.76235130066e-05,-3.33737347035e-05,1793246574318761216
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.318271435,658.318271435,634,877,784,807.318271435,651.681728565,629,652,0.406186098303,-0.00543920044836,0.0699585868977,0.999999991374,0.000113179261437,-6.05825148442e-05,-2.77875436925e-05,1793246574335427840
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.894923969,658.894923969,634,877,784,807.894923969,651.105076031,629,652,0.406636753684,-0.00544778531774,0.0699452036686,0.999999992717,7.82547198365e-05,-8.49264271491e-05,-3.50727830726e-05,1793246574352094464
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.469798669,744.530201331,714,680,658.530201331,634,877,784,808,651,629,652,0.407135631394,-0.00547108026145,0.0699305234307,0.999999993218,3.68894722241e-05,-0.000104536900225,-3.57033509334e-05,1793246574368761088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.955848921,744.044151079,714,680,658.044151079,634,877,784.044151079,808,651,629.044151079,652,0.407652686298,-0.00549699743166,0.0699178022517,0.99999999226,-3.94653965097e-06,-0.000119351314272,-3.49218905989e-05,1793246574385427968
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.383006714,744.616993286,714,680,658.616993286,634,877,784.616993286,808,651,629.616993286,652,0.408258741074,-0.00551506585107,0.0699320006221,0.999999995169,-2.12603551128e-05,-8.93644808052e-05,-3.49877117216e-05,1793246574402094848
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.802318199,658.802318199,634,877.197681801,784.802318199,808.197681801,651.197681801,629.802318199,652,0.408869008115,-0.00552660515283,0.0699446281879,0.999999996968,-3.27125349986e-05,-6.10498512276e-05,-3.55860055113e-05,1793246574418761728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.205799231,658.205799231,634,877.794200769,784.205799231,808.794200769,651.794200769,629.205799231,652,0.409487773666,-0.0055249714918,0.0699540865425,0.999999998131,-3.23384449921e-05,-3.61090145066e-05,-3.7258601031e-05,1793246574435428608
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.376803783,658.376803783,634,878.376803783,784,809,652,629,652.376803783,0.410105073288,-0.00553106292058,0.0699509823627,0.99999999763,-4.04458853381e-05,-3.97425967882e-05,-3.90409546751e-05,1793246574452094976
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.952076993,658.952076993,634,878.952076993,784,809,652,629,652.952076993,0.410721600758,-0.00554122329511,0.0699412612666,0.999999996052,-5.30207024297e-05,-5.84268475464e-05,-4.08811198647e-05,1793246574468761600
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.52958827,745,714.52958827,680,659,634,878.47041173,784,808.47041173,651.47041173,629.52958827,652.47041173,0.411409159845,-0.00554992136391,0.0699443989183,0.999999995238,-6.72668155507e-05,-5.7509207603e-05,-4.11436506658e-05,1793246574485428224
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.890590874,745,714.890590874,680,659,634,878,784.109409126,808.109409126,651,629.890590874,652.109409126,0.412116996565,-0.00555768336266,0.0699544539884,0.999999994977,-7.96609062339e-05,-4.477668638e-05,-4.11650206347e-05,1793246574502094848
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.301536721,745,714.301536721,680,659,634,878,784.698463279,808.698463279,651,629.301536721,652.698463279,0.412885430905,-0.00556192423886,0.0699897118987,0.999999995631,-8.32699717224e-05,1.19425295912e-05,-4.07576695068e-05,1793246574518761472
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.282729513,745,714.282729513,680,659,634,878,785,809,651.282729513,629.282729513,653,0.413655016792,-0.00556120266404,0.0700133626562,0.999999994479,-8.42193244908e-05,4.84599259079e-05,-4.00212203442e-05,1793246574535427840
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.86197444,745,714.86197444,680,659,634,878,785,809,651.86197444,629.86197444,653,0.414425810468,-0.00555527666942,0.0700248403,0.999999993814,-8.23792774916e-05,6.37904681144e-05,-3.89396263619e-05,1793246574552094464
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.561177715,745,715,680,659,634,878.438822285,784.561177715,809,652,629.561177715,653,0.415151154646,-0.00552522742287,0.0699845980785,0.999999998076,-4.52709021212e-05,-6.76940068135e-06,-4.18746405799e-05,1793246574568761088
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014785843,745,715,680,659,634,878.985214157,784,809,652,629.014785843,652.985214157,0.415865196953,-0.00548877705691,0.0699292467804,0.999999993722,1.25600348204e-06,-0.000102163647753,-4.60178288813e-05,1793246574585427968
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.585695159,745,715,680,659,634,878.414304841,784,809,652,629.585695159,652.414304841,0.416688916575,-0.00549540341045,0.0699141521222,0.999999991423,-1.29366297317e-05,-0.000121036514211,-4.83432041747e-05,1793246574602094848
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.836869458,745,714.836869458,680,659.163130542,634,878,784.163130542,809,652,630,652.163130542,0.417529929745,-0.00550408196732,0.0699127217623,0.9999999911,-2.79152679163e-05,-0.000120660989462,-4.96096952734e-05,1793246574618761728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.24216908,745,714.24216908,680,659.75783092,634,878,784.75783092,809,652,630,652.75783092,0.418416693793,-0.00551818972814,0.0699474409734,0.999999995427,-4.49733198516e-05,-6.93629023584e-05,-4.80748562337e-05,1793246574635428096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.342014988,745,714,680.342014988,659.657985012,634,878,784.657985012,809.342014988,652,630,652.657985012,0.419317329658,-0.00552903556922,0.0699788548896,0.99999999707,-5.63230684249e-05,-2.32744145134e-05,-4.63352264964e-05,1793246574652094720
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918974922,745,714,680.918974922,659.081025078,634,878,784.081025078,809.918974922,652,630,652.081025078,0.420227494639,-0.0055376406554,0.0700079982539,0.999999996795,-6.37515348348e-05,1.92353712372e-05,-4.44549171977e-05,1793246574668761344
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680.504908275,659,634,878,784.495091725,809.504908275,651.504908275,630,652.495091725,0.421135803849,-0.00553973344161,0.0700250590984,0.999999995507,-7.1669761824e-05,4.30093198083e-05,-4.47115011547e-05,1793246574685427968
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929169856,745,714,680,659.070830144,634,878.070830144,784.929169856,809,651,630,653,0.422036479003,-0.0055388821826,0.0700324455577,0.999999994751,-7.59287709942e-05,5.1408533462e-05,-4.57179529875e-05,1793246574702094592
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.355141265,745,714,680,659.644858735,634,878.644858735,784.355141265,809,651,630,653,0.422885073076,-0.00552467430595,0.0699851263461,0.999999996951,-5.36231425144e-05,-2.76724746781e-05,-4.95714200359e-05,1793246574718761728
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226430986,745,714.226430986,680,659.773569014,633.773569014,879,784,809,651.226430986,630,653,0.42373918428,-0.00551444631667,0.0699270592206,0.999999990527,-4.54837972568e-05,-0.000117787592488,-5.4807774617e-05,1793246574735428608
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.8202428,745,714.8202428,680,659.1797572,633.1797572,879,784,809,651.8202428,630,653,0.424602247078,-0.00551067563183,0.0698515537612,0.999999970746,-6.03290274485e-05,-0.000225805397318,-6.22878437825e-05,1793246574752095232
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714.596472028,680.403527972,659.403527972,633.403527972,879,784.403527972,809,652,630,653,0.425557506967,-0.00551722483571,0.0698634803798,0.999999975711,-6.51865048705e-05,-0.000201291653364,-6.17292106005e-05,1793246574768761856
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714.017756913,680.982243087,659.982243087,633.982243087,879,784.982243087,809,652,630,653,0.426552793137,-0.00552825430373,0.0699133646587,0.999999989069,-6.57079104478e-05,-0.000119240817746,-5.76806644047e-05,1793246574785428224
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,879,785,809.554058741,652,630,653,0.427532675442,-0.0055322851856,0.0699729269796,0.999999994443,-7.85908480559e-05,-4.4634576593e-05,-5.42744183022e-05,1793246574802095104
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.13003194,634,879.13003194,785,809.86996806,651.86996806,630,653,0.428519220264,-0.00553465097746,0.0700267303014,0.999999994583,-8.6271478587e-05,2.70897590161e-05,-5.15477819912e-05,1793246574818761472
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.721534923,634,879.721534923,785,809.278465077,651.278465077,630,653,0.429531140135,-0.00553189373796,0.0700590082538,0.999999991948,-7.41009294341e-05,8.94227998636e-05,-5.11608619971e-05,1793246574835428096
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.69362814,634,879.69362814,785,809.30637186,651,630,653,0.430468999533,-0.00552923711002,0.0700473540151,0.999999993865,-6.58345572511e-05,7.21730595535e-05,-5.22229998624e-05,1793246574852094976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660.114721064,634,879.114721064,785,809.885278936,651,630,653,0.431340977869,-0.00552666998194,0.0699966195889,0.999999996522,-6.10411732592e-05,-1.58701002671e-05,-5.45741570622e-05,1793246574868762112
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.035170472,634,878.964829528,785,810,651,630,653,0.433040333345,-0.00553136600739,0.0698656717443,0.999999968894,-7.55156941287e-05,-0.000229741731124,-6.10587087234e-05,1793246574902095360
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+178,2.966666667,POSE1_TO_POSE2_PRESS,765.793759572,745,714,681,660,633.793759572,878.206240428,784.793759572,810,651,630,653,0.435006396343,-0.0055381105781,0.0699760369199,0.999999994501,-8.47930021917e-05,-2.04698340268e-05,-5.82189145363e-05,1793246574935428352
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.212888704,745,714,681,660,633.212888704,878.787111296,784.212888704,810,651,630,653,0.435992741298,-0.00554326974594,0.0700237127952,0.999999993676,-8.37836496134e-05,5.0747190727e-05,-5.52614255013e-05,1793246574952094976
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.669958221,714,682.330041779,660,633,879.330041779,785,812,651.330041779,630.330041779,653,0.446459007384,-0.00555947959206,0.0699624456743,0.99999999268,-9.66774476094e-05,-4.31928210191e-05,-5.854655434e-05,1793246575168761856
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.351826206,682.351826206,660,633,879.648173794,784.648173794,812,651.351826206,631,653,0.448908246153,-0.00556099477844,0.0699001168359,0.999999980803,-0.000100785617422,-0.000157228101381,-5.92885157453e-05,1793246575235428608
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714.811446461,682.811446461,660,633,879.188553539,785,812,651,631,653,0.450104919232,-0.00557211242925,0.0699487504959,0.999999988833,-0.000112896202328,-7.94084812851e-05,-5.72924250968e-05,1793246575268761600
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714.467885291,683,659,631.532114709,879,783.467885291,812,651.532114709,630.532114709,653,0.456552672108,-0.00557685300472,0.0697636030494,0.999999919927,-0.000119829964657,-0.000377832002005,-5.50428622091e-05,1793246575835428864
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.109085841,714,683,659,632,879.109085841,783.109085841,812,652,630.890914159,653,0.456554902544,-0.00557665108829,0.0697632293228,0.999999919811,-0.000119980412353,-0.00037814472806,-5.46727696816e-05,1793246575852095232
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.692498425,714,683,659,632,879.692498425,783.692498425,812,652,630.307501575,653,0.456554911181,-0.00557662540099,0.0697630648636,0.999999919345,-0.000119555507731,-0.00037956424447,-5.42859385124e-05,1793246575868762112
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.723231755,714,683,658.723231755,631.723231755,879.723231755,784,812,651.723231755,630,653,0.456555339117,-0.00557626987505,0.0697625789051,0.999999919019,-0.000118978787555,-0.000380641501561,-5.40166090911e-05,1793246575885428480
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.138006476,714,683,658.138006476,631.138006476,879.138006476,784,812,651.138006476,630,653,0.456556234358,-0.00557554674533,0.0697617346371,0.99999991885,-0.000118232869539,-0.00038133731227,-5.38782348203e-05,1793246575902095104
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,683,658.438450685,631.438450685,879.438450685,784,812.438450685,651,630.438450685,653,0.45655597447,-0.00557576419228,0.0697602207478,0.999999918244,-0.000117334180692,-0.000383253833865,-5.34832478895e-05,1793246575918762240
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,683.012287715,658.987712285,632,879.987712285,783.987712285,812.987712285,651,630.987712285,653,0.456555383771,-0.00557625592877,0.0697585504488,0.999999917518,-0.000116450369589,-0.000385475086824,-5.30312703757e-05,1793246575935429376
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714,683.590066022,658.409933978,632,879.409933978,783.409933978,812.409933978,651,630.409933978,653,0.456555973401,-0.00557601311124,0.06975919166,0.999999917676,-0.000118420813797,-0.000384384426839,-5.36008188435e-05,1793246575952095744
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.828233388,745,714,683.828233388,658,631.828233388,879.171766612,783.171766612,812,651,630,653,0.456556642661,-0.00557487455791,0.069759759305,0.999999917899,-0.000118653742317,-0.000383668771695,-5.4059362078e-05,1793246575968762112
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.236953262,745,714,683.236953262,658,631.236953262,879.763046738,783.763046738,812,651,630,653,0.456557506403,-0.00557154830775,0.0697601472761,0.999999918279,-0.000114643056048,-0.000383869008228,-5.42467920786e-05,1793246575985428736
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.345195327,745,714,683.345195327,658,631.345195327,879.654804673,784,812,651,630.345195327,653,0.456556047742,-0.00557107783779,0.0697588290796,0.999999917597,-0.000114095338928,-0.000385830081,-5.40767118104e-05,1793246576002095104
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.921237248,745,714,683.921237248,658,631.921237248,879.078762752,784,812,651,630.921237248,653,0.456553035992,-0.00557251714796,0.0697563698974,0.999999916199,-0.000115863454702,-0.000388968698819,-5.36675494211e-05,1793246576018761984
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714,683.503210441,658,631.503210441,879,783.503210441,812.496789559,651,630.503210441,653,0.456555583217,-0.0055725940314,0.0697574992174,0.999999917076,-0.000115303958222,-0.000386924629054,-5.33204235691e-05,1793246576035428608
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,714,683.072022142,658.072022142,631.072022142,879,783.072022142,812.927977858,651.072022142,630,653,0.456558747988,-0.00557274002563,0.0697591732219,0.999999918209,-0.000114845431224,-0.000384163072572,-5.3025618745e-05,1793246576052095232
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,714,683.645568047,658.645568047,631.645568047,879,783.645568047,812.354431953,651.645568047,630,653,0.456560081889,-0.00557486992555,0.0697606822679,0.999999918664,-0.000117657184672,-0.000382121440086,-5.30267281358e-05,1793246576068762368
+247,4.116666667,HOLD_POSE2,766,745,714,683,659,632,880,784,812,652,631,653,0.456560500131,-0.0055734519705,0.069759994741,0.999999919097,-0.000111803551898,-0.000382905344012,-5.18508797438e-05,1793246576107014656
+248,4.133333333,HOLD_POSE2,766,745,714.574298487,683,658.425701513,632,879.425701513,783.425701513,812.574298487,652,630.425701513,653,0.456559927154,-0.00557222960054,0.0697588479856,0.999999918425,-0.000113807227014,-0.000383991390833,-5.24191266023e-05,1793246576123681024
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+250,4.166666667,HOLD_POSE2,766,745,714.274162297,683,658,632,879,783,812.274162297,652,630,653,0.456559578589,-0.0055742719359,0.0697583928655,0.999999917705,-0.000115896492268,-0.000385211969393,-5.26200108442e-05,1793246576157013760
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+256,4.266666667,HOLD_POSE2,766,745.211173653,714,683.211173653,658.788826347,631,879.211173653,783,812.211173653,651,630.788826347,653,0.456561912301,-0.00557351372046,0.0697596434185,0.999999918268,-0.000116588855561,-0.000383598655062,-5.21874906344e-05,1793246576257014272
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+262,4.366666667,HOLD_POSE2,766,745,714,684,658,631,879,783.307981281,812,652,630,653,0.456561232837,-0.0055721708074,0.0697588472513,0.999999918054,-0.000115907100391,-0.000384353606332,-5.2252504159e-05,1793246576357014016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,879,784,812,651,631,653,0.456561428555,-0.00557164703768,0.0697588469224,0.999999918035,-0.000114003424413,-0.000384980550695,-5.21858041898e-05,1793246576394991872
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,658.242555189,631.242555189,879,783.242555189,812,651.757444811,630,653,0.456561163748,-0.00556991982462,0.0697583933375,0.999999918141,-0.000111833965494,-0.000385350986959,-5.21139369656e-05,1793246576444992000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,658.334210525,631.334210525,879,783,812,652,630,653,0.456561735087,-0.0055702072273,0.069758539826,0.999999918273,-0.000112968676522,-0.000384659417822,-5.22347238986e-05,1793246576461658368
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,658.910332419,631.910332419,879,783,812,652,630,653,0.456562276927,-0.00556977424811,0.0697585658654,0.999999918518,-0.000112823469074,-0.000384071329888,-5.21867102734e-05,1793246576478324992
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.336629228,659,631,879,783,812,651.336629228,630.336629228,653,0.456563727791,-0.00556914393659,0.0697598393134,0.999999919307,-0.000111656819169,-0.00038233976415,-5.23049601529e-05,1793246576528325376
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.124448072,745,714,683,658,631.875551928,879,783,812,651,630.875551928,653,0.456183123511,-0.00555911143073,0.0696517701776,0.999999849475,-0.000105158477337,-0.000535809483674,-5.38524829625e-05,1793246576678325248
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.092316626,745,714,680.092316626,658,634,878,784,808.092316626,651.907683374,629,652,0.41132427162,-0.00537674749296,0.0698833330424,0.999999962177,0.000208214440201,-0.000176431108525,3.41244767758e-05,1793246577828324864
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.495726618,745,714,680,658,634,877.504273382,784,808,651.504273382,629,652,0.410654827156,-0.00537104899416,0.0698768491991,0.999999957682,0.000215822520774,-0.000192209713794,3.33439956755e-05,1793246577844992000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.915074298,714,680,658,634,877,784.084925702,808,651.084925702,629,652,0.409975470363,-0.00536456152897,0.0698544196491,0.999999947109,0.000222889139806,-0.000234749831286,3.15379481856e-05,1793246577861658880
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.335809032,714,680,658,634,877,784.664190968,808,651.664190968,629,652,0.409284463051,-0.00535687819535,0.0698069824698,0.999999923116,0.000228488938764,-0.000317427422479,2.82991737064e-05,1793246577878324992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.758123423,744.241876577,714,680,658,634,877.241876577,784.758123423,808,651.758123423,629.241876577,652,0.408640276742,-0.00535227864398,0.0697747372566,0.999999904702,0.000231280930198,-0.00036938261374,2.57072564009e-05,1793246577894991616
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.60968405,714,680,658,634,877.60968405,784,808,651,629.60968405,652,0.407528055867,-0.00535338385516,0.0697751690996,0.999999909436,0.000227154040115,-0.000359121580429,2.367681187e-05,1793246577928325120
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.037947696,714,680,658,634,877.037947696,784,808,651,629.037947696,652,0.407017279048,-0.00535567035106,0.0697975875532,0.999999921794,0.000223194724545,-0.000325608344285,2.39823258458e-05,1793246577944991488
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,633.145417937,877,784,808,651,629,652,0.406040741122,-0.00539715015835,0.0698056473864,0.999999930941,0.000179038858205,-0.000324521030907,2.73685385596e-05,1793246577978324992
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,633.724731057,877,784,808,651,629,652,0.405571357276,-0.00539652134823,0.0697981851636,0.999999926994,0.000171619107355,-0.000340456037632,2.54620790517e-05,1793246577994991872
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744.127703491,714,679.127703491,658,634,877,784.872296509,808,651,629,652,0.404774275263,-0.00538111218558,0.0698149977541,0.999999932533,0.00019914217152,-0.000307651553511,2.50454449203e-05,1793246578028325376
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.541671464,744.458328536,714,679.458328536,658,634,877.458328536,784.541671464,808,651,629.458328536,652,0.404435562428,-0.00538315032545,0.0698323713985,0.999999941712,0.000200038608896,-0.000275474279429,2.5967598854e-05,1793246578044991744
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.373047622,658,634,877.373047622,784,808,651.626952378,629.373047622,652,0.403770018169,-0.00537987208653,0.06984246309,0.999999946127,0.000204143649585,-0.000255872487357,2.4505184229e-05,1793246578078324736
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.205974423,745,714,679.205974423,658,634,877,784.205974423,807.794025577,652,629,652,0.403444405537,-0.00537466780204,0.0698342957623,0.999999941726,0.00020827916861,-0.000269525696288,2.28846233129e-05,1793246578094991616
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.784231134,745,714,679.784231134,658,634,877,784.784231134,807.215768866,652,629,652,0.403139261075,-0.00537392438183,0.0698229242113,0.999999936879,0.000205827923813,-0.000288744689777,2.24570718964e-05,1793246578111658752
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.642046994,745,714,680,658,634,877,784.642046994,807,651.642046994,629,652,0.402866101834,-0.00537207993008,0.0698143314139,0.999999932614,0.000204476385684,-0.00030409460574,2.20983581361e-05,1793246578128325376
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.071024405,745,714,680,658,634,877,784.071024405,807,651.071024405,629,652,0.402611981591,-0.00536958009522,0.0698073926534,0.99999992871,0.000203779441745,-0.00031714147616,2.1780619576e-05,1793246578144992000
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.108384234,745,714,679.108384234,658,634,877.891615766,784,808,651.108384234,629,651.891615766,0.40219008812,-0.00536366903538,0.0697962417339,0.999999921293,0.000216272280332,-0.000331698884436,2.48422242364e-05,1793246578178324480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.688752741,745,714,679.688752741,658,634,877.311247259,784,808,651.688752741,629,651.311247259,0.402006455142,-0.00536484130228,0.0697946153282,0.999999919657,0.000217227512596,-0.000335749464442,2.77642338882e-05,1793246578194991360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.733237972,745,714,680,658,634,877.266762028,784.266762028,808,651.733237972,629,651.266762028,0.401839987436,-0.0053640794869,0.0697951759505,0.999999918829,0.000220687951379,-0.000335777860609,2.98670505201e-05,1793246578211657984
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.59457052,745,714,679.40542948,657.59457052,634,877.59457052,784,808,651,629,652,0.40136649664,-0.00535798986623,0.069794772288,0.999999915304,0.000242918857642,-0.000331897010466,1.50926004321e-05,1793246578278325504
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.075792197,745,714,680,658.924207803,634.924207803,877.924207803,785,808.075792197,651.075792197,629,652,0.40104300673,-0.00536419078691,0.0698052025017,0.999999927878,0.000216228015984,-0.000311992689385,1.22147037545e-05,1793246578378324224
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.655221728,745,714,680,658.344778272,634.344778272,877.344778272,785,808.655221728,651.655221728,629,652,0.40102216868,-0.00536191394581,0.0698079245831,0.999999928588,0.000219972667799,-0.000307050612066,1.24548157488e-05,1793246578394991104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.768230214,658,634,877,784.768230214,808.768230214,652,629,652,0.401004439327,-0.00536204495995,0.0698102922677,0.999999929592,0.000220541660002,-0.000303327723801,1.30608473266e-05,1793246578411658240
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.443061816,784.443061816,807,651,629.443061816,652,0.400974620769,-0.00536186605261,0.0698160975907,0.99999993271,0.000220072973725,-0.000293171707548,1.41106089794e-05,1793246578478324736
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.864026163,658,634,877.135973837,784.135973837,807.135973837,651,629.135973837,652,0.400971433484,-0.00536163550765,0.0698177410003,0.999999933101,0.000220450573015,-0.000291539401415,1.42643600618e-05,1793246578494991104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.286382064,658,634,877.713617936,784.713617936,807.713617936,651,629.713617936,652,0.400972627168,-0.00536330370542,0.0698197447364,0.999999934421,0.000219217341002,-0.000287914647769,1.43945673062e-05,1793246578511657728
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.86471094,745,714,679.86471094,657.13528906,634,877.13528906,784.13528906,808,651.86471094,629.13528906,652,0.400968724493,-0.00536074155456,0.0698197549782,0.999999934101,0.000220529741316,-0.000288055195222,1.37548598521e-05,1793246578544991232
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.037653463,745,714,679.962346537,658,634,877.037653463,785,807.962346537,651.037653463,629,652,0.400969854209,-0.00536805922826,0.0698218060284,0.999999936321,0.000213615979574,-0.000285477123002,1.51417092183e-05,1793246578578325248
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.61725925,745,714,679.38274075,658,634,877.61725925,785,807.38274075,651.61725925,629,652,0.400969738178,-0.00536574817517,0.0698220982497,0.999999935758,0.000216924197265,-0.000284974108524,1.47317528346e-05,1793246578594991616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.804662869,745,714,679.195337131,658,634,877.804662869,785,807,651.804662869,629,652,0.400969748284,-0.00536397475156,0.0698225591507,0.999999935425,0.000219285251535,-0.00028434617959,1.45060893367e-05,1793246578611658240
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.229555546,745,714,679.770444454,658,634,877.229555546,785,807,651.229555546,629,652,0.400970003623,-0.00536324657558,0.069823347995,0.999999935557,0.000219804851134,-0.000283475394726,1.46387240748e-05,1793246578628324608
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.344950887,745,714.344950887,680,658,634,877,785,807,651.344950887,629,652,0.400970211878,-0.00536303392118,0.0698232757308,0.999999935573,0.000220371834812,-0.000282978095294,1.46321791959e-05,1793246578644991232
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..255f99a19de18390407e1c6c974e84ac45e23a40
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.583249364975,-7.21597645361e-05,1.06004235948,0.553821157167,0.00860230112637,1.05966574669
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+394,6.566666667,pose2_to_pose3_retreat,0.583246414643,-7.21141660281e-05,1.06004232885,0.553818207608,0.00860234966144,1.05966572319
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+396,6.600000000,pose2_to_pose3_retreat,0.583246092385,-7.21345689332e-05,1.06004232479,0.553817885881,0.00860233109742,1.05966571994
+397,6.616666667,pose2_to_pose3_retreat,0.583246029789,-7.213846099e-05,1.06004232153,0.553817823352,0.00860232743155,1.05966571672
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b6cfb50288c5b13f1a91ec90752432559fdd39f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69aec86f706f2ac7ea4a314fd0736eb1f4734bec7af4727f7752aabbb05fff11
+size 25745916
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a21c51be3d7fe5d3f8f994a955ed42548613f4a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+14,0.233333333,BASELINE,766,745,715,679.146693179,658,634,877,784,807.853306821,651.146693179,629.853306821,652,0.401026246491,-0.00549563523703,0.079859313753,0.999999978529,0.00013006680632,-0.000154256382492,4.7218456937e-05,1793246580333355008
+15,0.250000000,BASELINE,766,745,715,679.726110825,658,634,877,784,807.273889175,651.726110825,629.273889175,652,0.401024769052,-0.0054955963233,0.0798586367063,0.999999977824,0.000132643913944,-0.000156465128558,4.77097560822e-05,1793246580350021632
+16,0.266666667,BASELINE,766,745,715,680,658,634,877,784,807.303172947,652,629,652,0.401024858871,-0.00549561914803,0.079858826889,0.999999977648,0.00013370212409,-0.000156613031623,4.79639089161e-05,1793246580366688256
+17,0.283333333,BASELINE,766,745,715,680,658,634,877,784,807.878123439,652,629,652,0.401026353649,-0.00549569731781,0.0798597944944,0.999999977951,0.000133398727675,-0.000154913504384,4.80054733526e-05,1793246580383354624
+18,0.300000000,BASELINE,765.537286795,745,715,680,658,634,877.462713205,784.462713205,808,652,629,652,0.401026564044,-0.00549535089309,0.0798604982786,0.999999978199,0.000132448857738,-0.000154221645563,4.77037861724e-05,1793246580400021248
+19,0.316666667,BASELINE,765,745,714.950812059,680,658,634,877.950812059,784.950812059,808,651.950812059,629,652,0.401026482604,-0.0054948197555,0.07986104553,0.999999978401,0.000131529944279,-0.000153812908566,4.73237670314e-05,1793246580416687616
+20,0.333333333,BASELINE,765,745,714.371960993,680,658,634,877.371960993,784.371960993,808,651.371960993,629,652,0.401026979009,-0.00549352949294,0.0798606714028,0.999999978285,0.000132816965816,-0.000153534032644,4.70945286192e-05,1793246580433354240
+21,0.350000000,BASELINE,765.206784263,745,714.206784263,680,658,634,877.206784263,784.206784263,808,651.206784263,629.206784263,652,0.401027327791,-0.00549327630294,0.0798607792009,0.999999978169,0.000133873800601,-0.000153371870324,4.70909588307e-05,1793246580450021120
+22,0.366666667,BASELINE,765.785339221,745,714.785339221,680,658,634,877.785339221,784.785339221,808,651.785339221,629.785339221,652,0.401027411169,-0.00549488763204,0.079861753437,0.999999978056,0.000134516789979,-0.000153419543619,4.7493111341e-05,1793246580466688256
+23,0.383333333,BASELINE,765.639416029,745,715,679.639416029,658,634,877.639416029,785,808,651.639416029,629.639416029,652,0.401026906595,-0.0054958583476,0.079861446451,0.999999977915,0.000134867456119,-0.000153939713999,4.77782393747e-05,1793246580483354880
+24,0.400000000,BASELINE,765.066123913,745,715,679.066123913,658,634,877.066123913,785,808,651.066123913,629.066123913,652,0.40102605519,-0.00549645116597,0.0798603836734,0.999999977758,0.000135045681118,-0.000154738609967,4.79943348178e-05,1793246580500021504
+25,0.416666667,BASELINE,765.521482661,745.521482661,715,679,658,634,877,784.478517339,808,651.521482661,629,652,0.401026059195,-0.00549531721671,0.0798602026638,0.999999977646,0.000136053741733,-0.000154595180751,4.79365582685e-05,1793246580516688128
+26,0.433333333,BASELINE,765.891039457,745.891039457,715,679,658,634,877,784.108960543,808,651.891039457,629,652,0.401026400951,-0.005494211629,0.0798603282993,0.999999977656,0.000136520246662,-0.000154154614495,4.78175328531e-05,1793246580533354496
+27,0.450000000,BASELINE,765.312165175,745.312165175,715,679,658,634,877,784.687834825,808,651.312165175,629,652,0.401027718342,-0.0054941992887,0.0798612805977,0.999999978166,0.000134184583757,-0.000152962440303,4.75883533718e-05,1793246580550021120
+28,0.466666667,BASELINE,765,745,715,679,658,634,877,784.73435652,808,651.26564348,629,652,0.401027387618,-0.00549442601124,0.07986112525,0.999999978255,0.000133061864828,-0.0001534049924,4.74497008152e-05,1793246580566687744
+29,0.483333333,BASELINE,765,745,715,679,658,634,877,784.157795145,808,651.842204855,629,652,0.401025127884,-0.00549493254084,0.0798596734769,0.999999977853,0.000133358815689,-0.000155760882158,4.74170039721e-05,1793246580583354368
+30,0.500000000,BASELINE,765.416162968,745,715,679.416162968,658,634,877.416162968,784,808,651.583837032,629,652,0.40102460806,-0.00549388591617,0.0798593550396,0.999999977571,0.000135000316783,-0.000156082407671,4.76621081412e-05,1793246580600020992
+31,0.516666667,BASELINE,765.989140135,745,715,679.989140135,658,634,877.989140135,784,808,651.010859865,629,652,0.401024743852,-0.00549225404806,0.0798594636541,0.999999977331,0.000137148457295,-0.000155637365169,4.8011890397e-05,1793246580616687872
+32,0.533333333,BASELINE,765.42048791,745,715,679.42048791,658,634,877.42048791,784,808,651,629,652,0.401024171983,-0.00549326261049,0.0798595129073,0.999999977522,0.000135531862924,-0.000155960014932,4.75773749445e-05,1793246580633355008
+33,0.550000000,BASELINE,765,745,714.832749996,679.167250004,658,634,877,784,808,651,629,652,0.401024262291,-0.00549411372017,0.0798597006146,0.999999977688,0.000134424696842,-0.000155924256748,4.7338985569e-05,1793246580650021888
+34,0.566666667,BASELINE,765,745,714.252349091,679.747650909,658,634,877,784,808,651,629,652,0.401026022121,-0.00549444986773,0.0798602331722,0.999999977779,0.000134755620583,-0.000154966500295,4.76225086527e-05,1793246580666688256
+35,0.583333333,BASELINE,765,745,714,679.674326487,658.325673513,634,877.325673513,784.325673513,808,651,629,652,0.40102594595,-0.00549409475635,0.0798602438548,0.999999977699,0.000135271825856,-0.000155033043456,4.7626324566e-05,1793246580683354624
+36,0.600000000,BASELINE,765,745,714,679.098133293,658.901866707,634,877.901866707,784.901866707,808,651,629,652,0.401024457462,-0.005493207904,0.0798598530926,0.999999977487,0.000135930556326,-0.000155887514305,4.74149797797e-05,1793246580700021504
+37,0.616666667,BASELINE,765,745,714.484470769,679,658.515529231,634,878,784.515529231,807.515529231,651,629,652,0.401026580062,-0.00549447002783,0.0798610479945,0.999999978095,0.000134159896806,-0.000153474505848,4.74998297117e-05,1793246580716688128
+38,0.633333333,BASELINE,765,745,715,679,658,634,877.931709293,784.068290707,807.068290707,651,629,652,0.401029101715,-0.00549580329145,0.0798623386758,0.999999978721,0.000132398984795,-0.000150870881105,4.7600339367e-05,1793246580733354496
+39,0.650000000,BASELINE,765,745,715,679,658,634,877.34864368,784.65135632,807.65135632,651,629,652,0.4010290438,-0.00549434757928,0.0798618977569,0.999999978303,0.000134470675749,-0.000151886339186,4.73605737725e-05,1793246580750021888
+40,0.666666667,BASELINE,765,745,714.76980088,679.23019912,658,634,877,784.76980088,808,651,629,652,0.401027855328,-0.00549360725808,0.0798611863899,0.999999977901,0.000135771702454,-0.00015340641581,4.72285039299e-05,1793246580766688768
+41,0.683333333,BASELINE,765,745,714.197238488,679.802761512,658,634,877,784.197238488,808,651,629,652,0.40102498544,-0.00549393090104,0.0798600727994,0.999999977528,0.000135926559866,-0.000155676985494,4.72566044363e-05,1793246580783355136
+42,0.700000000,BASELINE,765,745,714,680,658,634,877,784.378803571,808,651,629,652.378803571,0.401024991996,-0.00549436684026,0.0798601619112,0.999999977661,0.000135391303179,-0.000155194383505,4.75687038076e-05,1793246580800021504
+43,0.716666667,BASELINE,765,745,714,680,658,634,877,784.956674229,808,651,629,652.956674229,0.401026510168,-0.00549486179287,0.0798608830615,0.999999978057,0.000134493380941,-0.000153264947492,4.80300489384e-05,1793246580816688128
+44,0.733333333,BASELINE,765,745,714.546735619,679.453264381,658,634,876.453264381,784.453264381,808,651.546735619,629.546735619,652.453264381,0.401026366194,-0.0054944169112,0.0798608486321,0.999999977889,0.00013517330812,-0.000153929862571,4.74910570163e-05,1793246580833354752
+45,0.750000000,BASELINE,765.135079347,745,715,679,657.864920653,634,876.135079347,784.135079347,807.864920653,651.864920653,630,651.864920653,0.401026554305,-0.00549384754496,0.0798610329927,0.999999977781,0.000135936207309,-0.000154102925255,4.70370812156e-05,1793246580850021120
+46,0.766666667,BASELINE,765.714522013,745,715,679,657.285477987,634,876.714522013,784.714522013,807.285477987,651.285477987,630,651.285477987,0.40102827804,-0.00549311925798,0.079862138556,0.999999978019,0.000136551350642,-0.000151966231605,4.71294998586e-05,1793246580866687744
+47,0.783333333,BASELINE,765.708683724,745,715,679,657.291316276,634,877,785,807.291316276,651,629.708683724,651.582632552,0.401028334828,-0.00549297262685,0.0798624273028,0.999999978176,0.000135900316892,-0.00015149315322,4.72119057736e-05,1793246580883354368
+48,0.800000000,BASELINE,765.134461336,745,715,679,657.865538664,634,877,785,807.865538664,651,629.134461336,652.731077328,0.401026772793,-0.00549339085936,0.0798619228142,0.999999978253,0.000134019660067,-0.000152635662055,4.72845880342e-05,1793246580900021504
+49,0.816666667,BASELINE,765,745,715,679.450069568,658,634,877,784.549930432,808,651,629.450069568,652.549930432,0.401027186767,-0.00549371557631,0.0798621960272,0.999999978211,0.000134886158795,-0.000152190630325,4.7145068121e-05,1793246580916688128
+50,0.833333333,BASELINE,765,745,715,680,658,634,877,784.037210284,808,651,629.962789716,652,0.401028057905,-0.00549388945586,0.0798626014766,0.999999978103,0.000136594800507,-0.000151428015449,4.69606446407e-05,1793246580933354752
+51,0.850000000,BASELINE,765,745,715,680,658,634,877,784.616454607,808,651,629.383545393,652,0.401026787401,-0.00549228263302,0.0798614693496,0.999999977603,0.000138335093418,-0.000153110044073,4.70672560387e-05,1793246580950021632
+52,0.866666667,BASELINE,765.195177137,745,715,679.804822863,658,634,877,785,808,651,629,652,0.401025653837,-0.00549200369851,0.0798604503407,0.999999977311,0.000138749367399,-0.000154596036181,4.71893283074e-05,1793246580966688256
+53,0.883333333,BASELINE,765.772876984,745,715,679.227123016,658,634,877,785,808,651,629,652,0.401024788658,-0.00549432725869,0.0798596530293,0.999999977434,0.000136564810489,-0.000155697821203,4.73417019372e-05,1793246580983354624
+54,0.900000000,BASELINE,765.652144015,745,714.652144015,679,658,634,877,784.652144015,808,651,629,652,0.401024935985,-0.00549391860284,0.0798599387606,0.999999977482,0.000136529533529,-0.000155427827266,4.7304446221e-05,1793246581000021248
+55,0.916666667,BASELINE,765.078927751,745,714.078927751,679,658,634,877,784.078927751,808,651,629,652,0.401025739271,-0.00549173986678,0.0798609261467,0.999999977483,0.000137886678666,-0.00015426911927,4.71443381567e-05,1793246581016687616
+56,0.933333333,BASELINE,765,745,714,679,658,634,877,784,808,651,629.509519943,652,0.401026203157,-0.00549228982835,0.079861519671,0.999999977734,0.00013681668509,-0.000153636275446,4.70066691962e-05,1793246581033354752
+57,0.950000000,BASELINE,765,745,714.098341266,679.098341266,658,634,877.098341266,784.098341266,808,651,629.901658734,652.098341266,0.401026323092,-0.00549327468872,0.0798618530618,0.999999977943,0.000135589352508,-0.00015337560849,4.69696685382e-05,1793246581050021376
+58,0.966666667,BASELINE,765,745,714.677105973,679.677105973,658,634,877.677105973,784.677105973,808,651,629.322894027,652.677105973,0.401025027492,-0.00549425555109,0.0798612228728,0.999999977759,0.000135486732864,-0.000154522910801,4.74069553297e-05,1793246581066688512
+59,0.983333333,BASELINE,765,745,715,679.745552731,658.254447269,634,878,784.745552731,808,651,629,652.745552731,0.40102456714,-0.00549437406897,0.0798605991879,0.999999977674,0.0001352797652,-0.000155264190781,4.73679060649e-05,1793246581083355136
+60,1.000000000,BASELINE,765,745,715,679.17000762,658.82999238,634,878,784.17000762,808,651,629,652.17000762,0.401025160824,-0.00549340435777,0.0798599837107,0.999999977715,0.000134941116311,-0.000155493094048,4.6727748107e-05,1793246581100021504
+61,1.016666667,BASELINE,765.404946951,745,715,679,658.595053049,634,877.595053049,784.404946951,808,651,629.404946951,652,0.401026117559,-0.00549307262235,0.0798604243676,0.999999977806,0.000135133422592,-0.000154728966248,4.67441304551e-05,1793246581116688128
+62,1.033333333,BASELINE,765.979653924,745,715,679,658.020346076,634,877.020346076,784.979653924,808,651,629.979653924,652,0.401027226491,-0.00549300833631,0.0798613077723,0.999999977919,0.000135548313507,-0.000153548544463,4.7035744686e-05,1793246581133354496
+63,1.050000000,BASELINE,765.429313684,745,715,679,658.570686316,633.429313684,877,784.429313684,808,651,630,652,0.401029050173,-0.00549384871798,0.0798627036196,0.999999978351,0.000134974643686,-0.000151169306457,4.7191044905e-05,1793246581150021120
+64,1.066666667,BASELINE,765,745,715,679,658.841046537,633.158953463,877,784.158953463,807.841046537,651.158953463,629.841046537,652,0.401029239354,-0.00549442854123,0.0798631083975,0.999999978512,0.000134557084187,-0.000150473461936,4.71935867677e-05,1793246581166688000
+65,1.083333333,BASELINE,765,745,715,679,658.261677951,633.738322049,877,784.738322049,807.261677951,651.738322049,629.261677951,652,0.40102503607,-0.00549423139653,0.0798608421573,0.999999977928,0.000134648382142,-0.000154346387686,4.68053312491e-05,1793246581183354624
+66,1.100000000,BASELINE,765,745,714.685298068,679.314701932,658.314701932,634,877,785,807.314701932,651.685298068,629,652,0.401023522633,-0.00549397859815,0.0798600993679,0.999999977549,0.000135795923491,-0.000155770338262,4.6865515805e-05,1793246581200021504
+67,1.116666667,BASELINE,765,745,714.111379973,679.888620027,658.888620027,634,877,785,807.888620027,651.111379973,629,652,0.401024224792,-0.00549367995852,0.0798606114267,0.999999977345,0.000137813479705,-0.00015517709751,4.72950750286e-05,1793246581216688384
+68,1.133333333,BASELINE,765,745,714.474154119,679.525845881,658.525845881,634,877,785,808,651.474154119,629,652,0.401024696709,-0.005494151972,0.0798608647758,0.999999977469,0.000137056768353,-0.00015502495739,4.73856513751e-05,1793246581233355264
+69,1.150000000,BASELINE,765.061514603,745,714.938485397,679,658,634,877,784.938485397,808,652,629,652,0.401025105796,-0.00549457949939,0.0798610713454,0.99999997765,0.000135883719123,-0.000154892680637,4.73591697756e-05,1793246581250021888
+70,1.166666667,BASELINE,765.640705301,745,714.359294699,679,658,634,877,784.359294699,808,652,629,652,0.401025452711,-0.00549307095096,0.0798614085099,0.99999997767,0.000136828940351,-0.00015403368833,4.70345246101e-05,1793246581266688256
+71,1.183333333,BASELINE,766,745,714.219175755,679,658,634,877,784.219175755,808,651.780824245,629,652,0.401025984972,-0.00549270450553,0.0798616025578,0.999999977776,0.000136844130259,-0.000153360064009,4.69203421797e-05,1793246581283354880
+72,1.200000000,BASELINE,766,745,714.79646947,679,658,634,877,784.79646947,808,651.20353053,629,652,0.401026820075,-0.00549420417686,0.0798615627633,0.999999978027,0.000135339713736,-0.000152989317964,4.71500411896e-05,1793246581300021504
+73,1.216666667,BASELINE,765.628201195,745,715,679.371798805,658,634,877,785,808,651.371798805,629.371798805,652,0.401026697393,-0.00549402315503,0.0798617145389,0.999999978034,0.000135419097515,-0.000152865288833,4.71749182383e-05,1793246581316688128
+74,1.233333333,BASELINE,765.053941585,745,715,679.946058415,658,634,877,785,808,651.946058415,629.946058415,652,0.401026053155,-0.00549292692174,0.0798619706329,0.999999977909,0.000136360930313,-0.000152875607937,4.7088260706e-05,1793246581333354752
+75,1.250000000,BASELINE,765,745,714.466042653,679.466042653,658,633.466042653,877,784.466042653,808,651.466042653,629.466042653,652,0.401025646567,-0.00549218013513,0.0798616876497,0.999999977488,0.000138508179701,-0.000153652377272,4.72209202568e-05,1793246581350021888
+76,1.266666667,BASELINE,765,745,714,679.12133726,658,633.12133726,877,784.12133726,808,651,629.12133726,652,0.401025519775,-0.00549183311522,0.0798615274816,0.99999997725,0.000139641564229,-0.000154148411769,4.73112894815e-05,1793246581366688768
+77,1.283333333,BASELINE,765,745,714,679.701409084,658,633.701409084,877,784.701409084,808,651,629.701409084,652,0.401026357653,-0.0054928605132,0.079862042922,0.999999977828,0.000136469419626,-0.000153282679842,4.7155813843e-05,1793246581383355648
+78,1.300000000,BASELINE,765,745,714,680,658,634,877,785,808,651,629.720294431,652,0.401026608535,-0.00549305813254,0.079862225622,0.999999977971,0.000135507393733,-0.000153191991841,4.71957089684e-05,1793246581400022272
+79,1.316666667,BASELINE,765,745,714,680,658,634,877,785,808,651,629.143881238,652,0.401026236742,-0.00549237553461,0.0798620553558,0.999999977659,0.000136889830027,-0.000153923459289,4.74428505865e-05,1793246581416688128
+80,1.333333333,BASELINE,765,745,714.431528916,679.568471084,658,634,877,784.568471084,808,651,629.431528916,652,0.401025760229,-0.00549260129461,0.0798615988349,0.999999977684,0.00013643813969,-0.000154202616932,4.73094411163e-05,1793246581433354496
+81,1.350000000,BASELINE,765,745,715,679,658.006778078,634,877,784.006778078,808,651,629.993221922,652,0.401025268746,-0.00549312312376,0.0798610614789,0.999999977822,0.000135380345556,-0.000154322401807,4.70468267321e-05,1793246581450021376
+82,1.366666667,BASELINE,765,745,715,679,658.596883282,634,877,784.596883282,808,651,629.403116718,652,0.401026486757,-0.00549312040572,0.0798617623017,0.99999997804,0.000134668199447,-0.000153675172722,4.65591607781e-05,1793246581466688000
+83,1.383333333,BASELINE,765,745,714.816656524,679,658.816656524,634,877,785,808,651,629,652,0.40102702245,-0.00549358114664,0.0798623122008,0.999999978208,0.000134151328509,-0.000153082860748,4.64062963932e-05,1793246581483354880
+84,1.400000000,BASELINE,765,745,714.238054265,679,658.238054265,634,877,785,808,651,629,652,0.401026087174,-0.00549504102983,0.0798625367328,0.999999978266,0.000134055439018,-0.000152608941035,4.69752097686e-05,1793246581500021760
+85,1.416666667,BASELINE,765,745,714,679,658,634,877,784.661599544,808,651,629,652,0.401026255154,-0.00549394555277,0.0798624156939,0.999999978088,0.000135488051304,-0.000152471526616,4.71193201082e-05,1793246581516688384
+86,1.433333333,BASELINE,765,745,714,679,658,634,877,784.086646057,808,651,629,652,0.401027194347,-0.0054910637949,0.0798620530895,0.999999977738,0.000137989136527,-0.000152569340473,4.69664791428e-05,1793246581533355264
+87,1.450000000,BASELINE,765,745,714,679,658,634,877,784,808,651.499384844,629,652,0.401026106279,-0.00549143076457,0.0798609698796,0.999999977603,0.000137631357172,-0.000153851851804,4.67132455688e-05,1793246581550021632
+88,1.466666667,BASELINE,765,745,714.086055728,679,658,634.086055728,877,784,808,651.913944272,629.086055728,652,0.401024909387,-0.00549240759766,0.079860004459,0.999999977528,0.000136741091521,-0.000155176063631,4.65516354266e-05,1793246581566688256
+89,1.483333333,BASELINE,765,745,714.665132068,679,658,634.665132068,877,784,808,651.334867932,629.665132068,652,0.401025149899,-0.00549357580499,0.0798604464161,0.999999977591,0.000135706425666,-0.00015553484359,4.70170006811e-05,1793246581583354880
+90,1.500000000,BASELINE,765,745,714.756929328,679,658,634.756929328,877,784.243070672,807.756929328,651,629.756929328,652,0.401024967271,-0.00549402827506,0.0798605261006,0.999999977591,0.000135400212911,-0.000155744770371,4.72039273893e-05,1793246581600021248
+91,1.516666667,BASELINE,765,745,714.18055088,679,658,634.18055088,877,784.81944912,807.18055088,651,629.18055088,652,0.401024204413,-0.0054934992988,0.0798601090232,0.999999977505,0.000136092882918,-0.00015575058397,4.70090485039e-05,1793246581616687872
+92,1.533333333,BASELINE,765,745,714.395201497,679,658,634,877.395201497,784.604798503,807.395201497,651,629.395201497,652,0.401024535797,-0.00549263361165,0.079860475844,0.999999977407,0.000137603780763,-0.000155077638729,4.69262614139e-05,1793246581633354752
+93,1.550000000,BASELINE,765,745,714.970668351,679,658,634,877.970668351,784.029331649,807.970668351,651,629.970668351,652,0.401025366303,-0.00549161433872,0.0798612002284,0.999999977299,0.000139487901273,-0.000154095087615,4.68946033323e-05,1793246581650021888
+94,1.566666667,BASELINE,765,744.440299365,714.440299365,679,658,634,876.880598731,784,808,651,629.440299365,652,0.40102566857,-0.00549152194235,0.0798613997242,0.999999977381,0.000138591089561,-0.000154383884211,4.68653162172e-05,1793246581666688512
+95,1.583333333,BASELINE,765,744.146929243,714.146929243,679.146929243,658,634,876.146929243,784,808,651.146929243,629.146929243,652,0.401025802456,-0.00549170368177,0.0798615609709,0.999999977528,0.000137279392901,-0.000154616703651,4.68162012729e-05,1793246581683355392
+96,1.600000000,BASELINE,765,744.726698244,714.726698244,679.726698244,658,634,876.726698244,784,808,651.726698244,629.726698244,652,0.401025523886,-0.00549254635118,0.079861692586,0.999999977839,0.000135185476721,-0.000154483469953,4.67083002693e-05,1793246581700021760
+97,1.616666667,BASELINE,765,745,714.695731092,679.695731092,658,633.695731092,877.304268908,784.304268908,808,651.695731092,629.695731092,652,0.40102474945,-0.00549380965453,0.0798611327063,0.999999977937,0.00013337336633,-0.00015543082368,4.66747908161e-05,1793246581716688384
+98,1.633333333,BASELINE,765,745,714.120120896,679.120120896,658,633.120120896,877.879879104,784.879879104,808,651.120120896,629.120120896,652,0.40102353281,-0.00549544807126,0.0798599561647,0.999999977844,0.000131812565166,-0.000157341824947,4.67076223541e-05,1793246581733354752
+99,1.650000000,BASELINE,765,745,714,679,658,633.45338717,877.54661283,785,807.54661283,651,629.45338717,652,0.401024731882,-0.00549333680843,0.079860647641,0.999999977699,0.000134831463274,-0.00015570905154,4.66678496358e-05,1793246581750021376
+100,1.666666667,BASELINE,765.027390224,745,714.027390224,679.027390224,658,634,877,784.972609776,807,651,629.972609776,652,0.401026472962,-0.0054904325948,0.0798617868449,0.999999977533,0.000138790570323,-0.000153287478639,4.66168973618e-05,1793246581766688000
+101,1.683333333,BASELINE,765.623169177,745,714.623169177,679.623169177,658,634,877,784.376830823,807,651,629.376830823,652,0.401026241403,-0.00549159378094,0.0798619942425,0.999999977655,0.000137197778054,-0.000153890625525,4.67312832359e-05,1793246581783355136
+102,1.700000000,BASELINE,765.788540222,745,714.788540222,680,658,633.788540222,877,784,807,651,629.211459778,652,0.401026593252,-0.00549269053944,0.0798623724751,0.99999997785,0.000135852296559,-0.000153770362924,4.68871924964e-05,1793246581800022016
+103,1.716666667,BASELINE,765.213137858,745,714.213137858,680,658,633.213137858,877,784,807,651,629.786862142,652,0.401027949203,-0.00549367641167,0.0798630447315,0.999999978173,0.000134932460824,-0.000152405043059,4.71145674811e-05,1793246581816688896
+104,1.733333333,BASELINE,765,745,714,679.638955615,658,633.361044385,877,784,807.361044385,651,629.638955615,652,0.401026990361,-0.00549396923441,0.079862390343,0.999999978069,0.000134515109682,-0.000153478980686,4.70233104848e-05,1793246581833355264
+105,1.750000000,BASELINE,765,745,714,679.065491175,658,633.934508825,877,784,807.934508825,651,629.065491175,652,0.401024669614,-0.00549385430237,0.0798609554244,0.999999977711,0.000134393394695,-0.000155988052571,4.67445867438e-05,1793246581850021632
+106,1.766666667,BASELINE,765,745,714.523110152,679.523110152,658,634,877,784.523110152,808,651,629,652,0.401023123525,-0.00549347653021,0.0798598759343,0.999999977469,0.000134185873982,-0.000157686136918,4.68124552374e-05,1793246581866688256
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784,808,651,629,652,0.401023257536,-0.00549417928338,0.0798602739491,0.999999977435,0.000134517344086,-0.000157613523027,4.68317592879e-05,1793246581908896768
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.576505687,745,714,679.576505687,658,634,877,784,807.423494313,651,629,652,0.401024636194,-0.00549544331733,0.079860955645,0.999999977995,0.000132050772985,-0.000156162153591,4.67583733536e-05,1793246581925563136
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.847913067,745,714.152086933,679.847913067,658,634,877.152086933,784.152086933,807.152086933,651,629,652,0.401025491673,-0.00549599670068,0.0798613750912,0.999999978254,0.000131160536212,-0.000155242634243,4.67803598127e-05,1793246581942230016
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.274890295,745,714.725109705,679.274890295,658,634,877.725109705,784.725109705,807.725109705,651,629,652,0.401024899132,-0.00549458319408,0.0798610687008,0.999999977693,0.000134633169482,-0.000155795132955,4.70663114593e-05,1793246581958896640
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.692007417,785,808,651,629,652,0.401024448505,-0.00549314069503,0.0798607933687,0.999999977407,0.000136218345551,-0.000156270375351,4.70108179451e-05,1793246581975563008
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.100033153,785,808,651,629,652,0.401024128731,-0.00549167146385,0.0798605466735,0.999999977382,0.000136063209159,-0.000156674384247,4.66404980982e-05,1793246581992229376
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.480406344,785,807.519593656,651.480406344,629.480406344,652,0.401025703317,-0.00549097465741,0.0798618505435,0.999999977534,0.000137278975687,-0.000154614727867,4.66896648992e-05,1793246582008895744
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.941894644,679,658,634,878,784.941894644,807.058105356,651.941894644,629.941894644,652,0.401027214388,-0.00549069802935,0.0798630990246,0.99999997761,0.000138394647561,-0.000153086838713,4.68046443155e-05,1793246582025562112
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.367703606,679,658,634,878,784.367703606,807.632296394,651.367703606,629.367703606,652,0.401024739975,-0.00549275832224,0.079861055106,0.999999976722,0.000136145331802,-0.000160731621629,4.67465389168e-05,1793246582042229248
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.787697628,784,808,651.212302372,629.212302372,652,0.401028494335,-0.00549401112866,0.0798624595446,0.999999976413,0.000135155016094,-0.000163437742456,4.68571959656e-05,1793246582058896128
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877.197336724,784,808,651.802663276,629.802663276,652,0.401043340618,-0.00549382599922,0.079870004663,0.9999999772,0.000136406671391,-0.000157349314794,4.72683776118e-05,1793246582075562752
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.383831092,679.383831092,658,634,877.383831092,784.383831092,808,651.616168908,630,652,0.401072431591,-0.00549394799221,0.0798805974457,0.999999978609,0.000136396059362,-0.000148109275376,4.73547166442e-05,1793246582092229376
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714.960383127,679.960383127,658,634,877.960383127,784.960383127,808,651.039616873,630,652,0.401108674799,-0.00549422419082,0.0798927204563,0.999999980244,0.000135751665144,-0.000137286816458,4.72779527817e-05,1793246582108895744
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.459604472,658,634,876.919208944,785,808,651,629.459604472,652,0.40117079158,-0.00549577935255,0.0799070499764,0.999999983105,0.000133513749917,-0.000117452607599,4.65625015287e-05,1793246582125562112
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.880681606,679,658,634,876.119318394,785,808,651,629,652,0.401238671608,-0.00549715927559,0.079920816938,0.999999985495,0.000131751310151,-9.77889622292e-05,4.57018901657e-05,1793246582142228480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.306881096,679,658,634,876.693118904,785,808,651,629,652,0.401321232284,-0.00549751227786,0.0799318210094,0.999999986961,0.000132247792082,-8.13076449912e-05,4.44678623252e-05,1793246582158895104
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.27490909,679,658.27490909,634,877,785,807.72509091,651,629.27490909,652,0.401410003038,-0.0054978827514,0.0799398866604,0.999999987865,0.000132622623741,-6.98129669492e-05,4.25139205179e-05,1793246582175561728
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.865885084,679,658.865885084,634,877,785,807.134114916,651,629.865885084,652,0.401505913601,-0.00549827331188,0.079944573967,0.999999988334,0.000132857592344,-6.40515001916e-05,3.97322834281e-05,1793246582192228352
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.446164315,745,715,679,658.553835685,634,877,785,807.446164315,651,629.553835685,652,0.401619894019,-0.00550162641588,0.0799492718128,0.999999989412,0.000128524383033,-5.75406475151e-05,3.67055339809e-05,1793246582208894976
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976717587,745,715,679,658,634,877,784.976717587,808,651,629,652,0.401740389675,-0.00550567166915,0.0799539565113,0.999999990583,0.000122983794939,-5.08441804043e-05,3.35335217683e-05,1793246582225561600
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.400098844,745,715,679,658,634,877,784.400098844,808,651,629,652,0.401889659216,-0.00550549776572,0.0799582552194,0.999999991305,0.000120619409058,-4.49646361996e-05,2.8619244425e-05,1793246582242228224
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.820007384,679.179992616,658,634,877,784,808,651,629,652,0.402047567175,-0.00550558460404,0.0799623593072,0.999999991913,0.000118557357078,-3.96212039609e-05,2.34158226852e-05,1793246582258894848
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.232044769,679.767955231,658,634,877,784,808,651,629,652,0.402225054891,-0.0055062624378,0.0799660222693,0.99999999235,0.000117180573329,-3.54929201473e-05,1.75570289555e-05,1793246582275561728
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.350623432,680,658.701246864,634,877,784.350623432,808,651,629.350623432,652,0.402418361287,-0.00550735153311,0.0799666385828,0.99999999312,0.00011087802749,-3.66467747234e-05,1.10926075567e-05,1793246582292228352
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.929839935,680,659.85967987,634,877,784.929839935,808,651,629.929839935,652,0.402621980875,-0.00550870875527,0.0799652685984,0.999999994003,0.00010136407297,-4.12443811399e-05,4.23333949356e-06,1793246582308894976
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.490715526,680,658.981431052,634,877,785,808,651,629.490715526,652,0.402837570739,-0.00550953838837,0.0799580959103,0.999999994253,8.9912328176e-05,-5.82710940294e-05,-3.82986625932e-06,1793246582325561856
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.087195845,680,658,634,877.087195845,784.912804155,808,651,629,652,0.403064954714,-0.00551060085934,0.0799510246775,0.999999994571,7.16372713137e-05,-7.46919754759e-05,-1.21682720616e-05,1793246582342228480
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.656457505,680,658,634,877.656457505,784.343542495,808,651,629,652,0.403348422085,-0.00551335258829,0.0799489357945,0.999999996566,1.71157752795e-05,-7.82929654501e-05,-2.11107784058e-05,1793246582358895104
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.764896091,715,679.764896091,658,634,877.764896091,784.235103909,807.764896091,651,629,652,0.403653357744,-0.00551615435126,0.0799500912899,0.999999996663,-8.95950424273e-06,-7.69614306982e-05,-2.58793945176e-05,1793246582375561984
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.171966232,715,679.171966232,658,634,877.171966232,784.828033768,807.171966232,651,629,652,0.403990967919,-0.00551903226538,0.0799561846991,0.99999999735,8.26009509261e-06,-6.81226394919e-05,-2.42953882633e-05,1793246582392228608
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.410693876,715,679,658,634,877.410693876,785,807.410693876,651,629,652,0.404352038589,-0.00551912817829,0.0799588813854,0.99999999757,1.5620383518e-05,-6.27838085758e-05,-2.59533571606e-05,1793246582408894976
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.989158713,715,679,658,634,877.989158713,785,807.989158713,651,629,652,0.404722693005,-0.00551808762659,0.0799601904894,0.999999997669,1.89530826726e-05,-5.88747330808e-05,-2.89356927897e-05,1793246582425561856
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.435059706,679,658.564940294,634,877.435059706,784.435059706,808,651.564940294,629.564940294,652,0.405138481092,-0.00551790504472,0.0799594474788,0.999999998013,5.8348164323e-06,-5.42995224938e-05,-3.15006494622e-05,1793246582442228480
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.143494186,784.143494186,808,651.856505814,630,652,0.40556138053,-0.00551821307594,0.0799563661783,0.999999997848,-5.76849358785e-06,-5.55930126306e-05,-3.4362979398e-05,1793246582458895104
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,877.730780541,784.730780541,808,651.269219459,630,652,0.406003607507,-0.00551998777253,0.0799461743414,0.999999996385,-1.17146588345e-05,-7.50762978165e-05,-3.81696656159e-05,1793246582475561728
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.313699285,679.313699285,659,634,877.686300715,785,808,651,629.686300715,652,0.406472495364,-0.00552032108247,0.0799383787013,0.999999995327,-6.59335934367e-06,-8.85535253942e-05,-3.8219247099e-05,1793246582492228608
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.892921243,679.892921243,659,634,877.107078757,785,808,651,629.107078757,652,0.406963949686,-0.00551943436803,0.0799326112592,0.999999994654,7.89570972027e-06,-9.69470824915e-05,-3.50887245521e-05,1793246582508895232
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.470904627,745,714.529095373,679.529095373,659,634,877.470904627,784.529095373,808,651,629,652,0.407480178675,-0.00551997660803,0.0799283181023,0.999999993523,4.51435759141e-06,-0.000107636422575,-3.67156969922e-05,1793246582525561856
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.951586836,745,714.048413164,679,659,634,877.951586836,784.048413164,808,651,629,652,0.408005220436,-0.00552081019946,0.0799239106656,0.999999992123,-1.93323276025e-06,-0.000119204739886,-3.92482671832e-05,1793246582542228736
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.376189041,745,714.623810959,679,659,634,877.376189041,784.623810959,808,651,629,652,0.408565030291,-0.00552128757067,0.0799146197399,0.999999990133,2.35898045895e-06,-0.000134673321753,-3.98936953014e-05,1793246582558895360
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.203799477,659,634,877.203799477,784.796200523,808.203799477,651,629,652,0.409162409856,-0.00552720352229,0.0799177357904,0.999999990768,-1.00268440873e-06,-0.000130101473458,-3.92035537845e-05,1793246582575561984
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.792457154,659,634,877.792457154,784.207542846,808.792457154,651,629,652,0.409830736627,-0.00554338977633,0.079944281374,0.999999995331,-1.88180556565e-05,-8.76849544006e-05,-3.5991301071e-05,1793246582592228352
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,809,651,629,652.374989153,0.410521700758,-0.00555719985851,0.0799749768428,0.999999997934,-3.91563828606e-05,-3.7402083399e-05,-3.46460708278e-05,1793246582608894976
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,809,651,629,652.954185286,0.411224992443,-0.00556971595373,0.0800079322041,0.999999997411,-6.08686297101e-05,1.71645474387e-05,-3.43175607446e-05,1793246582625561856
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.471144892,745,714.471144892,680,658.471144892,634,877.471144892,784.528855108,808.471144892,651,629,653,0.411889984075,-0.00556087249355,0.079986305393,0.99999999795,-4.8584067407e-05,-1.9556321863e-05,-3.6852171913e-05,1793246582642229248
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.105578383,745.105578383,714.105578383,680,658.105578383,634,877.105578383,784.894421617,808.105578383,651,629.105578383,652.894421617,0.412557327473,-0.00555185972355,0.079958731412,0.999999996466,-3.77516702109e-05,-6.36169162976e-05,-3.99413014395e-05,1793246582658896128
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.693458084,745.693458084,714.693458084,680,658.693458084,634,877.693458084,784.306541916,808.693458084,651,629.693458084,652.306541916,0.413250442271,-0.00555045465196,0.0799254068164,0.99999999236,-4.68928140227e-05,-0.000105387008395,-4.44401303948e-05,1793246582675562752
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.722828985,714.722828985,680,659.277171015,634,878.277171015,784,808.722828985,651,630,652,0.414001071418,-0.00554933446094,0.0799154654254,0.999999991308,-5.10594005259e-05,-0.000112140494884,-4.69260135754e-05,1793246582692229376
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.143656039,714.143656039,680,659.856343961,634,878.856343961,784,808.143656039,651,630,652,0.414814367539,-0.00554852467192,0.0799310020656,0.999999994385,-4.98057753052e-05,-8.07403489156e-05,-4.72186178347e-05,1793246582708896000
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.434495392,680.434495392,660,634,878.565504608,784,808.434495392,651,629.565504608,652.434495392,0.415617861619,-0.00554930835948,0.0799483321821,0.999999995897,-5.09914925543e-05,-5.86327720202e-05,-4.65577159737e-05,1793246582725562624
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012284077,745,715,680.987715923,659.987715923,633.987715923,878,784,809,651,629.012284077,652.987715923,0.41641825625,-0.00555054469577,0.0799655201192,0.999999996735,-5.29635969122e-05,-4.04989363761e-05,-4.565831315e-05,1793246582742228992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.58888925,745,715,680.41111075,659.41111075,633.41111075,878,784,809,651,629.58888925,652.41111075,0.4172247985,-0.0055484291983,0.0799489996955,0.999999995318,-5.40980320866e-05,-6.41040823911e-05,-4.82509674456e-05,1793246582758895616
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.831373355,745,715,680.168626645,659,633.168626645,878,784,809,651,630,652.168626645,0.418057740951,-0.0055471983976,0.0799475485801,0.99999999537,-5.61030302208e-05,-5.99586791119e-05,-5.01662592626e-05,1793246582775562496
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.243855126,745,715,680.756144874,659,633.756144874,878,784,809,651,630,652.756144874,0.418956265052,-0.00554816530449,0.0799835316824,0.999999996828,-6.02706252823e-05,1.31228748295e-05,-5.03988900355e-05,1793246582792228608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,633.661394381,877.661394381,784,809,651.338605619,630,652.661394381,0.41984448881,-0.0055483040647,0.0799910741791,0.999999996345,-6.18183095097e-05,3.0195291449e-05,-5.07705807461e-05,1793246582808895744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,633.082522331,877.082522331,784,809,651.917477669,630,652.082522331,0.420725403652,-0.00554785519185,0.0799784359023,0.999999996767,-6.15069677642e-05,7.52496358054e-06,-5.12409451606e-05,1793246582825563136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.506257349,681,659.493742651,633.493742651,877.493742651,784,809,651.506257349,630,652.493742651,0.421609031359,-0.00554921305534,0.0799712990076,0.999999996301,-6.78205333986e-05,-4.44962730939e-06,-5.27093380034e-05,1793246582842230016
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.931016379,878,784,809,651,630,652.931016379,0.422497828965,-0.00555084887592,0.0799692708702,0.999999995789,-7.38088028478e-05,-8.63738639968e-06,-5.38416932145e-05,1793246582858896384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.360072954,878,784,809,651,630,652.360072954,0.423420962951,-0.00555232149758,0.0799977611789,0.999999995797,-6.94153633645e-05,3.08962995535e-05,-5.13214718554e-05,1793246582875562752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.779974761,660,633,878.220025239,784,809,651,629.779974761,652.220025239,0.424315341213,-0.00555156779129,0.0800019403601,0.999999996374,-6.45057716431e-05,2.45367756062e-05,-4.98992447568e-05,1793246582892229120
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.184244197,660,633,878.815755803,784,809,651,629.184244197,652.815755803,0.425160617626,-0.00554701250655,0.079964606945,0.999999995197,-5.87148204017e-05,-6.01879484863e-05,-5.03519033363e-05,1793246582908896000
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.400047649,659.599952351,633.400047649,878.599952351,784,809.400047649,651,629.400047649,653,0.426086562351,-0.005547179262,0.0799370122522,0.999999992599,-6.19492433138e-05,-9.01766186272e-05,-5.32293796627e-05,1793246582925562368
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.979217743,659.020782257,633.979217743,878.020782257,784,809.979217743,651,629.979217743,653,0.427048626487,-0.00554946032431,0.0799137781017,0.999999991393,-6.92248029836e-05,-9.56570639855e-05,-5.71925749321e-05,1793246582942228992
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.551400688,745,714,680.448599312,659.551400688,634,878.551400688,784.551400688,809.448599312,651.551400688,630,653,0.427956766063,-0.00554908510489,0.0799142571496,0.999999990508,-7.15193740771e-05,-0.000102807056142,-5.74346179098e-05,1793246582958895872
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.872625869,745,714.127374131,680.127374131,660,633.872625869,879,784.872625869,809.127374131,651.872625869,630,653,0.428866496025,-0.0055484078705,0.0799207456096,0.999999990543,-7.22603945837e-05,-0.000102185423913,-5.70138791627e-05,1793246582975562496
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.281918272,745,714.718081728,680.718081728,660,633.281918272,879,784.281918272,809.718081728,651.281918272,630,653,0.429789311645,-0.00554699165237,0.0799458833793,0.999999993522,-6.80246009638e-05,-7.30678624985e-05,-5.46860061251e-05,1793246582992229376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.302839486,745.302839486,714.697160514,681,660,633,879,784.302839486,809.697160514,651,630,653,0.430743245,-0.00554863450217,0.0799826449382,0.99999999603,-6.93285184109e-05,-1.90752450459e-05,-5.26255897226e-05,1793246583008896000
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.882165131,745.882165131,714.117834869,681,660,633,879,784.882165131,809.117834869,651,630,653,0.431725588148,-0.00555307021754,0.0800300187739,0.999999994184,-7.56900769508e-05,5.76277803644e-05,-5.08093555923e-05,1793246583025562368
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.541210684,714,681.458789316,660,633.458789316,879,784.541210684,809.458789316,651,630,653,0.432615756274,-0.00555278936422,0.0800074606707,0.999999995681,-7.53807574717e-05,1.48126371774e-05,-5.2311431884e-05,1793246583042229248
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681.930620775,660,634,879,784.034689613,810,651,630,653,0.433481968161,-0.00555136781389,0.0799665421641,0.999999994131,-7.36793923229e-05,-5.7544506532e-05,-5.47615860776e-05,1793246583058895872
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.779884856,660,634,879,784.610057572,810,651,630,653,0.434341621829,-0.00555093769095,0.0799177633872,0.999999988743,-7.68294599849e-05,-0.000114701889132,-5.87827682761e-05,1793246583075562752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809691903,745,714,680.190308097,660,633.809691903,879,785,810,651.190308097,630,653,0.435209950685,-0.00555189341117,0.0798961145057,0.999999985579,-8.11982682631e-05,-0.000136143427165,-6.09331235035e-05,1793246583092229632
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.219173431,745,714,680.780826569,660,633.219173431,879,785,810,651.780826569,630,653,0.436096523277,-0.00555576350449,0.0799315187085,0.999999990966,-8.81300405753e-05,-8.24759724023e-05,-5.91492048225e-05,1793246583108896768
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.364020733,745,714,681,660,633,879,785,810,651.635979267,630,653,0.436992042856,-0.00555739840485,0.0799698726902,0.999999993706,-9.16203065271e-05,-3.1775292786e-05,-5.64346651804e-05,1793246583125563392
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.942891945,745,714,681,660,633,879,785,810,651.057108055,630,653,0.437892843027,-0.00555771406067,0.0800099676734,0.999999994107,-9.30793434896e-05,1.71743485631e-05,-5.31708592004e-05,1793246583142230016
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.514659883,681.514659883,660,633,879,785,810.514659883,651,630,653,0.438770408692,-0.00556391928335,0.0800317499493,0.999999991761,-0.000102256712555,5.62434125955e-05,-5.34622550543e-05,1793246583158896640
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.913384603,745,715,681.913384603,660,633,879,785,810.913384603,651,630,653,0.439625691611,-0.0055691650015,0.0800415785366,0.99999998951,-0.000109613803035,7.76002896477e-05,-5.4252193537e-05,1793246583175563008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.335960659,745,715,681.335960659,660,633,879,785,810.335960659,651,630,653,0.440369119064,-0.00556532087357,0.0799950289974,0.999999993251,-0.000101869223345,4.71863121957e-06,-5.56621548496e-05,1793246583192229376
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.752887395,681.247112605,660.247112605,633,879,785,810.247112605,651,630,653,0.441076218206,-0.0055612689232,0.0799316058982,0.999999989112,-9.76810619303e-05,-9.36747295541e-05,-5.88109481082e-05,1793246583208895744
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.161953985,681.838046015,660.838046015,633,879,785,810.838046015,651,630,653,0.441732771789,-0.00555692781884,0.0798447057284,0.99999996719,-9.84411329097e-05,-0.000227563861112,-6.4379069483e-05,1793246583225562368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.421248683,745,714.421248683,682.421248683,661,633.421248683,879,784.578751317,811,651,630.421248683,653,0.442491166839,-0.00555876516135,0.0798455058028,0.999999969431,-0.000101491986444,-0.000215996054666,-6.4677924481e-05,1793246583242228992
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714.998480656,683,660.998480656,634,879,784,811,651,630.998480656,653,0.443287970654,-0.00556293501513,0.0798795202326,0.999999981303,-0.000105363649414,-0.000149415604385,-6.29833113134e-05,1793246583258895616
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714.423285193,683,660.423285193,634,879,784,811,651,630.423285193,653,0.444069733282,-0.00556708296262,0.0799530284685,0.999999992875,-9.26075921325e-05,-4.59030345724e-05,-5.97236394711e-05,1793246583275561984
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,683,660.153450493,633.846549507,879,784,811,651,630.153450493,653,0.444817830839,-0.00557066710224,0.0800109095737,0.999999993339,-9.38449344444e-05,3.55433344954e-05,-5.70274309419e-05,1793246583292228608
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,683,660.734478016,633.265521984,879,784,811,651,630.734478016,653,0.445472123652,-0.00557268023909,0.0800252469958,0.999999987909,-0.000134073719783,5.55040935888e-05,-5.59012668086e-05,1793246583308896000
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,683,661,633,879,784.317071885,811,651,630.682928115,653,0.446103177833,-0.005573661797,0.0800225746369,0.99999998761,-0.000138075179398,5.11789467839e-05,-5.56420077622e-05,1793246583325562880
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,683,661,633,879,784.900983919,811,651,630.099016081,653,0.446714674896,-0.00557377520252,0.0800055872503,0.999999991851,-0.000111588581813,2.64153585986e-05,-5.61123154776e-05,1793246583342229248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.518286653,745,714,682.518286653,660.518286653,633.481713347,879,784.518286653,811,651,630,653,0.447282609388,-0.00557345497039,0.0799761945956,0.99999999235,-0.000108653247991,-8.52056684321e-06,-5.84908801484e-05,1793246583358895616
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.061033652,745,714,682.061033652,660,633.938966348,879,784.061033652,811,651,630,653,0.44783479708,-0.00557318095617,0.0799436769206,0.999999990805,-0.000111109984154,-4.80810246206e-05,-6.10900355598e-05,1793246583375562240
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.633985926,745,714,682.633985926,660,633.366014074,879,784.633985926,811,651,630,653,0.448329519707,-0.00557403729778,0.0799061950604,0.999999985104,-0.000118455666677,-0.000109007202354,-6.22710644615e-05,1793246583392229120
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+199,3.316666667,POSE1_TO_POSE2_PRESS,765.384211857,745.384211857,714,682.615788143,660.615788143,633,879.615788143,784,811.384211857,651,630.615788143,653,0.44970959255,-0.00557469125186,0.0798397235271,0.99999996837,-0.000123303951974,-0.000209511659467,-6.45054350836e-05,1793246583442229760
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+257,4.283333333,HOLD_POSE2,765.539563553,745,714,683,659,631.460436447,879,783,811,651,630,653,0.454571003988,-0.00558700449612,0.0797255956408,0.999999907764,-0.000140633747786,-0.000401078911119,-6.18878618689e-05,1793246584423477248
+258,4.300000000,HOLD_POSE2,765.886423009,745,714,683,658.886423009,631.113576991,879.113576991,783,811.113576991,651,630,653,0.454571541852,-0.00558682813324,0.0797255821641,0.999999907854,-0.000141278872728,-0.000400610137557,-6.19997308537e-05,1793246584440143872
+259,4.316666667,HOLD_POSE2,765.313563043,745,714,683,658.313563043,631.686436957,879.686436957,783,811.686436957,651,630,653,0.454569957599,-0.0055879816382,0.0797249397138,0.999999907188,-0.000142506727293,-0.000401868369636,-6.17865235966e-05,1793246584456811264
+260,4.333333333,HOLD_POSE2,765,745.268625156,714,683,658.268625156,632,879.731374844,783,811.731374844,650.731374844,630,653,0.454569564919,-0.00558775560572,0.0797249869889,0.999999907284,-0.000141730472664,-0.000401937828247,-6.15619090527e-05,1793246584473478144
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,660,632,879,783,811,651,630,653,0.454572487096,-0.0055862224925,0.079726975764,0.999999908942,-0.000139030301289,-0.000398749801161,-6.15310864223e-05,1793246584522756864
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.575081124,745,714,683.424918876,658.849837753,631.424918876,879,783,811.575081124,651,630,653,0.454572214318,-0.00558580400722,0.079726393531,0.999999908937,-0.000137142804951,-0.000399370929072,-6.1810496565e-05,1793246584539423744
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,658,631.739372205,879,783,812,651,630,653,0.454573905,-0.00558715178842,0.0797281936218,0.999999908838,-0.000139593378169,-0.000398774430447,-6.17825610846e-05,1793246584572757248
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658.943957541,631.056042459,879,783.943957541,811,651,631,653,0.454574343508,-0.00558602785155,0.0797286915761,0.999999910127,-0.000136635150579,-0.000396695925527,-6.0902214139e-05,1793246584639423488
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.799735773,714,683,658.799735773,632,879,783,811.799735773,651,630.200264227,653,0.454551135101,-0.00558453759061,0.0797148870433,0.999999901955,-0.000137951570171,-0.000416190479418,-6.19999994877e-05,1793246584689423104
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.965538961,745.034461039,714,683,659,632,879,783,811.034461039,651,630,653,0.454480800262,-0.00558307801664,0.0796867342527,0.9999998806,-0.000135386293207,-0.000465352666572,-6.25967753904e-05,1793246584722756352
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,683,659,631.977687814,879,783,811,651,630,653,0.453885758914,-0.00556911799499,0.0796223548162,0.999999831462,-0.000123256264391,-0.000564827351543,-5.34278548568e-05,1793246584839422720
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.495649864,745,714,683,659,632,879,783.495649864,811,651.495649864,630,653,0.45281914387,-0.00555314660136,0.0796426324533,0.999999846684,-9.50560360158e-05,-0.000544990067482,-2.4147146346e-05,1793246584939423232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.079141189,745,714,683,659,632,879,783.079141189,810.920858811,651,630,653,0.452572312212,-0.00554900986117,0.0796422656416,0.999999845589,-8.6323947233e-05,-0.000548684532913,-1.77472557634e-05,1793246584956089600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.652829119,745,714,683,659,632,879,783.652829119,810.347170881,651,630,653,0.45229648788,-0.00554494091942,0.0796485280746,0.999999851706,-7.53533583035e-05,-0.00053927172792,-9.83250278924e-06,1793246584972756480
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,659,632,879,784,810.824040184,651,630,653,0.451710257802,-0.00553321894646,0.0796637579247,0.999999865211,-5.05203277258e-05,-0.000516721224321,4.89316488703e-06,1793246585006089472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.593462286,745,714,683,659,632.406537714,879,784,810.593462286,651,630,653,0.451386347517,-0.00552642257568,0.0796767184852,0.999999877652,-1.97034513033e-05,-0.000494142040066,1.14877670552e-05,1793246585022756352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.014476396,745,714,683,659,632.985523604,879,784,810.014476396,651,630,653,0.451052556373,-0.00551955922527,0.0796916976912,0.99999989057,1.86525256122e-05,-0.00046711062431,1.78580671709e-05,1793246585039423488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633,879,784,810,651,630,652.440034039,0.450682086901,-0.00551259370523,0.0797099034713,0.999999906141,1.83352841625e-05,-0.000432679601325,1.30743960464e-05,1793246585056090368
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.134819244,745,714,683,659,633,879,784,810,651,630,652.134819244,0.450295134847,-0.00550697153324,0.079728078437,0.999999919975,1.64060737572e-05,-0.000399589906137,1.04722597708e-05,1793246585072757248
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,659.891410806,633,879,784,810.891410806,651,630,653,0.448903473814,-0.00548684804027,0.0797477345903,0.999999928498,4.01157993928e-05,-0.000375431994425,2.10936959489e-05,1793246585122756864
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.932634807,745,714,682.932634807,659.067365193,633.067365193,878,784,809.067365193,651,630,652,0.433624709985,-0.00543335559191,0.0798147329761,0.999999949798,0.000137798252623,-0.000282191284875,4.2227879323e-05,1793246585472756736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.358311503,745,714,682.358311503,659.641688497,633.641688497,878,784,809.641688497,651,630,652,0.432654572303,-0.00542439352578,0.0797667555668,0.999999917702,0.000154426447777,-0.000372902975592,4.11232691312e-05,1793246585489423616
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.601888822,745,714,682,659.601888822,634,878,784.398111178,809.398111178,651,630,652,0.429847670035,-0.00541854917952,0.0797428356327,0.999999893096,0.000173875837893,-0.000426135579965,4.45482054772e-05,1793246585539423488
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.605956324,745,713.605956324,682,659,634,878,784.394043676,808.394043676,650.394043676,629,652,0.421660868289,-0.00542147321436,0.0797887430545,0.999999928002,0.000189726603211,-0.000324811406136,4.99668079142e-05,1793246585689423360
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.10727641,714,680,658,634,877.10727641,784.10727641,807.10727641,651,629,652,0.401023269537,-0.00539245782387,0.0798210396264,0.999999919777,0.000253663217846,-0.000306385815717,4.72070981724e-05,1793246586472756224
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.804020913,657.804020913,634,877.195979087,784,808,651,629.804020913,652,0.400975499602,-0.00539148502954,0.0798237683736,0.999999920621,0.000254609275502,-0.000302906107447,4.66843002003e-05,1793246586539423488
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.739305935,634,877.260694065,784.739305935,808,651.739305935,629,652,0.400967996199,-0.00539252577941,0.0798291068295,0.999999924137,0.000251977342822,-0.000293506251558,4.56858256082e-05,1793246586656090112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.146384478,634,877.853615522,784.146384478,808,651.146384478,629,652,0.400968551464,-0.00539396668085,0.0798302133595,0.999999924896,0.000250707912277,-0.000291967875757,4.59229600192e-05,1793246586672756736
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.564983995,634,877.564983995,784,808,651,629,652,0.400968142903,-0.0053930675693,0.0798302626853,0.999999924537,0.000252889852484,-0.000291337509345,4.5767850151e-05,1793246586689423360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.012529907,634,877,784,808,651,629,652,0.400967431183,-0.00539145249664,0.0798299695434,0.999999923827,0.000256080331153,-0.000291031264256,4.54912070068e-05,1793246586706089984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.585139269,634,877,784,808,651,629,652,0.400967291724,-0.00539212360487,0.0798298599638,0.999999924157,0.000253777461934,-0.000291907595301,4.55298227448e-05,1793246586722756352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.163086929,679.163086929,658,634,877,784,808,651,629,652,0.400966895575,-0.00539254987762,0.0798297564971,0.999999924316,0.000252540739601,-0.00029242455451,4.55894911288e-05,1793246586739422976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.755073661,679.755073661,658,634,877,784,808,651,629,652,0.400965824363,-0.00539233226128,0.0798296691063,0.999999924039,0.00025410786069,-0.000291996407211,4.57045255403e-05,1793246586756089600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.66154394,679.66154394,658,634,877,784.33845606,808,651,629,652,0.400965398526,-0.00539279547559,0.0798296839174,0.999999924326,0.000253270242382,-0.000291777478543,4.54803262688e-05,1793246586772756480
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.084233787,679.084233787,658,634,877,784.915766213,808,651,629,652,0.400965428141,-0.00539373916347,0.0798297708541,0.999999925006,0.000250735559264,-0.000291706198974,4.50167241185e-05,1793246586789423360
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.49056256,658,634,877,785,808,651,629,652,0.400965534114,-0.00539396788176,0.0798306776166,0.999999925388,0.00025015413089,-0.000290867102038,4.52070358197e-05,1793246586806089984
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.934886554,658,634,877.065113446,785,808,651,629,652,0.400965598066,-0.00539404941998,0.0798314553705,0.999999925652,0.000249885297063,-0.000290155284468,4.5422412716e-05,1793246586822757120
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.358892471,658,634,877.641107529,785,808,651,629,652,0.40096522997,-0.0053939344976,0.0798301220608,0.999999925399,0.000249451021597,-0.000291471252783,4.49579723219e-05,1793246586839423488
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.776240922,785,807.776240922,651,629,652,0.400965577226,-0.00539352764895,0.0798298388753,0.999999925408,0.000249598339315,-0.000291345762693,4.47513274369e-05,1793246586856089856
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.182583766,785,807.182583766,651,629,652,0.400967107035,-0.00539263821444,0.0798312916588,0.999999925848,0.000250707093719,-0.000288837385383,4.49708464761e-05,1793246586872756480
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,784.601415895,807.398584105,651,629,652,0.400968089046,-0.00539239844809,0.0798323691291,0.999999926361,0.000250811995972,-0.00028698231226,4.48701042389e-05,1793246586889423360
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877,784.025795342,807.974204658,651,629,652,0.400968827744,-0.00539244724059,0.0798332798988,0.999999926905,0.000250471023833,-0.000285417413058,4.46271136696e-05,1793246586906090240
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ca4f59becb3321591beec01c50d96c69bdbd518
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+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,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+18,0.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+19,0.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+51,0.850000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+396,6.600000000,pose2_to_pose3_retreat,0.583246973762,-7.21461482113e-05,1.07004217796,0.553818764591,0.00860231069768,1.06966557832
+397,6.616666667,pose2_to_pose3_retreat,0.583246778913,-7.2155115217e-05,1.07004217809,0.553818570039,0.00860230272535,1.06966557817
+398,6.633333333,pose2_to_pose3_retreat,0.58324663507,-7.21617348714e-05,1.07004217818,0.553818426416,0.00860229683999,1.06966557805
+399,6.650000000,pose2_to_pose3_retreat,0.583246569176,-7.21647673561e-05,1.07004217822,0.553818360621,0.00860229414389,1.069665578
+400,6.666666667,pose2_to_pose3_retreat,0.583246549365,-7.21656790509e-05,1.07004217823,0.553818340841,0.00860229333333,1.06966557799
+401,6.683333333,pose2_to_pose3_retreat,0.583246363242,-7.2174244462e-05,1.07004217835,0.553818155001,0.00860228571805,1.06966557784
+402,6.700000000,pose2_to_pose3_retreat,0.583246080002,-7.21872792593e-05,1.07004217854,0.553817872192,0.00860227412916,1.06966557762
+403,6.716666667,pose2_to_pose3_retreat,0.583245779951,-7.22109159336e-05,1.07004219546,0.553817572583,0.00860225181639,1.06966559055
+404,6.733333333,pose2_to_pose3_retreat,0.583245597387,-7.22559723786e-05,1.07004225797,0.553817390238,0.00860220691683,1.06966563952
+405,6.750000000,pose2_to_pose3_retreat,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106557,1.06966588344
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..432235cb05a79b9fe0400665b387e5769623da34
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f65c3a38fa38cae5a1ac6996bdedab8932475cb294cb91e752e20fdf8ca30e8d
+size 25863494
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78f65dee5918892026fa9ff08db9a7fec06bb536
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+27,0.450000000,BASELINE,765,745,714,679.31155471,658,634,877.31155471,784.68844529,807.31155471,651,630,652,0.400965828896,-0.00539497645999,0.0798328462594,0.999999927429,0.000247816376503,-0.000285977012322,4.41100395113e-05,1793246587500795136
+28,0.466666667,BASELINE,765,745,714,679,658,634,877,785,807.265450262,651,629.734549738,652,0.400965659294,-0.0053943137766,0.0798326593864,0.999999927098,0.000248286215038,-0.000286737797735,4.40365607493e-05,1793246587517462016
+29,0.483333333,BASELINE,765,745,714,679,658,634,877,785,807.839787424,651,629.160212576,652,0.400966515853,-0.00539293227265,0.0798328136973,0.999999926806,0.000249841508918,-0.000286463148371,4.3669504216e-05,1793246587534129152
+30,0.500000000,BASELINE,765,745,714,679.423602028,658,633.576397972,877,785,807.576397972,651,629,652,0.400966491168,-0.00539219915113,0.0798329164755,0.999999926516,0.000251094276556,-0.000286378459009,4.36770362126e-05,1793246587550795520
+31,0.516666667,BASELINE,764.989065062,745,714.010934938,679.989065062,658,633.010934938,877,784.989065062,807.010934938,651,629,652,0.400966124615,-0.00539174289682,0.0798329988839,0.999999926246,0.000252174596074,-0.000286346712022,4.38281947958e-05,1793246587567461632
+32,0.533333333,BASELINE,764.409440725,745,714.590559275,679.409440725,658,633.590559275,877,784.409440725,807.590559275,651,629,652,0.40096570909,-0.00539264022882,0.0798330587615,0.99999992701,0.000250373247161,-0.000285246356421,4.3912230889e-05,1793246587584128256
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+40,0.666666667,BASELINE,765,745,714,680,659,634,877.770868085,785,808.229131915,651,630,652.229131915,0.400965779472,-0.0053938400452,0.0798327496859,0.999999927321,0.00024852552301,-0.000285812767369,4.36282148643e-05,1793246587717460992
+41,0.683333333,BASELINE,765,745,714,680,659,634,877.194913508,785,808.805086492,651,630,652.805086492,0.400966647231,-0.00539284592238,0.0798330491293,0.99999992712,0.000250577120915,-0.000284717303955,4.36769768703e-05,1793246587734127872
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+52,0.866666667,BASELINE,764.386211582,745,715,680,658,634,877.193105791,784.806894209,808,651,629.806894209,652,0.400965871118,-0.00539128637077,0.0798326110854,0.999999926585,0.000251604112406,-0.000285704318093,4.35795393104e-05,1793246587917461248
+53,0.883333333,BASELINE,765.539672225,745,715,680,658,634,877.769836112,784.230163888,808,651,629.230163888,652,0.40096818747,-0.00539006808908,0.0798336923026,0.999999926696,0.000253855002895,-0.000283353961513,4.33101761008e-05,1793246587934127872
+54,0.900000000,BASELINE,765.654059117,745,714.654059117,680,658.345940883,634,878,784.345940883,807.654059117,651.345940883,629.345940883,652,0.400968838376,-0.00539012161811,0.0798342296915,0.999999927,0.000253466883757,-0.000282625207227,4.33214264238e-05,1793246587950794496
+55,0.916666667,BASELINE,765.078369815,745,714.078369815,680,658.921630185,634,878,784.921630185,807.078369815,651.921630185,629.921630185,652,0.400968383216,-0.00539101979008,0.0798344059098,0.999999927434,0.000251326128977,-0.000282973401676,4.35190395693e-05,1793246587967461120
+56,0.933333333,BASELINE,764.4911772,745,714,679.4911772,658.4911772,634,878,784.4911772,807,651.4911772,630,652,0.400966867613,-0.00539169482413,0.0798334371085,0.999999927369,0.000249695532175,-0.000284652166499,4.34505375815e-05,1793246587984127744
+57,0.950000000,BASELINE,764.096212545,745,714.096212545,679,658.096212545,634,877.903787455,784.096212545,807.096212545,651,629.903787455,652,0.400965640421,-0.00539262247159,0.0798326619585,0.999999927443,0.000247934619011,-0.000285937115365,4.33892396078e-05,1793246588000794624
+58,0.966666667,BASELINE,764.675490389,745,714.675490389,679,658.675490389,634,877.324509611,784.675490389,807.675490389,651,629.324509611,652,0.400966700318,-0.00539499499102,0.0798337650384,0.999999928627,0.000245115774064,-0.000284192036677,4.35746625672e-05,1793246588017461248
+59,0.983333333,BASELINE,765,745,714.746027216,679,658.746027216,634,877,785,808,651,629,652,0.400967227027,-0.00539646339019,0.0798342322162,0.999999929245,0.000243574670153,-0.000283328547597,4.36537121314e-05,1793246588034127872
+60,1.000000000,BASELINE,765,745,714.168557942,679,658.168557942,634,877,785,808,651,629,652,0.400967074592,-0.00539678017127,0.0798338894173,0.999999929153,0.000243661081753,-0.000283587978388,4.35972691712e-05,1793246588050794496
+61,1.016666667,BASELINE,765,745,714.41396933,679.41396933,658,634,877,785,808,651,629.41396933,652,0.400965960614,-0.00539477746553,0.0798327054723,0.999999927848,0.000247031872992,-0.0002852822649,4.35178111289e-05,1793246588067461376
+62,1.033333333,BASELINE,765,745,714.998581532,679.998581532,658,634,877,785,808,651,629.998581532,652,0.400964450277,-0.00539181864088,0.0798311747973,0.999999926019,0.000251756522905,-0.000287568015254,4.34288660101e-05,1793246588084128000
+63,1.050000000,BASELINE,765,745,714.422048395,679.422048395,658,634,877,785,808,651,629.422048395,652,0.400965508129,-0.00539245200825,0.0798327453549,0.999999926551,0.000251795648462,-0.000285658262261,4.35560239161e-05,1793246588100794368
+64,1.066666667,BASELINE,765.157289977,745,714.157289977,679,658,634,877.157289977,785,808,651,629,652,0.400966398764,-0.00539257100378,0.0798338622986,0.99999992697,0.00025195212784,-0.000284043592833,4.35770873282e-05,1793246588117461248
+65,1.083333333,BASELINE,765.736577471,745,714.736577471,679,658,634,877.736577471,785,808,651,629,652,0.400966824013,-0.00539128653622,0.0798337419919,0.999999927081,0.000252454034466,-0.000283247989035,4.33120967712e-05,1793246588134127872
+66,1.100000000,BASELINE,765.68637612,745,715,679,658,634,878,785,808,651,629,652,0.400967266155,-0.00539183549737,0.0798339881809,0.999999927732,0.00025038750694,-0.00028279709296,4.32164678513e-05,1793246588150794496
+67,1.116666667,BASELINE,765.111198741,745,715,679,658,634,878,785,808,651,629,652,0.400967722386,-0.00539391348658,0.0798345400169,0.999999928821,0.000246178977511,-0.00028263367347,4.32620817879e-05,1793246588167461120
+68,1.133333333,BASELINE,765,745,714.526620583,679,658,634,877.526620583,785,807.526620583,651,629,652,0.400966012949,-0.00539312658179,0.0798342276067,0.999999927985,0.00024831533268,-0.000283704149814,4.33794773052e-05,1793246588184127744
+69,1.150000000,BASELINE,765,745,714.059444191,679,658,633.940555809,877.059444191,784.940555809,807,651,629,652,0.40096417306,-0.00539181373438,0.0798337800332,0.999999926813,0.000251683082277,-0.000284847374977,4.34962793199e-05,1793246588200794368
+70,1.166666667,BASELINE,765,745,714.63880534,679,658,633.36119466,877.63880534,784.36119466,807,651,629,652,0.400965731808,-0.00539190613798,0.0798339618876,0.999999926833,0.000252521024234,-0.000284040427421,4.3457423917e-05,1793246588217460992
+71,1.183333333,BASELINE,765,745,714.782315175,679,658.217684825,633.217684825,877.782315175,784.217684825,807.217684825,651,629,652,0.400966734434,-0.00539238189178,0.0798341859742,0.99999992707,0.000252335319227,-0.000283362172028,4.35024377387e-05,1793246588234127872
+72,1.200000000,BASELINE,765,745,714.204233039,679,658.795766961,633.795766961,877.204233039,784.795766961,807.795766961,651,629,652,0.40096681635,-0.00539349231724,0.0798344799803,0.999999927667,0.000250454872356,-0.00028289697825,4.36863047934e-05,1793246588250794496
+73,1.216666667,BASELINE,765,745,714,679,658.627727205,634,877,785,808,651,629,652,0.400966705809,-0.00539310954341,0.0798337739983,0.999999927089,0.000251497352649,-0.000284009169242,4.37092218756e-05,1793246588267461120
+74,1.233333333,BASELINE,765,745,714,679,658.052082536,634,877,785,808,651,629,652,0.400966490129,-0.00539191103776,0.0798325217249,0.999999925862,0.000254136622236,-0.000285983082363,4.36442123029e-05,1793246588284127744
+75,1.250000000,BASELINE,765.534248618,745,714.534248618,679.534248618,658,634,877,784.465751382,808,651,629,652,0.400967596725,-0.00539223734904,0.0798335466741,0.999999926588,0.000253491056819,-0.000284021510567,4.35663773197e-05,1793246588300794624
+76,1.266666667,BASELINE,765.880478401,744.880478401,714.880478401,680,658,634,877.119521599,784.119521599,808,651,629.119521599,652,0.400968439491,-0.0053925176894,0.0798344579195,0.999999927387,0.000252367160337,-0.000282216266967,4.34849269701e-05,1793246588317461248
+77,1.283333333,BASELINE,765.303327317,744.303327317,714.303327317,680,658,634,877.696672683,784.696672683,808,651,629.696672683,652,0.400967768461,-0.00539204123758,0.0798340664553,0.999999927737,0.000250662946698,-0.000282508538607,4.33945189323e-05,1793246588334128128
+78,1.300000000,BASELINE,765.272167216,744.272167216,714,680,658,634,878,785,808,651,629.727832784,652,0.400967031422,-0.0053923486816,0.0798336925913,0.999999927951,0.000249143505987,-0.000283086235616,4.34435913729e-05,1793246588350794752
+79,1.316666667,BASELINE,765.845826672,744.845826672,714,680,658,634,878,785,808,651,629.154173328,652,0.400966221263,-0.00539352448343,0.079833338224,0.999999928016,0.000247828746926,-0.000283980111517,4.364717281e-05,1793246588367461376
+80,1.333333333,BASELINE,765.580743786,745,714.419256214,680,658,634,878,785,808,651.419256214,629.419256214,652.419256214,0.400965828634,-0.00539367816382,0.079833172765,0.999999927869,0.000247715323682,-0.000284639312926,4.33624485385e-05,1793246588384128000
+81,1.350000000,BASELINE,765.007398697,745,714.992601303,680,658,634,878,785,808,651.992601303,629.992601303,652.992601303,0.400965589458,-0.00539345618489,0.0798330767352,0.999999927644,0.000248043426248,-0.000285212264695,4.28982577081e-05,1793246588400794880
+82,1.366666667,BASELINE,765,745,715,680,658,634,878,785,808,651.411702272,629.411702272,652.411702272,0.40096661305,-0.00539226270813,0.0798335732514,0.999999927536,0.000249698303286,-0.00028414516267,4.29009508638e-05,1793246588417461248
+83,1.383333333,BASELINE,765,745,714.821550208,680,658,634,877.821550208,785,807.821550208,651,629,652,0.40096699987,-0.00539150237599,0.0798337594275,0.999999927278,0.000251163315893,-0.000283738927965,4.30404496581e-05,1793246588434127872
+84,1.400000000,BASELINE,765,745,714.24443712,680,658,634,877.24443712,785,807.24443712,651,629,652,0.400965927236,-0.0053917380778,0.0798332349872,0.99999992669,0.000252165415211,-0.000284856993763,4.347194145e-05,1793246588450794496
+85,1.416666667,BASELINE,765,745,714.331902335,679.668097665,658.331902335,634,877,785,807.331902335,651.331902335,629,652.331902335,0.400966018402,-0.00539235173534,0.0798333765124,0.999999926833,0.000251679697656,-0.000284747495096,4.36970214572e-05,1793246588467461120
+86,1.433333333,BASELINE,765,745,714.907673322,679.092326678,658.907673322,634,877,785,807.907673322,651.907673322,629,652.907673322,0.400966964683,-0.00539324309971,0.0798340073627,0.999999927514,0.000250100791304,-0.000283736030753,4.37704382581e-05,1793246588484127744
+87,1.450000000,BASELINE,765,745,715,679.494569849,658.505430151,634,877.494569849,785,807.505430151,651.505430151,629.494569849,652.505430151,0.400966760384,-0.00539424225272,0.0798337876065,0.999999927677,0.000249397831515,-0.000283778082817,4.37699727546e-05,1793246588500794624
+88,1.466666667,BASELINE,765,745,715,680,658,634,877.91796262,785,807.08203738,651,629.91796262,652.08203738,0.400966459371,-0.00539504813438,0.079833531223,0.999999927729,0.000249014071158,-0.000283932874281,4.37683597594e-05,1793246588517461248
+89,1.483333333,BASELINE,765,745,715,680,658,634,877.339889561,785,807.660110439,651,629.339889561,652.660110439,0.400966902192,-0.0053945609414,0.0798340355975,0.9999999277,0.000249548852042,-0.000283552808898,4.38451228983e-05,1793246588534128128
+90,1.500000000,BASELINE,765,745,715,680,658,634,877,785,808,651,629.238221194,652.761778806,0.400967201202,-0.00539444443705,0.0798343539081,0.999999928015,0.00024866039104,-0.000283232826613,4.37762205704e-05,1793246588550794752
+91,1.516666667,BASELINE,765,745,715,680,658,634,877,785,808,651,629.81638569,652.18361431,0.400967294994,-0.00539485690801,0.079834406704,0.999999928815,0.000245740953908,-0.000282998583355,4.34994525996e-05,1793246588567461376
+92,1.533333333,BASELINE,765,745,714.606439182,680,658,634,877,785,808,651,630,652,0.400967207231,-0.00539436738759,0.079834247808,0.9999999285,0.000246845038123,-0.00028317998355,4.33272482639e-05,1793246588584127744
+93,1.550000000,BASELINE,765,745,714.029724431,680,658,634,877,785,808,651,630,652,0.400967034976,-0.00539345810166,0.0798339903955,0.99999992766,0.000249821574112,-0.000283554814394,4.32037053558e-05,1793246588600794624
+94,1.566666667,BASELINE,765,744.442727356,714,679.442727356,658,634,877.557272644,785,807.442727356,651,629.442727356,652,0.400967777888,-0.00539350957837,0.0798339391469,0.999999927874,0.000249107868432,-0.000283398467789,4.33837959204e-05,1793246588617461248
+95,1.583333333,BASELINE,765.143152512,744.143152512,714,679.143152512,658,634,877.856847488,785,807,651,629.143152512,652,0.40096803866,-0.00539358139382,0.0798338893066,0.999999927964,0.000248665992703,-0.000283445483659,4.35530219773e-05,1793246588634127872
+96,1.600000000,BASELINE,765.723909243,744.723909243,714,679.723909243,658,634,877.276090757,785,807,651,629.723909243,652,0.40096667355,-0.00539355578309,0.079833809524,0.999999927495,0.00024966809141,-0.000284202398171,4.36385973141e-05,1793246588650794496
+97,1.616666667,BASELINE,765.697982049,745,714,680,658,634,877.302017951,785,807,651,629.697982049,652,0.400966531153,-0.00539332834299,0.0798338808132,0.999999927201,0.000250785364918,-0.000284260519474,4.35948830001e-05,1793246588667461376
+98,1.633333333,BASELINE,765.122273035,745,714,680,658,634,877.877726965,785,807,651,629.122273035,652,0.400967496789,-0.00539291800351,0.079834089005,0.999999927064,0.000252007010681,-0.000283685388786,4.34340053741e-05,1793246588684128000
+99,1.650000000,BASELINE,765,745,714.451560909,679.548439091,658,634,877.548439091,785,807,651,629.451560909,652,0.40096697865,-0.00539277656729,0.0798338304875,0.999999927347,0.000251078690484,-0.000283530664078,4.33029293758e-05,1793246588700794880
+100,1.666666667,BASELINE,765,744.974194709,715,679,658,634,877.025805291,785,807.025805291,651,629.974194709,652,0.400966141451,-0.00539277842267,0.0798335073534,0.999999927754,0.000249553300257,-0.0002834594885,4.319319007e-05,1793246588717462528
+101,1.683333333,BASELINE,765,744.379764383,715,679,658,634,877.620235617,785,807.620235617,651,629.379764383,652,0.40096709029,-0.00539433991787,0.0798345335624,0.999999928426,0.000247646422046,-0.000282731287408,4.33765282673e-05,1793246588734129152
+102,1.700000000,BASELINE,765,744.20776554,714.79223446,679.20776554,658,633.79223446,877.79223446,785.20776554,808,651,629.20776554,652,0.400967220569,-0.0053951248441,0.0798347340521,0.999999928524,0.000246954196303,-0.000282961461444,4.35731014576e-05,1793246588750795776
+103,1.716666667,BASELINE,765,744.783087938,714.216912062,679.783087938,658,633.216912062,877.216912062,785.783087938,808,651,629.783087938,652,0.400965902738,-0.00539453594634,0.0798334737662,0.999999927607,0.00024841080566,-0.000284887091642,4.37930885809e-05,1793246588767462656
+104,1.733333333,BASELINE,765,745,714.365802967,680,658,633.365802967,877.365802967,785.634197033,808,651,630,652,0.400965525083,-0.00539400941915,0.0798332265115,0.999999927274,0.000249291401618,-0.000285298403996,4.3711716148e-05,1793246588784128768
+105,1.750000000,BASELINE,765,745,714.952992116,680,658,633.952992116,877.952992116,785.047007884,808,651,630,652,0.400965716428,-0.00539352063896,0.0798335923494,0.999999927297,0.000249823390899,-0.000284793242158,4.34479590985e-05,1793246588800794880
+106,1.766666667,BASELINE,765,745,715,680,658,634,878,784.467007237,808,651,629.467007237,652,0.400966136946,-0.00539318195532,0.079834189863,0.999999927245,0.000250818505052,-0.00028408647621,4.35400514849e-05,1793246588817461504
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,808,651,629,652,0.40096682838,-0.00539209006365,0.0798337400925,0.999999926849,0.000252465283262,-0.000284050091075,4.33387764773e-05,1793246588859795712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,808,651,629.576807341,652.576807341,0.400966518942,-0.00539160285755,0.0798338338702,0.999999926862,0.000252299956967,-0.000284207638473,4.29765654712e-05,1793246588876462592
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.843504813,679.843504813,658,634,877.156495187,785,808,651,630,652.843504813,0.400966248073,-0.00539186409531,0.0798338083366,0.999999927107,0.000251153649314,-0.000284384658018,4.28141706242e-05,1793246588893129216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.255881341,679.255881341,658,634,877.744118659,785,808,651,630,652.255881341,0.400966083459,-0.00539418721951,0.0798334541126,0.999999927984,0.00024730483799,-0.000284615321378,4.32022488446e-05,1793246588909796096
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.327226488,745,714,679.327226488,658.327226488,634,878,785,808,651,629.672773512,652,0.40096625368,-0.0053946249848,0.0798335698387,0.999999928171,0.000246788136731,-0.000284381372439,4.33628356108e-05,1793246588926462720
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.906851248,745,714,679.906851248,658.906851248,634,878,785,808,651,629.093148752,652,0.400966682168,-0.00539360852375,0.0798340480495,0.999999927831,0.000248841578577,-0.000283789055978,4.33479522979e-05,1793246588943128832
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.034217131,745,714.482891435,680,658.517108565,634,878,785,808,651,629,652,0.400966542814,-0.00539338664397,0.0798341900974,0.999999927759,0.000249917625304,-0.000283098125535,4.33387938966e-05,1793246588959795456
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.058288073,745,715,679.941711927,658,634,878,785,808,651,629.058288073,652,0.400966562129,-0.00539339091542,0.0798343773603,0.999999927836,0.000250472354822,-0.000282336848061,4.3335016683e-05,1793246588976462080
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.634064849,745,715,679.365935151,658,634,878,785,808,651,629.634064849,652,0.400968955428,-0.0053940522351,0.0798355375087,0.999999928779,0.000248060291159,-0.00028111866003,4.33692822397e-05,1793246588993128704
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.785148533,679.214851467,658,634,878,785,808,651,629.785148533,652,0.400973605164,-0.00539438707127,0.0798378473805,0.999999929902,0.000246929585662,-0.00027809592649,4.34096367623e-05,1793246589009795328
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.195625494,679.804374506,658,634,878,785,808,651,629.195625494,652,0.400982189817,-0.00539415256478,0.0798421622122,0.999999931323,0.000248033393799,-0.00027192631252,4.34606096046e-05,1793246589026462208
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.387139134,680,658,634,877.612860866,785,808,651,629,652,0.401010930694,-0.00539487749356,0.0798542936529,0.999999936697,0.000249106331001,-0.000250219653174,4.40746846963e-05,1793246589043128832
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714.966547313,680,658,634,877.033452687,785,808,651,629,652,0.401049681972,-0.00539607891689,0.0798703071401,0.999999943322,0.000250163936362,-0.000220796664235,4.49684192482e-05,1793246589059795200
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.457686223,679.457686223,658,634,877.542313777,785,808,651,629,652,0.401109725335,-0.00539596898178,0.0798884552853,0.999999951478,0.000248026485091,-0.000183265835004,4.4059189585e-05,1793246589076462080
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.117616335,634,878,785,807.882383665,651,629,652,0.401173143307,-0.00539617052076,0.0799055631646,0.999999957585,0.00024606828485,-0.000149744065186,4.30928520801e-05,1793246589093128960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.691984072,634,878,785,807.308015928,651,629,652,0.401244599804,-0.00539789367648,0.0799181233377,0.999999960012,0.000245566452975,-0.000133720332701,4.23337574607e-05,1793246589109795328
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.72554969,714,679.27445031,658.72554969,634,877.72554969,785,807.27445031,651,629.27445031,652,0.401322627541,-0.00539939521366,0.0799265691184,0.999999961693,0.000244968059415,-0.00012221289428,4.08557940258e-05,1793246589126461952
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.13371818,714,679.86628182,658.13371818,634,877.13371818,785,807.86628182,651,629.86628182,652,0.40140825442,-0.00540064046551,0.0799302569121,0.999999962706,0.000244257999584,-0.000115928212234,3.85465127706e-05,1793246589143128832
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.445791555,714,679.554208445,658,634,877.445791555,785,808,651,629.554208445,652,0.401512847853,-0.00540117904729,0.0799344608977,0.999999963853,0.000243709780375,-0.000107918842709,3.54053089522e-05,1793246589159795456
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.021760634,679,658,634,878,785,807.978239366,651,629,652,0.401623981564,-0.00540154977545,0.0799388652223,0.999999965001,0.000243091678825,-9.93973540042e-05,3.20020539079e-05,1793246589176462336
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.599158134,679,658,634,878,785,807.400841866,651,629,652,0.401760755368,-0.0054029014066,0.0799445377833,0.99999996682,0.000239482984528,-9.0653662176e-05,2.81079748545e-05,1793246589193128960
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.179960338,658.179960338,634,878,784.820039662,807.179960338,651,629,652.179960338,0.401907415871,-0.00540449315094,0.0799502227217,0.999999968624,0.000235763393044,-8.12317061559e-05,2.38729853796e-05,1793246589209795584
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.768492313,658.768492313,634,878,784.231507687,807.768492313,651,629,652.768492313,0.402076522551,-0.00540663003431,0.0799559357602,0.999999970489,0.000231792027455,-7.0269859196e-05,1.88640129595e-05,1793246589226462464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.648695089,659,634,878,784,808,651,629,652.648695089,0.402261236417,-0.0054081599019,0.0799599808618,0.999999972568,0.000225389888515,-6.24773502408e-05,1.26401009542e-05,1793246589243128576
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.069591089,659,634,878,784,808,651,629,652.069591089,0.402456070575,-0.00540929615822,0.079962944412,0.999999974741,0.000217411545873,-5.67399561167e-05,5.62837671563e-06,1793246589259794944
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.492670115,745,714.492670115,679.507329885,658.492670115,634,878,784.507329885,808,651,629,652,0.402667530573,-0.00541246149759,0.0799581821485,0.999999975986,0.000208686491988,-6.68883819598e-05,-1.74964618181e-06,1793246589276462080
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.08346779,745,714.08346779,680,658.08346779,634,877.91653221,785,808,651,629.08346779,652,0.402886758821,-0.00541562945326,0.0799525511908,0.999999976894,0.000199884009792,-7.85586377641e-05,-9.34873129703e-06,1793246589293128960
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.656760321,745,714.656760321,680,658.656760321,634,877.343239679,785,808,651,629.656760321,652,0.403138248442,-0.00541718639129,0.0799480148402,0.99999997782,0.000191225653821,-8.64266741222e-05,-1.79515075702e-05,1793246589309795840
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.237570608,745,715,680,658.762429392,634,877,785,808,651,629.762429392,652,0.403415904357,-0.00541914527279,0.0799466206133,0.999999984079,0.000152876184589,-8.83663776228e-05,-2.57403131222e-05,1793246589326462464
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.829597378,745,715,680,658.170402622,634,877,785,808,651,629.170402622,652,0.403732600456,-0.00542170385522,0.0799499144461,0.999999993694,7.02274721029e-05,-8.14609872492e-05,-3.23146709352e-05,1793246589343128832
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.587455828,745,715,680,658.412544172,634,877.412544172,785,808,651,629,652,0.404073850433,-0.00542177443619,0.0799528486109,0.999999993038,8.48893119861e-05,-7.67659840522e-05,-2.87216123393e-05,1793246589359795200
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.008178789,745,715,680,658.991821211,634,877.991821211,785,808,651,629,652,0.404425024039,-0.00542083947238,0.0799556374131,0.999999987473,0.00013887995395,-7.29643257649e-05,-2.10193148626e-05,1793246589376462080
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.432702109,680,658.432702109,634,877.432702109,784.432702109,808,651,629,652,0.404827034168,-0.00542606936606,0.0799584839656,0.999999989238,0.000131104622194,-6.04901777794e-05,-2.60222022559e-05,1793246589393128448
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877,784.145592785,808,651,629,652,0.405233401424,-0.00543081400182,0.079959227174,0.999999990898,0.000120113030409,-5.32196359436e-05,-3.07371251851e-05,1793246589409795072
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877,784.732596901,808,651,629,652,0.405650771358,-0.00543381974802,0.0799535909107,0.999999992285,0.000102052143168,-6.21020538747e-05,-3.40273413687e-05,1793246589426461696
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.315156082,679.684843918,658.315156082,634,877,784.684843918,808,651,629.315156082,652,0.406101381559,-0.00543487762955,0.0799450317079,0.999999990853,0.000105207112449,-7.81110342325e-05,-3.35336606135e-05,1793246589443128576
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.893996348,679.106003652,658.893996348,634,877,784.106003652,808,651,629.893996348,652,0.406579803207,-0.00543430577574,0.0799340269451,0.999999986593,0.0001261129216,-0.000100082654035,-2.98740766137e-05,1793246589459795456
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.469337722,659.469337722,634,877.938675444,784,808,651,630,652.469337722,0.407081661515,-0.00543699595477,0.079930706984,0.999999987238,0.000115486199195,-0.000105085125301,-3.38237102813e-05,1793246589476462592
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.95577274,634,878.95577274,784.04422726,808,651.04422726,629.95577274,653,0.407591135366,-0.00544032550485,0.079928337968,0.999999988502,9.89997434017e-05,-0.000108018206513,-3.9086801868e-05,1793246589493129472
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.376862184,634,878.376862184,784.623137816,808,651.623137816,629.376862184,653,0.408129157139,-0.00544254363656,0.0799166372875,0.999999985796,9.7134727001e-05,-0.000131924870765,-3.96056705525e-05,1793246589509795584
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.794521575,808,651.794521575,629.205478425,652.794521575,0.408689628839,-0.00544523046005,0.0799114078806,0.99999998439,9.52553246597e-05,-0.000143206076737,-4.04888842837e-05,1793246589526461952
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.205783238,808,651.205783238,629.794216762,652.205783238,0.409291974281,-0.00544879149082,0.0799182487433,0.999999986186,9.33490897407e-05,-0.000130938181079,-4.20516771524e-05,1793246589543128576
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.623551509,680,659,634,878,784.376448491,808,651,629.623551509,652,0.409972745319,-0.00545485523758,0.0799489459453,0.999999992445,8.39848185083e-05,-7.92852704791e-05,-4.20747482132e-05,1793246589559795456
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.044816165,680,659,634,878,784.955183835,808,651,629.044816165,652,0.410695658802,-0.00546226383369,0.0799924624942,0.999999996634,7.06129264161e-05,-6.46858591059e-06,-4.1270440288e-05,1793246589576462336
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.530568459,680,659,634,878,784.469431541,808,651,629.530568459,652,0.411366398692,-0.00546572165169,0.0799924121964,0.999999996944,6.46663975304e-05,-1.11096127444e-05,-4.24966282331e-05,1793246589593129472
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.89203592,680,659,634,878,784.10796408,808,651,629.89203592,652,0.412031798584,-0.00546889172532,0.0799826514044,0.999999996806,5.95226062017e-05,-2.99794815004e-05,-4.41159033932e-05,1793246589609796352
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.304457485,680,659,634,878,784.695542515,808,651,629.304457485,652,0.412692930761,-0.00547225671266,0.0799459985052,0.999999993927,5.51760700859e-05,-8.31762310278e-05,-4.67242730373e-05,1793246589626462720
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.278966193,680,659,634,878,784.721033807,808,651,629,652,0.413403419012,-0.00548594290748,0.079922366903,0.999999991912,3.7406027487e-05,-0.000111871516958,-4.75606192123e-05,1793246589643129344
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.857922076,680,659,634,878,784.142077924,808,651,629,652,0.414166983,-0.00551072813877,0.0799127379064,0.999999992383,5.2008533999e-06,-0.00011421886262,-4.6491398785e-05,1793246589659795712
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.563454613,680.436545387,659,634,878,784.436545387,808.436545387,651,629.436545387,652,0.414981415128,-0.00552687848907,0.0799318364638,0.999999995292,-2.15012164512e-05,-8.30203671855e-05,-4.54088364885e-05,1793246589676462080
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.014950349,681,659.014950349,634,878,784.985049651,809,651,630,652.014950349,0.415810956707,-0.00553966150337,0.0799592215761,0.999999997073,-4.5284433791e-05,-4.28335260096e-05,-4.43685276534e-05,1793246589693128960
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.589234015,681,659.589234015,634,878,784.410765985,809,651,630,652.589234015,0.41658686996,-0.00553152448705,0.0799470993529,0.999999995848,-2.68221076432e-05,-7.45225008268e-05,-4.5071367969e-05,1793246589709795584
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.167499625,745,715,681,659.832500375,634,878,784,809.167499625,651,630,653,0.417386717699,-0.00552927935393,0.0799424633147,0.999999995099,-2.09109677069e-05,-8.50687335632e-05,-4.61324995548e-05,1793246589726462208
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.755768081,745,715,681,659.244231919,634,878,784,809.755768081,651,630,653,0.418246690215,-0.00554183497563,0.0799566330109,0.999999996858,-4.65291408962e-05,-4.25031629487e-05,-4.8093679729e-05,1793246589743128832
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.338607613,634,878.338607613,784,809.661392387,651,630,653,0.419129932565,-0.00554252098898,0.0799730161009,0.999999997373,-5.30346853165e-05,-6.22653958118e-06,-4.90211908728e-05,1793246589759795712
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.917593122,634,878.917593122,784,809.082406878,651,630,653,0.420029694159,-0.00553478075455,0.0799909704807,0.999999997405,-4.5972153728e-05,2.55855517868e-05,-4.92148992376e-05,1793246589776462592
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504976655,745,715,681,660,634,879,784,809,651,629.504976655,653,0.420921915235,-0.00551802993156,0.0799788135325,0.999999998445,-2.33670180913e-05,4.10208877779e-06,-5.04754751529e-05,1793246589793129216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.07181546,745,714.92818454,681,660,634,878.92818454,784,809,651,629.07181546,653,0.421816698381,-0.00550290943042,0.0799666650356,0.999999998515,-2.04550437154e-06,-1.80779771886e-05,-5.13796203544e-05,1793246589809795584
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.645949289,745,714.354050711,681,660,634,878.354050711,784,809,651,629.645949289,653,0.422738154279,-0.00550965133015,0.0799895272117,0.999999998651,-7.74337724566e-06,1.6732042483e-05,-4.85523247261e-05,1793246589826462208
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,878.226437061,784,809,651,630,653,0.423640133948,-0.0055164647978,0.0800013209245,0.999999998293,-1.66147786045e-05,3.00213109695e-05,-4.72952185139e-05,1793246589843128832
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,878.817146599,784,809,651,630,653,0.424510782077,-0.00552339339882,0.0799953086487,0.999999998315,-3.05914806724e-05,8.68985048128e-06,-4.85640976651e-05,1793246589859795456
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.60084375,745,714.39915625,681,660,634,878.60084375,784,809.39915625,651,630,653,0.42538625409,-0.00552508273965,0.0799578807385,0.999999996288,-3.46814267419e-05,-6.03664881248e-05,-5.07726238546e-05,1793246589876462336
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022734539,745,714.977265461,681,660,634,878.022734539,784,809.977265461,651,630,653,0.426263888734,-0.00552442317252,0.0799063683169,0.999999986611,-3.43388612298e-05,-0.00015081922888,-5.34024197961e-05,1793246589893129472
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681.55306527,660,634,878,784.55306527,810,651,630,653,0.427236815061,-0.00553073843233,0.07990588317,0.999999989343,-4.33580944863e-05,-0.0001279256859,-5.5402708561e-05,1793246589909795840
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.131356669,745,715,681.868643331,660,633.868643331,878.131356669,784.868643331,810,651,630,653,0.428198068834,-0.00553602708055,0.0799110233676,0.999999991616,-5.11981366783e-05,-0.00010462583088,-5.657108894e-05,1793246589926462464
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.71862393,745,715,681.28137607,660,633.28137607,878.71862393,784.28137607,810,651,630,653,0.429105270772,-0.00553676161035,0.0799284380531,0.999999992444,-5.3615353216e-05,-9.60197990954e-05,-5.49415345088e-05,1793246589943129344
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.698135186,745,715,681,660,633.301864814,879,784,810,651,630,653,0.43005069595,-0.00553543154687,0.0799614288244,0.999999995656,-5.22766525196e-05,-5.60143717154e-05,-5.30817589798e-05,1793246589959795712
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.118598024,745,715,681,660,633.881401976,879,784,810,651,630,653,0.431031280977,-0.00553220235355,0.0800087473606,0.999999997489,-4.74830461544e-05,1.28739974533e-05,-5.1010212948e-05,1793246589976462080
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.459556196,745,715,681,660,633.540443804,879,784,810,651,630,653,0.431967495105,-0.00553091542928,0.0800254023622,0.99999999694,-4.37406459531e-05,4.11682170698e-05,-5.0126732437e-05,1793246589993128704
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.962865239,745,714.962865239,680.962865239,660,633.037134761,879,784.037134761,810,651,630,653,0.432887315279,-0.00553015457461,0.0800286409481,0.999999996653,-4.07046676054e-05,5.05027401941e-05,-4.98707865628e-05,1793246590009795328
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.844509124,683,661,633,879.844509124,784.844509124,811,651,630,653,0.444416591387,-0.00556063108556,0.0799813608172,0.999999994377,-8.89401582504e-05,-3.7379595801e-06,-5.76289321118e-05,1793246590243128832
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714.256284524,683,661,633,879.256284524,784.256284524,811,651,630,653,0.445134428865,-0.00556352722452,0.0800153246915,0.999999992485,-0.000100668275401,4.14737587419e-05,-5.63461744573e-05,1793246590259795456
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.326829653,714,683,660.673170347,633,879,784,811,651,630,653,0.445815204416,-0.00556756773049,0.0800261925789,0.999999991451,-0.000105850374125,5.31629681996e-05,-5.53872807865e-05,1793246590276462080
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.905998137,714,683,660.094001863,633,879,784,811,651,630,653,0.446467365128,-0.00557249177983,0.0800192285011,0.99999999213,-0.000105978418513,3.89700967217e-05,-5.46784363459e-05,1793246590293128704
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.482887341,745.517112659,714,683,660,633,879,784,811,651,630,653,0.447061775257,-0.00557383640837,0.0799946918612,0.999999992556,-0.000107183503615,1.10891202882e-05,-5.72383381615e-05,1793246590309795840
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.364656095,745,714.635343905,683,660,633,879,784,811,651,630.635343905,653,0.448154913074,-0.00557330884162,0.0799231889428,0.999999988269,-0.000110510896246,-8.67835174557e-05,-6.09760708196e-05,1793246590343130112
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.215934062,745,714.784065938,683,660,633,879,784,811,651,630.784065938,653,0.448655504561,-0.00556890861577,0.0798824956734,0.999999980756,-0.000109739379872,-0.000150246518411,-6.22120520039e-05,1793246590359796992
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.804356119,745,714.195643881,683,660,633,879,784,811,651,630.195643881,653,0.449128208438,-0.00555865661801,0.0798442355778,0.999999969813,-0.000104416438324,-0.000212947801259,-6.42144222521e-05,1793246590376463104
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+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,714,683.676203641,659,632,880,783,812,651,630.676203641,653,0.455061020079,-0.00558799686023,0.0797296992763,0.999999907729,-0.0001371499331,-0.000402414766292,-6.15953222283e-05,1793246590976462336
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714,684,659,632,880,783.257895731,812,651,630.742104269,653,0.455061487231,-0.00558726049343,0.0797292227331,0.999999907613,-0.000136443446671,-0.000402964795388,-6.14517865119e-05,1793246590993128704
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,684,659,632,880,783.851934707,812,651,630.148065293,653,0.455062342757,-0.00558645812692,0.079728770738,0.999999907842,-0.000134921810232,-0.000402952161921,-6.11693248853e-05,1793246591009795584
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.435205797,714,683.564794203,659,631.564794203,879.564794203,783.564794203,811.564794203,651,630,653,0.455063962376,-0.00558678573407,0.0797295186274,0.999999908303,-0.000135897851587,-0.000401500596525,-6.10245240596e-05,1793246591026461952
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.985243942,714,683.014756058,659,631.014756058,879,783.014756058,811.014756058,651,630,653,0.455065734348,-0.00558742313164,0.0797305589911,0.999999908784,-0.000137622842373,-0.000399720907093,-6.09440995239e-05,1793246591043128576
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.411219858,714,683.588780142,659,631.588780142,879,783.588780142,811.588780142,651,630,653,0.455063665799,-0.00558558310118,0.0797275859219,0.999999907364,-0.000136304736729,-0.000403611489395,-6.15713710836e-05,1793246591059795968
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714,683.83307711,659,632,879,784,812,651,630,653,0.455062608253,-0.00558474392704,0.079725683463,0.999999906359,-0.000135931219944,-0.000406173075185,-6.18729221606e-05,1793246591076462848
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714,683.244531246,659,632,879,784,812,651,630,653,0.455064104353,-0.00558643277071,0.0797264852099,0.999999906438,-0.000137943597488,-0.000405377808617,-6.13517505766e-05,1793246591093129216
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.338511871,714,683.338511871,659,632,879.338511871,784,812,651,630.338511871,653,0.455064939693,-0.00558675466692,0.079727061454,0.999999906573,-0.000137814422078,-0.00040514861219,-6.09495097627e-05,1793246591109795840
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.91764352,714,683.91764352,659,632,879.91764352,784,812,651,630.91764352,653,0.455065305354,-0.00558610491442,0.079727477407,0.999999906749,-0.000136162995685,-0.000405321787719,-6.06318069094e-05,1793246591126461952
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.505749895,745.505749895,714,684,659,631.505749895,879.505749895,783.505749895,811.505749895,651.494250105,630.505749895,653,0.455065700066,-0.00558504156514,0.0797280030622,0.999999907147,-0.00013475287801,-0.000404776529271,-6.08609811757e-05,1793246591143128320
+245,4.083333333,HOLD_POSE2,766,745,714,684,659,632,879,784,812,651,630,653,0.455066074816,-0.00558646538164,0.0797271185375,0.999999906248,-0.000138627684484,-0.000405666837084,-6.10003425695e-05,1793246591186818304
+246,4.100000000,HOLD_POSE2,766,745.592198542,714,683.407801458,659,632,879,784,811.407801458,651,630,653,0.455065366101,-0.00558488042079,0.079726249463,0.999999906392,-0.000135129525193,-0.000406524569965,-6.07790060787e-05,1793246591203484928
+247,4.116666667,HOLD_POSE2,766,745.820481683,714,683,659,631.820481683,879,783.820481683,811,651,630,653,0.455065353495,-0.00558416120256,0.0797262312964,0.999999906652,-0.000133375049351,-0.000406490865626,-6.06062899772e-05,1793246591220151808
+248,4.133333333,HOLD_POSE2,766,745.243951387,714,683,659,631.243951387,879,783.243951387,811,651,630,653,0.455066880362,-0.00558535660868,0.0797280949468,0.999999907186,-0.000135476798941,-0.000404485712178,-6.05410997811e-05,1793246591236818432
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+250,4.166666667,HOLD_POSE2,765.090109153,745,714,683,659,631.909890847,879.909890847,783.909890847,811,651,630,653,0.455068058965,-0.00558486094363,0.0797281120989,0.999999907187,-0.000136680905736,-0.000404047553319,-6.07443546373e-05,1793246591270151680
+251,4.183333333,HOLD_POSE2,765.496529951,745,714,683,659,632,879.503470049,783.503470049,811,651,630,653,0.455068192431,-0.00558474661497,0.0797283391797,0.999999907655,-0.00013558759051,-0.000403275226374,-6.06170520189e-05,1793246591286818048
+252,4.200000000,HOLD_POSE2,766,745,714,683,659,632,879,783,811.083645317,651,630.083645317,653,0.455068280754,-0.00558474158224,0.0797285607432,0.999999908085,-0.000134465506133,-0.000402608271843,-6.04607576566e-05,1793246591303484672
+253,4.216666667,HOLD_POSE2,766,745,714,683,659,632,879,783,811.663039543,651,630.663039543,653,0.455068325537,-0.00558481311939,0.0797279639598,0.99999990763,-0.000134591029971,-0.000403698329135,-6.04328274542e-05,1793246591320151552
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+256,4.266666667,HOLD_POSE2,765,745.395736929,714,683.395736929,659,632,879.604263071,783.395736929,811.604263071,651,630,653,0.455067516341,-0.00558266964431,0.0797269396081,0.999999906906,-0.000134142616932,-0.000405569295622,-6.08852297386e-05,1793246591370152448
+257,4.283333333,HOLD_POSE2,765,745.971759141,714,683.971759141,659,632,879.028240859,783.971759141,811.028240859,651,630,653,0.455067978024,-0.00558289578444,0.0797269921349,0.999999906804,-0.000135896707293,-0.000405288540821,-6.05480818384e-05,1793246591386819584
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+262,4.366666667,HOLD_POSE2,765.878665696,745,714,683.121334304,659,631.121334304,880,783,811.121334304,651,630,653,0.45506923071,-0.00558310279905,0.0797275203661,0.999999907346,-0.000135636133235,-0.000404045327042,-6.04850105385e-05,1793246591470151424
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.326812491,659.326812491,632.673187509,879,784,810,651,630,653,0.449800781227,-0.0055009592266,0.0797454209039,0.999999931026,1.70089469331e-05,-0.000370538120502,1.89590068968e-05,1793246592086143488
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.899917212,659.899917212,632.100082788,879,784,810,651,630,653,0.449319234027,-0.00549172463985,0.0797546290657,0.999999933847,2.97058698642e-05,-0.000361773251797,2.33233217788e-05,1793246592102810624
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.343761939,745,714,680.656238061,658.343761939,634,878,785,808,651,629.656238061,653,0.407713968841,-0.0053949056023,0.0798145636847,0.999999921445,0.000243101867309,-0.000308898635492,5.09161231629e-05,1793246592986142976
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.242088705,634,877.757911295,784.757911295,808,651.242088705,629.757911295,652.757911295,0.40715313756,-0.00539159237155,0.0797867609884,0.99999990495,0.000246671579615,-0.000356148269783,4.91142026362e-05,1793246593002809344
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.821231644,634,877.178768356,784.178768356,808,651.821231644,629.178768356,652.178768356,0.406625308059,-0.00539088575733,0.0797646999655,0.999999893374,0.000245400091131,-0.000388314204038,4.73484455472e-05,1793246593019475968
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.396945754,745,714,680.603054246,658.603054246,634,877.396945754,784,808.396945754,651.603054246,629,652,0.406161976869,-0.00539022558782,0.0797700746842,0.999999901056,0.000241175710735,-0.000370921420885,4.62508372518e-05,1793246593036142592
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.971128933,745,714,680.028871067,658.028871067,634,877.971128933,784,808.971128933,651.028871067,629,652,0.405727444315,-0.00538958615595,0.0797876995386,0.999999916292,0.000235632855218,-0.000331400529816,4.54515591193e-05,1793246593052809472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.441267545,745,714.558732455,680,658,634,878,784.558732455,808.441267545,651,629.558732455,652,0.405318743768,-0.00539046681866,0.0798048742096,0.999999923522,0.000241966166693,-0.000303632955666,4.70760243743e-05,1793246593069476096
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.145420125,634,878,784.854579875,808,651.145420125,630,652,0.404915704397,-0.0053915346555,0.0798195480888,0.999999928655,0.000245797996197,-0.000282695976663,4.85502974988e-05,1793246593086142464
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.727227378,634,878,784.272772622,808,651.727227378,630,652,0.404525549235,-0.00539292266781,0.0798267889418,0.999999930624,0.000240236334075,-0.000280389381663,4.91887831408e-05,1793246593102809088
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.880036884,745,714.119963116,680,658.119963116,634,877.119963116,784.880036884,808,651.119963116,630,652,0.403811244554,-0.00538877685715,0.0798305149671,0.999999924795,0.000253938515795,-0.000288417905777,5.23530199089e-05,1793246593136142592
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.794660631,745,714.205339369,680,658.794660631,634,878,785,808,651,629,652,0.402685828113,-0.00538922368444,0.079831566111,0.999999924052,0.000248954672491,-0.000295746411717,4.95199100234e-05,1793246593202809344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.215144264,745,714.784855736,680,658.215144264,634,878,785,808,651,629,652,0.402470481937,-0.00538807303176,0.0798366782638,0.99999992596,0.000252651194038,-0.000285848769999,5.03752140766e-05,1793246593219475968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.637844816,680,658,634,878,785,808,651.362155184,629,652,0.402276595357,-0.00538985194597,0.0798391797595,0.999999928675,0.000247245101538,-0.00028096536495,5.07801369449e-05,1793246593236142592
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.523268078,680,658,634,877.476731922,785,808,651.476731922,629.523268078,652,0.401940258173,-0.0053912738568,0.0798432577311,0.999999932391,0.00023941246919,-0.000274253488302,5.18092148878e-05,1793246593269476096
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808,651.687598923,629.312401077,652.687598923,0.401661156085,-0.00538977347335,0.0798440521928,0.999999930928,0.000246703755162,-0.000273035015759,5.22756903484e-05,1793246593302809344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.73378628,680,658,634,877,784.73378628,808,651.73378628,629,652.73378628,0.401540252856,-0.00539037155758,0.0798409744519,0.999999927791,0.000254245404539,-0.000278093817237,4.94004019478e-05,1793246593319475968
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.156074359,680,658,634,877,784.156074359,808,651.156074359,629,652.156074359,0.401431202209,-0.00539093582744,0.0798362202792,0.999999922437,0.000267110845318,-0.000286156835551,4.34869269877e-05,1793246593336142592
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.994182462,679.005817538,658,634,877,784.994182462,808,651,629,652,0.401256885308,-0.00539222376563,0.0798271468466,0.999999921604,0.000257231489855,-0.000298101360139,4.19540676563e-05,1793246593369476096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.417509649,679.582490351,658,634,877.582490351,785,807.417509649,651,629.582490351,652.582490351,0.401193767245,-0.00539187585606,0.0798239141988,0.999999920848,0.000253659499932,-0.000303580501364,4.24293339648e-05,1793246593386142720
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.326521206,658,634,877.326521206,784.673478794,808,651,629,652.326521206,0.401059935342,-0.00538915950867,0.0798223586599,0.999999919758,0.000255148888715,-0.000305709530482,4.38650081886e-05,1793246593436142848
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.973277199,634,877.513361401,784.486638599,808,651,629.486638599,652.513361401,0.401011934575,-0.0053903974167,0.0798232910349,0.999999920129,0.000253876868743,-0.00030545389573,4.45588613529e-05,1793246593469476096
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.853376487,634,877,785,808,651,630,652,0.400995309382,-0.00539051482251,0.0798230709724,0.999999919381,0.000254874096939,-0.000307076356051,4.45156341588e-05,1793246593486142976
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.695021256,634,877,785,808,651,630,652,0.400987837247,-0.00539041751632,0.0798244249238,0.999999920822,0.000253864027586,-0.000303210058542,4.44104631547e-05,1793246593502809600
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,784.768276532,808,651,630,652,0.400981465946,-0.0053915314833,0.079825792567,0.999999922214,0.000252157494209,-0.000300015052685,4.44927554006e-05,1793246593519476224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,784.188957748,808,651,630,652,0.400976745944,-0.00539446241291,0.0798271807486,0.999999923542,0.000249406234458,-0.000297827013846,4.48562507114e-05,1793246593536142848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,784.386613758,807.613386242,651,629.613386242,652,0.400974971408,-0.00539357381316,0.0798288877547,0.999999924207,0.000250689506229,-0.000294531766159,4.46407126302e-05,1793246593552809472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,784.960371345,807.039628655,651,629.039628655,652,0.40097462265,-0.00539083633617,0.0798307490904,0.999999924533,0.000253925728936,-0.000290700564241,4.41448882753e-05,1793246593569476096
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,785,807,651,629,652,0.400972790702,-0.00539297417974,0.0798304636721,0.999999925593,0.000249683684235,-0.00029077948126,4.38047827035e-05,1793246593586142720
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.134390907,745,714.134390907,680,658,634,877.134390907,784.865609093,807,651,629.134390907,652,0.400971713964,-0.00539403890493,0.0798304083347,0.999999926238,0.000247417099215,-0.000290534234569,4.35701743338e-05,1793246593602809344
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.713818464,745,714.713818464,680,658,634,877.713818464,784.286181536,807,651,629.713818464,652,0.400973502518,-0.00539035216675,0.0798316423503,0.999999925363,0.000253529609536,-0.000288254836116,4.36466622404e-05,1793246593619475968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.708331097,745,715,680,658,634,877.708331097,784.291668903,807.291668903,651,630,652,0.400974133871,-0.00538947570001,0.0798328271755,0.999999925286,0.000255527489042,-0.00028673341581,4.37818013653e-05,1793246593636142848
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.132019715,745,715,680,658,634,877.132019715,784.867980285,807.867980285,651,630,652,0.400973635898,-0.00539134180369,0.0798339639953,0.999999926015,0.0002535098616,-0.000285951713386,4.39741787868e-05,1793246593652809472
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808,651,629.558760636,652,0.400972030969,-0.00539224224188,0.0798330424552,0.999999926109,0.000251279172806,-0.000287630759588,4.36916886179e-05,1793246593669476096
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.985907637,680,658,634,877.028184725,785,808,651,629,652,0.400970174339,-0.00539281261722,0.0798315725441,0.999999926017,0.00024907198896,-0.000289926419075,4.32735180152e-05,1793246593686142464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.392460532,680,658,634,878.215078935,785,808,651,629,652,0.400971492662,-0.00539161032851,0.0798327034691,0.999999926382,0.000250433888907,-0.000287511163967,4.30783670768e-05,1793246593702809088
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.195773978,745,714.195773978,680,658.195773978,634,878.608452044,785,808,651.195773978,629.195773978,652,0.400972073486,-0.00539111231589,0.0798332974297,0.999999926507,0.000251401824986,-0.000286228042119,4.30848567111e-05,1793246593719475968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.773829975,745,714.773829975,680,658.773829975,634,877.45234005,785,808,651.773829975,629.773829975,652,0.400971214218,-0.00539198952226,0.0798328428763,0.999999926174,0.000251600479468,-0.000287155603334,4.34850839006e-05,1793246593736142592
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.649637144,745,714.649637144,679.649637144,658.649637144,633.649637144,877.350362856,784.649637144,807.649637144,652,629.649637144,652,0.400970785949,-0.0053921998269,0.079832989167,0.99999992635,0.000251098442731,-0.000286997471032,4.33915823333e-05,1793246593752808960
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.074083247,745,714.074083247,679.074083247,658.074083247,633.074083247,877.925916753,784.074083247,807.074083247,652,629.074083247,652,0.400970634698,-0.00539198148934,0.0798335216423,0.999999926851,0.000250146046076,-0.000286141523705,4.29807431947e-05,1793246593769475840
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.512313665,658,633.512313665,877.487686335,784,807.512313665,651.487686335,629,652,0.400971074072,-0.00539128071335,0.0798336042747,0.999999926958,0.000250100855563,-0.000285832964941,4.28182402747e-05,1793246593786142464
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.099317333,784.099317333,807.900682667,651,629,652,0.400971511618,-0.00539092289643,0.0798337946449,0.999999927071,0.000250010187392,-0.000285520551673,4.27963895544e-05,1793246593802809088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.681482932,784.681482932,807.318517068,651,629,652,0.400971516072,-0.00539257893312,0.0798348318889,0.999999927497,0.000249046844214,-0.000284796251357,4.32799825793e-05,1793246593819475968
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.259725248,634,878,785,807.259725248,651,629.259725248,652,0.400971041921,-0.00539293939934,0.0798350910468,0.999999927417,0.000249289411588,-0.000284836326126,4.34583163379e-05,1793246593836142592
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.833227872,634,878,785,807.833227872,651,629.833227872,652,0.400969989559,-0.00539173467061,0.079834410189,0.999999926725,0.000250988854712,-0.000285799852063,4.32678625576e-05,1793246593852809472
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.592559302,634,877.592559302,785,808,651,630,652,0.40096979272,-0.00539259968519,0.0798344460526,0.999999926947,0.000250386837001,-0.000285543474755,4.33297223273e-05,1793246593869476096
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.018055306,634,877.018055306,785,808,651,630,652,0.400969946673,-0.00539431335867,0.0798347757942,0.999999927541,0.000248841149004,-0.000284786899296,4.34950384743e-05,1793246593886142976
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.572043984,680,658,634,877.572043984,785,808,651,629.427956016,652,0.400969843005,-0.0053929840822,0.0798347164592,0.99999992693,0.000250827527496,-0.000285236612027,4.31875089165e-05,1793246593902809600
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7932f719d6df64fb4ab30c22be26d5204abc458c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
+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,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+14,0.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+18,0.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+19,0.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+20,0.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+21,0.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+22,0.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+23,0.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+24,0.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+25,0.416666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+26,0.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+27,0.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+28,0.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+29,0.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+30,0.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+31,0.516666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+32,0.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+33,0.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+34,0.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+35,0.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+36,0.600000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+37,0.616666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+38,0.633333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+39,0.650000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+40,0.666666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+41,0.683333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+42,0.700000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+43,0.716666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+44,0.733333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+45,0.750000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+46,0.766666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+47,0.783333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+48,0.800000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+49,0.816666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+50,0.833333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+51,0.850000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+52,0.866666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+53,0.883333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+54,0.900000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+55,0.916666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+56,0.933333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+57,0.950000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+58,0.966666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+59,0.983333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+60,1.000000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+61,1.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+62,1.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+63,1.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+64,1.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+65,1.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+66,1.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+67,1.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+68,1.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+69,1.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+70,1.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+71,1.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+72,1.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+73,1.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+74,1.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+75,1.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+76,1.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+77,1.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+78,1.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+79,1.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+80,1.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+81,1.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+82,1.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+83,1.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+84,1.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+85,1.416666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+86,1.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+87,1.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+88,1.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+89,1.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+90,1.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+91,1.516666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+92,1.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+93,1.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+94,1.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+95,1.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+96,1.600000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+97,1.616666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+98,1.633333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+99,1.650000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+100,1.666666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+101,1.683333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+102,1.700000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+103,1.716666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+104,1.733333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+105,1.750000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+106,1.766666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+107,1.783333333,pose1_to_pose2_press,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+108,1.800000000,pose1_to_pose2_press,0.583245523325,-7.22359335934e-05,1.07004237377,0.553817314823,0.00860222240488,1.06966575637
+109,1.816666667,pose1_to_pose2_press,0.583245537464,-7.2236008566e-05,1.07004227266,0.553817329249,0.00860222343812,1.06966565833
+110,1.833333333,pose1_to_pose2_press,0.583245541061,-7.22360276401e-05,1.07004224694,0.553817332919,0.00860222370099,1.06966563339
+111,1.850000000,pose1_to_pose2_press,0.583245541648,-7.22360307543e-05,1.07004224274,0.553817333518,0.00860222374391,1.06966562931
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+113,1.883333333,pose1_to_pose2_press,0.583245764136,-7.22262682886e-05,1.07004221134,0.55381755579,0.0086022328382,1.06966559937
+114,1.900000000,pose1_to_pose2_press,0.583246489984,-7.21867340089e-05,1.07004231591,0.553818281569,0.00860227204853,1.06966570184
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+117,1.950000000,pose1_to_pose2_press,0.583267127598,-7.21137906982e-05,1.07004254891,0.553838918351,0.00860234217949,1.06966593494
+118,1.966666667,pose1_to_pose2_press,0.583288858587,-7.2076545372e-05,1.07004235972,0.553860649146,0.00860237888702,1.06966574853
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+380,6.333333333,pose2_to_pose3_retreat,0.583296106098,-7.21523521903e-05,1.07004285263,0.553867897358,0.00860230485805,1.06966622752
+381,6.350000000,pose2_to_pose3_retreat,0.583279450792,-7.20875771641e-05,1.07004260827,0.553851242442,0.00860237136921,1.06966599278
+382,6.366666667,pose2_to_pose3_retreat,0.583267419311,-7.20848439804e-05,1.07004252007,0.553839209779,0.00860236991282,1.06966590044
+383,6.383333333,pose2_to_pose3_retreat,0.583259200399,-7.21527070639e-05,1.07004239833,0.553830991294,0.00860230372927,1.06966578396
+384,6.400000000,pose2_to_pose3_retreat,0.583253838797,-7.21413521895e-05,1.07004238573,0.553825629279,0.00860231387347,1.0696657758
+385,6.416666667,pose2_to_pose3_retreat,0.583250929063,-7.20785988023e-05,1.07004244376,0.553822718522,0.00860237321617,1.06966583527
+386,6.433333333,pose2_to_pose3_retreat,0.583248918076,-7.20571858945e-05,1.07004239645,0.553820708625,0.00860239825606,1.06966578635
+387,6.450000000,pose2_to_pose3_retreat,0.58324762996,-7.20468124504e-05,1.07004235284,0.553819421481,0.00860241186364,1.06966574131
+388,6.466666667,pose2_to_pose3_retreat,0.58324725137,-7.20636634639e-05,1.07004232908,0.553819042714,0.00860239440848,1.06966571752
+389,6.483333333,pose2_to_pose3_retreat,0.583247163803,-7.20721683334e-05,1.07004232105,0.553818954998,0.00860238540393,1.06966570958
+390,6.500000000,pose2_to_pose3_retreat,0.583247060634,-7.20821884245e-05,1.07004231159,0.553818851654,0.00860237479514,1.06966570022
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+392,6.533333333,pose2_to_pose3_retreat,0.583246820228,-7.210553753e-05,1.07004228954,0.553818610841,0.00860235007422,1.0696656784
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+394,6.566666667,pose2_to_pose3_retreat,0.583246394669,-7.21468692785e-05,1.07004225051,0.553818184561,0.00860230631414,1.06966563979
+395,6.583333333,pose2_to_pose3_retreat,0.583246141473,-7.21714605173e-05,1.07004222729,0.553817930936,0.00860228027811,1.06966561681
+396,6.600000000,pose2_to_pose3_retreat,0.583246026038,-7.21853796846e-05,1.07004221288,0.553817815836,0.00860226743626,1.069665601
+397,6.616666667,pose2_to_pose3_retreat,0.583245985681,-7.21907279163e-05,1.07004220716,0.553817775691,0.00860226277367,1.06966559452
+398,6.633333333,pose2_to_pose3_retreat,0.583245948985,-7.21955908957e-05,1.07004220196,0.553817739188,0.00860225853412,1.06966558863
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+400,6.666666667,pose2_to_pose3_retreat,0.583245873266,-7.22056252068e-05,1.07004219124,0.553817663867,0.0086022497862,1.06966557647
+401,6.683333333,pose2_to_pose3_retreat,0.583245850827,-7.22085989677e-05,1.07004218806,0.553817641545,0.00860224719367,1.06966557287
+402,6.700000000,pose2_to_pose3_retreat,0.58324579427,-7.22160938855e-05,1.07004218004,0.553817585285,0.0086022406596,1.06966556379
+403,6.716666667,pose2_to_pose3_retreat,0.58324568194,-7.22309800232e-05,1.07004216413,0.553817473545,0.00860222768185,1.06966554576
+404,6.733333333,pose2_to_pose3_retreat,0.583245558207,-7.22458046055e-05,1.07004217754,0.553817350343,0.00860221455624,1.06966555686
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb99bdc512bb843d0713e75359a99d17fd71350f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18dcf41ff72df75f51abfaf60eb90563af25a58bd34639320a67bd49307042f6
+size 25876065
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..634c54725d64e0dbc3dffff38d365e32afc07645
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+22,0.366666667,BASELINE,765,745,715,680,658,634,878,785,808,651,629.234154604,652.234154604,0.400971012702,-0.00539115160703,0.0798359507308,0.999999927985,0.000250948394624,-0.000281548317766,4.22442742011e-05,1793246594396387584
+23,0.383333333,BASELINE,765,745,715,679.650953409,658,634,878,785,808,651,629,652.349046591,0.400971061171,-0.00539260811848,0.0798358913256,0.999999928251,0.000249606325164,-0.000281764693553,4.24642493039e-05,1793246594413054464
+24,0.400000000,BASELINE,765,745,715,679.071598281,658,634,878,785,808,651,629,652.928401719,0.400970788319,-0.00539485564109,0.079835780024,0.99999992861,0.000247819066342,-0.000281974362523,4.30753553711e-05,1793246594429721344
+25,0.416666667,BASELINE,765,745,715,679.505745406,658,634,877.494254594,785,808,651,629,652.494254594,0.400971610951,-0.00539485892301,0.0798365040123,0.999999929283,0.00024658833262,-0.000280670526067,4.30427078446e-05,1793246594446387712
+26,0.433333333,BASELINE,765,745,714.917516601,680,658.082483399,634,877,785,808,651,629,652,0.400972438159,-0.00539435452344,0.0798371237741,0.999999929712,0.000246108696941,-0.000279581679803,4.29084797636e-05,1793246594463054080
+27,0.450000000,BASELINE,765,745,714.342700717,680,658.657299283,634,877,785,808,651,629,652,0.400972370656,-0.0053927087368,0.0798364183894,0.999999928432,0.000249643858371,-0.000281049943899,4.27097549774e-05,1793246594479720960
+28,0.466666667,BASELINE,765.238030163,745,714.238030163,680,658.761969837,634.238030163,877.238030163,785,808,651,629,652.238030163,0.40097187239,-0.00539209539859,0.079836026763,0.99999992791,0.000250733124125,-0.000281940733165,4.26859569252e-05,1793246594496387584
+29,0.483333333,BASELINE,765.827494057,745,714.827494057,680,658.172505943,634.827494057,877.827494057,785,808,651,629,652.827494057,0.400970738137,-0.00539300639335,0.0798360983774,0.999999928518,0.000248211207659,-0.000281978923955,4.29204251234e-05,1793246594513053952
+30,0.500000000,BASELINE,765.590307486,745,714.590307486,680,658,634.590307486,878,785,808,651,629.409692514,652.590307486,0.400970798548,-0.0053925062392,0.0798362752139,0.999999928155,0.000250000162694,-0.000281684888149,4.2943097777e-05,1793246594529720576
+31,0.516666667,BASELINE,765.011114936,745,714.011114936,680,658,634.011114936,878,785,808,651,629.988885064,652.011114936,0.40097135322,-0.00539142225743,0.0798364955834,0.999999927379,0.000253572633109,-0.000281253401889,4.28781453123e-05,1793246594546387200
+32,0.533333333,BASELINE,765.56430141,745,714,680,658,634,878,785,808,651.56430141,630,652,0.400971200721,-0.00539346240959,0.0798364167255,0.999999928488,0.000249227365553,-0.000281187711578,4.29297301522e-05,1793246594563054080
+33,0.550000000,BASELINE,765.860198611,745,714,680,658,634,878,785,808,652,630,652,0.400971214322,-0.00539485655471,0.0798363859631,0.999999929357,0.000246008702958,-0.00028092982202,4.29353901035e-05,1793246594579720704
+34,0.566666667,BASELINE,765.284207275,745,714,680,658,634,878,785,808,652,630,652,0.400971789335,-0.00539404439442,0.0798365235294,0.999999929418,0.000246788479393,-0.000280049926914,4.27906469964e-05,1793246594596387840
+35,0.583333333,BASELINE,765,745,714,680,658,634,878,785,808,652,630,652,0.400971421308,-0.00539344475537,0.0798362075693,0.999999929167,0.000247288530224,-0.0002805406146,4.25607902499e-05,1793246594613054720
+36,0.600000000,BASELINE,765,745,714,680,658,634,878,785,808,652,630,652,0.400970134731,-0.00539305211895,0.0798354498594,0.99999992861,0.000247516119142,-0.000282366295229,4.22480299809e-05,1793246594629721344
+37,0.616666667,BASELINE,765.47038227,745,714,680,658,634,877.52961773,785,808,651.52961773,630,652,0.400971466977,-0.00539321626857,0.0798368998756,0.999999928912,0.000248265085509,-0.000280606673515,4.24333225265e-05,1793246594646387712
+38,0.633333333,BASELINE,765.950393756,745,714.049606244,679.950393756,658,634,877.049606244,785,807.950393756,651,629.950393756,652,0.400973118298,-0.00539352339743,0.0798385465077,0.999999929337,0.000248967900114,-0.000278420661826,4.27045143903e-05,1793246594663053824
+39,0.650000000,BASELINE,765.375986923,745,714.624013077,679.375986923,658,634,877.624013077,785,807.375986923,651,629.375986923,652,0.40097170766,-0.00539397446406,0.0798368461931,0.999999929012,0.000247900815633,-0.000280537087111,4.26601544796e-05,1793246594679720704
+40,0.666666667,BASELINE,764.79695206,745,715,679.20304794,658.20304794,634,878,785,807.20304794,651,629.20304794,652.20304794,0.400970632166,-0.00539433035526,0.0798356493527,0.999999928769,0.000247408571569,-0.000281858624182,4.25058539548e-05,1793246594696387584
+41,0.683333333,BASELINE,764.209147553,745,715,679.790852447,658.790852447,634,878,785,807.790852447,651,629.790852447,652.790852447,0.400970191739,-0.005394505898,0.0798354065479,0.999999928688,0.000248005595573,-0.000281673923442,4.2143226409e-05,1793246594713054208
+42,0.700000000,BASELINE,764.371353707,745,714.628646293,679.628646293,658.628646293,634,877.628646293,785,808,651,630,652.628646293,0.400970260448,-0.00539426364621,0.0798357061177,0.999999928759,0.000248291514768,-0.00028118272702,4.20682121111e-05,1793246594729720832
+43,0.716666667,BASELINE,764.947821069,745,714.052178931,679.052178931,658.052178931,634,877.052178931,785,808,651,630,652.052178931,0.400970610372,-0.00539379062961,0.079836305263,0.999999928913,0.000248405598189,-0.000280522240656,4.21520582417e-05,1793246594746387968
+44,0.733333333,BASELINE,765,745,714.527088068,679.527088068,658.527088068,634,877.527088068,785,808,651.527088068,629.472911932,652,0.400970303095,-0.00539415438021,0.0798362344976,0.999999929132,0.000246597228184,-0.000281326154084,4.22131593338e-05,1793246594763054336
+45,0.750000000,BASELINE,765,745,715,680,658.894092379,634,877.894092379,785,807.894092379,652,629.105907621,652,0.400970218644,-0.00539443191221,0.0798363415359,0.999999929341,0.000245237834677,-0.000281764546104,4.22569355331e-05,1793246594779720960
+46,0.766666667,BASELINE,765,745,715,680,658.318493083,634,877.318493083,785,807.318493083,652,629.681506917,652,0.400971412482,-0.00539395774106,0.0798375328024,0.999999929491,0.000246718144369,-0.000279935526503,4.22339163835e-05,1793246594796387584
+47,0.783333333,BASELINE,765.263054031,745,714.736945969,680,658,634,877.263054031,785,807.263054031,651.736945969,629.736945969,652,0.400971624644,-0.00539345625539,0.0798377181545,0.999999929108,0.000248682409881,-0.000279535814575,4.24307724963e-05,1793246594813054208
+48,0.800000000,BASELINE,765.851969145,745,714.148030855,680,658,634,877.851969145,785,807.851969145,651.148030855,629.148030855,652,0.400970620744,-0.00539292093349,0.079836657419,0.999999928063,0.000251246181204,-0.000280906673059,4.29000015144e-05,1793246594829720832
+49,0.816666667,BASELINE,765.566576102,745,714.433423898,680,658.433423898,634,877.566576102,785,808,651.433423898,629.433423898,652.433423898,0.400971221411,-0.00539310074866,0.0798367880416,0.999999928499,0.000250649034601,-0.000279908172629,4.27626344837e-05,1793246594846387456
+50,0.833333333,BASELINE,765,745,714.987700508,680,658.987700508,634,877.012299492,785,808,651.987700508,629.987700508,652.987700508,0.400972306938,-0.00539352462782,0.0798372989561,0.999999929411,0.000248982837636,-0.000278183070733,4.24276312445e-05,1793246594863053568
+51,0.850000000,BASELINE,765,745,714.412224275,680,658.412224275,634,877.587775725,785,808,651.412224275,629.412224275,652.412224275,0.400970924992,-0.00539412938691,0.0798369070545,0.999999929515,0.000246962060582,-0.000279614269126,4.23689095919e-05,1793246594879720704
+52,0.866666667,BASELINE,765,745,714.162667861,680,658,634,878,785,808,651,629,652,0.400970303006,-0.00539411224526,0.079836806562,0.999999929492,0.000246290600277,-0.000280297349454,4.23050830256e-05,1793246594896387840
+53,0.883333333,BASELINE,765,745,714.736085073,680,658,634,878,785,808,651,629,652,0.400971599982,-0.00539252475452,0.0798374419009,0.999999929155,0.000249026272727,-0.000279091371799,4.22283661477e-05,1793246594913054464
+54,0.900000000,BASELINE,765,745,714.680164156,680,658.319835844,634,878,785,808,651,629,652,0.400972046057,-0.00539189069674,0.0798373510755,0.999999928731,0.000250496400048,-0.00027930881397,4.21524181223e-05,1793246594929721088
+55,0.916666667,BASELINE,765,745,714.087601912,680,658.912398088,634,878,785,808,651,629,652,0.400971766562,-0.00539206963839,0.0798366410443,0.999999928235,0.000250887387497,-0.000280740016864,4.2077125707e-05,1793246594946387456
+56,0.933333333,BASELINE,765,745,714,679.506911868,658.506911868,634,878,785,808,651.493088132,629,652.493088132,0.400971760194,-0.00539229454673,0.0798368156168,0.999999928543,0.000250327712931,-0.000280128838353,4.21591382726e-05,1793246594963053824
+57,0.950000000,BASELINE,765,745,714,679.071212307,658.071212307,634,877.928787693,784.928787693,808,651.928787693,629,653,0.40097178798,-0.00539265255054,0.0798371324499,0.999999929016,0.000249453010644,-0.000279206717717,4.22535523712e-05,1793246594979720448
+58,0.966666667,BASELINE,765,745,714,679.645758007,658.645758007,634,877.354241993,784.354241993,808,651.354241993,629,653,0.400971722257,-0.00539389491817,0.0798373700996,0.999999929669,0.000247517361724,-0.00027859118091,4.22427358322e-05,1793246594996387328
+59,0.983333333,BASELINE,765,745,714.225496005,680,659,634,877.225496005,784,808,651,629,653,0.400971744964,-0.0053938914822,0.0798374297157,0.999999929695,0.000247673393313,-0.000278370214696,4.21762905893e-05,1793246595013053952
+60,1.000000000,BASELINE,765,745,714.813583162,680,659,634,877.813583162,784,808,651,629,653,0.400971909863,-0.00539188482974,0.0798372030591,0.999999928708,0.000251192787252,-0.000278783706652,4.20203959742e-05,1793246595029720576
+61,1.016666667,BASELINE,765,744.602814233,715,680,659,634,878,784.397185767,808,651,629,652.602814233,0.400972263082,-0.00539240763746,0.0798374587315,0.999999928978,0.000250702304342,-0.000278236274881,4.21647422703e-05,1793246595046387456
+62,1.033333333,BASELINE,765,744.02129296,715,680,659,634,878,784.97870704,808,651,629,652.02129296,0.4009727037,-0.00539410437789,0.0798379382546,0.999999929828,0.000248350821318,-0.000277242874535,4.24484315848e-05,1793246595063054336
+63,1.050000000,BASELINE,765,744.554555026,715,680,658.445444974,634,878,784.445444974,808,651.554555026,629,652,0.400971752609,-0.00539272544105,0.0798371100785,0.999999928974,0.00025031625133,-0.00027859852235,4.21417701259e-05,1793246595079720960
+64,1.066666667,BASELINE,765,745,715,679.869952606,658.130047394,634,877.869952606,784.130047394,807.869952606,651.869952606,629.130047394,652,0.400971133445,-0.00539193244801,0.0798366000098,0.999999928407,0.000251547267436,-0.000279552224076,4.19691186564e-05,1793246595096387328
+65,1.083333333,BASELINE,765,745,715,679.294939253,658.705060747,634,877.294939253,784.705060747,807.294939253,651.294939253,629.705060747,652,0.400971830979,-0.00539354428012,0.0798373484277,0.999999929056,0.000249704040412,-0.000278825156288,4.23317640545e-05,1793246595113054208
+66,1.100000000,BASELINE,765.288388742,745,715,679.288388742,659,634,877,785,807.288388742,651,629.711611258,652,0.400972161041,-0.00539411295347,0.0798377101681,0.99999992949,0.000248488682822,-0.000278334329833,4.247493742e-05,1793246595129720832
+67,1.116666667,BASELINE,765.880472649,745,715,679.880472649,659,634,877,785,807.880472649,651,629.119527351,652,0.400972104125,-0.00539358310164,0.0798376647078,0.999999929698,0.000247934519368,-0.000278092283421,4.23869901076e-05,1793246595146387200
+68,1.133333333,BASELINE,765.540151059,745,715,680,658.540151059,634,877.459848941,785.459848941,808,651,629,652,0.400970529547,-0.0053935252699,0.0798365180609,0.999999928874,0.000249346264313,-0.000279804829287,4.22835566869e-05,1793246595163053824
+69,1.150000000,BASELINE,765,745,714.964058806,680,658,634,877.964058806,785.964058806,808,651,629.035941194,652,0.400968778592,-0.00539366702714,0.0798352363685,0.999999927921,0.00025093865394,-0.00028179389657,4.21933187706e-05,1793246595179720704
+70,1.166666667,BASELINE,765,745,714.389014231,680,658,634,877.389014231,785.389014231,808,651,629.610985769,652,0.400970139982,-0.00539501171189,0.0798361069132,0.999999929061,0.000247782055477,-0.000280515020652,4.23597619333e-05,1793246595196387328
+71,1.183333333,BASELINE,765,745,714.190996022,680,658,634,877.190996022,785,808,651,630,652.190996022,0.400971567856,-0.00539532658384,0.079837033932,0.999999929875,0.00024612150766,-0.000279063680784,4.23871784938e-05,1793246595213054208
+72,1.200000000,BASELINE,765,745,714.781390282,680,658,634,877.781390282,785,808,651,630,652.781390282,0.400973134755,-0.00539348797969,0.0798380790461,0.999999930028,0.000247589401322,-0.000277251695492,4.21238718599e-05,1793246595229720832
+73,1.216666667,BASELINE,765.36486967,745,715,679.63513033,658,634,878,784.63513033,808,651,630,652.63513033,0.400973291155,-0.00539326871133,0.0798382539977,0.999999929963,0.000248185169065,-0.00027694815696,4.21721998174e-05,1793246595246387200
+74,1.233333333,BASELINE,765.944283072,745,715,679.055716928,658,634,878,784.055716928,808,651,630,652.055716928,0.40097261818,-0.00539400161413,0.0798379172929,0.999999929771,0.000248268125808,-0.000277531586743,4.24037692426e-05,1793246595263053568
+75,1.250000000,BASELINE,765.479042092,745,715,679.520957908,658,634,878,784.520957908,808,651,630,652,0.400971684559,-0.00539351159173,0.0798376969636,0.999999929585,0.000248327099333,-0.000278150456002,4.23725499204e-05,1793246595279720192
+76,1.266666667,BASELINE,765.096927135,745,714.903072865,679.903072865,658,634,878,785,808,651,630,652,0.400971008262,-0.00539305487693,0.0798375847645,0.999999929511,0.000248209215965,-0.000278533409909,4.22939998035e-05,1793246595296386816
+77,1.283333333,BASELINE,765.670857726,745,714.329142274,679.329142274,658,634,878,785,808,651,630,652,0.400971734789,-0.00539340237761,0.0798379437698,0.999999929982,0.000247233531309,-0.000277736808024,4.21201137549e-05,1793246595313053440
+78,1.300000000,BASELINE,765.747851275,745,714.252148725,679.252148725,658,634,877.747851275,785,807.747851275,651,629.747851275,652,0.400972738957,-0.00539365558163,0.0798385636114,0.999999929982,0.000248423784105,-0.000276655514959,4.22397246694e-05,1793246595329720576
+79,1.316666667,BASELINE,765.156663522,745,714.843336478,679.843336478,658,634,877.156663522,785,807.156663522,651,629.156663522,652,0.400974116441,-0.00539378199441,0.0798395341732,0.999999929336,0.000252526355206,-0.000275191426359,4.27539714423e-05,1793246595346387712
+80,1.333333333,BASELINE,765.424800926,745,715,680,658,634,877,785,807.424800926,651,629,652,0.400972186487,-0.00539362488426,0.0798380594176,0.999999928772,0.000252002056451,-0.000277743319724,4.25431614025e-05,1793246595363054336
+81,1.350000000,BASELINE,765.997230642,745,714.997230642,679.997230642,658,634,877.002769358,785,808,651,629.002769358,652.002769358,0.400969085981,-0.0053933681741,0.0798357216698,0.999999928231,0.000249813371252,-0.000281710916984,4.20734114801e-05,1793246595379720960
+82,1.366666667,BASELINE,765.417265139,745,714.417265139,679.417265139,658,634,877.582734861,785,808,651,629.582734861,652.582734861,0.400970552551,-0.00539365783228,0.0798372696469,0.999999929348,0.000248413991844,-0.000278963146334,4.21189646925e-05,1793246595396387328
+83,1.383333333,BASELINE,765,745,714.163517297,679.163517297,658,634,878,785,808,651.163517297,630,653,0.40097163204,-0.00539392260587,0.0798381652386,0.999999929897,0.000247980182166,-0.000277365797308,4.21884505851e-05,1793246595413053696
+84,1.400000000,BASELINE,765,745,714.746394983,679.746394983,658,634,878,785,808,651.746394983,630,653,0.400971718814,-0.00539412355989,0.0798373877072,0.999999929007,0.000250022695527,-0.000278718846647,4.23193148149e-05,1793246595429720320
+85,1.416666667,BASELINE,765,745,714.672927749,680,658,634,878,785,808,651.672927749,630,652.672927749,0.400971294304,-0.00539396804111,0.0798370331217,0.999999928693,0.000250493741249,-0.000279421446869,4.23241289325e-05,1793246595446387200
+86,1.433333333,BASELINE,765,745,714.093945272,680,658,634,878,785,808,651.093945272,630,652.093945272,0.400970476005,-0.00539353796784,0.0798370042882,0.999999928825,0.000249754446426,-0.000279623072735,4.22318595628e-05,1793246595463053824
+87,1.450000000,BASELINE,765,745,714.482361374,680,658,634,878,785,808,651,629.517638626,652,0.40097171662,-0.00539248959316,0.0798378073481,0.999999929026,0.000250713434278,-0.000278061135977,4.21033122239e-05,1793246595479720448
+88,1.466666667,BASELINE,765,745,714.941771294,680,658,634,878,785,808,651,629,652,0.400973059761,-0.00539162111953,0.079838555284,0.99999992925,0.000251509149714,-0.000276548799946,4.19885244918e-05,1793246595496387584
+89,1.483333333,BASELINE,765,745,714.365201063,680,658,634,878,785,808,651,629,652,0.400971765663,-0.0053934201463,0.0798373781941,0.999999929596,0.000247923324411,-0.000278518672941,4.2058771504e-05,1793246595513054464
+90,1.500000000,BASELINE,765.216070493,745,714,680,658,634,878,785,808,651,629,652,0.400971334791,-0.00539387570472,0.0798369212069,0.999999929721,0.000246638792523,-0.000279217439713,4.20122787109e-05,1793246595529721088
+91,1.516666667,BASELINE,765.805464881,745,714,680,658,634,878,785,808,651,629,652,0.400972395388,-0.00539201003513,0.0798377084043,0.999999929481,0.000249330406983,-0.000277720004852,4.17640843357e-05,1793246595546387200
+92,1.533333333,BASELINE,765.61194215,745,714.38805785,680,658,634,877.61194215,785,808,651,629,652,0.400972205865,-0.00539245011513,0.0798373124702,0.999999929452,0.000248887059134,-0.000278223628651,4.17492561031e-05,1793246595563053824
+93,1.550000000,BASELINE,765.032699981,745,714.967300019,680,658,634,877.032699981,785,808,651,629,652,0.400971400445,-0.00539402616778,0.0798363336434,0.999999929525,0.000246899210792,-0.000279713113153,4.18494002602e-05,1793246595579720192
+94,1.566666667,BASELINE,765,745,714.456756123,680,658,634,877,785,808,651.543243877,629.543243877,652,0.40097189546,-0.00539456360134,0.0798370000169,0.999999929588,0.000247618590561,-0.000278809065234,4.21221876375e-05,1793246595596387072
+95,1.583333333,BASELINE,765,745,714.118704836,679.881295164,658,634,877,785,808,651.881295164,630,652,0.400972066886,-0.00539469218107,0.0798374886227,0.999999929552,0.000248414882024,-0.000278198122876,4.23340853006e-05,1793246595613053952
+96,1.600000000,BASELINE,765,745,714.693069822,679.306930178,658,634,877,785,808,651.306930178,630,652,0.400970697526,-0.00539348987079,0.0798369170029,0.999999929141,0.000248884648952,-0.000279262007319,4.22726016557e-05,1793246595629720832
+97,1.616666667,BASELINE,765,745,715,679.275502285,658,634,877.275502285,785,808,651,630,652,0.400970481438,-0.00539244537416,0.0798369233895,0.999999928744,0.000250227449101,-0.000279491710408,4.22280226348e-05,1793246595646387968
+98,1.633333333,BASELINE,765,745,715,679.86719361,658,634,877.86719361,785,808,651,630,652,0.400971588943,-0.00539158199751,0.0798375931438,0.999999928358,0.000252572213822,-0.000278764038424,4.2202844752e-05,1793246595663054592
+99,1.650000000,BASELINE,765,745,715,680,658,634,877.550673449,785,808,651,629.550673449,652,0.400970872506,-0.00539294069189,0.079837468712,0.999999928608,0.000251199151378,-0.00027906440994,4.25046953019e-05,1793246595679720704
+100,1.666666667,BASELINE,765,745,715,680,658.028444607,634,877.028444607,785,807.971555393,651,629.028444607,652,0.400969685682,-0.00539487136044,0.0798370985337,0.999999929017,0.000248813082337,-0.000279679268028,4.28708411492e-05,1793246595696386816
+101,1.683333333,BASELINE,765,745,715,680,658.602792101,634,877.602792101,785,807.397207899,651,629.602792101,652,0.400969602032,-0.00539543715134,0.079836423201,0.999999929055,0.000247635592806,-0.000280619607218,4.26545094474e-05,1793246595713053696
+102,1.700000000,BASELINE,765,745,715,680.181292015,658.818707985,634,878,785,807.181292015,651.181292015,630,652,0.400969517858,-0.00539529285733,0.0798360556382,0.999999928845,0.000247998529176,-0.000281072996263,4.24792355394e-05,1793246595729720576
+103,1.716666667,BASELINE,765,745,715,680.769103004,658.230896996,634,878,785,807.769103004,651.769103004,630,652,0.400969432507,-0.005393556309,0.0798363782012,0.999999928074,0.000251815629733,-0.000280434475678,4.23960273375e-05,1793246595746387712
+104,1.733333333,BASELINE,765,745,715,680.648520637,658,634,878,785,808.351479363,651.648520637,630,652.351479363,0.400969935066,-0.00539291189472,0.0798364372112,0.999999928125,0.000252076713764,-0.000280030896443,4.23132806226e-05,1793246595763054592
+105,1.750000000,BASELINE,765,745,715,680.069660027,658,634,878,785,808.930339973,651.069660027,630,652.930339973,0.40097081796,-0.00539297401054,0.0798363257218,0.999999928711,0.000250037317515,-0.00027977930689,4.22308324477e-05,1793246595779721216
+106,1.766666667,BASELINE,765,745,715,680,658,634,878.506432864,785,808.493567136,651,629.493567136,652.493567136,0.400970749994,-0.00539414106515,0.0798366055762,0.99999992953,0.000247200419558,-0.000279402789973,4.20133386368e-05,1793246595796388096
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,785,808,651,629,653,0.400972749359,-0.00539068998376,0.0798385116296,0.999999929298,0.000251950814277,-0.000275995611206,4.1854842027e-05,1793246595839767552
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.593097576,658,634,877.593097576,785,808,651,629,653,0.400972215736,-0.00539255936077,0.0798380163413,0.99999992941,0.000250247079899,-0.000277106855171,4.20470749304e-05,1793246595856434944
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.181668337,679.818331663,658,634,878,785,808,651,629.181668337,652.818331663,0.400971592083,-0.00539379921513,0.079837590026,0.9999999295,0.000248915655871,-0.000277962131432,4.21752416396e-05,1793246595873102080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.760346514,679.239653486,658,634,878,785,808,651,629.760346514,652.239653486,0.400970771682,-0.00539366333923,0.0798373144414,0.999999929547,0.000248397861871,-0.000278258027563,4.21634009962e-05,1793246595889767936
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.66291439,679.33708561,658,634,878,785,808,651,629.66291439,652.33708561,0.400970691216,-0.00539362057817,0.0798370559894,0.999999929412,0.000248264754308,-0.00027885791344,4.21832391174e-05,1793246595906434304
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.087546048,679.912453952,658,634,878,785,808,651,629.087546048,652.912453952,0.400971133802,-0.00539364363914,0.0798368096484,0.999999929148,0.000248403578099,-0.00027967268687,4.2225470668e-05,1793246595923101184
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877.501587941,784.501587941,808,651,629,652.501587941,0.400971156505,-0.00539341604017,0.0798371985326,0.999999929526,0.000247479933793,-0.000279157946968,4.2106654788e-05,1793246595939767808
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.084958863,680,658.084958863,634,877.084958863,784.084958863,808,651,629,652,0.400971305014,-0.00539324533791,0.079837789448,0.99999993001,0.000246535437939,-0.000278272401031,4.20008570444e-05,1793246595956434176
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.663878854,680,658.663878854,634,877.663878854,784.663878854,808,651,629,652,0.400972623096,-0.00539366698358,0.0798388921906,0.999999930453,0.000246578308684,-0.000276618184096,4.21387883689e-05,1793246595973100544
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.758259415,679.758259415,658.758259415,634,877.758259415,785,808,651,629,652,0.400977583048,-0.00539401886691,0.0798413398085,0.999999931366,0.000247047946424,-0.000272848122357,4.23034966827e-05,1793246595989767168
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.181862748,679.181862748,658.181862748,634,877.181862748,785,808,651,629,652,0.400987584663,-0.00539427417397,0.0798456492183,0.9999999329,0.000248108383462,-0.000266148969072,4.25052739866e-05,1793246596006433792
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.39299492,658.39299492,634,877,784.60700508,808,651,629,652,0.401013868007,-0.00539399961188,0.0798557644251,0.99999993726,0.000249530283237,-0.000247806323946,4.25110437596e-05,1793246596023100416
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.967143227,658.967143227,634,877,784.032856773,808,651,629,652,0.401047656512,-0.00539348080342,0.0798685558495,0.99999994246,0.000251118801426,-0.000224096540082,4.24264626729e-05,1793246596039767040
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.557087416,745,714,680,658.442912584,634,877,784.557087416,808,651,629,652,0.401106373907,-0.00539482137988,0.0798863977885,0.999999950491,0.000248699420603,-0.00018808869961,4.23030354814e-05,1793246596056433664
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.858029955,658,634,877.28394009,785,808,651,629.141970045,652,0.40117022955,-0.00539617882474,0.0799034022669,0.999999956419,0.000247190730273,-0.000155856116225,4.20424352705e-05,1793246596073100288
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679.291165268,658,634,878.417669464,785,808,651,629.708834732,652,0.401244934423,-0.00539724896393,0.0799169828414,0.999999958704,0.000249135704148,-0.000137156454169,4.13783543758e-05,1793246596089767424
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.713327114,745,714,679.286672886,658,634,878.713327114,785,808,651,629.713327114,652,0.401325559446,-0.00539848446335,0.0799258104294,0.999999960809,0.000248172261003,-0.000123370741882,3.96486039912e-05,1793246596106434048
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.123899952,745,714,679.876100048,658,634,878.123899952,785,808,651,629.123899952,652,0.401412436715,-0.00539989459909,0.0799296184034,0.999999962935,0.000244137248318,-0.000114774636644,3.67934036751e-05,1793246596123100416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.45325824,744.54674176,714.45325824,679.54674176,658,634,878,785,808,651,629,652,0.40151601742,-0.00540067658258,0.0799328897283,0.999999964218,0.000242176204699,-0.000108604323783,3.34591521713e-05,1793246596139767040
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.972068668,744.027931332,714.972068668,679.027931332,658,634,877.972068668,784.972068668,808,651,629,652,0.40162524824,-0.0054014416822,0.0799361026002,0.999999965282,0.000240692675789,-0.000102974066681,2.9989064989e-05,1793246596156433408
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.38168283,744.61831717,714.38168283,679.61831717,658,634,877.38168283,784.38168283,808,651,629,652,0.401758734141,-0.00540523335368,0.0799410145578,0.999999966867,0.000237709507656,-9.52179747887e-05,2.63511079993e-05,1793246596173100032
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.204724004,679.795275996,658,634,877,784.204724004,808,651,629,652.204724004,0.401906312048,-0.00540768738609,0.0799465717588,0.999999968567,0.000234591873131,-8.57046988485e-05,2.20987502912e-05,1793246596189766912
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.783853842,679.216146158,658,634,877,784.783853842,808,651,629,652.783853842,0.402079661853,-0.00540769510077,0.0799533090008,0.999999970464,0.000231228322475,-7.2977829124e-05,1.67227572115e-05,1793246596206433536
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.639518187,679.360481813,658.360481813,634,877,785,808,651,629,652.639518187,0.402266505034,-0.00540876983703,0.0799587556395,0.999999972512,0.00022545524422,-6.34701386799e-05,1.08476555227e-05,1793246596223100672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.064379949,679.935620051,658.935620051,634,877,785,808,651,629,652.064379949,0.402461383144,-0.00541047995358,0.079963433762,0.999999974612,0.0002182473621,-5.58793745533e-05,4.67534867348e-06,1793246596239767552
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.511481529,745,714,680,658.488518471,634,877.511481529,785,808,651,629,652,0.40267031285,-0.00541228794676,0.0799576576464,0.99999997581,0.000209265001365,-6.76810462999e-05,-2.81007234256e-06,1793246596256434176
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.089650572,634,877.910349428,784.910349428,807.910349428,651,629,652,0.402887919985,-0.00541408973169,0.0799514836168,0.999999976747,0.000199957362693,-8.00625655561e-05,-1.06319806013e-05,1793246596273100288
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.680203486,634,877.319796514,784.319796514,807.319796514,651,629,652,0.403144114355,-0.00541578789916,0.0799504488688,0.999999978382,0.000190082004219,-8.20264721896e-05,-1.94091599965e-05,1793246596289766912
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.734678601,745,714,680,658.734678601,634,877,784.265321399,807.265321399,651,629.265321399,652,0.403427020254,-0.00541853734191,0.0799496911823,0.999999983359,0.000160581831519,-8.20757542807e-05,-2.75573494351e-05,1793246596306433536
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.155980125,745,714,680,658.155980125,634,877,784.844019875,807.844019875,651,629.844019875,652,0.403741475726,-0.00542252846945,0.0799492607397,0.999999990378,0.000107902349151,-7.98636299423e-05,-3.49626240987e-05,1793246596323100160
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.419303178,680,658.419303178,634,877,785,808,651,629.580696822,652,0.404080799405,-0.00542282552873,0.0799520096332,0.999999990893,0.000107165566405,-7.67827708819e-05,-2.88904481057e-05,1793246596339767040
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.993326293,680,658.993326293,634,877,785,808,651,629.006673707,652,0.404429299271,-0.0054217595026,0.0799559316796,0.999999989261,0.000125595277356,-7.33813548607e-05,-1.78451870234e-05,1793246596356433664
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.414742742,634,877.585257258,784.414742742,808,651,629,652,0.404824184229,-0.00542183284433,0.0799586765585,0.999999988904,0.000133567782992,-6.13127672833e-05,-2.43483665999e-05,1793246596373100800
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.826964202,680,658.173035798,633.826964202,878,784.173035798,808,651,629,652.173035798,0.40522970423,-0.00542468729771,0.0799587138128,0.999999989353,0.000131739321217,-5.51762793522e-05,-2.98966282159e-05,1793246596389767680
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.249386222,680,658.750613778,633.249386222,878,784.750613778,808,651,629,652.750613778,0.405658812324,-0.00543401240729,0.0799524532563,0.999999991716,0.000107284656157,-6.31468639203e-05,-3.27297811676e-05,1793246596406434560
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.326587596,878,785,808,651,629.326587596,652.673412404,0.406114386297,-0.00543784814886,0.079943831795,0.999999991009,0.000104156673258,-7.77804794299e-05,-3.2922443623e-05,1793246596423101440
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.901342506,878,785,808,651,629.901342506,652.098657494,0.406590071201,-0.0054375126316,0.0799334163291,0.999999987893,0.000117234402506,-9.74771983178e-05,-3.11086510142e-05,1793246596439768064
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,877.512191976,784.512191976,808,651,629.512191976,652,0.407082288099,-0.00544022154658,0.0799311496068,0.999999988277,0.000108757040133,-0.000102208545345,-3.42331299647e-05,1793246596456434176
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.075353197,680,659,633.924646803,877,784,808,651,629,652.075353197,0.407583571646,-0.005443878231,0.0799294785467,0.999999989001,9.66780222322e-05,-0.000105914791971,-3.78544040579e-05,1793246596473100544
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.653903376,680,659,633.346096624,877,784,808,651,629,652.653903376,0.408122524263,-0.00544965111571,0.0799205090654,0.999999987571,9.03754491991e-05,-0.000123484529316,-3.79596637928e-05,1793246596489767936
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.768177078,680,659,633.231822922,877,784.231822922,808,651,629,652.768177078,0.408691605748,-0.00545504391244,0.0799166469237,0.999999987011,8.49313232755e-05,-0.000131390206622,-3.87393743665e-05,1793246596506434816
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.191196506,680,659,633.808803494,877,784.808803494,808,651,629,652.191196506,0.409305545618,-0.00545987080154,0.0799203890233,0.999999988117,8.07653267134e-05,-0.00012490720973,-4.05232646268e-05,1793246596523100672
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.383516434,680,659,634,877.383516434,784.616483566,808,651,629,652,0.409983830511,-0.00547350482892,0.0799480660517,0.99999999395,6.63451740963e-05,-7.88845443195e-05,-3.84086210711e-05,1793246596539767040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.957105507,680,659,634,877.957105507,784.042894493,808,651,629,652,0.410694005096,-0.00549150371739,0.0799876053492,0.999999998225,4.68430109358e-05,-1.3265823706e-05,-3.43618446912e-05,1793246596556433664
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,808,651,629.547607488,652.547607488,0.411354655718,-0.00551045357117,0.0799855779531,0.999999999077,1.77750460046e-05,-1.912087006e-05,-3.41229832042e-05,1793246596573100288
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.863930624,680.136069376,659,634,878.136069376,784,808.136069376,651,629.863930624,652.863930624,0.41201840954,-0.00552411748308,0.0799741003618,0.999999998644,-3.94378118101e-06,-3.83445143629e-05,-3.50144033878e-05,1793246596589766912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.286519848,680.713480152,659,634,878.713480152,784,808.713480152,651,629.286519848,652.286519848,0.412705211803,-0.00552038711594,0.0799428682801,0.999999995878,6.82144680118e-07,-8.21914741263e-05,-3.85736015012e-05,1793246596606433280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.710068744,659.289931256,634,878.710068744,784.289931256,808.710068744,651,629,652.289931256,0.413426497023,-0.00552070965756,0.0799227263503,0.999999993455,-2.18396208921e-06,-0.000106408922619,-4.19687504235e-05,1793246596623099904
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.134562823,659.865437177,634,878.134562823,784.865437177,808.134562823,651,629,652.865437177,0.414181747129,-0.00552502420731,0.0799135079249,0.999999992708,-1.24295234777e-05,-0.000111291823922,-4.5202315682e-05,1793246596639766528
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.450573076,680,659.549426924,634,878,784.549426924,808.450573076,651,629.450573076,652.549426924,0.414979081068,-0.00553283384275,0.0799312344242,0.999999995295,-2.77229015918e-05,-8.14035142829e-05,-4.48916849104e-05,1793246596656433152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680.038053998,659,634,878,784,808.961946002,651,629.961946002,652.038053998,0.415787317355,-0.0055409385628,0.0799547964871,0.999999997081,-4.29123409568e-05,-4.57125337646e-05,-4.36647612821e-05,1793246596673100032
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680.617094341,659,634,878,784,808.382905659,651,629.382905659,652.617094341,0.416567969156,-0.00553807525316,0.0799444210045,0.999999995322,-3.47247778812e-05,-7.83801776796e-05,-4.4787663636e-05,1793246596689766656
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.19585116,745,715,681,659,633.80414884,878,784,808.19585116,651,629.19585116,652.80414884,0.417387474835,-0.00553980430234,0.0799447044848,0.99999999509,-3.501390306e-05,-8.06258433218e-05,-4.57457885146e-05,1793246596706433280
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.774054434,745,715,681,659,633.225945566,878,784,808.774054434,651,629.774054434,652.225945566,0.418282833281,-0.00555049882374,0.0799657970176,0.999999997304,-5.18517163614e-05,-2.34799378674e-05,-4.63822250547e-05,1793246596723100160
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714.650832816,680.650832816,659,633.349167184,878,784,809,651,630,652.349167184,0.419169076693,-0.00555633131546,0.0799806302987,0.99999999677,-6.37386636104e-05,1.0847876004e-05,-4.77536973848e-05,1793246596739766784
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714.077702416,680.077702416,659,633.922297584,878,784,809,651,630,652.922297584,0.420049473495,-0.00555904519809,0.0799914487624,0.999999995679,-7.24500200808e-05,3.05396811159e-05,-4.95966372483e-05,1793246596756433664
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680.503655583,659.503655583,634,878,784,809,651,630,653,0.42091383517,-0.00556010870315,0.0799757034966,0.999999996024,-7.34607282635e-05,4.43615639951e-06,-5.0364615093e-05,1793246596773100032
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.913218351,745,714.086781649,681,659.913218351,633.913218351,878.086781649,784,809,651,630,653,0.421788214917,-0.0055573208806,0.0799622169302,0.999999996185,-6.86006634336e-05,-1.89649679774e-05,-5.06308813896e-05,1793246596789766400
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.327345443,745,714.672654557,681,659.327345443,633.327345443,878.672654557,784,809,651,630,653,0.422734673069,-0.00553387226814,0.0799856808695,0.999999998014,-3.69230843441e-05,1.44830778732e-05,-4.89813614206e-05,1793246596806433024
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.744238117,681,659.511523766,633.255761883,878.744238117,784,809,651,630,653,0.42366080373,-0.00551517173637,0.0799979594762,0.999999998385,-1.28620772498e-05,2.75379467669e-05,-4.80282784207e-05,1793246596823099648
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.164632471,681,660.670735058,633.835367529,878.164632471,784,809,651,630,653,0.424561196002,-0.00550248318531,0.0799960753026,0.99999999874,1.55488818503e-06,1.47711336847e-05,-4.79570185133e-05,1793246596839766272
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.409935076,745,714,680.590064924,660.590064924,634,878.409935076,784,809,651,630,653,0.425441273182,-0.00551212731818,0.0799608603869,0.999999997352,-1.49817069268e-05,-5.08018328139e-05,-4.990041046e-05,1793246596856433152
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.982503821,745,714,680.017496179,660.017496179,634,878.982503821,784,809,651,630,653,0.426313290694,-0.00553063150444,0.0799124221557,0.999999988226,-4.37985184761e-05,-0.000137324599821,-5.26430755145e-05,1793246596873099520
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.425505379,745,714,680,660,634,878.425505379,784,809.574494621,651,630,653,0.427276722879,-0.00553163326038,0.0799124893342,0.999999990961,-4.33719459216e-05,-0.000114920083596,-5.46868064353e-05,1793246596889766400
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878.162286425,784,810,651,630,653,0.428230100108,-0.00553221289376,0.079916529994,0.999999992816,-4.27803476385e-05,-9.71682481774e-05,-5.56428652109e-05,1793246596906433280
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878.737826752,784,810,651,630,653,0.429150535434,-0.00553312245311,0.0799267956116,0.999999992574,-4.41157510977e-05,-0.000100007311499,-5.38853238468e-05,1793246596923099648
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.314662478,680.314662478,660.314662478,634,879,784.314662478,810,651,630,653,0.430115559337,-0.00553429480903,0.0799614467929,0.999999996052,-4.65736827301e-05,-5.49084190883e-05,-5.20855558651e-05,1793246596939766528
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.892581948,680.892581948,660.892581948,634,879,784.892581948,810,651,630,653,0.431117887465,-0.00553568702916,0.0800164997395,0.99999999703,-4.99707580791e-05,3.02969465214e-05,-5.02504594987e-05,1793246596956433152
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.532624475,681,660.532624475,633.532624475,879.467375525,785,810,651,630,653,0.432046576023,-0.00553074188612,0.0800298487895,0.999999996557,-4.36752912688e-05,5.03197317847e-05,-4.94640435514e-05,1793246596973099776
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.957157468,785,810,651,630,653,0.432953733986,-0.00552496957887,0.0800277747582,0.999999997034,-3.60552835293e-05,4.69284168555e-05,-4.92933704333e-05,1793246596989766400
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,879.363869519,785,810,651,630,653,0.433800270158,-0.00552715912743,0.0799498730848,0.999999995566,-3.98485071605e-05,-6.6090143999e-05,-5.39577393473e-05,1793246597006433280
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681.222428846,660,633,879,785,810,651,630,653,0.434674680403,-0.00553214957079,0.0799059315224,0.999999989164,-4.88608969407e-05,-0.000126461108322,-5.73806357512e-05,1793246597023099904
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.79764146,660,633,879,785,810,651,630,653,0.435593300516,-0.00554158237991,0.0799158524575,0.999999990743,-6.61511580569e-05,-0.000103330253383,-5.88344934915e-05,1793246597039766528
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.373829729,745,714,681.626170271,660,633.373829729,879,785,810.373829729,651,630,652.626170271,0.436503240574,-0.0055445616912,0.0799465931289,0.999999993775,-7.20588236379e-05,-6.32740721331e-05,-5.70446642683e-05,1793246597056433664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.950547478,745,714,681.049452522,660,633.950547478,879,785,810.950547478,651,630,652.049452522,0.437408469664,-0.00554403850519,0.0799886332625,0.999999995894,-7.17888298958e-05,-1.40320364498e-05,-5.34943937395e-05,1793246597073101056
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681.538081626,660,634,879,785,810.461918374,651,630,652.538081626,0.438318499396,-0.00554621254938,0.0800227135017,0.999999995276,-7.0125019535e-05,4.16390487677e-05,-5.28750288719e-05,1793246597089767936
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.875872591,745,714,682,660.124127409,633.875872591,879,785,810.124127409,651,630,653,0.439207934165,-0.00554714535058,0.0800448528938,0.999999993018,-6.95124675021e-05,7.94978549029e-05,-5.30287404726e-05,1793246597106434560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.298956629,745,714,682,660.701043371,633.298956629,879,785,810.701043371,651,630,653,0.440020600734,-0.00554262758493,0.0800261580834,0.999999994548,-7.32115294118e-05,5.01819666345e-05,-5.49997183562e-05,1793246597123101184
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.277805979,745.277805979,714,682,660.722194021,633,879,784.722194021,810.722194021,651,630,653,0.440769945433,-0.00553895235041,0.0799677744555,0.999999994819,-7.35432478808e-05,-3.9647663598e-05,-5.81465263602e-05,1793246597139767552
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.854403612,745.854403612,714,682,660.145596388,633,879,784.145596388,810.145596388,651,630,653,0.441451184831,-0.00553618329274,0.0798667038877,0.999999976648,-7.02532497255e-05,-0.000194562287753,-6.25579864794e-05,1793246597156434176
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.570366548,745.570366548,714,682,660,633,879,784,810.429633452,651,630,653,0.442206007972,-0.00554035741465,0.0798394560935,0.99999996977,-7.27894443624e-05,-0.000225954629949,-6.40791449805e-05,1793246597173100544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,879,784.004537736,811,651,630,653,0.442986095816,-0.00554687515365,0.0798378075223,0.999999971868,-7.72498375054e-05,-0.000214764895898,-6.45880746646e-05,1793246597189766912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,879,784.597124883,811,651,630,653,0.443818971083,-0.00555315228735,0.079921841412,0.999999990981,-7.60151666224e-05,-9.27677493655e-05,-6.0450217507e-05,1793246597206433536
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.184898198,660,633,879,784.815101802,811,651,630.184898198,653,0.444618050897,-0.00555862254059,0.0799888045678,0.999999994906,-8.30341092627e-05,4.1790077984e-06,-5.72289247268e-05,1793246597223100416
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682.762448897,660,633,879,784.237551103,811,651,630.762448897,653,0.445345362354,-0.00556237929191,0.0800195160805,0.999999991499,-0.000107580547291,4.79284142052e-05,-5.59540621235e-05,1793246597239767296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682.661418264,660,633,879,784.338581736,811,651,630.661418264,653,0.446031720976,-0.00556569147871,0.0800271429399,0.99999999063,-0.000110870209699,5.81833672423e-05,-5.53483397531e-05,1793246597256434176
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.086276092,660,633,879,784.913723908,811,651,630.086276092,653,0.44668946661,-0.00556869305674,0.0800186410016,0.999999992531,-9.93081773811e-05,4.50363982584e-05,-5.52101327077e-05,1793246597273101056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682.50047944,660.50047944,633,879,784.49952056,811,651,630,653,0.447276555172,-0.00556764717692,0.0799876543445,0.999999993274,-0.000100302956542,6.54860664372e-06,-5.78686427904e-05,1793246597289767424
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.91211652,745,714,683,660.91211652,633,879,784,811,651,630,653,0.44784508661,-0.00556635053432,0.0799509242488,0.999999991941,-0.000103472547004,-4.14537091991e-05,-6.07660350088e-05,1793246597306434048
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.332550897,745,714,683,660.332550897,633,879,784,811,651,630,653,0.44837956074,-0.00556764726626,0.0799042619338,0.999999985479,-0.000106411408912,-0.000117666338632,-6.22385218758e-05,1793246597323100416
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.245396199,745,714,683,660,633,879.245396199,784.245396199,811,651,630,653,0.448897337117,-0.00556684798292,0.0798646789858,0.999999976083,-0.000107198972485,-0.000179711176166,-6.36119207485e-05,1793246597339767040
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.821164257,745,714,683,660,633,879.821164257,784.821164257,811,651,630,653,0.449392633608,-0.00556322687718,0.0798346268478,0.999999967581,-0.000105090287606,-0.000222682201093,-6.48519196733e-05,1793246597356433408
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,879.604432433,784.604432433,811.395567567,651,630,653,0.449898275415,-0.00556001605566,0.0798365870635,0.999999968884,-0.000102605635767,-0.000217970295442,-6.47476544102e-05,1793246597373100288
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,879.030643954,784.030643954,811.969356046,651,630,653,0.450408578293,-0.00555699008525,0.0798529702763,0.999999974566,-9.99515937792e-05,-0.000191775096771,-6.40377380034e-05,1793246597389767424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.441095288,660,632.441095288,879,784,812,651,630,653,0.450896271508,-0.00555642399269,0.0798845750314,0.99999998294,-9.74865526202e-05,-0.000143772511117,-6.28161546293e-05,1793246597406435072
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.14645832,745,714,682.14645832,660,632.14645832,879,784,812,651,630,653,0.451360543313,-0.00555787182675,0.0799065187547,0.999999986905,-9.77572600466e-05,-0.000113227530428,-6.17512536434e-05,1793246597423102208
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.725493231,745,714,682.725493231,660,632.725493231,879,784,812,651,630,653,0.451759405853,-0.005564858044,0.0798973913279,0.999999982994,-0.000106076728962,-0.000137878974289,-6.12343909299e-05,1793246597439768320
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.696611197,745,714,683,660,632.696611197,879,784,811.696611197,651,630.303388803,653,0.452113710663,-0.00556838192479,0.0798720873426,0.999999975192,-0.000112602125188,-0.000181963820431,-6.18593755172e-05,1793246597456434432
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.11974268,745,714,683,660,632.11974268,879,784,811.11974268,651,630.88025732,653,0.45242785037,-0.00556878479746,0.0798322015389,0.999999961416,-0.000117510313663,-0.000243566256837,-6.35136401401e-05,1793246597473100288
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.383002061,745,714,683,659.383002061,632,879,784,811.616997939,651.616997939,630,653,0.453302373112,-0.00557297018603,0.0797704712258,0.99999993651,-0.000114308831834,-0.000330487707583,-6.8493819269e-05,1793246597523100160
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.700387994,745,714,682.700387994,659,633.700387994,877.700387994,784,808.700387994,650.700387994,629.299612006,652.700387994,0.427151011486,-0.00543433793744,0.0798383802027,0.99999995142,0.00015692557444,-0.000264697925866,4.96893881817e-05,1793246599564890112
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.716518583,745,714,682.716518583,659,634,878,784,809.283481417,651,629.283481417,652.716518583,0.426187706026,-0.00542992890971,0.0798087780446,0.999999937558,0.000164356255232,-0.000309018502399,4.87675389026e-05,1793246599581557248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.125540395,745,714,682.125540395,659,634,878,784,809.874459605,651,629.874459605,652.125540395,0.42521208384,-0.00542083568191,0.0797666837237,0.99999991352,0.000177439800376,-0.000373197499499,4.68824198842e-05,1793246599598224640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.456023315,659,634,878,784.456023315,809.543976685,651,630,652,0.424234306987,-0.00541119223695,0.0797392748142,0.999999892469,0.000194052548114,-0.0004185154201,4.74303149424e-05,1793246599614891264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.930481101,659,633.96524055,878,784.96524055,809,651,629.96524055,652,0.423263353982,-0.00540201550851,0.0797185846502,0.99999987385,0.000210443817683,-0.000453495031258,4.85301501999e-05,1793246599631558144
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.183436323,878,784,808.816563677,651,629.183436323,652,0.421567150768,-0.00540185711785,0.0797777090706,0.99999991986,0.000208923019406,-0.000338052802284,4.8496181716e-05,1793246599664890368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.758180133,878,784,808.241819867,651,629.758180133,652,0.420760742523,-0.00539940893324,0.0798465048394,0.999999951351,0.000213748251806,-0.000221348648681,5.11235084545e-05,1793246599681556992
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633.517664706,878,784.517664706,808.517664706,651,629.517664706,652,0.418091681173,-0.00538698327854,0.0798111811481,0.999999930699,0.000224250615,-0.000293232872389,4.82550555555e-05,1793246599731557120
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.99969918,745,714,681,659,634,878,784,808,651,629.00030082,652,0.413285949668,-0.00542034933581,0.0797941342419,0.999999931351,0.000190403559874,-0.000314695846112,4.48449015279e-05,1793246599831557120
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.144544367,745,714,681,658.855455633,634,877.855455633,785,808,651,629,652,0.411864205087,-0.0054130958199,0.0798133972218,0.999999930802,0.00021626626127,-0.000298764786583,4.86261226518e-05,1793246599864890368
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.720989558,745,714,681,658.279010442,634,877.279010442,785,808,651,629,652,0.411146343555,-0.00541344731436,0.0797977077581,0.999999922388,0.000207485294005,-0.000331424462666,4.82798759668e-05,1793246599881556992
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.527874515,715,680,658,634,877.527874515,785,807.527874515,651.527874515,629,652,0.400970507138,-0.00539774422534,0.0798280966189,0.999999925384,0.000244061483974,-0.000296250538436,4.36061668035e-05,1793246600564890624
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.985719105,745,714.985719105,680,658.014280895,634,877.014280895,785,808,651,629.014280895,652.014280895,0.400968391295,-0.00539558346507,0.0798310013329,0.999999925905,0.000247637661341,-0.000291585978817,4.29277529509e-05,1793246600664890880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.412574474,745,714.412574474,680,658.587425526,634,877.587425526,785,808,651,629.587425526,652.587425526,0.400970828701,-0.00539639561689,0.0798328580764,0.999999926937,0.000246671591076,-0.000288814461378,4.31818366795e-05,1793246600681557504
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.155094698,680,659,634,877.844905302,785,808,651.155094698,629.844905302,652.844905302,0.400972374576,-0.00539736344481,0.0798340449055,0.999999927845,0.000245047608956,-0.000287032329566,4.32881176958e-05,1793246600698223872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.708695007,680,659,634,877.291304993,785,808,651.708695007,629.291304993,652.291304993,0.400971629723,-0.00539873127219,0.0798335104339,0.999999928445,0.000241733165716,-0.000287792359123,4.30146293636e-05,1793246600714890240
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.70605828,680,658.70605828,634,877,785,808,651.70605828,629.29394172,652,0.400970372219,-0.00539868125526,0.0798326092615,0.999999928201,0.000241363946913,-0.000288983644593,4.27757808335e-05,1793246600731556864
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.49599117,680,658,634,877,785,807.50400883,651,629.50400883,652,0.400968514751,-0.00539756463936,0.079831996218,0.999999927478,0.000243331696894,-0.000289839678509,4.27334591197e-05,1793246600764890112
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.071439134,785.071439134,807.071439134,651.071439134,629,652.071439134,0.400968689134,-0.0053983122427,0.0798327635309,0.999999928044,0.00024218035403,-0.000288827522277,4.28896647701e-05,1793246600781556992
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.773186717,680,658.226813283,634,878,785.773186717,808,651.773186717,629,652.773186717,0.400968550195,-0.00539865326125,0.0798316513932,0.999999927615,0.000244197469587,-0.000288661342935,4.2559953574e-05,1793246600814889984
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.186069448,680,658.813930552,634,878,785.186069448,808,651.186069448,629,652.186069448,0.400969901066,-0.00539942267919,0.0798329078174,0.999999928616,0.000242524648021,-0.000286563452718,4.2800673478e-05,1793246600831556608
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.396036415,680,658.603963585,634,877.603963585,785,807.603963585,651,629,652,0.400969948025,-0.00539854818498,0.0798333524521,0.999999928469,0.000243251350415,-0.000286459520961,4.2800366935e-05,1793246600848222976
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.975817159,680,658.024182841,634,877.024182841,785,807.024182841,651,629,652,0.400969390023,-0.00539691098425,0.0798334204502,0.999999927789,0.000245091331651,-0.000287280702646,4.26882341887e-05,1793246600864889856
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.447132599,680,658.552867401,634,877,785,807.552867401,651,629.552867401,652,0.400969976501,-0.0053967768903,0.0798338792104,0.999999927962,0.000244899211042,-0.000286818048998,4.28460094677e-05,1793246600881556480
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..416b066eeddc02f1318d554fcc2129e647aa53d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bad5a397b33ca22a2ce13a3d4b64d358f4239d0e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3dbcf6967d8d759738b266f4ebbc240bb212d4fcfe8cf9ee943ef7801cbedd2
+size 25932524
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b14bd81836e99059f117b5ffcfe362e055a876a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+59,0.983333333,BASELINE,765,745,714,680,658,634,877.765811602,785,807.234188398,651,629,652.234188398,0.400971587083,-0.00539806502957,0.0798383667173,0.999999930582,0.000243680759528,-0.000278734101179,4.19945839402e-05,1793246602021246464
+60,1.000000000,BASELINE,765,745,714,680,658,634,877.192148335,785,807.807851665,651,629,652.807851665,0.400970493781,-0.00539828981366,0.0798378320501,0.999999930287,0.000243486548267,-0.000279975082793,4.1875545196e-05,1793246602037912832
+61,1.016666667,BASELINE,765.391313954,745,714.391313954,680,658.391313954,634,877,785,808,651,629.391313954,652.608686046,0.400970968012,-0.0053983051558,0.0798380739258,0.999999930484,0.000243053663684,-0.000279630872109,4.19928098291e-05,1793246602054579712
+62,1.033333333,BASELINE,765.979711442,745,714.979711442,680,658.979711442,634,877,785,808,651,629.979711442,652.020288558,0.400972231723,-0.00539821501342,0.0798387069039,0.999999930927,0.000242500572354,-0.000278488286288,4.22290876157e-05,1793246602071246336
+63,1.050000000,BASELINE,765.441032768,745,714.441032768,680,658.441032768,634,877.558967232,785,808,651,630,652.558967232,0.400972199257,-0.00539731287449,0.0798384327906,0.999999930422,0.0002441742739,-0.00027890589669,4.17963343171e-05,1793246602087913472
+64,1.066666667,BASELINE,765,745,714.137468335,680.137468335,658,634,878,785,807.862531665,651,630,652.862531665,0.400972260441,-0.00539697017886,0.0798383184643,0.999999930149,0.000245271262447,-0.000278956731761,4.1567919027e-05,1793246602104580352
+65,1.083333333,BASELINE,765,745,714.714599854,680.714599854,658,634,878,785,807.285400146,651,630,652.285400146,0.400972769192,-0.00539850948867,0.0798388187894,0.999999930735,0.000244269415995,-0.000277656310561,4.20694511693e-05,1793246602121247232
+66,1.100000000,BASELINE,765.290117691,745,714.709882309,680.709882309,658,634,878.290117691,785,807.290117691,651,629.709882309,652,0.400972563226,-0.00539924226802,0.0798389994389,0.999999931102,0.000242803926198,-0.00027760395948,4.21588240097e-05,1793246602137913856
+67,1.116666667,BASELINE,765.864056835,745,714.135943165,680.135943165,658,634,878.864056835,785,807.864056835,651,629.135943165,652,0.400971658053,-0.00539918602045,0.0798388673504,0.999999931255,0.000240884855272,-0.000278772592527,4.1844982348e-05,1793246602154580224
+68,1.133333333,BASELINE,765.546607249,745,714.453392751,680,658,634,878.093214498,785,808,651,629,652,0.400972188996,-0.0053990762399,0.0798389871419,0.999999931367,0.000240558232345,-0.000278668405058,4.17328213737e-05,1793246602171246592
+69,1.150000000,BASELINE,765.046169785,745,715,680,658,634,877.046169785,785,808,651,629,652,0.40097303385,-0.00539895679801,0.0798391613448,0.999999931424,0.000240879456516,-0.000278186055728,4.17265079375e-05,1793246602187913216
+70,1.166666667,BASELINE,765.623555537,745,715,680,658,634,877.623555537,785,808,651,629,652,0.400972361968,-0.00539891736657,0.0798390621033,0.999999930978,0.000242967847131,-0.000277898041481,4.22178257573e-05,1793246602204579840
+71,1.183333333,BASELINE,765.800163843,745,715,680,658,634,878,785,807.800163843,651,629.199836157,652,0.40097126053,-0.00539882394937,0.0798383759727,0.999999930579,0.00024364129842,-0.000278731813557,4.22994277018e-05,1793246602221246464
+72,1.200000000,BASELINE,765.225953483,745,715,680,658,634,878,785,807.225953483,651,629.774046517,652,0.400969354358,-0.00539862939493,0.0798365903604,0.999999930265,0.000241663994626,-0.000281667146516,4.16134656608e-05,1793246602237913344
+73,1.216666667,BASELINE,765.347111227,745,715,679.652888773,658,634,877.652888773,785,807.347111227,651,629.652888773,652,0.400968601179,-0.00539760793286,0.0798360764998,0.999999929344,0.000244256294957,-0.000282700914073,4.16114611885e-05,1793246602254580224
+74,1.233333333,BASELINE,765.91943259,745,715,679.08056741,658,634,877.08056741,785,807.91943259,651,629.08056741,652,0.400968596077,-0.00539604996272,0.0798363877677,0.999999928009,0.000249813412125,-0.00028250092186,4.20532170434e-05,1793246602271246848
+75,1.250000000,BASELINE,765.487211797,744.487211797,714.487211797,679,658,634,877.512788203,785,808,651,629,652,0.400970165807,-0.00539719673777,0.0798373456033,0.99999992949,0.000245482587072,-0.000281070472387,4.19242792093e-05,1793246602287913472
+76,1.266666667,BASELINE,765,744.105607708,714,679.105607708,658,634,877.894392292,785,807.894392292,651,629,652.105607708,0.400971782208,-0.00539844838781,0.0798382915323,0.99999993111,0.000240744576558,-0.00027942750825,4.17507464602e-05,1793246602304580096
+77,1.283333333,BASELINE,765,744.680722849,714,679.680722849,658,634,877.319277151,785,807.319277151,651,629,652.680722849,0.400972459017,-0.00539819620363,0.0798387135799,0.999999931421,0.000241398499614,-0.0002777359944,4.17946372863e-05,1793246602321246720
+78,1.300000000,BASELINE,765,745,714.255675558,680,658,634,877,785,807.255675558,651,629.255675558,652.744324442,0.400973088484,-0.00539787397546,0.0798389523878,0.999999931376,0.00024278839099,-0.000276677178948,4.18415148726e-05,1793246602337913344
+79,1.316666667,BASELINE,765,745,714.830425512,680,658,634,877,785,807.830425512,651,629.830425512,652.169574488,0.400973658871,-0.00539746433478,0.0798389625188,0.999999930886,0.000245096745738,-0.000276407949694,4.18921198309e-05,1793246602354579968
+80,1.333333333,BASELINE,765,745,715,680,658,634,877.417189841,785,807.582810159,651,629.582810159,652,0.400972836823,-0.00539869853395,0.0798384792782,0.999999931151,0.00024311877869,-0.000277207596244,4.18071769229e-05,1793246602371246592
+81,1.350000000,BASELINE,765.008779013,745,714.991220987,680,658,634,878,785,807,651,629,652,0.400971468159,-0.00540056926565,0.0798378072024,0.999999931706,0.000239442868524,-0.000278420963251,4.16668228678e-05,1793246602387913472
+82,1.366666667,BASELINE,765.587166082,745,714.412833918,680,658,634,878,785,807,651,629,652,0.400972444897,-0.00539910181456,0.0798382803829,0.999999931364,0.000241993991658,-0.000277452529042,4.16120175604e-05,1793246602404580352
+83,1.383333333,BASELINE,765.835630309,745,714,680,658,634,878,785,807,651,629.164369691,652,0.400973004009,-0.00539813883577,0.0798386599541,0.999999931204,0.000243394746695,-0.00027680013259,4.16281578069e-05,1793246602421246976
+84,1.400000000,BASELINE,765.261377729,745,714,680,658,634,878,785,807,651,629.738622271,652,0.400972521704,-0.00539843384143,0.0798388060953,0.999999931514,0.000241926870006,-0.000276935828131,4.18212124637e-05,1793246602437913856
+85,1.416666667,BASELINE,765.306632034,745,714,679.693367966,658,633.693367966,878,785,807.306632034,651,629.693367966,652,0.400972195321,-0.00539810487132,0.079838617785,0.999999931246,0.000242512967359,-0.000277389746255,4.18480262781e-05,1793246602454580736
+86,1.433333333,BASELINE,765.869426473,745,714,679.130573527,658,633.130573527,878,785,807.869426473,651,629.130573527,652,0.400971999197,-0.00539725462776,0.0798381500718,0.999999930489,0.000244814968137,-0.000278109509597,4.17359613948e-05,1793246602471247104
+87,1.450000000,BASELINE,765.534303033,745,714,679.465696967,658,633.465696967,878,785,808,651,629,652,0.400972247531,-0.00539793556914,0.0798381714531,0.999999930659,0.000244617920206,-0.000277643575863,4.19214951837e-05,1793246602487913472
+88,1.466666667,BASELINE,765,745,714.068507651,680,658,634,878,785,807.931492349,651,629,652,0.400972506207,-0.00539901524898,0.0798383170792,0.999999931067,0.000243628961799,-0.000277010356483,4.21422190306e-05,1793246602504580096
+89,1.483333333,BASELINE,765,745,714.644834006,680,658,634,878,785,807.355165994,651,629,652,0.400971846259,-0.00539962177583,0.0798382884344,0.999999931165,0.000242366106589,-0.000277792290557,4.19573691765e-05,1793246602521246720
+90,1.500000000,BASELINE,765,745,714.778589858,680,658,634,878,785,807.221410142,651,629,652,0.400971464846,-0.00539966615905,0.0798381969338,0.999999931086,0.000242077685622,-0.000278337637374,4.18811533939e-05,1793246602537913600
+91,1.516666667,BASELINE,765,745,714.201612647,680,658,634,878,785,807.798387353,651,629,652,0.400971530739,-0.00539880778426,0.0798380044916,0.999999930726,0.000243354128629,-0.000278503043812,4.19793953031e-05,1793246602554580480
+92,1.533333333,BASELINE,765.382739568,745,714,680,658,634,878,785,808,651,629,652,0.400971610413,-0.00539837654212,0.0798379262017,0.999999930762,0.000243304051421,-0.000278418563791,4.19775283005e-05,1793246602571247360
+93,1.550000000,BASELINE,765.971053036,745,714,680,658,634,878,785,808,651,629,652,0.40097169749,-0.00539817471784,0.0798379092241,0.999999931011,0.0002425414848,-0.000278199866844,4.1921891639e-05,1793246602587913984
+94,1.566666667,BASELINE,764.901639198,745,714.549180401,680,658,634,877.450819599,784.450819599,808,651,629,652,0.400971390429,-0.00539689398913,0.0798382924739,0.99999993077,0.000243560633049,-0.000278230652731,4.15457832364e-05,1793246602604580352
+95,1.583333333,BASELINE,764.126717735,745,714.873282265,679.873282265,658,634,877,784,808,651,629,652,0.400971497075,-0.00539624400315,0.0798386704723,0.999999930695,0.00024422223209,-0.000277954426814,4.13156643756e-05,1793246602621246976
+96,1.600000000,BASELINE,764.704031547,745,714.295968453,679.295968453,658,634,877,784,808,651,629,652,0.400973147353,-0.00539803541339,0.079838956149,0.999999931301,0.000243284556062,-0.000276540587537,4.16636422358e-05,1793246602637913600
+97,1.616666667,BASELINE,765,745,714,679,658,634,877,784.285009629,808,651,629,652,0.400973306358,-0.00539830023162,0.0798388252781,0.999999931293,0.000243255810476,-0.000276595546189,4.16664040552e-05,1793246602654580224
+98,1.633333333,BASELINE,765,745,714,679,658,634,877,784.869842398,808,651,629,652,0.400971896579,-0.00539695911238,0.0798382562094,0.999999930638,0.000244183237478,-0.000278195644322,4.13060070455e-05,1793246602671246848
+99,1.650000000,BASELINE,765,745,714.451518615,679.451518615,658,634,877.451518615,785,808,651,629,652.451518615,0.400972065852,-0.00539702038756,0.0798382596056,0.999999930792,0.000244340127598,-0.000277485800046,4.14222511613e-05,1793246602687913728
+100,1.666666667,BASELINE,765,744.967915228,714.967915228,680,658,634,877.967915228,785,807.967915228,651,629,652.967915228,0.400972695169,-0.00539747909013,0.0798384890797,0.999999931171,0.000244263074224,-0.000276147247509,4.16671176493e-05,1793246602704580608
+101,1.683333333,BASELINE,765,744.390855566,714.390855566,680,658,634,877.390855566,785,807.390855566,651,629,652.390855566,0.400973460672,-0.00539786935699,0.0798397750709,0.999999931457,0.000243958997696,-0.000275361528892,4.17791015034e-05,1793246602721246976
+102,1.700000000,BASELINE,765,744.18631535,714.18631535,679.81368465,658,634,877,785,807.18631535,651,629,652,0.400973607104,-0.00539791390501,0.079840170791,0.999999931285,0.000244375641369,-0.000275592524895,4.19355964787e-05,1793246602737913600
+103,1.716666667,BASELINE,765,744.763719725,714.763719725,679.236280275,658,634,877,785,807.763719725,651,629,652,0.400972454063,-0.00539723276481,0.0798386977696,0.999999930147,0.00024630512747,-0.000277957676488,4.21855234143e-05,1793246602754579968
+104,1.733333333,BASELINE,765,745,714.653470921,679,658,634,877.346529079,784.653470921,808,651,629,652,0.400971755118,-0.00539766904935,0.0798381297019,0.999999930316,0.000244897999878,-0.000278622254225,4.19893881583e-05,1793246602771246592
+105,1.750000000,BASELINE,765,745,714.06691774,679,658,634,877.93308226,784.06691774,808,651,629,652,0.400971370703,-0.00539887932046,0.0798381884521,0.999999931383,0.00024117975991,-0.000278108926101,4.14842870018e-05,1793246602787913216
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634,878,785,808,651,629,651,0.400973852153,-0.00539829582198,0.0798389837156,0.999999931611,0.000242286218747,-0.000276254821791,4.19290623805e-05,1793246602818592000
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.422034515,745,714,679.577965485,658,634,878,785,808,651,629,651.577965485,0.400972663366,-0.00539782343873,0.0798387120798,0.999999931422,0.000242096176689,-0.000277166123214,4.15305541593e-05,1793246602835259648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.154179107,680,658,634,877.845820893,784.845820893,808,651.154179107,629,652,0.400971757008,-0.00539758532952,0.0798384150677,0.999999931242,0.000241981613856,-0.00027794479701,4.13255545328e-05,1793246602851926784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.725651357,680,658,634,877.274348643,784.274348643,808,651.725651357,629,652,0.400971615058,-0.00539798129412,0.0798380493734,0.99999993109,0.000242071339119,-0.00027836450798,4.16442951056e-05,1793246602868592896
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.692452194,745,714.692452194,680,658,634,877,784.307547806,807.692452194,651.692452194,629.307547806,652,0.400970996596,-0.00539809850297,0.0798376511333,0.999999930702,0.000243002528872,-0.00027892284055,4.18129258044e-05,1793246602885259264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.10093061,745,714.10093061,680,658,634,877,784.89906939,807.10093061,651.10093061,629.89906939,652,0.400969938147,-0.00539795832313,0.0798372228421,0.999999930092,0.000244710683517,-0.000279609169127,4.1842952771e-05,1793246602901926144
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+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.635981851,679.364018149,658,634,877.364018149,785,808.364018149,651,629,652,0.400971600252,-0.00539869444994,0.0798382817406,0.999999930698,0.000243718110793,-0.000278337635393,4.16461388081e-05,1793246602951924992
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+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.460373999,658,634,878,784.539626001,808,651,629.539626001,652,0.401086240417,-0.00539929771404,0.0798826231375,0.999999949772,0.000244242706254,-0.000197421398599,4.27370240928e-05,1793246603035258112
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.11213094,658.11213094,634,878,785,808,651,629.88786906,652,0.401146810866,-0.00539982020764,0.0799010676844,0.999999955499,0.00024661844617,-0.000162322095626,4.28030955507e-05,1793246603051924736
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.688457528,658.688457528,634,878,785,808,651,629.311542472,652,0.401219128704,-0.00540193672736,0.0799152046894,0.999999960065,0.000243220164704,-0.000137814691776,4.14893002376e-05,1793246603068591872
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.727358492,634,877.727358492,785,808,651,629.272641508,652.272641508,0.40129572728,-0.00540275046843,0.0799255750089,0.9999999628,0.000241003072132,-0.000121393478415,3.97595868198e-05,1793246603085259008
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.133929615,634,877.133929615,785,808,651,629.866070385,652.866070385,0.40137736253,-0.00540203137258,0.0799315134818,0.9999999639,0.000240175755348,-0.000114486400309,3.75405082732e-05,1793246603101925632
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.5518059,714.5518059,680,658,634,877.4481941,784.5518059,808,651,630,653,0.401474381819,-0.0054036594249,0.0799339844769,0.999999965365,0.000236672639453,-0.000109911593421,3.42746862717e-05,1793246603118592256
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.026823731,714.026823731,680,658,634,877.973176269,784,807.973176269,651,629.973176269,652.973176269,0.401577186654,-0.00540591859291,0.0799355973004,0.99999996688,0.000232559958495,-0.000105895222973,3.07085669447e-05,1793246603135258880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.601390253,714.601390253,680,658,634,877.398609747,784,807.398609747,651,629.398609747,652.398609747,0.40170656992,-0.00540709540851,0.0799403239726,0.999999967794,0.000231925764127,-9.94009268997e-05,2.72403719886e-05,1793246603151926016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.339230626,784.169615313,807.169615313,651,629,652,0.401845820228,-0.00540861723764,0.0799453962454,0.999999969178,0.000229914180794,-9.07795766317e-05,2.32758113076e-05,1793246603168593152
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878.446948892,784.723474446,807.723474446,651,629,652,0.402007423156,-0.00541092065475,0.0799512514353,0.99999997158,0.000224782282584,-7.73396326507e-05,1.8186792114e-05,1793246603185259520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.691011758,658.308988242,634,878.382023516,785,808,651,629,652.308988242,0.40218530721,-0.00541249160831,0.0799577257136,0.999999973424,0.000220902609037,-6.4721288179e-05,1.28788595118e-05,1793246603201925632
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.073935453,658.926064547,634,877.147870905,785,808,651,629,652.926064547,0.402379424977,-0.00541333223248,0.0799648172773,0.999999974751,0.000218271511431,-5.29221480362e-05,7.35265065512e-06,1793246603218591744
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.506567924,658.493432076,634,877.506567924,785,808,651,629.506567924,652.493432076,0.402582870718,-0.0054150953084,0.0799617478994,0.99999997664,0.000207750164499,-5.96590776257e-05,-2.3350804732e-07,1793246603235258624
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.082395248,744.917604752,714.917604752,680,658.082395248,634,877.917604752,784.917604752,808,651,629.917604752,652,0.402792975351,-0.00541712242753,0.0799569695378,0.999999978221,0.00019665996313,-6.94051097647e-05,-8.16843314825e-06,1793246603251925248
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.660040829,744.339959171,714.339959171,680,658.660040829,634,877.339959171,784.339959171,808,651,629.339959171,652,0.403035472238,-0.00541998186716,0.0799502327919,0.99999997871,0.000188606415557,-8.20715257983e-05,-1.6514215794e-05,1793246603268592128
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.765277233,744.234722767,714.234722767,680,658.765277233,634,877.234722767,784.234722767,808,651,629,652,0.403301518692,-0.00542255168491,0.0799461925885,0.999999979539,0.000180260725802,-8.84578409847e-05,-2.45717548138e-05,1793246603285259008
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.194834182,744.805165818,714.805165818,680,658.194834182,634,877.805165818,784.805165818,808,651,629,652,0.403601247706,-0.00542470726088,0.0799460092077,0.999999981089,0.000171497190206,-8.58618259176e-05,-3.22170230099e-05,1793246603301925632
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.393419854,745,714.606580146,679.606580146,658.393419854,634,877.606580146,784.606580146,808,651.393419854,629.393419854,652.393419854,0.403930953906,-0.00542710972736,0.0799511671661,0.999999985635,0.000148708887278,-7.75350409339e-05,-2.45957721776e-05,1793246603318592256
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.990912707,745,714.009087293,679.009087293,658.990912707,634,877.009087293,784.009087293,808,651.990912707,629.990912707,652.990912707,0.404276209729,-0.00542964025971,0.0799590957603,0.999999990727,0.00011864571948,-6.62356164457e-05,-9.05554016684e-06,1793246603335258880
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.433808759,744.433808759,714,679.566191241,658.433808759,634,877.566191241,784,808,651.433808759,629.433808759,652.433808759,0.40465226753,-0.00542799754946,0.0799572186312,0.999999989606,0.000126204643628,-6.72552388548e-05,-1.83339347162e-05,1793246603351925504
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714.141636113,680,658.141636113,634,878,784.141636113,808,651,629,652,0.405041979347,-0.00542882094537,0.079955183215,0.999999989072,0.000128828739312,-6.74711571039e-05,-2.65749621541e-05,1793246603368592128
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714.718646762,680,658.718646762,634,878,784.718646762,808,651,629,652,0.405472199845,-0.00543742300935,0.0799531267485,0.999999990893,0.000114497655048,-6.46317507141e-05,-3.04490153107e-05,1793246603385258752
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.301593616,715,680,659,634,878,785,808,651,629,652,0.405915574121,-0.00544208424653,0.0799470210044,0.999999991265,0.000104628728051,-7.40108341236e-05,-3.23345577856e-05,1793246603401925632
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.890189545,715,680,659,634,878,785,808,651,629,652,0.406371465837,-0.00544299531779,0.0799370618892,0.999999990062,9.90060744129e-05,-9.50172681281e-05,-3.23277955267e-05,1793246603418592512
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.529513383,680,659,634,878,785,808,651,629,652,0.406862414107,-0.00544573827446,0.079930425875,0.999999989233,9.63855762117e-05,-0.000105231241515,-3.42031522123e-05,1793246603435259136
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.048623464,745,714,680,659,634,877.951376536,784.951376536,808,651,629,652,0.407363610024,-0.00544911262487,0.079924620657,0.99999998851,9.37589084164e-05,-0.000113443791437,-3.63382847193e-05,1793246603451925760
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.623978136,745,714,680,659,634,877.376021864,784.376021864,808,651,629,652,0.407888718215,-0.00545477538643,0.0799195589587,0.999999987797,8.36064315021e-05,-0.000126789498709,-3.66113355038e-05,1793246603468592128
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.7962186,745,714,680,659.2037814,634,877.2037814,784,808,651,629,652.2037814,0.408439610199,-0.00546045271548,0.0799156605673,0.999999987126,7.64112298079e-05,-0.000136046544216,-3.74287062865e-05,1793246603485258752
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.208023534,745,714,680,659.791976466,634,877.791976466,784,808,651,629,652.791976466,0.409039140751,-0.00546615752432,0.0799139566409,0.999999986966,7.47946389988e-05,-0.000137590728762,-3.92728834666e-05,1793246603501925376
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878,784,808,651,629.37423577,652.62576423,0.409692498969,-0.00548032972274,0.0799365529984,0.999999992583,5.79435178273e-05,-0.000100401943184,-3.7374895652e-05,1793246603518592256
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,878,784,808,651,629.953247105,652.046752895,0.410375310767,-0.00549913513518,0.0799724460655,0.999999998022,3.27563158602e-05,-4.20191226632e-05,-3.34292574475e-05,1793246603535259136
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.531323204,680,659.468676796,634,878,784,808.531323204,651,630,652,0.411063321872,-0.00551466045095,0.0799881853647,0.999999999234,1.22636724071e-05,-1.76477236392e-05,-3.27014222842e-05,1793246603551925760
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.892057219,784,808.892057219,651,629.892057219,652,0.411746679056,-0.00552633011869,0.0799934247101,0.999999999406,-2.98209644712e-06,-9.7132759754e-06,-3.29428465298e-05,1793246603568592384
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.321330167,784,808.321330167,651,629.321330167,652,0.412408125226,-0.00552270467774,0.0799612372285,0.999999997578,2.49919095031e-06,-5.94407319564e-05,-3.6127989e-05,1793246603585259520
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.259185938,745,715,680,659,634,877,784,808.259185938,651,629.259185938,652,0.413108469156,-0.00552268869471,0.0799328968851,0.999999994418,-5.70924881809e-07,-9.78523233031e-05,-3.98455918822e-05,1793246603601926144
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.852314625,745,715,680,659,634,877,784,808.852314625,651,629.852314625,652,0.413858930189,-0.00552732324241,0.079909513303,0.99999999151,-1.46589181883e-05,-0.000121684230372,-4.42492328537e-05,1793246603618592768
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714.565147863,680.434852137,659,634,877.434852137,784,809,651,630,652.434852137,0.414648943895,-0.00553225004067,0.0799215894388,0.999999993713,-2.94058483454e-05,-9.83318830714e-05,-4.51613027328e-05,1793246603635259136
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.986202299,745,714.013797701,681,659,634,878,784,809,651,630,653,0.415451677696,-0.00553724066421,0.0799448427855,0.999999996187,-4.39002713208e-05,-6.06767086246e-05,-4.49101439729e-05,1793246603651925504
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.410532444,745,714.589467556,681,659,634,878,784,809,651,630,653,0.4162383904,-0.0055408846393,0.0799445037809,0.999999995231,-3.92155870018e-05,-7.76285845464e-05,-4.44305817865e-05,1793246603668592384
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.161385161,745,714.838614839,681,659.161385161,634,878,784,809,651,630,653,0.417037826135,-0.00554589050334,0.0799447578916,0.999999994718,-4.00268352687e-05,-8.3589476977e-05,-4.44284992108e-05,1793246603685259008
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.723974619,745,714.276025381,681,659.723974619,634,878,784,809,651,630,653,0.417868891339,-0.00555428202971,0.0799464864901,0.999999995538,-5.45009990299e-05,-6.22267298602e-05,-4.56134333145e-05,1793246603701925632
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.692484757,745,714.307515243,681,659.692484757,634,878.307515243,784,809,651,630,652.692484757,0.418755315582,-0.00555944442585,0.079961654898,0.999999996464,-6.43703927238e-05,-2.70223771726e-05,-4.68849068814e-05,1793246603718592256
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.088763504,745,714.911236496,681,659.088763504,634,878.911236496,784,809,651,630,652.088763504,0.419695062923,-0.00556149644631,0.0799897688506,0.999999996169,-6.98043612262e-05,2.15145386709e-05,-4.82397371914e-05,1793246603735259136
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.494970308,634,878.505029692,784,809.494970308,651,630,652,0.420570037472,-0.0055653187737,0.0799764924777,0.999999996047,-7.39998755249e-05,-5.75124965618e-09,-4.928997158e-05,1793246603751926016
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.925566357,681,659.925566357,634,878,784.074433643,809.925566357,651,630,652.074433643,0.421441515075,-0.00556866393543,0.0799609959406,0.999999995403,-7.77193972513e-05,-2.57188830054e-05,-4.99154606876e-05,1793246603768592384
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.351641068,681,659.351641068,634,878,784.648358932,809.351641068,651,630,652.648358932,0.42236444866,-0.00556675932609,0.0799784771679,0.999999995671,-7.9677262805e-05,1.46703915962e-06,-4.80429965866e-05,1793246603785259008
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.223007477,745,714.223007477,681,659.223007477,634,878.223007477,784.776992523,809,651,630,652.776992523,0.423284256472,-0.00555293733167,0.0799949356647,0.999999996532,-6.46478651749e-05,2.33190637934e-05,-4.70309646165e-05,1793246603801926656
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.79880026,745,714.79880026,681,659.79880026,634,878.79880026,784.20119974,809,651,630,652.20119974,0.424199119627,-0.00552026270295,0.0800097762619,0.999999997944,-2.27455713407e-05,3.67331662363e-05,-4.73800876549e-05,1793246603818595840
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.613547428,681,660,633.613547428,879,784.386452572,809.386452572,651,630,652.386452572,0.425087100984,-0.00550664446051,0.0799763603687,0.999999998334,-5.06634165242e-06,-3.07869200116e-05,-4.8572236338e-05,1793246603835261952
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714.019525214,681,660,633.019525214,879,784.980474786,809.980474786,651,630,652.980474786,0.425960643657,-0.00550326169927,0.0799170251688,0.999999988689,-3.97696108134e-07,-0.000141778008866,-5.02171866266e-05,1793246603851926016
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633.555328298,879,784.444671702,809.444671702,651,630,652.444671702,0.426916086835,-0.0055158630603,0.0799109684701,0.999999990828,-2.04728520857e-05,-0.000122927658406,-5.30451981082e-05,1793246603868592640
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,879,784,809,651,630,652.13023695,0.427868061783,-0.00552600163105,0.0799105185428,0.999999992341,-3.62826278664e-05,-0.000104851252377,-5.48514215883e-05,1793246603885259264
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,879,784,809,651,630,652.707571366,0.428798574702,-0.00552582061543,0.0799231001607,0.999999992529,-3.45625771901e-05,-0.000104580951181,-5.3011860679e-05,1793246603901925888
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.709060508,745.290939492,714.290939492,681,660,634,879,784.290939492,809,651,630,653,0.4297477742,-0.00553042038963,0.0799500243234,0.999999995151,-4.12173560395e-05,-7.3082888475e-05,-5.15500473121e-05,1793246603918592768
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.11949939,745.88050061,714.88050061,681,660,634,879,784.88050061,809,651,630,653,0.43071615363,-0.00553992718839,0.079991669739,0.999999997086,-5.64680982385e-05,-9.53250813714e-06,-5.04759557005e-05,1793246603935259136
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.461993577,745.538006423,714.538006423,680.538006423,660.461993577,634,879,785,809.461993577,651,630,653,0.43169653059,-0.00554139438383,0.0800218567161,0.999999996526,-5.68919785497e-05,3.63407928377e-05,-4.88888214987e-05,1793246603951925760
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.041024574,680.041024574,661,634,878.958975426,785,810,651,630,653.041024574,0.432669084752,-0.00554014018091,0.080041987149,0.999999995227,-5.30067435016e-05,6.68389255971e-05,-4.76273448984e-05,1793246603968592384
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.614720067,680.614720067,661,634,878.385279933,785,810,651,630,653.614720067,0.433500463199,-0.00553008834107,0.0799693640413,0.999999996781,-4.21123710318e-05,-4.39477334316e-05,-5.22877471553e-05,1793246603985259008
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.807024959,745,714.807024959,681.192975041,660.807024959,634,878.192975041,785,810,651,630,653.807024959,0.434352260952,-0.00552470069586,0.0799175062594,0.999999990511,-3.94218850386e-05,-0.000119398971606,-5.62865720489e-05,1793246604001925376
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.219446462,745,714.219446462,681.780553538,660.219446462,634,878.780553538,785,810,651,630,653.219446462,0.435245813112,-0.00552885058959,0.0799081102732,0.999999989317,-5.35070490193e-05,-0.00012259488077,-5.89325777672e-05,1793246604018592512
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.363148749,681.636851251,660.363148749,634,879,785,810,651,630.363148749,653,0.436161439317,-0.00553600293626,0.0799326973139,0.999999992268,-6.41100562468e-05,-8.96009507587e-05,-5.7659781253e-05,1793246604035259136
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.942773348,681.057226652,660.942773348,634,879,785,810,651,630.942773348,653,0.437090223983,-0.00554494506869,0.0799775419072,0.999999995287,-7.26373212041e-05,-3.50339700181e-05,-5.40509553331e-05,1793246604051925504
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.518840471,745,714.481159529,681,661,634,879,785,810,651,630.481159529,653,0.438027233237,-0.00554833927409,0.0800114635523,0.999999995991,-6.86281564943e-05,2.22909550446e-05,-5.30231861607e-05,1793246604068592128
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681.09412944,660.90587056,633.90587056,879,784.90587056,810,651,630,653,0.438948371392,-0.00555079169408,0.0800377009704,0.999999994091,-6.61642907297e-05,6.84333470156e-05,-5.25040675999e-05,1793246604085258496
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681.667440947,660.332559053,633.332559053,879,784.332559053,810,651,630,653,0.439784128414,-0.00555154366832,0.0800309118368,0.999999993928,-7.85581404887e-05,5.61111303321e-05,-5.31349627344e-05,1793246604101925120
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+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.422097018,715,682,660.422097018,633,879.422097018,784.577902982,811,651,630,652,0.443638114296,-0.00554483493047,0.0799037873132,0.99999998821,-6.86796046874e-05,-0.000122792282544,-6.1522587505e-05,1793246604185259264
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765.272388909,745,714.272388909,682.727611091,660,633,879,785,811,651,630,652.727611091,0.445212717652,-0.00555742155595,0.0800133464784,0.999999993327,-9.370812548e-05,3.77882150797e-05,-5.60037757937e-05,1793246604218592000
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.902915974,682.097084026,660,633,879,784.097084026,811,651,630,653,0.446583622956,-0.0055667069807,0.0800223539006,0.999999992687,-9.81553262426e-05,4.51714580016e-05,-5.43274275107e-05,1793246604251924992
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879,784.783812357,811,651,630,653,0.448897028867,-0.00556759610019,0.0798677866343,0.999999976363,-0.000106420714508,-0.000178608806963,-6.36271573784e-05,1793246604318593024
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879,784.195843851,811,651,630,653,0.449398155943,-0.00557020103974,0.0798328366606,0.999999965305,-0.000113097926975,-0.00022881297661,-6.51441487374e-05,1793246604335259648
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,683,660,632.613678007,879,784,811,651,630,653,0.449923210507,-0.0055700222917,0.0798315654369,0.999999965359,-0.000115519273476,-0.000227369203973,-6.51126015814e-05,1793246604351925760
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,683,660,632.03441021,879,784,811,651,630,653,0.450460215531,-0.0055684532507,0.079847114825,0.9999999712,-0.000115815058259,-0.000200130234136,-6.43076478996e-05,1793246604368592128
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+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,683,658.015980464,631,879.015980464,783,811.984019536,651,630,653,0.456011379865,-0.00557903965128,0.0797043619747,0.999999888197,-0.000137108235777,-0.000447891756109,-6.48056317223e-05,1793246605001924864
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,683,658.590095327,631,879.590095327,783,811.409904673,651,630,653,0.456010606887,-0.00557926763897,0.079703546177,0.999999887481,-0.000135944756674,-0.000449904107344,-6.43711424175e-05,1793246605018591744
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,713.831804045,683,658.831804045,631.168195955,879.831804045,783,811.168195955,651,630,653,0.456010632608,-0.00557923797773,0.0797032328484,0.999999887131,-0.000135333066387,-0.00045089484047,-6.4154998866e-05,1793246605035258368
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,713.243754107,683,658.243754107,631.756245893,879.243754107,783,811.756245893,651,630,653,0.45601265206,-0.00557856516825,0.0797041737932,0.999999887708,-0.000136098762038,-0.000449335390682,-6.44838942161e-05,1793246605051924992
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,713.339166768,683,658.339166768,631.660833232,879.339166768,783,812,651,630,653,0.456012955674,-0.00557919549651,0.0797042509104,0.999999887592,-0.000137776270001,-0.00044909400908,-6.44078697548e-05,1793246605068591616
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,713.91845635,683,658.91845635,631.08154365,879.91845635,783,812,651,630,653,0.456012044514,-0.00558074841843,0.0797037164562,0.999999886982,-0.000140099321536,-0.000449785791615,-6.40451707168e-05,1793246605085258240
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.49689045,714,683.49689045,658.50310955,631.49689045,880,783,812,651,630,653.49689045,0.456012019198,-0.00557955901963,0.0797030730737,0.999999886802,-0.00013952238463,-0.000450340798615,-6.42044317983e-05,1793246605101924864
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,683.92526181,658.07473819,631.92526181,879.92526181,783,812,651,630,653.92526181,0.456012536455,-0.00557827492036,0.0797027938623,0.999999886953,-0.000138288217506,-0.00045036468519,-6.43616247035e-05,1793246605118591744
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714,683.350400226,658.649599774,631.350400226,879.350400226,783,812,651,630,653.350400226,0.456015713316,-0.00557936343787,0.0797050709798,0.999999888833,-0.000135835248961,-0.000446984430995,-6.39327693847e-05,1793246605135258368
+246,4.100000000,HOLD_POSE2,766,746,714,684,658,631,880,783,811,651,630,653,0.456014780759,-0.00557914392949,0.0797038711038,0.999999887951,-0.000137664259986,-0.000448422464487,-6.37501207588e-05,1793246605173758720
+247,4.116666667,HOLD_POSE2,765.444960398,745.444960398,714,684,658.555039602,631.555039602,879.444960398,783.555039602,811.555039602,651,630,653,0.456014912356,-0.00557920143727,0.0797048273863,0.999999888195,-0.000135956363715,-0.00044847388893,-6.32275399021e-05,1793246605190425344
+248,4.133333333,HOLD_POSE2,765.119323394,745,714,683.880676606,658.880676606,631.880676606,879,783.880676606,811.880676606,651,630,653,0.456014934026,-0.00557906754838,0.0797053746887,0.999999888354,-0.000134334191553,-0.00044866483151,-6.28129929807e-05,1793246605207092224
+249,4.150000000,HOLD_POSE2,765.720974088,745,714,683.279025912,658.279025912,631.279025912,879,783.279025912,811.279025912,651,630,653,0.456014511355,-0.00557815999867,0.0797042688173,0.999999888185,-0.000133058531631,-0.000449419732294,-6.28351391133e-05,1793246605223758592
+250,4.166666667,HOLD_POSE2,766,745,714,683.308552168,658.308552168,631.308552168,879,783,811.308552168,651,630,653,0.456013902331,-0.00557735909446,0.0797033130203,0.999999887683,-0.000133201605426,-0.000450449504959,-6.31328614877e-05,1793246605240424704
+251,4.183333333,HOLD_POSE2,766,745,714,683.883959345,658.883959345,631.883959345,879,783,811.883959345,651,630,653,0.456013132139,-0.00557665042393,0.0797024870169,0.999999886894,-0.00013457168801,-0.000451717003788,-6.36689192482e-05,1793246605257091072
+252,4.200000000,HOLD_POSE2,766,745,714,683.528589635,659,631.528589635,879.471410365,783,811.528589635,651,630,653,0.456013664119,-0.00557733070796,0.0797027126104,0.999999886851,-0.00013482699163,-0.000451728747162,-6.37212192419e-05,1793246605273757696
+253,4.216666667,HOLD_POSE2,766,745,714,683,659,631.060703908,879.939296092,783,811,651,630.060703908,653,0.456014492168,-0.0055782862036,0.0797031817991,0.999999887034,-0.000134882540403,-0.00045132080907,-6.36215495522e-05,1793246605290424064
+254,4.233333333,HOLD_POSE2,766,745,714,683,659,631.639751901,879.360248099,783,811,651,630.639751901,653,0.456015039519,-0.00557859571133,0.0797034627142,0.999999887533,-0.000135636994521,-0.000450037934586,-6.32676979628e-05,1793246605307090688
+255,4.250000000,HOLD_POSE2,766,745,714,683.196221134,659,631.803778866,879,783,811,651,630.803778866,653,0.456015359184,-0.00557900437059,0.0797036141392,0.999999887759,-0.000136495962519,-0.000449292985503,-6.31355762213e-05,1793246605323757568
+256,4.266666667,HOLD_POSE2,766,745,714,683.715514999,659,631.284485001,879,783,811,651,630.284485001,653,0.456015303969,-0.00557957628011,0.0797035523623,0.99999988754,-0.00013752700969,-0.000449433716007,-6.33685266453e-05,1793246605340424192
+257,4.283333333,HOLD_POSE2,766,745,714,683.708933237,658.708933237,631.291066763,879.291066763,783,811,651.291066763,630,653,0.456015202016,-0.00557938064246,0.0797031636197,0.99999988739,-0.000136544003054,-0.000450073360583,-6.33185183307e-05,1793246605357091328
+258,4.300000000,HOLD_POSE2,766,745,714,683.065221573,658.065221573,631.934778427,879.934778427,783,811,651.934778427,630,653,0.456015043435,-0.0055782550753,0.0797023787382,0.999999887316,-0.000133120849144,-0.000451317469601,-6.29256885043e-05,1793246605373758208
+259,4.316666667,HOLD_POSE2,765.467685924,745,714,683,658,631.467685924,879.467685924,783,811,651.467685924,630,653,0.456014114222,-0.00557769036644,0.0797013212193,0.999999886883,-0.000132136192578,-0.000452554079938,-6.29965012021e-05,1793246605390424320
+260,4.333333333,HOLD_POSE2,765.121866378,745,714,683,658,631,879.121866378,783,811,651,630,653,0.456013394097,-0.00557732332328,0.0797006588027,0.999999886523,-0.000131781171805,-0.000453443907526,-6.30637966131e-05,1793246605407090944
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+262,4.366666667,HOLD_POSE2,766,745,714,683,658.277376074,631,880,783,811.277376074,651,630,653,0.456014871944,-0.00557701933756,0.0797022274575,0.999999886985,-0.000132923694832,-0.000452098820481,-6.2994080882e-05,1793246605440424448
+263,4.383333333,HOLD_POSE2,766,745,714,683,658.85081485,631,880,783,811.85081485,651,630,653,0.456016703356,-0.00557596026589,0.0797025381607,0.999999887736,-0.000132226483399,-0.000450597607805,-6.32952129257e-05,1793246605457091072
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,658,631,879,783,811,651,630,653,0.45601636585,-0.00557534707347,0.0797027037409,0.999999887872,-0.000131603440232,-0.000450509871729,-6.30687665115e-05,1793246605490482432
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.594673719,745,714,684,658.594673719,631,879,783,811,651.594673719,630,653,0.456015393508,-0.00557726015045,0.0797014799801,0.999999886911,-0.000133571693572,-0.000452123127335,-6.26233297798e-05,1793246605507149056
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.816625038,745,714,683.816625038,659,631,879,783,811.183374962,651.816625038,630,653,0.456014895702,-0.00557852370602,0.0797008496923,0.9999998864,-0.000134795637097,-0.000452923748907,-6.23738117542e-05,1793246605523815168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.240708658,745,714,683.240708658,659,631,879,783,811.759291342,651.240708658,630,653,0.456015413711,-0.00557839686461,0.0797014898219,0.999999886864,-0.000134426274986,-0.000451984806606,-6.25436868151e-05,1793246605540482048
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.335073273,745.335073273,714,683.335073273,658.664926727,631,879.335073273,783,811.664926727,651,630,653,0.456016960665,-0.00557805389345,0.0797023061965,0.999999887646,-0.000133781272454,-0.000450449382415,-6.24997769067e-05,1793246605557148672
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.910758624,745.910758624,714,683.910758624,658.089241376,631,879.910758624,783,811.089241376,651,630,653,0.456019246492,-0.00557755572213,0.0797032491304,0.999999888653,-0.00013293833588,-0.000448485631825,-6.23023505795e-05,1793246605573815296
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,684,658.498348551,631,880,783,811,651,630,653,0.456018219426,-0.00557849078467,0.0797036057177,0.999999888184,-0.000135085577034,-0.0004488849704,-6.23312485526e-05,1793246605590481664
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.91375026,746,714,684,658.91375026,631,879.91375026,783,811,651,630,653,0.456016648482,-0.00557948331158,0.0797036719027,0.99999988755,-0.000137118614125,-0.000449683094645,-6.23122808432e-05,1793246605607148288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.336509784,746,714,684,658.336509784,631,879.336509784,783,811,651,630,653,0.456015441258,-0.0055793061561,0.0797026972811,0.99999988755,-0.000135378713225,-0.000450283463038,-6.17844665752e-05,1793246605623815168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.759794542,714,684,658,631,879.240205458,783,811,651,630,653,0.456006194782,-0.0055785601908,0.0796979905623,0.999999884687,-0.000134426965055,-0.00045686551807,-6.18827469411e-05,1793246605640482048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.183813557,714,684,658,631,879.816186443,783,811,651,630,653,0.455985710493,-0.0055770191045,0.0796880668643,0.999999877667,-0.000134576950503,-0.000471809181425,-6.28562250056e-05,1793246605657148672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.599230735,658,631,879.599230735,783,811,651,630,653,0.455950414238,-0.00557663391299,0.0796745400963,0.999999866102,-0.000134865079717,-0.000495591851604,-6.32141840495e-05,1793246605673815296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.010616077,658,631,879.010616077,783,811,651,630,653,0.455908175435,-0.0055767905032,0.0796593245249,0.99999985182,-0.000135217958516,-0.000523517472008,-6.32836419466e-05,1793246605690481664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.563372598,745.563372598,714,683,658,631.563372598,879,783,811,651,630,653,0.455843874312,-0.00557443788124,0.0796419783699,0.999999837729,-0.000131894814741,-0.000550617938009,-6.29728298691e-05,1793246605707148288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.861041251,714,683,658.138958749,631.861041251,879.138958749,783,811,651,630,653,0.455777321024,-0.00557206631937,0.0796269313685,0.999999825458,-0.00012906166728,-0.000573165257035,-6.25182592045e-05,1793246605723814912
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.279511564,714,683,658.720488436,631.279511564,879.720488436,783,811,651,630,653,0.455704885364,-0.0055697812166,0.0796193315902,0.999999820977,-0.000128004149428,-0.000581259495383,-6.16280752906e-05,1793246605740481792
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.123818466,745,714,683,658.123818466,631,879.123818466,783.876181534,811,650.123818466,630,653,0.45552681658,-0.00556554955811,0.0796129162868,0.999999817616,-0.000122576143247,-0.00058860307466,-5.73469574611e-05,1793246605773815040
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,631.461326147,879,783.538673853,810.538673853,650.461326147,630,653,0.455423188547,-0.00556421001544,0.0796142191953,0.9999998204,-0.000121823796937,-0.000584256373126,-5.48021060444e-05,1793246605790481920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.048192215,745,714,683.048192215,658,631.951807785,879,783,810.048192215,651,630,653,0.455313972743,-0.00556301401743,0.0796162027635,0.999999823786,-0.000121496287481,-0.000578745645221,-5.21622840817e-05,1793246605807148544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.628516027,745,714,683.628516027,658,631.371483973,879,783,810.628516027,651,630,653,0.455171262735,-0.00556122108876,0.0796162795129,0.999999823408,-0.000118355513354,-0.000580365897481,-4.85001804822e-05,1793246605823814912
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,713.213218082,684,658,631.786781918,879,783,811,651,630,653,0.454847191509,-0.00555469258372,0.0796205116957,0.999999825519,-0.000110295103431,-0.000578946608309,-4.02115728808e-05,1793246605857147904
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.816362911,745,714.816362911,680,659,634,877.816362911,784.183637089,808.183637089,651,629,652.183637089,0.407001389256,-0.00539770791374,0.0797769737255,0.999999901508,0.000237150852456,-0.000372026479195,4.8374125109e-05,1793246607007148288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.60623052,680,658.60623052,634,878,784,808,651,629,652,0.406495086925,-0.00539904392537,0.0797667217489,0.99999989846,0.000230172813965,-0.000384594842433,4.67616670235e-05,1793246607023814912
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.030068599,680,658.030068599,634,878,784,808,651,629,652,0.406027908449,-0.00540361961005,0.0797693386001,0.999999906045,0.000217115216101,-0.000372426037792,4.55025233342e-05,1793246607040481536
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.439054557,745,714.560945443,680.560945443,658,634,878,784.560945443,808.560945443,651.560945443,629,652,0.405623516293,-0.00539992623383,0.0797908969347,0.999999919084,0.000226493781881,-0.000329163922982,4.67209247805e-05,1793246607057148160
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.851433224,658,634.148566776,878,785,808.851433224,651.851433224,629.148566776,652,0.405223768756,-0.00539699558296,0.0798108174028,0.99999992856,0.000234047355954,-0.00029294366927,4.78183676281e-05,1793246607073814784
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.275911942,658,634.724088058,878,785,808.275911942,651.275911942,629.724088058,652,0.404827433852,-0.00539756533415,0.0798230337083,0.999999932012,0.000232806015378,-0.000281880555596,4.81761598338e-05,1793246607090481664
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.299877311,745,714.700122689,680.299877311,658,634.700122689,877.700122689,785,808,651,629.700122689,652,0.404440794993,-0.00539820495843,0.0798298294913,0.999999932049,0.000234868010844,-0.000279839950637,4.92781135962e-05,1793246607107148288
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.875913305,745,714.124086695,680.875913305,658,634.124086695,877.124086695,785,808,651,629.124086695,652,0.404063085302,-0.00539890892918,0.0798316334845,0.999999928974,0.000239972066913,-0.000286108224778,5.10653698523e-05,1793246607123815168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714.460681907,680.539318093,658,634,877,785,808,651,629,652,0.403731565263,-0.00539791473099,0.0798304788546,0.99999992687,0.000240786952034,-0.00029285061903,5.02052581923e-05,1793246607140482048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.952494445,745,714.952494445,680,658,634,877.047505555,785,807.952494445,651,629,652,0.403416497136,-0.00539670140901,0.0798289970826,0.999999925356,0.000240176257665,-0.000298711699052,4.87396555626e-05,1793246607157148416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.369531981,745,714.369531981,680,658,634,877.630468019,785,807.369531981,651,629,652,0.403143923871,-0.00539827353019,0.0798329839297,0.999999927812,0.000236770810692,-0.000293171833283,4.8642040516e-05,1793246607173815040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.210195992,680,658.210195992,634,878,785,807.210195992,651,629,652,0.402882968824,-0.00539800485986,0.0798358176941,0.999999928892,0.000236232529287,-0.000289852209819,4.89466564818e-05,1793246607190481408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.784323729,680,658.784323729,634,878,785,807.784323729,651,629,652,0.402642129501,-0.00539454905692,0.079836655019,0.999999927635,0.000240658436969,-0.000290376697638,4.99476921841e-05,1793246607207148288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,785,808,651,629.358083155,652.358083155,0.402422768443,-0.00539423879231,0.0798343386403,0.999999927213,0.00023872858076,-0.000293332136469,5.03818077001e-05,1793246607223814656
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,785,808,651,629.931621027,652.931621027,0.402216330597,-0.00539582116336,0.0798301247127,0.99999992726,0.00023297453138,-0.000297750251965,5.04748136376e-05,1793246607240481280
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.476218389,785,808,651,629.476218389,652.476218389,0.402053020871,-0.00539657901562,0.0798342400116,0.999999930433,0.000230281754209,-0.00028896571982,5.10200370474e-05,1793246607257148160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.884953414,680,658.884953414,634,877,785,808,651,629.115046586,652,0.401899780971,-0.00539700154167,0.0798391340839,0.999999933345,0.000228694543462,-0.000279869146868,5.17912665509e-05,1793246607273814784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.307422127,680,658.307422127,634,877,785,808,651,629.692577873,652,0.401763553354,-0.00539652472557,0.0798426264657,0.999999933878,0.000229885894763,-0.000276702387332,5.32249617986e-05,1793246607290481664
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.268877002,745,714.268877002,680,658.268877002,634,877,785,808,651,629.731122998,652,0.401633952692,-0.0053973409182,0.07984248887,0.999999933436,0.000229537156675,-0.000278714413056,5.2517188372e-05,1793246607307148544
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.843773729,745,714.843773729,680,658.843773729,634,877,785,808,651,629.156226271,652,0.401511894441,-0.00539962873608,0.0798382198509,0.999999931842,0.000227435580866,-0.00028662062264,4.93721232765e-05,1793246607323814912
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.584072584,745,714.584072584,680,658.584072584,633.584072584,877,784.584072584,807.584072584,651,629,652,0.401410587537,-0.00539927244067,0.0798345481263,0.999999928384,0.000237654070065,-0.000291218971312,4.41007341527e-05,1793246607340481536
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.012942471,745,714.012942471,680,658.012942471,633.012942471,877,784.012942471,807.012942471,651,629,652,0.401317023972,-0.00539792949826,0.0798310992814,0.999999924017,0.000252469773224,-0.000294582996358,3.80359104357e-05,1793246607357148416
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.584054465,877.584054465,784.584054465,807.584054465,651,629,652,0.401246575901,-0.00539861631932,0.0798296077822,0.999999923412,0.000250123670513,-0.000298378226988,3.98061232625e-05,1793246607373817088
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.82490296,785,808,651,629,652,0.401182473975,-0.0053984329982,0.079827837076,0.999999922682,0.000248871948487,-0.000301653495937,4.12811042486e-05,1793246607390484736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.248868126,785,808,651,629,652,0.401131676217,-0.00539614945674,0.0798253231201,0.999999921501,0.000251037310797,-0.000303715260456,4.1664078515e-05,1793246607407149312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.674896104,658,634,877,785,808,651.325103896,629,652,0.4010900099,-0.00539681826348,0.0798244826272,0.999999921594,0.000250233057875,-0.000303971057618,4.23892373208e-05,1793246607423815424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.102493154,658,634,877,785,808,651.897506846,629,652,0.401055289654,-0.00539973285334,0.0798249150989,0.999999922653,0.0002471698872,-0.000302853097179,4.33746880728e-05,1793246607440482560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.484506844,679.484506844,658,634,877,784.515493156,808,651.515493156,629.484506844,652,0.401031366072,-0.00539934460612,0.0798254936549,0.999999923679,0.000244872792716,-0.000301338678613,4.32996995364e-05,1793246607457148672
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.926657747,658,634,877,784.073342253,808,651,629.926657747,652,0.401010981399,-0.00539833869608,0.079826091918,0.999999924536,0.00024324928034,-0.000299845719644,4.30177539797e-05,1793246607473815040
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.347128222,658,634,877,784.652871778,808,651,629.347128222,652,0.400998768498,-0.00539804177726,0.0798266062865,0.999999924308,0.000245121425798,-0.00029909767596,4.29037817747e-05,1793246607490481664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.768719187,679.231280813,658.231280813,634,877.231280813,785,807.768719187,651,629.231280813,652,0.400988372244,-0.00539776551655,0.0798274319615,0.999999924481,0.000245618734902,-0.000298101229566,4.29590866533e-05,1793246607507148288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.191983816,679.808016184,658.808016184,634,877.808016184,785,807.191983816,651,629.808016184,652,0.400980689442,-0.00539752011202,0.0798287226218,0.999999925255,0.00024406250785,-0.00029673375439,4.32672336979e-05,1793246607523814912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.618589344,634,877.618589344,785,807.381410656,651,629.618589344,652.381410656,0.400974880254,-0.00539781335234,0.0798294168796,0.999999924867,0.000245508319814,-0.000296820556855,4.34552362435e-05,1793246607540481536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.046861934,634,877.046861934,785,807.953138066,651,629.046861934,652.953138066,0.400970005965,-0.00539837536634,0.0798298135437,0.999999923893,0.000248452092906,-0.000297633016589,4.35832889313e-05,1793246607557148416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.544517803,680,658,634,877.544517803,785,808,651,629.544517803,652.455482197,0.400970026791,-0.00539884365421,0.0798309038015,0.999999925577,0.000245162540509,-0.000294705231215,4.34804402255e-05,1793246607573815040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.865362099,680,658,634,878,784.865362099,808,651,629.865362099,652,0.400970444155,-0.00539951348027,0.0798319396108,0.99999992714,0.000242140363932,-0.000291908943859,4.33189023288e-05,1793246607590481920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.285216158,680,658,634,878,784.285216158,808,651,629.285216158,652,0.400970727456,-0.00540087787283,0.0798325903425,0.99999992759,0.000241844453393,-0.000290652771022,4.30313818652e-05,1793246607607148800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.707938418,784.292061582,808,651,629,652,0.400970892758,-0.00540128410879,0.0798332738435,0.999999928038,0.000241747631851,-0.000289188830355,4.30376138205e-05,1793246607623815168
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.133434347,784.866565653,808,651,629,652,0.400970943946,-0.00540076374533,0.0798339890345,0.999999928482,0.000241843342243,-0.000287523964575,4.33279233786e-05,1793246607640481536
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.450459117,679.549540883,658,634,877,785,807.549540883,651,629,652,0.40097110913,-0.0054007466153,0.079834825764,0.999999928879,0.000241270536367,-0.000286632481585,4.32780864364e-05,1793246607657148160
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.036884492,745,714.963115508,679.036884492,658,634,877,784.963115508,807,651,629.036884492,652,0.400971282264,-0.0054009320345,0.0798356424748,0.999999929264,0.000240440710664,-0.000286005541911,4.31312013166e-05,1793246607673814784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.61875061,745,714.38124939,679.61875061,658,634,877,784.38124939,807,651,629.61875061,652,0.400971063299,-0.0054018607851,0.0798356201388,0.99999992971,0.000238801529126,-0.000285830375399,4.30708174107e-05,1793246607690481920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.801565435,745,714,680,658,634,877.198434565,784.198434565,807.198434565,651,629.801565435,652,0.400970912986,-0.00540187453956,0.0798357409367,0.999999929707,0.000239074876227,-0.000285616522929,4.30501103361e-05,1793246607707148800
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.226028467,745,714,680,658,634,877.773971533,784.773971533,807.773971533,651,629.226028467,652,0.400970893141,-0.00540014944747,0.0798361337441,0.999999928844,0.000242982767377,-0.000285329152184,4.3104804586e-05,1793246607723815424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.651613111,785,807.651613111,651,629,652,0.400970949751,-0.00539910522638,0.0798363755023,0.999999928626,0.000244424635546,-0.000284886264038,4.29569469789e-05,1793246607740482048
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877.077923127,785,807.077923127,651,629,652,0.400971055806,-0.00539850132717,0.0798365195764,0.99999992883,0.000244271717351,-0.000284342802225,4.26780983321e-05,1793246607757148672
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,877,784.487173322,807.512826678,651,629.512826678,652,0.400971061761,-0.00539924218431,0.0798365320977,0.999999929119,0.00024332000123,-0.000284131606377,4.27450291296e-05,1793246607773815040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.1034526,680,658.1034526,634,877,784,808,651,629.8965474,652,0.400970927611,-0.00540021015247,0.0798364132883,0.999999929412,0.00024217477989,-0.000284062783222,4.28512949474e-05,1793246607790481408
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.681216566,680,658.681216566,634,877,784,808,651,629.318783434,652,0.400970223237,-0.00540125031421,0.0798357871526,0.999999929664,0.000240718008619,-0.000284407272956,4.28887263688e-05,1793246607807148032
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.742827388,679.742827388,658.742827388,634,877,784.257172612,808,651.257172612,629,652,0.400969782753,-0.00540096150752,0.0798351474733,0.999999929612,0.000240227196447,-0.000285023340219,4.27612292678e-05,1793246607823814656
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.169096663,679.169096663,658.169096663,634,877,784.830903337,808,651.830903337,629,652,0.400969667093,-0.0053990368513,0.0798344911227,0.999999929187,0.000240925399452,-0.000285973696894,4.24307188672e-05,1793246607840481280
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.415974015,658.415974015,634,877,785,808,651.584025985,629,652,0.400969430514,-0.00539925502334,0.0798351818667,0.999999929168,0.00024158754169,-0.000285454454104,4.26003578146e-05,1793246607857148416
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.994321759,634,877,785,808,651,629.005678241,652,0.400969155384,-0.0054003712822,0.0798364279055,0.999999929324,0.000242209399136,-0.00028432379285,4.29742147077e-05,1793246607873815040
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.415259206,634,877,785,808,651,629.584740794,652,0.40097009012,-0.00540174993556,0.0798369008313,0.999999930036,0.000240285070865,-0.00028346854282,4.28639213728e-05,1793246607890481664
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e660a78d935fec49427a70f39398f245fc9ab7ef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_04/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,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+14,0.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+18,0.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+19,0.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+20,0.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+21,0.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+22,0.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+23,0.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+24,0.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+25,0.416666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+26,0.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+27,0.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+28,0.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+29,0.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+30,0.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+31,0.516666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+32,0.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+33,0.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+34,0.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+35,0.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+36,0.600000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+37,0.616666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+38,0.633333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+39,0.650000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+40,0.666666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+41,0.683333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+42,0.700000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+43,0.716666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+44,0.733333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+45,0.750000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+46,0.766666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+47,0.783333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+48,0.800000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+49,0.816666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+50,0.833333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+51,0.850000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+52,0.866666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+53,0.883333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+54,0.900000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+55,0.916666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+56,0.933333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+57,0.950000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+58,0.966666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+59,0.983333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+60,1.000000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+61,1.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+62,1.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+63,1.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+64,1.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+65,1.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+66,1.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+67,1.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+68,1.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+69,1.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+70,1.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+71,1.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+72,1.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+73,1.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+74,1.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+75,1.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+76,1.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+77,1.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+78,1.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+79,1.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+80,1.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+81,1.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+82,1.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+83,1.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+84,1.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+85,1.416666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+86,1.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+87,1.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+88,1.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+89,1.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+90,1.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+91,1.516666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+92,1.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+93,1.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+94,1.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+95,1.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+96,1.600000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+97,1.616666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+98,1.633333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+99,1.650000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+100,1.666666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+101,1.683333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+102,1.700000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+103,1.716666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+104,1.733333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+105,1.750000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+106,1.766666667,pose1_to_pose2_press,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+107,1.783333333,pose1_to_pose2_press,0.583245568673,-7.22354685457e-05,1.07004210133,0.55381736095,0.00860222587585,1.06966549219
+108,1.800000000,pose1_to_pose2_press,0.583245829472,-7.22094387165e-05,1.07004225061,0.553817621553,0.00860225103596,1.06966563679
+109,1.816666667,pose1_to_pose2_press,0.583246223717,-7.21678391537e-05,1.07004234542,0.553818015427,0.00860229128779,1.06966572949
+110,1.833333333,pose1_to_pose2_press,0.583246406133,-7.2147397112e-05,1.07004231987,0.553818197633,0.00860231108873,1.06966570561
+111,1.850000000,pose1_to_pose2_press,0.583246478409,-7.21392976848e-05,1.07004230975,0.553818269826,0.00860231893415,1.06966569614
+112,1.866666667,pose1_to_pose2_press,0.5832464801,-7.21391082103e-05,1.07004230951,0.553818271515,0.00860231911768,1.06966569592
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+114,1.900000000,pose1_to_pose2_press,0.58324828557,-7.2011674308e-05,1.07004230992,0.553820075881,0.00860244294812,1.06966569953
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+120,2.000000000,pose1_to_pose2_press,0.583395398467,-7.20310111363e-05,1.07004232531,0.553967188133,0.00860242136574,1.06966571341
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+382,6.366666667,pose2_to_pose3_retreat,0.583297564554,-7.21401161745e-05,1.07004246874,0.553869356022,0.00860231807796,1.0696658501
+383,6.383333333,pose2_to_pose3_retreat,0.583281270347,-7.21679608736e-05,1.07004256204,0.553853061684,0.00860228960691,1.06966593923
+384,6.400000000,pose2_to_pose3_retreat,0.583269431292,-7.22909980698e-05,1.07004224138,0.553841225095,0.00860217528466,1.06966562666
+385,6.416666667,pose2_to_pose3_retreat,0.583260648045,-7.20560647526e-05,1.07004252266,0.553832438629,0.0086023994268,1.06966591094
+386,6.433333333,pose2_to_pose3_retreat,0.583254538965,-7.203319769e-05,1.07004242237,0.55382632853,0.00860241891096,1.06966581237
+387,6.450000000,pose2_to_pose3_retreat,0.583250421531,-7.21102848435e-05,1.0700424728,0.553822213244,0.00860234892235,1.06966585842
+388,6.466666667,pose2_to_pose3_retreat,0.583247999574,-7.21856799888e-05,1.07004253414,0.553819793446,0.00860228066523,1.06966591542
+389,6.483333333,pose2_to_pose3_retreat,0.583246828345,-7.22084319438e-05,1.07004229439,0.553818621255,0.00860225476789,1.0696656785
+390,6.500000000,pose2_to_pose3_retreat,0.583246355666,-7.22438127983e-05,1.07004226838,0.55381814881,0.00860222020318,1.06966565308
+391,6.516666667,pose2_to_pose3_retreat,0.583246243409,-7.22593888877e-05,1.07004228158,0.553818036778,0.00860220539196,1.06966566626
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+394,6.566666667,pose2_to_pose3_retreat,0.583245973378,-7.22968568006e-05,1.07004231332,0.55381776729,0.00860216976393,1.06966569797
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+396,6.600000000,pose2_to_pose3_retreat,0.583245964876,-7.22980363729e-05,1.07004231432,0.553817758806,0.00860216864228,1.06966569897
+397,6.616666667,pose2_to_pose3_retreat,0.583245945802,-7.23006830166e-05,1.07004231657,0.55381773977,0.0086021661256,1.06966570121
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0eeab62a75d183a10c5e29984738d5cc624933b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ce6400c048cc3739b4486bfe2923aa85d8bffb1a684b7cd9e3636f0fda424d
+size 26056374
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d39358727378b6aaed19a8305845162b2e14a7ed
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+23,0.383333333,BASELINE,765.643157817,744.643157817,714,679,658.643157817,634,877,784.643157817,807.643157817,651,629,652,0.400971980478,-0.00540294987792,0.0798395377264,0.999999932254,0.00023672170952,-0.000278688441497,4.22687590473e-05,1793246608429812224
+24,0.400000000,BASELINE,765.067819849,744.067819849,714,679,658.067819849,634,877,784.067819849,807.067819849,651,629,652,0.40097044795,-0.00540237639144,0.0798387807707,0.999999931925,0.000236735243588,-0.000279922029118,4.18223361705e-05,1793246608446479104
+25,0.416666667,BASELINE,765,744.508203063,714,679.508203063,658,634,877,784.508203063,807.508203063,651,629,652,0.400970856089,-0.0054011231727,0.0798387013118,0.999999931413,0.000239619110936,-0.000279293518239,4.18605836119e-05,1793246608463145472
+26,0.433333333,BASELINE,765,745,714,680,658,634,877,785,807.913638601,651,629.086361399,652,0.400971333634,-0.00540008259248,0.0798386152309,0.999999930958,0.00024210173779,-0.0002787664311,4.19564596199e-05,1793246608479812096
+27,0.450000000,BASELINE,765,745,714,680,658,634,877,785,807.323558635,651,629.676441365,652,0.400970703405,-0.00540081206394,0.0798379624692,0.999999931037,0.000240006852346,-0.000280282279531,4.20107012819e-05,1793246608496478720
+28,0.466666667,BASELINE,765,744.738216987,714,679.738216987,658.261783013,634,877.261783013,785,807.261783013,651,629.738216987,652,0.400970976423,-0.00540149153012,0.0798380893604,0.999999931294,0.000238573953852,-0.000280587349796,4.20103202591e-05,1793246608513145088
+29,0.483333333,BASELINE,765,744.158627723,714,679.158627723,658.841372277,634,877.841372277,785,807.841372277,651,629.158627723,652,0.400972345985,-0.00540211028954,0.0798391627553,0.999999931773,0.000237944711875,-0.00027942252753,4.19436269443e-05,1793246608529811712
+30,0.500000000,BASELINE,765,744.416589774,714,679,658.583410226,634,878,785,808,651,629,652,0.400971891822,-0.00540308446851,0.0798390177765,0.999999932055,0.000236845054245,-0.000279321158979,4.21160407756e-05,1793246608546478336
+31,0.516666667,BASELINE,765,744.990159877,714,679,658.009840123,634,878,785,808,651,629,652,0.400970750439,-0.0054041925775,0.0798384136873,0.999999932262,0.000235568133504,-0.000279620523563,4.23785555207e-05,1793246608563144704
+32,0.533333333,BASELINE,765,745,714.564670119,679.564670119,658.564670119,634,878,785,808,651,629,652,0.400969973006,-0.00540237368334,0.0798380308282,0.999999931564,0.000237602946141,-0.000280470229231,4.18765547924e-05,1793246608579811328
+33,0.550000000,BASELINE,765,745,714.855730516,680,659,634,877.855730516,785,808,651,629,652,0.400969732655,-0.00540076468589,0.0798380794096,0.999999931138,0.00023919351913,-0.000280685671283,4.15556226308e-05,1793246608596478208
+34,0.566666667,BASELINE,765,745,714.260266643,680,659,634,877.260266643,785,808,651,629,652,0.400971152127,-0.00539997191565,0.079839465219,0.999999931624,0.00023921396835,-0.000278887447256,4.1842707366e-05,1793246608613144832
+35,0.583333333,BASELINE,765,745,714.324123205,679.675876795,658.675876795,634,877,785,807.675876795,651,629,652,0.400971342742,-0.00539977308958,0.0798395652467,0.999999931417,0.000240370111002,-0.000278598904585,4.20813036428e-05,1793246608629811712
+36,0.600000000,BASELINE,765,745,714.899914595,679.100085405,658.100085405,634,877,785,807.100085405,651,629,652,0.400970579202,-0.00540003543638,0.0798386669185,0.99999993067,0.000242408072363,-0.000279482566499,4.22822506794e-05,1793246608646478336
+37,0.616666667,BASELINE,765,745,714.524259746,679.475740254,658,634,877,784.524259746,807.475740254,651,629,652,0.400970184199,-0.00540011017932,0.079838495634,0.999999930725,0.000241728529394,-0.00027990106287,4.21133605325e-05,1793246608663144960
+38,0.633333333,BASELINE,765,744.948679345,714,680,658,634,877,784,807.948679345,651,629,652,0.400969922968,-0.0054000914898,0.0798385421392,0.999999930914,0.000240766662116,-0.000280089127407,4.18835161931e-05,1793246608679811584
+39,0.650000000,BASELINE,765,744.375664986,714,680,658,634,877,784,807.375664986,651,629,652,0.400970233365,-0.00539952425793,0.0798392476087,0.999999930761,0.000242746863927,-0.000278929628692,4.18250305747e-05,1793246608696478208
+40,0.666666667,BASELINE,765,744.203984998,714.203984998,680,658,634,877,784.203984998,807.203984998,651,629,652,0.400970680515,-0.00539950922626,0.0798396290134,0.999999930809,0.000243373455159,-0.000278210703153,4.18447286076e-05,1793246608713144832
+41,0.683333333,BASELINE,765,744.796266212,714.796266212,680,658,634,877,784.796266212,807.796266212,651,629,652,0.400971387984,-0.00540054533686,0.0798393935439,0.999999931241,0.000241423377068,-0.000278330431985,4.2013253352e-05,1793246608729811456
+42,0.700000000,BASELINE,765,744.62074736,715,679.62074736,658,634,877.37925264,785,808,651,629,652,0.400971674937,-0.00540027525631,0.07983944558,0.99999993112,0.000241924444105,-0.000278330421177,4.20173425012e-05,1793246608746478080
+43,0.716666667,BASELINE,765,744.042634644,715,679.042634644,658,634,877.957365356,785,808,651,629,652,0.400971741393,-0.005399320278,0.0798396483691,0.999999930707,0.000243710762385,-0.000278267625216,4.19352102947e-05,1793246608763144704
+44,0.733333333,BASELINE,765,744.532504781,714.467495219,679,658,634,877.467495219,784.467495219,808,651,629,652,0.400971842041,-0.00540008625202,0.0798390107877,0.999999930463,0.000244138074262,-0.000278716299152,4.22834441657e-05,1793246608779811840
+45,0.750000000,BASELINE,765,745,714.110964862,679.110964862,658,634,877.110964862,784.110964862,808,651,629,652,0.400972047337,-0.0054008472294,0.0798386775397,0.999999930508,0.000243965219417,-0.000278674386729,4.25018035617e-05,1793246608796478464
+46,0.766666667,BASELINE,765,745,714.704908448,679.704908448,658,634,877.704908448,784.704908448,808,651,629,652,0.400972696272,-0.00540099006571,0.0798399601427,0.999999931744,0.000241651077358,-0.000276319929747,4.20057367985e-05,1793246608813145088
+47,0.783333333,BASELINE,765,745,714.709158525,679.709158525,658.290841475,634,877.709158525,784.709158525,808,651,629,652,0.400972345471,-0.00540090395824,0.0798403024028,0.999999931987,0.000240878222816,-0.000276140561963,4.1823567212e-05,1793246608829811456
+48,0.800000000,BASELINE,765,745,714.131135192,679.131135192,658.868864808,634,877.131135192,784.131135192,808,651,629,652,0.400971007513,-0.00540059178776,0.0798397161521,0.999999931256,0.000241627261721,-0.000278108914266,4.1951345021e-05,1793246608846478336
+49,0.816666667,BASELINE,765,745,714,679,659,634,877.442473565,784,808,651,629,652,0.400970743594,-0.00540012998648,0.0798390686525,0.999999930846,0.00024237203035,-0.000278938975048,4.19166042404e-05,1793246608863144960
+50,0.833333333,BASELINE,765.015180666,745,714,679,658.984819334,634,878,784.015180666,808,651,629,652,0.400970786837,-0.0053996669059,0.0798384249794,0.999999930556,0.000243015217277,-0.000279430817103,4.18359883944e-05,1793246608879811840
+51,0.850000000,BASELINE,765.602735507,745,714,679,658.397264493,634,878,784.602735507,808,651,629,652,0.40097052826,-0.00540081109471,0.0798386032332,0.999999931221,0.000239875599812,-0.000279764393046,4.18237869804e-05,1793246608896478464
+52,0.866666667,BASELINE,765.811536034,745,714,679,658.188463966,634,877.811536034,785,808,651,629,652,0.400969962855,-0.00540093315005,0.0798384587604,0.999999931257,0.000238985518887,-0.000280417746913,4.16862188305e-05,1793246608913145088
+53,0.883333333,BASELINE,765.229620503,745,714,679,658.770379497,634,877.229620503,785,808,651,629,652,0.400968756889,-0.00539892132252,0.0798376405392,0.999999929985,0.000242791739989,-0.000281738693234,4.12869256457e-05,1793246608929811712
+54,0.900000000,BASELINE,765,744.651284606,714,679.348715394,658.651284606,634,877,785,808,651,629,652,0.400969676102,-0.00539917782237,0.0798385824822,0.999999930311,0.000243175171526,-0.000280226871522,4.14336409796e-05,1793246608946478080
+55,0.916666667,BASELINE,765,744.075281884,714,679.924718116,658.075281884,634,877,785,808,651,629,652,0.400971980474,-0.00540091278318,0.079840671673,0.999999931673,0.000241327681332,-0.000276868695135,4.19362362815e-05,1793246608963144960
+56,0.933333333,BASELINE,765,744.497677486,714.497677486,680,658,634,877,785,808,651,629,652,0.400972153324,-0.00540052582351,0.0798406447519,0.999999931597,0.000241884915004,-0.000276671869505,4.1841603054e-05,1793246608979811584
+57,0.950000000,BASELINE,765.072812783,745,714.927187217,680,658,634,877,785,808,651,629,652,0.40097188625,-0.0053999315956,0.0798403090167,0.999999931343,0.000242554654979,-0.000277024403969,4.16885170209e-05,1793246608996478208
+58,0.966666667,BASELINE,765.666797498,745,714.333202502,680,658,634,877,785,808,651,629,652,0.400970764139,-0.00540013728508,0.0798400401134,0.999999931365,0.000241441864548,-0.000277907040599,4.17597441918e-05,1793246609013145088
+59,0.983333333,BASELINE,765.747070661,745,714,680,658.252929339,634,877,785,808,651,629,652,0.400970345081,-0.00540037329029,0.0798396164719,0.99999993132,0.000240782364652,-0.000278631084131,4.18195272772e-05,1793246609029811456
+60,1.000000000,BASELINE,765.17097239,745,714,680,658.82902761,634,877,785,808,651,629,652,0.400970824318,-0.00540064803007,0.0798389951209,0.999999931192,0.000240702035923,-0.000279152492684,4.18646882138e-05,1793246609046478080
+61,1.016666667,BASELINE,765,745,714,680,658.594765913,634,877,784.594765913,807.594765913,651,629.405234087,652,0.40097000069,-0.00540092848466,0.0798382623986,0.999999930927,0.000240611950391,-0.000280176174366,4.18635555231e-05,1793246609063144960
+62,1.033333333,BASELINE,765,745,714,680,658.018513805,634,877,784.018513805,807.018513805,651,629.981486195,652,0.400968627222,-0.005401211351,0.079837482675,0.999999930604,0.000240517747269,-0.000281411826727,4.18428858638e-05,1793246609079811328
+63,1.050000000,BASELINE,765,745,714.570448484,680,658,634,877,784.570448484,807,651,629.429551516,652,0.400970193648,-0.00540127994007,0.0798389314248,0.999999931385,0.000240330618467,-0.00027884885001,4.14015244077e-05,1793246609096478208
+64,1.066666667,BASELINE,765,745,714.842947486,680,658,634,877,785.157052514,807,651,629.157052514,652,0.400971525988,-0.00540114082866,0.0798401831926,0.999999932014,0.000240062039505,-0.00027686695028,4.10756930125e-05,1793246609113144576
+65,1.083333333,BASELINE,765,745,714.263815207,680,658,634,877,785.736184793,807,651,629.736184793,652,0.400971966957,-0.00540046263646,0.0798407067667,0.99999993215,0.000239582852593,-0.000276785576016,4.10978795427e-05,1793246609129811200
+66,1.100000000,BASELINE,765,745,714.312828733,680,658.312828733,634,877,785.687171267,807,651,629.687171267,652,0.400971778429,-0.0054005328277,0.0798405975151,0.999999931959,0.000239917259888,-0.00027714926905,4.1347982756e-05,1793246609146478080
+67,1.116666667,BASELINE,765,745,714.887390734,680,658.887390734,634,877,785.112609266,807,651,629.112609266,652,0.400971063222,-0.00540122916619,0.0798399587996,0.999999931493,0.000240932374088,-0.000277885334912,4.17887761832e-05,1793246609163144704
+68,1.133333333,BASELINE,765,745,715,680,659,634,877.46393271,785,807.46393271,651,629.46393271,652,0.40097076943,-0.00540090859933,0.0798395338497,0.999999930904,0.000242834644881,-0.000278329261038,4.19042330595e-05,1793246609179811584
+69,1.150000000,BASELINE,765,744.9581184,715,680,658.916236801,634,877.9581184,784.9581184,808,651,629.9581184,652,0.40097057281,-0.00540048836596,0.0798392183214,0.99999993038,0.000244597677252,-0.000278660588653,4.19513447882e-05,1793246609196478464
+70,1.166666667,BASELINE,765,744.368072988,715,680,657.736145976,634,877.368072988,784.368072988,808,651,629.368072988,652,0.400970303489,-0.00540200812957,0.0798396529218,0.999999931133,0.000241707791808,-0.000278450262134,4.21419248068e-05,1793246609213145088
+71,1.183333333,BASELINE,765,744,714.78204308,680,657.21795692,634,877,784,807.78204308,651,629,652,0.400970559052,-0.00540255474356,0.0798400257499,0.999999931575,0.000240410532238,-0.000277971236303,4.22564993802e-05,1793246609229811712
+72,1.200000000,BASELINE,765,744,714.202671559,680,657.797328441,634,877,784,807.202671559,651,629,652,0.400971684976,-0.00540148768809,0.0798402961476,0.999999931508,0.000241754153006,-0.000277046655166,4.22450423005e-05,1793246609246478080
+73,1.216666667,BASELINE,765,744.375955196,714,679.624044804,658,634,877,784,807.375955196,651,629,652,0.400971876146,-0.00540116687268,0.0798404845273,0.999999931678,0.000241352815807,-0.000276839190668,4.18695401241e-05,1793246609263144960
+74,1.233333333,BASELINE,765,744.954181218,714,679.045818782,658,634,877,784,807.954181218,651,629,652,0.400971564402,-0.00540124754823,0.0798406287796,0.999999931975,0.000240012658974,-0.000277017548194,4.12981749759e-05,1793246609279811584
+75,1.250000000,BASELINE,765,745,714,679.537708849,658,634,877.537708849,784,807.462291151,651,629,652,0.400970286302,-0.0054004446623,0.0798397463128,0.999999931529,0.000240145168471,-0.000278465505053,4.15777473863e-05,1793246609296477952
+76,1.266666667,BASELINE,765,745,714,680,658,634,878,784.120669684,807.120669684,651,629,652,0.400969465947,-0.00539973935763,0.0798390382996,0.999999931071,0.000240954157867,-0.000279360983203,4.19020118645e-05,1793246609313144832
+77,1.283333333,BASELINE,765,745,714,680,658,634,878,784.699744093,807.699744093,651,629,652,0.40097070042,-0.00539969360843,0.0798393286699,0.999999930811,0.000243851531547,-0.000277742617508,4.21178600292e-05,1793246609329811456
+78,1.300000000,BASELINE,765,745,714,679.722239982,658.277760018,634,877.722239982,785.277760018,807.722239982,651,629,652.277760018,0.400971042392,-0.00539994396555,0.0798394732381,0.999999930856,0.000244310389434,-0.000277175097339,4.21306460271e-05,1793246609346478080
+79,1.316666667,BASELINE,765,745,714,679.145363962,658.854636038,634,877.145363962,785.854636038,807.145363962,651,629,652.854636038,0.400970423242,-0.00540051319558,0.0798394607941,0.999999931235,0.000242143242495,-0.000277739218594,4.19247571132e-05,1793246609363144704
+80,1.333333333,BASELINE,765,745,714,679,658.569871876,634,877.430128124,785.569871876,807,651,629.430128124,652.569871876,0.400970293913,-0.0054016706028,0.0798396930274,0.999999931782,0.000239722739355,-0.000277872242791,4.19008757075e-05,1793246609379811840
+81,1.350000000,BASELINE,765,745,714.005289835,679.005289835,658,634,878,784.994710165,807.005289835,651,629.994710165,652,0.400970324754,-0.00540300107627,0.0798400040463,0.99999993237,0.000237262374234,-0.000277864431437,4.193600725e-05,1793246609396479232
+82,1.366666667,BASELINE,765,745,714.59546504,679.59546504,658,634,878,784.40453496,807.59546504,651,629.40453496,652,0.400969820822,-0.00540155919764,0.0798399126805,0.999999931633,0.000239831364118,-0.000278341859377,4.17168181554e-05,1793246609413145344
+83,1.383333333,BASELINE,765,745,715,679.817769395,658,634,877.817769395,784.182230605,808,651,629,652,0.400970422987,-0.00540057763763,0.0798403639182,0.999999931454,0.000241466478956,-0.000277579345374,4.16694812082e-05,1793246609429811712
+84,1.400000000,BASELINE,765,745,715,679.238433782,658,634,877.238433782,784.761566218,808,651,629,652,0.400973435486,-0.00540059917353,0.0798419975619,0.999999932492,0.000241066554891,-0.000274114831117,4.1996633174e-05,1793246609446478336
+85,1.416666667,BASELINE,765,745,715,679.338075933,658,634,877,784.661924067,807.661924067,651,629,652,0.400973470273,-0.00540056225412,0.0798419000502,0.999999932331,0.000242030137407,-0.000273834264752,4.21188690102e-05,1793246609463145472
+86,1.433333333,BASELINE,765,745,715,679.912609121,658,634,877,784.087390879,807.087390879,651,629,652,0.400971422385,-0.00540048444988,0.0798405917327,0.999999931331,0.00024394738447,-0.000275780617187,4.20977822742e-05,1793246609479812352
+87,1.450000000,BASELINE,765,745,714.512586639,679.512586639,658,634,877,784.487413361,807,651,629,652,0.400970550476,-0.00540167125785,0.0798396340593,0.999999931726,0.000240779827338,-0.000277163670821,4.18798853828e-05,1793246609496479232
+88,1.466666667,BASELINE,765.064142958,745,714,679,658,634,877,784.935857042,807,651,629,652,0.400969978754,-0.00540266658434,0.0798388757303,0.999999932177,0.000237627135908,-0.000278289897044,4.16383346828e-05,1793246609513145856
+89,1.483333333,BASELINE,765.656322149,745,714,679,658,634,877,784.343677851,807,651,629,652,0.400970141528,-0.0054002180078,0.0798392406045,0.999999931152,0.000242106117726,-0.00027813376045,4.14927130825e-05,1793246609529812224
+90,1.500000000,BASELINE,765.514030819,745,714,679.24298459,658,634,877,784.24298459,807,651,629,652,0.400970167595,-0.00539930483645,0.079839425519,0.999999930795,0.000243514132647,-0.000278188515586,4.1487691125e-05,1793246609546478848
+91,1.516666667,BASELINE,764.355965383,745,714,679.822017309,658,634,877,784.822017309,807,651,629,652,0.400970004597,-0.00540051513348,0.0798393615489,0.999999931378,0.000240674994423,-0.000278534934387,4.16771187408e-05,1793246609563145216
+92,1.533333333,BASELINE,764.39831984,745,714,680,658,634,877.39831984,785,807.39831984,651,629,652,0.400970410902,-0.00539976383292,0.0798399733478,0.999999931184,0.000242057186184,-0.000277984276422,4.20079781008e-05,1793246609579811584
+93,1.550000000,BASELINE,764.973410786,745,714,680,658,634,877.973410786,785,807.973410786,651,629,652,0.400971069859,-0.00539814199141,0.0798408850476,0.999999930638,0.000245312769624,-0.000277035503107,4.24016037351e-05,1793246609596478208
+94,1.566666667,BASELINE,765,745,714,679.442499638,658,634,877.442499638,785,808,651,629,652,0.40097112466,-0.00539841379792,0.0798406931833,0.999999930463,0.000245692505534,-0.000277368183434,4.21329861741e-05,1793246609613145088
+95,1.583333333,BASELINE,765,745,714,679.141503372,658,634,877,785,807.858496628,651,629,652,0.400971429519,-0.00539912573586,0.0798407142034,0.99999993072,0.00024478890778,-0.000277276298822,4.18958849741e-05,1793246609629811712
+96,1.600000000,BASELINE,765,745,714,679.723877724,658,634,877,785,807.276122276,651,629,652,0.400972604714,-0.00540092295337,0.0798415651653,0.99999993225,0.000240321276097,-0.000275668088608,4.18569974219e-05,1793246609646478336
+97,1.616666667,BASELINE,765,745,714,680,658,634,877,784.697578243,807,651,629,652,0.400972554552,-0.00540109604284,0.0798413567097,0.999999932364,0.000239802602129,-0.00027570475045,4.18824548951e-05,1793246609663145472
+98,1.633333333,BASELINE,765,745,714,680,658,634,877,784.122487728,807,651,629,652,0.400971399588,-0.00539980478989,0.0798401930647,0.999999931206,0.000242844377934,-0.000277224457872,4.19659269736e-05,1793246609679812608
+99,1.650000000,BASELINE,765,745,714,679.547889368,658.452110632,634,877,784.452110632,807.452110632,651,629,652.452110632,0.400971385999,-0.00540013043552,0.0798400899762,0.999999931393,0.000242332816455,-0.000276993299202,4.1997775476e-05,1793246609696478976
+100,1.666666667,BASELINE,765,745,714,679,658.972625616,634,877.027374384,785,808,651,629,652.972625616,0.400971684798,-0.00540082959938,0.0798402829546,0.999999931901,0.000241039272836,-0.000276284647743,4.20174345274e-05,1793246609713145088
+101,1.683333333,BASELINE,765,745,714,679,658.380898032,634,877.619101968,785,808,651,629,652.380898032,0.400972055732,-0.00540020804536,0.0798406624866,0.999999931531,0.000243449540958,-0.000275500612643,4.2073819498e-05,1793246609729811968
+102,1.700000000,BASELINE,765,745,714,679.206264601,658,634,877.793735399,784.793735399,808,651,629,652,0.400972019565,-0.00540019413914,0.0798407770228,0.999999931581,0.000243505557508,-0.000275289368831,4.19372281491e-05,1793246609746478848
+103,1.716666667,BASELINE,765,745,714,679.785179842,658,634,877.214820158,784.214820158,808,651,629,652,0.400971247901,-0.00540127804784,0.0798404128006,0.999999932387,0.000239308234414,-0.000276112965974,4.14519936035e-05,1793246609763145472
+104,1.733333333,BASELINE,765,745,714.3603178,680,658,634,877,784.3603178,808,651,629,652,0.400971989816,-0.00540131714104,0.0798408083563,0.999999932605,0.000239112906001,-0.000275477654505,4.15620829928e-05,1793246609779812352
+105,1.750000000,BASELINE,765,745,714.933227173,680,658,634,877,784.933227173,808,651,629,652,0.400973624758,-0.00540073978141,0.0798416521896,0.999999932476,0.000241278799277,-0.000273981570549,4.20234201857e-05,1793246609796479232
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,877,785,808,651,629,652,0.400972617468,-0.00540114013106,0.0798416712021,0.999999932066,0.000242471246521,-0.00027440171182,4.21880977068e-05,1793246609827855872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.396619445,745,714,680,658,634,877.603380555,784.396619445,808,651,629,652,0.400972310148,-0.0054011398909,0.0798411668809,0.99999993203,0.000241958733029,-0.000275001597266,4.20650573675e-05,1793246609844523008
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,807.801600526,651,629,652,0.400971743982,-0.00540157756524,0.0798406520064,0.999999932115,0.000240913645767,-0.000275618846246,4.20170632277e-05,1793246609861189888
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,807.222621212,651,629,652,0.400970681286,-0.00540285526921,0.0798401168876,0.999999932427,0.000238846948653,-0.000276269402934,4.21130264565e-05,1793246609877856256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.647423321,658,634,877.647423321,784.352576679,807.352576679,651,629,652,0.400970886009,-0.00540323126695,0.0798404881992,0.999999932906,0.000237544932653,-0.000275685521805,4.19204154256e-05,1793246609894522880
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.074587764,658,634,877.074587764,784.925412236,807.925412236,651,629,652,0.400971882504,-0.00540304395794,0.0798414257686,0.99999993349,0.000236720622234,-0.000274330472532,4.15475285897e-05,1793246609911189504
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.512457932,679.512457932,658,634,877.512457932,785,807.487542068,651,629,652,0.400970855864,-0.00540228039755,0.079840849106,0.99999993225,0.000239926001077,-0.000275999694319,4.19515792651e-05,1793246609927855872
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.899780577,680,658,634,877.899780577,784.899780577,807,651,629,652,0.400969980796,-0.00540173040066,0.0798402921789,0.999999931177,0.00024264407393,-0.000277452410441,4.23061296399e-05,1793246609944522752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.318790155,680,658,634,877.318790155,784.318790155,807,651,629,652,0.400971285735,-0.00540261873581,0.0798409173568,0.999999932289,0.000240130572892,-0.000275694661785,4.18652687638e-05,1793246609961189376
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.74072225,658,634,877,784,807.25927775,651,629,652,0.400974273623,-0.00540272056612,0.0798420786735,0.999999933063,0.000239243433403,-0.00027366868428,4.17278230936e-05,1793246609977855744
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.166207664,658,634,877,784,807.833792336,651,629,652,0.400979307684,-0.0054018661427,0.0798438918423,0.999999933433,0.000240333668054,-0.000271316587082,4.19592777946e-05,1793246609994522368
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.408850345,745,714,679.408850345,658,634,877,784,808,651,629,652,0.400999054269,-0.00540252064235,0.0798525345017,0.999999937859,0.000238720036577,-0.000256008883298,4.1881529153e-05,1793246610011189248
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.98412961,745,714,679.98412961,658,634,877,784,808,651,629,652,0.401024789817,-0.00540378937265,0.0798639572121,0.999999943569,0.000236005754148,-0.000235427397131,4.16779144638e-05,1793246610027855872
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.423644261,744.423644261,714.576355739,680,658,634,877.576355739,784.576355739,807.423644261,651,629,652,0.40107559719,-0.00540328666505,0.0798811521536,0.999999950296,0.000238451429508,-0.000201956842136,4.19729831893e-05,1793246610044522752
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.164508013,715,680,658.164508013,634,878,784.835491987,807.164508013,651,629,652,0.401132692469,-0.00540311243454,0.0798980859089,0.999999955829,0.000240603825477,-0.000169374522978,4.19894091874e-05,1793246610061189376
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.74124721,715,680,658.74124721,634,878,784.25875279,807.74124721,651,629,652,0.401203761888,-0.00540388724836,0.0799139548252,0.999999960159,0.000241654486086,-0.000139934267597,4.12721488236e-05,1793246610077856000
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.683181163,633.683181163,878,784,808,651,629.316818837,652.316818837,0.401277218864,-0.0054047730542,0.0799239739164,0.999999962432,0.000241172611436,-0.000123989899795,3.99763225997e-05,1793246610094522624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.10855965,633.10855965,878,784,808,651,629.89144035,652.89144035,0.401352618644,-0.00540574917671,0.0799292328713,0.99999996352,0.000239443678124,-0.000119027443793,3.82097042695e-05,1793246610111189248
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.521545082,680,658,633.478454918,877.521545082,784,808,651.478454918,630,652.521545082,0.401446226256,-0.00540691912325,0.0799315585284,0.999999964591,0.00023761955594,-0.000114470810297,3.53869915075e-05,1793246610127855872
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877,784.067133292,807.932866708,651.932866708,629.932866708,652,0.401547368109,-0.00540819627952,0.0799336548557,0.999999965687,0.000235758012181,-0.000109569213927,3.2242104744e-05,1793246610144522496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877,784.646481155,807.353518845,651.353518845,629.353518845,652,0.401673635678,-0.00540994696021,0.0799392145274,0.999999967135,0.000233780119359,-0.000101314382588,2.85159919707e-05,1793246610161189120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.225584656,680,658,634,877,784.774415344,807.225584656,651,629,652,0.401809134692,-0.00541176745555,0.0799450116517,0.999999968964,0.000230527175384,-9.1257746875e-05,2.45217183704e-05,1793246610177855744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.804305572,680,658,634,877,784.195694428,807.804305572,651,629,652,0.401959084847,-0.00541369724046,0.0799511804899,0.999999971351,0.000225278232377,-7.83805191302e-05,2.01076589819e-05,1793246610194522368
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.625121397,714.625121397,679.625121397,658,634,877,784,808,651,629,652,0.402133986958,-0.00541598661268,0.0799577627218,0.999999973533,0.000219880214615,-6.60688404086e-05,1.49154847652e-05,1793246610211189504
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.058711202,714.058711202,679.058711202,658,634,877,784,808,651,629,652,0.402321637446,-0.0054184597041,0.0799645561638,0.999999975511,0.000214406031631,-5.40461087333e-05,9.32575859058e-06,1793246610227856640
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.534371568,714,679.534371568,658,634,877,784.534371568,808,651,629,652,0.402526964822,-0.00541887835997,0.079960929451,0.999999976531,0.000208044918672,-6.04290917313e-05,1.83820226373e-06,1793246610244523264
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877.126705652,784.873294348,808,651,629.126705652,652,0.402739280283,-0.00541961897366,0.0799553689337,0.99999997736,0.000200644757181,-7.06022169484e-05,-6.05110940406e-06,1793246610261189376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,877.705367154,784.294632846,808,651,629.705367154,652,0.402969230556,-0.0054223554394,0.0799472088059,0.999999978103,0.000189904185026,-8.67024902451e-05,-1.45906360467e-05,1793246610277855744
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,808,651,629.717963455,652,0.403227987047,-0.00542483555346,0.0799444245939,0.999999979368,0.000179891163881,-9.15427394661e-05,-2.28549975982e-05,1793246610294522368
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,784,808,651,629.143360584,652,0.403516625215,-0.00542704974484,0.079947217007,0.99999998138,0.000170632857412,-8.47025727601e-05,-3.0833920311e-05,1793246610311188992
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.440783151,680,658,634,878,784,808,651,629.440783151,652,0.403835779406,-0.00543123078083,0.0799522961466,0.999999991349,0.000101718702968,-7.65701257937e-05,-3.3050956613e-05,1793246610327855616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714.972280787,680,658.027719213,634,878,784.027719213,807.972280787,651,630,652,0.404167525925,-0.00543568363256,0.0799577303332,0.999999996903,2.01993186085e-05,-6.85117443724e-05,-3.30401049791e-05,1793246610344522496
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.392895384,680,658.607104616,634,878,784.607104616,807.392895384,651,630,652,0.404547986412,-0.00543253325174,0.0799551013719,0.999999993754,8.2502076154e-05,-7.04773100733e-05,-2.68113369071e-05,1793246610361189376
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,877.814137459,784.814137459,807,651,629.814137459,652,0.404940855919,-0.00543229520161,0.0799529508274,0.999999989512,0.000124126965247,-7.06340812524e-05,-2.40521590133e-05,1793246610377856256
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,877.236701577,784.236701577,807,651,629.236701577,652,0.405359868577,-0.00543819282106,0.0799518082071,0.999999989883,0.000122187920553,-6.69801024581e-05,-2.86026799861e-05,1793246610394522880
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.339358776,680,658.660641224,634,877.339358776,784.339358776,807.339358776,651,629,652,0.405798066556,-0.00544229549348,0.0799476557847,0.999999990842,0.000109293767244,-7.31860225874e-05,-3.1868802308e-05,1793246610411189248
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.914463633,680,658.085536367,634,877.914463633,784.914463633,807.914463633,651,629,652,0.406249592256,-0.00544515125099,0.0799414125101,0.999999991753,8.87893082898e-05,-8.62414263881e-05,-3.42426777872e-05,1793246610427855616
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.498548659,680,658.501451341,634,878,785,808,651,629,652,0.406720972367,-0.00544753755624,0.07993281413,0.999999989983,9.27492235806e-05,-0.00010106917904,-3.4876844984e-05,1793246610444522240
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,784.910954249,808,651,629,652,0.40720614262,-0.00545025358862,0.0799246470022,0.999999988032,9.71342337703e-05,-0.000115107063439,-3.53685330617e-05,1793246610461189120
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878,784.331453177,808,651,629,652,0.407748161346,-0.00545523749426,0.0799211215524,0.999999988524,8.03178504569e-05,-0.000123088853629,-3.67496320094e-05,1793246610477856512
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.246896195,680,659,634,878,784,808.246896195,651,629.246896195,652.246896195,0.408304493204,-0.00545976029099,0.0799173757105,0.999999988089,7.32188247175e-05,-0.000130437511089,-3.80356181396e-05,1793246610494523136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.823706575,680,659,634,878,784,808.823706575,651,629.823706575,652.823706575,0.408879950906,-0.00546366693224,0.0799133353706,0.999999986727,7.91045854421e-05,-0.00013694014669,-3.91945100253e-05,1793246610511189248
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.593407237,680,659,634,878,784,808.593407237,651,629.593407237,652.593407237,0.409504655801,-0.00546985435521,0.0799319485136,0.99999999083,7.10509905343e-05,-0.00010842714442,-3.91741123743e-05,1793246610527855616
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.00784671,680,659,634,878,784,808.00784671,651,629.00784671,652.00784671,0.410151037556,-0.00547704569759,0.0799605329191,0.999999995557,5.68617836227e-05,-6.45014954749e-05,-3.86346330457e-05,1793246610544521984
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.571664646,714,680,659,634,877.428335354,784,808,651,629,652,0.410851467527,-0.00549207152352,0.0799870974402,0.999999998356,3.8617584734e-05,-2.19284242316e-05,-3.6277934148e-05,1793246610561188864
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.849226057,714,680,659,634,877.150773943,784,808,651,629,652.150773943,0.411548049367,-0.00550725746229,0.0799986837675,0.9999999992,1.90973060049e-05,-3.84653153617e-06,-3.49449978152e-05,1793246610577855744
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.271023731,714,680,659,634,877.728976269,784,808,651,629,652.728976269,0.412231640931,-0.00552259563847,0.0799678862499,0.999999997803,-3.88438690414e-06,-5.51424991478e-05,-3.65842931577e-05,1793246610594523136
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.305008516,680,659.305008516,634,878,784.305008516,808,651,629,652.694991484,0.41293457196,-0.00552891090455,0.0799387033582,0.999999994653,-1.66306482166e-05,-9.39873839614e-05,-3.97996207505e-05,1793246610611190016
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.879126168,680,659.879126168,634,878,784.879126168,808,651,629,652.120873832,0.413654566283,-0.00552726525518,0.079910945048,0.999999991384,-2.03461867591e-05,-0.00012184667934,-4.44054824622e-05,1793246610627856128
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.53475179,680,659.53475179,634,877.53475179,785,808,651,629.46524821,652,0.414417971424,-0.00553137856566,0.0799195456886,0.99999999323,-2.75301661361e-05,-0.00010367736944,-4.50932938681e-05,1793246610644523008
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.051754084,659.051754084,633.948245916,877.051754084,784.948245916,808.051754084,651,630,652.051754084,0.415193427084,-0.00553702840146,0.0799373321378,0.999999995555,-3.53111143312e-05,-7.5164466719e-05,-4.46414175245e-05,1793246610661189888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.610650716,659.610650716,633.389349284,877.610650716,784.389349284,808.610650716,651,630,652.610650716,0.41597352269,-0.00554268500899,0.0799501150033,0.999999996119,-3.98778102677e-05,-6.55794235783e-05,-4.32606064178e-05,1793246610677856512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.182068112,680.817931888,659.817931888,633.182068112,878.182068112,784,809,651,630,653,0.416783965013,-0.00554689934534,0.0799553153917,0.999999996143,-4.46196119221e-05,-6.2062369322e-05,-4.32510612233e-05,1793246610694523136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.78223821,680.21776179,659.21776179,633.78223821,878.78223821,784,809,651,630,653,0.417664095616,-0.00554780164367,0.0799431033465,0.999999995059,-4.97635268207e-05,-7.24798710671e-05,-4.63904969761e-05,1793246610711189248
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.363163167,745,714.636836833,680.363163167,659,634,878.636836833,784,809,651,629.636836833,653,0.418560026594,-0.00555592253721,0.0799588575131,0.999999996321,-6.142133045e-05,-3.66020656727e-05,-4.73988751904e-05,1793246610727855872
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.933128989,745,714.066871011,680.933128989,659,634,878.066871011,784,809,651,629.066871011,653,0.419464955039,-0.00556815404765,0.0799905369926,0.999999995609,-7.67884567151e-05,2.56385252015e-05,-4.71937260007e-05,1793246610744522752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.475113045,745,714,681,659,633.475113045,878,784.524886955,809,651,629.524886955,653,0.420317009055,-0.00557046329173,0.0799797212987,0.999999995748,-7.83395107123e-05,7.532131141e-06,-4.80607152216e-05,1793246610761189120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.883596876,659.116403124,633.116403124,878.116403124,784.883596876,809,651,630,653,0.421176873,-0.00557043425757,0.0799672822194,0.999999995607,-7.87285629567e-05,-1.44041929213e-05,-4.87858065483e-05,1793246610777855488
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.30455428,659.69544572,633.69544572,878.69544572,784.30455428,809,651,630,653,0.422095709588,-0.00556635358969,0.0799708405157,0.999999995443,-8.17980738359e-05,-9.11651637629e-06,-4.83805384887e-05,1793246610794522624
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.272043344,745,714,680.272043344,659.727956656,633.727956656,879,784.272043344,809,651,630,653,0.423033617351,-0.00554960383659,0.0799858601008,0.999999996912,-6.15441537374e-05,1.03802499372e-05,-4.77611348979e-05,1793246610811189760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.845928259,745,714,680.845928259,659.154071741,633.154071741,879,784.845928259,809,651,630,653,0.423992685362,-0.00551879729135,0.0800135963858,0.99999999774,-1.54120742937e-05,4.56424972398e-05,-4.69041403032e-05,1793246610827856896
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.429600239,633.429600239,879,785,809,651,630,652.570399761,0.424860689864,-0.0055092991618,0.0799853742382,0.99999999872,-3.74208386238e-06,-1.76408756456e-05,-4.72814405022e-05,1793246610844523264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.983335653,745,714,680.983335653,660,634,879,784.983335653,809,651,630,652.016664347,0.425698804392,-0.00550796101488,0.0799374919998,0.999999992315,-5.20478924283e-06,-0.000114095050219,-4.82204319558e-05,1793246610861189376
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.403025951,745,714,680.403025951,660,634,879,784.403025951,809,651,630,652.596974049,0.426656330914,-0.00551811533992,0.0799192624805,0.999999992372,-2.30747028184e-05,-0.000109230928125,-5.28361849454e-05,1793246610877855744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.176175989,745,714,680.176175989,660,633.823824011,879,784.176175989,809,651,629.823824011,653,0.427606739894,-0.00552575684528,0.0799080970424,0.999999991941,-3.59707957538e-05,-0.000108418536309,-5.54035779165e-05,1793246610894522368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.752859575,745,714,680.752859575,660,633.247140425,879,784.752859575,809,651,629.247140425,653,0.428540968238,-0.00552768586118,0.0799129906506,0.99999999105,-3.75597114236e-05,-0.000116817097868,-5.33143556717e-05,1793246610911188992
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.328549472,714,681,660,633.328549472,879,785,809.328549472,651,629.328549472,653,0.429514934047,-0.00553340237639,0.0799371814751,0.999999993802,-4.40633813284e-05,-8.82107242866e-05,-5.16981566784e-05,1793246610927855872
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.903494127,714,681,660,633.903494127,879,785,809.903494127,651,629.903494127,653,0.430518700865,-0.00554195932093,0.0799758442178,0.999999996749,-5.42528636156e-05,-3.1852554513e-05,-5.0436700725e-05,1793246610944523008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.509106438,745.509106438,714,681.490893562,660,633.509106438,879,785,810,651,630,653,0.431488039438,-0.00554561282064,0.0800160748606,0.999999996567,-6.01467668048e-05,2.92323231506e-05,-4.89276017071e-05,1793246610961189632
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.079315294,681.920684706,660.079315294,633.079315294,878.920684706,785,810,651.079315294,630,653,0.432434293069,-0.00554601211408,0.080042261292,0.999999994545,-6.2311189456e-05,6.86729720395e-05,-4.80779839168e-05,1793246610977856512
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.658349421,681.341650579,660.658349421,633.658349421,878.341650579,785,810,651.658349421,630,653,0.433278855001,-0.00553214014364,0.0799779708472,0.999999996999,-4.64374158034e-05,-3.4260874569e-05,-5.16980877705e-05,1793246610994523136
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.235293631,745,714.764706369,681,661,633.764706369,878.235293631,785,809.764706369,651.764706369,630,653,0.434152162016,-0.00552420861561,0.079929103722,0.99999999215,-3.84983730622e-05,-0.000105771915722,-5.50473125742e-05,1793246611011189504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809230048,745,714.190769952,681,661,633.190769952,878.809230048,785,809.190769952,651.190769952,630,653,0.435066840078,-0.00552482677704,0.0799024343659,0.999999988717,-4.19792694502e-05,-0.000132058177111,-5.80066799714e-05,1793246611027856128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.610078912,745,714.389921088,681,660.610078912,633,879,785,809.389921088,651,630,653,0.435987302475,-0.00553202014982,0.0799207511185,0.999999991279,-5.14367110164e-05,-0.000107121646261,-5.76344749115e-05,1793246611044522496
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.026024932,745,714.973975068,681,660.026024932,633,879,785,809.973975068,651,630,653,0.436910644706,-0.00554248717161,0.0799614654389,0.999999994808,-6.38697389711e-05,-5.66824436255e-05,-5.56035549656e-05,1793246611061189376
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.55748594,745,715,681,660.55748594,633.55748594,879,785,810,651,630,653,0.437814981058,-0.00554739371774,0.0800007718072,0.999999996411,-6.57984172702e-05,6.46462879005e-06,-5.29855068708e-05,1793246611077856000
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.860353442,681.139646558,660.860353442,633.860353442,878.860353442,785,810,651,630,653,0.438718318891,-0.00555136661138,0.0800313523293,0.999999994658,-7.01994886143e-05,5.58359968848e-05,-5.13659883547e-05,1793246611094522624
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714.282351832,681.717648168,660.282351832,633.282351832,878.282351832,785,810,651,630,653,0.439621304672,-0.00555322276973,0.0800347482549,0.999999993271,-8.38992746342e-05,6.0104603026e-05,-5.29668401765e-05,1793246611111189504
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.708097796,745,714,681.708097796,660,633.291902204,878.291902204,785,810,651,630,653,0.440433481572,-0.00555039396412,0.0799929296659,0.999999994957,-8.35100938143e-05,-4.95646527339e-06,-5.55618669402e-05,1793246611127856128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.137422804,745,714,681.137422804,660,633.862577196,878.862577196,785,810,651,630,653,0.441158934014,-0.0055430909186,0.0799079302576,0.999999986547,-6.96656493341e-05,-0.000136228841688,-5.91063510257e-05,1793246611144522496
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.900374261,660,633.549812869,879,785,810.450187131,651,630,653,0.441922691721,-0.00554101464642,0.0798538468659,0.99999997361,-6.80000872346e-05,-0.000210243238476,-6.28726145115e-05,1793246611161189376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.042199859,745,714,682.957800141,660,633,879,785,811,651,630,653,0.442704634419,-0.0055409784887,0.0798182755223,0.999999963199,-7.04279548187e-05,-0.000253510031322,-6.61387856862e-05,1793246611177856000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.621873199,745,714,682.378126801,660,633,879,785,811,651,630,653,0.443563440191,-0.00554581068217,0.079893584984,0.999999985884,-7.57905723781e-05,-0.000136476597956,-6.21396326206e-05,1793246611194522624
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,682,660.200319657,633.200319657,879,785,811,651,630,653,0.444392724068,-0.00555151581193,0.0799603086958,0.999999994252,-8.2502623523e-05,-3.53596018497e-05,-5.86365505543e-05,1793246611211189248
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,682,660.776464429,633.776464429,879,785,811,651,630,653,0.44516662127,-0.00555885868184,0.0800109244634,0.999999993575,-9.17463857203e-05,3.58961543239e-05,-5.60641611008e-05,1793246611227856128
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.647675115,745,714,682.352324885,660.647675115,633.647675115,879,784.647675115,811.352324885,651,630,653,0.44589807835,-0.00556344516273,0.0800296907488,0.999999992044,-9.66981365422e-05,5.95925517623e-05,-5.48730881928e-05,1793246611244523008
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.071994935,745,714,682.928005065,660.071994935,633.071994935,879,784.071994935,811.928005065,651,630,653,0.446602630594,-0.00556628423872,0.0800282661483,0.999999992206,-9.89289793931e-05,5.31388334479e-05,-5.45576970085e-05,1793246611261189888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,879,784,812,651,630,653,0.44725122789,-0.00556297605652,0.0799980915676,0.999999993862,-9.30916192891e-05,1.94878136984e-05,-5.6836936209e-05,1793246611277856768
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,879,784,811.891720088,651,630.108279912,653,0.447874630596,-0.00555988022163,0.0799611323275,0.999999993952,-8.8732666939e-05,-2.62530012898e-05,-5.94497584733e-05,1793246611294523392
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,879,784,811.315556389,651,630.684443611,653,0.448423725809,-0.00556149872179,0.079912613212,0.999999987729,-9.57452157366e-05,-0.000107436481995,-6.19014746196e-05,1793246611311189504
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.25982408,745,714,683,660,633,879,784,811,651,630.74017592,653,0.448961014087,-0.00556334196491,0.0798686316215,0.999999977187,-0.000101536272361,-0.000176753248867,-6.38277268958e-05,1793246611327855872
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.834256135,745,714,683,660,633,879,784,811,651,630.165743865,653,0.449484005898,-0.00556545733792,0.0798301442963,0.999999965435,-0.000105848285123,-0.000231701200408,-6.51177213421e-05,1793246611344522752
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879.417960196,784,811,651,630,653,0.450037602271,-0.00556654512932,0.0798331237248,0.999999966403,-0.000111078058523,-0.000224980332159,-6.51066522834e-05,1793246611361189888
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879.994655311,784,811,651,630,653,0.450603302017,-0.0055672384982,0.079853065108,0.999999972474,-0.000116623176377,-0.00019309036974,-6.45593316187e-05,1793246611377856512
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,683,660,633,879.415842385,784,811,651,630,653,0.45113591323,-0.00557032609794,0.0798885724389,0.99999998089,-0.000116067968686,-0.000144113818535,-6.30888206765e-05,1793246611394523136
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,714,683,659.837464043,632.837464043,879.162535957,784,811,651,630,653,0.451635461913,-0.00557225371876,0.0799088136122,0.999999984349,-0.000115229146416,-0.0001190046856,-6.21446814654e-05,1793246611411189760
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,683,659.260194482,632.260194482,879.739805518,784,811,651,630,653,0.452050646966,-0.00557122148909,0.0798901010214,0.999999979603,-0.000113666641624,-0.00015479665434,-6.25436545389e-05,1793246611427856384
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714,683.314499621,659,632,880,784,811,651,630,653,0.452432184962,-0.00556909165013,0.0798596012472,0.999999970592,-0.000112818429665,-0.000205093736039,-6.34423321804e-05,1793246611444522752
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,683.887080248,659,632,880,784,811,651,630,653,0.452786111879,-0.00556606110391,0.0798194288134,0.999999955846,-0.000112556372189,-0.000267293831496,-6.47510713815e-05,1793246611461189120
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.827399852,714,683.827399852,658.827399852,631,879.172600148,783,811,651,630,653,0.456482150891,-0.00557360500848,0.0796825664744,0.999999871237,-0.000131885288158,-0.000485911708462,-6.34138113318e-05,1793246612617639424
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.248217381,714,683.248217381,658.248217381,631,879.751782619,783,811,651,630,653,0.456482627226,-0.0055711230583,0.0796825224617,0.999999872131,-0.000129875540847,-0.000484538279912,-6.39805600176e-05,1793246612634306048
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.752816467,745,714,682.247183533,659,634,878,784.247183533,809,651,630,652,0.42904812683,-0.00542387350101,0.0797949492759,0.999999931159,0.000168308833637,-0.000327376114141,4.66712706961e-05,1793246613567639040
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.17347543,745,714,682.82652457,659,634,878,784.82652457,809,651,630,652,0.428167496528,-0.00542917012717,0.0798533205454,0.99999995665,0.000165602043178,-0.000238057431673,5.10394062176e-05,1793246613584305664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.80470751,745,714,682.597646245,659,634,878,784.597646245,809,651,629.597646245,652,0.427219913098,-0.00543153704508,0.0798441389211,0.999999953211,0.000165035631554,-0.000252430606979,5.1192398756e-05,1793246613600972288
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.953363775,745,714,682.023318112,659,634,878,784.023318112,809,651,629.023318112,652,0.42624371253,-0.00543265174451,0.0798060837812,0.999999936698,0.000165384062386,-0.000311123844574,4.95437512219e-05,1793246613617638656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.449486056,745,714,682,659.550513944,633.449486056,878,784.550513944,809,651,629,652,0.425249671931,-0.00542554487914,0.0797722640904,0.999999916766,0.000174836840736,-0.000365514767908,4.79500825275e-05,1793246613634305280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.871252907,633.128747093,878.128747093,784.871252907,809,651,629.128747093,652.128747093,0.424263837302,-0.00541681300985,0.0797409419522,0.999999895064,0.000186144342055,-0.000415979362185,4.67207309464e-05,1793246613650971904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.277032233,633.722967767,878.722967767,784.277032233,809,651,629.722967767,652.722967767,0.423310400377,-0.00540346398577,0.0797180014751,0.999999875786,0.000202764461959,-0.000452906910439,4.68001242452e-05,1793246613667638528
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.692330959,878.692330959,784,809,651,629.692330959,652.692330959,0.42243054471,-0.00539896382677,0.0797361751142,0.999999890661,0.000209221772841,-0.000415523979943,4.73682307868e-05,1793246613684305152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.115943859,878.115943859,784,809,651,629.115943859,652.115943859,0.421614954786,-0.00540219226265,0.079790257809,0.999999928388,0.000206802889443,-0.000313238298311,4.83631790233e-05,1793246613700971520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.459273667,745,714,681.540726333,659,633.459273667,878,784,809,651,629,652,0.420780127749,-0.00539757795544,0.0798381652695,0.999999948854,0.000212383716028,-0.000233848864772,5.00057685341e-05,1793246613717638144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.96584932,745,714,680.96584932,659,634,878,784,809,651,629,652.03415068,0.419934690128,-0.00539118528326,0.0798793383061,0.999999960224,0.000219843775685,-0.000168982810934,5.16294573575e-05,1793246613734304768
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,878,784,808.056705832,651,629,652,0.415570556307,-0.00538678415766,0.0797927197247,0.999999911624,0.000229834946645,-0.000348691281744,4.83891820853e-05,1793246613817638400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.483281993,745,714,681,659,633.483281993,878,784,808,651,629,652,0.414787779127,-0.00540880795259,0.0797833092478,0.999999913435,0.000204601750835,-0.000359161585139,4.76524753989e-05,1793246613834305024
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.667085486,745,714,681,659,633.667085486,878,784,808,651,629,652,0.413290753701,-0.00542944115492,0.0798006200053,0.999999932988,0.000179109672931,-0.000315867786073,4.66030883406e-05,1793246613867638272
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.250372955,681,659,634,878,784,808,651,629,652,0.412566147644,-0.00542566691722,0.0798116204327,0.999999937233,0.000187997648246,-0.000296596783731,4.71245924063e-05,1793246613884304896
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.577526437,680.577526437,659,634,878.422473563,784,808,651,629.422473563,652,0.411147524953,-0.00541598035599,0.0797981219067,0.999999922205,0.000209078659841,-0.000330970856038,4.8307445353e-05,1793246613917638656
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.00170735,680.00170735,659,634,878.99829265,784,808,651,629.99829265,652,0.41045669684,-0.00541790231527,0.0797872050392,0.999999917413,0.000198544326459,-0.000351471047828,4.71490854431e-05,1793246613934305792
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.851661227,745,714.148338773,680,658.851661227,634,877.851661227,784.148338773,808,651,629,652,0.409243419109,-0.00541017326418,0.0798197225286,0.999999931384,0.000222551808452,-0.000291734746604,5.09316697524e-05,1793246613967638272
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.257331694,745,714.742668306,680,658.257331694,634,877.257331694,784.742668306,808,651,629,652,0.40865504955,-0.00541171738674,0.0798374751808,0.999999938968,0.000221260240546,-0.000265314109813,5.21185715043e-05,1793246613984305152
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.905262241,745,715,680,658,634,877.905262241,785,808,651,629,652,0.407476301213,-0.00540601273435,0.0798040887842,0.999999919239,0.000224837792249,-0.000329411159512,4.9576875218e-05,1793246614017638656
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.520250723,680,658,634,878,785,808,651,629.479749277,652,0.406941756019,-0.00540227721922,0.0797799153344,0.999999905573,0.000227565371266,-0.000367154518532,4.76038423823e-05,1793246614034305536
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.944871799,658,634,877.944871799,785,808,651,629.944871799,652,0.406425760629,-0.00539914949321,0.0797601134863,0.999999894329,0.000229331315261,-0.00039579017713,4.58121999446e-05,1793246614050972672
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.354728608,658,634,877.354728608,785,808,651,629.354728608,652,0.40598488198,-0.00540128908172,0.0797788591358,0.999999911047,0.000221597736416,-0.000355950386196,4.58249015513e-05,1793246614067639040
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.767502045,745,714,679.232497955,658.232497955,634,877.232497955,784.767502045,807.767502045,651,629,652,0.405558423094,-0.00540204708978,0.0797977867605,0.999999923519,0.000220818962195,-0.000319488382624,4.61384739145e-05,1793246614084305408
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878,784,807.970531679,651,629,652.970531679,0.404373292656,-0.00540118124631,0.0798303626065,0.999999933386,0.00022864215358,-0.000280416986856,4.81267281285e-05,1793246614134305280
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.542729222,658.457270778,634,877.457270778,784,808,651,629.542729222,652.457270778,0.404024334353,-0.00539866327089,0.0798314111842,0.999999930089,0.000235490184762,-0.000286145550716,4.98647860972e-05,1793246614150972416
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.711733652,745,714,679.576532697,658,634,877,784,808,651.711733652,630,652.711733652,0.40338081705,-0.00539957571317,0.0798346563164,0.999999928919,0.000238345923234,-0.000288174918956,4.80499167078e-05,1793246614184306688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.702894463,745,714,679.594211074,658,634,877,784,808,651.702894463,629.702894463,652.702894463,0.403096909502,-0.0054002598771,0.0798351448997,0.999999929078,0.000236475105633,-0.000289198408866,4.78218380246e-05,1793246614200973312
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.124604667,745,714,680.750790667,658,634,877,784,808,651.124604667,629.124604667,652.124604667,0.402832988944,-0.00539918208723,0.079834087082,0.999999928059,0.000235230789552,-0.000293350454784,4.99433243586e-05,1793246614217639936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.549260787,658,634,877.450739213,784.450739213,807.549260787,651,629,652,0.402603806696,-0.00539702100498,0.0798331920303,0.999999927326,0.000236903430276,-0.000294461776695,5.0174864702e-05,1793246614234306304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.025289648,634,878,785,807.025289648,651.025289648,629,652.025289648,0.402385827648,-0.00539483546465,0.0798324620527,0.999999926843,0.000238804436416,-0.000294610528143,4.99068912967e-05,1793246614250972928
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.226056617,714,680,658.226056617,634,878,785,808,651.226056617,629,652.226056617,0.401878290273,-0.00539948130828,0.0798406788282,0.999999934652,0.000222139983533,-0.000280425867079,5.20694944036e-05,1793246614300972288
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.495377321,658.504622679,634,877.990754643,784.495377321,808,651.504622679,629,652,0.401501802192,-0.0053998841765,0.0798402303922,0.999999931012,0.000237978002061,-0.000281528765857,4.56421545329e-05,1793246614350972416
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.92022934,680,658.92022934,634,877,784.159541321,807.92022934,651.92022934,629,652,0.401396328017,-0.00539924799929,0.0798358987065,0.999999926035,0.00025096112554,-0.000289077347336,3.71850448219e-05,1793246614367638528
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658,634,877.00904816,784.99095184,807.99095184,651,629,652,0.401084361153,-0.00540011108654,0.0798263525348,0.999999923769,0.000243865596323,-0.000302047710434,4.19340046413e-05,1793246614450971648
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.564724909,714.435275091,679,658,634,877,785,808,651,629.564724909,652,0.401052361561,-0.00540122894103,0.0798260213445,0.999999923752,0.000242310350924,-0.000303264923089,4.25663314858e-05,1793246614467638272
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.048518606,745,714,680,658.951481394,634,878,784.048518606,807.951481394,652,629.951481394,652,0.400972743978,-0.00540354772774,0.0798295426961,0.999999927434,0.000235760248412,-0.000296223623379,4.24400004154e-05,1793246614567638528
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.623881227,745,714,680,658.376118773,634,878,784.623881227,807.376118773,652,629.376118773,652,0.40097080154,-0.00540284321598,0.0798305063084,0.999999927542,0.000236934601995,-0.000294900859389,4.25594098523e-05,1793246614584305152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.794448123,745,714,680,658,634,877.794448123,785,807,652,629,652,0.400969827112,-0.00540213264453,0.0798315550781,0.999999927877,0.000237704369305,-0.0002931448787,4.25370839148e-05,1793246614600972032
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.312570019,745,715,679.312570019,658,634,877.687429981,784.312570019,807,651.312570019,629,652.687429981,0.400970959478,-0.00540462085717,0.0798353289046,0.999999930194,0.00023641791847,-0.000286209110422,4.24623130065e-05,1793246614700972032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.28531764,745,714.71468236,679.28531764,658,634,877.71468236,784,807.28531764,651,629,652.71468236,0.400970220855,-0.00540390449582,0.0798350701825,0.99999992985,0.000237246488455,-0.00028675830207,4.22401932331e-05,1793246614717638400
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.86470103,745,714.13529897,679.86470103,658,634,877.13529897,784,807.86470103,651,629,652.13529897,0.400970110489,-0.00540250756975,0.0798354766075,0.999999929512,0.000239139161938,-0.000286388202077,4.20802344435e-05,1793246614734305024
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.55986627,745,714,680,658,634,877.44013373,784.44013373,808,651,629.44013373,652,0.400969581396,-0.00540216642507,0.0798353573386,0.999999929421,0.000239170700003,-0.000286685847203,4.20328397146e-05,1793246614750971904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.985300639,714.014699361,680,658,634,878,784.985300639,808,651,629.985300639,652,0.400968963335,-0.00540214944217,0.079835095445,0.999999929407,0.000238674933877,-0.000287147585028,4.20194884823e-05,1793246614767638272
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.397614441,714.602385559,680,658,634,878,784.397614441,808,651,629.397614441,652,0.400969850184,-0.00540222980863,0.0798355171907,0.999999929464,0.000239727740402,-0.000286075489162,4.19963400018e-05,1793246614784304896
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.187474292,715,680,658,634,878,784,808,651,629,652,0.400970455287,-0.00540271713436,0.079836048957,0.999999929881,0.000239287917735,-0.000284973208281,4.20556041902e-05,1793246614800971520
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.767129265,715,680,658,634,878,784,808,651,629,652,0.400970471,-0.00540405578514,0.079836810877,0.999999931049,0.000235725638364,-0.00028380778298,4.22872688546e-05,1793246614817638144
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.655629121,679.655629121,658,634,878,784.344370879,808,651,629,652,0.400971295447,-0.00540408272739,0.0798373569339,0.999999931645,0.00023458080988,-0.000282683310794,4.20963868699e-05,1793246614834305024
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,877.505423538,785,807.505423538,651,629,652,0.400972409038,-0.00540424052824,0.0798378983606,0.999999932055,0.000234494388684,-0.000281344884239,4.179705453e-05,1793246614867638272
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.070999317,658.070999317,634,877,785,807,651,629,652,0.400971803989,-0.00540522221327,0.0798378876308,0.999999932117,0.000234115591496,-0.000281400530614,4.20586428099e-05,1793246614884305152
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.662115298,658.662115298,634,877,785,807,651,629,652,0.400970544331,-0.00540377785732,0.079837078718,0.999999931246,0.000236334471113,-0.000282620905336,4.21837787781e-05,1793246614900971776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.752485477,714,679.752485477,658.752485477,634,877.247514523,784.752485477,807.247514523,651,629,652,0.400970007371,-0.0054031947428,0.0798369631248,0.999999931064,0.000236694360058,-0.000282971284041,4.21210093687e-05,1793246614917638144
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,744.174714115,714,679.174714115,658.174714115,634,877.825285885,784.174714115,807.825285885,651,629,652,0.400970434703,-0.00540376077661,0.0798377726228,0.999999931806,0.000234573811051,-0.000282160833276,4.18075191644e-05,1793246614934305024
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..820ea8c784c4d86692f16206da5bd9fefd6a443a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_04/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
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+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fea4628ba6fed6de373addb1d8054aebad6eba78
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02f145b02b91c2b8bd96e5607528655541529bf77b9d2ac3382ab0846aea168
+size 25717767
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5caaa9883f0791f3697644307937671c8e0d6841
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+54,0.900000000,BASELINE,766,744.344700211,714.344700211,680,658,634.344700211,878,785.344700211,808,652,629.344700211,652,0.400923369518,-0.0154377674108,0.059927781524,0.999999972534,-9.73942541132e-05,-0.00020906109736,-4.17048065863e-05,1793246617419203840
+55,0.916666667,BASELINE,766,744.919692769,714.919692769,680,658,634.919692769,878,785.919692769,808,652,629.919692769,652,0.4009258418,-0.0154365631586,0.0599291634291,0.999999973314,-9.42006230398e-05,-0.00020679548187,-4.1630581432e-05,1793246617435870464
+56,0.933333333,BASELINE,766,745,715,680,658,634.507033245,878,785.507033245,808,652,629.507033245,652,0.400924100919,-0.0154356006958,0.0599269011147,0.999999972715,-9.45433959417e-05,-0.000209402818765,-4.22214744968e-05,1793246617452537344
+57,0.950000000,BASELINE,765.931772624,744.931772624,715,680,658,634,878,785.068227376,808,652,629.068227376,652,0.400922153437,-0.0154348628578,0.059924611469,0.999999972067,-9.52725563007e-05,-0.000212032874679,-4.27937866804e-05,1793246617469204224
+58,0.966666667,BASELINE,765.33909695,744.33909695,715,680,658,634,878,785.66090305,808,652,629.66090305,652,0.400923875347,-0.0154355499367,0.0599266592511,0.999999972841,-9.45588131677e-05,-0.000208756749562,-4.23932898661e-05,1793246617485870592
+59,0.983333333,BASELINE,765.247056484,744.247056484,715,679.752943516,658,634,878,785.752943516,808,652,629.752943516,652,0.400924708342,-0.0154356898489,0.0599275972128,0.999999973226,-9.3740707034e-05,-0.000207312949632,-4.22034519754e-05,1793246617502536960
+60,1.000000000,BASELINE,765.824488166,744.824488166,715,679.175511834,658,634,878,785.175511834,808,652,629.175511834,652,0.40092435264,-0.0154350980647,0.0599270510724,0.999999973103,-9.27830418371e-05,-0.000208319418042,-4.22953167482e-05,1793246617519203584
+61,1.016666667,BASELINE,766,745,714.599380885,679.801238229,658,634,878,785,808,652,629.400619115,652,0.400923291477,-0.0154358725837,0.0599267116043,0.999999972681,-9.43628459606e-05,-0.000209642462818,-4.22263990066e-05,1793246617535870208
+62,1.033333333,BASELINE,766,745,714.02381798,680.952364041,658,634,878,785,808,652,629.97618202,652,0.40092192225,-0.0154372437449,0.0599264623867,0.999999972123,-9.70507213396e-05,-0.000211103751232,-4.20872701747e-05,1793246617552537088
+63,1.050000000,BASELINE,766,745,714.564773393,680.435226607,658,634,878,785,808,652,629.435226607,652,0.400921262421,-0.0154368158608,0.0599255054565,0.999999972119,-9.63281091454e-05,-0.000211455031054,-4.20774165957e-05,1793246617569203712
+64,1.066666667,BASELINE,766,745,714.84874782,680,658,634,878.15125218,785,808,652,629,652,0.400920993048,-0.0154362981844,0.059924867176,0.999999972128,-9.56468218453e-05,-0.000211721415416,-4.20797807752e-05,1793246617585870592
+65,1.083333333,BASELINE,766,745,714.269832594,680,658,634,878.730167406,785,808,652,629,652,0.400921741101,-0.0154357462103,0.0599252162541,0.999999972107,-9.54986577286e-05,-0.000211883244801,-4.21009113722e-05,1793246617602537216
+66,1.100000000,BASELINE,766,745,714,680,658.308077677,634,878.691922323,785,808,652,629,652,0.40092213393,-0.0154355044613,0.0599250964085,0.999999972215,-9.47727856281e-05,-0.000211683539394,-4.2172695795e-05,1793246617619204096
+67,1.116666667,BASELINE,766,745,714,680,658.885110581,634,878.114889419,785,808,652,629,652,0.400922216645,-0.0154355335425,0.0599245671874,0.999999972435,-9.35425680604e-05,-0.000211168210096,-4.22887015683e-05,1793246617635870720
+68,1.133333333,BASELINE,766,745,714.460023435,680,658.539976565,634,878,785,808.460023435,652,629,652,0.400922223963,-0.0154359285752,0.0599250330108,0.999999972499,-9.43753651851e-05,-0.000210537001032,-4.20754399716e-05,1793246617652537088
+69,1.150000000,BASELINE,766,745,715,679.964623774,658,634,877.964623774,785,808.964623774,651.964623774,629,652,0.400922288594,-0.0154363618088,0.0599257687017,0.999999972551,-9.5543402511e-05,-0.000209810483518,-4.18111680877e-05,1793246617669203712
+70,1.166666667,BASELINE,766,745,715,679.374096995,658,634,877.374096995,785,808.374096995,651.374096995,629,652,0.400923546754,-0.0154359668556,0.0599268574499,0.999999973065,-9.39239698221e-05,-0.000208040388919,-4.20309549134e-05,1793246617685870336
+71,1.183333333,BASELINE,766,744.788254252,714.788254252,679.211745748,658,634,877.211745748,785,808,651,629,652,0.400923772063,-0.0154358524578,0.0599269444702,0.999999973142,-9.36452235114e-05,-0.000207772746443,-4.21471359382e-05,1793246617702536960
+72,1.200000000,BASELINE,766,744.21050773,714.21050773,679.78949227,658,634,877.78949227,785,808,651,629,652,0.400922212098,-0.0154362229974,0.0599253000121,0.999999972465,-9.56838422436e-05,-0.000210102079736,-4.20842352299e-05,1793246617719203584
+73,1.216666667,BASELINE,766,744.364365156,714.364365156,680,658,634,877.635634844,785,808,651.364365156,629.364365156,652,0.400921786054,-0.0154369425868,0.0599250478818,0.999999972305,-9.61590941843e-05,-0.000210702479023,-4.18139812556e-05,1793246617735870464
+74,1.233333333,BASELINE,766,744.93759079,714.93759079,680,658,634,877.06240921,785,808,651.93759079,629.93759079,652,0.400922009992,-0.0154378622577,0.0599255938582,0.999999972444,-9.57381968281e-05,-0.000210311822972,-4.14248687683e-05,1793246617752537600
+75,1.250000000,BASELINE,766,745,715,680,658.515433501,634,877.515433501,785,808,652,629.484566499,652,0.400922839617,-0.0154371081102,0.0599254680752,0.999999972645,-9.46111685937e-05,-0.000209827554343,-4.16134363922e-05,1793246617769203968
+76,1.266666667,BASELINE,765.904162234,745,715,680,658.904162234,634,878,785,808,652,629,652,0.400923565669,-0.0154364241329,0.0599254013912,0.999999972767,-9.41769123566e-05,-0.000209394926044,-4.18294316628e-05,1793246617785870592
+77,1.283333333,BASELINE,765.313443624,745,715,680,658.313443624,634,878,785,808,652,629,652,0.400923374786,-0.0154371584776,0.059926063679,0.999999972446,-9.77654321983e-05,-0.00020928801319,-4.18226083375e-05,1793246617802537216
+78,1.300000000,BASELINE,765.271033133,745,715,680,658,634,878,785,808,652,629,652,0.400923093598,-0.0154370101261,0.0599264762117,0.999999972448,-9.81844772613e-05,-0.000209065417145,-4.18997016367e-05,1793246617819203840
+79,1.316666667,BASELINE,765.848453792,745,715,680,658,634,878,785,808,652,629,652,0.400922710324,-0.0154358639368,0.0599266064102,0.99999997282,-9.50206113025e-05,-0.000208712047849,-4.20716579025e-05,1793246617835870464
+80,1.333333333,BASELINE,766,744.576710694,715,680,658,634,878,785,808,652,629,652.423289306,0.400923087181,-0.0154366398929,0.0599268937636,0.999999972782,-9.63397541822e-05,-0.000208344380121,-4.18100253676e-05,1793246617852537088
+81,1.350000000,BASELINE,766,744.002795049,715,680,658,634,878,785,808,652,629,652.997204951,0.400923734528,-0.0154380998392,0.0599272370402,0.999999972591,-9.92541632064e-05,-0.000207971624305,-4.13941014605e-05,1793246617869203968
+82,1.366666667,BASELINE,766,744,715,680,658,634,878,785.58639667,808,652,629,652.41360333,0.400924236606,-0.0154381400512,0.0599271114003,0.999999972745,-9.82405496488e-05,-0.000207742277829,-4.1246645622e-05,1793246617885870848
+83,1.383333333,BASELINE,766,744.172750019,714.827249981,680,658,634,878,785.827249981,808,651.827249981,629,652,0.400923917018,-0.0154378298156,0.0599265998411,0.999999972699,-9.76047670211e-05,-0.000208252679015,-4.13071002972e-05,1793246617902537472
+84,1.400000000,BASELINE,766,744.752244443,714.247755557,680,658,634,878,785.247755557,808,651.247755557,629,652,0.400921664467,-0.0154367108017,0.0599251850281,0.999999972176,-9.79038594787e-05,-0.000210503182721,-4.18539920889e-05,1793246617919204096
+85,1.416666667,BASELINE,766,745,714.330277962,680,658,634,878,785,808,651.330277962,629.330277962,652,0.400921820526,-0.0154367171351,0.0599251452797,0.999999972301,-9.68813277239e-05,-0.000210403339244,-4.17322548137e-05,1793246617935870720
+86,1.433333333,BASELINE,766,745,714.907220385,680,658,634,878,785,808,651.907220385,629.907220385,652,0.40092377543,-0.0154375639217,0.0599261324831,0.999999972908,-9.48717554473e-05,-0.000208548164693,-4.11111592425e-05,1793246617952537344
+87,1.450000000,BASELINE,765.517274259,744.517274259,715,680,658,634.482725741,878,785,808,652,630,652,0.400924339998,-0.0154370889904,0.0599269233826,0.999999973151,-9.46667626467e-05,-0.000207431272822,-4.13301704424e-05,1793246617969203968
+88,1.466666667,BASELINE,765.059358078,744.059358078,715,680,658,634.940641922,877.940641922,785,808,652,629.940641922,652,0.400924542655,-0.0154365400255,0.0599274610101,0.999999973266,-9.48451709317e-05,-0.000206727335115,-4.16784397059e-05,1793246617985870336
+89,1.483333333,BASELINE,765.648507022,744.648507022,715,680,658,634.351492978,877.351492978,785,808,652,629.351492978,652,0.400923893087,-0.0154375908906,0.0599260738476,0.999999972857,-9.53590951433e-05,-0.000208446428514,-4.17435015917e-05,1793246618002537216
+90,1.500000000,BASELINE,765.766239171,745,715,680,658,634,877,785.233760829,808,652,629,652,0.400923910742,-0.0154381707677,0.0599257183338,0.999999972747,-9.60444561453e-05,-0.000208665341896,-4.17198460631e-05,1793246618019203840
+91,1.516666667,BASELINE,765.18674632,745,715,680,658,634,877,785.81325368,808,652,629,652,0.400924915219,-0.0154380540539,0.0599268886276,0.999999973078,-9.69833719367e-05,-0.00020666549044,-4.15649775648e-05,1793246618035870720
+92,1.533333333,BASELINE,765.388255064,744.611744936,715,679.611744936,658,634.388255064,877.388255064,785.611744936,808,651.611744936,629,652,0.400924936622,-0.0154370941794,0.059927041476,0.999999973122,-9.62094698092e-05,-0.000206776135192,-4.17523043759e-05,1793246618052537088
+93,1.550000000,BASELINE,765.96112086,744.03887914,715,679.03887914,658,634.96112086,877.96112086,785.03887914,808,651.03887914,629,652,0.400924490586,-0.0154357333918,0.0599267105412,0.999999973028,-9.46211429278e-05,-0.000207890295969,-4.21023410304e-05,1793246618069203712
+94,1.566666667,BASELINE,766,744.538922081,715,679.538922081,658,634.461077919,878,785,808,651.538922081,629.538922081,652,0.400924246526,-0.0154358788968,0.0599263009216,0.999999972823,-9.5945835543e-05,-0.000208290878378,-4.19994720786e-05,1793246618085870592
+95,1.583333333,BASELINE,765.884690752,745,715,680,658,634,878,785.115309248,808,652,629.884690752,652,0.40092403035,-0.0154361941596,0.0599260451524,0.999999972658,-9.72402614788e-05,-0.000208512313946,-4.18359446823e-05,1793246618102537216
+96,1.600000000,BASELINE,765.315287157,745,715,680,658,634,878,785.684712843,808,652,629.315287157,652,0.400923866073,-0.0154367460436,0.0599264178153,0.999999972695,-9.75802553687e-05,-0.000208232861213,-4.15634010078e-05,1793246618119203840
+97,1.616666667,BASELINE,765.2680047,745,715,680,658,634,878,786,808.2680047,651.7319953,629.2680047,652,0.400923778601,-0.0154369135697,0.0599266213417,0.999999972752,-9.73325871666e-05,-0.000208081180312,-4.15196114725e-05,1793246618135870720
+98,1.633333333,BASELINE,765.868527955,745,715,680,658,634,878,786,808.868527955,651.131472045,629.868527955,652,0.400923786424,-0.0154366042155,0.059926615017,0.999999972836,-9.63557953505e-05,-0.000208088028385,-4.17596415879e-05,1793246618152537344
+99,1.650000000,BASELINE,765.552457367,745,715,680,658,634,877.552457367,785.552457367,808.552457367,651.447542633,629.552457367,652,0.400923493307,-0.0154363025032,0.05992617369,0.999999972829,-9.5110116604e-05,-0.000208627342289,-4.20875596041e-05,1793246618169203968
+100,1.666666667,BASELINE,765.021227634,744.978772366,715,680,658,634,877.021227634,785,808,652,629.021227634,652,0.400923116797,-0.0154360173982,0.0599256127937,0.999999972788,-9.38562800462e-05,-0.000209319190983,-4.24221151038e-05,1793246618185870848
+101,1.683333333,BASELINE,765.613725129,744.386274871,715,680,658,634,877.613725129,785,808,652,629.613725129,652,0.40092276608,-0.0154361215793,0.0599251153825,0.999999972579,-9.44111582151e-05,-0.000210099526259,-4.22723442972e-05,1793246618202537472
+102,1.700000000,BASELINE,766,744.201112366,715,680,658,634,878,785.201112366,808,652,629.798887634,652,0.400923235375,-0.0154366763099,0.0599252092346,0.99999997256,-9.50720080322e-05,-0.000209940305794,-4.20190801886e-05,1793246618219204096
+103,1.716666667,BASELINE,766,744.77892753,715,680,658,634,878,785.77892753,808,652,629.22107247,652,0.400925240633,-0.0154380749631,0.0599264105799,0.999999972898,-9.59313528729e-05,-0.000208021206998,-4.15719631913e-05,1793246618235870720
+104,1.733333333,BASELINE,766.354699627,745,715,680,658,634,878,785.645300373,808,652,629,652,0.400925121884,-0.0154377439274,0.0599264710971,0.999999972991,-9.57390458271e-05,-0.000207678413723,-4.14920068258e-05,1793246618252537600
+105,1.750000000,BASELINE,766.929205698,745,715,680,658,634,878,785.070794302,808,652,629,652,0.400923686894,-0.015436341008,0.0599258246463,0.999999972933,-9.48950329058e-05,-0.000208312452721,-4.16395789128e-05,1793246618269204224
+106,1.766666667,BASELINE,766.496154951,744.496154951,715,680,658,634,878,785,808,652,629,652,0.400922968969,-0.0154375091433,0.0599257675066,0.999999972798,-9.53328758628e-05,-0.000208808509255,-4.14082284054e-05,1793246618285870848
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,635,878,786,808,652,629,653,0.400922028183,-0.0154374936116,0.0599241038281,0.999999972096,-9.65716836997e-05,-0.000211464000585,-4.20158395554e-05,1793246618328363520
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.423872575,680,658,634.423872575,878,785.423872575,808,652,629.576127425,652.423872575,0.400922804432,-0.0154386991508,0.0599250174214,0.999999972361,-9.77875180755e-05,-0.00020971753565,-4.16357054496e-05,1793246618345030400
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.152448687,680,658,634,878,785,808,651.847551313,629.847551313,652,0.400923390104,-0.0154391039691,0.0599255485762,0.999999972529,-9.79885705312e-05,-0.000208865293789,-4.14152412216e-05,1793246618361697024
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765.687175107,745,715,680,657.687175107,634,877.687175107,785,808,651,629,652.312824893,0.400923545358,-0.0154367284998,0.0599247583703,0.999999972416,-9.46902483859e-05,-0.000210823930079,-4.18930507024e-05,1793246618395030272
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+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,714,680,658,634,877.062224121,785,808,652,629,652,0.400932180267,-0.015438832721,0.0599292901698,0.999999974191,-9.60557098509e-05,-0.000201706790691,-4.13044408747e-05,1793246618445030144
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,714,680,658,634,877.637349642,785,808,652,629,652,0.400948596412,-0.0154388439842,0.0599344227213,0.999999976524,-9.65729992504e-05,-0.000189582511472,-4.10308067252e-05,1793246618461696512
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.788235316,744.211764684,714,679.788235316,658,634,877.788235316,785,808,652,629,652,0.40096802664,-0.0154387797308,0.0599392031185,0.999999978839,-9.64082554134e-05,-0.000177095402359,-4.08100906402e-05,1793246618478363136
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.21503297,744.78496703,714,679.21503297,658,634,877.21503297,785,808,652,629,652,0.400992601273,-0.0154385865865,0.0599433824622,0.999999981206,-9.50794246171e-05,-0.000163989020385,-4.06796945644e-05,1793246618495030016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.370366541,679.370366541,658,634,877,785,808,652,629,652,0.401026720908,-0.0154397505513,0.0599479315581,0.999999983848,-9.53893890021e-05,-0.000146810292639,-4.06336867423e-05,1793246618511696896
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714.963088881,679.963088881,658,634,877,785,808,652,629,652,0.40106657105,-0.0154417292794,0.0599527026414,0.999999986412,-9.66832315565e-05,-0.000127186662148,-4.06383428088e-05,1793246618528363776
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.542664366,744.457335634,715,680,658,634.542664366,877.542664366,785,808,652,629,652,0.40111478055,-0.0154452633745,0.0599543456767,0.999999987543,-9.70503126692e-05,-0.000117704264395,-4.05188260511e-05,1793246618545030400
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.879249985,744,714.879249985,679.879249985,658,634.879249985,878,785.120750015,808,652,629,652,0.401167958284,-0.0154487482774,0.0599565199508,0.99999998844,-9.76973878893e-05,-0.000109252169296,-4.04913682931e-05,1793246618561697024
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.303488252,744,714.303488252,679.303488252,658,634.303488252,878,785.696511748,808,652,629,652,0.401237765507,-0.0154516585926,0.0599614788242,0.999999988986,-9.96314578687e-05,-0.000102144678958,-4.08418820009e-05,1793246618578363392
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.277498704,744.277498704,714,679.277498704,658,634,878,785.722501296,808,652,629,652,0.401315534576,-0.0154555931069,0.0599649008967,0.99999998951,-0.000102042026156,-9.41685082294e-05,-4.12351184255e-05,1793246618595030016
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.864309894,744.864309894,714,679.864309894,658,634,878,785.135690106,808,652,629,652,0.401402178271,-0.0154606692395,0.0599666099816,0.999999989989,-0.000104983720684,-8.52240678485e-05,-4.16759754824e-05,1793246618611696896
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.554861972,714.445138028,679.554861972,658,634,877.554861972,785,808,652,629.445138028,652,0.401502869853,-0.0154653842216,0.0599667245659,0.999999989964,-0.000106454430575,-8.33454193181e-05,-4.23380354128e-05,1793246618628363520
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,714.975908759,679.024091241,658,634,877.024091241,785,808,652,629.975908759,652,0.401608986618,-0.0154700706696,0.0599663292223,0.999999989812,-0.000107561678529,-8.3372005525e-05,-4.30801399857e-05,1793246618645030144
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,714.398684476,679.601315524,658,634,877.601315524,785,808,652,629.398684476,652,0.40174265072,-0.0154765960744,0.0599652375715,0.999999989854,-0.000110482463056,-7.83463988825e-05,-4.41324404203e-05,1793246618661696768
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.17789861,714.17789861,679.82210139,658,634,878,785,808,652,629,652,0.401888659091,-0.0154835289403,0.0599649324948,0.999999989908,-0.000113615049,-7.23554070356e-05,-4.51751119633e-05,1793246618678363392
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.753049808,714.753049808,679.246950192,658,634,878,785,808,652,629,652,0.402062232545,-0.0154913716772,0.0599663838604,0.999999990001,-0.000117220593059,-6.42086836149e-05,-4.61962817805e-05,1793246618695030272
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.336455745,658,634,878.336455745,785,808,652,629,652,0.40225330649,-0.0155005658581,0.0599690746305,0.99999999,-0.000122021235603,-5.40983679066e-05,-4.67437293362e-05,1793246618711696640
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.926072906,658,634,878.926072906,785,808,652,629,652,0.402457548451,-0.0155107769151,0.0599726979732,0.999999989839,-0.000127721113638,-4.25105738109e-05,-4.69347313117e-05,1793246618728363008
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493189053,745,715,680,658,634,878.493189053,785,808,652,629,652,0.402689467939,-0.0155190232851,0.0599725920564,0.999999988925,-0.000136413405772,-3.55230831838e-05,-4.77534339876e-05,1793246618745029632
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.085544757,745,715,680,658.085544757,634,878,785,808,652,629,652,0.402931019087,-0.0155277573083,0.0599722174018,0.999999987387,-0.000148379689659,-2.93766526191e-05,-4.8430990158e-05,1793246618761696256
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.660098063,745,715,680,658.660098063,634,878,785,808,652,629,652,0.403204947659,-0.0155408889781,0.0599733625824,0.999999982968,-0.000176609221676,-2.42682072308e-05,-4.77873083379e-05,1793246618778363136
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.760221125,744.760221125,714.760221125,679.760221125,658.760221125,634,877.760221125,785,808,651.760221125,629,652,0.40348757413,-0.0155510727672,0.0599690699672,0.999999980182,-0.000191083632871,-2.8771202294e-05,-4.79130793888e-05,1793246618795029760
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.17311295,744.17311295,714.17311295,679.17311295,658.17311295,634,877.17311295,785,808,651.17311295,629,652,0.40378279984,-0.0155569864323,0.0599569004871,0.999999980448,-0.000185633199282,-4.71967539765e-05,-4.91534338005e-05,1793246618811696384
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.408664617,744,714,679.408664617,658.408664617,634,877.408664617,785,808,651,629,652,0.404100419676,-0.0155529213887,0.0599419308377,0.99999998135,-0.000171562207015,-7.27350679952e-05,-5.07532941578e-05,1793246618828363520
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.988213165,744,714,679.988213165,658.988213165,634,877.988213165,785,808,651,629,652,0.404427403653,-0.0155446837279,0.0599257902923,0.999999981656,-0.000153886510791,-0.00010124759736,-5.25034825743e-05,1793246618845030400
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744,714,680,658.433888858,634,878,784.433888858,808,651.566111142,629.566111142,652,0.404810042316,-0.0155398568729,0.0599200454266,0.999999980211,-0.000156476484654,-0.000110560972848,-5.35597890419e-05,1793246618861696768
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765.699038899,744.699038899,714.300961101,679,658,634,877.699038899,784.699038899,808,651.699038899,629.699038899,652,0.406164286529,-0.015550776635,0.0599612119081,0.999999985365,-0.000158159071651,-4.16007332377e-05,-5.02504132787e-05,1793246618911696640
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.469010439,714.530989561,679.469010439,658.469010439,634,877.938020878,784.469010439,808,651.469010439,629.469010439,652.469010439,0.407217249407,-0.0155585461193,0.0600081672864,0.999999986663,-0.00015307297483,3.31377724703e-05,-4.63160580969e-05,1793246618945029888
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+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.234009344,714.234009344,680.765990656,658.765990656,634,878,785,808.234009344,652,630,652,0.409417777753,-0.015553958618,0.0599832263352,0.999999986791,-0.000148455787415,-4.36661663184e-05,-4.97205093235e-05,1793246619011696896
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+150,2.500000000,POSE1_TO_POSE2_PRESS,766,744.949690984,714,680.050309016,658.050309016,634,878,785,808.949690984,651.050309016,629.050309016,652.949690984,0.410755375898,-0.0155590811371,0.0599964263807,0.999999987816,-0.000147941184793,-4.40498172689e-07,-4.98065698545e-05,1793246619045030144
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.46919588,744.46919588,714,680,659.061608239,634,878,785.53080412,809,651,629.53080412,653,0.411444994572,-0.0155606686776,0.0599957725072,0.99999998765,-0.000148821389312,-1.59810071736e-07,-5.05195056933e-05,1793246619061696768
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.258757086,785,809,651,630,653,0.413480426163,-0.0155557449315,0.059929963385,0.999999980599,-0.000137336753942,-0.000129537454702,-5.62234254004e-05,1793246619111696384
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.829215264,785,809,651,630,653,0.414225175657,-0.0155552828562,0.0599216270466,0.99999997917,-0.000132071668903,-0.000144927228985,-5.66828654673e-05,1793246619128363008
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.582637373,785.417362627,809,651.417362627,630,652.582637373,0.415068819791,-0.0155609440584,0.0599594507545,0.999999986446,-0.000137042135716,-7.35069722389e-05,-5.40795486345e-05,1793246619145029888
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+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.409616262,715,680,659,634,878.590383738,785.409616262,809,652,630,652,0.416775429744,-0.015572027689,0.0600273660178,0.99999998673,-0.000149191399053,4.39723093878e-05,-4.84498636171e-05,1793246619178363136
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+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744,714.087437614,680,659,634,878.912562386,785,809.087437614,651.087437614,629.912562386,653,0.420104968605,-0.0155740519562,0.0599527895732,0.999999984391,-0.000150995679318,-7.17020075948e-05,-5.72493191819e-05,1793246619245030400
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766.892281339,745,714,681.892281339,660,633,879.892281339,784.892281339,813,651,630,653,0.454712951007,-0.0156124860979,0.0598661933247,0.999999958491,-0.000191794676476,-0.000205784545776,-6.23408273273e-05,1793246620428363520
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.323630987,745,714,681.323630987,660,633,879.323630987,784.323630987,813,651,630,653,0.454713500912,-0.0156139249732,0.059865677035,0.999999958366,-0.000192169456285,-0.000206324788918,-6.13865039601e-05,1793246620445030400
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,744.754345511,714,681,659.754345511,633,879,784,812.754345511,651,630,653,0.45471365432,-0.0156132520433,0.0598648252645,0.999999958252,-0.000191649042588,-0.000207430452136,-6.11489402424e-05,1793246620461697024
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,744.18422106,714,681,659.18422106,633,879,784,812.18422106,651,630,653,0.454713284017,-0.0156097897595,0.0598635303778,0.999999958147,-0.000189946222692,-0.000209282944163,-6.18581002949e-05,1793246620478363648
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,744,714.408677217,681.408677217,659.408677217,633,879,784,812,651.408677217,630.408677217,653,0.454713166391,-0.0156090021216,0.059863542061,0.999999958109,-0.000189179186596,-0.000210185164874,-6.17645145896e-05,1793246620495030016
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.011902117,714.988097883,682,660.011902117,633,879.011902117,784,812.011902117,651.988097883,631,653,0.454713164567,-0.0156095005167,0.0598641380939,0.999999958098,-0.000188890954955,-0.000210632388412,-6.13003536026e-05,1793246620511696640
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.589234808,714.410765192,682,660.589234808,633,879.589234808,784,812.589234808,651.410765192,631,653,0.454712933764,-0.0156104369671,0.0598628635229,0.999999957775,-0.000190126909968,-0.000211014987559,-6.14365036008e-05,1793246620528363520
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714,681.834898413,660.834898413,633,879.834898413,784,812.834898413,651,630.834898413,653,0.454713109177,-0.0156114107895,0.0598621289347,0.999999957689,-0.000190694906815,-0.000210933432433,-6.13622725717e-05,1793246620545030144
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714,681.262646692,660.262646692,633,879.262646692,784,812.262646692,651,630.262646692,653,0.454714286345,-0.0156124767731,0.0598627259757,0.999999958188,-0.000189615679826,-0.000209707245798,-6.07692296607e-05,1793246620561696768
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.32088788,681,660,633,879,784,812.32088788,651,630.32088788,653,0.454715110221,-0.0156118268281,0.0598633204125,0.999999958534,-0.000188959252958,-0.000208680819318,-6.0647948427e-05,1793246620578363648
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714.913993982,681,660,633,879,784,812.913993982,651,630.913993982,653,0.45471563439,-0.0156097212123,0.0598639126401,0.999999958752,-0.000188661499392,-0.000207823855066,-6.09268759363e-05,1793246620595030528
+244,4.066666667,HOLD_POSE2,766,745,714,682,660,633,879,784,812,651,630,653,0.454716642393,-0.015611826704,0.0598628993802,0.999999959079,-0.000185828976264,-0.000209075623453,-5.99733113059e-05,1793246620626257408
+245,4.083333333,HOLD_POSE2,766,745,714,682,660,633,879,784,812,651,630.573762425,653,0.454715244598,-0.0156108150607,0.0598623763965,0.999999958537,-0.000187631676616,-0.00020997501319,-6.02622236038e-05,1793246620642924032
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+247,4.116666667,HOLD_POSE2,766.723570992,745,714.723570992,681.276429008,660,633,879,784,812.723570992,651,630.276429008,652.276429008,0.454715209483,-0.0156118211568,0.0598628147179,0.999999958042,-0.000189591638152,-0.000210534727298,-6.03795494302e-05,1793246620676257024
+248,4.133333333,HOLD_POSE2,766.691681776,745,714.691681776,681,659.691681776,633,879,784,813,651,630,652.308318224,0.454715335181,-0.0156117234662,0.0598627940067,0.999999957984,-0.000189876640852,-0.000210559432066,-6.03665736518e-05,1793246620692923648
+249,4.150000000,HOLD_POSE2,766.098462768,745,714.098462768,681,659.098462768,633,879,784,813,651,630,652.901537232,0.454714839564,-0.0156102435563,0.059862146389,0.999999957937,-0.000189968702246,-0.000210686664032,-6.04131295723e-05,1793246620709590272
+250,4.166666667,HOLD_POSE2,766,745,714.47964159,681,659.47964159,633,879.47964159,784.47964159,812.52035841,651,630,653,0.454716030909,-0.0156084261502,0.0598632967294,0.999999958701,-0.000187203197743,-0.000209483358291,-6.05719146263e-05,1793246620726256896
+251,4.183333333,HOLD_POSE2,766,745,714.945300889,681.054699111,660,633,879.945300889,784.945300889,812,651,630.054699111,653,0.454717424094,-0.0156068082891,0.0598645677533,0.999999959484,-0.000184342383738,-0.000208238832161,-6.07115982464e-05,1793246620742923776
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+254,4.233333333,HOLD_POSE2,766,745,714,681.197856881,660,633,879,784,812,651,631,653,0.454717352408,-0.0156100210727,0.0598632588267,0.999999958672,-0.000187298583832,-0.000209750394966,-5.98261802402e-05,1793246620792923904
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.481072935,633,879,784,812,651.518927065,631,653,0.454717228339,-0.0156074770793,0.0598622759416,0.999999958472,-0.000187667840437,-0.000210272617881,-6.01833375165e-05,1793246621042196736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.053895061,660,633,879,784,812,651,631,653,0.45471748431,-0.0156085408664,0.0598614808615,0.999999958454,-0.000187486915906,-0.000210521114972,-6.01761543176e-05,1793246621058863872
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.033277971,745,714.033277971,681,660,633,879.966722029,784,812,651,630,653,0.454613975679,-0.0156000621514,0.0598189118274,0.999999942734,-0.000179840786401,-0.000279405322766,-6.42078286677e-05,1793246621142196736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659.45800344,633,879.45800344,784,812,651,630.54199656,653,0.454548680753,-0.0155971386239,0.0597978082109,0.99999993475,-0.00018045362033,-0.000305943678801,-6.58474756485e-05,1793246621158863616
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,744.708182956,714,681.291817044,660,633,878.291817044,785,811,651,631,653,0.449776759452,-0.0154590370752,0.0597542164718,0.999999932567,-6.62738779415e-05,-0.000358870973292,-4.10535031334e-05,1793246621508864000
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744,714,680,658,634,878,786,809,651.211651366,630,652.211651366,0.406914241707,-0.0153487542391,0.0598219114602,0.999999927504,0.000236879549028,-0.000297399630232,2.08126088652e-05,1793246622442196992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,714,680,658,634,878,786,809,651.802252579,630,652.802252579,0.406425936247,-0.0153514498922,0.0598147971556,0.999999927092,0.000231080341503,-0.000303321523325,2.03213866206e-05,1793246622458863872
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.376055974,714.376055974,680,658,634,878,785.623944026,808.623944026,651.623944026,629.623944026,652.623944026,0.405974009766,-0.015351759245,0.059817718016,0.999999931328,0.000223140669754,-0.000295239756652,1.96244527141e-05,1793246622475530496
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.941404048,714.941404048,680,658,634,878,785.058595952,808.058595952,651.058595952,629.058595952,652.058595952,0.405540395019,-0.0153508674262,0.0598256901915,0.999999937668,0.000214123570145,-0.000280109087243,1.88239714278e-05,1793246622492197120
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.526544781,744.473455219,714.473455219,680,658,634,878,785.526544781,808,651.526544781,629,652,0.405101798773,-0.0153495333904,0.0598216120457,0.99999993066,0.000239386409651,-0.000284656114652,1.8581243976e-05,1793246622508863744
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.315166466,744,714,680.684833534,658,634.684833534,878,785.315166466,808,652,629.684833534,652,0.404289348269,-0.015348074765,0.059790109336,0.999999913379,0.000244863794915,-0.000336215369029,1.56085241048e-05,1793246622542196736
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744,714.268457477,680.731542523,658,634.731542523,878,785,808.268457477,652,629.731542523,652,0.40392155536,-0.0153462489568,0.059771315618,0.999999904354,0.000237593348186,-0.000366966406977,1.32920018665e-05,1793246622558863616
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.073878434,745,715,680,658,634,877,785,808,652,629.926121566,652.926121566,0.402015924327,-0.0153484865976,0.059830179645,0.999999931887,0.000249467108566,-0.000271439804992,1.76989851071e-05,1793246622692197120
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744.350458091,715,680,658,634,877.350458091,785,808,651.649541909,629.350458091,652,0.401572556878,-0.0153533817571,0.0598248245536,0.999999931135,0.000233722687414,-0.000287793573447,1.6668734108e-05,1793246622742196992
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.230461494,714.769538506,680.230461494,658,634.230461494,877,785,808.230461494,652,629,652,0.401465791893,-0.015355903929,0.0598284073789,0.99999993358,0.000229148575884,-0.000282924857872,1.68585989011e-05,1793246622758863360
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.381270125,744,714,679.618729875,658,634.618729875,877.618729875,785,808,652,630,652,0.400989252671,-0.0153529835245,0.0598337486153,0.999999931658,0.00024382756642,-0.000277416382518,1.6520719515e-05,1793246622942196992
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744.197774792,714.197774792,680,658,634.802225208,877.802225208,785,808,652,630,652,0.400983300708,-0.0153540964781,0.059835104571,0.999999932313,0.000243554180285,-0.000275278355854,1.66455549676e-05,1793246622958863616
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744.791735551,714.791735551,680,658,634.208264449,877.208264449,785,808,652,630,652,0.400978970798,-0.0153532665796,0.0598357949519,0.999999932101,0.000244928571301,-0.000274834087099,1.65850673486e-05,1793246622975530240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.376118218,745,715,680,658,634,877,785,808,651.623881782,630,652,0.400977129542,-0.0153535317469,0.0598366221671,0.999999932613,0.000244205339905,-0.00027361442088,1.65162947486e-05,1793246622992196864
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.955328985,745,715,680,658,634,877,785,808,651.044671015,630,652,0.400976632085,-0.015354388217,0.0598375232686,0.999999933513,0.000242349455327,-0.000271976063321,1.64430485095e-05,1793246623008863488
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744,714.893735849,680,658,634,877.106264151,785,808,651.893735849,629.893735849,652,0.400978058054,-0.0153576892584,0.0598398433563,0.999999935387,0.000239751602593,-0.000267318756184,1.68896304792e-05,1793246623042196736
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,744,714.305623874,680,658,634,877.694376126,785,808,651.305623874,629.305623874,652,0.400975263842,-0.0153560360276,0.0598392259998,0.99999993462,0.000240780754972,-0.000269301101289,1.61894238871e-05,1793246623058863360
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744,714,680,658,634,877.721868029,785,808,651.278131971,629,652,0.400974138627,-0.0153560236548,0.0598391455427,0.999999934419,0.000240998995008,-0.000269863087262,1.600706406e-05,1793246623075530240
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744,714,680,658,634,877.142825011,785,808,651.857174989,629,652,0.400974819099,-0.0153577865263,0.0598396459568,0.999999934834,0.000240339908911,-0.000268888386585,1.63849626886e-05,1793246623092197376
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,744,714,680,658,634,877,785,808,651.564463266,629,652,0.400975982488,-0.0153583307935,0.0598404808684,0.999999935277,0.000240586353881,-0.000267005867377,1.6478179409e-05,1793246623108864256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744,714,679.986382028,658,634,877,785,808,651.013617972,629,652,0.400977269805,-0.0153584711533,0.0598414295791,0.999999935734,0.000241071972441,-0.000264847877888,1.64808525685e-05,1793246623125531136
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744,714,679.410670493,658,634,877,785,808,651.589329507,629,652,0.400977146059,-0.0153584085945,0.0598425549183,0.999999936517,0.000239191977793,-0.000263588234099,1.65935679079e-05,1793246623142197504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.168455613,714,679.168455613,658,634,877.168455613,785,808,652,629.168455613,652,0.400976581743,-0.0153584725502,0.059842898338,0.999999936883,0.000237824519697,-0.000263434994377,1.6576482781e-05,1793246623158864128
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.756078138,714,679.756078138,658,634,877.756078138,785,808,652,629.756078138,652,0.40097492116,-0.0153588513108,0.0598412961131,0.999999936223,0.0002377324028,-0.000266034812157,1.62364160631e-05,1793246623175531008
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744.931894183,714,680,658,634,877,785,808,651.068105817,629.068105817,652,0.400976603252,-0.0153590362728,0.0598422808308,0.999999935967,0.000241173120244,-0.000263894056189,1.61569954444e-05,1793246623242197248
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.816235781,744.816235781,714,680,658,634.816235781,877,785,808.816235781,652,629.183764219,652,0.400976860735,-0.0153584820713,0.0598440751227,0.999999937037,0.000238226548745,-0.000262526655983,1.59325939982e-05,1793246623292196608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.60114231,745,714.39885769,680,658,634.60114231,877,785.39885769,808.60114231,652,629,652,0.4009780356,-0.0153584984017,0.0598443562287,0.999999937461,0.000238182096786,-0.000260939499994,1.60614398858e-05,1793246623308863232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.02290036,745,714.97709964,680,658,634.02290036,877,785.97709964,808.02290036,652,629,652,0.400979315547,-0.0153584669439,0.0598444606242,0.999999937841,0.000238627005941,-0.000259057385746,1.6267946552e-05,1793246623325529856
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78d3811a11789d7d4ed9b8b7a1adc5d57dbbca39
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+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,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
+1,0.016666667,pose1_baseline,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
+2,0.033333333,pose1_baseline,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
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+384,6.400000000,pose2_to_pose3_retreat,0.583250586246,-0.0100720949654,1.05004255132,0.553822376094,-0.00139764233119,1.0496659314
+385,6.416666667,pose2_to_pose3_retreat,0.583249083167,-0.010072089427,1.05004252525,0.553820872936,-0.00139763710521,1.0496659043
+386,6.433333333,pose2_to_pose3_retreat,0.583248464627,-0.0100720866825,1.0500425255,0.553820254215,-0.00139763499182,1.04966590414
+387,6.450000000,pose2_to_pose3_retreat,0.583248027271,-0.0100720847419,1.05004252567,0.553819816732,-0.00139763349749,1.04966590402
+388,6.466666667,pose2_to_pose3_retreat,0.583247674396,-0.0100720831761,1.05004252582,0.553819463753,-0.00139763229181,1.04966590393
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+390,6.500000000,pose2_to_pose3_retreat,0.58324726531,-0.0100720813609,1.05004252598,0.553819054547,-0.00139763089407,1.04966590383
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+392,6.533333333,pose2_to_pose3_retreat,0.583246950242,-0.0100720799629,1.05004252611,0.553818739387,-0.00139762981756,1.04966590375
+393,6.550000000,pose2_to_pose3_retreat,0.583246692658,-0.0100720800315,1.05004251573,0.553818482047,-0.00139762896602,1.04966589553
+394,6.566666667,pose2_to_pose3_retreat,0.583246682592,-0.0100720800649,1.05004251505,0.553818471999,-0.00139762893347,1.049665895
+395,6.583333333,pose2_to_pose3_retreat,0.583246580843,-0.0100720804025,1.05004250826,0.553818370428,-0.00139762860442,1.04966588966
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08cd496ff9edc107f9141e8e3983ff27345f6e15
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a73bdb019ff9997ac8bae5c93a2ed964cba34f8b1f9d16925bf253ae36ddd2
+size 25730843
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..865c57a163dbd7c00ec9873d1c08ddd439549ab4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+35,0.583333333,BASELINE,766,744.676555209,715,679.676555209,658.323444791,634.323444791,877,785,808,652,629,652,0.400977505423,-0.0153604360864,0.0598459229264,0.999999937825,0.000239912426179,-0.000257952771893,1.58744683451e-05,1793246624053484032
+36,0.600000000,BASELINE,766,744.100495189,715,679.100495189,658.899504811,634.899504811,877,785,808,652,629,652,0.400976732647,-0.0153615693841,0.05984584827,0.999999937962,0.000239438321205,-0.00025784341997,1.62140250858e-05,1793246624070150656
+37,0.616666667,BASELINE,766,744.472587232,714.527412768,679.472587232,658.527412768,634.527412768,877.472587232,785,808.472587232,651.527412768,629,652,0.400977071592,-0.0153620175777,0.059846156269,0.999999938696,0.00023671839606,-0.000257533863788,1.57661611401e-05,1793246624086818048
+38,0.633333333,BASELINE,766.046719848,744.953280152,714,679.953280152,658,634,877.953280152,785,808.953280152,651,629.046719848,652,0.400977450032,-0.0153622906784,0.059846362439,0.999999939413,0.000233808106958,-0.000257442261057,1.51923549787e-05,1793246624103485440
+39,0.650000000,BASELINE,766.64051846,744.35948154,714,679.35948154,658,634,877.35948154,785,808.35948154,651,629.64051846,652,0.400975540023,-0.0153622087562,0.0598444293399,0.999999938552,0.000234225934422,-0.00026039824475,1.50922506042e-05,1793246624120151808
+40,0.666666667,BASELINE,766.774020588,744,714,679.225979412,658,634,877.225979412,785,808,651.225979412,630,652,0.400975373456,-0.0153621802019,0.0598440756761,0.999999938228,0.00023512543573,-0.000260829693245,1.51124280371e-05,1793246624136818176
+41,0.683333333,BASELINE,766.201351035,744,714,679.798648965,658,634,877.798648965,785,808,651.798648965,630,652,0.400977881619,-0.0153622335229,0.0598461451298,0.99999993873,0.000236763905094,-0.000257388083141,1.53171378478e-05,1793246624153484800
+42,0.700000000,BASELINE,766,744.37667673,714.37667673,680,658,634,877.62332327,785,808,652,630,652,0.400977577867,-0.015361611476,0.0598461506609,0.999999938687,0.000236672337041,-0.000257642007675,1.52539347816e-05,1793246624170151424
+43,0.716666667,BASELINE,766,744.957610019,714.957610019,680,658,634,877.042389981,785,808,652,630,652,0.400975749327,-0.0153606232045,0.0598450370101,0.999999938349,0.000235642639604,-0.000259899871312,1.50454533897e-05,1793246624186818048
+44,0.733333333,BASELINE,766.543396391,744.456603609,715,679.456603609,658,634,877.543396391,785,808,652,630,652,0.400976249828,-0.0153613860045,0.0598453379036,0.999999938816,0.000234632116585,-0.000259006172448,1.5212897009e-05,1793246624203484672
+45,0.750000000,BASELINE,766.8716517,744,715,679.1283483,658,634,877.8716517,785,808,652,629.8716517,652,0.400976472235,-0.0153619714814,0.059845493961,0.999999939002,0.000234337658295,-0.000258542316216,1.53911342587e-05,1793246624220151296
+46,0.766666667,BASELINE,766.29098689,744,715,679.70901311,658,634,877.29098689,785,808,652,629.29098689,652,0.400975068544,-0.0153614463134,0.0598447472123,0.999999937978,0.000236561388894,-0.000260467503119,1.55031308304e-05,1793246624236817664
+47,0.783333333,BASELINE,766,744,714.712131362,680,658,634,877,785.287868638,808,652,629.287868638,652,0.400975486282,-0.015361089859,0.0598451675514,0.999999937904,0.000237537446814,-0.000259857162071,1.55876153492e-05,1793246624253484544
+48,0.800000000,BASELINE,766,744,714.135093223,680,658,634,877,785.864906777,808,652,629.864906777,652,0.400977733679,-0.0153609028805,0.0598467602524,0.999999938784,0.000237260194155,-0.000256699835384,1.56444635031e-05,1793246624270151680
+49,0.816666667,BASELINE,766,744.439311552,714,679.560688448,658.439311552,634,877,785.560688448,808,652,629.560688448,652,0.400977398273,-0.0153613684965,0.0598462128096,0.999999938497,0.000237427032215,-0.00025767776453,1.53736011544e-05,1793246624286818560
+50,0.833333333,BASELINE,766,744.986703691,714.013296309,679,658.986703691,634,877,785,808,652,629,652,0.400976302816,-0.0153620314325,0.0598450501985,0.999999937879,0.000237695674484,-0.000259841611168,1.50165977566e-05,1793246624303485184
+51,0.850000000,BASELINE,766,744.396000769,714.603999231,679,658.396000769,634,877,785,808,652,629,652,0.400976486597,-0.0153626003788,0.0598455824355,0.99999993848,0.00023649022176,-0.000258612025967,1.52689971306e-05,1793246624320151552
+52,0.866666667,BASELINE,766,744,715,679.190738493,658,634.190738493,877.190738493,785,808,651.809261507,629,652,0.40097603423,-0.0153624780238,0.0598454661664,0.999999938541,0.000236207098605,-0.00025862938615,1.53450209414e-05,1793246624336817920
+53,0.883333333,BASELINE,766,744,715,679.769416113,658,634.769416113,877.769416113,785,808,651.230583887,629,652,0.400974288016,-0.0153609496451,0.0598440309142,0.999999937504,0.000237799882796,-0.000261182883156,1.50623180809e-05,1793246624353484544
+54,0.900000000,BASELINE,766,744,715,680,658,634.654120768,878,785,808,651,629,652,0.400973151566,-0.0153610075767,0.0598435549727,0.999999937288,0.000237538866194,-0.00026224594363,1.50400966819e-05,1793246624370150912
+55,0.916666667,BASELINE,766,744,715,680,658,634.0791246,878,785,808,651,629,652,0.400972419035,-0.0153621163103,0.0598437144969,0.999999937619,0.000236049856874,-0.000262321710693,1.5190423134e-05,1793246624386817536
+56,0.933333333,BASELINE,766,744.494426448,715,679.505573552,658,634.494426448,877.505573552,785,808,651,629,652,0.400976187534,-0.0153609291583,0.0598459601503,0.999999938542,0.000236911224966,-0.000257998828455,1.50488336977e-05,1793246624403484672
+57,0.950000000,BASELINE,766,745,714.929879295,679,658,634.929879295,877,785,808,651.070120705,629.070120705,652,0.400979940647,-0.0153596307812,0.0598481144314,0.99999993935,0.000238040876152,-0.000253800312737,1.48839548377e-05,1793246624420152064
+58,0.966666667,BASELINE,766,745,714.336470413,679,658,634.336470413,877,785,808,651.663529587,629.663529587,652,0.400978219142,-0.0153602362965,0.0598471026771,0.999999938769,0.000238373819358,-0.000255767796025,1.48928865822e-05,1793246624436818432
+59,0.983333333,BASELINE,766,744.749337458,714,679,658,634,877.250662542,785,808,651.749337458,629.749337458,652,0.40097689242,-0.0153606430339,0.0598462264704,0.999999938307,0.000238544717287,-0.000257411852342,1.49158209558e-05,1793246624453484800
+60,1.000000000,BASELINE,766,744.170422982,714,679,658,634,877.829577018,785,808,651.170422982,629.170422982,652,0.400976082684,-0.0153607894643,0.0598455277683,0.999999938001,0.000238503410935,-0.000258632369273,1.49570922949e-05,1793246624470151168
+61,1.016666667,BASELINE,766,744.405195031,714,679.405195031,658,634,877.594804969,785,808.405195031,651.405195031,629,652,0.400976358742,-0.0153617891588,0.0598455669987,0.999999938149,0.000237881178238,-0.000258623202823,1.5114830207e-05,1793246624486817792
+62,1.033333333,BASELINE,766,744.979437724,714,679.979437724,658,634,877.020562276,785,808.979437724,651.979437724,629,652,0.400977087796,-0.0153631448358,0.0598459140949,0.999999938486,0.000237016582653,-0.000258101011502,1.53211580552e-05,1793246624503484416
+63,1.050000000,BASELINE,766,745,714,680,658,634,877,785,808.432340252,652,629,652,0.400976730209,-0.015363089724,0.0598463551375,0.999999938645,0.000236558036345,-0.000257878498099,1.57772914255e-05,1793246624520151040
+64,1.066666667,BASELINE,766,744.84577215,714.15422785,680,658,634,877,785,808,652,629,652,0.400976588171,-0.0153625187964,0.0598467045145,0.999999938679,0.000236645808436,-0.000257659392787,1.59033715931e-05,1793246624536817664
+65,1.083333333,BASELINE,766,744.265211137,714.734788863,680,658,634,877,785,808,652,629,652,0.400977153527,-0.0153606668264,0.0598467908555,0.999999938384,0.000238202087705,-0.000257418943774,1.50914384193e-05,1793246624553484544
+66,1.100000000,BASELINE,766,744,714.688331355,680,658.311668645,634,877.311668645,785,808,652,629,652.311668645,0.400977303766,-0.015360869442,0.0598468677396,0.999999938512,0.000238060743515,-0.000257052447268,1.50380710949e-05,1793246624570151168
+67,1.116666667,BASELINE,766,744,714.114547537,680,658.885452463,634,877.885452463,785,808,652,629,652.885452463,0.400977104891,-0.0153627999763,0.0598469366704,0.999999938997,0.000236491687885,-0.00025657994409,1.56226621734e-05,1793246624586817792
+68,1.133333333,BASELINE,766,744,714,680,658.540709423,634,877.540709423,785,808,652,629,652.540709423,0.400975562619,-0.0153626539092,0.0598457956809,0.999999938694,0.000235985279006,-0.000258233062716,1.54262591577e-05,1793246624603484416
+69,1.150000000,BASELINE,766,744,714,679.965571894,658,634,877.034428106,785,808,651.965571894,629.034428106,652,0.400973882407,-0.0153620476653,0.0598445313692,0.999999938251,0.000235763911017,-0.000260167060826,1.50688066674e-05,1793246624620150784
+70,1.166666667,BASELINE,766,744,714,679.369456327,658,634,877.630543673,785,808,651.369456327,629.630543673,652,0.400975418556,-0.015362384271,0.0598461787412,0.999999938776,0.000235868584324,-0.000258033526247,1.52620487188e-05,1793246624636818176
+71,1.183333333,BASELINE,766,744.220120347,714.220120347,679.220120347,658,634,877.779879653,785,808,651.220120347,629.779879653,652,0.400975886143,-0.015363027131,0.0598467556575,0.999999939057,0.000235595128957,-0.000257186037961,1.535417403e-05,1793246624653485568
+72,1.200000000,BASELINE,766,744.799038664,714.799038664,679.799038664,658,634,877.200961336,785,808,651.799038664,629.200961336,652,0.400974611965,-0.0153641691882,0.0598455877226,0.999999938946,0.000234705320767,-0.00025843481533,1.5281478257e-05,1793246624670152192
+73,1.216666667,BASELINE,766,745,715,680,658,634,877,785,808,652,629.374306594,652,0.400975348618,-0.0153640519904,0.0598456389053,0.999999938869,0.000235315685882,-0.000258172893336,1.53194541619e-05,1793246624686819328
+74,1.233333333,BASELINE,766,745,715,680,658,634,877,785,808,652,629.947633562,652,0.400977154436,-0.0153632652414,0.059846338298,0.99999993881,0.000236723699443,-0.000257107726123,1.54162746633e-05,1793246624703485952
+75,1.250000000,BASELINE,766,745,714.465068358,680,658,634,877,785,808,652,629.465068358,652,0.400977380514,-0.0153620708508,0.059846351863,0.999999938643,0.000237633538092,-0.000256932648759,1.51808191996e-05,1793246624720151808
+76,1.266666667,BASELINE,766,744.878509947,714.121490053,679.878509947,658,634,877,785,808,652,629.121490053,652,0.400977338544,-0.0153613195832,0.059846303369,0.999999938486,0.000238366337422,-0.000256875682013,1.49997842917e-05,1793246624736817920
+77,1.283333333,BASELINE,766,744.300016654,714.699983346,679.300016654,658,634,877,785,808,652,629.699983346,652,0.400976885594,-0.0153623893263,0.059846280754,0.99999993841,0.000238621545141,-0.000256926447717,1.51490999148e-05,1793246624753484544
+78,1.300000000,BASELINE,766,744.277523468,714.722476532,679.277523468,658,634,877,785,808,652,629.722476532,652.277523468,0.400976118219,-0.0153629992588,0.0598461498444,0.999999938637,0.000237179241846,-0.00025737682392,1.51180235295e-05,1793246624770150912
+79,1.316666667,BASELINE,766,744.854036654,714.145963346,679.854036654,658,634,877,785,808,652,629.145963346,652.854036654,0.400975012096,-0.0153631138146,0.0598459022637,0.999999939184,0.000233908126209,-0.000258257720212,1.48926019285e-05,1793246624786817280
+80,1.333333333,BASELINE,766,745,714.437663944,680,658,634,877,785,808,652,629,652.562336056,0.400974792109,-0.0153627415126,0.0598456737024,0.999999938904,0.00023507413928,-0.000258279267625,1.49361551079e-05,1793246624803484160
+81,1.350000000,BASELINE,766,745,714.976610417,680,658.023389583,634.023389583,877.023389583,785,808,652,629.023389583,652,0.400975000509,-0.015362234114,0.0598455554499,0.999999938402,0.000237624123522,-0.000257883893959,1.50866979842e-05,1793246624820150784
+82,1.366666667,BASELINE,766,745,714.398322206,680,658.601677794,634.601677794,877.601677794,785,808,652,629.601677794,652,0.400978244929,-0.0153624374015,0.0598479012105,0.99999993933,0.000237320390245,-0.000254509050382,1.56121515012e-05,1793246624836817664
+83,1.383333333,BASELINE,766,744.819677422,714.180322578,680,658.819677422,634.819677422,877.819677422,785,808,652,629.819677422,652,0.400979259737,-0.0153624997004,0.0598486256018,0.99999993959,0.000237263133839,-0.000253525657207,1.58111846959e-05,1793246624853484544
+84,1.400000000,BASELINE,766,744.240243318,714.759756682,680,658.240243318,634.240243318,877.240243318,785,808,652,629.240243318,652,0.400975339699,-0.0153622499468,0.0598457613849,0.999999938381,0.000237751409507,-0.000257835307821,1.52877454422e-05,1793246624870151424
+85,1.416666667,BASELINE,766,744.334273793,714.665726207,679.665726207,658,634,877,785,808,652,629,652,0.400974700863,-0.0153621917412,0.0598452135193,0.999999938071,0.000238040050535,-0.000258777839106,1.51365654856e-05,1793246624886818048
+86,1.433333333,BASELINE,766,744.905308243,714.094691757,679.094691757,658,634,877,785,808,652,629,652,0.400976386049,-0.0153622692058,0.0598463062876,0.999999938406,0.000238187293584,-0.000257335494618,1.52490507285e-05,1793246624903484416
+87,1.450000000,BASELINE,766,745,714,679.494102016,658,634,877,785,808,652,629.494102016,652,0.400976979347,-0.0153619441397,0.0598468902868,0.99999993887,0.00023710994205,-0.000256535440064,1.50927885442e-05,1793246624920151040
+88,1.466666667,BASELINE,766,745,714.08455319,680,658,634,877,785.08455319,808,651.91544681,629.91544681,652,0.400977198446,-0.0153617753673,0.0598471483399,0.99999993924,0.000235995347524,-0.000256129541048,1.49417275567e-05,1793246624936817408
+89,1.483333333,BASELINE,766,745,714.66404095,680,658,634,877,785.66404095,808,651.33595905,629.33595905,652,0.400976497701,-0.0153629898565,0.0598460904697,0.999999938919,0.000236087710453,-0.000257283462823,1.5133831292e-05,1793246624953484032
+90,1.500000000,BASELINE,766,744.758089617,715,679.758089617,658,634,877,785.758089617,808,651,629,652,0.400976767519,-0.0153637130742,0.0598459335317,0.999999938986,0.000235881326122,-0.000257213139906,1.51777848932e-05,1793246624970150656
+91,1.516666667,BASELINE,766,744.182452787,715,679.182452787,658,634,877,785.182452787,808,651,629,652,0.400978376272,-0.01536375856,0.059847019471,0.999999939585,0.000235262806263,-0.000255453915295,1.50173585867e-05,1793246624986817536
+92,1.533333333,BASELINE,766,744,715,679.390687616,658,634,877,785,808,651.390687616,629.390687616,652,0.400978308748,-0.0153635867881,0.0598472588782,0.999999939779,0.000234858462689,-0.000255060909781,1.51102477316e-05,1793246625003484672
+93,1.550000000,BASELINE,766,744,715,679.962669629,658,634,877,785,808,651.962669629,629.962669629,652,0.400977463366,-0.0153633142,0.0598471054613,0.999999939785,0.000234553505269,-0.000255301883427,1.53206851799e-05,1793246625020151552
+94,1.566666667,BASELINE,766,744,714.44495364,680,658,634,877,785,808,652,629.44495364,652,0.400975919435,-0.0153621473006,0.0598461510022,0.999999938811,0.000236817133675,-0.000257029637111,1.51804370005e-05,1793246625036817920
+95,1.583333333,BASELINE,766,744.1445344,714,680,658,634.1445344,877,785.1445344,808,651.8554656,629,652,0.400974918915,-0.0153611056526,0.0598454879766,0.999999937992,0.000238985843813,-0.000258211299144,1.5125399935e-05,1793246625053484544
+96,1.600000000,BASELINE,766,744.721130516,714,680,658,634.721130516,877,785.721130516,808,651.278869484,629,652,0.400975688635,-0.015360625084,0.0598458633367,0.999999937861,0.00024033469448,-0.000257450188738,1.53982828062e-05,1793246625070150912
+97,1.616666667,BASELINE,766,745,714.297237278,680,658,634.702762722,877,786,808,651.297237278,629.297237278,652,0.400976537488,-0.0153605747905,0.0598462627118,0.999999938095,0.000239934086939,-0.000256918841087,1.52773341782e-05,1793246625086817536
+98,1.633333333,BASELINE,766,745,714.872885645,680,658,634.127114355,877,786,808,651.872885645,629.872885645,652,0.400977460463,-0.0153609275197,0.0598466845808,0.999999938671,0.000237894826967,-0.000256602703696,1.47874982352e-05,1793246625103484160
+99,1.650000000,BASELINE,766,745,715,680,658.448764482,634,877,785.551235518,808,652,629.551235518,652.448764482,0.400976718031,-0.0153616763478,0.0598463362446,0.999999938658,0.000237257181077,-0.000257237110169,1.48825758354e-05,1793246625120150784
+100,1.666666667,BASELINE,766,744.974578527,715,680,658.974578527,634,877.025421473,785.025421473,808,651.974578527,629,652.974578527,0.400975585147,-0.0153624947879,0.0598458069459,0.999999938493,0.000237033340889,-0.000258071632403,1.51306530008e-05,1793246625136817664
+101,1.683333333,BASELINE,766,744.382018341,715,680,658.382018341,634,877.617981659,785.617981659,808,651.382018341,629,652.382018341,0.400976270994,-0.0153623619016,0.0598461100871,0.999999938642,0.00023717958844,-0.000257360825444,1.50939571525e-05,1793246625153484544
+102,1.700000000,BASELINE,766.205617721,744.205617721,715,680,658.205617721,634.205617721,877.794382279,785.794382279,808.205617721,651.205617721,629,652,0.400976786785,-0.0153626193982,0.059846396491,0.999999938885,0.000236843193533,-0.000256722631461,1.511988039e-05,1793246625170151424
+103,1.716666667,BASELINE,766.784319125,744.784319125,715,680,658.784319125,634.784319125,877.215680875,785.215680875,808.784319125,651.784319125,629,652,0.400976994017,-0.0153635852261,0.0598466525256,0.999999939299,0.000235631066573,-0.000256216190381,1.52594230178e-05,1793246625186818048
+104,1.733333333,BASELINE,767,745,714.639330734,680,658.639330734,634.639330734,877,785,808.639330734,652,629,652,0.400976137031,-0.0153640046628,0.0598462576758,0.99999993924,0.000235008660494,-0.000257014014276,1.53095605756e-05,1793246625203484672
+105,1.750000000,BASELINE,767,745,714.06437749,680,658.06437749,634.06437749,877,785,808.06437749,652,629,652,0.400974647761,-0.0153640994729,0.0598454761168,0.999999938899,0.000234736624422,-0.00025858673943,1.53065800251e-05,1793246625220151040
+106,1.766666667,BASELINE,766.478161535,744.478161535,714,680,658,634,877,785.521838465,808,652,629,652,0.400975611502,-0.0153639359296,0.0598458674161,0.999999938797,0.000236019895907,-0.000257798288446,1.54858083324e-05,1793246625236817664
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,878,785,808,651,630,652,0.400977538766,-0.0153633157304,0.0598474267556,0.999999939437,0.000235855488396,-0.000255469027097,1.53096881512e-05,1793246625279028736
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744,715,679.573869127,658.573869127,634,877.426130873,785,808,651,630,652,0.400975912187,-0.0153626407069,0.0598462581189,0.999999938619,0.00023749090085,-0.000257155036219,1.51910346399e-05,1793246625295695360
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.147782983,715,680,658.852217017,634,877,785,808,651.147782983,629.852217017,652.147782983,0.400974722265,-0.0153623330449,0.0598454756254,0.999999938068,0.00023844351044,-0.000258415220526,1.51681379285e-05,1793246625312362240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.721825987,715,680,658.278174013,634,877,785,808,651.721825987,629.278174013,652.721825987,0.40097479182,-0.0153630849874,0.0598458069092,0.999999938298,0.000237426667933,-0.000258447171153,1.54214387244e-05,1793246625329029120
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.695202815,714.695202815,680,658,634,877.304797185,785.304797185,808,652,629,652.695202815,0.400975055873,-0.0153633480945,0.0598459139872,0.999999938698,0.000236002422351,-0.00025820234981,1.54253563342e-05,1793246625345695488
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.103837427,714.103837427,680,658,634,877.896162573,785.896162573,808,652,629,652.103837427,0.400975502791,-0.0153631516017,0.0598458102686,0.999999939257,0.000234195139278,-0.000257697309372,1.5194805583e-05,1793246625362361856
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744,714.478549123,680,658,634.478549123,877.521450877,785.521450877,808,652,629,652,0.400976037466,-0.0153637557871,0.0598465204303,0.999999939623,0.00023384002125,-0.000256600463192,1.51097320547e-05,1793246625379028480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,714.941756439,680,658,634.941756439,877,785,808,651.941756439,629,652,0.400976795007,-0.0153645567878,0.0598474034126,0.999999939961,0.000233725732824,-0.000255386241325,1.51179696166e-05,1793246625395694848
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,714.368950629,680,658,634.368950629,877,785,808,651.368950629,629,652,0.400979356374,-0.0153655899712,0.0598482817506,0.99999994041,0.000233006591613,-0.000254248630213,1.56768385215e-05,1793246625412361472
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,714,679.789575162,658,634,877.210424838,785,808,651.210424838,629,652,0.400988403574,-0.0153662928234,0.0598517733968,0.999999941823,0.000233110516153,-0.000248492569566,1.62734918283e-05,1793246625429028352
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,714,679.198309557,658,634,877.801690443,785,808,651.801690443,629,652,0.401009189264,-0.0153663978201,0.0598599947809,0.999999944847,0.000234704079486,-0.000234377734057,1.69385297779e-05,1793246625445694720
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744,714.38300858,679.38300858,658,634,877.61699142,785.38300858,808.38300858,652,629,652,0.401051585162,-0.0153679547467,0.0598757855313,0.999999950926,0.000235664469337,-0.00020562230691,1.81679093087e-05,1793246625462361344
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744,714.959306671,679.959306671,658,634,877.040693329,785.959306671,808.959306671,652,629,652,0.401104886892,-0.0153702444058,0.059895396247,0.999999957525,0.000236305321098,-0.000169478341947,1.96820900952e-05,1793246625479028224
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744,714.46179391,680,658,634,877,785.46179391,808.46179391,651.46179391,629,652,0.401170898259,-0.0153728795327,0.0599126714984,0.999999961165,0.000235660501569,-0.000147241105067,2.13051352296e-05,1793246625495694848
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744,714.116459066,680,658,634,877,785,808,651,629.116459066,652,0.401241685096,-0.0153761336955,0.0599286105991,0.999999964314,0.000234471325309,-0.000126012473835,2.27229489462e-05,1793246625512361472
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744,714.691389263,680,658,634,877,785,808,651,629.691389263,652,0.40132747036,-0.0153817215237,0.0599399881421,0.999999967457,0.00023152369373,-0.000104594959945,2.33002553831e-05,1793246625529028096
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744,714.72666488,679.72666488,658,634,877.27333512,785.27333512,808,651.27333512,629.72666488,652.27333512,0.401419073598,-0.015387006623,0.0599483266721,0.999999969363,0.000229691866745,-8.92374854396e-05,2.3515237295e-05,1793246625545694720
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744,714.136589316,679.136589316,658,634,877.863410684,785.863410684,808,651.863410684,629.136589316,652.863410684,0.401517418695,-0.01539194092,0.0599531435964,0.9999999702,0.000229153033187,-8.0902379373e-05,2.33103579112e-05,1793246625562361344
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,714,679,658.442619825,634,877.557380175,785.557380175,808,652,629,652.557380175,0.401627494024,-0.0153975189276,0.0599511229911,0.999999970736,0.000226730960802,-8.14630111008e-05,2.20177975899e-05,1793246625579028224
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.018554644,714,679.018554644,658.981445356,634,877.018554644,785,808,652,629,652,0.401742143608,-0.0154033067596,0.0599471670925,0.999999971184,0.000223788151899,-8.44709538076e-05,2.03982194615e-05,1793246625595694848
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.594448503,714,679.594448503,658.405551497,634,877.594448503,785,808,652,629,652,0.401888066331,-0.0154095733886,0.0599469406592,0.999999971887,0.000222241853398,-8.05080234303e-05,1.87963601835e-05,1793246625612361216
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714.174259152,680,658,634,877.825740848,785.174259152,808,652,629,651.825740848,0.402045290267,-0.0154176569097,0.0599472539523,0.999999973151,0.000218165653195,-7.61591526594e-05,1.73414637078e-05,1793246625629027840
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714.763394824,680,658,634,877.236605176,785.763394824,808,652,629,651.236605176,0.402229420131,-0.0154300660898,0.0599488522269,0.99999997571,0.000208066258455,-7.08914348338e-05,1.62364567777e-05,1793246625645694720
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.34665805,744.65334195,714.65334195,680,658,634,877,785.65334195,808,652,629,651.34665805,0.402434746167,-0.0154407534457,0.0599492742126,0.999999977757,0.000200083320171,-6.51360275223e-05,1.44680892567e-05,1793246625662361344
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.92597997,744.07402003,714.07402003,680,658,634,877,785.07402003,808,652,629,651.92597997,0.402654298297,-0.0154502851791,0.0599489067176,0.999999979456,0.000193520866998,-5.90533008065e-05,1.22544988979e-05,1793246625679028224
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.496791176,744,714.503208824,680,658.503208824,634,877,785,808.503208824,651.496791176,629,652,0.402906018649,-0.0154604129169,0.0599520136833,0.999999981317,0.000186784975968,-4.875320189e-05,9.99351264042e-06,1793246625695694848
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744,715,680,658.920048383,634,877,785,808.920048383,651.079951617,629,652,0.403165173145,-0.0154704193795,0.0599542316014,0.999999982941,0.000179980515153,-4.08318305903e-05,7.58230063635e-06,1793246625712361728
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744,715,680,658.344417915,634,877,785,808.344417915,651.655582085,629,652,0.403441202968,-0.0154791326929,0.0599477822297,0.999999983717,0.000172908449671,-5.1488064955e-05,4.28277177425e-06,1793246625729028608
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744,714.763714122,680,658,634.236285878,877.236285878,785,808,652,629,652,0.403731516509,-0.0154853645998,0.0599382333222,0.999999987459,0.000143247447527,-6.75374670284e-05,1.01548920673e-06,1793246625745695488
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744,714.175453058,680,658,634.824546942,877.824546942,785,808,652,629,652,0.404043107283,-0.0154879001639,0.0599240672976,0.999999992605,7.99376075291e-05,-9.16206163081e-05,-2.2037585773e-06,1793246625762362368
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,714.407665661,679.592334339,658,634.592334339,877.592334339,785.407665661,808.407665661,652,629,652,0.404382470384,-0.0154783381228,0.0599112382253,0.999999990344,7.98732240144e-05,-0.000113482131175,-7.34253323762e-06,1793246625779028992
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744,714.988598747,679.011401253,658,634.011401253,877.011401253,785.988598747,808.988598747,652,629,652,0.404733637363,-0.0154636343169,0.0598989773894,0.999999985189,0.000106689638053,-0.000134399398936,-1.32971515613e-05,1793246625795695360
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744,715,679.562554467,658.562554467,634,877.562554467,785.437445533,809,651.437445533,629,652,0.405154010424,-0.0154690496862,0.0599048684968,0.999999986471,0.000103554324771,-0.00012681007087,-1.59243643409e-05,1793246625812361728
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.136659688,714.863340312,680,658.863340312,634,878,785,809,651,629,652,0.405590631601,-0.01547631134,0.0599160941188,0.999999989317,9.42292749404e-05,-0.000110283729334,-1.80188927938e-05,1793246625829028096
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.711692419,714.288307581,680,658.288307581,634,878,785,809,651,629,652,0.406074928853,-0.0154882034945,0.0599432660119,0.999999995345,6.69723225573e-05,-6.69200502619e-05,-1.8618361251e-05,1793246625845694720
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.70519367,714,680,658.29480633,634.29480633,878,785,809,651.29480633,629,652,0.406588816321,-0.0154962949031,0.0599695316835,0.999999998476,4.58711623689e-05,-2.32036838773e-05,-2.01210530939e-05,1793246625862361600
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.113953906,714,680,658.886046094,634.886046094,878,785,809,651.886046094,629,652,0.407132457379,-0.0155005645898,0.059994886135,0.999999999049,3.09597663622e-05,2.08673215391e-05,-2.25319534966e-05,1793246625879028992
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.463775132,714,680,659,634.536224868,877.536224868,785,809,651.536224868,629.463775132,652.463775132,0.407656781401,-0.0155010867863,0.0599993240249,0.999999999366,1.75864822113e-05,1.70833446342e-05,-2.58263461387e-05,1793246625895695360
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+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.145729573,714.854270427,680,659,634,878.854270427,785.145729573,809,651.854270427,630,653,0.414908575585,-0.0155105803273,0.0599370828146,0.999999993301,-4.32623695921e-06,-0.000107473792556,-4.27543340441e-05,1793246626079028480
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.434807575,744,715,680,659,634,879,785,809,651.565192425,629.565192425,653,0.415770083814,-0.0155160973943,0.0599793553529,0.999999998564,-8.30122739282e-06,-3.555058739e-05,-3.92231949627e-05,1793246626095694848
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.988651695,744,715,680,659.011348305,634,879.011348305,785,809,651,629.011348305,653,0.416647142564,-0.0155213078274,0.0600258630566,0.999999998465,-1.21406590139e-05,4.10657627176e-05,-3.51694121887e-05,1793246626112361216
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.413738395,744,715,680,659.586261605,634,879.586261605,785,809,651,629.586261605,653,0.417464306161,-0.0155212554229,0.0600166768366,0.999999998967,-1.25175335764e-05,2.36050679296e-05,-3.6777793848e-05,1793246626129027840
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.165415459,744.165415459,714.834584541,680,659.834584541,634,879.669169083,785.165415459,809.165415459,651,630,653,0.418283255328,-0.0155215333514,0.0600038766537,0.999999999135,-1.45566886173e-05,1.57394147087e-06,-3.892057294e-05,1793246626145694720
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.755454841,744.755454841,714.244545159,680,659.244545159,634,878.489090319,785.755454841,809.755454841,651,630,653,0.419106788032,-0.0155226592497,0.0599817993749,0.999999998364,-2.08629421548e-05,-3.21895494826e-05,-4.2435158028e-05,1793246626162361600
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,714.334957011,680.334957011,659,634,878.334957011,785.665042989,810,651.334957011,630,653,0.419936757032,-0.015524406758,0.0599539452681,0.999999995972,-2.61825672713e-05,-7.24122427016e-05,-4.61214505264e-05,1793246626179028480
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,714.907000786,680.907000786,659,634,878.907000786,785.092999214,810,651.907000786,630,653,0.42077128169,-0.0155265942496,0.059922002251,0.99999999141,-3.08038441489e-05,-0.000117206838603,-4.99292794817e-05,1793246626195695360
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,714.514071318,680.514071318,659,634,879,785,810,651.514071318,630.485928682,653,0.421632729939,-0.0155253448217,0.059890348599,0.999999981928,-3.13818248546e-05,-0.000179850796136,-5.30406463805e-05,1793246626212361984
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.934451581,745,714,680,659.065548419,634,879.065548419,785,810,651.065548419,630.934451581,653,0.422514682763,-0.0155242071769,0.059869666642,0.999999972644,-3.17157927027e-05,-0.00022508075518,-5.51858103529e-05,1793246626229028864
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.359838334,745,714,680,659.640161666,634,879.640161666,785,810,651.640161666,630.359838334,653,0.423515285941,-0.0155291195025,0.0599337572563,0.9999999922,-3.62507664513e-05,-0.00010815792886,-5.08772628997e-05,1793246626245695232
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.777907173,634,879.777907173,785,810,651.777907173,630,652.777907173,0.424495259944,-0.0155333030797,0.0599908239259,0.999999998074,-3.92215737162e-05,-1.02398964848e-05,-4.70061682082e-05,1793246626262361600
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.183715332,634,879.183715332,785,810,651.183715332,630,652.183715332,0.425440671555,-0.015536265697,0.0600361225403,0.999999996696,-3.95717447074e-05,5.5837119712e-05,-4.38679912206e-05,1793246626279027968
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.602287335,714,680,659.397712665,634,879,785.397712665,810,651,630,652.397712665,0.426379021404,-0.0155391370678,0.0600408043718,0.99999999533,-4.77152888877e-05,7.09446799728e-05,-4.50590490376e-05,1793246626295694592
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.026572037,714,680,659.973427963,634,879,785.973427963,810,651,630,652.973427963,0.427314210593,-0.0155419675995,0.0600273075129,0.999999995078,-5.93468813141e-05,6.32400450334e-05,-4.81877250387e-05,1793246626312361472
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744,714,680,660,633.45454261,879,785.45454261,810,651,630,652.45454261,0.428225162736,-0.0155437523246,0.0599974687863,0.999999996617,-6.17190457595e-05,1.97703061494e-05,-5.06460084901e-05,1793246626329028096
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.118339521,714,680,660,633.118339521,878.881660479,785,810,651.118339521,630,652.118339521,0.42912250957,-0.0155432209735,0.0599649212496,0.999999996119,-6.22633478205e-05,-3.18865289946e-05,-5.35526278438e-05,1793246626345694720
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.695216724,714,680,660,633.695216724,878.304783276,785,810,651.695216724,630,652.695216724,0.429971683268,-0.0155339114551,0.0599249416966,0.999999990756,-5.74611905087e-05,-0.000108560728607,-5.83221366551e-05,1793246626362361344
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.28124647,745,714,680,659.71875353,634,878.28124647,785,810,651.71875353,630,653,0.430881073193,-0.0155313768236,0.0599196671103,0.999999989867,-5.57738453506e-05,-0.000116545866499,-5.9762495435e-05,1793246626379027968
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.877528305,745,714,680,659.122471695,634,878.877528305,785,810,651.122471695,630,653,0.431857913653,-0.0155364310129,0.0599532669409,0.999999995559,-5.7575525661e-05,-4.75896477635e-05,-5.74737405435e-05,1793246626395694592
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.542613563,744.542613563,714,680.457386437,659.457386437,634,879,785,810.457386437,651,630.457386437,653,0.432816226405,-0.0155414075933,0.0599898763015,0.999999996529,-6.18270996519e-05,1.29983863907e-05,-5.4324466072e-05,1793246626412361216
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.032970793,744,714.032970793,680.967029207,660,634,879,785,811,651,631,653,0.433766786179,-0.0155460411399,0.0600237108065,0.999999994315,-6.65089980578e-05,6.56370005446e-05,-5.135927852e-05,1793246626429028096
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.608085235,744,714.608085235,680.391914765,660,634,879,785,811,651,631,653,0.434668609152,-0.0155453639843,0.0599991265918,0.999999995914,-6.78540751547e-05,2.31290783544e-05,-5.50785049463e-05,1793246626445695232
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,744.188012261,715,680.188012261,660,634,879,785.188012261,811,651,630.811987739,653,0.435546735296,-0.0155448686554,0.059972979333,0.999999995486,-7.0893235804e-05,-2.36041525713e-05,-5.86863867741e-05,1793246626462361856
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,744.778234846,715,680.778234846,660,634,879,785.778234846,811,651,630.221765154,653,0.436374167525,-0.015544762304,0.059943488285,0.999999991917,-7.75565109396e-05,-7.9376497658e-05,-6.20560724137e-05,1793246626479028480
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.640202162,744.640202162,714.640202162,681,660,633.640202162,879.359797838,786,811,651,630.359797838,653,0.43718266713,-0.0155418134251,0.0599180367581,0.999999986505,-7.54138440634e-05,-0.000131132562023,-6.40803217021e-05,1793246626495695104
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.063851194,744.063851194,714.063851194,681,660,633.063851194,879.936148806,786,811,651,630.936148806,653,0.43797977162,-0.0155371537014,0.0598950165175,0.999999979273,-6.79711051239e-05,-0.000180471326117,-6.52947869612e-05,1793246626512361472
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.511526693,744.511526693,714.511526693,680.488473307,660,633.511526693,879.488473307,785.488473307,811,651.511526693,631,653,0.438841361135,-0.0155409462181,0.0599075365515,0.999999982835,-7.3993155866e-05,-0.000156990706592,-6.48838701737e-05,1793246626529027840
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745,714.913402918,680.086597082,660,633.913402918,879,785,811.086597082,651.913402918,631,653,0.439714263115,-0.0155459733925,0.059930588227,0.999999987865,-8.19469178255e-05,-0.000116156712608,-6.3735353385e-05,1793246626545694720
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745,714.339380965,680.660619035,660,633.339380965,879,785,811.660619035,651.339380965,631,653,0.440605618179,-0.0155520227986,0.0599879958376,0.999999993643,-9.13312767887e-05,-2.87120106944e-05,-5.9574959862e-05,1793246626562361344
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.756537841,744.756537841,714.243462159,681,660,633.243462159,879.243462159,785,812,651,630.756537841,652.756537841,0.441442176178,-0.015554934395,0.0600176523484,0.999999993286,-9.88302016013e-05,1.74989438536e-05,-5.79239083865e-05,1793246626579027712
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.16093597,744.16093597,714.83906403,681,660,633.83906403,879.83906403,785,812,651,630.16093597,652.16093597,0.442199476519,-0.0155533075139,0.0600071701141,0.999999992831,-0.00010360206508,4.07006819796e-06,-5.99023293705e-05,1793246626595694336
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.419933373,715,681,660,633.580066627,879.580066627,785,812,651,630.419933373,652.419933373,0.442928200707,-0.0155528234186,0.0599857487268,0.999999992396,-0.000103457329698,-2.47122261241e-05,-6.23961015687e-05,1793246626612361216
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.995348014,715,681,660,633.004651986,879.004651986,785,812,651,630.995348014,652.995348014,0.443646344575,-0.015552762442,0.0599602770929,0.999999990981,-0.000101492212913,-5.91791590286e-05,-6.50806838044e-05,1793246626629028096
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.570322341,879,785.570322341,812,651,631,653,0.444356027258,-0.0155527137748,0.0599621711767,0.999999990673,-0.000106023904293,-5.66115487202e-05,-6.4876980055e-05,1793246626645694720
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,744.85065369,715,681,660,634,879,785.85065369,812,651,631,653.14934631,0.445047674804,-0.0155517993922,0.0599606133797,0.999999990036,-0.000108045263302,-6.36818321229e-05,-6.48043761695e-05,1793246626662361600
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,744.259642894,715,681,660,634,879,785.259642894,812,651,631,653.740357106,0.44568619083,-0.0155483245172,0.0599481876641,0.999999987609,-0.000102486176853,-0.000100147092164,-6.51890940408e-05,1793246626679028224
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.324459503,715,681,660,634,879,785.324459503,812,651,631,653.675540497,0.446318108225,-0.0155455878192,0.05993540248,0.999999985254,-0.000100205983493,-0.000122445403397,-6.67719336778e-05,1793246626695694848
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.903148797,715,681,660,634,879,785.903148797,812,651,631,653.096851203,0.446944855235,-0.0155434295191,0.0599223356355,0.999999983619,-0.000100494962639,-0.000133643219553,-6.92935599719e-05,1793246626712361472
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.521582706,681,660.478417294,633.521582706,879,785.521582706,812,651,630.521582706,653,0.447573402807,-0.0155460998598,0.0599458851035,0.999999987812,-0.000104880973198,-9.33420795793e-05,-6.82912644828e-05,1793246626729028096
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.052957568,681.052957568,660.947042432,633,879,785,812,651,630.052957568,653,0.448194903129,-0.0155495327293,0.0599748888282,0.999999990633,-0.000110218973746,-4.60682845893e-05,-6.68072048822e-05,1793246626745694976
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.627098008,681.627098008,660.372901992,633,879,785,812,651,630.627098008,653,0.44874348602,-0.0155509181145,0.0599851370351,0.999999990381,-0.000116821334664,-3.2047226031e-05,-6.75528109831e-05,1793246626762361856
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.7919459,660,633,879,785,812,651,631,653,0.449265274752,-0.0155519269111,0.0599794464854,0.999999989192,-0.000122326268286,-4.26812130625e-05,-6.95062582637e-05,1793246626779028480
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.198360229,660,633,879,785,812,651,631,653,0.449737412904,-0.0155522378754,0.0599442208576,0.999999984471,-0.00012579762955,-9.90018688428e-05,-7.36978775557e-05,1793246626795695104
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,812,651.383738539,631,653,0.450181561246,-0.0155527077435,0.059911752432,0.999999978007,-0.000130412777198,-0.000144874993137,-7.73960557879e-05,1793246626812361984
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,812,651.960072182,631,653,0.450611661783,-0.0155532573639,0.0598806678195,0.999999970332,-0.000135601981756,-0.000185504595372,-8.08465805051e-05,1793246626829028864
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+215,3.583333333,POSE1_TO_POSE2_PRESS,766,744.3472899,714.3472899,681.3472899,660,633,879,784.6527101,813,651.6527101,630.6527101,653,0.454593461498,-0.0155716057534,0.0598865758695,0.999999972744,-0.000139234521595,-0.000174234153009,-6.90540439124e-05,1793246627079028224
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ca0e606e1520badfacb995537acac1ec38594ab
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.583298228646,-0.0100720675852,1.05004244646,0.553870018804,-0.00139761423098,1.0496658187
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+386,6.433333333,pose2_to_pose3_retreat,0.583247701539,-0.0100720870608,1.05004273221,0.553819491885,-0.00139763270173,1.04966611318
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+389,6.483333333,pose2_to_pose3_retreat,0.583247436437,-0.0100720975711,1.05004274452,0.553819227028,-0.00139764239479,1.04966612512
+390,6.500000000,pose2_to_pose3_retreat,0.583247364136,-0.0100721004375,1.05004274787,0.553819154794,-0.00139764503835,1.04966612838
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+392,6.533333333,pose2_to_pose3_retreat,0.583247158676,-0.0100720987792,1.05004271222,0.553818949215,-0.00139764375048,1.04966609347
+393,6.550000000,pose2_to_pose3_retreat,0.583247148389,-0.0100720984385,1.05004270924,0.553818938914,-0.00139764345472,1.04966609056
+394,6.566666667,pose2_to_pose3_retreat,0.58324712699,-0.0100720977298,1.05004270306,0.553818917486,-0.00139764283946,1.04966608451
+395,6.583333333,pose2_to_pose3_retreat,0.583247050078,-0.0100720951826,1.05004268083,0.553818840469,-0.0013976406281,1.04966606276
+396,6.600000000,pose2_to_pose3_retreat,0.583246895241,-0.0100720900545,1.05004263608,0.55381868542,-0.00139763617625,1.04966601898
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+398,6.633333333,pose2_to_pose3_retreat,0.583246386774,-0.0100720732146,1.05004248913,0.553818176257,-0.00139762155693,1.04966587522
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+400,6.666666667,pose2_to_pose3_retreat,0.583245685558,-0.0100720528959,1.05004244693,0.553817475859,-0.00139759857836,1.0496658304
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61ca747c69b322a7ffabf8ab03ea094a91de82dc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d694df17787611fe3b9ecade7aa75d52431f9ae43923ebebc8e210a2024620ce
+size 25858719
diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f488e3a48d5553677f6d67ae24ef17cb022c3e81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+16,0.266666667,BASELINE,765.698003583,744.301996417,714.698003583,680,658,634,877.301996417,785.698003583,808,651.698003583,629,652,0.400978866269,-0.0153624169727,0.0598440473578,0.999999939456,0.000233389106183,-0.000257713009126,1.41762975521e-05,1793246630687709696
+17,0.283333333,BASELINE,765.123391341,744.876608659,714.123391341,680,658,634,877.876608659,785.123391341,808,651.123391341,629,652,0.400978472712,-0.0153632931896,0.0598438877822,0.999999939501,0.000232852306093,-0.000258036171633,1.3972355052e-05,1793246630704376576
+18,0.300000000,BASELINE,765.462632157,745,714.462632157,680,658,634,877.537367843,785,808,651.462632157,629,652.462632157,0.400979379428,-0.015363511462,0.0598445046405,0.999999940089,0.000231405309362,-0.000257042429893,1.42478735324e-05,1793246630721042944
+19,0.316666667,BASELINE,766,744.949196837,714.949196837,680,658.050803163,634,877.050803163,785,808,652,629,652.949196837,0.400980372086,-0.0153634836329,0.0598451667426,0.99999994068,0.000230007352568,-0.000255976774618,1.45978952051e-05,1793246630737709568
+20,0.333333333,BASELINE,766,744.37112448,714.37112448,680,658.62887552,634,877.62887552,785,808,652,629,652.37112448,0.400978566327,-0.0153627689513,0.0598440947691,0.999999939797,0.000231701650026,-0.000257902339558,1.43603731097e-05,1793246630754376192
+21,0.350000000,BASELINE,766,744.205859809,714.205859809,679.794140191,658.794140191,634,878,785,808,652,629.205859809,652,0.400978028571,-0.0153623812791,0.059843684921,0.999999939395,0.000232763667299,-0.000258512568841,1.4242237218e-05,1793246630771042816
+22,0.366666667,BASELINE,766,744.780892777,714.780892777,679.219107223,658.219107223,634,878,785,808,652,629.780892777,652,0.400979764754,-0.0153625800405,0.0598444624777,0.999999939861,0.000232691801707,-0.000256763976045,1.4338199394e-05,1793246630787709440
+23,0.383333333,BASELINE,766,744.636003659,714.636003659,679.363996341,658,634,877.636003659,785,808,652,629.636003659,652,0.400978947301,-0.015362399474,0.0598445380027,0.999999939749,0.00023283685455,-0.00025706278507,1.44330670506e-05,1793246630804376064
+24,0.400000000,BASELINE,766,744.047931796,714.047931796,679.952068204,658,634,877.047931796,785,808,652,629.047931796,652,0.400976557835,-0.0153619853937,0.0598441813583,0.99999993928,0.000233115442003,-0.000258621970973,1.45272609322e-05,1793246630821042944
+25,0.416666667,BASELINE,766,744,714,680,658,634,877,785,808,651.467104632,629,652,0.400978446471,-0.0153636512833,0.0598447747246,0.999999940148,0.000230952781366,-0.000257201209667,1.45495526704e-05,1793246630837709568
+26,0.433333333,BASELINE,766,744,714,679.887318928,658,634,877,785,808,651,629,652,0.400980034921,-0.0153649596908,0.059845167245,0.999999940818,0.000229303355862,-0.00025607163102,1.45365931417e-05,1793246630854376192
+27,0.450000000,BASELINE,766,744,714,679.309179441,658,634,877,785,808,651,629,652,0.400978815189,-0.0153640289884,0.0598443818814,0.999999940207,0.000230668848909,-0.000257237192278,1.44043756902e-05,1793246630871042816
+28,0.466666667,BASELINE,766,744.267260416,714,679.267260416,658,634.267260416,877,785,808,651.267260416,629.267260416,652,0.40097825955,-0.0153632285235,0.0598442643466,0.999999939743,0.000232185946052,-0.00025767642157,1.43821098638e-05,1793246630887709440
+29,0.483333333,BASELINE,766,744.841746452,714,679.841746452,658,634.841746452,877,785,808,651.841746452,629.841746452,652,0.400978467309,-0.0153625777713,0.0598449145055,0.999999939449,0.000233877317562,-0.000257280705645,1.44862374578e-05,1793246630904376064
+30,0.500000000,BASELINE,766,744.572997496,714,679.572997496,658,634.572997496,876.572997496,785,807.572997496,651.572997496,629.572997496,652,0.400979113057,-0.0153635685635,0.0598452150757,0.999999940048,0.000232106753014,-0.000256552782843,1.45248507432e-05,1793246630921042688
+31,0.516666667,BASELINE,766,744.016047308,714,679.016047308,658,634,876.016047308,785,807.016047308,651,629,652,0.40097990473,-0.0153651230566,0.0598453859323,0.999999940944,0.000229124907724,-0.000255738658957,1.45297006245e-05,1793246630937709568
+32,0.533333333,BASELINE,766,744.594368674,714,679.594368674,658,634,876.594368674,785,807.594368674,651,629,652,0.400979974632,-0.0153645604547,0.0598456689712,0.999999940638,0.000229820831006,-0.000256329773354,1.4224299903e-05,1793246630954376192
+33,0.550000000,BASELINE,766,744.828084418,714,680,658,634,877.171915582,785,808,651.171915582,629.171915582,652,0.400980051032,-0.015363960651,0.0598456494715,0.999999940529,0.000229923010645,-0.000256671523804,1.40066249046e-05,1793246630971042816
+34,0.566666667,BASELINE,766,744.252356715,714,680,658,634,877.747643285,785,808,651.747643285,629.747643285,652,0.400980142695,-0.0153632734642,0.0598449193395,0.999999940889,0.000228630547081,-0.000256427543765,1.39950087024e-05,1793246630987709440
+35,0.583333333,BASELINE,766,744,714.320290731,679.679709269,658,634.320290731,877.679709269,785,808,652,629.679709269,652,0.400978874005,-0.0153623541373,0.0598439603651,0.999999940306,0.000229846302233,-0.000257612314429,1.39446433059e-05,1793246631004376064
+36,0.600000000,BASELINE,766,744,714.890534426,679.109465574,658,634.890534426,877.109465574,785,808,652,629.109465574,652,0.400976543705,-0.0153612536495,0.0598428228032,0.999999938978,0.000233019456066,-0.000259912073533,1.38640382697e-05,1793246631021042688
+37,0.616666667,BASELINE,766,744.482943427,715,679.482943427,658,634.517056573,877,785,808,652,629,652,0.400975537185,-0.0153630503452,0.0598424347785,0.999999938969,0.000232177428192,-0.000260684553194,1.40845731134e-05,1793246631037709568
+38,0.633333333,BASELINE,766,745,715,680,658,634.078012242,877,785,808,652,629,652,0.400975275989,-0.0153650348614,0.0598425208038,0.999999939273,0.000230917000731,-0.000260627065633,1.43369821525e-05,1793246631054376192
+39,0.650000000,BASELINE,766,745,715,680,658,634.65636782,877,785,808,652,629,652,0.400977778031,-0.0153638096405,0.0598445051733,0.99999993956,0.000233090917385,-0.000257573528423,1.43349833423e-05,1793246631071042816
+40,0.666666667,BASELINE,766,744.76836034,714.76836034,680,658,634.76836034,877,785,808,652,629,652,0.400979570766,-0.0153635755313,0.059845958168,0.999999940172,0.000232963794947,-0.000255300643426,1.43562744425e-05,1793246631087709440
+41,0.683333333,BASELINE,766,744.197603087,714.197603087,680,658,634.197603087,877,785,808,652,629,652,0.400980325084,-0.0153647923975,0.0598466332364,0.999999941267,0.000229467979652,-0.000254170623784,1.44116616833e-05,1793246631104376064
+42,0.700000000,BASELINE,766,744,714.387692615,680,658,634,877,785,808,651.612307385,629,652,0.400980439479,-0.0153649525218,0.0598466086622,0.999999941419,0.000228945376341,-0.000254043768581,1.44279896193e-05,1793246631121042688
+43,0.716666667,BASELINE,766,744,714.980687107,680,658,634,877,785,808,651.019312893,629,652,0.400980215005,-0.0153645530505,0.0598462135936,0.999999941075,0.000229997231808,-0.000254448137206,1.44236337743e-05,1793246631137709568
+44,0.733333333,BASELINE,766,744.559702142,715,680,658,634.559702142,877,785,808,651.559702142,629,652,0.400980444534,-0.0153646576948,0.0598466090698,0.999999940998,0.000230785790504,-0.000254035261489,1.44545088384e-05,1793246631154376192
+45,0.750000000,BASELINE,766,744.861962042,714.861962042,680,658,634.861962042,877,785,808,651.861962042,629.138037958,652,0.400980331967,-0.0153643148923,0.0598467029166,0.999999940819,0.000231629274542,-0.000253975132895,1.43544557133e-05,1793246631171042560
+46,0.766666667,BASELINE,766,744.284290714,714.284290714,680,658,634.284290714,877,785,808,651.284290714,629.715709286,652,0.400979081193,-0.0153624929782,0.0598457513513,0.999999940291,0.000232675918867,-0.000255126082663,1.38336355269e-05,1793246631187709440
+47,0.783333333,BASELINE,766.29551235,744.29551235,714.29551235,680,658,634,877.29551235,785.29551235,808.29551235,651.29551235,630,652,0.40097948288,-0.0153621589608,0.0598458933607,0.999999940308,0.000233112441472,-0.000254659285923,1.38115631121e-05,1793246631204376064
+48,0.800000000,BASELINE,766.877381169,744.877381169,714.877381169,680,658,634,877.877381169,785.877381169,808.877381169,651.877381169,630,652,0.400981485828,-0.0153632667402,0.0598470950623,0.999999940854,0.000232957745926,-0.000252624865567,1.42727856695e-05,1793246631221042944
+49,0.816666667,BASELINE,766.542648693,745,714.542648693,680,658,634,877.542648693,785.542648693,808.542648693,652,629.542648693,652,0.400980014625,-0.0153633136417,0.0598462844689,0.999999940447,0.000232634632899,-0.000254534324901,1.40893197877e-05,1793246631237709312
+50,0.833333333,BASELINE,766,745,714,679.963022223,658,634,877,785,808,652,629,652,0.400977806358,-0.0153630889909,0.0598450574378,0.999999939825,0.000232322103904,-0.000257268392104,1.37615012717e-05,1793246631254375936
+51,0.850000000,BASELINE,766,745,714,679.380988507,658,634,877,785,808,652,629,652,0.400978406458,-0.0153630367971,0.0598456116138,0.999999939869,0.000232828403983,-0.000256635822299,1.38431312144e-05,1793246631271042560
+52,0.866666667,BASELINE,766,745,714,679.198981309,658,634,877,785,807.801018691,652,629,652,0.400978480314,-0.0153632934362,0.0598456946378,0.999999939947,0.000232504096215,-0.000256615764637,1.39942409547e-05,1793246631287709184
+53,0.883333333,BASELINE,766,745,714,679.775039921,658,634,877,785,807.224960079,652,629,652,0.400977556916,-0.0153641353258,0.0598448848106,0.999999940089,0.000230605754317,-0.000257756441286,1.4277017602e-05,1793246631304375808
+54,0.900000000,BASELINE,766.349696661,744.650303339,714.349696661,680,658,634,877,785,807.349696661,652,629,652,0.400979058027,-0.0153642990404,0.0598457077801,0.999999940639,0.000230436853687,-0.000255761410261,1.43888476183e-05,1793246631321042688
+55,0.916666667,BASELINE,766.923455156,744.076544844,714.923455156,680,658,634,877,785,807.923455156,652,629,652,0.400982112599,-0.0153640282267,0.0598475769348,0.999999941438,0.000231376061454,-0.000251757231009,1.43911466508e-05,1793246631337709312
+56,0.933333333,BASELINE,766.488514214,744,715,680,658,634,877,785,808,651.488514214,629,652,0.400980020994,-0.0153640067086,0.0598458522702,0.99999994075,0.000231107722918,-0.000254731468395,1.4169968041e-05,1793246631354375936
+57,0.950000000,BASELINE,766,744.099823955,715,680,658,634,877,785.099823955,808,651,629,652,0.400977638432,-0.0153639759834,0.0598440136586,0.999999939999,0.000230740379897,-0.000258004548366,1.39586192368e-05,1793246631371042560
+58,0.966666667,BASELINE,766,744.679086377,715,680,658,634,877,785.679086377,808,651,629,652,0.400977663456,-0.0153637167128,0.0598442849966,0.999999940104,0.000230790376731,-0.000257553179154,1.39597176552e-05,1793246631387709440
+59,0.983333333,BASELINE,766,745,714.744325621,680,658,634,877,785.744325621,808,651.255674379,629,652,0.400978172391,-0.0153638252505,0.059844711668,0.999999940074,0.000231608103534,-0.000256933059036,1.39683302556e-05,1793246631404376064
+60,1.000000000,BASELINE,766,745,714.171059633,680,658,634,877,785.171059633,808,651.828940367,629,652,0.400979282427,-0.0153643906694,0.0598453312902,0.999999939875,0.000233379483185,-0.000256103321168,1.39862767642e-05,1793246631421042944
+61,1.016666667,BASELINE,766,745,714.413642819,680,658,634,877,785,808,652,629,652,0.400979264718,-0.0153642820535,0.0598450749216,0.999999940064,0.000232163364819,-0.000256471476752,1.39343756964e-05,1793246631437709312
+62,1.033333333,BASELINE,766,744.996854368,714.996854368,680,658,634,877,785.003145632,808,652,629,652,0.400978778423,-0.0153638914685,0.0598444590878,0.999999940415,0.000229694126841,-0.000257328113193,1.38544992137e-05,1793246631454375936
+63,1.050000000,BASELINE,766,744.418965917,714.418965917,680,658,634,877,785.581034083,808,652,629,652,0.400980310688,-0.0153643596386,0.0598462361377,0.999999941008,0.000230417327046,-0.000254350193662,1.40908915979e-05,1793246631471042816
+64,1.066666667,BASELINE,766,744,714,680,658.158492377,634,877.158492377,785.841507623,808,651.841507623,629.158492377,652,0.400981244617,-0.0153641805625,0.0598473412199,0.999999941208,0.000231477089774,-0.000252592385089,1.41507949604e-05,1793246631487709440
+65,1.083333333,BASELINE,766,744,714,680,658.734816619,634,877.734816619,785.265183381,808,651.265183381,629.734816619,652,0.400980601161,-0.0153622951578,0.0598466748001,0.999999940391,0.000233424128866,-0.000254051142979,1.37454220702e-05,1793246631504376064
+66,1.100000000,BASELINE,766,744,714,679.689386073,658.689386073,634,877.689386073,785,808,651.310613927,629.689386073,652,0.400980372717,-0.0153626403865,0.0598466185979,0.999999940406,0.000232865207126,-0.000254499972309,1.38335750108e-05,1793246631521042944
+67,1.116666667,BASELINE,766,744,714,679.114037896,658.114037896,634,877.114037896,785,808,651.885962104,629.114037896,652,0.400980497984,-0.0153648867698,0.0598470824804,0.999999941128,0.000230170471013,-0.000254088045955,1.43423568584e-05,1793246631537709568
+68,1.133333333,BASELINE,766,744.474820519,714,679,658,634,877,785.474820519,808,651.525179481,629,652,0.40097991804,-0.0153638207513,0.0598465812796,0.999999940461,0.000232468358069,-0.000254619034857,1.43459289837e-05,1793246631554376192
+69,1.150000000,BASELINE,766,745,714.06456603,679,658,634.06456603,877.06456603,786,808,651.06456603,629.06456603,652,0.400979502035,-0.0153621584794,0.0598460422307,0.999999939662,0.00023550851665,-0.000254973034651,1.41812526908e-05,1793246631571042816
+70,1.166666667,BASELINE,766,745,714.635091149,679,658,634.635091149,877.635091149,786,808,651.635091149,629.635091149,652,0.400981736829,-0.0153622404663,0.0598470761208,0.999999940585,0.000234693787142,-0.000252113507771,1.36768069019e-05,1793246631587709696
+71,1.183333333,BASELINE,766,745,714.791239292,679,658,634.791239292,878,785.791239292,808.208760708,652,629.791239292,652,0.400982052353,-0.0153629444418,0.0598472298436,0.999999941103,0.000232992227876,-0.00025164956149,1.34595827161e-05,1793246631604376064
+72,1.200000000,BASELINE,766,745,714.21198917,679,658,634.21198917,878,785.21198917,808.78801083,652,629.21198917,652,0.400978961731,-0.0153647522658,0.0598458215264,0.999999940896,0.000229716804127,-0.000255437072089,1.37520930791e-05,1793246631621042688
+73,1.216666667,BASELINE,766,745,714.375891936,679.375891936,658,634,877.624108064,785,808.624108064,652,629,652,0.40097897867,-0.0153655585502,0.0598460688867,0.999999941088,0.000228835322058,-0.000255459860143,1.40618983897e-05,1793246631637709568
+74,1.233333333,BASELINE,766,745,714.968754956,679.968754956,658,634,877.031245044,785,808.031245044,652,629,652,0.400980789343,-0.0153657867292,0.0598472719316,0.999999941516,0.000229335663181,-0.000253309587435,1.43816866145e-05,1793246631654376192
+75,1.250000000,BASELINE,766,744.451855419,715,679.451855419,658.548144581,634,877.548144581,785,807.451855419,652,629,652,0.400979837935,-0.0153662375612,0.059846560637,0.999999941901,0.000226330727952,-0.000254514761247,1.39823103764e-05,1793246631671042816
+76,1.266666667,BASELINE,766,744,714.873760127,679,658.873760127,634,877.873760127,785,807.126239873,652,629,652,0.400978934515,-0.0153665610489,0.0598458762984,0.999999942015,0.000224483889797,-0.000255711100415,1.37246549286e-05,1793246631687709696
+77,1.283333333,BASELINE,766,744,714.297606347,679,658.297606347,634,877.297606347,785,807.702393653,652,629,652,0.400978749778,-0.0153663865397,0.0598456675998,0.99999994121,0.000227459480675,-0.000256210644294,1.41146807808e-05,1793246631704376320
+78,1.300000000,BASELINE,766,744.278924593,714,679,658,634,877,785,808,652,629,652,0.400979211398,-0.0153658341101,0.0598461698985,0.999999940903,0.000229772738838,-0.000255328587484,1.43283261765e-05,1793246631721042944
+79,1.316666667,BASELINE,766,744.855858464,714,679,658,634,877,785,808,652,629,652,0.400980363602,-0.0153648779018,0.0598474318426,0.999999941132,0.000231378345715,-0.00025297039755,1.43535227207e-05,1793246631737709568
+80,1.333333333,BASELINE,766,744.5575806,714.4424194,679.4424194,658.4424194,634,877,785,808,652,629.4424194,652,0.400979735669,-0.0153648524938,0.0598471072841,0.999999941316,0.000229873227436,-0.00025363028777,1.40962449253e-05,1793246631754376192
+81,1.350000000,BASELINE,766,744.031465974,715,680,658.968534026,634,877.031465974,785,808.031465974,652,629.968534026,652,0.400978609796,-0.0153651186817,0.059846295794,0.999999941455,0.000227543290279,-0.000255195176501,1.37774415368e-05,1793246631771042560
+82,1.366666667,BASELINE,766,744.608027543,715,680,658.391972457,634,877.608027543,785,808.608027543,652,629.391972457,652,0.400979128488,-0.0153650659951,0.0598462024157,0.999999941192,0.000228872191971,-0.000255024725161,1.40225567996e-05,1793246631787709440
+83,1.383333333,BASELINE,766,744.815571171,714.815571171,679.815571171,658,634,877.815571171,785,808.815571171,652,629,652,0.400979456325,-0.0153648768769,0.0598463798685,0.999999940948,0.000230206356869,-0.000254769593735,1.41873155867e-05,1793246631804376320
+84,1.400000000,BASELINE,766,744.239510136,714.239510136,679.239510136,658,634,877.239510136,785,808.239510136,652,629,652,0.400979378884,-0.015364398048,0.0598471324274,0.999999940748,0.000231551698364,-0.00025433464522,1.41814384939e-05,1793246631821042944
+85,1.416666667,BASELINE,765.664430197,744,714,679.335569803,658,634,877,785,808,652,629,652,0.400979360267,-0.0153652673635,0.0598468030681,0.999999940739,0.000231328317061,-0.000254573518156,1.422784487e-05,1793246631837709824
+86,1.433333333,BASELINE,765.090048499,744,714,679.909951501,658,634,877,785,808,652,629,652,0.400979383513,-0.0153670961006,0.05984570375,0.999999940863,0.000229988537065,-0.000255291923471,1.43114593448e-05,1793246631854376448
+87,1.450000000,BASELINE,765.500388828,744,714,680,658,634,877.500388828,785,808,651.499611172,629,652,0.40097793778,-0.0153667067299,0.0598456859518,0.999999940494,0.000230523059092,-0.000256251858049,1.43526960293e-05,1793246631871043072
+88,1.466666667,BASELINE,766,744,714,679.908266464,658,634,877.816532928,785,808,651.091733536,629,652,0.400976876171,-0.0153659683496,0.0598460106191,0.999999940238,0.000231190193037,-0.000256648001923,1.43789275866e-05,1793246631887709696
+89,1.483333333,BASELINE,766,744,714,679.327987103,658,634,876.655974207,785,808,651.672012897,629,652,0.400979314833,-0.015365567549,0.0598470882688,0.999999941076,0.000230707702915,-0.000253802407552,1.43672074343e-05,1793246631904376320
+90,1.500000000,BASELINE,766,744,714,679,658,634,876.248219823,785,808,652,629,652,0.400980238184,-0.015365598708,0.0598470027898,0.999999941548,0.00022956041461,-0.000252985364013,1.43051982242e-05,1793246631921042944
+91,1.516666667,BASELINE,766,744,714,679,658,634,876.819132425,785,808,652,629,652,0.400979191588,-0.0153661914269,0.0598454052108,0.999999941547,0.000227548869933,-0.000254805494058,1.41778118202e-05,1793246631937709568
+92,1.533333333,BASELINE,766,744.401859185,714,679.401859185,658,634,877,785,808,652,629,652,0.400978137073,-0.015366510496,0.0598449647767,0.99999994149,0.000226567220428,-0.000255907096569,1.40862753145e-05,1793246631954376192
+93,1.550000000,BASELINE,766,744.990064333,714,679.990064333,658,634,877,785,808,652,629,652,0.400977078885,-0.0153667026713,0.0598450609217,0.999999941408,0.000226063143028,-0.000256675511123,1.40113627397e-05,1793246631971043072
+94,1.566666667,BASELINE,766,744.430357546,714.569642454,680,658,634,877,785,808,652,629,652,0.400979577196,-0.0153649146777,0.0598470651831,0.999999941326,0.00023032659359,-0.00025317615239,1.41406924193e-05,1793246631987709440
+95,1.583333333,BASELINE,766,744,715,680,658.148631857,633.851368143,877,785,808,652,629,652,0.400981268476,-0.0153636774311,0.0598484082541,0.999999941198,0.000233238936653,-0.000251003918968,1.41860135896e-05,1793246632004376320
+96,1.600000000,BASELINE,766,744,715,680,658.726349741,633.273650259,877,785,808,652,629,652,0.400980453528,-0.0153641283583,0.0598477478849,0.999999941014,0.000232014283038,-0.00025287465931,1.39786793953e-05,1793246632021042944
+97,1.616666667,BASELINE,766,744,714.697633882,680,658.395267764,633.302366118,877.302366118,785.302366118,808,652,629,652,0.400979301908,-0.0153649654199,0.0598469469205,0.999999941044,0.000230337662593,-0.000254286869686,1.3967756971e-05,1793246632037709568
+98,1.633333333,BASELINE,766,744,714.123148837,680,657.246297674,633.876851163,877.876851163,785.876851163,808,652,629,652,0.400977847295,-0.0153661499889,0.0598460194253,0.999999941265,0.000228254287888,-0.000255286419022,1.41335982804e-05,1793246632054376192
+99,1.650000000,BASELINE,766,744,714,679.537024682,657.462975318,634.462975318,877.074049364,785.537024682,808,652,629,652,0.400978238514,-0.0153667225006,0.0598461513235,0.99999994162,0.000227224349636,-0.000254806255041,1.42347802265e-05,1793246632071042816
+100,1.666666667,BASELINE,766,744,714,679,658,634.948759505,876.051240495,785,808,652,629,652,0.400979252711,-0.0153670843175,0.0598465751929,0.999999942026,0.000226499467072,-0.000253852378676,1.4299153199e-05,1793246632087709184
+101,1.683333333,BASELINE,766,744,714,679,658,634.371124309,876.628875691,785,808,652,629,652,0.40098149283,-0.0153669972795,0.0598470289727,0.999999942574,0.000225955610074,-0.000252179731157,1.41666291862e-05,1793246632104376064
+102,1.700000000,BASELINE,766,744.206324657,714.206324657,679,658,634,877,785,808,652,629,652,0.400982230671,-0.0153670518856,0.059847211011,0.99999994273,0.000225686393288,-0.000251811215282,1.40331980094e-05,1793246632121043200
+103,1.716666667,BASELINE,766,744.783438883,714.783438883,679,658,634,877,785,808,652,629,652,0.400980268744,-0.0153673610429,0.0598469046979,0.999999942182,0.000225910737183,-0.000253786376867,1.38981365669e-05,1793246632137709824
+104,1.733333333,BASELINE,765.642927915,744.642927915,714.642927915,679,658,634,877,785,808,652,629,652,0.400980316857,-0.015367147572,0.0598475652964,0.999999942321,0.000226245625309,-0.00025292862132,1.40822658687e-05,1793246632154376192
+105,1.750000000,BASELINE,765.071385488,744.071385488,714.071385488,679,658,634,877,785,808,652,629,652,0.400981572272,-0.015366620192,0.0598488066568,0.999999942869,0.000226646910298,-0.000250369313993,1.44581126043e-05,1793246632171042816
+106,1.766666667,BASELINE,765.523729442,744,714,679.523729442,658,634,877,785,808,652,629,652,0.400981893614,-0.0153662351986,0.0598486854975,0.999999942652,0.000227483007523,-0.000250482286129,1.43854248902e-05,1793246632187709440
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,635,877,785,808,652,629,652,0.400978226359,-0.0153664354037,0.0598464082665,0.999999942096,0.000225398617678,-0.000254571131829,1.4064486127e-05,1793246632229897216
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634.42847917,877,785,808,651.42847917,629,652,0.400979848305,-0.0153664716989,0.0598472788066,0.99999994205,0.000226607642436,-0.000253664720614,1.42480645814e-05,1793246632246564096
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,877,785,808,651.148602464,629,652,0.400980887639,-0.0153668873517,0.0598477759386,0.99999994214,0.000226992611064,-0.000252952233771,1.4456335888e-05,1793246632263230720
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,877,785,808,651.74234155,629,652,0.400980181767,-0.0153684393646,0.0598471545319,0.99999994264,0.000224909131269,-0.000252820644483,1.47385743354e-05,1793246632279897600
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.673615625,744.673615625,714,680,658,634.326384375,877.326384375,785,808,652,629,652,0.400980185927,-0.0153686229291,0.0598471621714,0.999999942665,0.000225019156069,-0.000252620128399,1.47944511701e-05,1793246632296563968
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.097006537,744.097006537,714,680,658,634.902993463,877.902993463,785,808,652,629,652,0.400980734439,-0.0153677573636,0.0598476520734,0.999999942326,0.000226810845625,-0.000252366769144,1.46767863786e-05,1793246632313230592
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.480007554,744,714,680,658,634.519992446,877.519992446,785,808,651.519992446,629,652,0.400981031982,-0.015365412963,0.0598474880802,0.99999994155,0.000230505017633,-0.000252115355319,1.42974803727e-05,1793246632329897216
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,714,679.941776999,658,634,877,785,808,651,629,652,0.400981349948,-0.0153632636869,0.059847305293,0.999999940829,0.000233824426121,-0.000251940334975,1.39322999874e-05,1793246632346563840
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,714,679.353367774,658,634,877,785,808,651,629,652,0.400982316136,-0.0153656150268,0.0598481557395,0.99999994153,0.000230227109307,-0.000252457380443,1.41776522084e-05,1793246632363230464
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,714,679.230978942,658,634,877,785,808,651.230978942,629,652,0.400988760725,-0.0153665429375,0.0598514355362,0.999999942813,0.000229296869843,-0.000248161080699,1.45812520162e-05,1793246632379897088
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,714,679.809217918,658,634,877,785,808,651.809217918,629,652,0.401003441692,-0.0153653308257,0.0598583676842,0.999999944888,0.000232376387429,-0.000236628266571,1.52227655338e-05,1793246632396563712
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.384942585,714,679.615057415,657.615057415,634,877.384942585,785,808,652,629,652,0.401037558396,-0.0153675542778,0.0598718915426,0.999999950376,0.000231747173202,-0.000212748815374,1.66855791232e-05,1793246632413230592
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.959429269,714,679.040570731,657.040570731,634,877.959429269,785,808,652,629,652,0.401081245176,-0.0153714693869,0.0598886611321,0.999999956834,0.000229291795245,-0.000182789931174,1.85527974363e-05,1793246632429897728
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.463721709,714.536278291,679.536278291,657.536278291,634,877.463721709,785,808.536278291,652,629,652,0.401146417099,-0.0153752457688,0.0599069444906,0.999999961934,0.000226858085798,-0.000155753249362,2.02161417673e-05,1793246632446564096
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744,714.883865224,679.883865224,658,634,877,785,808.883865224,652,629,652,0.401215919392,-0.015379264469,0.0599240801446,0.999999966102,0.000224385793568,-0.000130297870197,2.16735956781e-05,1793246632463230720
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744,714.292434809,679.292434809,658,634,877,785,808.292434809,652,629,652,0.40129646268,-0.0153843180293,0.0599360479225,0.999999969069,0.000221748857765,-0.000110405390436,2.23518207005e-05,1793246632479897344
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744,714,679,658,634.292663855,877,785,808,652,629,652,0.401386049471,-0.015388658583,0.0599449524471,0.999999970756,0.000221388600377,-9.46656055188e-05,2.26469115262e-05,1793246632496563968
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744,714,679,658,634.87156967,877,785,808,652,629,652,0.401484481321,-0.015392301775,0.0599508609344,0.99999997138,0.000223255064663,-8.29873944737e-05,2.25672751959e-05,1793246632513230592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,714,679,658,634.552745958,877,785,808,651.552745958,629,651.552745958,0.401589894354,-0.0153987575866,0.0599491650629,0.999999972279,0.000219019901067,-8.38039428878e-05,2.12117919048e-05,1793246632529897216
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,714.022011614,679.022011614,658,634,877,785,808,651.022011614,629,651.022011614,0.401698441648,-0.0154059860707,0.05994534477,0.999999973195,0.000213262375501,-8.80247663803e-05,1.95033243822e-05,1793246632546563840
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,714.59655936,679.59655936,658,634,877,785,808,651.59655936,629,651.59655936,0.401835703878,-0.0154124814837,0.0599426183576,0.999999973265,0.000212957234215,-8.82801131966e-05,1.80649310056e-05,1793246632563230720
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,714.824428908,680,658,634,877,785,808,652,629.175571092,652,0.401983548094,-0.0154190413073,0.0599413467599,0.999999973654,0.000212171406607,-8.60251015199e-05,1.65945225202e-05,1793246632579897856
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,714.234891961,680,658,634,877,785,808,652,629.765108039,652,0.402156342761,-0.0154257529989,0.0599435053606,0.999999974753,0.00021025220495,-7.78511045377e-05,1.50486282233e-05,1793246632596564224
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,714.349036107,680,658,634,877,785,808,651.650963893,629.650963893,652,0.402357743297,-0.0154352592378,0.059945401692,0.999999976802,0.000203347667261,-6.9772998584e-05,1.33354881976e-05,1793246632613230848
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+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744,714.553518659,679.553518659,658.553518659,634,877,785,808,651.553518659,629.553518659,652,0.40500300491,-0.0154656000712,0.0599046049833,0.999999988508,7.98786118036e-05,-0.000127842105894,-1.61357408251e-05,1793246632763230720
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744,714.871072081,680,658.871072081,634,877,785,808,652,629.871072081,652,0.405420621443,-0.0154669199669,0.0599085712219,0.999999988282,8.95647296431e-05,-0.000122589241469,-1.96326577806e-05,1793246632779897344
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744,714.290156003,680,658.290156003,634,877,785,808,652,629.290156003,652,0.405902456175,-0.0154799901208,0.0599342801363,0.999999993431,7.67236017668e-05,-8.27231702286e-05,-2.02108530371e-05,1793246632796563968
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744,714,679.704740153,658,634,877,785,808,652,629,652,0.406403288755,-0.015490225742,0.0599610445769,0.999999997432,5.73758486072e-05,-3.74291525574e-05,-2.10593770622e-05,1793246632813230336
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744,714,679.114833809,658,634,877,785,808,652,629,652,0.406923079776,-0.0154976327206,0.0599888623542,0.999999999169,3.15349849132e-05,1.32815407588e-05,-2.21776683419e-05,1793246632829896960
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.464482306,714,679.464482306,658,634,877,785,808,651.535517694,629,652.464482306,0.407457440164,-0.0154985281673,0.0599971648345,0.999999999253,2.18223197578e-05,1.94725985327e-05,-2.52557525795e-05,1793246632846563840
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.959489518,714,679.959489518,658,634,877,785,808,651.040510482,629,652.959489518,0.407995237494,-0.0154976959288,0.0599994494103,0.999999999388,1.49883609706e-05,1.27417521939e-05,-2.89443219676e-05,1793246632863230720
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.392915676,714,679.392915676,658,634,877,785,808,651.607084324,629,652.392915676,0.408531934794,-0.0154948674037,0.0599848433278,0.999999999152,-5.08828470047e-06,-2.20474544541e-05,-3.44089307727e-05,1793246632879897600
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.184653272,714.184653272,679.184653272,658,634,877.184653272,785,808.184653272,651.815346728,629.184653272,652,0.40909381208,-0.015494161204,0.0599748993584,0.999999997912,-1.98695935376e-05,-4.69510550384e-05,-3.97146253614e-05,1793246632896564224
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.787099505,714.787099505,679.787099505,658,634,877.787099505,785,808.787099505,651.212900495,629.787099505,652,0.409712661089,-0.015498256937,0.059975503798,0.999999997521,-2.26697733629e-05,-4.94876704312e-05,-4.46607634647e-05,1793246632913230592
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714.628205568,680,658.371794432,634,878,785,809,651,629.628205568,652,0.410374883479,-0.0155032312137,0.0599833571592,0.99999999747,-4.3187443797e-05,-2.94270731788e-05,-4.82637980958e-05,1793246632929897216
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714.053212376,680,658.946787624,634,878,785,809,651,629.053212376,652,0.411060810929,-0.0155086856454,0.0599951723115,0.999999995995,-7.33883471374e-05,2.98369734852e-06,-5.11327791028e-05,1793246632946564096
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.47355445,714,680,658.47355445,634,878,785,808.47355445,651,629.52644555,652,0.411762380889,-0.0155097432678,0.0599880983213,0.999999999391,1.24413573288e-06,-1.23374939862e-05,-3.26189335173e-05,1793246632963230464
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744,714,680,658.107629545,634,878,785,808.107629545,651,629.892370455,652.107629545,0.412454664136,-0.0155078302213,0.0599729438763,0.999999996487,6.93761470862e-05,-4.36210457628e-05,-1.76167130051e-05,1793246632979897344
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744,714,680,658.693480293,634,878,785,808.693480293,651,629.306519707,652.693480293,0.413098596236,-0.0154947101759,0.0599304454545,0.99999999003,6.1122092242e-05,-0.00012420005417,-2.79065836582e-05,1793246632996563968
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744,714.277319628,680,659.277319628,634,877.722680372,785,809,651.277319628,629.277319628,653,0.413810984647,-0.0154904853495,0.059911626419,0.999999985741,4.88358558673e-05,-0.000157759933778,-3.52925280737e-05,1793246633013230848
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744,714.858951841,680,659.858951841,634,877.141048159,785,809,651.858951841,629.858951841,653,0.414598492657,-0.0154960215584,0.0599187916019,0.999999988943,3.21249640973e-05,-0.000139724079843,-3.94918935002e-05,1793246633029897728
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744,714.564106724,680,659.564106724,634,877.435893276,785,809,651.564106724,629.564106724,652.564106724,0.415453271471,-0.0155064029629,0.0599644488045,0.999999997515,1.43837516625e-05,-5.75955115785e-05,-3.80282466299e-05,1793246633046564096
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.011198117,714,680,659,634,878,785,809,651,629.011198117,652.011198117,0.416328605124,-0.0155181185702,0.0600212446501,0.999999998472,-3.43547189345e-06,4.28055390853e-05,-3.48226234907e-05,1793246633063230464
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.579790387,714,680,659,634,878,785,809,651,629.579790387,652.579790387,0.417155102955,-0.0155190361954,0.0600190985023,0.999999998851,-8.71949242122e-06,3.14057733403e-05,-3.5149842493e-05,1793246633079897344
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,878.155470907,785,809.155470907,651,630,652.844529093,0.417983950707,-0.0155201503281,0.0600122190576,0.99999999913,-1.27975075578e-05,1.60579335886e-05,-3.6308526401e-05,1793246633096563968
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634,878.751224837,785,809.751224837,651,630,652.248775163,0.41881945323,-0.0155218209569,0.0599919352384,0.999999999062,-1.34601972127e-05,-1.04705822783e-05,-3.98218622934e-05,1793246633113230336
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.662044151,714,680,659,634,879,785,809.662044151,651,630,652,0.419659793342,-0.0155223841812,0.0599671026917,0.99999999785,-1.6350870556e-05,-4.6197531888e-05,-4.35728729058e-05,1793246633129896960
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.081782372,714,680,659,634,879,785,809.081782372,651,630,652,0.420503601849,-0.0155221534241,0.0599390088215,0.999999994737,-2.08389526819e-05,-8.85195282632e-05,-4.74942901759e-05,1793246633146563840
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744.491533225,714,680,659,634,878.508466775,785,809.491533225,651,630.491533225,652.491533225,0.421327179707,-0.0155191764524,0.0599018328645,0.999999985424,-2.15851646818e-05,-0.00016146799935,-5.11283084649e-05,1793246633163230720
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.936377542,714,680,659,633.936377542,878.063622458,785,810,651,630.936377542,652.936377542,0.422167508102,-0.0155167444904,0.0598727159895,0.999999973957,-2.20133227833e-05,-0.000220648814952,-5.39925619923e-05,1793246633179897600
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.364980977,714,680,659,633.364980977,878.635019023,785,810,651,630.364980977,652.364980977,0.423168012967,-0.015522258175,0.0599198111761,0.999999989957,-2.48026846869e-05,-0.00012984689679,-5.10896036723e-05,1793246633196564224
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744,714,680,659.215706369,633,879,785,809.784293631,651,630,652.215706369,0.424156978303,-0.0155273982626,0.0599696848455,0.999999997592,-2.68222436425e-05,-4.26740671145e-05,-4.76949962017e-05,1793246633213230848
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744,714,680,659.812821636,633,879,785,809.187178364,651,630,652.812821636,0.425125539779,-0.0155318777623,0.0600244713961,0.999999997954,-2.74806487492e-05,3.8081874476e-05,-4.34310616856e-05,1793246633229897216
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.394763936,744,714,680.394763936,660,633.394763936,879,785.394763936,809.394763936,651,630,653,0.426069097665,-0.0155350104196,0.0600396876509,0.999999996202,-3.35043896133e-05,6.78404182976e-05,-4.32643584062e-05,1793246633246563584
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.969778182,744,714,680.969778182,660,633.969778182,879,785.969778182,809.969778182,651,630,653,0.427001238785,-0.0155375281045,0.0600368359956,0.999999995347,-4.19779576914e-05,7.4313403995e-05,-4.49684626182e-05,1793246633263230208
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.45194391,744,714,680.45194391,660,634,878.45194391,785.45194391,810,651.54805609,630,653,0.427916234933,-0.0155385704266,0.0600077425457,0.999999997316,-4.52444056056e-05,3.20448646817e-05,-4.78990054774e-05,1793246633279897088
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.128650917,714,680,660,634,878.128650917,785,810,651.871349083,630,653,0.428818237355,-0.0155383295281,0.0599750609318,0.999999997358,-4.80650599984e-05,-1.86078934803e-05,-5.12521425682e-05,1793246633296563712
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.716875585,714,680,660,634,878.716875585,785,810,651.283124415,630,653,0.429677220416,-0.015533797008,0.05993476175,0.999999993163,-5.03251073287e-05,-8.95522351876e-05,-5.58718536393e-05,1793246633313230336
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.697682574,714,680.302317426,659.697682574,634,879,785,810.302317426,651,630.302317426,653,0.430598006741,-0.0155327389763,0.0599236287275,0.999999991643,-5.17618209682e-05,-0.000103367504536,-5.78694773996e-05,1793246633329897216
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.114823152,714,680.885176848,659.114823152,634,879,785,810.885176848,651,630.885176848,653,0.431576144697,-0.0155349051714,0.0599395610758,0.999999994917,-5.24345042857e-05,-6.41686113942e-05,-5.74338783795e-05,1793246633346564096
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.460186972,714,680.539813028,659.460186972,634,879,785,810.539813028,651.460186972,630.539813028,653,0.432541503825,-0.0155369551208,0.059980178766,0.999999996985,-5.52488706311e-05,2.32887085068e-06,-5.4510480919e-05,1793246633363230720
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.966680615,879,785,810,651.966680615,630.033319385,653,0.433499884934,-0.0155388074109,0.0600231761643,0.999999994584,-5.81364458991e-05,6.94308988376e-05,-5.12951715468e-05,1793246633379897600
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,633.392770879,879,785,810,651.392770879,630.607229121,653,0.434395914184,-0.0155379154764,0.0600065267742,0.999999996431,-5.36871510709e-05,3.76833498099e-05,-5.32460543326e-05,1793246633396563968
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.813310217,714,680.186689783,660,633.186689783,879,785,810.186689783,651,630.813310217,653,0.435281378766,-0.0155372861222,0.0599840682741,0.999999997062,-5.22065532614e-05,-3.99271628198e-06,-5.59896609277e-05,1793246633413230336
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.221813139,714,680.778186861,660,633.778186861,879,785,810.778186861,651,630.221813139,653,0.436143935703,-0.0155372261315,0.0599490136337,0.999999994281,-5.71631049771e-05,-6.71972088511e-05,-6.04521641725e-05,1793246633429896960
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.361764849,714.361764849,681,660,633.638235151,879,785,811,651.361764849,630.361764849,653,0.436981796489,-0.0155358348113,0.0599226521853,0.999999989309,-5.90809491287e-05,-0.000118075054576,-6.28481150357e-05,1793246633446563840
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.940591289,714.940591289,681,660,633.059408711,879,785,811,651.940591289,630.940591289,653,0.43780483935,-0.0155336446836,0.0599015067187,0.999999983151,-5.91755459308e-05,-0.000161556817019,-6.4004118893e-05,1793246633463230720
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.486632398,714.486632398,681,659.486632398,633,878.486632398,785,811,651.486632398,631,653,0.438646933815,-0.0155348367468,0.0599030075545,0.999999983064,-6.37448607515e-05,-0.00016017057735,-6.44574449031e-05,1793246633479897344
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.088309428,744.088309428,714,681,659.088309428,633,878.088309428,785,811,651,631,653,0.439501933044,-0.015537244284,0.0599157040283,0.999999985711,-6.97778811205e-05,-0.00014000209004,-6.40966494574e-05,1793246633496564224
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.679524157,744.679524157,714,681,659.679524157,633,878.679524157,785,811,651,631,653,0.440418013209,-0.0155443707333,0.0599774069138,0.999999994041,-8.12318293987e-05,-4.20969384681e-05,-5.95572748538e-05,1793246633513230848
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.734336899,744.734336899,714.265663101,681,660.265663101,633,879,785,811,651,631,653,0.441278041295,-0.0155479410255,0.0600110217127,0.99999999438,-8.83401205293e-05,1.18945558173e-05,-5.73985896742e-05,1793246633529897472
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.154206244,744.154206244,714.845793756,681,660.845793756,633,879,785,811,651,631,653,0.442071720018,-0.0155473018653,0.0600113884125,0.999999994141,-9.03044221827e-05,1.39050927439e-05,-5.80579466041e-05,1793246633546564096
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,744.422435061,714.577564939,680.577564939,660.577564939,633,879,785.422435061,811.422435061,651,631,653,0.442824523903,-0.0155474184032,0.0599918192758,0.999999994215,-8.85729478485e-05,-1.25194011992e-05,-5.97329424651e-05,1793246633563230464
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.997813092,714.002186908,680.002186908,660.002186908,633,879,785.997813092,811.997813092,651,631,653,0.443562529083,-0.0155478085422,0.0599650323529,0.999999993224,-8.55034147699e-05,-4.92388217728e-05,-6.17756512378e-05,1793246633579897088
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.5730615,745,714,680.5730615,660,633,879.5730615,785.4269385,812,651,631,653,0.44428070156,-0.0155479060395,0.0599647132027,0.999999992856,-8.96208150064e-05,-4.87145624766e-05,-6.23186703323e-05,1793246633596564224
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.84789771,745,714.15210229,680.84789771,660,633,879.84789771,785,812,651,631,653,0.444984471863,-0.0155473657989,0.0599618495342,0.99999999204,-9.30153036978e-05,-5.73079457421e-05,-6.31127040824e-05,1793246633613230848
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.257938223,745,714.742061777,680.257938223,660,633,879.257938223,785,812,651,631,653,0.445647000589,-0.015544992915,0.0599513702548,0.999999989186,-9.42498108905e-05,-9.25573603459e-05,-6.46458057047e-05,1793246633629897216
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.327335597,745,714.672664403,680.327335597,660,633.327335597,879,785,811.672664403,651,631,653,0.446298262974,-0.0155421176739,0.059937524454,0.999999986435,-9.49669261161e-05,-0.000116812572207,-6.68355976119e-05,1793246633646564096
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.908969217,745,714.091030783,680.908969217,660,633.908969217,879,785,811.091030783,651,631,653,0.446940772809,-0.0155388521655,0.0599210632958,0.999999984261,-9.52820937255e-05,-0.000132526688268,-6.95355540805e-05,1793246633663230720
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745,714.481817046,681,660,634,879,785,811.481817046,651,631,653,0.447588709838,-0.0155417059544,0.0599438444804,0.999999988612,-9.75891988696e-05,-9.215750649e-05,-6.89884342534e-05,1793246633679897600
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.946302021,745,715,680.946302021,660.053697979,634,879,785.053697979,812.053697979,651,631,653,0.448230533084,-0.0155454453158,0.0599720871883,0.999999991578,-0.000101012139943,-4.48316531968e-05,-6.80524355418e-05,1793246633696564224
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.367940237,745,715,680.367940237,660.632059763,634,879,785.632059763,812.632059763,651,631,653,0.448802781654,-0.0155467434243,0.0599825488154,0.999999990877,-0.000111726272003,-3.12098188901e-05,-6.9203568195e-05,1793246633713230848
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680.21466895,660.78533105,633.78533105,879,785.78533105,812.78533105,651,631,653,0.449344615833,-0.015547849628,0.0599760368034,0.999999989278,-0.000120448753174,-4.24979792947e-05,-7.16223177415e-05,1793246633729897472
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714,681.587733482,660,633,879.412266518,784.412266518,812,651,631,653,0.452683523792,-0.0154282202777,0.0597429682772,0.999999921544,-5.95436525912e-05,-0.000387339596137,-5.77496148977e-05,1793246635343901696
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebe8f5bf9efac253ae7e634dc57d2181a9de4e9f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0010_12.5/position_05/depth_04/fem_node.csv
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--- /dev/null
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