Upload Part2Obstacle_avoidance (part 12)

.gitattributes

@@ -11580,3 +11580,69 @@ Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_01/fem_node.csv filter
 Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text

Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/simulation_data.csv

@@ -0,0 +1,428 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+3,0.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+4,0.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+5,0.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+6,0.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+7,0.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+8,0.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+9,0.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+10,0.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+11,0.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+12,0.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+13,0.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+14,0.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+15,0.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+16,0.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+17,0.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+18,0.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+19,0.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+20,0.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+21,0.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+22,0.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+23,0.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+24,0.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+25,0.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+26,0.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+27,0.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+28,0.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+29,0.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+30,0.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+31,0.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+32,0.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+33,0.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+34,0.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+35,0.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+36,0.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+37,0.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+38,0.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+39,0.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+40,0.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+41,0.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+42,0.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+43,0.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+44,0.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+45,0.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+46,0.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+47,0.783333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+48,0.800000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+49,0.816666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+50,0.833333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+51,0.850000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+52,0.866666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+53,0.883333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+54,0.900000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+55,0.916666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+56,0.933333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+57,0.950000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+58,0.966666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+59,0.983333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+60,1.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+61,1.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+62,1.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+63,1.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+64,1.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+65,1.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+66,1.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+67,1.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+68,1.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+69,1.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+70,1.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+71,1.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+72,1.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+73,1.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+74,1.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+75,1.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+76,1.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+77,1.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+78,1.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+79,1.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+80,1.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+81,1.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+82,1.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+83,1.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+84,1.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+85,1.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+86,1.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+87,1.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+88,1.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+89,1.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+90,1.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+91,1.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+92,1.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+93,1.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+94,1.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+95,1.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+96,1.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+97,1.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+98,1.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+99,1.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+100,1.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+101,1.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+102,1.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+103,1.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+104,1.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+105,1.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+106,1.766666667,pose1_to_pose2_press,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+107,1.783333333,pose1_to_pose2_press,0.578252149864,1.33275734222e-06,1.05001165802,0.548823384101,0.00867499665833,1.0496611954
+108,1.800000000,pose1_to_pose2_press,0.578252176548,1.34074916514e-06,1.0500116394,0.548823410672,0.00867500425241,1.04966117644
+109,1.816666667,pose1_to_pose2_press,0.578252340121,1.36431101189e-06,1.05001156746,0.548823574054,0.00867502710377,1.04966110299
+110,1.833333333,pose1_to_pose2_press,0.578252483004,1.32541532897e-06,1.0500116033,0.548823717946,0.00867499162848,1.04966113877
+111,1.850000000,pose1_to_pose2_press,0.578252599232,1.29377584613e-06,1.05001163244,0.548823834994,0.0086749627713,1.04966116788
+112,1.866666667,pose1_to_pose2_press,0.578252886936,1.25082564575e-06,1.05001167567,0.548824123591,0.00867492284213,1.04966121087
+113,1.883333333,pose1_to_pose2_press,0.578253686639,1.27067786672e-06,1.0500116819,0.548824921297,0.00867493587169,1.04966121596
+114,1.900000000,pose1_to_pose2_press,0.578255747672,1.29714230662e-06,1.05001174778,0.548826981249,0.00867495878167,1.04966128456
+115,1.916666667,pose1_to_pose2_press,0.578261777379,1.27150535785e-06,1.05001179303,0.548833011851,0.00867493614469,1.04966132889
+116,1.933333333,pose1_to_pose2_press,0.578273390942,1.34795294669e-06,1.05001175581,0.548844625829,0.00867501399204,1.04966129147
+117,1.950000000,pose1_to_pose2_press,0.578294781049,1.1806329091e-06,1.05001157172,0.548866016005,0.0086748468502,1.04966110593
+118,1.966666667,pose1_to_pose2_press,0.578326211137,1.06580091429e-06,1.0500117624,0.548897447119,0.00867473548343,1.04966129614
+119,1.983333333,pose1_to_pose2_press,0.578368196171,1.24545259458e-06,1.05001169888,0.54893943092,0.0086749107923,1.04966122866
+120,2.000000000,pose1_to_pose2_press,0.578419466387,1.1997055809e-06,1.05001166013,0.548990702385,0.00867486969674,1.04966120008
+121,2.016666667,pose1_to_pose2_press,0.578481016035,1.23992684993e-06,1.05001155884,0.549052250309,0.00867490402948,1.04966109769
+122,2.033333333,pose1_to_pose2_press,0.578552138235,1.30982655312e-06,1.05001178175,0.549123371981,0.00867497203993,1.04966131812
+123,2.050000000,pose1_to_pose2_press,0.578633319157,1.3351290761e-06,1.05001167643,0.549204553807,0.00867500041274,1.04966121289
+124,2.066666667,pose1_to_pose2_press,0.578727979727,1.08191850276e-06,1.05001180766,0.549299216423,0.00867475394656,1.04966133918
+125,2.083333333,pose1_to_pose2_press,0.578835447041,1.15854998807e-06,1.05001169753,0.54940668316,0.00867482857003,1.04966122769
+126,2.100000000,pose1_to_pose2_press,0.578956422985,1.31224404801e-06,1.05001175781,0.549527654949,0.00867496761913,1.04966127443
+127,2.116666667,pose1_to_pose2_press,0.579091392344,1.30935609956e-06,1.0500117911,0.549662624445,0.00867496583956,1.04966132356
+128,2.133333333,pose1_to_pose2_press,0.579242185035,1.3496193377e-06,1.05001192239,0.549813417554,0.00867500740136,1.04966145188
+129,2.150000000,pose1_to_pose2_press,0.579409767051,1.22264008014e-06,1.05001164245,0.549981000925,0.00867488536185,1.04966118038
+130,2.166666667,pose1_to_pose2_press,0.579595348069,1.09300604764e-06,1.05001172197,0.550166585091,0.00867476629333,1.04966125702
+131,2.183333333,pose1_to_pose2_press,0.579804104462,1.22741567054e-06,1.05001169714,0.550375340695,0.00867489822513,1.04966123708
+132,2.200000000,pose1_to_pose2_press,0.580032613932,1.3473879439e-06,1.05001174828,0.550603848273,0.00867501165451,1.04966128508
+133,2.216666667,pose1_to_pose2_press,0.580279378245,1.29842125222e-06,1.05001173633,0.550850611879,0.00867496017062,1.04966127014
+134,2.233333333,pose1_to_pose2_press,0.580542414783,1.28136365364e-06,1.05001160377,0.551113647612,0.00867494055827,1.04966114189
+135,2.250000000,pose1_to_pose2_press,0.580821418367,1.26858109898e-06,1.05001160141,0.551392651812,0.00867492982883,1.04966113863
+136,2.266666667,pose1_to_pose2_press,0.581117474112,1.23401287521e-06,1.0500116689,0.55168870883,0.0086748995542,1.0496612054
+137,2.283333333,pose1_to_pose2_press,0.58143286545,1.27093008004e-06,1.05001172256,0.552004099851,0.00867493558351,1.04966126363
+138,2.300000000,pose1_to_pose2_press,0.581776540934,1.34676393474e-06,1.05001181916,0.552347774902,0.00867500988616,1.04966135865
+139,2.316666667,pose1_to_pose2_press,0.582151980294,1.44337767838e-06,1.05001154385,0.552723213337,0.008675103781,1.04966109362
+140,2.333333333,pose1_to_pose2_press,0.582564398095,1.32343144175e-06,1.05001172603,0.553135631382,0.00867498429933,1.0496612668
+141,2.350000000,pose1_to_pose2_press,0.58300849198,1.30512276506e-06,1.05001156908,0.553579725649,0.00867496717169,1.04966110695
+142,2.366666667,pose1_to_pose2_press,0.583481736527,1.18729648238e-06,1.05001171555,0.554052973556,0.00867486046789,1.0496612465
+143,2.383333333,pose1_to_pose2_press,0.58397009809,1.18855222178e-06,1.0500117972,0.554541333576,0.00867485664548,1.04966133202
+144,2.400000000,pose1_to_pose2_press,0.584469714417,1.29523458709e-06,1.050011762,0.555040947987,0.00867495713143,1.04966130433
+145,2.416666667,pose1_to_pose2_press,0.584981062081,1.27743160398e-06,1.05001180479,0.555552297544,0.00867494516168,1.04966133248
+146,2.433333333,pose1_to_pose2_press,0.5855107585,1.27515248791e-06,1.05001152991,0.556081992681,0.00867493924127,1.04966107515
+147,2.450000000,pose1_to_pose2_press,0.586064631553,1.22397446613e-06,1.05001169133,0.556635867575,0.00867489382492,1.04966122449
+148,2.466666667,pose1_to_pose2_press,0.586647220051,1.27427392e-06,1.05001182053,0.557218454188,0.00867493757282,1.04966134982
+149,2.483333333,pose1_to_pose2_press,0.587255129692,1.21578122428e-06,1.05001154241,0.557826365228,0.00867488438103,1.04966108539
+150,2.500000000,pose1_to_pose2_press,0.587879101245,1.30247340457e-06,1.05001152487,0.558450335055,0.00867496521746,1.04966106789
+151,2.516666667,pose1_to_pose2_press,0.588512348182,1.34535310146e-06,1.0500115096,0.559083581904,0.0086750079303,1.04966105578
+152,2.533333333,pose1_to_pose2_press,0.589153668772,1.36600410375e-06,1.05001175598,0.559724901229,0.0086750237425,1.04966128865
+153,2.550000000,pose1_to_pose2_press,0.589821718023,1.30268837003e-06,1.05001174648,0.56039295226,0.00867496618866,1.04966127227
+154,2.566666667,pose1_to_pose2_press,0.590523716237,1.27390921946e-06,1.05001170412,0.561094951655,0.0086749415256,1.04966123259
+155,2.583333333,pose1_to_pose2_press,0.591253644756,1.2604393024e-06,1.0500116861,0.561824879688,0.00867492658859,1.04966121907
+156,2.600000000,pose1_to_pose2_press,0.592007614573,1.26672159567e-06,1.05001140657,0.562578848992,0.0086749314681,1.04966094786
+157,2.616666667,pose1_to_pose2_press,0.592780341129,1.18441554195e-06,1.05001160498,0.563351577006,0.00867485411207,1.04966114634
+158,2.633333333,pose1_to_pose2_press,0.593552225947,1.2557940939e-06,1.05001170978,0.564123460933,0.00867492224636,1.04966124564
+159,2.650000000,pose1_to_pose2_press,0.594317013424,1.25186540037e-06,1.05001157748,0.564888247697,0.00867491610779,1.04966111859
+160,2.666666667,pose1_to_pose2_press,0.595079756683,1.26721505284e-06,1.05001159569,0.56565099059,0.00867493019392,1.04966113624
+161,2.683333333,pose1_to_pose2_press,0.595841084005,1.26866967986e-06,1.05001166811,0.566412318617,0.00867493385844,1.04966120423
+162,2.700000000,pose1_to_pose2_press,0.596609627157,1.17799659323e-06,1.05001166537,0.567180863185,0.00867484805325,1.04966120304
+163,2.716666667,pose1_to_pose2_press,0.597394379367,1.17579104823e-06,1.05001161836,0.567965615017,0.00867484465665,1.0496611584
+164,2.733333333,pose1_to_pose2_press,0.598211843024,1.28853360504e-06,1.0500116131,0.56878307748,0.00867495329782,1.04966115181
+165,2.750000000,pose1_to_pose2_press,0.599052603996,1.28582248984e-06,1.05001176081,0.569623838805,0.00867495164309,1.0496612961
+166,2.766666667,pose1_to_pose2_press,0.599910451701,1.28437113117e-06,1.05001168276,0.570481686486,0.00867495003762,1.04966121633
+167,2.783333333,pose1_to_pose2_press,0.600773482611,1.34884827861e-06,1.05001164739,0.571344716645,0.00867501197159,1.0496611811
+168,2.800000000,pose1_to_pose2_press,0.601629793856,1.31168296858e-06,1.05001148908,0.572201028931,0.00867497874557,1.04966103287
+169,2.816666667,pose1_to_pose2_press,0.602455989194,1.15432136663e-06,1.05001153338,0.573027224466,0.00867482168014,1.04966106803
+170,2.833333333,pose1_to_pose2_press,0.603264538405,1.18584472899e-06,1.05001179416,0.573835774754,0.00867485692002,1.04966133041
+171,2.850000000,pose1_to_pose2_press,0.604061486392,1.18071686e-06,1.05001179941,0.574632722734,0.00867485154856,1.04966133028
+172,2.866666667,pose1_to_pose2_press,0.60486436165,9.88040358003e-07,1.05001171572,0.575435600788,0.00867466824475,1.04966124386
+173,2.883333333,pose1_to_pose2_press,0.60567782081,1.35563435219e-06,1.05001178991,0.57624905433,0.00867501710835,1.04966132628
+174,2.900000000,pose1_to_pose2_press,0.606495605275,1.2269775094e-06,1.05001166318,0.577066838727,0.00867488832497,1.04966120216
+175,2.916666667,pose1_to_pose2_press,0.607313105207,1.36871758786e-06,1.05001188387,0.577884339617,0.00867503338888,1.0496614248
+176,2.933333333,pose1_to_pose2_press,0.608120044223,1.23473742486e-06,1.05001158694,0.578691279735,0.00867490267742,1.0496611163
+177,2.950000000,pose1_to_pose2_press,0.608904782769,1.22272095532e-06,1.05001166808,0.579476018818,0.00867489278891,1.04966120495
+178,2.966666667,pose1_to_pose2_press,0.609665204993,1.35868764592e-06,1.05001157236,0.580236439507,0.0086750234163,1.04966110618
+179,2.983333333,pose1_to_pose2_press,0.610405488706,1.36415327953e-06,1.05001167767,0.580976724198,0.00867503214937,1.0496612103
+180,3.000000000,pose1_to_pose2_press,0.611128941856,1.31632346016e-06,1.05001178431,0.581700177498,0.00867498484349,1.04966131737
+181,3.016666667,pose1_to_pose2_press,0.611843557503,1.18201019991e-06,1.05001150677,0.582414793313,0.00867485130171,1.04966104489
+182,3.033333333,pose1_to_pose2_press,0.612550608492,1.18127863108e-06,1.05001167408,0.583121844971,0.00867485292525,1.04966121433
+183,3.050000000,pose1_to_pose2_press,0.613252644132,1.22997985088e-06,1.05001172473,0.583823879512,0.0086748975324,1.04966125601
+184,3.066666667,pose1_to_pose2_press,0.613948791046,1.26084097569e-06,1.05001166202,0.584520025781,0.00867492648401,1.04966120035
+185,3.083333333,pose1_to_pose2_press,0.614636756547,1.26784291116e-06,1.05001184555,0.585207991594,0.00867493448894,1.04966138282
+186,3.100000000,pose1_to_pose2_press,0.615298506852,1.38457469322e-06,1.05001191312,0.585869739992,0.00867504470272,1.04966144946
+187,3.116666667,pose1_to_pose2_press,0.61592982465,1.36942669557e-06,1.05001185511,0.586501057035,0.00867502673145,1.04966138507
+188,3.133333333,pose1_to_pose2_press,0.616522888638,1.27891141606e-06,1.05001165671,0.587094123124,0.00867494348725,1.04966118742
+189,3.150000000,pose1_to_pose2_press,0.617087102447,1.2558966357e-06,1.0500116893,0.587658338047,0.00867492479581,1.04966123012
+190,3.166666667,pose1_to_pose2_press,0.617626380459,1.28028159254e-06,1.050011685,0.588197615559,0.0086749478039,1.04966123083
+191,3.183333333,pose1_to_pose2_press,0.618149561593,1.22832871885e-06,1.05001176565,0.588720796707,0.00867489597074,1.04966131034
+192,3.200000000,pose1_to_pose2_press,0.618654481654,1.23889989419e-06,1.0500118477,0.589225716836,0.00867490655844,1.04966138415
+193,3.216666667,pose1_to_pose2_press,0.619131434364,1.26936047811e-06,1.05001172904,0.589702669988,0.00867493869023,1.0496612662
+194,3.233333333,pose1_to_pose2_press,0.619579833064,1.23289578608e-06,1.05001160202,0.590151068032,0.00867490030829,1.0496611431
+195,3.250000000,pose1_to_pose2_press,0.61999880054,1.20000604264e-06,1.05001165536,0.590570034531,0.00867486382436,1.04966118635
+196,3.266666667,pose1_to_pose2_press,0.620398364127,1.17467127211e-06,1.05001182795,0.590969599869,0.00867484447538,1.04966135726
+197,3.283333333,pose1_to_pose2_press,0.620782018798,1.34030191434e-06,1.05001179013,0.591353251731,0.00867500101611,1.04966132726
+198,3.300000000,pose1_to_pose2_press,0.621155458022,1.21970337508e-06,1.05001178716,0.591726693192,0.00867488817338,1.0496613252
+199,3.316666667,pose1_to_pose2_press,0.621514772635,1.30989059996e-06,1.05001183124,0.592086006359,0.00867497318006,1.04966135899
+200,3.333333333,pose1_to_pose2_press,0.621846326606,1.27321735921e-06,1.05001179186,0.592417561495,0.00867494073957,1.04966132377
+201,3.350000000,pose1_to_pose2_press,0.62214641532,1.21186044459e-06,1.05001169472,0.592717649096,0.0086748755673,1.04966122321
+202,3.366666667,pose1_to_pose2_press,0.622411268267,1.32885821959e-06,1.05001154275,0.592982501505,0.00867499128435,1.04966108293
+203,3.383333333,pose1_to_pose2_press,0.622648273689,1.28814950225e-06,1.05001166493,0.593219507301,0.00867495187314,1.04966120176
+204,3.400000000,pose1_to_pose2_press,0.622861102119,1.29130293615e-06,1.05001167264,0.593432335284,0.00867495351726,1.04966120829
+205,3.416666667,pose1_to_pose2_press,0.623062354611,1.22827545121e-06,1.05001161963,0.593633588968,0.00867489510603,1.04966116793
+206,3.433333333,pose1_to_pose2_press,0.623253524558,1.2421234627e-06,1.05001155821,0.593824759395,0.00867491057234,1.04966110476
+207,3.450000000,pose1_to_pose2_press,0.623432760486,1.27597090816e-06,1.05001155302,0.594003994706,0.00867494200109,1.04966108971
+208,3.466666667,pose1_to_pose2_press,0.623598136087,1.24727081018e-06,1.05001162626,0.594169370184,0.00867491279595,1.04966115912
+209,3.483333333,pose1_to_pose2_press,0.623748211312,1.22784549014e-06,1.05001155523,0.594319445662,0.00867489454519,1.04966109444
+210,3.500000000,pose1_to_pose2_press,0.623881041386,1.27051319992e-06,1.05001149591,0.594452275281,0.0086749359432,1.04966104074
+211,3.516666667,pose1_to_pose2_press,0.623997770383,1.245880161e-06,1.05001166307,0.594569005013,0.00867491355802,1.04966120072
+212,3.533333333,pose1_to_pose2_press,0.624099508425,1.20857472783e-06,1.05001181347,0.594670743847,0.0086748788356,1.04966134475
+213,3.550000000,pose1_to_pose2_press,0.624187950169,1.33916903157e-06,1.05001197905,0.594759183291,0.00867500183544,1.04966151161
+214,3.566666667,pose1_to_pose2_press,0.6242630968,1.32133326144e-06,1.0500117465,0.594834329895,0.00867498398203,1.04966128696
+215,3.583333333,pose1_to_pose2_press,0.624326298426,1.32468681823e-06,1.05001169116,0.594897531234,0.0086749862442,1.04966123029
+216,3.600000000,pose1_to_pose2_press,0.624377882928,1.39736515911e-06,1.05001181151,0.594949115269,0.00867505723667,1.04966134224
+217,3.616666667,pose1_to_pose2_press,0.62442058609,1.25774411352e-06,1.05001179032,0.594991821744,0.00867492887945,1.04966132642
+218,3.633333333,pose1_to_pose2_press,0.624455077586,1.21756874379e-06,1.05001178505,0.595026312619,0.00867488675152,1.04966132231
+219,3.650000000,pose1_to_pose2_press,0.624481356067,1.20498582804e-06,1.05001192549,0.595052590973,0.00867487352543,1.04966145609
+220,3.666666667,pose1_to_pose2_press,0.624501352697,1.23982788994e-06,1.05001176669,0.595072585949,0.00867490263607,1.04966129627
+221,3.683333333,pose1_to_pose2_press,0.624515728193,1.29726003733e-06,1.05001174132,0.595086961665,0.00867496101748,1.0496612752
+222,3.700000000,pose1_to_pose2_press,0.624526656861,1.34845500923e-06,1.05001173867,0.595097890759,0.00867501382168,1.04966127512
+223,3.716666667,pose1_to_pose2_press,0.624534564836,1.36955200396e-06,1.05001159435,0.595105797386,0.00867503010721,1.0496611251
+224,3.733333333,pose1_to_pose2_press,0.624540161,1.30383303572e-06,1.05001148221,0.595111394734,0.00867496866387,1.04966101902
+225,3.750000000,pose1_to_pose2_press,0.624544051147,1.26681802156e-06,1.05001141878,0.595115285465,0.00867493381037,1.04966095966
+226,3.766666667,pose1_to_pose2_press,0.624546630025,1.31936086242e-06,1.05001143371,0.595117862658,0.00867498049802,1.04966097095
+227,3.783333333,pose1_to_pose2_press,0.624548109523,1.34950460194e-06,1.05001144227,0.595119341189,0.00867500728265,1.04966097743
+228,3.800000000,pose1_to_pose2_press,0.624548672031,1.3358940135e-06,1.0500114557,0.595119903827,0.00867499411629,1.04966099097
+229,3.816666667,pose1_to_pose2_press,0.624549332229,1.30124012382e-06,1.05001147903,0.59512056455,0.00867496126629,1.04966101513
+230,3.833333333,pose1_to_pose2_press,0.624550070328,1.26249720589e-06,1.05001150512,0.595121303235,0.00867492454012,1.04966104213
+231,3.850000000,pose1_to_pose2_press,0.624550751503,1.22674223874e-06,1.0500115292,0.595121984951,0.00867489064636,1.04966106705
+232,3.866666667,pose1_to_pose2_press,0.624551249171,1.19201570018e-06,1.05001154358,0.595122483195,0.00867485787093,1.04966108138
+233,3.883333333,pose1_to_pose2_press,0.624551551671,1.15503895159e-06,1.05001154641,0.595122786379,0.00867482317072,1.04966108292
+234,3.900000000,pose1_to_pose2_press,0.624551711451,1.13550777835e-06,1.0500115479,0.595122946521,0.00867480484202,1.04966108373
+235,3.916666667,pose1_to_pose2_press,0.624551731969,1.13299976224e-06,1.05001154809,0.595122967085,0.00867480248841,1.04966108384
+236,3.933333333,pose1_to_pose2_press,0.624551952914,1.10599205654e-06,1.05001155016,0.595123188529,0.00867477714349,1.04966108496
+237,3.950000000,pose1_to_pose2_press,0.624552252167,1.06941209343e-06,1.05001155295,0.595123488459,0.00867474281563,1.04966108649
+238,3.966666667,pose1_to_pose2_press,0.624552443616,1.05013072498e-06,1.05001154939,0.595123680287,0.00867472479749,1.0496610823
+239,3.983333333,pose1_to_pose2_press,0.624552593831,1.09116388758e-06,1.05001147371,0.595123830058,0.00867476440163,1.04966100864
+240,4.000000000,pose1_to_pose2_press,0.624552752495,1.13450496869e-06,1.05001139377,0.595123988253,0.00867480623332,1.04966093084
+241,4.016666667,pose1_to_pose2_press,0.624552774682,1.14056551114e-06,1.05001138259,0.595124010374,0.0086748120828,1.04966091996
+242,4.033333333,pose1_to_pose2_press,0.624552861463,1.16427105826e-06,1.05001133887,0.595124096899,0.00867483496278,1.04966087741
+243,4.050000000,pose1_to_pose2_press,0.624552966354,1.17139959458e-06,1.05001133146,0.595124201121,0.00867483984891,1.04966087094
+244,4.066666667,pose1_to_pose2_press,0.624553013737,1.14310031624e-06,1.05001139465,0.595124247675,0.00867480871413,1.04966093387
+245,4.083333333,pose1_to_pose2_press,0.624553021457,1.1384896934e-06,1.05001140495,0.59512425526,0.00867480364154,1.04966094413
+246,4.100000000,pose1_to_pose2_press,0.624553059435,1.10839401619e-06,1.05001145917,0.595124293348,0.00867477379605,1.04966099523
+247,4.116666667,pose1_to_pose2_press,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386781,0.00867469584665,1.04966112019
+248,4.133333333,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386781,0.00867469584669,1.04966112019
+249,4.150000000,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584654,1.04966112019
+250,4.166666667,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584652,1.04966112019
+251,4.183333333,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584653,1.04966112019
+252,4.200000000,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584657,1.04966112019
+253,4.216666667,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584646,1.04966112019
+254,4.233333333,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584651,1.04966112019
+255,4.250000000,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584652,1.04966112019
+256,4.266666667,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584633,1.04966112019
+257,4.283333333,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.0086746958465,1.04966112019
+258,4.300000000,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.0086746958465,1.04966112019
+259,4.316666667,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.0086746958465,1.04966112019
+260,4.333333333,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.0086746958465,1.04966112019
+261,4.350000000,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.0086746958465,1.04966112019
+262,4.366666667,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584649,1.04966112019
+263,4.383333333,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584648,1.04966112019
+264,4.400000000,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584647,1.04966112019
+265,4.416666667,pose2_hold,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584644,1.04966112019
+266,4.433333333,pose2_to_pose3_retreat,0.624553151739,1.02705206816e-06,1.0500115949,0.595124386782,0.00867469584645,1.04966112019
+267,4.450000000,pose2_to_pose3_retreat,0.624553114296,1.04123860863e-06,1.05001158663,0.595124349288,0.00867470994067,1.04966111411
+268,4.466666667,pose2_to_pose3_retreat,0.624553027163,1.05309705496e-06,1.05001154879,0.595124262169,0.00867472200364,1.04966108032
+269,4.483333333,pose2_to_pose3_retreat,0.624552881235,1.06075276491e-06,1.05001147471,0.595124116343,0.00867473024379,1.04966101237
+270,4.500000000,pose2_to_pose3_retreat,0.624552830474,1.06341583402e-06,1.05001144893,0.595124065617,0.00867473311017,1.04966098874
+271,4.516666667,pose2_to_pose3_retreat,0.624552774135,1.06637152793e-06,1.05001142033,0.595124009317,0.0086747362915,1.04966096251
+272,4.533333333,pose2_to_pose3_retreat,0.624552633198,1.07912829986e-06,1.05001139565,0.595123868345,0.00867474901831,1.04966094011
+273,4.550000000,pose2_to_pose3_retreat,0.624552155823,1.14120904037e-06,1.05001147702,0.595123390385,0.00867480890584,1.04966101635
+274,4.566666667,pose2_to_pose3_retreat,0.624550750787,1.20911491476e-06,1.0500116027,0.595121984379,0.00867487330699,1.04966113694
+275,4.583333333,pose2_to_pose3_retreat,0.624547307318,1.24512139991e-06,1.05001167392,0.595118540102,0.00867490659494,1.0496612087
+276,4.600000000,pose2_to_pose3_retreat,0.624541165593,1.25303607928e-06,1.05001163073,0.595112399008,0.00867491663872,1.04966116411
+277,4.616666667,pose2_to_pose3_retreat,0.62452812161,1.21564419128e-06,1.05001151303,0.595099355017,0.00867487967122,1.04966105701
+278,4.633333333,pose2_to_pose3_retreat,0.624507771828,1.26696838267e-06,1.05001159144,0.595079005565,0.00867493148479,1.04966111965
+279,4.650000000,pose2_to_pose3_retreat,0.624478975344,1.24714508544e-06,1.050011729,0.595050208393,0.00867490930108,1.04966125601
+280,4.666666667,pose2_to_pose3_retreat,0.624442384513,1.19961261595e-06,1.05001185218,0.595013619641,0.00867486888027,1.04966138054
+281,4.683333333,pose2_to_pose3_retreat,0.624397798699,1.28899440825e-06,1.05001191487,0.594969031922,0.00867495177813,1.04966144278
+282,4.700000000,pose2_to_pose3_retreat,0.624348094568,1.32693012311e-06,1.05001176716,0.594919328208,0.0086749911773,1.04966129912
+283,4.716666667,pose2_to_pose3_retreat,0.624293421198,1.18763280212e-06,1.05001152919,0.594864656204,0.00867485702105,1.04966107237
+284,4.733333333,pose2_to_pose3_retreat,0.624230959761,1.32838111712e-06,1.0500115345,0.594802192287,0.00867498926601,1.04966107654
+285,4.750000000,pose2_to_pose3_retreat,0.624160331596,1.31364614747e-06,1.05001171064,0.594731564337,0.00867497497162,1.04966124771
+286,4.766666667,pose2_to_pose3_retreat,0.624079814319,1.30137934045e-06,1.05001173207,0.594651047619,0.00867496458219,1.04966127027
+287,4.783333333,pose2_to_pose3_retreat,0.62398769338,1.32049838851e-06,1.0500116854,0.594558927393,0.00867498619852,1.04966122649
+288,4.800000000,pose2_to_pose3_retreat,0.623882661171,1.32651222049e-06,1.05001177769,0.594453896503,0.00867499649039,1.04966131506
+289,4.816666667,pose2_to_pose3_retreat,0.623765758821,1.17784848226e-06,1.05001166549,0.594336994788,0.00867485002963,1.0496612051
+290,4.833333333,pose2_to_pose3_retreat,0.623636779512,1.35949704911e-06,1.0500116639,0.594208012418,0.00867502123162,1.04966120323
+291,4.850000000,pose2_to_pose3_retreat,0.623494158299,1.3329260974e-06,1.05001161304,0.594065390199,0.00867499108193,1.04966114968
+292,4.866666667,pose2_to_pose3_retreat,0.623338825989,1.20862086261e-06,1.05001159852,0.593910059299,0.00867487142093,1.0496611332
+293,4.883333333,pose2_to_pose3_retreat,0.623170054113,1.16867818672e-06,1.05001165204,0.593741289538,0.00867483867697,1.04966118877
+294,4.900000000,pose2_to_pose3_retreat,0.622988516216,1.26391457153e-06,1.05001151905,0.593559749598,0.00867492724325,1.049661064
+295,4.916666667,pose2_to_pose3_retreat,0.622794250012,1.32640212073e-06,1.05001172912,0.593365483086,0.00867498816157,1.04966126297
+296,4.933333333,pose2_to_pose3_retreat,0.622586013135,1.28035911454e-06,1.05001157666,0.593157246344,0.00867494252032,1.04966111118
+297,4.950000000,pose2_to_pose3_retreat,0.622364689029,1.19298891973e-06,1.05001137068,0.592935922927,0.00867485750495,1.04966090775
+298,4.966666667,pose2_to_pose3_retreat,0.622129112826,1.16471307648e-06,1.05001159927,0.592700348199,0.00867483365296,1.04966112403
+299,4.983333333,pose2_to_pose3_retreat,0.621878448022,1.22488437612e-06,1.05001146187,0.592449682226,0.00867489020857,1.04966099715
+300,5.000000000,pose2_to_pose3_retreat,0.621611347722,1.22204566223e-06,1.05001156049,0.592182582931,0.00867489078041,1.04966109826
+301,5.016666667,pose2_to_pose3_retreat,0.621325738028,1.26959353015e-06,1.05001164958,0.59189697342,0.00867493869076,1.04966118376
+302,5.033333333,pose2_to_pose3_retreat,0.621020531622,1.40562183987e-06,1.05001161314,0.591591764915,0.00867506727429,1.04966114214
+303,5.050000000,pose2_to_pose3_retreat,0.620689909625,1.40237243726e-06,1.05001176337,0.591261142139,0.00867506166747,1.04966130287
+304,5.066666667,pose2_to_pose3_retreat,0.620335498713,1.27108671312e-06,1.05001163274,0.590906731697,0.0086749317421,1.04966116734
+305,5.083333333,pose2_to_pose3_retreat,0.619956413867,1.2629179399e-06,1.05001169874,0.590527648438,0.0086749288055,1.04966123317
+306,5.100000000,pose2_to_pose3_retreat,0.619561498649,1.28842873145e-06,1.05001174959,0.590132734452,0.00867495842173,1.04966128603
+307,5.116666667,pose2_to_pose3_retreat,0.619153922603,1.27984077146e-06,1.05001166892,0.589725158064,0.00867494861514,1.04966120662
+308,5.133333333,pose2_to_pose3_retreat,0.61873932228,1.29502601055e-06,1.05001164993,0.589310555473,0.00867495607568,1.04966119063
+309,5.150000000,pose2_to_pose3_retreat,0.618316856681,1.18364232192e-06,1.05001157506,0.588888093885,0.0086748579725,1.04966111163
+310,5.166666667,pose2_to_pose3_retreat,0.617878045852,1.14095222769e-06,1.05001152389,0.588449282764,0.00867481382482,1.0496610521
+311,5.183333333,pose2_to_pose3_retreat,0.617415556213,1.16757393716e-06,1.05001155013,0.5879867919,0.00867483615789,1.0496610778
+312,5.200000000,pose2_to_pose3_retreat,0.616922438728,1.2374260362e-06,1.0500116475,0.587493674763,0.0086749075395,1.04966118619
+313,5.216666667,pose2_to_pose3_retreat,0.616399676711,1.23457379342e-06,1.05001157689,0.586970912395,0.00867490307065,1.04966110756
+314,5.233333333,pose2_to_pose3_retreat,0.615849381748,1.19962194244e-06,1.0500117513,0.586420617045,0.00867486696603,1.04966128616
+315,5.250000000,pose2_to_pose3_retreat,0.615289676777,1.17450344905e-06,1.05001154532,0.585860913469,0.00867484685461,1.04966108625
+316,5.266666667,pose2_to_pose3_retreat,0.614723667945,1.11538135558e-06,1.05001146195,0.585294905486,0.00867479064229,1.04966100332
+317,5.283333333,pose2_to_pose3_retreat,0.614151258523,1.07903964365e-06,1.05001153644,0.584722495577,0.00867475255347,1.04966107548
+318,5.300000000,pose2_to_pose3_retreat,0.61356644777,1.15563584138e-06,1.05001155396,0.584137683413,0.00867482445433,1.04966109491
+319,5.316666667,pose2_to_pose3_retreat,0.612964108934,1.26759109577e-06,1.05001172733,0.583535344099,0.00867493484121,1.04966127147
+320,5.333333333,pose2_to_pose3_retreat,0.612336909373,1.2513488282e-06,1.0500116917,0.582908144529,0.00867491846262,1.04966123251
+321,5.350000000,pose2_to_pose3_retreat,0.611688875376,1.17577643236e-06,1.0500118063,0.582260110526,0.00867484262986,1.04966134057
+322,5.366666667,pose2_to_pose3_retreat,0.611034011725,1.18056443347e-06,1.05001197356,0.581605246884,0.00867484734732,1.0496615052
+323,5.383333333,pose2_to_pose3_retreat,0.610375267787,1.29520012231e-06,1.05001199088,0.580946502735,0.00867496132988,1.04966152417
+324,5.400000000,pose2_to_pose3_retreat,0.609710922792,1.29043807715e-06,1.05001174139,0.58028215621,0.00867495104048,1.04966126513
+325,5.416666667,pose2_to_pose3_retreat,0.609039419436,1.29727587169e-06,1.0500117885,0.579610654963,0.00867496532338,1.0496613198
+326,5.433333333,pose2_to_pose3_retreat,0.608358913841,1.3172091334e-06,1.05001164324,0.578930149261,0.00867498521929,1.04966118283
+327,5.450000000,pose2_to_pose3_retreat,0.607667061341,1.32261834581e-06,1.05001168099,0.578238296045,0.00867498812957,1.04966121878
+328,5.466666667,pose2_to_pose3_retreat,0.606968906473,1.30375107375e-06,1.05001190038,0.577540140741,0.0086749674041,1.04966142882
+329,5.483333333,pose2_to_pose3_retreat,0.606268910865,1.27929661631e-06,1.05001169421,0.576840144195,0.008674939938,1.04966122684
+330,5.500000000,pose2_to_pose3_retreat,0.605558994634,1.20263757517e-06,1.05001177193,0.576130231554,0.00867487551904,1.04966130603
+331,5.516666667,pose2_to_pose3_retreat,0.60483112845,1.24383979221e-06,1.05001163429,0.575402364396,0.0086749136251,1.04966117351
+332,5.533333333,pose2_to_pose3_retreat,0.604097166293,1.28875218612e-06,1.0500114853,0.574668400357,0.00867495220866,1.04966102581
+333,5.550000000,pose2_to_pose3_retreat,0.603362061548,1.25757210989e-06,1.05001145567,0.573933295671,0.00867492110637,1.04966099313
+334,5.566666667,pose2_to_pose3_retreat,0.60262780614,1.14945351356e-06,1.05001155746,0.57319904284,0.00867482165191,1.04966109288
+335,5.583333333,pose2_to_pose3_retreat,0.601902315787,1.26010186233e-06,1.05001167763,0.572473550486,0.00867492533392,1.04966120861
+336,5.600000000,pose2_to_pose3_retreat,0.601190416981,1.32291068808e-06,1.05001176781,0.571761651385,0.00867498718312,1.04966129977
+337,5.616666667,pose2_to_pose3_retreat,0.600475385024,1.32362896235e-06,1.05001166349,0.5710466193,0.00867498787704,1.04966120557
+338,5.633333333,pose2_to_pose3_retreat,0.599753459572,1.27719006117e-06,1.05001149747,0.570324693778,0.00867494150092,1.04966104691
+339,5.650000000,pose2_to_pose3_retreat,0.599026941405,1.22541279311e-06,1.05001156995,0.569598176125,0.00867489086639,1.04966110447
+340,5.666666667,pose2_to_pose3_retreat,0.59829723213,1.26286162057e-06,1.05001177329,0.56886846793,0.00867493189945,1.04966130577
+341,5.683333333,pose2_to_pose3_retreat,0.59756357023,1.35667646174e-06,1.05001189051,0.568134804002,0.00867501887737,1.04966142408
+342,5.700000000,pose2_to_pose3_retreat,0.596832004647,1.33952177066e-06,1.05001179968,0.567403237328,0.00867499807674,1.04966133454
+343,5.716666667,pose2_to_pose3_retreat,0.596109674704,1.36295556144e-06,1.0500116553,0.566680907057,0.00867502060272,1.04966119522
+344,5.733333333,pose2_to_pose3_retreat,0.595398623007,1.49895079798e-06,1.05001167119,0.565969855216,0.00867515632988,1.0496612166
+345,5.750000000,pose2_to_pose3_retreat,0.594700887533,1.30609753436e-06,1.0500119598,0.565272122484,0.00867497190219,1.0496614834
+346,5.766666667,pose2_to_pose3_retreat,0.594023882829,1.29902912212e-06,1.05001177107,0.564595116887,0.0086749619887,1.04966129927
+347,5.783333333,pose2_to_pose3_retreat,0.59336160117,1.13908770496e-06,1.05001169105,0.563932836298,0.00867480583563,1.04966122317
+348,5.800000000,pose2_to_pose3_retreat,0.59270869579,1.08868821229e-06,1.05001171863,0.563279932367,0.00867476044367,1.04966125298
+349,5.816666667,pose2_to_pose3_retreat,0.592063652165,1.26639636185e-06,1.05001178334,0.562634889199,0.00867493972807,1.04966131826
+350,5.833333333,pose2_to_pose3_retreat,0.591426341496,1.18575514731e-06,1.05001170484,0.561997578721,0.00867485955788,1.04966123536
+351,5.850000000,pose2_to_pose3_retreat,0.59079069555,1.23153219866e-06,1.05001167382,0.561361931748,0.00867490210898,1.04966121075
+352,5.866666667,pose2_to_pose3_retreat,0.590156684771,1.22855717421e-06,1.05001157549,0.560727920313,0.00867489721499,1.04966111999
+353,5.883333333,pose2_to_pose3_retreat,0.589530867639,1.27521493937e-06,1.05001157596,0.560102102079,0.00867493998005,1.04966111664
+354,5.900000000,pose2_to_pose3_retreat,0.588918061447,1.36473520376e-06,1.05001172581,0.559489294975,0.00867502593869,1.04966125497
+355,5.916666667,pose2_to_pose3_retreat,0.588326439961,1.24644189659e-06,1.05001178751,0.558897676118,0.00867491694529,1.04966132602
+356,5.933333333,pose2_to_pose3_retreat,0.587763069285,1.26565032042e-06,1.05001179716,0.558334304424,0.00867493257143,1.04966133249
+357,5.950000000,pose2_to_pose3_retreat,0.587229356409,1.21884880812e-06,1.05001156613,0.557800591856,0.00867488696978,1.04966110529
+358,5.966666667,pose2_to_pose3_retreat,0.586713699398,1.25043695337e-06,1.05001151174,0.557284934216,0.00867491643479,1.04966105122
+359,5.983333333,pose2_to_pose3_retreat,0.586211168197,1.33164394478e-06,1.05001165155,0.556782401792,0.00867499328026,1.04966118579
+360,6.000000000,pose2_to_pose3_retreat,0.58571827004,1.22887986116e-06,1.05001158698,0.556289505189,0.00867489558127,1.04966111605
+361,6.016666667,pose2_to_pose3_retreat,0.585234245451,1.24304653464e-06,1.05001165901,0.555805480226,0.00867490861842,1.04966119163
+362,6.033333333,pose2_to_pose3_retreat,0.584760144913,1.26046379146e-06,1.05001174901,0.555331380341,0.00867492835669,1.04966128416
+363,6.050000000,pose2_to_pose3_retreat,0.584307819061,1.28873080413e-06,1.05001179805,0.55487905443,0.00867495642485,1.04966133334
+364,6.066666667,pose2_to_pose3_retreat,0.583878658425,1.29142180766e-06,1.05001180268,0.5544498932,0.00867495702565,1.04966133611
+365,6.083333333,pose2_to_pose3_retreat,0.583470508508,1.17101048986e-06,1.05001181479,0.554041744947,0.00867484216332,1.04966134586
+366,6.100000000,pose2_to_pose3_retreat,0.583080196388,1.27229199849e-06,1.05001157303,0.553651429903,0.00867493404867,1.04966111704
+367,6.116666667,pose2_to_pose3_retreat,0.582704895664,1.29175717924e-06,1.05001153807,0.553276130051,0.00867495629354,1.04966107768
+368,6.133333333,pose2_to_pose3_retreat,0.582339565548,1.26389033753e-06,1.0500116608,0.552910801109,0.00867493213514,1.04966119365
+369,6.150000000,pose2_to_pose3_retreat,0.581983825658,1.24968438788e-06,1.05001183799,0.552555061002,0.00867491716638,1.04966137013
+370,6.166666667,pose2_to_pose3_retreat,0.581643916811,1.2922609273e-06,1.05001192023,0.552215152174,0.00867495985008,1.04966145353
+371,6.183333333,pose2_to_pose3_retreat,0.581322940029,1.0885913049e-06,1.05001182423,0.551894177451,0.00867476305713,1.04966135478
+372,6.200000000,pose2_to_pose3_retreat,0.581030290396,1.20990194087e-06,1.05001138953,0.55160152578,0.0086748781838,1.04966093826
+373,6.216666667,pose2_to_pose3_retreat,0.580763558279,1.22844196201e-06,1.05001156145,0.551334793022,0.00867489420886,1.04966110168
+374,6.233333333,pose2_to_pose3_retreat,0.580521911034,1.16130537125e-06,1.05001175578,0.551093146986,0.00867483069828,1.04966128431
+375,6.250000000,pose2_to_pose3_retreat,0.580299484233,1.07941395341e-06,1.0500115712,0.550870722512,0.00867475683375,1.04966110297
+376,6.266666667,pose2_to_pose3_retreat,0.580095202504,1.1945912426e-06,1.05001165327,0.550666439245,0.00867486696728,1.04966118943
+377,6.283333333,pose2_to_pose3_retreat,0.579901490994,1.2645443848e-06,1.05001172206,0.550472727315,0.0086749356929,1.04966126308
+378,6.300000000,pose2_to_pose3_retreat,0.579717781876,1.24848987937e-06,1.0500117176,0.550289018046,0.00867491926478,1.04966126206
+379,6.316666667,pose2_to_pose3_retreat,0.57954459742,1.15281563002e-06,1.05001163998,0.550115833272,0.00867482248687,1.0496611839
+380,6.333333333,pose2_to_pose3_retreat,0.579381858527,1.15572467294e-06,1.05001169286,0.549953094208,0.00867482433085,1.04966122478
+381,6.350000000,pose2_to_pose3_retreat,0.579230923469,1.25289200855e-06,1.05001165552,0.549802159368,0.00867492257348,1.04966119575
+382,6.366666667,pose2_to_pose3_retreat,0.579093943804,1.26915899053e-06,1.05001160016,0.549665179165,0.00867493689137,1.04966113745
+383,6.383333333,pose2_to_pose3_retreat,0.578971379141,1.18374756743e-06,1.05001161191,0.549542615421,0.00867485440844,1.04966114448
+384,6.400000000,pose2_to_pose3_retreat,0.578864311011,1.08416936622e-06,1.0500116808,0.549435548873,0.00867476021894,1.04966121393
+385,6.416666667,pose2_to_pose3_retreat,0.578770121448,1.16329549555e-06,1.0500116786,0.549341356147,0.0086748286784,1.04966121344
+386,6.433333333,pose2_to_pose3_retreat,0.578687554686,1.22630754101e-06,1.05001165708,0.549258790587,0.00867489598483,1.04966119782
+387,6.450000000,pose2_to_pose3_retreat,0.578614072556,1.23789712982e-06,1.05001166435,0.549185308223,0.00867490669819,1.04966120319
+388,6.466666667,pose2_to_pose3_retreat,0.57854930268,1.22404092205e-06,1.05001167458,0.549120537855,0.00867489108012,1.049661211
+389,6.483333333,pose2_to_pose3_retreat,0.578492503762,1.21353366567e-06,1.05001165792,0.549063739549,0.00867488278152,1.04966119757
+390,6.500000000,pose2_to_pose3_retreat,0.578443288191,1.21115160464e-06,1.05001159265,0.5490145234,0.00867487811338,1.0496611241
+391,6.516666667,pose2_to_pose3_retreat,0.578401854151,1.13996023511e-06,1.05001174051,0.548973091264,0.00867481329764,1.04966126985
+392,6.533333333,pose2_to_pose3_retreat,0.578367305831,1.20424067773e-06,1.05001162582,0.548938541984,0.00867487454166,1.04966116063
+393,6.550000000,pose2_to_pose3_retreat,0.578339450072,1.25243812897e-06,1.05001147542,0.548910685196,0.00867491949719,1.0496610163
+394,6.566666667,pose2_to_pose3_retreat,0.578316935497,1.07039043423e-06,1.05001165698,0.548888173917,0.00867474858958,1.04966119682
+395,6.583333333,pose2_to_pose3_retreat,0.578299772843,1.18767738954e-06,1.0500116048,0.548871009742,0.00867486031925,1.04966113488
+396,6.600000000,pose2_to_pose3_retreat,0.578286455626,1.22701636445e-06,1.05001174746,0.548857692291,0.00867489885436,1.04966127719
+397,6.616666667,pose2_to_pose3_retreat,0.578276506123,1.23697229435e-06,1.05001192867,0.548847742497,0.00867490791644,1.04966146077
+398,6.633333333,pose2_to_pose3_retreat,0.578269789751,1.28681373505e-06,1.05001194365,0.548841023226,0.00867494776384,1.04966147182
+399,6.650000000,pose2_to_pose3_retreat,0.578265070716,1.27766239225e-06,1.05001191432,0.548836303426,0.00867493600296,1.04966144226
+400,6.666666667,pose2_to_pose3_retreat,0.578262025515,1.2267888873e-06,1.05001185482,0.548833259024,0.00867488793762,1.04966138517
+401,6.683333333,pose2_to_pose3_retreat,0.578259804598,1.18968596228e-06,1.05001181142,0.548831038689,0.00867485288274,1.04966134354
+402,6.700000000,pose2_to_pose3_retreat,0.578258363285,1.23250372133e-06,1.05001169905,0.548829597156,0.00867489491446,1.04966123021
+403,6.716666667,pose2_to_pose3_retreat,0.578257374783,1.26487155547e-06,1.05001161821,0.548828608476,0.00867492664829,1.04966114861
+404,6.733333333,pose2_to_pose3_retreat,0.578256841199,1.28234341912e-06,1.05001157457,0.548828074796,0.00867494377792,1.04966110456
+405,6.750000000,pose2_to_pose3_retreat,0.57825680854,1.28341279436e-06,1.0500115719,0.548828042132,0.00867494482635,1.04966110187
+406,6.766666667,pose2_to_pose3_retreat,0.578256625703,1.2893996978e-06,1.05001155694,0.548827859261,0.00867495069598,1.04966108677
+407,6.783333333,pose2_to_pose3_retreat,0.578256389798,1.29712422626e-06,1.05001153765,0.548827623315,0.00867495826921,1.0496610673
+408,6.800000000,pose2_to_pose3_retreat,0.578256381459,1.29739729654e-06,1.05001153697,0.548827614974,0.00867495853693,1.04966106661
+409,6.816666667,pose2_to_pose3_retreat,0.578256098434,1.30666476985e-06,1.05001151382,0.548827331897,0.00867496762287,1.04966104325
+410,6.833333333,pose2_to_pose3_retreat,0.578255552173,1.31823100458e-06,1.05001148098,0.54882678566,0.00867497925692,1.04966101015
+411,6.850000000,pose2_to_pose3_retreat,0.578255099848,1.27886631327e-06,1.05001154544,0.548826334295,0.00867494318631,1.04966107556
+412,6.866666667,pose2_to_pose3_retreat,0.578254892171,1.26079268712e-06,1.05001157503,0.548826127058,0.0086749266251,1.0496611056
+413,6.883333333,pose2_to_pose3_retreat,0.578254595735,1.23499457931e-06,1.05001161727,0.54882583125,0.00867490298581,1.04966114847
+414,6.900000000,pose2_to_pose3_retreat,0.578254145618,1.19582211284e-06,1.05001168142,0.548825382089,0.00867486709134,1.04966121357
+415,6.916666667,pose2_to_pose3_retreat,0.578254128624,1.19434313389e-06,1.05001168384,0.548825365131,0.00867486573612,1.04966121603
+416,6.933333333,pose2_to_pose3_retreat,0.578254022603,1.18511641667e-06,1.05001169895,0.548825259335,0.00867485728151,1.04966123136
+417,6.950000000,pose2_to_pose3_retreat,0.57825364878,1.15258349639e-06,1.05001175222,0.548824886304,0.00867482747098,1.04966128542
+418,6.966666667,pose2_to_pose3_retreat,0.578253557884,1.14467307379e-06,1.05001176517,0.548824795601,0.00867482022251,1.04966129857
+419,6.983333333,pose2_to_pose3_retreat,0.578253191762,1.17193946312e-06,1.05001177833,0.54882442895,0.00867484568827,1.04966131157
+420,7.000000000,pose2_to_pose3_retreat,0.578253123264,1.19476759494e-06,1.0500117691,0.548824359962,0.00867486684034,1.04966130203
+421,7.016666667,pose2_to_pose3_retreat,0.57825310843,1.19971114305e-06,1.0500117671,0.548824345022,0.00867487142093,1.04966129997
+422,7.033333333,pose2_to_pose3_retreat,0.57825289761,1.26997072879e-06,1.05001173869,0.548824132693,0.008674936522,1.0496612706
+423,7.050000000,pose2_to_pose3_retreat,0.578252790123,1.30579274154e-06,1.05001172421,0.548824024437,0.00867496971393,1.04966125562
+424,7.066666667,pose2_to_pose3_retreat,0.578252606492,1.3669908495e-06,1.05001169946,0.548823839492,0.00867502641881,1.04966123004
+425,7.083333333,pose2_to_pose3_retreat,0.578252312241,1.36182166501e-06,1.050011669,0.548823546331,0.00867502522755,1.04966120651
+426,7.100000000,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537867,1.04966119859

Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:151309fb6495764b3c98ec69506d7e907390734d4c2b3220ba98f1a12067dd07
+size 27137681

Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/simulation_data.csv

@@ -0,0 +1,428 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+1,0.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+2,0.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+3,0.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+4,0.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+5,0.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+6,0.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+7,0.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+8,0.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+9,0.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+10,0.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+11,0.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+12,0.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+13,0.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+14,0.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+15,0.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+16,0.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+17,0.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+18,0.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+19,0.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+20,0.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+21,0.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+22,0.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+23,0.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+24,0.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+25,0.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+26,0.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+27,0.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+28,0.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+29,0.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+30,0.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+31,0.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+32,0.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+33,0.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+34,0.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+35,0.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+36,0.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+37,0.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+38,0.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+39,0.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+40,0.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+41,0.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+42,0.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+43,0.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+44,0.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+45,0.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+46,0.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+47,0.783333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+48,0.800000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+49,0.816666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+50,0.833333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+51,0.850000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+52,0.866666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+53,0.883333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+54,0.900000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+55,0.916666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+56,0.933333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+57,0.950000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+58,0.966666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+59,0.983333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+60,1.000000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+61,1.016666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+62,1.033333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+63,1.050000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+64,1.066666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+65,1.083333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+66,1.100000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+67,1.116666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+68,1.133333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+69,1.150000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+70,1.166666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+71,1.183333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+72,1.200000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+73,1.216666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+74,1.233333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+75,1.250000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+76,1.266666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+77,1.283333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+78,1.300000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+79,1.316666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+80,1.333333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+81,1.350000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+82,1.366666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+83,1.383333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+84,1.400000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+85,1.416666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+86,1.433333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+87,1.450000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+88,1.466666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+89,1.483333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+90,1.500000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+91,1.516666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+92,1.533333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+93,1.550000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+94,1.566666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+95,1.583333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+96,1.600000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+97,1.616666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+98,1.633333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+99,1.650000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+100,1.666666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+101,1.683333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+102,1.700000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+103,1.716666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+104,1.733333333,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+105,1.750000000,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+106,1.766666667,pose1_baseline,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+107,1.783333333,pose1_to_pose2_press,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537869,1.04966119859
+108,1.800000000,pose1_to_pose2_press,0.578252204734,1.34919086735e-06,1.05001161974,0.548823438739,0.00867501227399,1.04966115642
+109,1.816666667,pose1_to_pose2_press,0.578252262499,1.36649120926e-06,1.05001157943,0.548823496259,0.00867502871334,1.04966111539
+110,1.833333333,pose1_to_pose2_press,0.578252499393,1.31934667504e-06,1.05001160741,0.54882373445,0.00867498595215,1.04966114288
+111,1.850000000,pose1_to_pose2_press,0.578252554298,1.30396721932e-06,1.05001162118,0.548823789743,0.00867497188703,1.04966115663
+112,1.866666667,pose1_to_pose2_press,0.578252766116,1.24463532027e-06,1.0500116743,0.548824003056,0.0086749176257,1.04966120967
+113,1.883333333,pose1_to_pose2_press,0.578252772762,1.24428022648e-06,1.05001167478,0.548824009703,0.00867491727079,1.04966121014
+114,1.900000000,pose1_to_pose2_press,0.578253547618,1.26575995753e-06,1.05001168082,0.548824782623,0.00867493213983,1.04966121507
+115,1.916666667,pose1_to_pose2_press,0.578256418357,1.2672832306e-06,1.05001165104,0.548827652701,0.00867493164161,1.04966119069
+116,1.933333333,pose1_to_pose2_press,0.578263941052,1.24051314136e-06,1.05001180619,0.548835177505,0.0086749117618,1.04966133928
+117,1.950000000,pose1_to_pose2_press,0.578277554159,1.35616843739e-06,1.0500116036,0.548848787341,0.0086750164558,1.04966114006
+118,1.966666667,pose1_to_pose2_press,0.578301707262,1.25462179577e-06,1.05001188654,0.548872941868,0.0086749194114,1.04966141478
+119,1.983333333,pose1_to_pose2_press,0.57833643012,1.27374869222e-06,1.05001157203,0.548907665214,0.00867494070085,1.04966111274
+120,2.000000000,pose1_to_pose2_press,0.578382262937,1.09008919496e-06,1.05001153399,0.548953500713,0.00867476609867,1.0496610736
+121,2.016666667,pose1_to_pose2_press,0.578438505714,1.16353837023e-06,1.05001166062,0.549009742513,0.008674836054,1.04966119575
+122,2.033333333,pose1_to_pose2_press,0.578505028604,1.21146087034e-06,1.05001165273,0.549076263803,0.00867487835143,1.04966118293
+123,2.050000000,pose1_to_pose2_press,0.578581856787,1.26035074624e-06,1.05001180005,0.549153091186,0.00867492467364,1.04966133384
+124,2.066666667,pose1_to_pose2_press,0.57866951094,1.36929463544e-06,1.0500118126,0.549240744766,0.00867503162682,1.04966134514
+125,2.083333333,pose1_to_pose2_press,0.578769174507,1.33167627446e-06,1.0500116929,0.54934040873,0.00867499554525,1.0496612301
+126,2.100000000,pose1_to_pose2_press,0.578881396174,1.2954758017e-06,1.05001163716,0.549452630384,0.00867495935943,1.04966117577
+127,2.116666667,pose1_to_pose2_press,0.579008065102,1.31010200288e-06,1.05001173842,0.549579299223,0.00867497368289,1.04966127705
+128,2.133333333,pose1_to_pose2_press,0.579148508629,1.33420915406e-06,1.05001160226,0.549719741886,0.00867499467144,1.04966113622
+129,2.150000000,pose1_to_pose2_press,0.579303794916,1.26356088724e-06,1.05001157711,0.549875028717,0.00867492548643,1.0496611015
+130,2.166666667,pose1_to_pose2_press,0.57947921848,1.3080712909e-06,1.05001172494,0.550050451509,0.00867496772427,1.0496612579
+131,2.183333333,pose1_to_pose2_press,0.579674962422,1.22475008212e-06,1.050011481,0.550246196141,0.0086748868357,1.04966101606
+132,2.200000000,pose1_to_pose2_press,0.57989320924,1.30508190183e-06,1.05001164953,0.550464443976,0.00867497075849,1.04966118816
+133,2.216666667,pose1_to_pose2_press,0.580130304038,1.20960926659e-06,1.05001151566,0.550701539936,0.00867487955682,1.04966106225
+134,2.233333333,pose1_to_pose2_press,0.580384208785,1.40031340168e-06,1.05001156315,0.550955444033,0.00867506777338,1.04966110271
+135,2.250000000,pose1_to_pose2_press,0.58065381307,1.13465161694e-06,1.05001178209,0.551225049782,0.00867480698335,1.04966131931
+136,2.266666667,pose1_to_pose2_press,0.580939912839,1.3814075009e-06,1.05001166244,0.551511146175,0.00867504241434,1.04966120274
+137,2.283333333,pose1_to_pose2_press,0.581244091897,1.28942895057e-06,1.05001157049,0.551815325936,0.00867495266249,1.04966110686
+138,2.300000000,pose1_to_pose2_press,0.581571683004,1.37067584137e-06,1.0500116648,0.552142916614,0.00867503234452,1.04966119846
+139,2.316666667,pose1_to_pose2_press,0.581933513337,1.33778454277e-06,1.05001177029,0.552504745841,0.00867499574495,1.04966130497
+140,2.333333333,pose1_to_pose2_press,0.58232463517,1.32378942657e-06,1.05001161217,0.552895868137,0.00867498337128,1.04966114802
+141,2.350000000,pose1_to_pose2_press,0.582744236352,1.3402031385e-06,1.05001163871,0.553315471611,0.00867500758693,1.04966117515
+142,2.366666667,pose1_to_pose2_press,0.583197563489,1.26697867671e-06,1.05001176446,0.553768799206,0.00867493590757,1.04966130071
+143,2.383333333,pose1_to_pose2_press,0.583679919529,1.06912245661e-06,1.05001172032,0.554251157379,0.00867474517476,1.04966125365
+144,2.400000000,pose1_to_pose2_press,0.584175584119,1.11104949451e-06,1.0500115775,0.554746818983,0.00867477713844,1.04966111497
+145,2.416666667,pose1_to_pose2_press,0.584686916858,1.25677141313e-06,1.05001172907,0.555258151127,0.00867492076969,1.0496612647
+146,2.433333333,pose1_to_pose2_press,0.58521845491,1.2521457294e-06,1.05001177407,0.555789689575,0.00867491774927,1.04966131617
+147,2.450000000,pose1_to_pose2_press,0.585766467054,1.31813591727e-06,1.05001161283,0.556337701929,0.00867498447237,1.04966115537
+148,2.466666667,pose1_to_pose2_press,0.586334582891,1.25335040504e-06,1.05001162862,0.556905818352,0.00867492136921,1.04966116354
+149,2.483333333,pose1_to_pose2_press,0.586931028198,1.14221627374e-06,1.05001174977,0.557502264031,0.0086748114606,1.04966128371
+150,2.500000000,pose1_to_pose2_press,0.587550067151,1.14353700415e-06,1.05001159602,0.558121303053,0.00867481315539,1.0496611334
+151,2.516666667,pose1_to_pose2_press,0.588182615094,1.22779418531e-06,1.05001141814,0.558753850503,0.00867489583312,1.04966095787
+152,2.533333333,pose1_to_pose2_press,0.588826308304,1.32466116914e-06,1.05001163762,0.559397542587,0.00867498884115,1.04966117637
+153,2.550000000,pose1_to_pose2_press,0.589482566251,1.28114586415e-06,1.05001179718,0.560053801056,0.00867494681592,1.04966132892
+154,2.566666667,pose1_to_pose2_press,0.590168366356,1.18179463725e-06,1.05001166779,0.560739602677,0.00867485244296,1.04966119551
+155,2.583333333,pose1_to_pose2_press,0.590888164656,1.21281279945e-06,1.05001190195,0.561459400058,0.00867488040261,1.04966143112
+156,2.600000000,pose1_to_pose2_press,0.591635391155,1.1659902082e-06,1.05001195948,0.562206625911,0.00867483129717,1.04966148634
+157,2.616666667,pose1_to_pose2_press,0.592403873188,1.28394298784e-06,1.05001162692,0.562975106481,0.00867494475753,1.04966116549
+158,2.633333333,pose1_to_pose2_press,0.593188242866,1.25597739179e-06,1.05001159109,0.563759476984,0.00867491953852,1.0496611283
+159,2.650000000,pose1_to_pose2_press,0.59396875519,1.3147033884e-06,1.05001171083,0.5645399893,0.00867497818639,1.04966124679
+160,2.666666667,pose1_to_pose2_press,0.594742908484,1.36085098518e-06,1.05001171635,0.565314143253,0.00867502682973,1.04966125883
+161,2.683333333,pose1_to_pose2_press,0.595516943466,1.21580299008e-06,1.05001150759,0.566088178771,0.00867488358913,1.04966104974
+162,2.700000000,pose1_to_pose2_press,0.59629333217,1.20402903406e-06,1.050011445,0.566864567564,0.0086748720584,1.04966098564
+163,2.716666667,pose1_to_pose2_press,0.59708307932,1.32444534044e-06,1.05001172728,0.567654313354,0.00867498725171,1.04966125298
+164,2.733333333,pose1_to_pose2_press,0.59789230234,1.48210731597e-06,1.05001165087,0.568463536283,0.00867514523411,1.04966119219
+165,2.750000000,pose1_to_pose2_press,0.598729332092,1.22947795902e-06,1.05001155933,0.569300567022,0.0086748956886,1.04966109404
+166,2.766666667,pose1_to_pose2_press,0.599587331678,1.30816295506e-06,1.05001158858,0.570158564301,0.00867496628928,1.04966111704
+167,2.783333333,pose1_to_pose2_press,0.600460383055,1.36892196897e-06,1.05001178443,0.571031617349,0.00867503312295,1.04966132289
+168,2.800000000,pose1_to_pose2_press,0.601334235229,1.2136379241e-06,1.05001179458,0.571905471157,0.00867488324496,1.04966132972
+169,2.816666667,pose1_to_pose2_press,0.602197932864,1.16033154257e-06,1.05001177029,0.572769169516,0.00867483260579,1.0496613107
+170,2.833333333,pose1_to_pose2_press,0.60303579749,1.17847472641e-06,1.05001190252,0.573607033601,0.00867484881784,1.04966144052
+171,2.850000000,pose1_to_pose2_press,0.60385828705,1.30377119524e-06,1.05001179063,0.574429522134,0.00867497068154,1.04966133009
+172,2.866666667,pose1_to_pose2_press,0.604669150265,1.18667789802e-06,1.0500115984,0.575240384618,0.00867485095792,1.04966113406
+173,2.883333333,pose1_to_pose2_press,0.605488460901,1.17300098164e-06,1.05001183241,0.576059697462,0.00867484489016,1.04966137104
+174,2.900000000,pose1_to_pose2_press,0.606319078872,1.34926044526e-06,1.05001170159,0.576890313915,0.00867501609185,1.04966124269
+175,2.916666667,pose1_to_pose2_press,0.607151836148,1.24274641227e-06,1.05001176559,0.577723071769,0.00867491139052,1.04966130306
+176,2.933333333,pose1_to_pose2_press,0.607981520097,1.21322313722e-06,1.05001170135,0.578552753855,0.00867487549308,1.04966123751
+177,2.950000000,pose1_to_pose2_press,0.608801477948,1.18640623133e-06,1.0500118571,0.579372713744,0.00867485555192,1.0496613924
+178,2.966666667,pose1_to_pose2_press,0.609595293811,1.25593728995e-06,1.05001166239,0.580166528721,0.00867492201513,1.0496611962
+179,2.983333333,pose1_to_pose2_press,0.610363232639,1.15807752164e-06,1.05001163017,0.580934469336,0.00867483036083,1.04966116756
+180,3.000000000,pose1_to_pose2_press,0.61111102668,1.16938938677e-06,1.05001174809,0.581682264017,0.00867484378735,1.0496612842
+181,3.016666667,pose1_to_pose2_press,0.611843796178,1.25116931918e-06,1.05001173793,0.582415032248,0.00867492112789,1.04966127061
+182,3.033333333,pose1_to_pose2_press,0.612571715487,1.24041985623e-06,1.05001175182,0.583142950785,0.00867490774943,1.04966128433
+183,3.050000000,pose1_to_pose2_press,0.613294876172,1.28162543494e-06,1.05001166725,0.58386611067,0.00867494637608,1.04966120314
+184,3.066666667,pose1_to_pose2_press,0.614013402543,1.24823371166e-06,1.05001160449,0.584584637274,0.00867491384604,1.04966114228
+185,3.083333333,pose1_to_pose2_press,0.614725442035,1.26926988793e-06,1.05001159281,0.585296675899,0.00867493208563,1.04966113369
+186,3.100000000,pose1_to_pose2_press,0.615425579304,1.35916144498e-06,1.050011622,0.585996811548,0.00867501628317,1.04966115803
+187,3.116666667,pose1_to_pose2_press,0.616094870334,1.34798187429e-06,1.0500116772,0.58666610394,0.00867500964489,1.04966121211
+188,3.133333333,pose1_to_pose2_press,0.616731742117,1.34363713906e-06,1.05001161382,0.587302975818,0.00867500568988,1.04966114752
+189,3.150000000,pose1_to_pose2_press,0.617333275447,1.29507776764e-06,1.05001162471,0.587904508765,0.00867495596427,1.04966115711
+190,3.166666667,pose1_to_pose2_press,0.617908512371,1.27618775207e-06,1.05001162804,0.588479746781,0.00867494095431,1.04966116193
+191,3.183333333,pose1_to_pose2_press,0.61845938606,1.21884807614e-06,1.05001161955,0.589030621448,0.00867488701,1.04966115217
+192,3.200000000,pose1_to_pose2_press,0.618988602967,1.26497397444e-06,1.05001166815,0.589559837394,0.00867493022625,1.04966120576
+193,3.216666667,pose1_to_pose2_press,0.619494556345,1.41347404985e-06,1.05001166739,0.590065789182,0.00867507349496,1.04966120579
+194,3.233333333,pose1_to_pose2_press,0.619971768614,1.20601215371e-06,1.05001168746,0.590543002536,0.00867486963229,1.04966122016
+195,3.250000000,pose1_to_pose2_press,0.620423694196,1.29140071691e-06,1.05001168243,0.590994927026,0.00867495154632,1.04966121639
+196,3.266666667,pose1_to_pose2_press,0.620852378385,1.33727695863e-06,1.05001169672,0.591423611646,0.00867499906147,1.04966123101
+197,3.283333333,pose1_to_pose2_press,0.621266340029,1.34647038024e-06,1.05001177165,0.591837573848,0.00867501046512,1.04966131035
+198,3.300000000,pose1_to_pose2_press,0.621667320556,1.35018432736e-06,1.05001155655,0.592238553862,0.00867501238314,1.04966109162
+199,3.316666667,pose1_to_pose2_press,0.622050909403,1.37241733794e-06,1.05001153779,0.592622142918,0.00867503579757,1.04966108083
+200,3.333333333,pose1_to_pose2_press,0.622412573108,1.26075598247e-06,1.05001192089,0.59298381001,0.00867493526846,1.04966145153
+201,3.350000000,pose1_to_pose2_press,0.622740549053,1.34986381186e-06,1.05001153564,0.593311781834,0.00867501099301,1.04966107772
+202,3.366666667,pose1_to_pose2_press,0.623036263155,1.31818757199e-06,1.05001168929,0.59360749534,0.00867497692245,1.04966121983
+203,3.383333333,pose1_to_pose2_press,0.623299357151,1.32404664169e-06,1.0500116788,0.593870589598,0.0086749839295,1.04966121372
+204,3.400000000,pose1_to_pose2_press,0.623541554839,1.20520395374e-06,1.05001164637,0.594112789557,0.00867487319848,1.04966118879
+205,3.416666667,pose1_to_pose2_press,0.623766863697,1.25278613886e-06,1.05001186608,0.5943380983,0.00867492034533,1.04966140535
+206,3.433333333,pose1_to_pose2_press,0.623982434117,1.29912604296e-06,1.05001192928,0.594553667711,0.00867496317305,1.04966146409
+207,3.450000000,pose1_to_pose2_press,0.624187227481,1.26309701402e-06,1.05001175782,0.594758461625,0.00867492897314,1.04966128993
+208,3.466666667,pose1_to_pose2_press,0.62437844525,1.24477279346e-06,1.05001171012,0.594949679648,0.00867491132589,1.04966123664
+209,3.483333333,pose1_to_pose2_press,0.624553026033,1.20640160503e-06,1.05001169042,0.595124260332,0.00867487285341,1.04966122067
+210,3.500000000,pose1_to_pose2_press,0.624709839689,1.26778863358e-06,1.05001164353,0.595281073555,0.00867493292676,1.04966117557
+211,3.516666667,pose1_to_pose2_press,0.624847157923,1.37500768119e-06,1.05001169954,0.595418388836,0.00867502977317,1.04966122166
+212,3.533333333,pose1_to_pose2_press,0.624966353779,1.33928386137e-06,1.05001174968,0.595537586782,0.00867500162505,1.04966128298
+213,3.550000000,pose1_to_pose2_press,0.625068155119,1.23221355319e-06,1.05001159917,0.595639388832,0.00867489718977,1.04966113707
+214,3.566666667,pose1_to_pose2_press,0.625155192732,1.24437036445e-06,1.05001175222,0.595726426651,0.00867491023322,1.04966129466
+215,3.583333333,pose1_to_pose2_press,0.625227953851,1.30683371001e-06,1.0500116255,0.595799188113,0.0086749740042,1.04966117402
+216,3.600000000,pose1_to_pose2_press,0.625291619837,1.31518791632e-06,1.05001166215,0.595862852138,0.00867497533831,1.04966120065
+217,3.616666667,pose1_to_pose2_press,0.625346702785,1.25314275373e-06,1.05001176598,0.59591793552,0.0086749147681,1.04966130241
+218,3.633333333,pose1_to_pose2_press,0.625393441246,1.3089659897e-06,1.05001171219,0.595964675182,0.00867497478557,1.04966124846
+219,3.650000000,pose1_to_pose2_press,0.625432380072,1.26233023858e-06,1.05001177068,0.596003613908,0.00867492748519,1.04966129963
+220,3.666666667,pose1_to_pose2_press,0.625463446214,1.17176511969e-06,1.05001169028,0.596034680581,0.0086748387974,1.04966122226
+221,3.683333333,pose1_to_pose2_press,0.625487729071,1.20065759897e-06,1.05001157693,0.596058963555,0.00867486840621,1.04966111689
+222,3.700000000,pose1_to_pose2_press,0.625505547007,1.30848631085e-06,1.05001164457,0.596076780232,0.00867497189574,1.04966118291
+223,3.716666667,pose1_to_pose2_press,0.625519207007,1.26004181232e-06,1.05001156902,0.596090442034,0.00867492951331,1.0496611046
+224,3.733333333,pose1_to_pose2_press,0.625529218439,1.21481297098e-06,1.05001155082,0.596100453361,0.00867488398582,1.04966108709
+225,3.750000000,pose1_to_pose2_press,0.625536455051,1.2303997038e-06,1.05001162961,0.596107689719,0.00867489873997,1.04966116661
+226,3.766666667,pose1_to_pose2_press,0.625541490172,1.28790837021e-06,1.05001176627,0.596112724678,0.0086749556868,1.04966130365
+227,3.783333333,pose1_to_pose2_press,0.625544471643,1.28852834262e-06,1.05001168784,0.596115705736,0.00867495476702,1.04966122185
+228,3.800000000,pose1_to_pose2_press,0.625546320764,1.28471430901e-06,1.05001161918,0.596117554561,0.00867494984644,1.04966115065
+229,3.816666667,pose1_to_pose2_press,0.625547275327,1.2827454091e-06,1.05001158373,0.596118508971,0.00867494730632,1.0496611139
+230,3.833333333,pose1_to_pose2_press,0.625548121303,1.26497430179e-06,1.05001160127,0.596119355375,0.00867493107553,1.04966113341
+231,3.850000000,pose1_to_pose2_press,0.625548859026,1.24794774005e-06,1.05001162123,0.596120093527,0.0086749155875,1.04966115539
+232,3.866666667,pose1_to_pose2_press,0.625549253045,1.23885382889e-06,1.0500116319,0.596120487774,0.00867490731532,1.04966116713
+233,3.883333333,pose1_to_pose2_press,0.625549317486,1.23736654439e-06,1.05001163364,0.596120552253,0.00867490596243,1.04966116905
+234,3.900000000,pose1_to_pose2_press,0.625549565304,1.23164693154e-06,1.05001164034,0.596120800215,0.00867490075964,1.04966117644
+235,3.916666667,pose1_to_pose2_press,0.625549773676,1.22683773509e-06,1.05001164598,0.596121008707,0.00867489638501,1.04966118265
+236,3.933333333,pose1_to_pose2_press,0.625549789468,1.22647326869e-06,1.05001164641,0.596121024508,0.00867489605347,1.04966118312
+237,3.950000000,pose1_to_pose2_press,0.625549888608,1.22418513651e-06,1.05001164909,0.596121123705,0.0086748939721,1.04966118607
+238,3.966666667,pose1_to_pose2_press,0.625550227209,1.21637025044e-06,1.05001165826,0.596121462504,0.00867488686337,1.04966119616
+239,3.983333333,pose1_to_pose2_press,0.625551032724,1.2022449356e-06,1.05001162771,0.596122268387,0.00867487405733,1.04966116731
+240,4.000000000,pose1_to_pose2_press,0.625551550003,1.19534420354e-06,1.05001158265,0.596122785856,0.00867486782855,1.04966112309
+241,4.016666667,pose1_to_pose2_press,0.625551635067,1.19420940831e-06,1.05001157524,0.596122870951,0.00867486680425,1.04966111582
+242,4.033333333,pose1_to_pose2_press,0.625551880801,1.19093120844e-06,1.05001155384,0.596123116775,0.00867486384526,1.04966109482
+243,4.050000000,pose1_to_pose2_press,0.625552160033,1.1872061379e-06,1.05001152951,0.596123396109,0.00867486048291,1.04966107095
+244,4.066666667,pose1_to_pose2_press,0.625552272223,1.19406602641e-06,1.05001154148,0.59612350818,0.00867486694836,1.04966108317
+245,4.083333333,pose1_to_pose2_press,0.625552401983,1.20437241395e-06,1.05001156149,0.596123637754,0.00867487664519,1.04966110349
+246,4.100000000,pose1_to_pose2_press,0.625552613001,1.22113301364e-06,1.05001159403,0.596123848473,0.00867489241451,1.04966113653
+247,4.116666667,pose1_to_pose2_press,0.625552915501,1.24556079916e-06,1.05001162946,0.596124150623,0.0086749156798,1.04966117233
+248,4.133333333,pose1_to_pose2_press,0.625553094392,1.26400934166e-06,1.05001153839,0.596124330102,0.0086749360208,1.04966107805
+249,4.150000000,pose1_to_pose2_press,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749193,1.0496612038
+250,4.166666667,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749117,1.0496612038
+251,4.183333333,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749136,1.0496612038
+252,4.200000000,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749122,1.0496612038
+253,4.216666667,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749115,1.0496612038
+254,4.233333333,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749126,1.0496612038
+255,4.250000000,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749128,1.0496612038
+256,4.266666667,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.0086748274914,1.0496612038
+257,4.283333333,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749142,1.0496612038
+258,4.300000000,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.0086748274914,1.0496612038
+259,4.316666667,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749124,1.0496612038
+260,4.333333333,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749148,1.0496612038
+261,4.350000000,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749146,1.0496612038
+262,4.366666667,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749144,1.0496612038
+263,4.383333333,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.0086748274918,1.0496612038
+264,4.400000000,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749197,1.0496612038
+265,4.416666667,pose2_hold,0.62555319701,1.15713845518e-06,1.05001166655,0.596124432262,0.00867482749197,1.0496612038
+266,4.433333333,pose2_to_pose3_retreat,0.625553136896,1.22678864703e-06,1.05001179276,0.596124372628,0.00867489870543,1.04966132825
+267,4.450000000,pose2_to_pose3_retreat,0.625553155316,1.21827339291e-06,1.05001188002,0.596124390737,0.00867488899033,1.04966141205
+268,4.466666667,pose2_to_pose3_retreat,0.625553163364,1.21455305547e-06,1.05001191814,0.596124398649,0.00867488474577,1.04966144866
+269,4.483333333,pose2_to_pose3_retreat,0.625553136153,1.20847032297e-06,1.0500119315,0.596124371436,0.0086748786218,1.04966146122
+270,4.500000000,pose2_to_pose3_retreat,0.625553022461,1.1946291742e-06,1.0500118991,0.596124258019,0.00867486573315,1.04966142914
+271,4.516666667,pose2_to_pose3_retreat,0.625552889879,1.17848827846e-06,1.05001186132,0.596124125758,0.00867485070301,1.04966139172
+272,4.533333333,pose2_to_pose3_retreat,0.625552805848,1.16825826439e-06,1.05001183737,0.596124041932,0.00867484117699,1.04966136801
+273,4.550000000,pose2_to_pose3_retreat,0.625552604919,1.1610135963e-06,1.05001179765,0.596123840973,0.00867483387536,1.04966132933
+274,4.566666667,pose2_to_pose3_retreat,0.625551708405,1.18676915598e-06,1.05001167957,0.596122942578,0.00867485350589,1.04966121761
+275,4.583333333,pose2_to_pose3_retreat,0.625548746789,1.16466248302e-06,1.05001155875,0.596119981246,0.00867483219718,1.04966109283
+276,4.600000000,pose2_to_pose3_retreat,0.625542478825,1.40481179515e-06,1.05001159936,0.596113710908,0.00867506459696,1.04966114083
+277,4.616666667,pose2_to_pose3_retreat,0.625529132274,1.19592472234e-06,1.05001165492,0.596100368383,0.00867486888843,1.04966118631
+278,4.633333333,pose2_to_pose3_retreat,0.62550772602,1.1965458453e-06,1.05001170054,0.596078962167,0.00867486969827,1.04966123195
+279,4.650000000,pose2_to_pose3_retreat,0.625477223398,1.17473798091e-06,1.05001185817,0.596048458831,0.00867484562955,1.04966139326
+280,4.666666667,pose2_to_pose3_retreat,0.625439061037,1.19475952903e-06,1.05001142623,0.596010295499,0.0086748626315,1.04966096822
+281,4.683333333,pose2_to_pose3_retreat,0.625393650895,1.24717112134e-06,1.05001172339,0.595964884561,0.0086749122374,1.04966126081
+282,4.700000000,pose2_to_pose3_retreat,0.625343524265,1.22947331379e-06,1.05001175748,0.595914758424,0.0086748961375,1.04966129475
+283,4.716666667,pose2_to_pose3_retreat,0.625288731382,1.37448951338e-06,1.0500116837,0.595859963489,0.00867503415356,1.04966122328
+284,4.733333333,pose2_to_pose3_retreat,0.625226350968,1.27308341038e-06,1.05001179762,0.595797586272,0.00867494337259,1.04966133193
+285,4.750000000,pose2_to_pose3_retreat,0.625155934606,1.3021826554e-06,1.0500117564,0.595727167655,0.00867496510443,1.04966129887
+286,4.766666667,pose2_to_pose3_retreat,0.625075900471,1.27248267226e-06,1.05001156605,0.595647133658,0.00867493575156,1.04966110634
+287,4.783333333,pose2_to_pose3_retreat,0.624985475444,1.21690147544e-06,1.05001151494,0.595556709573,0.00867488322517,1.04966105261
+288,4.800000000,pose2_to_pose3_retreat,0.624883877247,1.19364339073e-06,1.05001166483,0.595455111577,0.00867486063057,1.04966120304
+289,4.816666667,pose2_to_pose3_retreat,0.624770886747,1.30305050011e-06,1.05001168233,0.595342119194,0.00867496344338,1.04966121649
+290,4.833333333,pose2_to_pose3_retreat,0.624645783919,1.15228579598e-06,1.0500116521,0.595217021002,0.00867482863768,1.04966119311
+291,4.850000000,pose2_to_pose3_retreat,0.624505468341,1.21114593577e-06,1.05001179448,0.595076704204,0.00867488319591,1.04966133281
+292,4.866666667,pose2_to_pose3_retreat,0.624350131405,1.31434365849e-06,1.05001174891,0.594921364249,0.00867497588866,1.04966128227
+293,4.883333333,pose2_to_pose3_retreat,0.624178129616,1.30831444777e-06,1.05001149301,0.594749361736,0.00867496732334,1.04966102603
+294,4.900000000,pose2_to_pose3_retreat,0.623992132855,1.18214673784e-06,1.05001166726,0.59456336753,0.00867484997512,1.04966120559
+295,4.916666667,pose2_to_pose3_retreat,0.62379288904,1.28282470451e-06,1.05001168443,0.594364123248,0.00867494880247,1.04966121788
+296,4.933333333,pose2_to_pose3_retreat,0.623580052604,1.32985566554e-06,1.05001182628,0.594151286384,0.00867499431133,1.04966135991
+297,4.950000000,pose2_to_pose3_retreat,0.623354584248,1.32454392506e-06,1.05001181028,0.593925817973,0.00867498893062,1.04966134908
+298,4.966666667,pose2_to_pose3_retreat,0.623115822501,1.29252291205e-06,1.05001162739,0.593687056511,0.00867495794322,1.04966117051
+299,4.983333333,pose2_to_pose3_retreat,0.622863175569,1.2959583711e-06,1.05001158359,0.593434409735,0.00867496134199,1.04966111511
+300,5.000000000,pose2_to_pose3_retreat,0.622595646211,1.2348552075e-06,1.05001165011,0.593166881481,0.00867490395774,1.04966118326
+301,5.016666667,pose2_to_pose3_retreat,0.622312868032,1.23991508682e-06,1.05001178294,0.5928841023,0.00867490561517,1.04966131866
+302,5.033333333,pose2_to_pose3_retreat,0.622013947212,1.30266955916e-06,1.05001190256,0.592585180299,0.00867496430595,1.0496614395
+303,5.050000000,pose2_to_pose3_retreat,0.621693052751,1.39216287043e-06,1.05001190957,0.592264287241,0.00867505839841,1.04966144493
+304,5.066666667,pose2_to_pose3_retreat,0.621349277517,1.42137204329e-06,1.05001183399,0.591920510148,0.00867508103085,1.04966136566
+305,5.083333333,pose2_to_pose3_retreat,0.620978747298,1.40904184621e-06,1.0500117249,0.591549979416,0.00867506695359,1.04966125973
+306,5.100000000,pose2_to_pose3_retreat,0.620584448609,1.28572890763e-06,1.05001161919,0.591155682127,0.00867494831977,1.04966115591
+307,5.116666667,pose2_to_pose3_retreat,0.620167036905,1.15582119584e-06,1.05001162364,0.590738272726,0.00867482606012,1.04966115983
+308,5.133333333,pose2_to_pose3_retreat,0.619738710844,1.1688279097e-06,1.05001176602,0.590309948141,0.00867484401571,1.04966130372
+309,5.150000000,pose2_to_pose3_retreat,0.6193016156,1.19513058772e-06,1.0500116291,0.589872853484,0.00867487258037,1.04966117732
+310,5.166666667,pose2_to_pose3_retreat,0.618856550651,1.30930429932e-06,1.05001182308,0.589427785409,0.00867497562853,1.04966136223
+311,5.183333333,pose2_to_pose3_retreat,0.618399295928,1.28263634716e-06,1.05001187439,0.588970530023,0.00867494633209,1.04966140689
+312,5.200000000,pose2_to_pose3_retreat,0.617923677881,1.19576460801e-06,1.0500117106,0.588494913395,0.00867486427292,1.04966124598
+313,5.216666667,pose2_to_pose3_retreat,0.617416929685,1.20256741632e-06,1.05001138093,0.587988166694,0.00867487654828,1.04966093131
+314,5.233333333,pose2_to_pose3_retreat,0.616876850022,1.39983038616e-06,1.05001162252,0.587448083485,0.00867506130904,1.04966116539
+315,5.250000000,pose2_to_pose3_retreat,0.616310917284,1.3453647451e-06,1.05001148751,0.586882151913,0.0086750106852,1.04966102694
+316,5.266666667,pose2_to_pose3_retreat,0.615727223644,1.33384755562e-06,1.05001150364,0.586298458948,0.0086750013502,1.04966104107
+317,5.283333333,pose2_to_pose3_retreat,0.615134991727,1.28302953516e-06,1.05001159376,0.585706227297,0.00867495142724,1.04966113182
+318,5.300000000,pose2_to_pose3_retreat,0.614538702767,1.21954777099e-06,1.05001168027,0.58510993822,0.00867488755458,1.04966121844
+319,5.316666667,pose2_to_pose3_retreat,0.613938134636,1.32012334547e-06,1.05001180092,0.58450936865,0.00867498297896,1.04966133248
+320,5.333333333,pose2_to_pose3_retreat,0.613316214754,1.361514854e-06,1.05001157798,0.583887448076,0.00867502230998,1.0496611166
+321,5.350000000,pose2_to_pose3_retreat,0.612671575847,1.23980064117e-06,1.05001160208,0.583242810036,0.00867490375198,1.04966114578
+322,5.366666667,pose2_to_pose3_retreat,0.612012276961,1.27764967444e-06,1.05001166268,0.582583510585,0.00867493948502,1.04966120065
+323,5.383333333,pose2_to_pose3_retreat,0.611341175417,1.35367460578e-06,1.05001155813,0.581912408842,0.00867501471953,1.04966109342
+324,5.400000000,pose2_to_pose3_retreat,0.610658409134,1.27915540112e-06,1.05001135013,0.581229644582,0.00867494736803,1.04966089462
+325,5.416666667,pose2_to_pose3_retreat,0.609974820176,1.24115091689e-06,1.05001178707,0.580546055895,0.00867490991179,1.04966131969
+326,5.433333333,pose2_to_pose3_retreat,0.609289590654,1.22416112895e-06,1.05001191108,0.579860825966,0.00867489149218,1.04966144275
+327,5.450000000,pose2_to_pose3_retreat,0.608592451376,1.21000581112e-06,1.05001185398,0.57916368665,0.00867487732659,1.04966138867
+328,5.466666667,pose2_to_pose3_retreat,0.607887015505,1.24001352454e-06,1.050011837,0.57845825099,0.00867490811541,1.04966137332
+329,5.483333333,pose2_to_pose3_retreat,0.607179775686,1.29116678319e-06,1.05001188308,0.577751011171,0.00867495917279,1.049661417
+330,5.500000000,pose2_to_pose3_retreat,0.606462246098,1.24485759429e-06,1.05001171459,0.577033480551,0.00867490915692,1.0496612434
+331,5.516666667,pose2_to_pose3_retreat,0.605726150608,1.15088965514e-06,1.05001167868,0.576297387184,0.00867482260155,1.04966121264
+332,5.533333333,pose2_to_pose3_retreat,0.604982072457,1.27734181813e-06,1.05001158589,0.57555330715,0.00867494283786,1.04966112402
+333,5.550000000,pose2_to_pose3_retreat,0.604232487758,1.38031913224e-06,1.05001158953,0.574803720666,0.00867503985663,1.04966112999
+334,5.566666667,pose2_to_pose3_retreat,0.603482561831,1.32902596727e-06,1.05001167304,0.574053795828,0.00867499210462,1.04966120968
+335,5.583333333,pose2_to_pose3_retreat,0.602740463641,1.15650017176e-06,1.05001170413,0.573311701431,0.00867483206896,1.04966123129
+336,5.600000000,pose2_to_pose3_retreat,0.602010313026,1.21755149255e-06,1.05001152372,0.572581549508,0.00867488942108,1.04966106922
+337,5.616666667,pose2_to_pose3_retreat,0.601281007812,1.21907381732e-06,1.05001171412,0.571852243598,0.00867488818471,1.04966124968
+338,5.633333333,pose2_to_pose3_retreat,0.600549352721,1.17482462978e-06,1.05001180563,0.571120588861,0.00867484499078,1.0496613375
+339,5.650000000,pose2_to_pose3_retreat,0.599814692177,1.17554329208e-06,1.05001176026,0.570385928106,0.00867484513108,1.04966129553
+340,5.666666667,pose2_to_pose3_retreat,0.599079234233,1.27075996282e-06,1.05001167941,0.569650468294,0.00867493412833,1.04966121759
+341,5.683333333,pose2_to_pose3_retreat,0.598338799169,1.21307996673e-06,1.05001179223,0.568910033776,0.00867487812401,1.04966132599
+342,5.700000000,pose2_to_pose3_retreat,0.597597673252,1.1459799361e-06,1.05001180668,0.568168908766,0.00867481405584,1.04966133929
+343,5.716666667,pose2_to_pose3_retreat,0.596860404241,1.17517511762e-06,1.05001174302,0.567431640132,0.00867484448969,1.0496612746
+344,5.733333333,pose2_to_pose3_retreat,0.596128265651,1.26554630665e-06,1.0500116869,0.566699500959,0.0086749329319,1.0496612197
+345,5.750000000,pose2_to_pose3_retreat,0.595405629807,1.32152980471e-06,1.0500116686,0.565976864311,0.00867498635528,1.04966120547
+346,5.766666667,pose2_to_pose3_retreat,0.594705914719,1.243989567e-06,1.05001165114,0.565277149611,0.00867491030895,1.04966119233
+347,5.783333333,pose2_to_pose3_retreat,0.594025288267,1.23999275472e-06,1.05001169353,0.564596520684,0.0086748974682,1.04966122366
+348,5.800000000,pose2_to_pose3_retreat,0.593359644444,1.22036800176e-06,1.05001160553,0.563930878437,0.00867488334343,1.04966113947
+349,5.816666667,pose2_to_pose3_retreat,0.592702458793,1.21628055945e-06,1.05001158827,0.563273694199,0.00867488427385,1.04966112772
+350,5.833333333,pose2_to_pose3_retreat,0.592052440249,1.25057970212e-06,1.05001163554,0.562623675498,0.00867491801671,1.04966117447
+351,5.850000000,pose2_to_pose3_retreat,0.591405717556,1.34064332942e-06,1.05001159803,0.561976951381,0.00867500277847,1.04966112527
+352,5.866666667,pose2_to_pose3_retreat,0.590762024014,1.2452068751e-06,1.05001177056,0.561333258174,0.00867490867007,1.04966130245
+353,5.883333333,pose2_to_pose3_retreat,0.590123315035,1.34083537123e-06,1.05001178624,0.56069454922,0.00867500459601,1.04966132348
+354,5.900000000,pose2_to_pose3_retreat,0.589493232201,1.30945757729e-06,1.05001177859,0.560064467323,0.00867497644161,1.04966131686
+355,5.916666667,pose2_to_pose3_retreat,0.58887895118,1.25359988188e-06,1.05001170054,0.559450186764,0.00867492215471,1.04966123895
+356,5.933333333,pose2_to_pose3_retreat,0.58828994351,1.326044367e-06,1.05001155912,0.558861178114,0.00867499130693,1.04966109824
+357,5.950000000,pose2_to_pose3_retreat,0.587729899664,1.27671703599e-06,1.0500117133,0.558301135008,0.00867494396703,1.04966123948
+358,5.966666667,pose2_to_pose3_retreat,0.58719369776,1.37034611825e-06,1.05001168972,0.557764931213,0.00867503146045,1.04966122292
+359,5.983333333,pose2_to_pose3_retreat,0.586675805444,1.29846785375e-06,1.05001166493,0.557247041263,0.00867496783345,1.04966120369
+360,6.000000000,pose2_to_pose3_retreat,0.586171055965,1.16809984158e-06,1.05001171779,0.556742293868,0.00867484437205,1.04966125243
+361,6.016666667,pose2_to_pose3_retreat,0.585674364619,1.1127017105e-06,1.05001183381,0.556245600423,0.00867478130356,1.04966135495
+362,6.033333333,pose2_to_pose3_retreat,0.585184758996,1.22136648994e-06,1.05001158058,0.555755992521,0.008674882777,1.04966111501
+363,6.050000000,pose2_to_pose3_retreat,0.584713104072,1.26049139821e-06,1.05001154305,0.555284336573,0.00867491857905,1.04966108129
+364,6.066666667,pose2_to_pose3_retreat,0.584260669496,1.28539645886e-06,1.05001146054,0.554831902486,0.00867494528618,1.04966100238
+365,6.083333333,pose2_to_pose3_retreat,0.58383122492,1.29112065965e-06,1.05001145332,0.554402458394,0.00867495264056,1.0496609948
+366,6.100000000,pose2_to_pose3_retreat,0.583422084814,1.27619378735e-06,1.05001155348,0.553993318437,0.00867493803895,1.04966109052
+367,6.116666667,pose2_to_pose3_retreat,0.583031026786,1.25791912338e-06,1.05001154791,0.553602262482,0.00867492683288,1.04966108583
+368,6.133333333,pose2_to_pose3_retreat,0.58265323634,1.09637353692e-06,1.05001163575,0.553224473123,0.00867476893625,1.0496611727
+369,6.150000000,pose2_to_pose3_retreat,0.582287607455,1.20766454643e-06,1.05001168854,0.552858842537,0.00867487420578,1.04966121935
+370,6.166666667,pose2_to_pose3_retreat,0.581933219344,1.32298969806e-06,1.05001170018,0.552504452946,0.0086749844137,1.04966122859
+371,6.183333333,pose2_to_pose3_retreat,0.581592880554,1.32671704492e-06,1.05001167674,0.552164114385,0.00867498916331,1.0496612113
+372,6.200000000,pose2_to_pose3_retreat,0.581277253766,1.2980418563e-06,1.05001165909,0.551848488802,0.00867496491343,1.04966120198
+373,6.216666667,pose2_to_pose3_retreat,0.580987560058,1.13212761913e-06,1.05001179296,0.551558797263,0.00867480592952,1.0496613252
+374,6.233333333,pose2_to_pose3_retreat,0.580725887574,1.22201989325e-06,1.05001191824,0.551297124661,0.00867489525878,1.04966144644
+375,6.250000000,pose2_to_pose3_retreat,0.580488056528,1.26056000709e-06,1.05001194229,0.55105929201,0.00867492838712,1.04966147158
+376,6.266666667,pose2_to_pose3_retreat,0.580271405498,1.25932959715e-06,1.0500118931,0.550842639645,0.00867492277187,1.04966142612
+377,6.283333333,pose2_to_pose3_retreat,0.580066821314,1.24546321731e-06,1.05001179455,0.550638055779,0.00867491017453,1.04966133223
+378,6.300000000,pose2_to_pose3_retreat,0.579872390558,1.18154463684e-06,1.05001183097,0.550443625538,0.00867484762584,1.04966135937
+379,6.316666667,pose2_to_pose3_retreat,0.579687392242,1.14941917536e-06,1.05001167005,0.550258627657,0.00867481717657,1.04966120341
+380,6.333333333,pose2_to_pose3_retreat,0.579513060148,1.16645364035e-06,1.05001157547,0.550084295524,0.00867483440165,1.04966111676
+381,6.350000000,pose2_to_pose3_retreat,0.579351103649,1.21139058026e-06,1.05001159544,0.549922338712,0.00867487838555,1.04966113939
+382,6.366666667,pose2_to_pose3_retreat,0.579203736704,1.20703559635e-06,1.05001141526,0.549774972276,0.00867487562095,1.04966095577
+383,6.383333333,pose2_to_pose3_retreat,0.579071408951,1.27538818117e-06,1.05001150711,0.549642643113,0.00867493928166,1.04966105012
+384,6.400000000,pose2_to_pose3_retreat,0.578953657098,1.20596849429e-06,1.05001167883,0.549524891943,0.00867487209577,1.04966121983
+385,6.416666667,pose2_to_pose3_retreat,0.57884881205,1.23899879959e-06,1.05001167436,0.549420046226,0.00867490277684,1.04966121335
+386,6.433333333,pose2_to_pose3_retreat,0.578756834181,1.35320153108e-06,1.05001159075,0.549328066993,0.0086750123017,1.04966112874
+387,6.450000000,pose2_to_pose3_retreat,0.578674767222,1.34608865788e-06,1.05001178379,0.54924600159,0.00867501038046,1.04966132042
+388,6.466666667,pose2_to_pose3_retreat,0.578602008031,1.38520486982e-06,1.05001179528,0.549173241532,0.00867504647244,1.04966132961
+389,6.483333333,pose2_to_pose3_retreat,0.578538775388,1.29817980202e-06,1.05001180083,0.549110009211,0.00867496048921,1.04966133376
+390,6.500000000,pose2_to_pose3_retreat,0.578483956189,1.2217727241e-06,1.05001167445,0.549055190607,0.00867488614902,1.04966120842
+391,6.516666667,pose2_to_pose3_retreat,0.578436570864,1.22844622505e-06,1.05001144828,0.549007805646,0.00867489415146,1.04966098451
+392,6.533333333,pose2_to_pose3_retreat,0.578396174509,1.26055428674e-06,1.05001156522,0.548967410063,0.00867492868997,1.04966109674
+393,6.550000000,pose2_to_pose3_retreat,0.578363181816,1.1928463943e-06,1.05001164754,0.548934417433,0.00867486128603,1.04966118131
+394,6.566666667,pose2_to_pose3_retreat,0.578335657477,1.16174273692e-06,1.05001161399,0.548906892439,0.00867482802067,1.04966114932
+395,6.583333333,pose2_to_pose3_retreat,0.578313364356,1.2070238908e-06,1.05001153117,0.548884598742,0.00867487125395,1.04966106419
+396,6.600000000,pose2_to_pose3_retreat,0.578296333383,1.30641466933e-06,1.05001149009,0.548867567909,0.00867497088211,1.04966101726
+397,6.616666667,pose2_to_pose3_retreat,0.578283554048,1.20581259071e-06,1.05001174955,0.548854789989,0.00867487519048,1.04966127944
+398,6.633333333,pose2_to_pose3_retreat,0.578274094323,1.25527201723e-06,1.05001167575,0.548845329445,0.00867492203126,1.0496612097
+399,6.650000000,pose2_to_pose3_retreat,0.57826723679,1.31664204716e-06,1.05001159313,0.548838470587,0.00867497894288,1.04966112808
+400,6.666666667,pose2_to_pose3_retreat,0.57826281968,1.28773925137e-06,1.05001176603,0.548834052579,0.00867494668204,1.04966129316
+401,6.683333333,pose2_to_pose3_retreat,0.578259937296,1.27743691871e-06,1.05001183481,0.548831170073,0.0086749359246,1.04966136095
+402,6.700000000,pose2_to_pose3_retreat,0.578258444369,1.2831561953e-06,1.05001181353,0.54882967768,0.00867494365095,1.04966134447
+403,6.716666667,pose2_to_pose3_retreat,0.578257788229,1.28566981134e-06,1.05001180418,0.548829021775,0.00867494704667,1.04966133722
+404,6.733333333,pose2_to_pose3_retreat,0.578257716482,1.28594466802e-06,1.05001180316,0.548828950053,0.00867494741798,1.04966133643
+405,6.750000000,pose2_to_pose3_retreat,0.578257459694,1.28692839847e-06,1.0500117995,0.548828693358,0.00867494874693,1.0496613336
+406,6.766666667,pose2_to_pose3_retreat,0.578257157303,1.28808683417e-06,1.05001179519,0.548828391075,0.0086749503119,1.04966133026
+407,6.783333333,pose2_to_pose3_retreat,0.578256756885,1.28962079929e-06,1.05001178948,0.5488279908,0.00867495238418,1.04966132584
+408,6.800000000,pose2_to_pose3_retreat,0.578256562838,1.29036417731e-06,1.05001178672,0.548827796823,0.00867495338843,1.0496613237
+409,6.816666667,pose2_to_pose3_retreat,0.578256031974,1.29131921678e-06,1.05001177724,0.548827266192,0.00867495517379,1.04966131524
+410,6.833333333,pose2_to_pose3_retreat,0.578255677978,1.28911082986e-06,1.05001176586,0.548826912463,0.00867495382673,1.04966130274
+411,6.850000000,pose2_to_pose3_retreat,0.578255246127,1.2864167474e-06,1.05001175197,0.548826480937,0.00867495218341,1.04966128749
+412,6.866666667,pose2_to_pose3_retreat,0.578254689574,1.28294472461e-06,1.05001173408,0.548825924804,0.00867495006558,1.04966126784
+413,6.883333333,pose2_to_pose3_retreat,0.57825446609,1.28155053002e-06,1.0500117269,0.548825701489,0.00867494921516,1.04966125994
+414,6.900000000,pose2_to_pose3_retreat,0.578254459194,1.28150750971e-06,1.05001172667,0.548825694598,0.00867494918891,1.0496612597
+415,6.916666667,pose2_to_pose3_retreat,0.578254296905,1.28049507716e-06,1.05001172146,0.548825532431,0.00867494857136,1.04966125397
+416,6.933333333,pose2_to_pose3_retreat,0.578254237346,1.28012351752e-06,1.05001171954,0.548825472917,0.00867494834472,1.04966125187
+417,6.950000000,pose2_to_pose3_retreat,0.578253846234,1.2776835897e-06,1.05001170697,0.5488250821,0.00867494685643,1.04966123806
+418,6.966666667,pose2_to_pose3_retreat,0.578253507206,1.27920360228e-06,1.05001167737,0.548824742994,0.00867494813404,1.04966120907
+419,6.983333333,pose2_to_pose3_retreat,0.578253390263,1.2804382035e-06,1.0500116635,0.548824625957,0.00867494907647,1.04966119575
+420,7.000000000,pose2_to_pose3_retreat,0.578253119201,1.28329986156e-06,1.05001163136,0.548824354681,0.00867495126092,1.04966116488
+421,7.016666667,pose2_to_pose3_retreat,0.578252900909,1.28560441234e-06,1.05001160547,0.548824136216,0.0086749530201,1.04966114001
+422,7.033333333,pose2_to_pose3_retreat,0.578252555436,1.28925165624e-06,1.05001156451,0.548823790469,0.00867495580423,1.04966110066
+423,7.050000000,pose2_to_pose3_retreat,0.578252288088,1.33337870612e-06,1.05001153007,0.54882352332,0.00867500086057,1.04966107255
+424,7.066666667,pose2_to_pose3_retreat,0.578252211865,1.34886869082e-06,1.05001152006,0.548823447182,0.00867501672799,1.0496610647
+425,7.083333333,pose2_to_pose3_retreat,0.578252159374,1.34418623261e-06,1.05001158742,0.548823394188,0.00867501021376,1.04966112905
+426,7.100000000,pose2_to_pose3_retreat,0.578252145367,1.33141068729e-06,1.05001166116,0.548823379624,0.00867499537866,1.04966119859

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:266f2870ed0799a5c465eb744022d96a95ef9196f9a2384d289260b0b0964cb3
+size 36075632

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/simulation_data.csv

@@ -0,0 +1,571 @@
+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,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+1,0.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+2,0.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+3,0.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+4,0.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+5,0.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+6,0.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+7,0.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+8,0.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+9,0.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+10,0.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+11,0.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+12,0.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+13,0.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+14,0.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+15,0.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+16,0.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+17,0.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+18,0.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+19,0.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+20,0.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+21,0.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+22,0.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+23,0.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+24,0.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+25,0.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+26,0.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+27,0.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+28,0.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+29,0.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+30,0.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+31,0.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+32,0.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+33,0.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+34,0.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+35,0.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+36,0.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+37,0.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+38,0.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+39,0.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+40,0.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+41,0.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+42,0.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+43,0.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+44,0.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+45,0.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+46,0.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+47,0.783333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+48,0.800000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+49,0.816666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+50,0.833333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+51,0.850000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+52,0.866666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+53,0.883333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+54,0.900000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+55,0.916666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+56,0.933333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+57,0.950000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+58,0.966666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+59,0.983333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+60,1.000000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+61,1.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+62,1.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+63,1.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+64,1.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+65,1.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+66,1.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+67,1.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+68,1.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+69,1.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+70,1.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+71,1.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+72,1.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+73,1.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+74,1.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+75,1.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+76,1.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+77,1.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+78,1.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+79,1.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+80,1.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+81,1.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+82,1.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+83,1.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+84,1.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+85,1.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+86,1.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+87,1.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+88,1.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+89,1.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+90,1.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+91,1.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+92,1.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+93,1.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+94,1.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+95,1.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+96,1.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+97,1.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+98,1.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+99,1.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+100,1.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+101,1.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+102,1.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+103,1.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+104,1.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+105,1.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+106,1.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+107,1.783333333,pose1_to_pose2_press,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+108,1.800000000,pose1_to_pose2_press,0.578252272871,1.19026824891e-06,1.0400115275,0.54882350867,0.00867485978914,1.03966107285
+109,1.816666667,pose1_to_pose2_press,0.578252674871,1.14510353609e-06,1.04001157375,0.548823911396,0.00867481668334,1.03966110911
+110,1.833333333,pose1_to_pose2_press,0.578253045806,1.1536580237e-06,1.0400115516,0.548824282079,0.008674824344,1.03966108597
+111,1.850000000,pose1_to_pose2_press,0.578253528041,1.18690956184e-06,1.04001149423,0.548824763581,0.00867485520268,1.03966103096
+112,1.866666667,pose1_to_pose2_press,0.578254423776,1.21725532482e-06,1.04001148765,0.548825658586,0.0086748831353,1.03966102584
+113,1.883333333,pose1_to_pose2_press,0.57825745051,1.16930218187e-06,1.04001192262,0.548828686061,0.00867483732388,1.03966145167
+114,1.900000000,pose1_to_pose2_press,0.578263513302,1.30801672253e-06,1.04001156495,0.548834747337,0.00867497114639,1.03966110036
+115,1.916666667,pose1_to_pose2_press,0.578274267563,1.14730107122e-06,1.04001159698,0.548845503362,0.00867481651245,1.03966113451
+116,1.933333333,pose1_to_pose2_press,0.578291144202,1.30147329137e-06,1.04001147095,0.548862378284,0.00867496506046,1.03966101348
+117,1.950000000,pose1_to_pose2_press,0.578314475176,1.31850919359e-06,1.04001153988,0.548885709372,0.00867498226394,1.0396610769
+118,1.966666667,pose1_to_pose2_press,0.578344727237,1.28363849762e-06,1.040011681,0.548915961766,0.00867494844316,1.03966121597
+119,1.983333333,pose1_to_pose2_press,0.578381584316,1.18008927467e-06,1.04001169289,0.548952820313,0.00867484980554,1.03966122606
+120,2.000000000,pose1_to_pose2_press,0.578425535063,1.14917273643e-06,1.04001158819,0.548996771193,0.00867481955402,1.03966112666
+121,2.016666667,pose1_to_pose2_press,0.578476524222,1.18169485072e-06,1.04001154036,0.549047759748,0.00867485011841,1.03966108108
+122,2.033333333,pose1_to_pose2_press,0.57853508345,1.22587954083e-06,1.04001155007,0.549106318983,0.00867489428395,1.0396610896
+123,2.050000000,pose1_to_pose2_press,0.578602277354,1.24308202782e-06,1.04001160365,0.549173512803,0.00867491102105,1.03966113867
+124,2.066666667,pose1_to_pose2_press,0.578679058826,1.20777321704e-06,1.04001173997,0.549250293418,0.0086748724322,1.03966126571
+125,2.083333333,pose1_to_pose2_press,0.578769289067,1.2386188769e-06,1.04001182059,0.54934052297,0.00867490097914,1.03966134729
+126,2.100000000,pose1_to_pose2_press,0.578873147022,1.32314846236e-06,1.04001150599,0.549444380522,0.0086749850992,1.03966105634
+127,2.116666667,pose1_to_pose2_press,0.578992067078,1.37471442645e-06,1.04001165382,0.549563301523,0.00867503938864,1.03966119225
+128,2.133333333,pose1_to_pose2_press,0.579125590697,1.39512033942e-06,1.04001156773,0.549696823498,0.00867505432155,1.03966110874
+129,2.150000000,pose1_to_pose2_press,0.579274039287,1.21803960534e-06,1.04001172613,0.54984527376,0.00867488261647,1.03966125971
+130,2.166666667,pose1_to_pose2_press,0.579439781658,1.12324171185e-06,1.04001183679,0.550011018166,0.00867479445548,1.03966136376
+131,2.183333333,pose1_to_pose2_press,0.579623526481,1.21815711828e-06,1.0400117631,0.55019476249,0.00867488785459,1.03966129437
+132,2.200000000,pose1_to_pose2_press,0.579829566852,1.28069884556e-06,1.04001174809,0.550400801915,0.00867494725011,1.0396612808
+133,2.216666667,pose1_to_pose2_press,0.580059090959,1.17382089038e-06,1.04001174104,0.550630326517,0.00867484194961,1.03966127121
+134,2.233333333,pose1_to_pose2_press,0.580314855939,1.14265295339e-06,1.04001165234,0.550886091123,0.00867480967966,1.03966118658
+135,2.250000000,pose1_to_pose2_press,0.580592247999,1.28330681639e-06,1.04001178332,0.551163482176,0.00867494678903,1.03966131429
+136,2.266666667,pose1_to_pose2_press,0.580890567076,1.28414614002e-06,1.04001169026,0.551461801961,0.00867495014857,1.03966122414
+137,2.283333333,pose1_to_pose2_press,0.581209056282,1.14775138826e-06,1.04001166764,0.551780292167,0.00867481707735,1.03966119975
+138,2.300000000,pose1_to_pose2_press,0.581543269036,1.31504224105e-06,1.04001157353,0.55211450186,0.00867497422748,1.03966111163
+139,2.316666667,pose1_to_pose2_press,0.581889144284,1.31763302518e-06,1.04001170143,0.552460377705,0.00867497852274,1.03966123156
+140,2.333333333,pose1_to_pose2_press,0.582249627655,1.36927717113e-06,1.04001168758,0.552820860891,0.00867502971763,1.03966122213
+141,2.350000000,pose1_to_pose2_press,0.582627877563,1.3617374441e-06,1.04001168779,0.553199111836,0.00867502570373,1.03966122243
+142,2.366666667,pose1_to_pose2_press,0.583028307809,1.27879126597e-06,1.04001158186,0.553599542182,0.00867494322224,1.03966111957
+143,2.383333333,pose1_to_pose2_press,0.583454069418,1.31238223861e-06,1.04001166275,0.554025303045,0.00867497408173,1.03966119549
+144,2.400000000,pose1_to_pose2_press,0.583916027522,1.25061651117e-06,1.04001167389,0.55448726267,0.00867491775495,1.03966121349
+145,2.416666667,pose1_to_pose2_press,0.584409052516,1.27706316235e-06,1.04001168639,0.554980287665,0.00867494407005,1.03966122262
+146,2.433333333,pose1_to_pose2_press,0.584930047599,1.32705221342e-06,1.04001168631,0.555501281418,0.00867498952795,1.03966122208
+147,2.450000000,pose1_to_pose2_press,0.58546698285,1.32939570575e-06,1.04001153744,0.556038215737,0.00867498886928,1.03966107704
+148,2.466666667,pose1_to_pose2_press,0.586015775488,1.30124718487e-06,1.04001149501,0.556587008883,0.00867496229477,1.0396610309
+149,2.483333333,pose1_to_pose2_press,0.586572620102,1.26370406152e-06,1.04001166334,0.55714385504,0.00867492990858,1.03966119733
+150,2.500000000,pose1_to_pose2_press,0.587141407525,1.20506063434e-06,1.04001188451,0.557712644033,0.00867487656214,1.03966141772
+151,2.516666667,pose1_to_pose2_press,0.587734632555,1.15256023345e-06,1.04001199506,0.558305869286,0.00867482452905,1.03966152105
+152,2.533333333,pose1_to_pose2_press,0.588352553745,1.34082279327e-06,1.04001166852,0.558923786066,0.00867499814728,1.03966120234
+153,2.550000000,pose1_to_pose2_press,0.588994788137,1.32120465452e-06,1.04001156637,0.559566021199,0.00867498112565,1.0396611023
+154,2.566666667,pose1_to_pose2_press,0.589654031622,1.19786152979e-06,1.04001158823,0.5602252677,0.00867486787036,1.03966112055
+155,2.583333333,pose1_to_pose2_press,0.590326077671,1.04440397432e-06,1.04001181564,0.5608973159,0.00867472169567,1.03966134761
+156,2.600000000,pose1_to_pose2_press,0.591008892733,1.34765032421e-06,1.0400119387,0.561580126592,0.00867501004938,1.03966146896
+157,2.616666667,pose1_to_pose2_press,0.591704767178,1.33266435071e-06,1.04001196695,0.562276001266,0.00867499576054,1.03966149529
+158,2.633333333,pose1_to_pose2_press,0.592416569303,1.27646101587e-06,1.04001185524,0.562987803719,0.0086749407111,1.03966138458
+159,2.650000000,pose1_to_pose2_press,0.593141064602,1.28827135536e-06,1.0400116055,0.563712297986,0.00867494944306,1.03966114536
+160,2.666666667,pose1_to_pose2_press,0.593874611673,1.28737580067e-06,1.04001170835,0.564445845653,0.00867495057326,1.03966124824
+161,2.683333333,pose1_to_pose2_press,0.59462236122,1.18913631912e-06,1.04001182556,0.565193596114,0.00867485503378,1.03966135561
+162,2.700000000,pose1_to_pose2_press,0.59538312643,1.23335648485e-06,1.04001161055,0.565954360788,0.0086748975526,1.03966114343
+163,2.716666667,pose1_to_pose2_press,0.596148670002,1.37155474538e-06,1.0400116308,0.566719903697,0.00867503358969,1.03966116596
+164,2.733333333,pose1_to_pose2_press,0.596920839475,1.38008538991e-06,1.04001180287,0.56749207352,0.00867504333126,1.03966133862
+165,2.750000000,pose1_to_pose2_press,0.597699619394,1.27213867664e-06,1.04001181438,0.568270854543,0.00867493902971,1.03966134773
+166,2.766666667,pose1_to_pose2_press,0.598476874662,1.22645707276e-06,1.04001180219,0.569048110107,0.00867489413001,1.03966132997
+167,2.783333333,pose1_to_pose2_press,0.599255984721,1.28447502866e-06,1.04001173273,0.569827218729,0.00867494752401,1.03966126689
+168,2.800000000,pose1_to_pose2_press,0.600028634215,1.2830276221e-06,1.04001177975,0.570599867903,0.00867494479172,1.03966130894
+169,2.816666667,pose1_to_pose2_press,0.600797287498,1.22512871065e-06,1.04001157076,0.571368522293,0.0086748909899,1.03966110849
+170,2.833333333,pose1_to_pose2_press,0.601565999646,1.17376468234e-06,1.04001175026,0.572137235052,0.00867484096822,1.03966126997
+171,2.850000000,pose1_to_pose2_press,0.602327517797,1.25983701936e-06,1.04001169667,0.572898752759,0.00867492602366,1.03966122857
+172,2.866666667,pose1_to_pose2_press,0.603080236726,1.18976676407e-06,1.04001168677,0.573651472882,0.00867486016302,1.03966122264
+173,2.883333333,pose1_to_pose2_press,0.603832944607,1.23392068049e-06,1.04001190001,0.574404180191,0.00867490225481,1.03966143292
+174,2.900000000,pose1_to_pose2_press,0.604584805674,1.32182463126e-06,1.04001153969,0.575156039293,0.00867498367384,1.03966107715
+175,2.916666667,pose1_to_pose2_press,0.605335990846,1.23512416838e-06,1.04001149903,0.575907226123,0.008674902775,1.03966104092
+176,2.933333333,pose1_to_pose2_press,0.606082603367,1.21850254011e-06,1.04001179957,0.576653839261,0.00867488804727,1.03966133653
+177,2.950000000,pose1_to_pose2_press,0.606820179117,1.33671468181e-06,1.04001169353,0.577391413708,0.00867500184296,1.03966123068
+178,2.966666667,pose1_to_pose2_press,0.607541784198,1.30139267318e-06,1.04001155564,0.578113018715,0.00867496632279,1.0396610942
+179,2.983333333,pose1_to_pose2_press,0.608241636831,1.25389541864e-06,1.04001158028,0.578812870938,0.00867491720579,1.03966111328
+180,3.000000000,pose1_to_pose2_press,0.608929470616,1.23794467123e-06,1.04001169952,0.579500705296,0.0086749030513,1.0396612289
+181,3.016666667,pose1_to_pose2_press,0.609584199399,1.21070729287e-06,1.04001177808,0.580155435188,0.0086748796847,1.03966131017
+182,3.033333333,pose1_to_pose2_press,0.61013598215,1.27799782262e-06,1.04001167918,0.580707216392,0.0086749417294,1.03966121146
+183,3.050000000,pose1_to_pose2_press,0.610575408068,1.35544803008e-06,1.04001163135,0.581146642113,0.00867501828268,1.03966115798
+184,3.066666667,pose1_to_pose2_press,0.610889092668,1.37906717889e-06,1.0400116298,0.581460326704,0.0086750418583,1.03966115618
+185,3.083333333,pose1_to_pose2_press,0.611065411144,1.37051735832e-06,1.04001165139,0.581636645265,0.00867503369529,1.03966118025
+186,3.100000000,pose1_to_pose2_press,0.61112718503,1.3675218944e-06,1.04001165895,0.58169841918,0.00867503083534,1.03966118868
+187,3.116666667,pose1_to_pose2_press,0.611147043441,1.36655894453e-06,1.04001166138,0.581718277601,0.00867502991596,1.03966119139
+188,3.133333333,pose1_to_pose2_press,0.611147043441,1.36655894453e-06,1.04001166138,0.581718277601,0.00867502991596,1.03966119139
+189,3.150000000,pose1_to_pose2_press,0.611147043441,1.36655894453e-06,1.04001166138,0.581718277601,0.00867502991596,1.03966119139
+190,3.166666667,pose1_to_pose2_press,0.611147117069,1.36655537424e-06,1.04001166139,0.581718351229,0.00867502991255,1.0396611914
+191,3.183333333,pose1_to_pose2_press,0.611147306728,1.36654617752e-06,1.04001166141,0.581718540889,0.00867502990377,1.03966119142
+192,3.200000000,pose1_to_pose2_press,0.611147612419,1.36653135436e-06,1.04001166145,0.581718846579,0.00867502988962,1.03966119146
+193,3.216666667,pose1_to_pose2_press,0.611148034139,1.36651090479e-06,1.0400116615,0.5817192683,0.00867502987009,1.03966119152
+194,3.233333333,pose1_to_pose2_press,0.611148571891,1.36648482878e-06,1.04001166157,0.581719806052,0.0086750298452,1.03966119159
+195,3.250000000,pose1_to_pose2_press,0.611149152046,1.36645669663e-06,1.04001166164,0.581720386207,0.00867502981834,1.03966119167
+196,3.266666667,pose1_to_pose2_press,0.6111497322,1.36642856449e-06,1.04001166171,0.581720966362,0.00867502979148,1.03966119175
+197,3.283333333,pose1_to_pose2_press,0.611150312355,1.36640043234e-06,1.04001166178,0.581721546516,0.00867502976462,1.03966119183
+198,3.300000000,pose1_to_pose2_press,0.611150892509,1.36637230019e-06,1.04001166185,0.581722126671,0.00867502973776,1.03966119191
+199,3.316666667,pose1_to_pose2_press,0.611151472664,1.36634416805e-06,1.04001166193,0.581722706826,0.0086750297109,1.03966119199
+200,3.333333333,pose1_to_pose2_press,0.611152052819,1.3663160359e-06,1.040011662,0.581723286981,0.00867502968404,1.03966119207
+201,3.350000000,pose1_to_pose2_press,0.611152632973,1.36628790376e-06,1.04001166207,0.581723867136,0.00867502965718,1.03966119215
+202,3.366666667,pose1_to_pose2_press,0.611153213128,1.36625977161e-06,1.04001166214,0.58172444729,0.00867502963032,1.03966119223
+203,3.383333333,pose1_to_pose2_press,0.611153793282,1.36623163947e-06,1.04001166221,0.581725027445,0.00867502960346,1.03966119231
+204,3.400000000,pose1_to_pose2_press,0.611154373437,1.36620350732e-06,1.04001166228,0.5817256076,0.0086750295766,1.03966119239
+205,3.416666667,pose1_to_pose2_press,0.611154953591,1.36617537517e-06,1.04001166235,0.581726187755,0.00867502954974,1.03966119247
+206,3.433333333,pose1_to_pose2_press,0.611155533746,1.36614724302e-06,1.04001166242,0.58172676791,0.00867502952288,1.03966119254
+207,3.450000000,pose1_to_pose2_press,0.6111561139,1.36611911087e-06,1.04001166249,0.581727348065,0.00867502949602,1.03966119262
+208,3.466666667,pose1_to_pose2_press,0.611156694055,1.36609097872e-06,1.04001166256,0.58172792822,0.00867502946916,1.0396611927
+209,3.483333333,pose1_to_pose2_press,0.61115727421,1.36606284657e-06,1.04001166264,0.581728508374,0.00867502944231,1.03966119278
+210,3.500000000,pose1_to_pose2_press,0.611157854364,1.36603471443e-06,1.04001166271,0.581729088529,0.00867502941545,1.03966119286
+211,3.516666667,pose1_to_pose2_press,0.611158434519,1.36600658228e-06,1.04001166278,0.581729668684,0.00867502938859,1.03966119294
+212,3.533333333,pose1_to_pose2_press,0.611159014673,1.36597845014e-06,1.04001166285,0.581730248839,0.00867502936173,1.03966119302
+213,3.550000000,pose1_to_pose2_press,0.611159594828,1.36595031799e-06,1.04001166292,0.581730828994,0.00867502933487,1.0396611931
+214,3.566666667,pose1_to_pose2_press,0.611160174982,1.36592218585e-06,1.04001166299,0.581731409148,0.00867502930801,1.03966119318
+215,3.583333333,pose1_to_pose2_press,0.611160755137,1.3658940537e-06,1.04001166306,0.581731989303,0.00867502928115,1.03966119326
+216,3.600000000,pose1_to_pose2_press,0.611161335291,1.36586592156e-06,1.04001166313,0.581732569458,0.00867502925429,1.03966119334
+217,3.616666667,pose1_to_pose2_press,0.611161915446,1.36583778941e-06,1.0400116632,0.581733149613,0.00867502922743,1.03966119342
+218,3.633333333,pose1_to_pose2_press,0.6111624956,1.36580965727e-06,1.04001166327,0.581733729768,0.00867502920057,1.0396611935
+219,3.650000000,pose1_to_pose2_press,0.611163075755,1.36578152512e-06,1.04001166335,0.581734309922,0.00867502917371,1.03966119357
+220,3.666666667,pose1_to_pose2_press,0.611163655909,1.36575339298e-06,1.04001166342,0.581734890077,0.00867502914685,1.03966119365
+221,3.683333333,pose1_to_pose2_press,0.611164236064,1.36572526083e-06,1.04001166349,0.581735470232,0.00867502911999,1.03966119373
+222,3.700000000,pose1_to_pose2_press,0.611164816218,1.36569712869e-06,1.04001166356,0.581736050387,0.00867502909313,1.03966119381
+223,3.716666667,pose1_to_pose2_press,0.611165396373,1.36566899654e-06,1.04001166363,0.581736630542,0.00867502906627,1.03966119389
+224,3.733333333,pose1_to_pose2_press,0.611165976527,1.36564086439e-06,1.0400116637,0.581737210696,0.00867502903941,1.03966119397
+225,3.750000000,pose1_to_pose2_press,0.611166556682,1.36561273224e-06,1.04001166377,0.581737790851,0.00867502901256,1.03966119405
+226,3.766666667,pose1_to_pose2_press,0.611167136836,1.3655846001e-06,1.04001166384,0.581738371006,0.0086750289857,1.03966119413
+227,3.783333333,pose1_to_pose2_press,0.611167716991,1.36555646795e-06,1.04001166391,0.581738951161,0.00867502895884,1.03966119421
+228,3.800000000,pose1_to_pose2_press,0.611168297145,1.36552833581e-06,1.04001166399,0.581739531316,0.00867502893198,1.03966119429
+229,3.816666667,pose1_to_pose2_press,0.6111688773,1.36550020366e-06,1.04001166406,0.58174011147,0.00867502890512,1.03966119437
+230,3.833333333,pose1_to_pose2_press,0.611169457455,1.36547207151e-06,1.04001166413,0.581740691625,0.00867502887826,1.03966119445
+231,3.850000000,pose1_to_pose2_press,0.611170037609,1.36544393936e-06,1.0400116642,0.58174127178,0.0086750288514,1.03966119452
+232,3.866666667,pose1_to_pose2_press,0.611170617764,1.36541580721e-06,1.04001166427,0.581741851935,0.00867502882454,1.0396611946
+233,3.883333333,pose1_to_pose2_press,0.611171197918,1.36538767506e-06,1.04001166434,0.58174243209,0.00867502879768,1.03966119468
+234,3.900000000,pose1_to_pose2_press,0.611171778073,1.36535954291e-06,1.04001166441,0.581743012245,0.00867502877082,1.03966119476
+235,3.916666667,pose1_to_pose2_press,0.611172358227,1.36533141077e-06,1.04001166448,0.5817435924,0.00867502874396,1.03966119484
+236,3.933333333,pose1_to_pose2_press,0.611172938382,1.36530327862e-06,1.04001166455,0.581744172554,0.0086750287171,1.03966119492
+237,3.950000000,pose1_to_pose2_press,0.611173518536,1.36527514648e-06,1.04001166462,0.581744752709,0.00867502869024,1.039661195
+238,3.966666667,pose1_to_pose2_press,0.611174098691,1.36524701433e-06,1.0400116647,0.581745332864,0.00867502866338,1.03966119508
+239,3.983333333,pose1_to_pose2_press,0.611174678845,1.36521888219e-06,1.04001166477,0.581745913019,0.00867502863652,1.03966119516
+240,4.000000000,pose1_to_pose2_press,0.611175259,1.36519075004e-06,1.04001166484,0.581746493174,0.00867502860966,1.03966119524
+241,4.016666667,pose1_to_pose2_press,0.611175839155,1.3651626179e-06,1.04001166491,0.581747073328,0.0086750285828,1.03966119532
+242,4.033333333,pose1_to_pose2_press,0.611176419309,1.36513448575e-06,1.04001166498,0.581747653483,0.00867502855595,1.0396611954
+243,4.050000000,pose1_to_pose2_press,0.611176999464,1.36510635361e-06,1.04001166505,0.581748233638,0.00867502852909,1.03966119547
+244,4.066666667,pose1_to_pose2_press,0.611177579618,1.36507822146e-06,1.04001166512,0.581748813793,0.00867502850223,1.03966119555
+245,4.083333333,pose1_to_pose2_press,0.611178159773,1.36505008932e-06,1.04001166519,0.581749393948,0.00867502847537,1.03966119563
+246,4.100000000,pose1_to_pose2_press,0.611178739927,1.36502195717e-06,1.04001166526,0.581749974102,0.00867502844851,1.03966119571
+247,4.116666667,pose1_to_pose2_press,0.611179320082,1.36499382503e-06,1.04001166533,0.581750554257,0.00867502842165,1.03966119579
+248,4.133333333,pose1_to_pose2_press,0.611179900236,1.36496569288e-06,1.04001166541,0.581751134412,0.00867502839479,1.03966119587
+249,4.150000000,pose1_to_pose2_press,0.611180480391,1.36493756074e-06,1.04001166548,0.581751714567,0.00867502836793,1.03966119595
+250,4.166666667,pose1_to_pose2_press,0.611181060545,1.36490942859e-06,1.04001166555,0.581752294722,0.00867502834107,1.03966119603
+251,4.183333333,pose1_to_pose2_press,0.6111816407,1.36488129644e-06,1.04001166562,0.581752874876,0.00867502831421,1.03966119611
+252,4.200000000,pose1_to_pose2_press,0.611182220854,1.36485316429e-06,1.04001166569,0.581753455031,0.00867502828735,1.03966119619
+253,4.216666667,pose1_to_pose2_press,0.611182801009,1.36482503215e-06,1.04001166576,0.581754035186,0.00867502826049,1.03966119627
+254,4.233333333,pose1_to_pose2_press,0.611183381163,1.3647969e-06,1.04001166583,0.581754615341,0.00867502823363,1.03966119635
+255,4.250000000,pose1_to_pose2_press,0.611183961318,1.36476876785e-06,1.0400116659,0.581755195496,0.00867502820677,1.03966119642
+256,4.266666667,pose1_to_pose2_press,0.611184541473,1.3647406357e-06,1.04001166597,0.581755775651,0.00867502817991,1.0396611965
+257,4.283333333,pose1_to_pose2_press,0.611185121627,1.36471250355e-06,1.04001166605,0.581756355805,0.00867502815305,1.03966119658
+258,4.300000000,pose1_to_pose2_press,0.611185701782,1.3646843714e-06,1.04001166612,0.58175693596,0.00867502812619,1.03966119666
+259,4.316666667,pose1_to_pose2_press,0.611186281936,1.36465623925e-06,1.04001166619,0.581757516115,0.00867502809934,1.03966119674
+260,4.333333333,pose1_to_pose2_press,0.611186862091,1.36462810711e-06,1.04001166626,0.58175809627,0.00867502807248,1.03966119682
+261,4.350000000,pose1_to_pose2_press,0.611187442245,1.36459997496e-06,1.04001166633,0.581758676425,0.00867502804562,1.0396611969
+262,4.366666667,pose1_to_pose2_press,0.6111880224,1.36457184282e-06,1.0400116664,0.581759256579,0.00867502801876,1.03966119698
+263,4.383333333,pose1_to_pose2_press,0.611188602554,1.36454371067e-06,1.04001166647,0.581759836734,0.0086750279919,1.03966119706
+264,4.400000000,pose1_to_pose2_press,0.611189182709,1.36451557853e-06,1.04001166654,0.581760416889,0.00867502796504,1.03966119714
+265,4.416666667,pose1_to_pose2_press,0.611189762863,1.36448744638e-06,1.04001166661,0.581760997044,0.00867502793818,1.03966119722
+266,4.433333333,pose1_to_pose2_press,0.611190343018,1.36445931424e-06,1.04001166668,0.581761577199,0.00867502791132,1.0396611973
+267,4.450000000,pose1_to_pose2_press,0.611190923173,1.36443118209e-06,1.04001166676,0.581762157354,0.00867502788446,1.03966119737
+268,4.466666667,pose1_to_pose2_press,0.611191503327,1.36440304995e-06,1.04001166683,0.581762737508,0.0086750278576,1.03966119745
+269,4.483333333,pose1_to_pose2_press,0.611192083482,1.3643749178e-06,1.0400116669,0.581763317663,0.00867502783074,1.03966119753
+270,4.500000000,pose1_to_pose2_press,0.611192663636,1.36434678566e-06,1.04001166697,0.581763897818,0.00867502780388,1.03966119761
+271,4.516666667,pose1_to_pose2_press,0.611193243791,1.36431865351e-06,1.04001166704,0.581764477973,0.00867502777702,1.03966119769
+272,4.533333333,pose1_to_pose2_press,0.611193823945,1.36429052137e-06,1.04001166711,0.581765058127,0.00867502775016,1.03966119777
+273,4.550000000,pose1_to_pose2_press,0.6111944041,1.36426238922e-06,1.04001166718,0.581765638282,0.0086750277233,1.03966119785
+274,4.566666667,pose1_to_pose2_press,0.611194984254,1.36423425708e-06,1.04001166725,0.581766218437,0.00867502769644,1.03966119793
+275,4.583333333,pose1_to_pose2_press,0.611195564409,1.36420612493e-06,1.04001166732,0.581766798592,0.00867502766958,1.03966119801
+276,4.600000000,pose1_to_pose2_press,0.611196144563,1.36417799279e-06,1.0400116674,0.581767378747,0.00867502764273,1.03966119809
+277,4.616666667,pose1_to_pose2_press,0.611196724718,1.36414986064e-06,1.04001166747,0.581767958902,0.00867502761587,1.03966119817
+278,4.633333333,pose1_to_pose2_press,0.611197304872,1.36412172849e-06,1.04001166754,0.581768539056,0.00867502758901,1.03966119825
+279,4.650000000,pose1_to_pose2_press,0.611197885027,1.36409359634e-06,1.04001166761,0.581769119211,0.00867502756215,1.03966119832
+280,4.666666667,pose1_to_pose2_press,0.611198465181,1.36406546419e-06,1.04001166768,0.581769699366,0.00867502753529,1.0396611984
+281,4.683333333,pose1_to_pose2_press,0.611199045336,1.36403733205e-06,1.04001166775,0.581770279521,0.00867502750843,1.03966119848
+282,4.700000000,pose1_to_pose2_press,0.611199625491,1.3640091999e-06,1.04001166782,0.581770859676,0.00867502748157,1.03966119856
+283,4.716666667,pose1_to_pose2_press,0.611200205645,1.36398106775e-06,1.04001166789,0.581771439831,0.00867502745471,1.03966119864
+284,4.733333333,pose1_to_pose2_press,0.6112007858,1.3639529356e-06,1.04001166796,0.581772019986,0.00867502742785,1.03966119872
+285,4.750000000,pose1_to_pose2_press,0.611201358154,1.3639251817e-06,1.04001166803,0.58177259234,0.00867502740135,1.0396611988
+286,4.766666667,pose1_to_pose2_press,0.611201899853,1.36389891427e-06,1.0400116681,0.58177313404,0.00867502737627,1.03966119887
+287,4.783333333,pose1_to_pose2_press,0.611202274233,1.36388076032e-06,1.04001166815,0.581773508419,0.00867502735894,1.03966119892
+288,4.800000000,pose1_to_pose2_press,0.611202484098,1.3638705838e-06,1.04001166817,0.581773718284,0.00867502734922,1.03966119895
+289,4.816666667,pose1_to_pose2_press,0.611202533513,1.36386818761e-06,1.04001166818,0.5817737677,0.00867502734694,1.03966119896
+290,4.833333333,pose1_to_pose2_press,0.611202636747,1.36386318173e-06,1.04001166819,0.581773870933,0.00867502734216,1.03966119897
+291,4.850000000,pose1_to_pose2_press,0.611202873962,1.363851679e-06,1.04001166822,0.581774108148,0.00867502733117,1.03966119901
+292,4.866666667,pose1_to_pose2_press,0.611203106543,1.36384040094e-06,1.04001166825,0.58177434073,0.00867502732041,1.03966119904
+293,4.883333333,pose1_to_pose2_press,0.611203266338,1.36383265238e-06,1.04001166827,0.581774500525,0.00867502731301,1.03966119906
+294,4.900000000,pose1_to_pose2_press,0.611203411348,1.3638256207e-06,1.04001166828,0.581774645535,0.0086750273063,1.03966119908
+295,4.916666667,pose1_to_pose2_press,0.611203523713,1.36382017206e-06,1.0400116683,0.5817747579,0.00867502730109,1.03966119909
+296,4.933333333,pose1_to_pose2_press,0.611203578117,1.36381753393e-06,1.04001166831,0.581774812305,0.00867502729857,1.0396611991
+297,4.950000000,pose1_to_pose2_press,0.611203814711,1.36380606133e-06,1.04001166833,0.581775048898,0.00867502728762,1.03966119913
+298,4.966666667,pose1_to_pose2_press,0.611204371424,1.3637790659e-06,1.0400116684,0.581775605611,0.00867502726185,1.03966119921
+299,4.983333333,pose1_to_pose2_press,0.611204639389,1.36376607205e-06,1.04001166844,0.581775873576,0.00867502724944,1.03966119925
+300,5.000000000,pose1_to_pose2_press,0.611204684735,1.36376387317e-06,1.04001166844,0.581775918923,0.00867502724734,1.03966119925
+301,5.016666667,pose1_to_pose2_press,0.611204751264,1.36376064711e-06,1.04001166845,0.581775985452,0.00867502724426,1.03966119926
+302,5.033333333,pose1_to_pose2_press,0.61120476682,1.36375989282e-06,1.04001166845,0.581776001008,0.00867502724354,1.03966119926
+303,5.050000000,pose1_to_pose2_press,0.611204881395,1.36375433699e-06,1.04001166846,0.581776115583,0.00867502723824,1.03966119928
+304,5.066666667,pose1_to_pose2_press,0.611206950194,1.3636540193e-06,1.04001166872,0.581778184383,0.00867502714246,1.03966119956
+305,5.083333333,pose1_to_pose2_press,0.611211284992,1.36344382156e-06,1.04001166925,0.581782519183,0.00867502694177,1.03966120015
+306,5.100000000,pose1_to_pose2_press,0.611217253723,1.36315439312e-06,1.04001166998,0.581788487917,0.00867502666544,1.03966120097
+307,5.116666667,pose1_to_pose2_press,0.611223902086,1.36283200883e-06,1.04001167079,0.581795136283,0.00867502635764,1.03966120188
+308,5.133333333,pose1_to_pose2_press,0.611230140427,1.36252950679e-06,1.04001167156,0.581801374627,0.00867502606882,1.03966120273
+309,5.150000000,pose1_to_pose2_press,0.611234222215,1.3623315777e-06,1.04001167206,0.581805456417,0.00867502587985,1.03966120328
+310,5.166666667,pose1_to_pose2_press,0.611235927744,1.36224887529e-06,1.04001167227,0.581807161946,0.00867502580088,1.03966120352
+311,5.183333333,pose1_to_pose2_press,0.611236424892,1.3622247682e-06,1.04001167233,0.581807659095,0.00867502577787,1.03966120358
+312,5.200000000,pose1_to_pose2_press,0.611240070955,1.36204796773e-06,1.04001167277,0.58181130516,0.00867502560907,1.03966120408
+313,5.216666667,pose1_to_pose2_press,0.611250224433,1.36155561766e-06,1.04001167402,0.581821458643,0.00867502513899,1.03966120547
+314,5.233333333,pose1_to_pose2_press,0.61126853299,1.36066782144e-06,1.04001167626,0.581839767208,0.00867502429136,1.03966120797
+315,5.250000000,pose1_to_pose2_press,0.611296353999,1.35931875901e-06,1.04001167967,0.58186758823,0.00867502300333,1.03966121176
+316,5.266666667,pose1_to_pose2_press,0.611336302951,1.35738160313e-06,1.04001168456,0.581907537202,0.00867502115382,1.03966121721
+317,5.283333333,pose1_to_pose2_press,0.611387475749,1.3549001942e-06,1.04001169082,0.581958710025,0.00867501878467,1.0396612242
+318,5.300000000,pose1_to_pose2_press,0.611448418957,1.3451496609e-06,1.04001169863,0.5820196533,0.00867500929347,1.03966123276
+319,5.316666667,pose1_to_pose2_press,0.611519504672,1.32222321682e-06,1.0400117083,0.582090739158,0.00867498688311,1.03966124317
+320,5.333333333,pose1_to_pose2_press,0.611602770691,1.2953684015e-06,1.04001171964,0.582174005346,0.00867496063281,1.03966125536
+321,5.350000000,pose1_to_pose2_press,0.611698988599,1.26433636524e-06,1.04001173274,0.582270223448,0.00867493029932,1.03966126944
+322,5.366666667,pose1_to_pose2_press,0.611809175104,1.22879920075e-06,1.04001174774,0.582380410176,0.00867489556211,1.03966128558
+323,5.383333333,pose1_to_pose2_press,0.611935965059,1.18790711993e-06,1.040011765,0.582507200386,0.00867485559053,1.03966130414
+324,5.400000000,pose1_to_pose2_press,0.612079024251,1.14176791205e-06,1.04001178448,0.582650259867,0.00867481048994,1.03966132508
+325,5.416666667,pose1_to_pose2_press,0.612239382156,1.16255398417e-06,1.04001174656,0.582810618152,0.0086748326231,1.03966128869
+326,5.433333333,pose1_to_pose2_press,0.61241597103,1.18547704982e-06,1.04001170477,0.582987207443,0.00867485702968,1.03966124859
+327,5.450000000,pose1_to_pose2_press,0.612609444622,1.21059192696e-06,1.04001165899,0.583180681493,0.00867488376992,1.03966120465
+328,5.466666667,pose1_to_pose2_press,0.612819670977,1.27940658947e-06,1.040011662,0.583390907082,0.00867494998032,1.03966120743
+329,5.483333333,pose1_to_pose2_press,0.613046786132,1.3976584469e-06,1.04001172102,0.583618020078,0.00867506079745,1.03966126386
+330,5.500000000,pose1_to_pose2_press,0.613289539195,1.52405248057e-06,1.04001178412,0.583860770832,0.00867517924483,1.03966132417
+331,5.516666667,pose1_to_pose2_press,0.613546832556,1.41371331072e-06,1.04001174714,0.584118065297,0.00867507261464,1.03966128629
+332,5.533333333,pose1_to_pose2_press,0.613819050609,1.2539368337e-06,1.04001168973,0.584390285144,0.00867491889941,1.03966122829
+333,5.550000000,pose1_to_pose2_press,0.614101818824,1.23527106458e-06,1.04001166643,0.584673054228,0.00867490320476,1.03966120554
+334,5.566666667,pose1_to_pose2_press,0.61439391551,1.29614555294e-06,1.04001166216,0.584965151272,0.00867496533905,1.03966120245
+335,5.583333333,pose1_to_pose2_press,0.614692335641,1.27741436948e-06,1.04001167494,0.585263571811,0.00867494788684,1.03966121259
+336,5.600000000,pose1_to_pose2_press,0.614995552204,1.22290212639e-06,1.04001169544,0.585566788807,0.00867489467057,1.03966122871
+337,5.616666667,pose1_to_pose2_press,0.615299674551,1.1840694196e-06,1.04001155345,0.58587091059,0.00867485408077,1.0396610908
+338,5.633333333,pose1_to_pose2_press,0.615603103452,1.16346206295e-06,1.04001146314,0.58617433915,0.00867483247334,1.03966100456
+339,5.650000000,pose1_to_pose2_press,0.615904264181,1.21472449795e-06,1.04001168437,0.586475501033,0.00867488764981,1.0396612253
+340,5.666666667,pose1_to_pose2_press,0.616206328347,1.28704867034e-06,1.04001178479,0.58677756431,0.00867495699677,1.03966132591
+341,5.683333333,pose1_to_pose2_press,0.616510871512,1.3777245296e-06,1.04001178287,0.587082104842,0.00867503880796,1.03966132474
+342,5.700000000,pose1_to_pose2_press,0.616820188677,1.27265797721e-06,1.0400116214,0.587391422749,0.00867493625726,1.03966116131
+343,5.716666667,pose1_to_pose2_press,0.617133601307,1.32551535879e-06,1.04001170927,0.587704835259,0.00867498864505,1.0396612458
+344,5.733333333,pose1_to_pose2_press,0.61744807063,1.45944700689e-06,1.04001188744,0.588019303847,0.00867512006827,1.03966142179
+345,5.750000000,pose1_to_pose2_press,0.617757285507,1.42950028373e-06,1.04001167853,0.588328518323,0.00867508909519,1.03966121867
+346,5.766666667,pose1_to_pose2_press,0.618057466886,1.35663881993e-06,1.04001166492,0.588628700882,0.00867502034575,1.03966120561
+347,5.783333333,pose1_to_pose2_press,0.618339101486,1.22788243584e-06,1.04001182959,0.588910337688,0.00867489884957,1.03966136298
+348,5.800000000,pose1_to_pose2_press,0.618601486769,1.2176004333e-06,1.04001185428,0.589172722844,0.0086748882017,1.0396613872
+349,5.816666667,pose1_to_pose2_press,0.61884816118,1.34554394025e-06,1.04001163686,0.589419394327,0.00867500672719,1.0396611802
+350,5.833333333,pose1_to_pose2_press,0.619081043232,1.25879429531e-06,1.04001153244,0.589652276894,0.00867492181238,1.03966107707
+351,5.850000000,pose1_to_pose2_press,0.619301534301,1.13009315566e-06,1.04001155517,0.589872770124,0.00867480021813,1.03966109223
+352,5.866666667,pose1_to_pose2_press,0.619515803522,1.14956605101e-06,1.04001168377,0.590087039104,0.0086748189165,1.03966122
+353,5.883333333,pose1_to_pose2_press,0.61972508077,1.18347699523e-06,1.0400118265,0.590296315942,0.00867485169442,1.03966136743
+354,5.900000000,pose1_to_pose2_press,0.619923303363,1.16980994596e-06,1.04001182986,0.590494539256,0.00867484061736,1.03966137242
+355,5.916666667,pose1_to_pose2_press,0.620109741981,1.26762492004e-06,1.04001167672,0.590680976731,0.00867493445206,1.03966121463
+356,5.933333333,pose1_to_pose2_press,0.62028289278,1.28792810207e-06,1.04001164557,0.590854126504,0.00867495143049,1.0396611868
+357,5.950000000,pose1_to_pose2_press,0.620441336509,1.30856912527e-06,1.04001152603,0.591012571674,0.00867497716404,1.03966107056
+358,5.966666667,pose1_to_pose2_press,0.620582670075,1.17815243223e-06,1.04001152836,0.591153904544,0.00867484434804,1.03966107078
+359,5.983333333,pose1_to_pose2_press,0.620708286792,1.26058661799e-06,1.04001154898,0.591279520672,0.00867492476031,1.03966108999
+360,6.000000000,pose1_to_pose2_press,0.620817735036,1.15603262319e-06,1.04001177405,0.591388970211,0.008674824691,1.03966131619
+361,6.016666667,pose1_to_pose2_press,0.620911636539,1.09563007356e-06,1.04001169095,0.591482872261,0.00867476586957,1.03966122574
+362,6.033333333,pose1_to_pose2_press,0.620991857133,1.30741363897e-06,1.04001180088,0.591563091019,0.00867497146809,1.03966133399
+363,6.050000000,pose1_to_pose2_press,0.621059828677,1.27588185753e-06,1.0400116029,0.591631062518,0.00867494006087,1.03966113912
+364,6.066666667,pose1_to_pose2_press,0.621118315646,1.30748172385e-06,1.04001196216,0.591689549619,0.00867497189991,1.03966149468
+365,6.083333333,pose1_to_pose2_press,0.621167483282,1.25240284944e-06,1.04001207107,0.591738718238,0.00867492008807,1.03966160082
+366,6.100000000,pose1_to_pose2_press,0.621207225052,1.30457805446e-06,1.04001188578,0.59177845965,0.00867497105429,1.03966141662
+367,6.116666667,pose1_to_pose2_press,0.621237874761,1.28859572985e-06,1.04001182507,0.591809107034,0.008674947087,1.03966135575
+368,6.133333333,pose1_to_pose2_press,0.621260522317,1.23544513069e-06,1.04001182527,0.591831756541,0.00867490054403,1.0396613545
+369,6.150000000,pose1_to_pose2_press,0.621276920248,1.25485722953e-06,1.04001181921,0.591848154443,0.00867491996919,1.03966135053
+370,6.166666667,pose1_to_pose2_press,0.621288223216,1.28263410566e-06,1.0400117654,0.591859456395,0.00867494451048,1.03966130264
+371,6.183333333,pose1_to_pose2_press,0.621296224791,1.25563905101e-06,1.04001164974,0.591867459086,0.00867492158452,1.03966119502
+372,6.200000000,pose1_to_pose2_press,0.62130115942,1.23391089864e-06,1.04001174181,0.591872393271,0.008674898091,1.03966128023
+373,6.216666667,pose1_to_pose2_press,0.621304489425,1.22387988482e-06,1.0400118136,0.591875722979,0.00867488686673,1.03966134705
+374,6.233333333,pose1_to_pose2_press,0.62130637472,1.25423818059e-06,1.04001187151,0.591877608502,0.00867491795748,1.03966140357
+375,6.250000000,pose1_to_pose2_press,0.621307213078,1.26773797805e-06,1.04001189726,0.591878446961,0.00867493178299,1.0396614287
+376,6.266666667,pose1_to_pose2_press,0.621307929604,1.27927597093e-06,1.04001191927,0.591879163574,0.00867494359937,1.03966145018
+377,6.283333333,pose1_to_pose2_press,0.621309036786,1.29447487612e-06,1.04001192842,0.591880270737,0.00867495874982,1.03966145953
+378,6.300000000,pose1_to_pose2_press,0.621309656395,1.29454046599e-06,1.04001185374,0.591880889846,0.00867495725217,1.03966138822
+379,6.316666667,pose1_to_pose2_press,0.621309798612,1.29455552056e-06,1.0400118366,0.591881031948,0.00867495690842,1.03966137185
+380,6.333333333,pose1_to_pose2_press,0.621310245875,1.29460286633e-06,1.04001178269,0.591881478849,0.00867495582734,1.03966132037
+381,6.350000000,pose1_to_pose2_press,0.621310772004,1.2946585607e-06,1.04001171928,0.591882004554,0.00867495455564,1.03966125982
+382,6.366666667,pose1_to_pose2_press,0.621311099349,1.29469321236e-06,1.04001167982,0.591882331635,0.00867495376442,1.03966122215
+383,6.383333333,pose1_to_pose2_press,0.621311577794,1.30075882986e-06,1.04001161788,0.591882809854,0.00867495912144,1.03966116168
+384,6.400000000,pose1_to_pose2_press,0.621312194416,1.33407986971e-06,1.04001151991,0.591883426867,0.00867499364287,1.03966106086
+385,6.416666667,pose1_to_pose2_press,0.621312389732,1.34463437677e-06,1.04001148888,0.591883622308,0.0086750045776,1.03966102893
+386,6.433333333,pose1_to_pose2_press,0.621312539328,1.35271822381e-06,1.04001146511,0.591883771998,0.00867501295267,1.03966100447
+387,6.450000000,pose1_to_pose2_press,0.621312772058,1.35690673654e-06,1.04001143122,0.591884004986,0.00867501798267,1.03966096987
+388,6.466666667,pose1_to_pose2_press,0.6213129171,1.31511853999e-06,1.04001142644,0.591884150768,0.00867497877496,1.03966096658
+389,6.483333333,pose1_to_pose2_press,0.62131300315,1.29032639495e-06,1.04001142361,0.591884237258,0.00867495551377,1.03966096463
+390,6.500000000,pose1_to_pose2_press,0.621313052112,1.27621997875e-06,1.040011422,0.591884286469,0.00867494227844,1.03966096352
+391,6.516666667,pose1_to_pose2_press,0.621313105279,1.26090180322e-06,1.04001142024,0.591884339908,0.00867492790619,1.03966096232
+392,6.533333333,pose1_to_pose2_press,0.62131313639,1.25550286897e-06,1.04001141997,0.591884371094,0.00867492277083,1.03966096218
+393,6.550000000,pose1_to_pose2_press,0.621313198348,1.28828791963e-06,1.04001142858,0.591884432185,0.00867495253954,1.03966096882
+394,6.566666667,pose1_to_pose2_press,0.621313228098,1.30403002591e-06,1.04001143271,0.591884461519,0.00867496683332,1.03966097201
+395,6.583333333,pose1_to_pose2_press,0.621313242082,1.3114294498e-06,1.04001143466,0.591884475307,0.00867497355197,1.03966097351
+396,6.600000000,pose1_to_pose2_press,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591208,1.03966107952
+397,6.616666667,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591471,1.03966107952
+398,6.633333333,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591475,1.03966107952
+399,6.650000000,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591474,1.03966107952
+400,6.666666667,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591474,1.03966107952
+401,6.683333333,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591475,1.03966107952
+402,6.700000000,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591474,1.03966107952
+403,6.716666667,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591473,1.03966107952
+404,6.733333333,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591454,1.03966107952
+405,6.750000000,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591456,1.03966107952
+406,6.766666667,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591455,1.03966107952
+407,6.783333333,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.0086750359145,1.03966107952
+408,6.800000000,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591444,1.03966107952
+409,6.816666667,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591453,1.03966107952
+410,6.833333333,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591458,1.03966107952
+411,6.850000000,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591457,1.03966107952
+412,6.866666667,pose2_hold,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591456,1.03966107952
+413,6.883333333,pose2_to_pose3_retreat,0.621313283858,1.37541991537e-06,1.04001153592,0.591884516554,0.00867503591518,1.03966107952
+414,6.900000000,pose2_to_pose3_retreat,0.621313222017,1.34200621986e-06,1.04001158542,0.591884454945,0.00867500278816,1.03966111661
+415,6.916666667,pose2_to_pose3_retreat,0.621313043065,1.3453395947e-06,1.04001156676,0.591884276247,0.00867500714981,1.039661102
+416,6.933333333,pose2_to_pose3_retreat,0.621312694509,1.34386672537e-06,1.0400115574,0.591883927913,0.00867500662688,1.03966109753
+417,6.950000000,pose2_to_pose3_retreat,0.621312651114,1.34223010007e-06,1.04001156116,0.591883884495,0.00867500491642,1.03966110135
+418,6.966666667,pose2_to_pose3_retreat,0.621312307635,1.32927601021e-06,1.04001159092,0.591883540839,0.00867499137799,1.03966113156
+419,6.983333333,pose2_to_pose3_retreat,0.621312193983,1.32498969856e-06,1.04001160076,0.591883427128,0.00867498689833,1.03966114156
+420,7.000000000,pose2_to_pose3_retreat,0.621311658989,1.30481275177e-06,1.04001164711,0.591882891859,0.00867496581123,1.03966118863
+421,7.016666667,pose2_to_pose3_retreat,0.621310547739,1.25620607966e-06,1.04001171641,0.591881781482,0.00867492009028,1.03966125607
+422,7.033333333,pose2_to_pose3_retreat,0.621306672118,1.18768706547e-06,1.04001173775,0.591877907142,0.0086748559094,1.03966127717
+423,7.050000000,pose2_to_pose3_retreat,0.621298877065,1.15455350181e-06,1.04001175163,0.591870112017,0.0086748224108,1.0396612883
+424,7.066666667,pose2_to_pose3_retreat,0.621283866675,1.47704888267e-06,1.04001180246,0.591855099214,0.00867513663201,1.03966133818
+425,7.083333333,pose2_to_pose3_retreat,0.621261104105,1.17071779008e-06,1.0400116342,0.591832339797,0.00867484062285,1.03966116068
+426,7.100000000,pose2_to_pose3_retreat,0.621228991561,1.28366093829e-06,1.04001180528,0.591800225593,0.00867494827387,1.03966134122
+427,7.116666667,pose2_to_pose3_retreat,0.621189039327,1.31352304597e-06,1.04001182381,0.591760273493,0.0086749788637,1.03966136619
+428,7.133333333,pose2_to_pose3_retreat,0.621141707242,1.26826622907e-06,1.04001187934,0.591712941047,0.00867493216289,1.03966141469
+429,7.150000000,pose2_to_pose3_retreat,0.621089577638,1.28976092114e-06,1.040011769,0.591660810954,0.0086749519333,1.03966130395
+430,7.166666667,pose2_to_pose3_retreat,0.621032741067,1.32758654778e-06,1.04001167969,0.591603974007,0.00867498831691,1.03966121023
+431,7.183333333,pose2_to_pose3_retreat,0.620970690671,1.18481959047e-06,1.0400114748,0.591541924408,0.00867484840025,1.03966101066
+432,7.200000000,pose2_to_pose3_retreat,0.620902432166,1.31016974496e-06,1.04001156568,0.591473665357,0.00867497209037,1.03966110724
+433,7.216666667,pose2_to_pose3_retreat,0.620826387294,1.32969993583e-06,1.04001166131,0.591397620622,0.00867499210796,1.03966120409
+434,7.233333333,pose2_to_pose3_retreat,0.62074012787,1.15050815044e-06,1.04001167637,0.591311362512,0.00867481716633,1.03966121472
+435,7.250000000,pose2_to_pose3_retreat,0.620642085024,1.14285398142e-06,1.0400116754,0.591213319898,0.00867481022979,1.03966121294
+436,7.266666667,pose2_to_pose3_retreat,0.620530708199,1.17335234909e-06,1.04001155925,0.591101943326,0.00867484195096,1.03966110652
+437,7.283333333,pose2_to_pose3_retreat,0.620406223486,1.21845817779e-06,1.04001160504,0.59097745887,0.00867488779641,1.03966115008
+438,7.300000000,pose2_to_pose3_retreat,0.620267087634,1.2563461172e-06,1.0400117916,0.590838323187,0.00867492562304,1.03966132248
+439,7.316666667,pose2_to_pose3_retreat,0.620114141154,1.25004948571e-06,1.04001153939,0.590685376506,0.00867491918796,1.03966108527
+440,7.333333333,pose2_to_pose3_retreat,0.619946825016,1.1705723928e-06,1.04001154899,0.590518060978,0.00867484149158,1.0396610891
+441,7.350000000,pose2_to_pose3_retreat,0.619765402691,1.23062096389e-06,1.04001154899,0.590336638623,0.00867490135555,1.03966108864
+442,7.366666667,pose2_to_pose3_retreat,0.619569906621,1.27589210689e-06,1.04001158928,0.590141142566,0.00867494654024,1.03966112734
+443,7.383333333,pose2_to_pose3_retreat,0.619359678623,1.18547562934e-06,1.04001170033,0.589930915071,0.00867485745062,1.03966123038
+444,7.400000000,pose2_to_pose3_retreat,0.619136541467,1.34793688749e-06,1.0400115574,0.589707776131,0.00867501424522,1.0396610994
+445,7.416666667,pose2_to_pose3_retreat,0.618901373993,1.28803835856e-06,1.04001178244,0.589472609743,0.00867495774408,1.03966131875
+446,7.433333333,pose2_to_pose3_retreat,0.618654616048,1.20611112224e-06,1.04001181973,0.589225852034,0.0086748763294,1.03966135058
+447,7.450000000,pose2_to_pose3_retreat,0.618395551703,1.17238990556e-06,1.04001160451,0.588966786521,0.00867483856801,1.03966113597
+448,7.466666667,pose2_to_pose3_retreat,0.618118691333,1.20916697166e-06,1.0400117636,0.58868992712,0.0086748788001,1.03966130141
+449,7.483333333,pose2_to_pose3_retreat,0.617822815492,1.15860517738e-06,1.04001173676,0.588394052193,0.00867483111941,1.0396612712
+450,7.500000000,pose2_to_pose3_retreat,0.6175044185,1.20703143378e-06,1.0400117549,0.588075654388,0.00867487651052,1.03966128506
+451,7.516666667,pose2_to_pose3_retreat,0.617163129707,1.31901683209e-06,1.04001187161,0.587734363768,0.00867498207721,1.03966139884
+452,7.533333333,pose2_to_pose3_retreat,0.616796001101,1.17901322079e-06,1.04001198537,0.587367236473,0.00867484632829,1.03966150831
+453,7.550000000,pose2_to_pose3_retreat,0.616408515092,1.19557384776e-06,1.04001156117,0.586979750841,0.00867486440449,1.03966109272
+454,7.566666667,pose2_to_pose3_retreat,0.616001970745,1.21265888759e-06,1.04001151197,0.586573205822,0.00867487930957,1.03966104738
+455,7.583333333,pose2_to_pose3_retreat,0.615581535127,1.2194087266e-06,1.04001165975,0.586152770628,0.00867488745775,1.03966119465
+456,7.600000000,pose2_to_pose3_retreat,0.615150019919,1.21723829323e-06,1.04001178462,0.58572125634,0.00867488836264,1.03966131832
+457,7.616666667,pose2_to_pose3_retreat,0.614710605709,1.21512299012e-06,1.04001167616,0.58528184039,0.00867488052309,1.03966121383
+458,7.633333333,pose2_to_pose3_retreat,0.614259873522,1.26804074279e-06,1.04001168336,0.584831109087,0.00867493634736,1.0396612188
+459,7.650000000,pose2_to_pose3_retreat,0.613793423809,1.23937577927e-06,1.04001167331,0.584364659727,0.00867490902342,1.03966121198
+460,7.666666667,pose2_to_pose3_retreat,0.613301786063,1.2053160464e-06,1.04001167453,0.583873021616,0.00867487375558,1.0396612137
+461,7.683333333,pose2_to_pose3_retreat,0.612783328395,1.22180141519e-06,1.0400116835,0.583354563105,0.00867488716451,1.03966121742
+462,7.700000000,pose2_to_pose3_retreat,0.612237451935,1.18931020888e-06,1.04001152145,0.582808687232,0.0086748572974,1.0396610708
+463,7.716666667,pose2_to_pose3_retreat,0.61167468354,1.23723631155e-06,1.04001184928,0.582245918544,0.008674903474,1.03966138077
+464,7.733333333,pose2_to_pose3_retreat,0.611106270363,1.30402792605e-06,1.04001175253,0.581677504521,0.00867496725783,1.03966128105
+465,7.750000000,pose2_to_pose3_retreat,0.610535474766,1.32289606811e-06,1.04001166484,0.581106708197,0.00867498383592,1.03966119778
+466,7.766666667,pose2_to_pose3_retreat,0.609961359067,1.27512042988e-06,1.0400118168,0.58053259238,0.00867493579576,1.03966135313
+467,7.783333333,pose2_to_pose3_retreat,0.609376362067,1.2124460774e-06,1.04001191293,0.579947596306,0.0086748762302,1.03966144944
+468,7.800000000,pose2_to_pose3_retreat,0.60877714193,1.28799025747e-06,1.04001184045,0.579348374813,0.00867494721692,1.03966137624
+469,7.816666667,pose2_to_pose3_retreat,0.608161050118,1.30010904806e-06,1.04001182834,0.57873228314,0.00867495963329,1.03966135927
+470,7.833333333,pose2_to_pose3_retreat,0.60753326955,1.28567012573e-06,1.0400118101,0.578104503729,0.00867494902501,1.03966133884
+471,7.850000000,pose2_to_pose3_retreat,0.606895920109,1.31653263981e-06,1.04001170569,0.577467155064,0.00867498277964,1.03966124085
+472,7.866666667,pose2_to_pose3_retreat,0.606251363407,1.34557462666e-06,1.04001181779,0.576822597207,0.00867500770271,1.03966134798
+473,7.883333333,pose2_to_pose3_retreat,0.60559779799,1.32526372198e-06,1.04001188524,0.576169031802,0.00867498763431,1.0396614203
+474,7.900000000,pose2_to_pose3_retreat,0.604930057942,1.23479059982e-06,1.04001171139,0.575501293696,0.00867490377173,1.03966124699
+475,7.916666667,pose2_to_pose3_retreat,0.604251290062,1.17561792099e-06,1.04001151455,0.574822527362,0.00867484978282,1.03966104859
+476,7.933333333,pose2_to_pose3_retreat,0.603567901361,1.28233798448e-06,1.04001167535,0.574139136482,0.00867494928813,1.03966121372
+477,7.950000000,pose2_to_pose3_retreat,0.602882384928,1.23661522262e-06,1.04001172757,0.573453620224,0.00867490368699,1.03966125421
+478,7.966666667,pose2_to_pose3_retreat,0.602193429868,1.14355413412e-06,1.04001160468,0.572764666927,0.00867481699112,1.03966114075
+479,7.983333333,pose2_to_pose3_retreat,0.601511247658,1.22428513361e-06,1.04001153572,0.572082483555,0.00867489403917,1.03966107816
+480,8.000000000,pose2_to_pose3_retreat,0.600835113327,1.3900921673e-06,1.04001158357,0.571406346496,0.00867505064306,1.03966112734
+481,8.016666667,pose2_to_pose3_retreat,0.600159221873,1.38820538688e-06,1.04001174279,0.570730455167,0.0086750493834,1.03966129146
+482,8.033333333,pose2_to_pose3_retreat,0.599484786588,1.24672371622e-06,1.04001170109,0.570056021865,0.00867491420643,1.03966123931
+483,8.050000000,pose2_to_pose3_retreat,0.598810881524,1.19825476821e-06,1.04001174789,0.569382117094,0.0086748666366,1.03966128368
+484,8.066666667,pose2_to_pose3_retreat,0.598127986234,1.20271635554e-06,1.04001180455,0.568699221474,0.0086748699968,1.03966134067
+485,8.083333333,pose2_to_pose3_retreat,0.597434228298,1.21473364659e-06,1.04001178538,0.568005463657,0.00867488234186,1.03966131963
+486,8.100000000,pose2_to_pose3_retreat,0.596744262282,1.18736545292e-06,1.04001161226,0.567315498902,0.00867485903242,1.03966114102
+487,8.116666667,pose2_to_pose3_retreat,0.59605955821,1.26489171176e-06,1.04001156803,0.566630792652,0.00867492939593,1.03966110243
+488,8.133333333,pose2_to_pose3_retreat,0.595377272707,1.27633943593e-06,1.04001167154,0.565948507274,0.00867494147214,1.03966121096
+489,8.150000000,pose2_to_pose3_retreat,0.594703045302,1.31579864968e-06,1.04001174284,0.565274279211,0.0086749787646,1.03966128382
+490,8.166666667,pose2_to_pose3_retreat,0.594041052783,1.4265055588e-06,1.04001165721,0.564612283365,0.0086750781229,1.03966119662
+491,8.183333333,pose2_to_pose3_retreat,0.593385727034,1.2240835359e-06,1.04001165748,0.563956961516,0.0086748890304,1.03966119923
+492,8.200000000,pose2_to_pose3_retreat,0.592740798144,1.21911012939e-06,1.04001176272,0.563312032909,0.00867488482825,1.03966129985
+493,8.216666667,pose2_to_pose3_retreat,0.59211517914,1.30572253401e-06,1.04001163645,0.562686413198,0.00867496906908,1.03966117424
+494,8.233333333,pose2_to_pose3_retreat,0.591501234564,1.39745930966e-06,1.04001145503,0.56207246753,0.0086750571938,1.03966099514
+495,8.250000000,pose2_to_pose3_retreat,0.590888182813,1.39818243354e-06,1.04001156717,0.561459414439,0.0086750531857,1.03966110265
+496,8.266666667,pose2_to_pose3_retreat,0.590277442001,1.16610643014e-06,1.04001167392,0.560848677765,0.0086748350258,1.03966120635
+497,8.283333333,pose2_to_pose3_retreat,0.589671966921,1.13766032643e-06,1.0400116052,0.560243202687,0.0086748067607,1.03966114192
+498,8.300000000,pose2_to_pose3_retreat,0.589080325086,1.21144230734e-06,1.0400116716,0.559651559859,0.0086748770677,1.03966120569
+499,8.316666667,pose2_to_pose3_retreat,0.588506600445,1.28398184934e-06,1.04001179378,0.559077834774,0.00867494788321,1.03966132246
+500,8.333333333,pose2_to_pose3_retreat,0.587956927588,1.25798173796e-06,1.04001154887,0.558528162022,0.00867492272815,1.03966108971
+501,8.350000000,pose2_to_pose3_retreat,0.587421533732,1.25529973515e-06,1.04001154256,0.557992768118,0.00867491990123,1.03966108378
+502,8.366666667,pose2_to_pose3_retreat,0.586894088081,1.35659738965e-06,1.04001159048,0.557465321349,0.00867501754131,1.03966113507
+503,8.383333333,pose2_to_pose3_retreat,0.586379008733,1.39527291487e-06,1.04001164271,0.556950242385,0.00867505752565,1.03966118737
+504,8.400000000,pose2_to_pose3_retreat,0.585880221953,1.28558308823e-06,1.04001166625,0.556451458226,0.00867495653731,1.03966120626
+505,8.416666667,pose2_to_pose3_retreat,0.585400913984,1.12608855397e-06,1.04001165503,0.555972151523,0.00867480140636,1.0396611967
+506,8.433333333,pose2_to_pose3_retreat,0.584942260894,1.15415065467e-06,1.04001161381,0.555513496846,0.00867482377632,1.03966114784
+507,8.450000000,pose2_to_pose3_retreat,0.584506729408,1.19839598042e-06,1.04001170551,0.55507796436,0.00867486448666,1.03966123602
+508,8.466666667,pose2_to_pose3_retreat,0.584078692787,1.24101453675e-06,1.04001182332,0.554649927149,0.00867490513303,1.03966135466
+509,8.483333333,pose2_to_pose3_retreat,0.583652365752,1.28564254289e-06,1.04001181597,0.554223599211,0.00867494682253,1.03966135039
+510,8.500000000,pose2_to_pose3_retreat,0.583237549971,1.34036302185e-06,1.04001193262,0.553808782494,0.00867499825069,1.03966146411
+511,8.516666667,pose2_to_pose3_retreat,0.582837091246,1.21880463622e-06,1.04001184108,0.553408326444,0.00867488592329,1.03966137649
+512,8.533333333,pose2_to_pose3_retreat,0.582460573837,1.19457980254e-06,1.04001180361,0.553031809548,0.00867486344935,1.03966133927
+513,8.550000000,pose2_to_pose3_retreat,0.582112168235,1.23551180678e-06,1.04001176309,0.552683403721,0.00867490362675,1.03966129904
+514,8.566666667,pose2_to_pose3_retreat,0.581796603607,1.26666498709e-06,1.04001167097,0.55236783966,0.00867493683091,1.03966121004
+515,8.583333333,pose2_to_pose3_retreat,0.581502000585,1.25140303102e-06,1.04001167672,0.552073236047,0.00867491952559,1.03966121479
+516,8.600000000,pose2_to_pose3_retreat,0.581225209551,1.29246808568e-06,1.04001159568,0.551796443941,0.00867495702778,1.03966113564
+517,8.616666667,pose2_to_pose3_retreat,0.580959235194,1.35165291185e-06,1.04001151184,0.55153046924,0.00867501497523,1.03966105011
+518,8.633333333,pose2_to_pose3_retreat,0.580702674286,1.36551688931e-06,1.04001148484,0.551273909351,0.00867503205538,1.03966101711
+519,8.650000000,pose2_to_pose3_retreat,0.580454835356,1.05490644952e-06,1.04001165829,0.551026073268,0.00867473119876,1.0396611929
+520,8.666666667,pose2_to_pose3_retreat,0.580218489464,1.22568128512e-06,1.04001159693,0.550789724749,0.00867489312749,1.03966113322
+521,8.683333333,pose2_to_pose3_retreat,0.579995832746,1.17764772402e-06,1.04001173232,0.550567068329,0.00867484576243,1.03966126015
+522,8.700000000,pose2_to_pose3_retreat,0.579787330534,1.11752665106e-06,1.04001180438,0.550358566881,0.00867478813918,1.03966132998
+523,8.716666667,pose2_to_pose3_retreat,0.579593449253,1.217190428e-06,1.04001162588,0.550164684376,0.0086748841043,1.03966116272
+524,8.733333333,pose2_to_pose3_retreat,0.579419684856,1.27384554859e-06,1.04001141344,0.549990918547,0.00867493624306,1.03966095892
+525,8.750000000,pose2_to_pose3_retreat,0.579264838338,1.22324310016e-06,1.04001161463,0.549836073005,0.00867488883851,1.03966115722
+526,8.766666667,pose2_to_pose3_retreat,0.579128413475,1.24928360134e-06,1.0400116843,0.549699648739,0.00867491656766,1.03966121867
+527,8.783333333,pose2_to_pose3_retreat,0.579007834303,1.27672850015e-06,1.04001169367,0.54957907003,0.00867494556017,1.03966122747
+528,8.800000000,pose2_to_pose3_retreat,0.578902566713,1.26150072268e-06,1.04001170672,0.549473802854,0.00867493184434,1.03966124304
+529,8.816666667,pose2_to_pose3_retreat,0.578806126183,1.13376525099e-06,1.04001182245,0.549377362774,0.00867480526671,1.03966134978
+530,8.833333333,pose2_to_pose3_retreat,0.578718224107,1.20178917719e-06,1.0400119051,0.549289458481,0.00867486582136,1.03966143482
+531,8.850000000,pose2_to_pose3_retreat,0.578640530209,1.22130822552e-06,1.04001177393,0.549211764227,0.00867488415515,1.03966130432
+532,8.866666667,pose2_to_pose3_retreat,0.578572063144,1.23033464167e-06,1.04001162207,0.549143297613,0.008674894726,1.03966115231
+533,8.883333333,pose2_to_pose3_retreat,0.578512798585,1.31210318174e-06,1.04001170422,0.549084032335,0.00867497414747,1.03966123665
+534,8.900000000,pose2_to_pose3_retreat,0.578462143471,1.2898937308e-06,1.04001179806,0.549033378136,0.00867495500769,1.03966132953
+535,8.916666667,pose2_to_pose3_retreat,0.57841982892,1.32474962215e-06,1.04001175059,0.548991063023,0.00867498806528,1.03966128461
+536,8.933333333,pose2_to_pose3_retreat,0.578384037175,1.37808158392e-06,1.04001170976,0.548955270248,0.00867503806238,1.03966124774
+537,8.950000000,pose2_to_pose3_retreat,0.578353997258,1.42323198322e-06,1.04001177664,0.548925229521,0.00867508062492,1.03966131854
+538,8.966666667,pose2_to_pose3_retreat,0.578329724241,1.27960676512e-06,1.0400119041,0.548900959559,0.00867494701582,1.03966143734
+539,8.983333333,pose2_to_pose3_retreat,0.578310128995,1.2596514003e-06,1.04001169239,0.548881364156,0.00867492670532,1.03966123006
+540,9.000000000,pose2_to_pose3_retreat,0.578295131834,1.3023150742e-06,1.04001145,0.548866365423,0.00867496432534,1.0396609948
+541,9.016666667,pose2_to_pose3_retreat,0.578283370065,1.34600899983e-06,1.04001173063,0.548854602728,0.00867500455626,1.03966126757
+542,9.033333333,pose2_to_pose3_retreat,0.57827440658,1.2942779822e-06,1.04001163302,0.548845639418,0.00867495341013,1.03966116973
+543,9.050000000,pose2_to_pose3_retreat,0.578267945787,1.21989536959e-06,1.0400114318,0.548839179163,0.00867488094442,1.03966097083
+544,9.066666667,pose2_to_pose3_retreat,0.578263679766,1.17645350759e-06,1.04001156686,0.548834914739,0.00867484292824,1.03966110613
+545,9.083333333,pose2_to_pose3_retreat,0.578261122739,1.1504147171e-06,1.04001164782,0.548832358668,0.00867482014158,1.03966118722
+546,9.100000000,pose2_to_pose3_retreat,0.578259630608,1.15937253242e-06,1.04001165669,0.548830866529,0.00867482902345,1.0396611949
+547,9.116666667,pose2_to_pose3_retreat,0.578258903833,1.175768449e-06,1.0400116419,0.548830139469,0.00867484439908,1.03966117888
+548,9.133333333,pose2_to_pose3_retreat,0.578258366752,1.18788490252e-06,1.04001163098,0.548829602177,0.00867485576154,1.03966116704
+549,9.150000000,pose2_to_pose3_retreat,0.578257913647,1.19810689524e-06,1.04001162176,0.548829148892,0.00867486534744,1.03966115706
+550,9.166666667,pose2_to_pose3_retreat,0.578257359325,1.21061228453e-06,1.04001161048,0.548828594353,0.00867487707464,1.03966114484
+551,9.183333333,pose2_to_pose3_retreat,0.578256785808,1.22355073657e-06,1.04001159881,0.54882802061,0.00867488920796,1.0396611322
+552,9.200000000,pose2_to_pose3_retreat,0.578256183335,1.23714243303e-06,1.04001158655,0.5488274179,0.00867490195387,1.03966111893
+553,9.216666667,pose2_to_pose3_retreat,0.578255704651,1.24445761104e-06,1.04001158118,0.548826939098,0.00867490885353,1.0396611132
+554,9.233333333,pose2_to_pose3_retreat,0.57825544642,1.23860310024e-06,1.04001159057,0.548826681001,0.00867490349641,1.03966112366
+555,9.250000000,pose2_to_pose3_retreat,0.57825532545,1.23586051831e-06,1.04001159497,0.548826560093,0.00867490098683,1.03966112856
+556,9.266666667,pose2_to_pose3_retreat,0.57825486883,1.22550822917e-06,1.04001161158,0.54882610371,0.00867489151406,1.03966114706
+557,9.283333333,pose2_to_pose3_retreat,0.578254254142,1.21157228523e-06,1.04001163394,0.548825489341,0.0086748787621,1.03966117196
+558,9.300000000,pose2_to_pose3_retreat,0.578253782342,1.20087582957e-06,1.0400116511,0.548825017785,0.0086748689744,1.03966119108
+559,9.316666667,pose2_to_pose3_retreat,0.578253556919,1.19576513868e-06,1.0400116593,0.548824792479,0.00867486429791,1.03966120021
+560,9.333333333,pose2_to_pose3_retreat,0.578253412465,1.19249013034e-06,1.04001166455,0.5488246481,0.00867486130114,1.03966120606
+561,9.350000000,pose2_to_pose3_retreat,0.578253101778,1.20080472265e-06,1.04001166589,0.548824337,0.00867486818375,1.03966120664
+562,9.366666667,pose2_to_pose3_retreat,0.578252721532,1.21208926548e-06,1.04001166681,0.548823956207,0.00867487756918,1.03966120649
+563,9.383333333,pose2_to_pose3_retreat,0.578252481154,1.21922296287e-06,1.04001166739,0.548823715484,0.00867488350233,1.03966120639
+564,9.400000000,pose2_to_pose3_retreat,0.578252358734,1.20972268158e-06,1.04001164438,0.548823593143,0.00867487425903,1.03966118303
+565,9.416666667,pose2_to_pose3_retreat,0.57825228465,1.19418105724e-06,1.04001161309,0.548823519299,0.00867485952042,1.03966115151
+566,9.433333333,pose2_to_pose3_retreat,0.578252247576,1.1864036637e-06,1.04001159743,0.548823482345,0.00867485214488,1.03966113574
+567,9.450000000,pose2_to_pose3_retreat,0.578252212168,1.17897564418e-06,1.04001158248,0.548823447051,0.00867484510065,1.03966112068
+568,9.466666667,pose2_to_pose3_retreat,0.578252210681,1.17866370212e-06,1.04001158185,0.548823445569,0.00867484480483,1.03966112004
+569,9.483333333,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018402,1.03966109182

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:700ce1f8da157af2f90c20843a38e007a240fead8df824994eb6428b86469720
+size 26586434

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/simulation_data.csv

@@ -0,0 +1,421 @@
+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,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+1,0.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+2,0.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+3,0.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+4,0.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+5,0.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+6,0.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+7,0.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+8,0.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+9,0.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+10,0.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+11,0.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+12,0.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+13,0.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+14,0.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+15,0.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+16,0.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+17,0.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+18,0.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+19,0.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+20,0.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+21,0.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+22,0.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+23,0.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+24,0.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+25,0.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+26,0.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+27,0.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+28,0.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+29,0.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+30,0.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+31,0.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+32,0.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+33,0.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+34,0.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+35,0.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+36,0.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+37,0.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+38,0.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+39,0.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+40,0.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+41,0.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+42,0.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+43,0.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+44,0.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+45,0.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+46,0.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+47,0.783333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+48,0.800000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+49,0.816666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+50,0.833333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+51,0.850000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+52,0.866666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+53,0.883333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+54,0.900000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+55,0.916666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+56,0.933333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+57,0.950000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+58,0.966666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+59,0.983333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+60,1.000000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+61,1.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+62,1.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+63,1.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+64,1.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+65,1.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+66,1.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+67,1.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+68,1.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+69,1.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+70,1.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+71,1.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+72,1.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+73,1.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+74,1.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+75,1.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+76,1.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+77,1.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+78,1.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+79,1.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+80,1.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+81,1.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+82,1.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+83,1.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+84,1.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+85,1.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+86,1.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+87,1.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+88,1.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+89,1.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+90,1.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+91,1.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+92,1.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+93,1.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+94,1.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+95,1.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+96,1.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+97,1.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+98,1.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+99,1.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+100,1.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+101,1.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+102,1.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+103,1.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+104,1.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+105,1.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+106,1.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+107,1.783333333,pose1_to_pose2_press,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+108,1.800000000,pose1_to_pose2_press,0.578252301068,1.16855013999e-06,1.04001158255,0.548823537256,0.00867483910818,1.03966112084
+109,1.816666667,pose1_to_pose2_press,0.578252739701,1.15201088105e-06,1.04001167305,0.548823975399,0.00867482088191,1.03966121082
+110,1.833333333,pose1_to_pose2_press,0.578253282428,1.13711868925e-06,1.04001164674,0.54882451853,0.00867480723964,1.03966118151
+111,1.850000000,pose1_to_pose2_press,0.578253788483,1.12353540407e-06,1.04001161469,0.548825025017,0.0086747950031,1.03966114654
+112,1.866666667,pose1_to_pose2_press,0.578254411184,1.11458405392e-06,1.04001159999,0.548825647984,0.0086747869084,1.03966113068
+113,1.883333333,pose1_to_pose2_press,0.578256132968,1.11758258017e-06,1.04001164775,0.548827369557,0.00867478941404,1.03966118391
+114,1.900000000,pose1_to_pose2_press,0.57826025601,1.11436157326e-06,1.04001166103,0.548831492152,0.008674784789,1.03966119994
+115,1.916666667,pose1_to_pose2_press,0.578269076938,1.28003948488e-06,1.04001159372,0.548840312113,0.00867494689272,1.03966112539
+116,1.933333333,pose1_to_pose2_press,0.578286068572,1.1382608579e-06,1.04001177119,0.548857305774,0.00867481211133,1.03966130565
+117,1.950000000,pose1_to_pose2_press,0.578312593054,1.20444264849e-06,1.04001169727,0.548883828491,0.00867487221292,1.03966122949
+118,1.966666667,pose1_to_pose2_press,0.57834945956,1.28829130766e-06,1.04001181081,0.548920693571,0.0086749512091,1.03966134264
+119,1.983333333,pose1_to_pose2_press,0.578395929762,1.39504248993e-06,1.04001172908,0.548967162115,0.00867505297332,1.03966127661
+120,2.000000000,pose1_to_pose2_press,0.578451817576,1.22273838181e-06,1.04001156103,0.549023054797,0.00867489676411,1.03966109805
+121,2.016666667,pose1_to_pose2_press,0.578515150118,1.21062020594e-06,1.04001159307,0.549086386055,0.00867488025341,1.03966112922
+122,2.033333333,pose1_to_pose2_press,0.578586219687,1.2621682095e-06,1.04001166189,0.549157455336,0.00867493105483,1.03966120362
+123,2.050000000,pose1_to_pose2_press,0.57866705503,1.25143930341e-06,1.04001166895,0.549238290211,0.0086749184965,1.03966120463
+124,2.066666667,pose1_to_pose2_press,0.578757857403,1.383546271e-06,1.04001153688,0.54932909292,0.00867505211143,1.03966108164
+125,2.083333333,pose1_to_pose2_press,0.57886324758,1.05932212465e-06,1.04001169642,0.549434485004,0.0086747338168,1.03966122771
+126,2.100000000,pose1_to_pose2_press,0.57898298739,1.30575667507e-06,1.04001164343,0.549554220401,0.00867496485867,1.03966116431
+127,2.116666667,pose1_to_pose2_press,0.579118369886,1.25566793598e-06,1.04001156114,0.549689604751,0.00867492167299,1.03966109722
+128,2.133333333,pose1_to_pose2_press,0.579270019673,1.25110882052e-06,1.04001155125,0.549841253603,0.00867491408381,1.03966109076
+129,2.150000000,pose1_to_pose2_press,0.579439182396,1.29186990145e-06,1.04001165722,0.550010416423,0.00867495490382,1.03966118999
+130,2.166666667,pose1_to_pose2_press,0.579628424285,1.2593064715e-06,1.04001161373,0.550199658911,0.00867492446802,1.03966114878
+131,2.183333333,pose1_to_pose2_press,0.579838603036,1.22916781183e-06,1.04001165413,0.550409837885,0.00867489497529,1.03966118637
+132,2.200000000,pose1_to_pose2_press,0.580074536895,1.24668786349e-06,1.04001176525,0.550645771696,0.00867491234712,1.03966129785
+133,2.216666667,pose1_to_pose2_press,0.58033475014,1.20265144838e-06,1.04001173942,0.55090598542,0.00867487002822,1.03966127423
+134,2.233333333,pose1_to_pose2_press,0.580620025821,1.30080920582e-06,1.04001166874,0.551191259982,0.00867496451619,1.03966120665
+135,2.250000000,pose1_to_pose2_press,0.58092597391,1.37318203482e-06,1.04001172552,0.551497207193,0.00867503397306,1.03966126503
+136,2.266666667,pose1_to_pose2_press,0.58125167019,1.28075196121e-06,1.04001175102,0.55182290412,0.00867494348031,1.03966128398
+137,2.283333333,pose1_to_pose2_press,0.581592421008,1.30839312835e-06,1.04001170269,0.552163654175,0.00867496844634,1.03966123346
+138,2.300000000,pose1_to_pose2_press,0.581947350344,1.32548956773e-06,1.04001168722,0.552518583156,0.00867498453744,1.03966122291
+139,2.316666667,pose1_to_pose2_press,0.582317536837,1.2318141775e-06,1.04001167213,0.552888771058,0.0086748957645,1.03966121077
+140,2.333333333,pose1_to_pose2_press,0.582705656301,1.26028347956e-06,1.0400116604,0.553276890789,0.00867492502925,1.03966119632
+141,2.350000000,pose1_to_pose2_press,0.583115583481,1.28103975779e-06,1.04001159917,0.553686817817,0.00867494521833,1.03966113376
+142,2.366666667,pose1_to_pose2_press,0.583555098519,1.34906438057e-06,1.04001181013,0.554126332978,0.00867501367004,1.03966134491
+143,2.383333333,pose1_to_pose2_press,0.584026625298,1.23162558278e-06,1.04001171414,0.554597861998,0.00867490358783,1.03966124278
+144,2.400000000,pose1_to_pose2_press,0.584532805053,1.2279856112e-06,1.04001191383,0.555104040633,0.00867489645958,1.03966145023
+145,2.416666667,pose1_to_pose2_press,0.58506605237,1.504408019e-06,1.0400117075,0.55563728307,0.00867515622941,1.03966124143
+146,2.433333333,pose1_to_pose2_press,0.58561853936,1.31329703754e-06,1.04001157144,0.556189775074,0.00867498228983,1.03966110928
+147,2.450000000,pose1_to_pose2_press,0.586179017635,1.37622444807e-06,1.0400114375,0.556750250902,0.0086750370751,1.0396609793
+148,2.466666667,pose1_to_pose2_press,0.586742841918,1.17517832944e-06,1.04001164559,0.557314077753,0.0086748445198,1.03966118186
+149,2.483333333,pose1_to_pose2_press,0.587321350365,1.21578438887e-06,1.04001169802,0.557892586057,0.00867488448044,1.03966123026
+150,2.500000000,pose1_to_pose2_press,0.587920249998,1.31357202412e-06,1.04001168445,0.558491482628,0.00867497200008,1.03966121965
+151,2.516666667,pose1_to_pose2_press,0.588551194976,1.35589961502e-06,1.04001161528,0.559122427698,0.00867501462834,1.03966115028
+152,2.533333333,pose1_to_pose2_press,0.589209073825,1.39786450039e-06,1.04001162378,0.559780307029,0.0086750583567,1.03966116188
+153,2.550000000,pose1_to_pose2_press,0.589888480368,1.34084380613e-06,1.04001165002,0.560459714285,0.00867500400818,1.03966119434
+154,2.566666667,pose1_to_pose2_press,0.590579323031,1.23984000605e-06,1.04001158469,0.561150558352,0.00867490782483,1.03966113052
+155,2.583333333,pose1_to_pose2_press,0.591279878524,1.24990453408e-06,1.0400115206,0.561851113278,0.00867491595512,1.03966106605
+156,2.600000000,pose1_to_pose2_press,0.591989414634,1.2367986089e-06,1.04001162134,0.56256064883,0.00867490082247,1.03966116352
+157,2.616666667,pose1_to_pose2_press,0.592712476033,1.19085063204e-06,1.04001173209,0.563283711161,0.00867485778062,1.03966126796
+158,2.633333333,pose1_to_pose2_press,0.593452339517,1.28116989033e-06,1.04001155385,0.564023574475,0.00867494760093,1.03966109162
+159,2.650000000,pose1_to_pose2_press,0.594205681791,1.1560420569e-06,1.04001152106,0.564776918384,0.00867482811403,1.03966106119
+160,2.666666667,pose1_to_pose2_press,0.594973227519,1.12625896205e-06,1.04001144502,0.565544463833,0.00867479753834,1.03966098897
+161,2.683333333,pose1_to_pose2_press,0.595747519932,1.38831175958e-06,1.04001169106,0.566318753559,0.00867505008046,1.03966122537
+162,2.700000000,pose1_to_pose2_press,0.596529291959,1.39373813486e-06,1.04001171557,0.567100525651,0.00867505540027,1.03966124175
+163,2.716666667,pose1_to_pose2_press,0.597315329328,1.2046308817e-06,1.04001160998,0.567886563946,0.00867486936488,1.03966113438
+164,2.733333333,pose1_to_pose2_press,0.598106001882,1.14368049677e-06,1.0400114263,0.568677237597,0.00867481275409,1.03966096612
+165,2.750000000,pose1_to_pose2_press,0.598904767977,1.02715298623e-06,1.04001180081,0.569476007321,0.00867470816225,1.03966133132
+166,2.766666667,pose1_to_pose2_press,0.599703224777,1.25622376565e-06,1.04001181128,0.570274460345,0.00867492463406,1.03966134709
+167,2.783333333,pose1_to_pose2_press,0.600498797015,1.35712096809e-06,1.04001168017,0.571070030527,0.00867501871936,1.03966122008
+168,2.800000000,pose1_to_pose2_press,0.601284858429,1.19546910437e-06,1.04001178361,0.571856094504,0.00867486552699,1.03966131763
+169,2.816666667,pose1_to_pose2_press,0.602061215233,1.23253703597e-06,1.04001180768,0.572632449342,0.00867489592419,1.03966134179
+170,2.833333333,pose1_to_pose2_press,0.602836773908,1.29922753619e-06,1.04001182181,0.5734080077,0.00867496142228,1.03966135308
+171,2.850000000,pose1_to_pose2_press,0.603611455394,1.14924642724e-06,1.04001174497,0.574182691689,0.00867482003161,1.03966127868
+172,2.866666667,pose1_to_pose2_press,0.604382488226,1.18871829962e-06,1.04001169148,0.574953723545,0.00867485619705,1.03966122547
+173,2.883333333,pose1_to_pose2_press,0.605160373134,1.38373807819e-06,1.0400116915,0.575731606173,0.0086750435031,1.03966122602
+174,2.900000000,pose1_to_pose2_press,0.605939234715,1.38411745419e-06,1.04001156222,0.576510468778,0.00867504761847,1.03966110326
+175,2.916666667,pose1_to_pose2_press,0.606702725456,1.30861031226e-06,1.04001152599,0.577273959979,0.00867497358607,1.03966106495
+176,2.933333333,pose1_to_pose2_press,0.607452522788,1.2039614932e-06,1.04001174972,0.578023757155,0.00867486805222,1.03966127998
+177,2.950000000,pose1_to_pose2_press,0.608186054506,1.1212158289e-06,1.04001187941,0.578757290208,0.00867479000845,1.039661414
+178,2.966666667,pose1_to_pose2_press,0.608906567507,1.29281405919e-06,1.04001193098,0.579477801611,0.00867495647234,1.03966147286
+179,2.983333333,pose1_to_pose2_press,0.609615055108,1.25485210316e-06,1.0400116967,0.580186289363,0.00867491870203,1.03966123066
+180,3.000000000,pose1_to_pose2_press,0.610311372571,1.28763630006e-06,1.04001165412,0.580882605966,0.00867494878677,1.03966119354
+181,3.016666667,pose1_to_pose2_press,0.610996801639,1.27614996238e-06,1.04001157388,0.581568037281,0.00867494469249,1.03966110771
+182,3.033333333,pose1_to_pose2_press,0.61166664428,1.17492496154e-06,1.04001157208,0.582237880764,0.00867484642212,1.03966110837
+183,3.050000000,pose1_to_pose2_press,0.612317177005,1.33389717382e-06,1.04001166576,0.582888410225,0.00867499451064,1.03966120682
+184,3.066666667,pose1_to_pose2_press,0.612945318798,1.1831447558e-06,1.0400115553,0.583516554329,0.00867485149827,1.03966109398
+185,3.083333333,pose1_to_pose2_press,0.613553300224,1.38827057962e-06,1.04001176937,0.584124533946,0.00867505052131,1.03966130891
+186,3.100000000,pose1_to_pose2_press,0.614144468637,1.3612899334e-06,1.04001182048,0.584715701926,0.00867502173153,1.03966135168
+187,3.116666667,pose1_to_pose2_press,0.614723627698,1.46751670912e-06,1.04001181944,0.585294859309,0.00867512235115,1.0396613526
+188,3.133333333,pose1_to_pose2_press,0.615286676495,1.38557168875e-06,1.04001159466,0.585857909614,0.00867504573152,1.03966113315
+189,3.150000000,pose1_to_pose2_press,0.615822450512,1.41479769845e-06,1.0400116575,0.586393683878,0.00867507574197,1.03966119436
+190,3.166666667,pose1_to_pose2_press,0.61632672081,1.31514574447e-06,1.04001156588,0.586897954018,0.0086749758361,1.0396611087
+191,3.183333333,pose1_to_pose2_press,0.616797453783,1.36050592063e-06,1.04001165857,0.587368687356,0.00867502215998,1.03966119195
+192,3.200000000,pose1_to_pose2_press,0.617243798516,1.25711733489e-06,1.04001175176,0.587815032494,0.00867492038652,1.03966128832
+193,3.216666667,pose1_to_pose2_press,0.61767135915,1.22301591417e-06,1.04001166885,0.588242593379,0.00867488725757,1.03966120596
+194,3.233333333,pose1_to_pose2_press,0.618087679358,1.27857090245e-06,1.04001160126,0.588658913877,0.00867494351995,1.03966112866
+195,3.250000000,pose1_to_pose2_press,0.618487724855,1.33206165945e-06,1.04001171292,0.589058959659,0.00867499806799,1.03966123961
+196,3.266666667,pose1_to_pose2_press,0.618862755535,1.34204168169e-06,1.04001170328,0.589433990496,0.00867500903209,1.0396612384
+197,3.283333333,pose1_to_pose2_press,0.61920581811,1.21992502944e-06,1.04001159146,0.589777053391,0.00867488829398,1.03966113075
+198,3.300000000,pose1_to_pose2_press,0.619515178514,1.1137595849e-06,1.04001171199,0.590086414618,0.008674784939,1.0396612493
+199,3.316666667,pose1_to_pose2_press,0.619795569026,1.11177855321e-06,1.04001182908,0.590366805887,0.0086747853175,1.0396613595
+200,3.333333333,pose1_to_pose2_press,0.620054346898,1.26092410859e-06,1.04001181681,0.590625581589,0.00867492729695,1.03966134964
+201,3.350000000,pose1_to_pose2_press,0.620300945432,1.32404574262e-06,1.04001168943,0.590872178477,0.00867498512611,1.03966122644
+202,3.366666667,pose1_to_pose2_press,0.620537190701,1.29850975089e-06,1.04001176286,0.591108424523,0.00867496238701,1.03966130262
+203,3.383333333,pose1_to_pose2_press,0.620762513326,1.30267611346e-06,1.04001159643,0.591333747428,0.00867496772445,1.03966113992
+204,3.400000000,pose1_to_pose2_press,0.620971451097,1.2032712135e-06,1.04001176089,0.591542686148,0.00867487111588,1.0396612927
+205,3.416666667,pose1_to_pose2_press,0.62116261081,1.21940086568e-06,1.04001183001,0.591733845321,0.00867488543725,1.03966136042
+206,3.433333333,pose1_to_pose2_press,0.621330680317,1.31149075801e-06,1.04001171943,0.591901914224,0.00867497582343,1.03966125675
+207,3.450000000,pose1_to_pose2_press,0.621478264712,1.20913488835e-06,1.04001146048,0.592049499829,0.00867487774098,1.03966100068
+208,3.466666667,pose1_to_pose2_press,0.621606378656,1.13466759845e-06,1.04001153324,0.592177614951,0.00867480722033,1.03966107097
+209,3.483333333,pose1_to_pose2_press,0.621719262037,1.23948554855e-06,1.04001171766,0.592290497254,0.00867490836716,1.03966125404
+210,3.500000000,pose1_to_pose2_press,0.621817501649,1.34120149572e-06,1.04001161343,0.592388735029,0.00867500402884,1.03966115124
+211,3.516666667,pose1_to_pose2_press,0.621905461179,1.2653939599e-06,1.0400118045,0.592476696486,0.0086749348627,1.03966133721
+212,3.533333333,pose1_to_pose2_press,0.621983737722,1.16290506891e-06,1.04001172395,0.592554973492,0.0086748337425,1.0396612523
+213,3.550000000,pose1_to_pose2_press,0.622051360162,1.19362923144e-06,1.04001158222,0.592622595092,0.00867486185289,1.03966111618
+214,3.566666667,pose1_to_pose2_press,0.622109506975,1.28187169736e-06,1.04001156668,0.592680739392,0.00867494133394,1.0396611018
+215,3.583333333,pose1_to_pose2_press,0.622158035343,1.25618395886e-06,1.04001157759,0.592729269247,0.00867492055752,1.03966111049
+216,3.600000000,pose1_to_pose2_press,0.622197610981,1.13025359304e-06,1.04001156357,0.592768847091,0.00867480220407,1.03966109841
+217,3.616666667,pose1_to_pose2_press,0.622228531833,1.17896262366e-06,1.0400115789,0.592799767159,0.00867484820593,1.03966111017
+218,3.633333333,pose1_to_pose2_press,0.622252576309,1.23016043068e-06,1.04001180672,0.592823811062,0.00867489724385,1.03966133236
+219,3.650000000,pose1_to_pose2_press,0.622270892811,1.2732195651e-06,1.04001186307,0.59284212682,0.00867493775202,1.03966138866
+220,3.666666667,pose1_to_pose2_press,0.622284655961,1.32375727859e-06,1.0400116692,0.59285588955,0.00867498708866,1.03966120022
+221,3.683333333,pose1_to_pose2_press,0.622294833796,1.33424472597e-06,1.0400116149,0.592866068686,0.00867500215141,1.0396611497
+222,3.700000000,pose1_to_pose2_press,0.622301638745,1.3852896415e-06,1.04001190805,0.592872870624,0.00867504272844,1.03966143648
+223,3.716666667,pose1_to_pose2_press,0.622306105808,1.38684767398e-06,1.04001173816,0.592877338279,0.00867504672725,1.03966127633
+224,3.733333333,pose1_to_pose2_press,0.622308828075,1.36701158217e-06,1.04001175237,0.592880061135,0.00867502889045,1.03966129034
+225,3.750000000,pose1_to_pose2_press,0.622310281359,1.34323233625e-06,1.04001190111,0.592881514608,0.00867500546062,1.03966143224
+226,3.766666667,pose1_to_pose2_press,0.622311034395,1.33265239706e-06,1.04001194642,0.592882267672,0.00867499485613,1.03966147464
+227,3.783333333,pose1_to_pose2_press,0.622311430457,1.3320620437e-06,1.04001187956,0.592882663554,0.00867499366561,1.03966140804
+228,3.800000000,pose1_to_pose2_press,0.622311709549,1.33164604008e-06,1.04001183244,0.59288294252,0.00867499282668,1.03966136111
+229,3.816666667,pose1_to_pose2_press,0.622311925676,1.33132389088e-06,1.04001179595,0.592883158548,0.00867499217702,1.03966132477
+230,3.833333333,pose1_to_pose2_press,0.622311978507,1.33124514337e-06,1.04001178704,0.592883211354,0.00867499201822,1.03966131588
+231,3.850000000,pose1_to_pose2_press,0.622311987125,1.33123229782e-06,1.04001178558,0.592883219969,0.00867499199232,1.03966131443
+232,3.866666667,pose1_to_pose2_press,0.622312162567,1.33097079069e-06,1.04001175596,0.592883395331,0.00867499146495,1.03966128493
+233,3.883333333,pose1_to_pose2_press,0.622312357084,1.33068085297e-06,1.04001172312,0.592883589759,0.00867499088026,1.03966125223
+234,3.900000000,pose1_to_pose2_press,0.622312444197,1.3298924538e-06,1.04001171012,0.592883676866,0.00867499008238,1.03966123945
+235,3.916666667,pose1_to_pose2_press,0.622312596638,1.31444527944e-06,1.04001172377,0.592883830023,0.00867497723594,1.0396612572
+236,3.933333333,pose1_to_pose2_press,0.622312807313,1.29309724504e-06,1.04001174263,0.592884041687,0.00867495948214,1.03966128172
+237,3.950000000,pose1_to_pose2_press,0.622312860175,1.28774068614e-06,1.04001174736,0.592884094796,0.00867495502743,1.03966128787
+238,3.966666667,pose1_to_pose2_press,0.622312992267,1.27435558135e-06,1.04001175918,0.592884227508,0.00867494389589,1.03966130325
+239,3.983333333,pose1_to_pose2_press,0.622313061553,1.26952148436e-06,1.04001176164,0.592884297024,0.00867493991387,1.03966130745
+240,4.000000000,pose1_to_pose2_press,0.622313069864,1.27392049558e-06,1.04001175342,0.592884305144,0.00867494366378,1.03966129916
+241,4.016666667,pose1_to_pose2_press,0.622313146095,1.31427291757e-06,1.040011678,0.592884379631,0.00867497806199,1.03966122311
+242,4.033333333,pose1_to_pose2_press,0.622313151349,1.31705423161e-06,1.0400116728,0.592884384766,0.0086749804329,1.03966121787
+243,4.050000000,pose1_to_pose2_press,0.622313174864,1.32950167241e-06,1.04001164953,0.592884407742,0.00867499104366,1.03966119441
+244,4.066666667,pose1_to_pose2_press,0.622313241754,1.3874637551e-06,1.04001152133,0.592884473649,0.00867504568545,1.03966106703
+245,4.083333333,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.592884473649,0.0086750456857,1.03966106703
+246,4.100000000,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.592884473649,0.00867504568554,1.03966106703
+247,4.116666667,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568479,1.03966106703
+248,4.133333333,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568506,1.03966106703
+249,4.150000000,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568502,1.03966106703
+250,4.166666667,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568501,1.03966106703
+251,4.183333333,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568513,1.03966106703
+252,4.200000000,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568492,1.03966106703
+253,4.216666667,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568531,1.03966106703
+254,4.233333333,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568518,1.03966106703
+255,4.250000000,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568552,1.03966106703
+256,4.266666667,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568534,1.03966106703
+257,4.283333333,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568543,1.03966106703
+258,4.300000000,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568542,1.03966106703
+259,4.316666667,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568527,1.03966106703
+260,4.333333333,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568526,1.03966106703
+261,4.350000000,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568525,1.03966106703
+262,4.366666667,pose2_hold,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568536,1.03966106703
+263,4.383333333,pose2_to_pose3_retreat,0.622313241754,1.3874637551e-06,1.04001152133,0.59288447365,0.00867504568486,1.03966106703
+264,4.400000000,pose2_to_pose3_retreat,0.622312927926,1.2345933668e-06,1.04001155052,0.592884163852,0.00867490618821,1.03966108891
+265,4.416666667,pose2_to_pose3_retreat,0.622312501767,1.20229458102e-06,1.04001155082,0.592883738248,0.00867487576822,1.03966108906
+266,4.433333333,pose2_to_pose3_retreat,0.622312142352,1.21236022121e-06,1.04001154104,0.592883378089,0.00867488341404,1.03966108186
+267,4.450000000,pose2_to_pose3_retreat,0.622312133278,1.21261435001e-06,1.04001154079,0.592883368996,0.00867488360707,1.03966108168
+268,4.466666667,pose2_to_pose3_retreat,0.622311985834,1.21674360028e-06,1.04001153678,0.592883221247,0.00867488674364,1.03966107872
+269,4.483333333,pose2_to_pose3_retreat,0.622311786243,1.22233325813e-06,1.04001153135,0.592883021243,0.00867489098952,1.03966107472
+270,4.500000000,pose2_to_pose3_retreat,0.622310740965,1.22861092582e-06,1.04001157871,0.592881975833,0.00867489677549,1.03966112097
+271,4.516666667,pose2_to_pose3_retreat,0.622307907773,1.24979795852e-06,1.04001171106,0.592879142714,0.00867491799857,1.03966124833
+272,4.533333333,pose2_to_pose3_retreat,0.622301344458,1.27259893119e-06,1.0400117673,0.592872578123,0.00867493630721,1.03966130141
+273,4.550000000,pose2_to_pose3_retreat,0.622289891901,1.23385659743e-06,1.04001177347,0.592861125703,0.00867489780317,1.03966130221
+274,4.566666667,pose2_to_pose3_retreat,0.622270292468,1.25032357628e-06,1.04001172828,0.592841526505,0.00867491520257,1.039661261
+275,4.583333333,pose2_to_pose3_retreat,0.622242410226,1.26575811755e-06,1.0400115298,0.592813643954,0.008674930073,1.03966107528
+276,4.600000000,pose2_to_pose3_retreat,0.622205428342,1.3434354401e-06,1.0400115738,0.592776661159,0.00867500414095,1.03966110793
+277,4.616666667,pose2_to_pose3_retreat,0.622161033132,1.25151370842e-06,1.04001180381,0.5927322687,0.00867492147056,1.03966133706
+278,4.633333333,pose2_to_pose3_retreat,0.622109976383,1.06386256597e-06,1.04001167282,0.59268121384,0.00867474042457,1.03966121148
+279,4.650000000,pose2_to_pose3_retreat,0.622053580621,1.15470731522e-06,1.04001178277,0.592624816405,0.00867482555483,1.03966131959
+280,4.666666667,pose2_to_pose3_retreat,0.621991770826,1.227613879e-06,1.04001172362,0.592563005111,0.00867489333322,1.03966125863
+281,4.683333333,pose2_to_pose3_retreat,0.621922591283,1.32642970302e-06,1.04001174271,0.592493824987,0.00867499017604,1.03966127762
+282,4.700000000,pose2_to_pose3_retreat,0.621845232162,1.41254675371e-06,1.04001171562,0.592416465642,0.00867507562994,1.03966125334
+283,4.716666667,pose2_to_pose3_retreat,0.621757525324,1.42255718046e-06,1.04001141868,0.592328758005,0.00867508316149,1.03966096303
+284,4.733333333,pose2_to_pose3_retreat,0.621659306341,1.34799095438e-06,1.04001142706,0.592230539295,0.00867500931057,1.03966096715
+285,4.750000000,pose2_to_pose3_retreat,0.621549740347,1.31493084548e-06,1.04001148022,0.592120973626,0.00867497735775,1.03966102152
+286,4.766666667,pose2_to_pose3_retreat,0.621429668854,1.35448569259e-06,1.04001155658,0.592000901771,0.00867501580881,1.03966110201
+287,4.783333333,pose2_to_pose3_retreat,0.621298751101,1.44369345466e-06,1.04001164716,0.59186998309,0.00867510194169,1.0396611956
+288,4.800000000,pose2_to_pose3_retreat,0.621153555885,1.25195455167e-06,1.04001179966,0.591724791113,0.00867492048832,1.03966133233
+289,4.816666667,pose2_to_pose3_retreat,0.620993933743,1.20946935641e-06,1.04001178894,0.591565168758,0.00867487744379,1.03966132668
+290,4.833333333,pose2_to_pose3_retreat,0.620818211147,1.28153078527e-06,1.04001172397,0.591389444673,0.00867494457418,1.03966126606
+291,4.850000000,pose2_to_pose3_retreat,0.620626204535,1.3847407172e-06,1.04001164374,0.591197436869,0.00867504360452,1.03966118437
+292,4.866666667,pose2_to_pose3_retreat,0.620417731468,1.32929645475e-06,1.04001154826,0.590988964862,0.00867499168948,1.03966109009
+293,4.883333333,pose2_to_pose3_retreat,0.620194722745,1.20679268618e-06,1.0400116548,0.590765958725,0.0086748776741,1.03966119138
+294,4.900000000,pose2_to_pose3_retreat,0.619958344302,1.25141425682e-06,1.04001177408,0.590529579242,0.00867491847581,1.0396613051
+295,4.916666667,pose2_to_pose3_retreat,0.619709089162,1.31761338149e-06,1.0400117627,0.590280323193,0.00867498145049,1.03966129197
+296,4.933333333,pose2_to_pose3_retreat,0.619446410739,1.29111776769e-06,1.04001157065,0.590017646388,0.0086749605368,1.03966110436
+297,4.950000000,pose2_to_pose3_retreat,0.619168363459,1.14221212889e-06,1.04001153325,0.589739600128,0.00867481532019,1.03966107529
+298,4.966666667,pose2_to_pose3_retreat,0.618876779041,1.14631003787e-06,1.04001162114,0.589448014353,0.00867481457602,1.03966115964
+299,4.983333333,pose2_to_pose3_retreat,0.618571079721,1.21362358125e-06,1.040011684,0.589142313792,0.00867487746475,1.03966121947
+300,5.000000000,pose2_to_pose3_retreat,0.618244416174,1.30423963104e-06,1.04001167595,0.588815649922,0.008674966964,1.03966121328
+301,5.016666667,pose2_to_pose3_retreat,0.617898140553,1.36880244233e-06,1.04001166185,0.588469374128,0.00867503103308,1.03966120386
+302,5.033333333,pose2_to_pose3_retreat,0.617530616509,1.21339494296e-06,1.04001168871,0.58810185155,0.0086748802018,1.03966122388
+303,5.050000000,pose2_to_pose3_retreat,0.617136026172,1.17537168527e-06,1.04001163808,0.587707261239,0.00867484209552,1.03966117156
+304,5.066666667,pose2_to_pose3_retreat,0.616711282484,1.24482558596e-06,1.0400116029,0.587282517277,0.00867491060845,1.03966113793
+305,5.083333333,pose2_to_pose3_retreat,0.616272574312,1.28204006449e-06,1.04001170604,0.586843810456,0.00867495231768,1.03966124036
+306,5.100000000,pose2_to_pose3_retreat,0.615822927832,1.24106781392e-06,1.04001176377,0.58639416404,0.00867491186214,1.03966130793
+307,5.116666667,pose2_to_pose3_retreat,0.615367387673,1.26670674654e-06,1.04001190375,0.585938622822,0.00867493347297,1.03966143728
+308,5.133333333,pose2_to_pose3_retreat,0.614905130067,1.30834337118e-06,1.04001181849,0.585476363971,0.00867497095832,1.03966135401
+309,5.150000000,pose2_to_pose3_retreat,0.614429760371,1.34257180807e-06,1.04001162734,0.585000993543,0.00867500302082,1.03966117055
+310,5.166666667,pose2_to_pose3_retreat,0.613926153215,1.34585963041e-06,1.04001153482,0.584497386898,0.00867500808546,1.03966107723
+311,5.183333333,pose2_to_pose3_retreat,0.613390936393,1.29170130423e-06,1.04001167599,0.583962170247,0.00867495408616,1.03966120913
+312,5.200000000,pose2_to_pose3_retreat,0.612826656567,1.25044669993e-06,1.04001157978,0.583397892065,0.00867491870952,1.03966112051
+313,5.216666667,pose2_to_pose3_retreat,0.612244526691,1.23017333645e-06,1.04001166555,0.582815761987,0.00867489770998,1.03966120532
+314,5.233333333,pose2_to_pose3_retreat,0.611660650412,1.23378611776e-06,1.04001176471,0.58223188511,0.00867489917242,1.03966130142
+315,5.250000000,pose2_to_pose3_retreat,0.611076817527,1.26309526542e-06,1.04001161301,0.581648053082,0.00867493166005,1.03966115638
+316,5.266666667,pose2_to_pose3_retreat,0.610491161199,1.33577254e-06,1.04001130577,0.58106239642,0.00867500345008,1.03966085519
+317,5.283333333,pose2_to_pose3_retreat,0.609889254211,1.3134762506e-06,1.04001156524,0.580460487879,0.00867497537924,1.03966110196
+318,5.300000000,pose2_to_pose3_retreat,0.6092685135,1.24114853913e-06,1.04001171061,0.579839747593,0.00867490425213,1.0396612406
+319,5.316666667,pose2_to_pose3_retreat,0.608632810363,1.1931052847e-06,1.04001173357,0.579204045877,0.0086748611491,1.0396612658
+320,5.333333333,pose2_to_pose3_retreat,0.607988573189,1.23417492676e-06,1.04001178486,0.578559808906,0.00867490314389,1.03966132334
+321,5.350000000,pose2_to_pose3_retreat,0.607339507582,1.23124753083e-06,1.04001171296,0.577910741409,0.00867489357594,1.03966124588
+322,5.366666667,pose2_to_pose3_retreat,0.606687484815,1.2776690907e-06,1.04001148995,0.577258719162,0.00867494224044,1.03966103461
+323,5.383333333,pose2_to_pose3_retreat,0.606028605236,1.27512978385e-06,1.04001157055,0.576599840606,0.00867494311337,1.03966111369
+324,5.400000000,pose2_to_pose3_retreat,0.605350667643,1.2368813369e-06,1.04001182475,0.575921903494,0.0086749060323,1.03966135637
+325,5.416666667,pose2_to_pose3_retreat,0.604657033644,1.23181899893e-06,1.04001181557,0.575228268673,0.00867489811688,1.03966134553
+326,5.433333333,pose2_to_pose3_retreat,0.603959387394,1.25304335371e-06,1.04001160817,0.574530623084,0.00867492178364,1.03966114306
+327,5.450000000,pose2_to_pose3_retreat,0.603260876527,1.2398762104e-06,1.04001164095,0.573832111028,0.00867490460758,1.0396611763
+328,5.466666667,pose2_to_pose3_retreat,0.602559637175,1.3162103926e-06,1.04001150122,0.573130870205,0.00867497613922,1.03966104123
+329,5.483333333,pose2_to_pose3_retreat,0.601866488046,1.3653434501e-06,1.04001139121,0.572437721022,0.00867502514178,1.03966093251
+330,5.500000000,pose2_to_pose3_retreat,0.601180470756,1.19635529336e-06,1.04001171426,0.571751706477,0.00867486489391,1.03966124128
+331,5.516666667,pose2_to_pose3_retreat,0.600489295498,1.12592445148e-06,1.04001171245,0.571060531952,0.00867479701294,1.03966124093
+332,5.533333333,pose2_to_pose3_retreat,0.59979864409,1.11128873195e-06,1.04001178458,0.570369880478,0.00867478213887,1.03966131264
+333,5.550000000,pose2_to_pose3_retreat,0.599112514955,1.22609170517e-06,1.04001177616,0.569683750165,0.00867489309133,1.03966130784
+334,5.566666667,pose2_to_pose3_retreat,0.598420234934,1.39075925387e-06,1.04001167715,0.568991468583,0.00867505272908,1.03966121541
+335,5.583333333,pose2_to_pose3_retreat,0.597717985066,1.22838290244e-06,1.04001169759,0.568289219663,0.0086748934305,1.03966123237
+336,5.600000000,pose2_to_pose3_retreat,0.597018755172,1.18157677561e-06,1.04001170092,0.567589991463,0.00867485237781,1.03966123582
+337,5.616666667,pose2_to_pose3_retreat,0.596323653685,1.14365367076e-06,1.04001177168,0.566894890877,0.00867481734079,1.0396613023
+338,5.633333333,pose2_to_pose3_retreat,0.595628422732,1.23452316572e-06,1.04001187676,0.566199659173,0.00867490551455,1.03966140373
+339,5.650000000,pose2_to_pose3_retreat,0.594940570973,1.40244664305e-06,1.04001191763,0.565511805431,0.00867506676274,1.03966144588
+340,5.666666667,pose2_to_pose3_retreat,0.594268028078,1.26849039575e-06,1.04001170296,0.564839261849,0.00867493077179,1.03966123848
+341,5.683333333,pose2_to_pose3_retreat,0.593605012413,1.24590961265e-06,1.04001170613,0.564176246875,0.00867491036922,1.03966123757
+342,5.700000000,pose2_to_pose3_retreat,0.592953885926,1.20982440763e-06,1.04001177848,0.5635251215,0.00867487801924,1.03966130886
+343,5.716666667,pose2_to_pose3_retreat,0.592319383507,1.18871654582e-06,1.0400117946,0.562890619416,0.0086748580321,1.03966132459
+344,5.733333333,pose2_to_pose3_retreat,0.591695745525,1.20276907329e-06,1.04001172455,0.562266980714,0.00867486957201,1.03966125281
+345,5.750000000,pose2_to_pose3_retreat,0.591073061826,1.23821653459e-06,1.04001183523,0.561644297855,0.0086749077713,1.03966136107
+346,5.766666667,pose2_to_pose3_retreat,0.590452193242,1.19738101789e-06,1.04001184322,0.561023429601,0.0086748681489,1.03966137133
+347,5.783333333,pose2_to_pose3_retreat,0.589836261092,1.21120652708e-06,1.04001181552,0.560407497503,0.00867488241942,1.03966135023
+348,5.800000000,pose2_to_pose3_retreat,0.589237993303,1.21905407951e-06,1.04001180422,0.559809229538,0.00867488974976,1.03966134102
+349,5.816666667,pose2_to_pose3_retreat,0.588660143136,1.15829985171e-06,1.04001183214,0.559231379137,0.00867482791198,1.03966136174
+350,5.833333333,pose2_to_pose3_retreat,0.588101421953,1.13510264364e-06,1.0400118273,0.55867265851,0.00867480663966,1.03966135778
+351,5.850000000,pose2_to_pose3_retreat,0.587556759087,1.31231549998e-06,1.04001173537,0.558127993769,0.008674977611,1.0396612689
+352,5.866666667,pose2_to_pose3_retreat,0.587023100593,1.42133120757e-06,1.04001174462,0.557594333656,0.00867508118181,1.03966127933
+353,5.883333333,pose2_to_pose3_retreat,0.586500249432,1.39488036121e-06,1.04001177136,0.557071482406,0.00867505443786,1.03966130622
+354,5.900000000,pose2_to_pose3_retreat,0.585992007915,1.24446158467e-06,1.04001166982,0.556563242781,0.00867491045222,1.03966120503
+355,5.916666667,pose2_to_pose3_retreat,0.58550824465,1.15447058033e-06,1.04001151209,0.556079479822,0.00867482116241,1.03966103897
+356,5.933333333,pose2_to_pose3_retreat,0.5850470785,1.23270703154e-06,1.04001159415,0.555618313007,0.0086748975147,1.03966113026
+357,5.950000000,pose2_to_pose3_retreat,0.584604464221,1.24223595382e-06,1.04001167039,0.555175698567,0.00867490662703,1.03966120969
+358,5.966666667,pose2_to_pose3_retreat,0.584170631083,1.19554259993e-06,1.04001168281,0.55474186584,0.00867486121058,1.03966121917
+359,5.983333333,pose2_to_pose3_retreat,0.583741251055,1.27272474135e-06,1.0400116573,0.554312485999,0.00867493925987,1.03966119951
+360,6.000000000,pose2_to_pose3_retreat,0.583320745353,1.25262304374e-06,1.04001160677,0.553891980102,0.0086749180169,1.03966113708
+361,6.016666667,pose2_to_pose3_retreat,0.582912335662,1.21133682778e-06,1.04001173323,0.553483571948,0.00867488203846,1.03966126587
+362,6.033333333,pose2_to_pose3_retreat,0.582529946067,1.24145941627e-06,1.04001173901,0.553101181851,0.0086749106401,1.03966127612
+363,6.050000000,pose2_to_pose3_retreat,0.582174987201,1.30534884358e-06,1.04001163589,0.552746221813,0.00867497067427,1.03966117603
+364,6.066666667,pose2_to_pose3_retreat,0.581851436403,1.33506214671e-06,1.04001154936,0.552422671317,0.00867500150606,1.03966109177
+365,6.083333333,pose2_to_pose3_retreat,0.581550880532,1.28363855009e-06,1.04001162257,0.552122115881,0.0086749516118,1.03966116635
+366,6.100000000,pose2_to_pose3_retreat,0.581271247407,1.23644240421e-06,1.04001169445,0.551842483577,0.0086749067418,1.03966122685
+367,6.116666667,pose2_to_pose3_retreat,0.581001949059,1.26130385237e-06,1.04001172981,0.551573184235,0.00867492791741,1.03966125444
+368,6.133333333,pose2_to_pose3_retreat,0.580741880226,1.33504160486e-06,1.04001170544,0.551313112939,0.00867499336227,1.03966123181
+369,6.150000000,pose2_to_pose3_retreat,0.580490908946,1.15930890479e-06,1.04001159612,0.551062145049,0.00867482929407,1.03966112685
+370,6.166666667,pose2_to_pose3_retreat,0.580250097928,1.17601706282e-06,1.04001183486,0.550821334223,0.00867484680688,1.03966136928
+371,6.183333333,pose2_to_pose3_retreat,0.58002229347,1.22666206353e-06,1.04001179082,0.550593528445,0.00867489297514,1.03966132536
+372,6.200000000,pose2_to_pose3_retreat,0.579810464703,1.25110727962e-06,1.04001165201,0.550381698893,0.00867491463984,1.03966118379
+373,6.216666667,pose2_to_pose3_retreat,0.579615432948,1.23241587579e-06,1.04001165991,0.55018666812,0.00867489918185,1.03966118917
+374,6.233333333,pose2_to_pose3_retreat,0.579440022709,1.1901293244e-06,1.04001182135,0.550011259936,0.00867486392726,1.03966135184
+375,6.250000000,pose2_to_pose3_retreat,0.579282961941,1.16965265891e-06,1.04001170054,0.54985419789,0.00867483932462,1.03966123624
+376,6.266666667,pose2_to_pose3_retreat,0.579144624616,1.28000591679e-06,1.04001139724,0.549715859045,0.00867494482807,1.03966094078
+377,6.283333333,pose2_to_pose3_retreat,0.579021575766,1.22097392029e-06,1.0400113404,0.549592810485,0.00867488688859,1.03966088661
+378,6.300000000,pose2_to_pose3_retreat,0.578913489124,1.14047313222e-06,1.04001147093,0.549484724426,0.00867480825403,1.03966101429
+379,6.316666667,pose2_to_pose3_retreat,0.578815890156,1.22048833881e-06,1.04001168094,0.549387124596,0.00867488501965,1.03966121643
+380,6.333333333,pose2_to_pose3_retreat,0.578728246234,1.21182056251e-06,1.04001159876,0.549299481469,0.00867487894924,1.03966113288
+381,6.350000000,pose2_to_pose3_retreat,0.57864961712,1.16938007999e-06,1.04001139585,0.54922085273,0.00867483818193,1.03966093988
+382,6.366666667,pose2_to_pose3_retreat,0.578579653153,1.14991510209e-06,1.04001133142,0.549150889199,0.0086748205034,1.03966088269
+383,6.383333333,pose2_to_pose3_retreat,0.578518798215,1.18074344338e-06,1.04001150662,0.549090034858,0.00867485322127,1.03966105434
+384,6.400000000,pose2_to_pose3_retreat,0.578465552565,1.20737563132e-06,1.0400115413,0.549036788609,0.00867487752594,1.03966108171
+385,6.416666667,pose2_to_pose3_retreat,0.578419780499,1.26335127881e-06,1.04001154322,0.548991014592,0.00867492690262,1.03966108411
+386,6.433333333,pose2_to_pose3_retreat,0.578381504314,1.24787602273e-06,1.04001153758,0.548952738216,0.00867491081916,1.03966107939
+387,6.450000000,pose2_to_pose3_retreat,0.578350301526,1.24085789452e-06,1.04001150946,0.548921535476,0.00867490387973,1.03966104923
+388,6.466666667,pose2_to_pose3_retreat,0.578325597065,1.29760208675e-06,1.04001147506,0.548896830062,0.00867495718106,1.0396610097
+389,6.483333333,pose2_to_pose3_retreat,0.578306144199,1.24009026801e-06,1.04001173803,0.548877378975,0.00867490577914,1.03966127455
+390,6.500000000,pose2_to_pose3_retreat,0.578291573007,1.21131865884e-06,1.04001167443,0.548862808416,0.00867487913791,1.03966121065
+391,6.516666667,pose2_to_pose3_retreat,0.578280077084,1.19331436158e-06,1.04001159348,0.548851312564,0.0086748613142,1.03966112827
+392,6.533333333,pose2_to_pose3_retreat,0.578271517401,1.17857570363e-06,1.04001168098,0.548842752554,0.00867484536441,1.03966121338
+393,6.550000000,pose2_to_pose3_retreat,0.578265023895,1.19999313946e-06,1.04001170103,0.548836259424,0.00867486802964,1.03966123258
+394,6.566666667,pose2_to_pose3_retreat,0.578260472325,1.19923545483e-06,1.04001169601,0.548831708113,0.00867486821047,1.03966122881
+395,6.583333333,pose2_to_pose3_retreat,0.578257998174,1.16801237844e-06,1.04001167867,0.548829233933,0.00867483701484,1.03966121451
+396,6.600000000,pose2_to_pose3_retreat,0.578256476386,1.15163345681e-06,1.0400116696,0.548827712111,0.00867482058425,1.039661207
+397,6.616666667,pose2_to_pose3_retreat,0.578255640562,1.17151195512e-06,1.04001168099,0.5488268761,0.0086748397338,1.03966121605
+398,6.633333333,pose2_to_pose3_retreat,0.578255121526,1.18385625688e-06,1.04001168806,0.548826356948,0.00867485162543,1.03966122167
+399,6.650000000,pose2_to_pose3_retreat,0.578254832357,1.19073358982e-06,1.04001169199,0.548826067715,0.00867485825057,1.03966122479
+400,6.666666667,pose2_to_pose3_retreat,0.578254499468,1.19865074231e-06,1.04001169653,0.548825734751,0.0086748658774,1.0396612284
+401,6.683333333,pose2_to_pose3_retreat,0.57825435813,1.20201219912e-06,1.04001169845,0.548825593381,0.00867486911559,1.03966122993
+402,6.700000000,pose2_to_pose3_retreat,0.578254040546,1.20956533649e-06,1.04001170278,0.548825275726,0.00867487639175,1.03966123336
+403,6.716666667,pose2_to_pose3_retreat,0.57825374049,1.21464958503e-06,1.04001169221,0.548824975653,0.00867488143324,1.03966122325
+404,6.733333333,pose2_to_pose3_retreat,0.578253612997,1.21514710215e-06,1.04001167584,0.548824848191,0.00867488208998,1.03966120812
+405,6.750000000,pose2_to_pose3_retreat,0.578253396093,1.21599352568e-06,1.04001164799,0.548824631342,0.00867488320729,1.03966118238
+406,6.766666667,pose2_to_pose3_retreat,0.578253235584,1.21661987903e-06,1.04001162738,0.548824470873,0.0086748840341,1.03966116333
+407,6.783333333,pose2_to_pose3_retreat,0.578253112193,1.21710138785e-06,1.04001161154,0.548824347513,0.00867488466972,1.03966114869
+408,6.800000000,pose2_to_pose3_retreat,0.578253007353,1.21751050176e-06,1.04001159808,0.5488242427,0.00867488520976,1.03966113625
+409,6.816666667,pose2_to_pose3_retreat,0.578252981887,1.21760987921e-06,1.04001159481,0.54882421724,0.00867488534095,1.03966113323
+410,6.833333333,pose2_to_pose3_retreat,0.578252855364,1.21810360952e-06,1.04001157856,0.548824090749,0.00867488599269,1.03966111821
+411,6.850000000,pose2_to_pose3_retreat,0.578252575916,1.21919409576e-06,1.04001154268,0.548823811372,0.00867488743218,1.03966108505
+412,6.866666667,pose2_to_pose3_retreat,0.578252431998,1.21594652909e-06,1.04001158749,0.548823666907,0.00867488220882,1.03966112687
+413,6.883333333,pose2_to_pose3_retreat,0.578252329702,1.21240562438e-06,1.04001163981,0.548823564033,0.00867487656607,1.03966117566
+414,6.900000000,pose2_to_pose3_retreat,0.578252218932,1.20857140431e-06,1.04001169646,0.548823452638,0.00867487045589,1.03966122849
+415,6.916666667,pose2_to_pose3_retreat,0.578252189043,1.19953816487e-06,1.04001168143,0.548823423137,0.00867486276493,1.0396612142
+416,6.933333333,pose2_to_pose3_retreat,0.578252104733,1.15825145541e-06,1.04001157913,0.548823341014,0.00867482913038,1.03966111753
+417,6.950000000,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018397,1.03966109182
+418,6.966666667,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018402,1.03966109182
+419,6.983333333,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018402,1.03966109182

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b2221d232289b22be45b14445880d58c4878f386da0a1f7e7a402dbdeaa4a7
+size 26721694

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/simulation_data.csv

@@ -0,0 +1,423 @@
+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,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+1,0.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+2,0.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+3,0.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+4,0.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+5,0.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+6,0.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+7,0.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+8,0.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+9,0.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+10,0.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+11,0.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+12,0.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+13,0.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+14,0.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+15,0.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+16,0.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+17,0.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+18,0.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+19,0.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+20,0.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+21,0.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+22,0.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+23,0.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+24,0.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+25,0.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+26,0.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+27,0.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+28,0.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+29,0.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+30,0.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+31,0.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+32,0.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+33,0.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+34,0.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+35,0.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+36,0.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+37,0.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+38,0.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+39,0.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+40,0.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+41,0.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+42,0.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+43,0.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+44,0.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+45,0.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+46,0.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+47,0.783333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+48,0.800000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+49,0.816666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+50,0.833333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+51,0.850000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+52,0.866666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+53,0.883333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+54,0.900000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+55,0.916666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+56,0.933333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+57,0.950000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+58,0.966666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+59,0.983333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+60,1.000000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+61,1.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+62,1.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+63,1.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+64,1.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+65,1.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+66,1.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+67,1.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+68,1.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+69,1.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+70,1.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+71,1.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+72,1.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+73,1.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+74,1.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+75,1.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+76,1.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+77,1.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+78,1.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+79,1.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+80,1.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+81,1.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+82,1.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+83,1.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+84,1.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+85,1.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+86,1.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+87,1.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+88,1.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+89,1.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+90,1.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+91,1.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+92,1.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+93,1.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+94,1.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+95,1.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+96,1.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+97,1.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+98,1.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+99,1.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+100,1.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+101,1.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+102,1.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+103,1.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+104,1.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+105,1.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+106,1.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+107,1.783333333,pose1_to_pose2_press,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+108,1.800000000,pose1_to_pose2_press,0.578252435117,1.23991502545e-06,1.0400115597,0.548823670154,0.00867490651842,1.03966109685
+109,1.816666667,pose1_to_pose2_press,0.578252901843,1.28369420976e-06,1.04001156747,0.548824135937,0.00867494701509,1.03966110245
+110,1.833333333,pose1_to_pose2_press,0.57825330386,1.22725976647e-06,1.04001157576,0.548824538865,0.00867489360205,1.03966110903
+111,1.850000000,pose1_to_pose2_press,0.578253346844,1.22122563396e-06,1.04001157664,0.548824581947,0.00867488789098,1.03966110973
+112,1.866666667,pose1_to_pose2_press,0.578253462077,1.20504946287e-06,1.04001157902,0.548824697441,0.00867487258085,1.03966111161
+113,1.883333333,pose1_to_pose2_press,0.578254253539,1.12222516302e-06,1.04001159661,0.548825490237,0.00867479418733,1.03966112687
+114,1.900000000,pose1_to_pose2_press,0.578257046677,1.26460054066e-06,1.04001166169,0.548828281048,0.00867492896766,1.03966119937
+115,1.916666667,pose1_to_pose2_press,0.57826398107,1.31964592244e-06,1.04001154229,0.548835215108,0.00867498309051,1.03966108502
+116,1.933333333,pose1_to_pose2_press,0.57827836627,1.36559616766e-06,1.04001185873,0.548849599929,0.00867502723478,1.03966138853
+117,1.950000000,pose1_to_pose2_press,0.578301522344,1.2794590092e-06,1.04001160918,0.548872756682,0.00867494359227,1.03966114371
+118,1.966666667,pose1_to_pose2_press,0.578335421581,1.32708298271e-06,1.04001166706,0.548906655681,0.00867499059839,1.03966120619
+119,1.983333333,pose1_to_pose2_press,0.578379250638,1.23925387994e-06,1.04001156933,0.5489504857,0.00867490589559,1.039661105
+120,2.000000000,pose1_to_pose2_press,0.578431765862,1.32164332898e-06,1.04001178908,0.549003001108,0.0086749889266,1.03966132511
+121,2.016666667,pose1_to_pose2_press,0.578491719852,1.20317921608e-06,1.04001142761,0.549062956182,0.00867487436989,1.03966096925
+122,2.033333333,pose1_to_pose2_press,0.57855941102,1.19705875197e-06,1.04001179724,0.549130647657,0.00867486896654,1.03966133078
+123,2.050000000,pose1_to_pose2_press,0.578636475833,1.27629370709e-06,1.04001178278,0.549207710882,0.00867494307867,1.03966132284
+124,2.066666667,pose1_to_pose2_press,0.578724035516,1.32185654228e-06,1.04001180628,0.549295270343,0.00867498764364,1.03966134026
+125,2.083333333,pose1_to_pose2_press,0.578826241337,1.30176306628e-06,1.0400116902,0.549397477898,0.00867497372547,1.0396612313
+126,2.100000000,pose1_to_pose2_press,0.578942537675,1.28344057428e-06,1.04001156176,0.549513773405,0.00867495281142,1.03966110851
+127,2.116666667,pose1_to_pose2_press,0.579073834306,1.30877716545e-06,1.04001156624,0.549645067437,0.00867496886446,1.03966110147
+128,2.133333333,pose1_to_pose2_press,0.579219970322,1.31396564612e-06,1.04001163688,0.549791204079,0.0086749760868,1.03966116985
+129,2.150000000,pose1_to_pose2_press,0.579382203725,1.22096990488e-06,1.04001170048,0.549953439804,0.00867489095482,1.03966123298
+130,2.166666667,pose1_to_pose2_press,0.579565441456,1.11433538644e-06,1.04001153988,0.550136678253,0.00867478684048,1.03966107443
+131,2.183333333,pose1_to_pose2_press,0.579770447598,1.12100843492e-06,1.04001148972,0.550341683583,0.00867479091381,1.03966102808
+132,2.200000000,pose1_to_pose2_press,0.580000186922,1.15599527021e-06,1.04001178815,0.550571422477,0.0086748240703,1.03966131731
+133,2.216666667,pose1_to_pose2_press,0.580253109172,1.15190246785e-06,1.04001164895,0.55082434558,0.00867482312844,1.0396611844
+134,2.233333333,pose1_to_pose2_press,0.580529930932,1.24227856481e-06,1.04001151835,0.551101166091,0.0086749094017,1.03966105701
+135,2.250000000,pose1_to_pose2_press,0.580828119063,1.3535153961e-06,1.04001152908,0.551399353114,0.00867501677284,1.03966106508
+136,2.266666667,pose1_to_pose2_press,0.581147905287,1.26940925324e-06,1.04001169841,0.551719141264,0.00867493907609,1.03966123133
+137,2.283333333,pose1_to_pose2_press,0.581485280547,1.17424315196e-06,1.04001169035,0.552056516517,0.00867484426152,1.03966123251
+138,2.300000000,pose1_to_pose2_press,0.581838450528,1.22806377045e-06,1.04001176068,0.55240968545,0.00867489441032,1.03966129987
+139,2.316666667,pose1_to_pose2_press,0.582206259068,1.31529506137e-06,1.04001168709,0.552777492099,0.00867497488274,1.03966121769
+140,2.333333333,pose1_to_pose2_press,0.582588767775,1.39699387963e-06,1.04001151932,0.553160000493,0.00867505594224,1.03966106036
+141,2.350000000,pose1_to_pose2_press,0.582989266236,1.1374678009e-06,1.04001138291,0.553560503141,0.00867480996292,1.03966090761
+142,2.366666667,pose1_to_pose2_press,0.583418789587,1.31213673029e-06,1.04001167844,0.553990022588,0.00867497153703,1.03966120682
+143,2.383333333,pose1_to_pose2_press,0.583879744294,1.23230432366e-06,1.04001155667,0.554450980335,0.00867490247497,1.03966109635
+144,2.400000000,pose1_to_pose2_press,0.584379201618,1.14354122258e-06,1.04001152814,0.55495043794,0.0086748147372,1.03966106946
+145,2.416666667,pose1_to_pose2_press,0.584909800468,1.17720443151e-06,1.04001166385,0.555481035674,0.00867484435737,1.03966119885
+146,2.433333333,pose1_to_pose2_press,0.585465219161,1.25892452797e-06,1.04001158181,0.556036454389,0.00867492623011,1.03966111872
+147,2.450000000,pose1_to_pose2_press,0.586030001961,1.29853504034e-06,1.04001166032,0.556601236635,0.00867496388005,1.03966119525
+148,2.466666667,pose1_to_pose2_press,0.586599090736,1.28640444024e-06,1.04001167604,0.557170324818,0.00867494983276,1.03966121314
+149,2.483333333,pose1_to_pose2_press,0.587181026126,1.32614697047e-06,1.04001170779,0.557752259805,0.00867498794689,1.03966123842
+150,2.500000000,pose1_to_pose2_press,0.587780748113,1.31100706027e-06,1.04001178133,0.558351982441,0.00867497499872,1.03966131171
+151,2.516666667,pose1_to_pose2_press,0.588409988979,1.25616144506e-06,1.04001171579,0.558981224534,0.00867492474958,1.03966125685
+152,2.533333333,pose1_to_pose2_press,0.589066808499,1.15781265978e-06,1.04001170772,0.559638045464,0.00867483121961,1.03966124963
+153,2.550000000,pose1_to_pose2_press,0.589747795836,1.23306842934e-06,1.04001173538,0.560319031866,0.00867490312333,1.03966127283
+154,2.566666667,pose1_to_pose2_press,0.590439615587,1.41597856268e-06,1.04001172114,0.561010849343,0.00867507834952,1.0396612593
+155,2.583333333,pose1_to_pose2_press,0.591139376906,1.33414178959e-06,1.04001176095,0.561710611028,0.00867499765285,1.03966129663
+156,2.600000000,pose1_to_pose2_press,0.591852987358,1.19401511543e-06,1.04001167248,0.562424222426,0.00867486086516,1.03966121137
+157,2.616666667,pose1_to_pose2_press,0.592583041817,1.20871706894e-06,1.04001165495,0.563154276963,0.00867487600719,1.03966119823
+158,2.633333333,pose1_to_pose2_press,0.593329841588,1.26707549665e-06,1.04001167296,0.563901076843,0.00867493451924,1.03966121089
+159,2.650000000,pose1_to_pose2_press,0.594090732931,1.2994800964e-06,1.04001161474,0.564661967273,0.00867496401139,1.03966115719
+160,2.666666667,pose1_to_pose2_press,0.594865362538,1.17187543807e-06,1.04001144599,0.565436597803,0.00867483963475,1.0396609909
+161,2.683333333,pose1_to_pose2_press,0.595646157574,1.25833766316e-06,1.04001165587,0.566217393417,0.00867492799579,1.0396611993
+162,2.700000000,pose1_to_pose2_press,0.596435949946,1.24493465896e-06,1.04001165419,0.567007185532,0.00867491363391,1.03966119537
+163,2.716666667,pose1_to_pose2_press,0.597232615783,1.37129534451e-06,1.04001158113,0.56780384874,0.00867503077035,1.03966111486
+164,2.733333333,pose1_to_pose2_press,0.598036773712,1.21420077685e-06,1.04001171846,0.568608008522,0.00867487975683,1.03966124719
+165,2.750000000,pose1_to_pose2_press,0.598849530434,1.28779462366e-06,1.04001181411,0.56942076496,0.00867495255503,1.03966134702
+166,2.766666667,pose1_to_pose2_press,0.59966209277,1.25862459782e-06,1.04001162011,0.570233327525,0.00867492391627,1.03966114694
+167,2.783333333,pose1_to_pose2_press,0.600474130759,1.21641715499e-06,1.04001173503,0.571045366648,0.00867488529778,1.03966125546
+168,2.800000000,pose1_to_pose2_press,0.601275925132,1.24722023557e-06,1.04001190483,0.571847160239,0.00867491382054,1.03966143455
+169,2.816666667,pose1_to_pose2_press,0.602069536659,1.28397466108e-06,1.04001156914,0.572640771246,0.00867494899408,1.03966110348
+170,2.833333333,pose1_to_pose2_press,0.602868214523,1.19295134451e-06,1.04001178366,0.573439450221,0.00867486174941,1.03966131827
+171,2.850000000,pose1_to_pose2_press,0.603663608333,1.0962736509e-06,1.04001179648,0.574234844707,0.00867476718302,1.03966132666
+172,2.866666667,pose1_to_pose2_press,0.604448620915,1.18681792253e-06,1.04001168852,0.575019855996,0.00867485357827,1.0396612246
+173,2.883333333,pose1_to_pose2_press,0.605238495228,1.32287456469e-06,1.04001181874,0.575809728922,0.00867498488614,1.03966135379
+174,2.900000000,pose1_to_pose2_press,0.606028826694,1.29227088358e-06,1.04001181643,0.576600061113,0.00867495666221,1.03966134962
+175,2.916666667,pose1_to_pose2_press,0.606805242973,1.31562899562e-06,1.04001173824,0.577376477197,0.00867497950487,1.0396612751
+176,2.933333333,pose1_to_pose2_press,0.607572907967,1.34287550373e-06,1.04001170152,0.578144141891,0.00867500576678,1.03966123931
+177,2.950000000,pose1_to_pose2_press,0.608333437698,1.22308352133e-06,1.04001163563,0.578904672693,0.00867488969292,1.03966117551
+178,2.966666667,pose1_to_pose2_press,0.609080494503,1.20296118493e-06,1.04001175668,0.579651729123,0.00867486816089,1.03966129325
+179,2.983333333,pose1_to_pose2_press,0.609810213782,1.14664733415e-06,1.04001170037,0.580381449794,0.00867481632975,1.03966123112
+180,3.000000000,pose1_to_pose2_press,0.610530289364,1.20651330061e-06,1.04001168709,0.581101524968,0.0086748750251,1.03966122316
+181,3.016666667,pose1_to_pose2_press,0.611241041004,1.22435665578e-06,1.04001171097,0.581812276939,0.00867489403971,1.03966124829
+182,3.033333333,pose1_to_pose2_press,0.611930246535,1.17963532261e-06,1.04001181346,0.582501481438,0.00867484555729,1.03966134446
+183,3.050000000,pose1_to_pose2_press,0.612603817918,1.29282727082e-06,1.0400116889,0.583175052763,0.00867495857202,1.03966122045
+184,3.066666667,pose1_to_pose2_press,0.613264847817,1.26415471108e-06,1.04001156919,0.583836081899,0.0086749275775,1.03966110737
+185,3.083333333,pose1_to_pose2_press,0.613902622757,1.34386594997e-06,1.04001170782,0.584473855303,0.0086750017779,1.03966123867
+186,3.100000000,pose1_to_pose2_press,0.614519164874,1.31607176894e-06,1.04001186992,0.585090399852,0.00867498175466,1.03966138895
+187,3.116666667,pose1_to_pose2_press,0.615121003431,1.36984766694e-06,1.04001150637,0.585692236508,0.00867503030692,1.03966105567
+188,3.133333333,pose1_to_pose2_press,0.615705118129,1.18915551937e-06,1.04001178853,0.586276354162,0.00867485910372,1.03966132474
+189,3.150000000,pose1_to_pose2_press,0.616262544354,1.27785677326e-06,1.04001180353,0.586833777486,0.00867493792857,1.03966133798
+190,3.166666667,pose1_to_pose2_press,0.616791266414,1.19119977424e-06,1.04001168909,0.587362502,0.00867485986144,1.03966122621
+191,3.183333333,pose1_to_pose2_press,0.617289810637,1.26818492718e-06,1.04001156474,0.58786104505,0.00867493307582,1.03966110528
+192,3.200000000,pose1_to_pose2_press,0.617767300268,1.37133259228e-06,1.04001176246,0.588338534399,0.00867503510883,1.03966129583
+193,3.216666667,pose1_to_pose2_press,0.618226742623,1.19247830519e-06,1.04001156396,0.588797979485,0.00867486552723,1.03966109407
+194,3.233333333,pose1_to_pose2_press,0.618669791057,1.24002825094e-06,1.04001171236,0.589241026122,0.00867490711566,1.03966124275
+195,3.250000000,pose1_to_pose2_press,0.619092458474,1.18205704215e-06,1.04001169294,0.589663693715,0.00867484968499,1.03966121859
+196,3.266666667,pose1_to_pose2_press,0.619487581643,1.22626178171e-06,1.04001158574,0.590058817064,0.008674894894,1.03966111798
+197,3.283333333,pose1_to_pose2_press,0.619850723181,1.25852572392e-06,1.04001154841,0.590421958691,0.00867492790373,1.03966108867
+198,3.300000000,pose1_to_pose2_press,0.620180697775,1.25596918929e-06,1.04001142933,0.590751933453,0.00867492608473,1.03966097061
+199,3.316666667,pose1_to_pose2_press,0.620483962518,1.32391300129e-06,1.04001147685,0.59105519739,0.00867499130899,1.03966101568
+200,3.333333333,pose1_to_pose2_press,0.620766520909,1.39213042537e-06,1.0400117404,0.591337754003,0.00867505355714,1.03966127845
+201,3.350000000,pose1_to_pose2_press,0.621036627695,1.34159994692e-06,1.04001151834,0.591607858913,0.00867499696237,1.03966106203
+202,3.366666667,pose1_to_pose2_press,0.621295582956,1.38456057973e-06,1.04001144374,0.591866815576,0.00867504461417,1.03966098357
+203,3.383333333,pose1_to_pose2_press,0.621542295045,1.15578867964e-06,1.04001182123,0.592113529057,0.00867482020839,1.03966135111
+204,3.400000000,pose1_to_pose2_press,0.621771640197,1.36609969025e-06,1.04001166715,0.592342871137,0.00867502056651,1.03966120684
+205,3.416666667,pose1_to_pose2_press,0.62198211068,1.27544677689e-06,1.04001156246,0.592553344141,0.00867493859991,1.0396611019
+206,3.433333333,pose1_to_pose2_press,0.622167718094,1.2570835364e-06,1.04001191843,0.59273895256,0.00867492333448,1.03966144862
+207,3.450000000,pose1_to_pose2_press,0.622331749255,1.36822819445e-06,1.04001161343,0.592902981866,0.0086750286056,1.03966115242
+208,3.466666667,pose1_to_pose2_press,0.62247686743,1.17614025436e-06,1.0400115638,0.5930481018,0.00867484241549,1.03966109977
+209,3.483333333,pose1_to_pose2_press,0.622607597117,1.12798847712e-06,1.04001147822,0.593178832811,0.00867479887785,1.03966101628
+210,3.500000000,pose1_to_pose2_press,0.622724424228,1.30053704722e-06,1.04001148894,0.593295658351,0.00867496636412,1.03966103265
+211,3.516666667,pose1_to_pose2_press,0.622829861595,1.35752855117e-06,1.04001162326,0.593401095777,0.00867502337846,1.03966116148
+212,3.533333333,pose1_to_pose2_press,0.62292348009,1.32717288333e-06,1.04001164745,0.5934947136,0.00867499056152,1.03966117679
+213,3.550000000,pose1_to_pose2_press,0.62300271124,1.32146769575e-06,1.04001156985,0.593573944244,0.00867498348235,1.03966110404
+214,3.566666667,pose1_to_pose2_press,0.623069183173,1.22359930008e-06,1.04001161418,0.593640417838,0.00867489134693,1.03966115135
+215,3.583333333,pose1_to_pose2_press,0.623123208616,1.1470188818e-06,1.04001165159,0.593694443807,0.00867481634453,1.03966118621
+216,3.600000000,pose1_to_pose2_press,0.623167933945,1.20669406954e-06,1.04001154719,0.593739168418,0.00867487370287,1.03966108742
+217,3.616666667,pose1_to_pose2_press,0.623203997996,1.22331814319e-06,1.040011541,0.593775232116,0.00867488920025,1.03966108283
+218,3.633333333,pose1_to_pose2_press,0.623232875899,1.18961915411e-06,1.04001155368,0.59380411137,0.00867485994404,1.03966109365
+219,3.650000000,pose1_to_pose2_press,0.623255463306,1.35100071052e-06,1.04001154599,0.593826696038,0.00867501226391,1.03966108884
+220,3.666666667,pose1_to_pose2_press,0.623272970827,1.19332691331e-06,1.04001175519,0.593844207412,0.00867486746958,1.03966129082
+221,3.683333333,pose1_to_pose2_press,0.623286227253,1.13857451282e-06,1.04001173665,0.5938574635,0.00867481149664,1.0396612705
+222,3.700000000,pose1_to_pose2_press,0.623295335913,1.23807717452e-06,1.04001162283,0.593866570272,0.00867490473555,1.03966116094
+223,3.716666667,pose1_to_pose2_press,0.623302015424,1.31535962286e-06,1.04001160197,0.593873248983,0.008674979414,1.03966114359
+224,3.733333333,pose1_to_pose2_press,0.623306504112,1.18603808083e-06,1.04001178878,0.593877739136,0.00867485485699,1.03966132647
+225,3.750000000,pose1_to_pose2_press,0.623309064704,1.22716876793e-06,1.04001180915,0.593880298967,0.00867489330174,1.03966134395
+226,3.766666667,pose1_to_pose2_press,0.62331047843,1.2288786839e-06,1.04001179773,0.59388171267,0.00867489490372,1.03966133147
+227,3.783333333,pose1_to_pose2_press,0.623311099055,1.18368654353e-06,1.04001175273,0.593882334128,0.00867485257562,1.03966128707
+228,3.800000000,pose1_to_pose2_press,0.623311508282,1.15388780574e-06,1.04001172306,0.593882743904,0.00867482466538,1.0396612578
+229,3.816666667,pose1_to_pose2_press,0.623311760153,1.13554722025e-06,1.0400117048,0.593882996113,0.00867480748712,1.03966123978
+230,3.833333333,pose1_to_pose2_press,0.623311914752,1.12428975422e-06,1.04001169359,0.59388315092,0.0086747969431,1.03966122872
+231,3.850000000,pose1_to_pose2_press,0.623311979299,1.11958963336e-06,1.04001168891,0.593883215553,0.00867479254084,1.0396612241
+232,3.866666667,pose1_to_pose2_press,0.623312078532,1.11236381751e-06,1.04001168172,0.593883314919,0.00867478577296,1.03966121701
+233,3.883333333,pose1_to_pose2_press,0.623312150785,1.11881016315e-06,1.04001167015,0.593883386933,0.00867479143092,1.03966120599
+234,3.900000000,pose1_to_pose2_press,0.623312200265,1.12488283394e-06,1.04001166133,0.593883436202,0.0086747968048,1.03966119762
+235,3.916666667,pose1_to_pose2_press,0.623312208175,1.12585358803e-06,1.04001165992,0.593883444078,0.00867479766385,1.03966119628
+236,3.933333333,pose1_to_pose2_press,0.623312269204,1.13334362814e-06,1.04001164904,0.593883504846,0.00867480429201,1.03966118596
+237,3.950000000,pose1_to_pose2_press,0.62331227203,1.13369056407e-06,1.04001164854,0.593883507661,0.00867480459902,1.03966118548
+238,3.966666667,pose1_to_pose2_press,0.623312302201,1.13739335563e-06,1.04001164316,0.593883537703,0.00867480787573,1.03966118038
+239,3.983333333,pose1_to_pose2_press,0.623312343129,1.14241643545e-06,1.04001163586,0.593883578456,0.00867481232081,1.03966117346
+240,4.000000000,pose1_to_pose2_press,0.623312432122,1.15333849922e-06,1.04001162,0.593883667069,0.00867482198606,1.0396611584
+241,4.016666667,pose1_to_pose2_press,0.623312576471,1.1710544719e-06,1.04001159427,0.593883810803,0.00867483766345,1.03966113399
+242,4.033333333,pose1_to_pose2_press,0.623312870101,1.20709155351e-06,1.04001154193,0.59388410318,0.00867486955373,1.03966108432
+243,4.050000000,pose1_to_pose2_press,0.623313102082,1.16599301112e-06,1.04001153304,0.593884336908,0.00867483443466,1.03966107627
+244,4.066666667,pose1_to_pose2_press,0.623313160864,1.19216418819e-06,1.04001154029,0.593884395703,0.00867486059769,1.0396610823
+245,4.083333333,pose1_to_pose2_press,0.62331319437,1.23816879955e-06,1.04001154927,0.593884428729,0.00867490489799,1.03966108964
+246,4.100000000,pose1_to_pose2_press,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.0086749074284,1.03966109006
+247,4.116666667,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742831,1.03966109006
+248,4.133333333,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742824,1.03966109006
+249,4.150000000,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742819,1.03966109006
+250,4.166666667,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742856,1.03966109006
+251,4.183333333,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742802,1.03966109006
+252,4.200000000,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742859,1.03966109006
+253,4.216666667,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742823,1.03966109006
+254,4.233333333,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742874,1.03966109006
+255,4.250000000,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.0086749074288,1.03966109006
+256,4.266666667,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742874,1.03966109006
+257,4.283333333,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742839,1.03966109006
+258,4.300000000,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742846,1.03966109006
+259,4.316666667,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742862,1.03966109006
+260,4.333333333,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742862,1.03966109006
+261,4.350000000,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742863,1.03966109006
+262,4.366666667,pose2_hold,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430616,0.00867490742789,1.03966109006
+263,4.383333333,pose2_to_pose3_retreat,0.623313196284,1.24079589688e-06,1.04001154979,0.593884430615,0.00867490742864,1.03966109006
+264,4.400000000,pose2_to_pose3_retreat,0.623312906434,1.10441421442e-06,1.04001164816,0.593884141921,0.00867477490396,1.03966118683
+265,4.416666667,pose2_to_pose3_retreat,0.62331250572,1.10469866286e-06,1.04001156539,0.593883741425,0.0086747759868,1.03966110559
+266,4.433333333,pose2_to_pose3_retreat,0.623312201424,1.11429098905e-06,1.04001159613,0.593883436929,0.00867478490412,1.03966113677
+267,4.450000000,pose2_to_pose3_retreat,0.623312091511,1.11775577756e-06,1.04001160723,0.593883326943,0.0086747881251,1.03966114803
+268,4.466666667,pose2_to_pose3_retreat,0.623311649285,1.13169607151e-06,1.04001165191,0.593882884426,0.00867480108442,1.03966119335
+269,4.483333333,pose2_to_pose3_retreat,0.62331126448,1.15247957755e-06,1.04001169244,0.593882499476,0.00867482135131,1.03966123313
+270,4.500000000,pose2_to_pose3_retreat,0.623310752338,1.1812564553e-06,1.04001174661,0.593881987153,0.00867484948407,1.03966128613
+271,4.516666667,pose2_to_pose3_retreat,0.623309575163,1.24740102011e-06,1.04001187111,0.593880809563,0.00867491414809,1.03966140795
+272,4.533333333,pose2_to_pose3_retreat,0.623306657638,1.25227277986e-06,1.04001180684,0.593877892009,0.00867491879926,1.03966134038
+273,4.550000000,pose2_to_pose3_retreat,0.623301240826,1.28119239632e-06,1.04001159737,0.59387247446,0.00867494520366,1.03966113134
+274,4.566666667,pose2_to_pose3_retreat,0.623288590858,1.27659974714e-06,1.04001152719,0.593859824409,0.00867494035514,1.03966106157
+275,4.583333333,pose2_to_pose3_retreat,0.623268150978,1.18014572452e-06,1.04001145801,0.593839385895,0.00867484858274,1.03966099316
+276,4.600000000,pose2_to_pose3_retreat,0.623237994954,1.19531301969e-06,1.0400115913,0.593809229133,0.00867486120336,1.03966112545
+277,4.616666667,pose2_to_pose3_retreat,0.623199731223,1.23712710228e-06,1.04001169295,0.593770966105,0.00867490545431,1.03966122769
+278,4.633333333,pose2_to_pose3_retreat,0.623154096089,1.22782943996e-06,1.04001167673,0.593725331372,0.00867489762378,1.03966121479
+279,4.650000000,pose2_to_pose3_retreat,0.623103753455,1.26893742678e-06,1.04001172726,0.593674988335,0.00867493701604,1.03966125848
+280,4.666666667,pose2_to_pose3_retreat,0.623048751037,1.32912296161e-06,1.04001180314,0.593619984402,0.0086749919852,1.03966133616
+281,4.683333333,pose2_to_pose3_retreat,0.622988426177,1.31962153192e-06,1.04001140854,0.593559658005,0.00867497767418,1.03966094816
+282,4.700000000,pose2_to_pose3_retreat,0.622921502492,1.28046473809e-06,1.04001161343,0.593492735591,0.00867494241433,1.03966114404
+283,4.716666667,pose2_to_pose3_retreat,0.622844622846,1.31135445676e-06,1.04001174757,0.593415856708,0.008674975525,1.0396612713
+284,4.733333333,pose2_to_pose3_retreat,0.622757300332,1.42028551519e-06,1.04001150923,0.593328533078,0.0086750808715,1.03966103905
+285,4.750000000,pose2_to_pose3_retreat,0.622658646153,1.22955647366e-06,1.0400117297,0.593229880879,0.00867489736558,1.03966127294
+286,4.766666667,pose2_to_pose3_retreat,0.622547059205,1.15051961799e-06,1.04001171413,0.593118294714,0.00867482081004,1.03966125389
+287,4.783333333,pose2_to_pose3_retreat,0.622422399273,1.16741814363e-06,1.04001167496,0.592993634056,0.00867483515077,1.03966121339
+288,4.800000000,pose2_to_pose3_retreat,0.622284170083,1.22567460728e-06,1.04001169858,0.592855403852,0.0086748899221,1.03966123726
+289,4.816666667,pose2_to_pose3_retreat,0.622133334801,1.24641468024e-06,1.04001181015,0.592704569102,0.00867491216182,1.03966134326
+290,4.833333333,pose2_to_pose3_retreat,0.621968897587,1.31302660911e-06,1.04001169904,0.592540130517,0.00867497426997,1.03966123689
+291,4.850000000,pose2_to_pose3_retreat,0.621791680345,1.24626369084e-06,1.0400116002,0.592362914213,0.008674910669,1.03966113913
+292,4.866666667,pose2_to_pose3_retreat,0.621601053026,1.23100992896e-06,1.04001156429,0.592172287285,0.00867489654667,1.03966110037
+293,4.883333333,pose2_to_pose3_retreat,0.621394559564,1.28539952073e-06,1.0400116258,0.591965793328,0.00867494898471,1.03966115695
+294,4.900000000,pose2_to_pose3_retreat,0.621172215319,1.25253724515e-06,1.0400118182,0.591743449959,0.0086749189813,1.03966134815
+295,4.916666667,pose2_to_pose3_retreat,0.620931634713,1.31614945317e-06,1.04001170928,0.59150286785,0.00867497768543,1.03966124604
+296,4.933333333,pose2_to_pose3_retreat,0.620674444631,1.32676721424e-06,1.0400117526,0.591245678106,0.0086749892696,1.03966128712
+297,4.950000000,pose2_to_pose3_retreat,0.620400056719,1.33010046813e-06,1.0400117847,0.590971290712,0.00867499414984,1.03966131638
+298,4.966666667,pose2_to_pose3_retreat,0.620112093007,1.36522183584e-06,1.04001169841,0.590683326297,0.00867502694505,1.03966123428
+299,4.983333333,pose2_to_pose3_retreat,0.619811123798,1.39598899778e-06,1.0400117545,0.590382356219,0.0086750550752,1.03966130014
+300,5.000000000,pose2_to_pose3_retreat,0.619497469297,1.25650249869e-06,1.04001181292,0.590068702912,0.0086749190339,1.03966134666
+301,5.016666667,pose2_to_pose3_retreat,0.61917042528,1.16847729677e-06,1.04001167864,0.589741660111,0.00867483489066,1.03966120896
+302,5.033333333,pose2_to_pose3_retreat,0.618826021067,1.18550120819e-06,1.04001150302,0.58939725635,0.00867485358006,1.03966103849
+303,5.050000000,pose2_to_pose3_retreat,0.618460195702,1.32332213234e-06,1.0400117964,0.589031429751,0.0086749870276,1.03966132888
+304,5.066666667,pose2_to_pose3_retreat,0.618069835499,1.20507582623e-06,1.04001160679,0.588641071155,0.00867487440328,1.03966114792
+305,5.083333333,pose2_to_pose3_retreat,0.617650724464,1.18499048574e-06,1.04001155843,0.588221960052,0.00867485434941,1.03966111
+306,5.100000000,pose2_to_pose3_retreat,0.617206086102,1.20484206571e-06,1.04001161361,0.587777321567,0.0086748736475,1.03966116489
+307,5.116666667,pose2_to_pose3_retreat,0.616745788916,1.21974384859e-06,1.04001168634,0.587317024766,0.00867488928945,1.03966122624
+308,5.133333333,pose2_to_pose3_retreat,0.61627465763,1.31812385755e-06,1.04001178286,0.586845891429,0.00867498055307,1.03966132255
+309,5.150000000,pose2_to_pose3_retreat,0.615794183671,1.23957897094e-06,1.04001163811,0.58636541908,0.00867490715601,1.03966116909
+310,5.166666667,pose2_to_pose3_retreat,0.615304597743,1.14893380698e-06,1.04001172913,0.585875834599,0.00867482132808,1.039661258
+311,5.183333333,pose2_to_pose3_retreat,0.614802850365,1.15628363637e-06,1.04001172974,0.585374086289,0.00867482568107,1.03966126315
+312,5.200000000,pose2_to_pose3_retreat,0.614273692198,1.26829084887e-06,1.04001155487,0.584844925393,0.00867492879861,1.03966109752
+313,5.216666667,pose2_to_pose3_retreat,0.613718698676,1.25940857827e-06,1.04001162829,0.584289934615,0.00867492944675,1.03966117693
+314,5.233333333,pose2_to_pose3_retreat,0.613139579227,1.19598449817e-06,1.04001152786,0.583710814452,0.00867486294886,1.03966105862
+315,5.250000000,pose2_to_pose3_retreat,0.612545202052,1.26948734873e-06,1.04001153319,0.583116436245,0.00867493302512,1.039661066
+316,5.266666667,pose2_to_pose3_retreat,0.611939395543,1.35021871934e-06,1.04001162691,0.582510628533,0.00867500966923,1.03966116013
+317,5.283333333,pose2_to_pose3_retreat,0.611331018724,1.37148078897e-06,1.04001168431,0.581902250869,0.00867502793684,1.03966121431
+318,5.300000000,pose2_to_pose3_retreat,0.610718368312,1.34645805692e-06,1.04001155946,0.58128960084,0.00867500456546,1.03966109818
+319,5.316666667,pose2_to_pose3_retreat,0.610091327875,1.27321641539e-06,1.04001182424,0.580662562935,0.00867493924184,1.03966134623
+320,5.333333333,pose2_to_pose3_retreat,0.609452240247,1.14661477429e-06,1.04001168703,0.580023477353,0.0086748198334,1.03966121524
+321,5.350000000,pose2_to_pose3_retreat,0.608806121237,1.10668068968e-06,1.04001161674,0.579377357816,0.0086747783612,1.039661151
+322,5.366666667,pose2_to_pose3_retreat,0.608149386588,1.15269167171e-06,1.04001166055,0.578720621615,0.00867481914895,1.03966119566
+323,5.383333333,pose2_to_pose3_retreat,0.607481104546,1.1765000693e-06,1.04001155009,0.578052341455,0.0086748495099,1.03966108915
+324,5.400000000,pose2_to_pose3_retreat,0.606805550546,1.29797384387e-06,1.0400117214,0.577376786253,0.0086749671585,1.03966126566
+325,5.416666667,pose2_to_pose3_retreat,0.606118956929,1.14452913463e-06,1.04001174787,0.576690193357,0.00867481571797,1.03966128114
+326,5.433333333,pose2_to_pose3_retreat,0.605415342593,1.04821199727e-06,1.040011667,0.575986579809,0.00867472189776,1.03966119603
+327,5.450000000,pose2_to_pose3_retreat,0.604706030854,1.10195933813e-06,1.04001156847,0.575277267944,0.00867477543862,1.03966110296
+328,5.466666667,pose2_to_pose3_retreat,0.603999032762,1.17684832485e-06,1.04001157294,0.57457026876,0.00867484663949,1.03966110784
+329,5.483333333,pose2_to_pose3_retreat,0.603288096416,1.27064711018e-06,1.04001170034,0.573859330195,0.00867493257303,1.03966122683
+330,5.500000000,pose2_to_pose3_retreat,0.602571650035,1.27540709236e-06,1.04001185717,0.573142883928,0.00867493787214,1.0396613874
+331,5.516666667,pose2_to_pose3_retreat,0.601864468512,1.20490477585e-06,1.04001181942,0.572435703714,0.00867487196231,1.03966135335
+332,5.533333333,pose2_to_pose3_retreat,0.601162792429,1.19640900232e-06,1.0400117098,0.571734028322,0.00867486587069,1.03966124521
+333,5.550000000,pose2_to_pose3_retreat,0.600463883678,1.43230898226e-06,1.04001179949,0.571035117658,0.00867509535189,1.0396613366
+334,5.566666667,pose2_to_pose3_retreat,0.599770748082,1.3201630508e-06,1.04001160205,0.570341984193,0.00867499049888,1.0396611407
+335,5.583333333,pose2_to_pose3_retreat,0.59908007521,1.21874258698e-06,1.04001147525,0.569651311787,0.00867489077069,1.03966101662
+336,5.600000000,pose2_to_pose3_retreat,0.598374741299,1.19907827918e-06,1.04001151185,0.568945976518,0.0086748664971,1.03966105309
+337,5.616666667,pose2_to_pose3_retreat,0.597656157877,1.27044726049e-06,1.04001169235,0.568227391319,0.00867493176169,1.03966123165
+338,5.633333333,pose2_to_pose3_retreat,0.596935997271,1.31286402751e-06,1.04001176191,0.567507233052,0.0086749823911,1.03966130807
+339,5.650000000,pose2_to_pose3_retreat,0.596222801906,1.33428759296e-06,1.04001158722,0.566794036574,0.00867499986504,1.03966112905
+340,5.666666667,pose2_to_pose3_retreat,0.595520769421,1.32505002309e-06,1.04001168822,0.56609200391,0.00867499007514,1.03966123138
+341,5.683333333,pose2_to_pose3_retreat,0.594835289445,1.34556149999e-06,1.04001167022,0.565406523087,0.00867500780251,1.03966121559
+342,5.700000000,pose2_to_pose3_retreat,0.594164935889,1.36085742931e-06,1.04001155425,0.564736168959,0.00867502112898,1.0396610989
+343,5.716666667,pose2_to_pose3_retreat,0.593500904223,1.26454558562e-06,1.04001167248,0.56407213989,0.00867493336447,1.03966121053
+344,5.733333333,pose2_to_pose3_retreat,0.59284491461,1.30157062819e-06,1.04001158426,0.563416149488,0.00867496769998,1.03966112193
+345,5.750000000,pose2_to_pose3_retreat,0.592199607736,1.30588386736e-06,1.04001156216,0.562770842269,0.00867497082584,1.03966109949
+346,5.766666667,pose2_to_pose3_retreat,0.59156190124,1.33748750616e-06,1.04001157035,0.562133135134,0.00867500020302,1.0396611062
+347,5.783333333,pose2_to_pose3_retreat,0.590930575459,1.35137415129e-06,1.04001157973,0.561501808843,0.00867501228679,1.03966111377
+348,5.800000000,pose2_to_pose3_retreat,0.590308278935,1.15688698945e-06,1.04001156703,0.56087951396,0.00867482342133,1.0396611024
+349,5.816666667,pose2_to_pose3_retreat,0.589696787168,1.26444274507e-06,1.04001154726,0.560268022236,0.00867493131639,1.0396610874
+350,5.833333333,pose2_to_pose3_retreat,0.589101438131,1.36643459485e-06,1.04001168539,0.5596726722,0.00867502995424,1.03966122632
+351,5.850000000,pose2_to_pose3_retreat,0.588522905937,1.29883436285e-06,1.0400117887,0.559094140781,0.0086749648955,1.0396613275
+352,5.866666667,pose2_to_pose3_retreat,0.587962300126,1.17764469022e-06,1.0400117715,0.558533536426,0.00867484859166,1.03966130901
+353,5.883333333,pose2_to_pose3_retreat,0.587414819802,1.41629219315e-06,1.04001165714,0.557986052927,0.00867507672167,1.03966120095
+354,5.900000000,pose2_to_pose3_retreat,0.586879574154,1.15979416664e-06,1.04001178084,0.557450810049,0.00867482924813,1.03966131537
+355,5.916666667,pose2_to_pose3_retreat,0.58636229804,1.20296111039e-06,1.04001180694,0.556933533848,0.00867487215528,1.03966134241
+356,5.933333333,pose2_to_pose3_retreat,0.58586385278,1.32734721276e-06,1.0400117072,0.556435087186,0.00867499192653,1.03966124614
+357,5.950000000,pose2_to_pose3_retreat,0.585386327208,1.38928479156e-06,1.04001157443,0.555957560262,0.00867504929853,1.03966111385
+358,5.966666667,pose2_to_pose3_retreat,0.584926409382,1.34561919039e-06,1.04001168538,0.555497642201,0.0086750046078,1.03966121925
+359,5.983333333,pose2_to_pose3_retreat,0.584481893733,1.22090940498e-06,1.0400115733,0.555053128529,0.00867488694576,1.03966111558
+360,6.000000000,pose2_to_pose3_retreat,0.584043474743,1.12648564526e-06,1.04001154492,0.554614710577,0.00867479594295,1.03966108461
+361,6.016666667,pose2_to_pose3_retreat,0.583610860717,1.1780665228e-06,1.04001156817,0.55418209569,0.00867484433604,1.03966110132
+362,6.033333333,pose2_to_pose3_retreat,0.583192304969,1.31645655082e-06,1.04001161011,0.553763538327,0.00867497711672,1.03966114011
+363,6.050000000,pose2_to_pose3_retreat,0.582791874238,1.17814415805e-06,1.04001172096,0.553363109303,0.00867484447597,1.03966124796
+364,6.066666667,pose2_to_pose3_retreat,0.582418482589,1.12496116247e-06,1.04001155797,0.55298971871,0.00867479539005,1.03966109767
+365,6.083333333,pose2_to_pose3_retreat,0.582073826903,1.07746881687e-06,1.04001144465,0.552645064933,0.00867475455331,1.03966098877
+366,6.100000000,pose2_to_pose3_retreat,0.581759402478,1.16399300256e-06,1.04001158087,0.552330640329,0.00867484025225,1.03966111961
+367,6.116666667,pose2_to_pose3_retreat,0.581465826739,1.2857116751e-06,1.04001179135,0.552037063002,0.00867495621857,1.03966132105
+368,6.133333333,pose2_to_pose3_retreat,0.581189658696,1.16916624906e-06,1.04001161191,0.551760894673,0.00867483870013,1.0396611416
+369,6.150000000,pose2_to_pose3_retreat,0.580923277622,1.28529229351e-06,1.04001171893,0.551494512573,0.00867495166571,1.0396612569
+370,6.166666667,pose2_to_pose3_retreat,0.580664447499,1.28816414737e-06,1.04001173309,0.551235682097,0.00867495336847,1.0396612718
+371,6.183333333,pose2_to_pose3_retreat,0.580413331919,1.2635143161e-06,1.0400117198,0.550984566259,0.00867492770683,1.03966125512
+372,6.200000000,pose2_to_pose3_retreat,0.580174024188,1.3513822674e-06,1.0400117553,0.550745257451,0.00867501193448,1.03966129108
+373,6.216666667,pose2_to_pose3_retreat,0.579948601439,1.34204242831e-06,1.04001143443,0.550519833473,0.00867499858919,1.0396609739
+374,6.233333333,pose2_to_pose3_retreat,0.579742505914,1.22481797005e-06,1.04001162814,0.550313739506,0.00867488651438,1.0396611645
+375,6.250000000,pose2_to_pose3_retreat,0.579555374803,1.28546187356e-06,1.04001138587,0.550126609483,0.00867495131666,1.03966093384
+376,6.266666667,pose2_to_pose3_retreat,0.57938858747,1.34054149728e-06,1.04001138883,0.549959821753,0.0086750050744,1.03966093748
+377,6.283333333,pose2_to_pose3_retreat,0.579238627536,1.31973260229e-06,1.04001158484,0.549809861412,0.00867498248871,1.03966112377
+378,6.300000000,pose2_to_pose3_retreat,0.57910517409,1.24799025861e-06,1.04001173658,0.549676408712,0.00867491287773,1.03966126556
+379,6.316666667,pose2_to_pose3_retreat,0.578985560385,1.34691759935e-06,1.04001190887,0.549556794269,0.00867500946948,1.03966144196
+380,6.333333333,pose2_to_pose3_retreat,0.578879062049,1.32768281876e-06,1.04001186291,0.549450295748,0.00867498951232,1.03966139372
+381,6.350000000,pose2_to_pose3_retreat,0.578784108354,1.31107336663e-06,1.04001182194,0.549355341887,0.00867497234584,1.03966135295
+382,6.366666667,pose2_to_pose3_retreat,0.578699125809,1.30770770195e-06,1.04001181711,0.549270359313,0.00867496897457,1.03966135046
+383,6.383333333,pose2_to_pose3_retreat,0.578623835461,1.28442883172e-06,1.04001180916,0.549195069544,0.0086749476341,1.03966134253
+384,6.400000000,pose2_to_pose3_retreat,0.578557337329,1.20957208143e-06,1.04001157221,0.549128572676,0.00867487676837,1.03966109822
+385,6.416666667,pose2_to_pose3_retreat,0.578499507132,1.25628284104e-06,1.04001159049,0.549070741924,0.00867492185203,1.03966112278
+386,6.433333333,pose2_to_pose3_retreat,0.578449665208,1.24930687458e-06,1.04001169663,0.549020899777,0.00867491447272,1.03966123765
+387,6.450000000,pose2_to_pose3_retreat,0.578407374058,1.13810654088e-06,1.04001173195,0.548978609623,0.0086748067816,1.03966127615
+388,6.466666667,pose2_to_pose3_retreat,0.578373061974,1.2301337022e-06,1.0400115657,0.548944297078,0.00867489717895,1.03966110827
+389,6.483333333,pose2_to_pose3_retreat,0.578345048185,1.17525222943e-06,1.04001146322,0.548916283613,0.00867484326577,1.03966100254
+390,6.500000000,pose2_to_pose3_retreat,0.578322477508,1.16533591188e-06,1.04001152363,0.548893712679,0.00867483233176,1.03966105949
+391,6.516666667,pose2_to_pose3_retreat,0.578304638968,1.22204720082e-06,1.04001169108,0.548875873175,0.00867488565187,1.03966122401
+392,6.533333333,pose2_to_pose3_retreat,0.578291280615,1.31004178743e-06,1.04001160203,0.548862512945,0.00867496730809,1.03966113585
+393,6.550000000,pose2_to_pose3_retreat,0.5782805427,1.27612744401e-06,1.04001173118,0.548851776219,0.0086749372858,1.03966126137
+394,6.566666667,pose2_to_pose3_retreat,0.578272244222,1.17504739351e-06,1.04001197166,0.548843480587,0.00867484563754,1.03966149607
+395,6.583333333,pose2_to_pose3_retreat,0.578266457852,1.21982380972e-06,1.04001169576,0.548837692969,0.00867488664836,1.0396612319
+396,6.600000000,pose2_to_pose3_retreat,0.578262501508,1.24332102775e-06,1.04001156535,0.548833736045,0.00867490840002,1.03966110702
+397,6.616666667,pose2_to_pose3_retreat,0.578260327902,1.23350397572e-06,1.04001167964,0.548831562993,0.00867490027115,1.03966121638
+398,6.633333333,pose2_to_pose3_retreat,0.578258869665,1.22691788093e-06,1.04001175631,0.54883010513,0.00867489481763,1.03966128974
+399,6.650000000,pose2_to_pose3_retreat,0.578257951493,1.22277097225e-06,1.04001180459,0.548829187191,0.00867489138384,1.03966133594
+400,6.666666667,pose2_to_pose3_retreat,0.578257375598,1.21864954944e-06,1.04001181154,0.548828611419,0.00867488765634,1.03966134228
+401,6.683333333,pose2_to_pose3_retreat,0.578257048428,1.21343146078e-06,1.04001177135,0.548828284274,0.00867488256107,1.03966130305
+402,6.700000000,pose2_to_pose3_retreat,0.578257000613,1.21266883698e-06,1.04001176547,0.548828236462,0.0086748818164,1.03966129731
+403,6.716666667,pose2_to_pose3_retreat,0.578256837356,1.21006503017e-06,1.04001174542,0.548828073218,0.00867487927388,1.03966127774
+404,6.733333333,pose2_to_pose3_retreat,0.578256585894,1.20605439876e-06,1.04001171452,0.548827821774,0.00867487535764,1.03966124759
+405,6.750000000,pose2_to_pose3_retreat,0.578256523348,1.20505684559e-06,1.04001170684,0.548827759233,0.00867487438357,1.03966124009
+406,6.766666667,pose2_to_pose3_retreat,0.578256324196,1.20188053603e-06,1.04001168237,0.548827560097,0.00867487128202,1.03966121621
+407,6.783333333,pose2_to_pose3_retreat,0.578255799334,1.19350939354e-06,1.04001161789,0.548827035274,0.00867486310791,1.03966115328
+408,6.800000000,pose2_to_pose3_retreat,0.578255132899,1.18288028664e-06,1.04001153602,0.548826368889,0.00867485272899,1.03966107338
+409,6.816666667,pose2_to_pose3_retreat,0.578254346185,1.17033282633e-06,1.04001143938,0.548825582234,0.00867484047686,1.03966097905
+410,6.833333333,pose2_to_pose3_retreat,0.578253896684,1.16074735119e-06,1.04001146128,0.548825132886,0.00867483136148,1.03966099971
+411,6.850000000,pose2_to_pose3_retreat,0.578253707757,1.15636013868e-06,1.04001148193,0.548824944042,0.00867482721655,1.03966101945
+412,6.866666667,pose2_to_pose3_retreat,0.578253500044,1.15153665659e-06,1.04001150463,0.548824736419,0.00867482265944,1.03966104116
+413,6.883333333,pose2_to_pose3_retreat,0.578253420483,1.14968912049e-06,1.04001151333,0.548824656893,0.00867482091393,1.03966104947
+414,6.900000000,pose2_to_pose3_retreat,0.578253153996,1.1435007932e-06,1.04001154245,0.548824390522,0.00867481506735,1.03966107732
+415,6.916666667,pose2_to_pose3_retreat,0.57825287195,1.13695118509e-06,1.04001157327,0.548824108599,0.00867480887944,1.03966110679
+416,6.933333333,pose2_to_pose3_retreat,0.578252678832,1.14041344327e-06,1.04001158025,0.548823915471,0.00867481232197,1.03966111409
+417,6.950000000,pose2_to_pose3_retreat,0.578252651517,1.14219284139e-06,1.04001157894,0.54882388814,0.00867481405518,1.03966111303
+418,6.966666667,pose2_to_pose3_retreat,0.578252422752,1.15709571394e-06,1.040011568,0.548823659236,0.00867482857125,1.03966110417
+419,6.983333333,pose2_to_pose3_retreat,0.578252287715,1.16589270543e-06,1.04001156154,0.548823524117,0.00867483713991,1.03966109894
+420,7.000000000,pose2_to_pose3_retreat,0.578252141088,1.16429501021e-06,1.04001155459,0.548823377605,0.00867483599618,1.03966109355
+421,7.016666667,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dcaf321372f6eecd6103934c2e6b5ae8e70535b085c5330d711806dc7db942c
+size 26846126

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/simulation_data.csv

@@ -0,0 +1,425 @@
+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,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+1,0.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+2,0.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+3,0.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+4,0.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+5,0.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+6,0.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+7,0.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+8,0.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+9,0.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+10,0.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+11,0.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+12,0.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+13,0.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+14,0.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+15,0.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+16,0.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+17,0.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+18,0.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+19,0.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+20,0.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+21,0.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+22,0.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+23,0.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+24,0.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+25,0.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+26,0.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+27,0.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+28,0.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+29,0.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+30,0.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+31,0.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+32,0.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+33,0.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+34,0.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+35,0.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+36,0.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+37,0.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+38,0.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+39,0.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+40,0.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+41,0.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+42,0.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+43,0.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+44,0.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+45,0.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+46,0.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+47,0.783333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+48,0.800000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+49,0.816666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+50,0.833333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+51,0.850000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+52,0.866666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+53,0.883333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+54,0.900000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+55,0.916666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+56,0.933333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+57,0.950000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+58,0.966666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+59,0.983333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+60,1.000000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+61,1.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+62,1.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+63,1.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+64,1.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+65,1.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+66,1.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+67,1.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+68,1.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+69,1.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+70,1.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+71,1.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+72,1.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+73,1.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+74,1.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+75,1.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+76,1.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+77,1.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+78,1.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+79,1.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+80,1.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+81,1.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+82,1.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+83,1.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+84,1.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+85,1.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+86,1.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+87,1.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+88,1.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+89,1.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+90,1.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+91,1.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+92,1.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+93,1.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+94,1.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+95,1.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+96,1.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+97,1.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+98,1.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+99,1.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+100,1.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+101,1.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+102,1.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+103,1.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+104,1.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+105,1.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+106,1.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+107,1.783333333,pose1_to_pose2_press,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+108,1.800000000,pose1_to_pose2_press,0.578252104626,1.15373432123e-06,1.04001155293,0.548823341359,0.008674826188,1.03966109248
+109,1.816666667,pose1_to_pose2_press,0.578252135684,1.16272995826e-06,1.04001155435,0.548823372234,0.0086748345426,1.03966109339
+110,1.833333333,pose1_to_pose2_press,0.578252236577,1.18962468446e-06,1.04001155692,0.548823472594,0.00867485959178,1.03966109505
+111,1.850000000,pose1_to_pose2_press,0.578252422793,1.23679327696e-06,1.04001155952,0.54882365789,0.00867490360547,1.03966109674
+112,1.866666667,pose1_to_pose2_press,0.578252728868,1.30770744697e-06,1.04001156353,0.548823962561,0.00867496969589,1.03966109932
+113,1.883333333,pose1_to_pose2_press,0.578253743161,1.14842048688e-06,1.04001156057,0.548824978496,0.00867481599121,1.0396610965
+114,1.900000000,pose1_to_pose2_press,0.578256653822,1.15000927482e-06,1.04001168873,0.548827890204,0.00867482102449,1.03966122212
+115,1.916666667,pose1_to_pose2_press,0.578263124277,1.25251134488e-06,1.04001173845,0.548834359679,0.00867491999142,1.03966126654
+116,1.933333333,pose1_to_pose2_press,0.578276209087,1.30275268561e-06,1.04001180819,0.548847443339,0.00867496657055,1.03966134213
+117,1.950000000,pose1_to_pose2_press,0.578297417326,1.13708800242e-06,1.04001155088,0.548868652987,0.00867480594875,1.03966109127
+118,1.966666667,pose1_to_pose2_press,0.578329900808,1.22639937268e-06,1.04001169398,0.548901136247,0.0086748942337,1.03966122753
+119,1.983333333,pose1_to_pose2_press,0.578372914709,1.30633375847e-06,1.04001161465,0.548944148926,0.0086749700731,1.03966114943
+120,2.000000000,pose1_to_pose2_press,0.578425429724,1.31937712874e-06,1.04001143738,0.548996662664,0.00867497904133,1.03966097853
+121,2.016666667,pose1_to_pose2_press,0.578486465264,1.20471557361e-06,1.04001143768,0.549057700285,0.00867487132465,1.0396609759
+122,2.033333333,pose1_to_pose2_press,0.578556586094,1.23823055327e-06,1.04001165788,0.549127821508,0.00867490631227,1.03966119939
+123,2.050000000,pose1_to_pose2_press,0.578634926088,1.20939866638e-06,1.04001183077,0.549206160331,0.00867487294394,1.03966135839
+124,2.066666667,pose1_to_pose2_press,0.578721763378,1.39254179298e-06,1.04001158648,0.549292996106,0.00867505136044,1.03966112419
+125,2.083333333,pose1_to_pose2_press,0.578823416074,1.34703774063e-06,1.04001175604,0.549394650062,0.00867501005714,1.03966129192
+126,2.100000000,pose1_to_pose2_press,0.578939007701,1.26139803077e-06,1.04001183218,0.549510243024,0.00867492875414,1.03966136329
+127,2.116666667,pose1_to_pose2_press,0.579069579369,1.19588934219e-06,1.04001183951,0.549640815356,0.00867486537003,1.03966136738
+128,2.133333333,pose1_to_pose2_press,0.579216544707,1.2049582057e-06,1.04001167062,0.549787780724,0.00867487476623,1.039661204
+129,2.150000000,pose1_to_pose2_press,0.579381583879,1.26531670088e-06,1.04001171028,0.549952819427,0.0086749336365,1.03966124614
+130,2.166666667,pose1_to_pose2_press,0.579564721771,1.28378001489e-06,1.04001172685,0.550135956885,0.00867495080815,1.03966126717
+131,2.183333333,pose1_to_pose2_press,0.5797671509,1.20934292303e-06,1.04001159384,0.550338386361,0.00867487765183,1.03966113668
+132,2.200000000,pose1_to_pose2_press,0.579994271844,1.16104284462e-06,1.04001147381,0.550565507896,0.00867483138191,1.03966101722
+133,2.216666667,pose1_to_pose2_press,0.580245558902,1.19222535227e-06,1.04001141676,0.550816794688,0.00867486161698,1.03966095906
+134,2.233333333,pose1_to_pose2_press,0.580522660784,1.26174167018e-06,1.04001154629,0.551093896305,0.00867493002857,1.03966108337
+135,2.250000000,pose1_to_pose2_press,0.580823211802,1.2405436543e-06,1.0400117105,0.551394447464,0.00867490953903,1.03966125324
+136,2.266666667,pose1_to_pose2_press,0.581146367714,1.14919604355e-06,1.04001172536,0.551717603682,0.00867481925188,1.03966126859
+137,2.283333333,pose1_to_pose2_press,0.58148570323,1.18988525683e-06,1.04001169459,0.552056938866,0.00867485843388,1.03966122841
+138,2.300000000,pose1_to_pose2_press,0.581839310005,1.21143226746e-06,1.04001166976,0.552410543912,0.00867487388085,1.03966119776
+139,2.316666667,pose1_to_pose2_press,0.58220691979,1.26359289791e-06,1.04001162729,0.552778153713,0.00867492610507,1.03966115549
+140,2.333333333,pose1_to_pose2_press,0.582591455584,1.26483567871e-06,1.04001168661,0.553162690844,0.00867493188345,1.03966121469
+141,2.350000000,pose1_to_pose2_press,0.582996934662,1.37184893711e-06,1.04001162588,0.553568168077,0.00867503271774,1.03966115595
+142,2.366666667,pose1_to_pose2_press,0.583433468015,1.34622461767e-06,1.04001177403,0.554004702653,0.00867501145826,1.03966130936
+143,2.383333333,pose1_to_pose2_press,0.583902386953,1.25766694458e-06,1.04001140283,0.55447362267,0.00867492700232,1.03966094904
+144,2.400000000,pose1_to_pose2_press,0.584405170376,1.15820706806e-06,1.04001157443,0.55497640736,0.00867483132296,1.03966110778
+145,2.416666667,pose1_to_pose2_press,0.584935589663,1.12786158766e-06,1.04001160807,0.555506825965,0.008674798453,1.03966113613
+146,2.433333333,pose1_to_pose2_press,0.585489706404,1.37107303741e-06,1.04001170015,0.556060939108,0.0086750296074,1.03966123192
+147,2.450000000,pose1_to_pose2_press,0.586055368956,1.21923660788e-06,1.04001180622,0.556626602895,0.00867488204651,1.03966134005
+148,2.466666667,pose1_to_pose2_press,0.586629137625,1.22958110681e-06,1.04001159264,0.557200372165,0.00867489444154,1.03966112671
+149,2.483333333,pose1_to_pose2_press,0.587217317066,1.29370025828e-06,1.04001166531,0.557788551767,0.00867495921206,1.03966120199
+150,2.500000000,pose1_to_pose2_press,0.587823836541,1.20157005663e-06,1.04001164988,0.558395073166,0.00867487384236,1.0396611923
+151,2.516666667,pose1_to_pose2_press,0.588459185458,1.21314318235e-06,1.04001185364,0.559030421579,0.00867488347564,1.03966139037
+152,2.533333333,pose1_to_pose2_press,0.589120320489,1.31564064578e-06,1.04001169107,0.559691554317,0.00867497798536,1.03966122264
+153,2.550000000,pose1_to_pose2_press,0.589803534606,1.33614089293e-06,1.04001180886,0.560374768091,0.00867499744454,1.03966134339
+154,2.566666667,pose1_to_pose2_press,0.59050387503,1.35044835621e-06,1.04001177698,0.561075108974,0.00867501329523,1.03966131118
+155,2.583333333,pose1_to_pose2_press,0.591218734718,1.27399340972e-06,1.04001174659,0.561789969771,0.0086749407615,1.03966128469
+156,2.600000000,pose1_to_pose2_press,0.591943984915,1.19592326087e-06,1.04001166969,0.562515219775,0.00867486195813,1.03966120592
+157,2.616666667,pose1_to_pose2_press,0.592682509942,1.19911798494e-06,1.04001154853,0.56325374546,0.00867486745789,1.03966108647
+158,2.633333333,pose1_to_pose2_press,0.593436159383,1.19632297832e-06,1.04001160816,0.564007395564,0.00867486684166,1.03966114437
+159,2.650000000,pose1_to_pose2_press,0.594200424118,1.20932039119e-06,1.04001175571,0.564771659129,0.0086748756154,1.03966128566
+160,2.666666667,pose1_to_pose2_press,0.594974562442,1.24866201143e-06,1.04001177408,0.565545797721,0.00867491594672,1.03966130604
+161,2.683333333,pose1_to_pose2_press,0.595763004134,1.25583176429e-06,1.04001175175,0.566334239936,0.00867492481066,1.03966128168
+162,2.700000000,pose1_to_pose2_press,0.596566528172,1.24332538649e-06,1.04001171111,0.567137762503,0.00867490732039,1.03966124131
+163,2.716666667,pose1_to_pose2_press,0.59737648166,1.17433505691e-06,1.04001151236,0.567947717224,0.00867484276738,1.0396610489
+164,2.733333333,pose1_to_pose2_press,0.598193767729,1.26337709041e-06,1.04001171394,0.568765003197,0.00867493149053,1.03966125058
+165,2.750000000,pose1_to_pose2_press,0.599020578236,1.3504345976e-06,1.04001174782,0.569591810076,0.00867500623686,1.0396612845
+166,2.766666667,pose1_to_pose2_press,0.599845743439,1.38842537017e-06,1.04001160443,0.570416976527,0.00867504850473,1.03966114212
+167,2.783333333,pose1_to_pose2_press,0.600669850837,1.2404856799e-06,1.04001179802,0.571241086562,0.00867490934047,1.03966133157
+168,2.800000000,pose1_to_pose2_press,0.601487601132,1.22868790714e-06,1.04001170199,0.572058836209,0.00867489526149,1.03966123353
+169,2.816666667,pose1_to_pose2_press,0.602299683367,1.38062426346e-06,1.04001170804,0.572870915014,0.00867503541267,1.03966123607
+170,2.833333333,pose1_to_pose2_press,0.603113581945,1.19035370305e-06,1.0400115314,0.57368481835,0.00867486194908,1.03966107582
+171,2.850000000,pose1_to_pose2_press,0.603922919582,1.36983222506e-06,1.0400117758,0.574494151474,0.0086750259342,1.03966131578
+172,2.866666667,pose1_to_pose2_press,0.604722300375,1.27760991576e-06,1.0400115444,0.575293534598,0.00867494182456,1.03966108949
+173,2.883333333,pose1_to_pose2_press,0.605526934421,1.32183050563e-06,1.04001179094,0.576098168176,0.00867498383674,1.0396613207
+174,2.900000000,pose1_to_pose2_press,0.606333012132,1.18000527874e-06,1.04001171941,0.576904247686,0.00867484812771,1.03966124963
+175,2.916666667,pose1_to_pose2_press,0.607133006987,1.12366289415e-06,1.04001162438,0.577704243728,0.00867479574617,1.03966115294
+176,2.933333333,pose1_to_pose2_press,0.607926141161,1.30787865311e-06,1.04001179214,0.578497374972,0.00867496994623,1.03966131899
+177,2.950000000,pose1_to_pose2_press,0.608707377948,1.19583888764e-06,1.04001170569,0.579278612891,0.00867486217081,1.03966124306
+178,2.966666667,pose1_to_pose2_press,0.609472193217,1.21682970313e-06,1.04001169609,0.580043428918,0.00867488559138,1.03966122994
+179,2.983333333,pose1_to_pose2_press,0.61021729976,1.26312094009e-06,1.04001173243,0.580788534836,0.00867492939512,1.03966125739
+180,3.000000000,pose1_to_pose2_press,0.61095137783,1.30863369644e-06,1.04001169904,0.581522612238,0.00867497300256,1.03966123297
+181,3.016666667,pose1_to_pose2_press,0.6116771752,1.34374180231e-06,1.0400117577,0.582248409062,0.00867500637607,1.03966129456
+182,3.033333333,pose1_to_pose2_press,0.612388145906,1.28291123179e-06,1.04001175676,0.58295938045,0.00867494761811,1.03966128779
+183,3.050000000,pose1_to_pose2_press,0.61308641146,1.23455112116e-06,1.04001175988,0.583657645187,0.00867489654445,1.03966129243
+184,3.066666667,pose1_to_pose2_press,0.613771384282,1.25608128513e-06,1.04001172761,0.584342617712,0.00867491732462,1.03966126655
+185,3.083333333,pose1_to_pose2_press,0.614430373768,1.2601715685e-06,1.0400116813,0.585001607847,0.00867492351271,1.03966121785
+186,3.100000000,pose1_to_pose2_press,0.615066227374,1.25223899078e-06,1.04001170068,0.585637462028,0.00867491732714,1.03966123213
+187,3.116666667,pose1_to_pose2_press,0.615689098113,1.16136652581e-06,1.04001168502,0.586260334342,0.00867483192821,1.03966121943
+188,3.133333333,pose1_to_pose2_press,0.61629532248,1.15290026043e-06,1.04001150522,0.586866557392,0.00867481926307,1.03966104526
+189,3.150000000,pose1_to_pose2_press,0.616873096582,1.2977752615e-06,1.0400113402,0.587444329302,0.00867495691913,1.03966088239
+190,3.166666667,pose1_to_pose2_press,0.617421728167,1.2409484902e-06,1.04001151339,0.587992962001,0.00867490391989,1.03966105309
+191,3.183333333,pose1_to_pose2_press,0.617940475967,1.2049716253e-06,1.04001163388,0.588511710188,0.00867486929273,1.03966117208
+192,3.200000000,pose1_to_pose2_press,0.618433762734,1.26142603575e-06,1.04001162616,0.589004997254,0.00867492685651,1.03966116298
+193,3.216666667,pose1_to_pose2_press,0.618907369304,1.15586526958e-06,1.04001180432,0.58947860515,0.00867482571461,1.03966133484
+194,3.233333333,pose1_to_pose2_press,0.619369423613,1.29851053378e-06,1.04001170081,0.589940656625,0.00867495913169,1.03966123713
+195,3.250000000,pose1_to_pose2_press,0.619812087512,1.29263077173e-06,1.04001175706,0.590383322326,0.00867495955892,1.03966129511
+196,3.266666667,pose1_to_pose2_press,0.62022376318,1.23754654244e-06,1.04001155252,0.590794997061,0.00867490150026,1.03966109223
+197,3.283333333,pose1_to_pose2_press,0.620602862862,1.24349338253e-06,1.04001158586,0.591174097142,0.00867490865102,1.03966111863
+198,3.300000000,pose1_to_pose2_press,0.62094907103,1.25429017413e-06,1.04001170174,0.591520304402,0.00867491634616,1.03966123094
+199,3.316666667,pose1_to_pose2_press,0.621266864567,1.29372700242e-06,1.04001179199,0.591838098691,0.00867495866625,1.03966132663
+200,3.333333333,pose1_to_pose2_press,0.621565666425,1.2033314726e-06,1.04001179265,0.592136901748,0.00867487261273,1.03966133146
+201,3.350000000,pose1_to_pose2_press,0.62185738303,1.1930971509e-06,1.04001187629,0.592428619365,0.00867486591784,1.03966141508
+202,3.366666667,pose1_to_pose2_press,0.622138000429,1.24602975516e-06,1.04001158833,0.59270923615,0.00867491699916,1.0396611309
+203,3.383333333,pose1_to_pose2_press,0.622402680673,1.1942163194e-06,1.04001151579,0.592973916278,0.00867486471541,1.03966105369
+204,3.400000000,pose1_to_pose2_press,0.6226473909,1.17375264861e-06,1.04001156519,0.59321862576,0.00867484174431,1.03966110116
+205,3.416666667,pose1_to_pose2_press,0.622870342372,1.26324846629e-06,1.04001162158,0.593441576162,0.00867492780952,1.03966116061
+206,3.433333333,pose1_to_pose2_press,0.623066725438,1.2209507956e-06,1.0400115945,0.593637960465,0.008674889864,1.03966113545
+207,3.450000000,pose1_to_pose2_press,0.623242693388,1.10831279703e-06,1.04001149602,0.593813929299,0.00867478016991,1.03966103396
+208,3.466666667,pose1_to_pose2_press,0.623402696898,1.15778115591e-06,1.04001157335,0.593973932286,0.00867482766855,1.03966110479
+209,3.483333333,pose1_to_pose2_press,0.623547664207,1.34350024486e-06,1.04001162896,0.59411889817,0.00867500876202,1.03966116429
+210,3.500000000,pose1_to_pose2_press,0.623676552726,1.27610052246e-06,1.04001148852,0.594247786588,0.00867494129105,1.03966102974
+211,3.516666667,pose1_to_pose2_press,0.623789933331,1.11592304089e-06,1.04001147057,0.594361168352,0.00867478504179,1.03966101075
+212,3.533333333,pose1_to_pose2_press,0.623887857249,1.26287508213e-06,1.04001151237,0.594459090573,0.00867492660028,1.03966105962
+213,3.550000000,pose1_to_pose2_press,0.623970327541,1.27911784505e-06,1.0400115654,0.59454156059,0.00867494174027,1.03966110802
+214,3.566666667,pose1_to_pose2_press,0.624040258022,1.37598464033e-06,1.04001166808,0.594611490689,0.00867503688436,1.0396612022
+215,3.583333333,pose1_to_pose2_press,0.624098415434,1.38476384566e-06,1.04001158413,0.59466964754,0.0086750442958,1.03966112374
+216,3.600000000,pose1_to_pose2_press,0.624147161024,1.38162294673e-06,1.04001178368,0.594718394259,0.00867504475326,1.0396613223
+217,3.616666667,pose1_to_pose2_press,0.624186361422,1.2731375525e-06,1.04001170315,0.594757594645,0.00867493605744,1.03966123654
+218,3.633333333,pose1_to_pose2_press,0.624217650812,1.40337094176e-06,1.04001159549,0.594788882721,0.0086750618275,1.03966112909
+219,3.650000000,pose1_to_pose2_press,0.624242282468,1.28435611542e-06,1.04001170414,0.5948135167,0.00867495077556,1.0396612399
+220,3.666666667,pose1_to_pose2_press,0.624261706419,1.18833461634e-06,1.04001175665,0.594832941919,0.00867485893967,1.03966128946
+221,3.683333333,pose1_to_pose2_press,0.624277477146,1.20021543335e-06,1.04001171434,0.594848712868,0.00867487144323,1.03966124356
+222,3.700000000,pose1_to_pose2_press,0.624289848284,1.29286084182e-06,1.04001172192,0.594861084486,0.00867496585978,1.03966125393
+223,3.716666667,pose1_to_pose2_press,0.624298809192,1.52818042719e-06,1.04001182228,0.594870041162,0.0086751867297,1.03966135232
+224,3.733333333,pose1_to_pose2_press,0.62430443541,1.25371759093e-06,1.04001165728,0.594875669291,0.00867491929005,1.03966120151
+225,3.750000000,pose1_to_pose2_press,0.624307835357,1.29534630333e-06,1.04001175246,0.594879068684,0.00867495870968,1.03966128859
+226,3.766666667,pose1_to_pose2_press,0.624309680552,1.34539115936e-06,1.04001181168,0.594880913381,0.00867500681703,1.03966134155
+227,3.783333333,pose1_to_pose2_press,0.624310249552,1.3240791783e-06,1.0400117464,0.594881482611,0.00867498636063,1.03966127816
+228,3.800000000,pose1_to_pose2_press,0.624310682649,1.30785746581e-06,1.04001169671,0.594881915883,0.00867497079015,1.03966122991
+229,3.816666667,pose1_to_pose2_press,0.624311210187,1.28809846833e-06,1.04001163619,0.594882443634,0.00867495182439,1.03966117115
+230,3.833333333,pose1_to_pose2_press,0.62431149419,1.27746111402e-06,1.0400116036,0.594882727751,0.00867494161408,1.03966113951
+231,3.850000000,pose1_to_pose2_press,0.624311634734,1.27219701804e-06,1.04001158748,0.594882868351,0.00867493656132,1.03966112385
+232,3.866666667,pose1_to_pose2_press,0.624311738833,1.26829796576e-06,1.04001157554,0.594882972493,0.0086749328188,1.03966111226
+233,3.883333333,pose1_to_pose2_press,0.624311771995,1.26705589226e-06,1.04001157173,0.594883005668,0.00867493162659,1.03966110856
+234,3.900000000,pose1_to_pose2_press,0.62431193625,1.26786722973e-06,1.04001156086,0.594883169927,0.00867493250659,1.039661099
+235,3.916666667,pose1_to_pose2_press,0.624312107821,1.27118854045e-06,1.04001155233,0.594883341481,0.00867493583628,1.03966109213
+236,3.933333333,pose1_to_pose2_press,0.624312262729,1.27418727233e-06,1.04001154462,0.594883496372,0.00867493884257,1.03966108592
+237,3.950000000,pose1_to_pose2_press,0.62431237208,1.27630411923e-06,1.04001153919,0.594883605712,0.00867494096476,1.03966108153
+238,3.966666667,pose1_to_pose2_press,0.624312373145,1.2763247409e-06,1.04001153913,0.594883606777,0.00867494098543,1.03966108149
+239,3.983333333,pose1_to_pose2_press,0.62431262961,1.28128943982e-06,1.04001152638,0.594883863216,0.00867494596265,1.03966107121
+240,4.000000000,pose1_to_pose2_press,0.624312843965,1.26037204265e-06,1.04001164438,0.594884078183,0.00867492714824,1.03966118938
+241,4.016666667,pose1_to_pose2_press,0.624312912835,1.24563109778e-06,1.04001172345,0.594884147453,0.00867491375248,1.03966126791
+242,4.033333333,pose1_to_pose2_press,0.624313014289,1.22391587062e-06,1.04001183994,0.594884249497,0.00867489401887,1.0396613836
+243,4.050000000,pose1_to_pose2_press,0.624313105761,1.23178631171e-06,1.04001181084,0.594884341371,0.00867490320469,1.03966135318
+244,4.066666667,pose1_to_pose2_press,0.62431311138,1.23412358213e-06,1.04001179999,0.594884347005,0.00867490559092,1.03966134221
+245,4.083333333,pose1_to_pose2_press,0.624313113731,1.23510182781e-06,1.04001179545,0.594884349363,0.00867490658966,1.03966133762
+246,4.100000000,pose1_to_pose2_press,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.0086749352107,1.03966120607
+247,4.116666667,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521103,1.03966120607
+248,4.133333333,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521103,1.03966120607
+249,4.150000000,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521103,1.03966120607
+250,4.166666667,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521103,1.03966120607
+251,4.183333333,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521127,1.03966120607
+252,4.200000000,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521113,1.03966120607
+253,4.216666667,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521074,1.03966120607
+254,4.233333333,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521095,1.03966120607
+255,4.250000000,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521094,1.03966120607
+256,4.266666667,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.59488441694,0.00867493521106,1.03966120607
+257,4.283333333,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521075,1.03966120607
+258,4.300000000,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521077,1.03966120607
+259,4.316666667,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521072,1.03966120607
+260,4.333333333,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521073,1.03966120607
+261,4.350000000,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521071,1.03966120607
+262,4.366666667,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521069,1.03966120607
+263,4.383333333,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521083,1.03966120607
+264,4.400000000,pose2_hold,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521079,1.03966120607
+265,4.416666667,pose2_to_pose3_retreat,0.624313181116,1.26313432096e-06,1.04001166538,0.594884416941,0.00867493521057,1.03966120607
+266,4.433333333,pose2_to_pose3_retreat,0.624313069867,1.21685395898e-06,1.04001188013,0.594884305379,0.00867488795961,1.03966142324
+267,4.450000000,pose2_to_pose3_retreat,0.624313024286,1.22209902277e-06,1.04001184939,0.594884259544,0.00867489237403,1.0396613934
+268,4.466666667,pose2_to_pose3_retreat,0.624312982564,1.23138416519e-06,1.04001179927,0.594884217566,0.00867490081866,1.03966134409
+269,4.483333333,pose2_to_pose3_retreat,0.624312762876,1.28027634244e-06,1.04001153534,0.594883996527,0.008674945285,1.03966108439
+270,4.500000000,pose2_to_pose3_retreat,0.624312242375,1.28262631234e-06,1.04001151771,0.59488347523,0.00867494484974,1.0396610647
+271,4.516666667,pose2_to_pose3_retreat,0.624311997628,1.28085902344e-06,1.04001152481,0.59488323017,0.00867494196769,1.03966107051
+272,4.533333333,pose2_to_pose3_retreat,0.624310696807,1.26372961086e-06,1.04001148762,0.59488192936,0.00867492479207,1.03966103126
+273,4.550000000,pose2_to_pose3_retreat,0.624307950924,1.22582896583e-06,1.04001148863,0.59487918477,0.00867489112904,1.03966102859
+274,4.566666667,pose2_to_pose3_retreat,0.624301229036,1.24007176996e-06,1.0400117078,0.594872464401,0.00867491018252,1.03966123872
+275,4.583333333,pose2_to_pose3_retreat,0.62428907184,1.27540046371e-06,1.0400117548,0.594860306528,0.00867494351884,1.03966129255
+276,4.600000000,pose2_to_pose3_retreat,0.624268716345,1.18751715648e-06,1.04001169367,0.594839951711,0.00867485784868,1.03966122928
+277,4.616666667,pose2_to_pose3_retreat,0.624240026298,1.16402700995e-06,1.04001154189,0.594811262223,0.00867483642289,1.03966108154
+278,4.633333333,pose2_to_pose3_retreat,0.624202563764,1.20501973175e-06,1.04001154995,0.594773797712,0.00867487070912,1.03966108923
+279,4.650000000,pose2_to_pose3_retreat,0.624158241071,1.28368577971e-06,1.04001156426,0.594729474585,0.00867494803118,1.03966110769
+280,4.666666667,pose2_to_pose3_retreat,0.624107813739,1.33537991721e-06,1.04001169153,0.594679046498,0.00867499674123,1.03966122667
+281,4.683333333,pose2_to_pose3_retreat,0.624053294257,1.30554511073e-06,1.04001170299,0.594624529213,0.00867497409245,1.03966123505
+282,4.700000000,pose2_to_pose3_retreat,0.623994505679,1.1761489683e-06,1.0400115212,0.594565741152,0.00867484636848,1.03966105162
+283,4.716666667,pose2_to_pose3_retreat,0.623929689871,1.19549070591e-06,1.04001150251,0.594500925097,0.00867486518879,1.03966104002
+284,4.733333333,pose2_to_pose3_retreat,0.623857726945,1.25185635414e-06,1.04001160677,0.594428961518,0.00867491953195,1.03966114854
+285,4.750000000,pose2_to_pose3_retreat,0.623775505154,1.27359966495e-06,1.04001180898,0.594346738875,0.008674938091,1.03966134425
+286,4.766666667,pose2_to_pose3_retreat,0.623681263719,1.21859462025e-06,1.04001164297,0.59425249727,0.00867488222984,1.03966117225
+287,4.783333333,pose2_to_pose3_retreat,0.623573855855,1.20802914966e-06,1.04001151051,0.594145090244,0.00867487460458,1.03966104302
+288,4.800000000,pose2_to_pose3_retreat,0.623451682821,1.23173796344e-06,1.04001157865,0.594022917401,0.008674899004,1.03966111345
+289,4.816666667,pose2_to_pose3_retreat,0.62331534359,1.23972472232e-06,1.04001177767,0.593886577915,0.0086749059966,1.03966131066
+290,4.833333333,pose2_to_pose3_retreat,0.623164355287,1.10805523998e-06,1.04001155729,0.593735592923,0.00867478573523,1.03966109596
+291,4.850000000,pose2_to_pose3_retreat,0.622999028859,1.18481923578e-06,1.04001166322,0.593570264673,0.0086748560283,1.03966119641
+292,4.866666667,pose2_to_pose3_retreat,0.622817663504,1.16017525766e-06,1.04001169463,0.59338889942,0.00867483164021,1.03966122701
+293,4.883333333,pose2_to_pose3_retreat,0.622621512684,1.21321518588e-06,1.04001171661,0.593192747964,0.00867488229826,1.03966124556
+294,4.900000000,pose2_to_pose3_retreat,0.622410605737,1.34026444303e-06,1.04001173749,0.592981839274,0.00867500317997,1.03966126265
+295,4.916666667,pose2_to_pose3_retreat,0.622184526065,1.34967245367e-06,1.0400117045,0.592755758906,0.00867501042736,1.03966123654
+296,4.933333333,pose2_to_pose3_retreat,0.621943807877,1.27954168425e-06,1.04001183408,0.592515041074,0.00867494108775,1.03966135759
+297,4.950000000,pose2_to_pose3_retreat,0.621685601982,1.34471821373e-06,1.04001174373,0.592256835105,0.00867500630846,1.03966127615
+298,4.966666667,pose2_to_pose3_retreat,0.621410655175,1.35240888205e-06,1.04001172129,0.591981888537,0.00867501489791,1.03966125835
+299,4.983333333,pose2_to_pose3_retreat,0.621118257246,1.25921555603e-06,1.04001174702,0.591689491596,0.00867492484582,1.0396612821
+300,5.000000000,pose2_to_pose3_retreat,0.62080817639,1.15540123228e-06,1.04001154191,0.591379412568,0.0086748273233,1.03966108247
+301,5.016666667,pose2_to_pose3_retreat,0.620481847051,1.23730089921e-06,1.04001166268,0.591053081253,0.00867490213499,1.03966119704
+302,5.033333333,pose2_to_pose3_retreat,0.620145014493,1.24543556588e-06,1.04001167922,0.590716249925,0.00867491446257,1.0396612162
+303,5.050000000,pose2_to_pose3_retreat,0.619796258088,1.25918313148e-06,1.0400118103,0.590367493921,0.00867492946116,1.03966134664
+304,5.066666667,pose2_to_pose3_retreat,0.619431655084,1.30517735303e-06,1.04001198597,0.590002889338,0.00867496977822,1.03966151698
+305,5.083333333,pose2_to_pose3_retreat,0.619048051349,1.3387530076e-06,1.04001149909,0.589619285087,0.00867500171829,1.03966103758
+306,5.100000000,pose2_to_pose3_retreat,0.618642477379,1.23645023682e-06,1.04001179603,0.58921371365,0.00867490753788,1.03966132545
+307,5.116666667,pose2_to_pose3_retreat,0.61820832434,1.23723802367e-06,1.04001182317,0.588779560286,0.00867490717683,1.03966135516
+308,5.133333333,pose2_to_pose3_retreat,0.617748123701,1.34699920371e-06,1.04001167437,0.588319357646,0.00867501027702,1.03966121379
+309,5.150000000,pose2_to_pose3_retreat,0.617265541084,1.4125957758e-06,1.04001168826,0.587836774845,0.0086750750896,1.03966122685
+310,5.166666667,pose2_to_pose3_retreat,0.616769826485,1.04556609897e-06,1.04001178671,0.587341064307,0.00867472161498,1.03966132337
+311,5.183333333,pose2_to_pose3_retreat,0.616266568073,1.22426812079e-06,1.04001181752,0.586837804212,0.00867489438613,1.03966134984
+312,5.200000000,pose2_to_pose3_retreat,0.615752960107,1.35701880035e-06,1.04001167603,0.586324193186,0.00867501681923,1.03966121036
+313,5.216666667,pose2_to_pose3_retreat,0.615226707142,1.38369639336e-06,1.04001164065,0.585797938876,0.00867503900001,1.03966117669
+314,5.233333333,pose2_to_pose3_retreat,0.614676844208,1.29495707351e-06,1.04001178807,0.585248077753,0.00867495632266,1.03966132209
+315,5.250000000,pose2_to_pose3_retreat,0.614100845121,1.1227093567e-06,1.04001169313,0.584672081833,0.00867479479553,1.03966122669
+316,5.266666667,pose2_to_pose3_retreat,0.613495368952,1.31509100523e-06,1.04001181478,0.58406660356,0.0086749798343,1.03966134187
+317,5.283333333,pose2_to_pose3_retreat,0.612875868213,1.34855022688e-06,1.04001164898,0.583447102095,0.00867501121158,1.03966118521
+318,5.300000000,pose2_to_pose3_retreat,0.612249514927,1.25620482233e-06,1.04001160052,0.582820749434,0.00867492113207,1.03966114038
+319,5.316666667,pose2_to_pose3_retreat,0.611621638245,1.18446490993e-06,1.04001171002,0.582192873548,0.00867485195661,1.03966124651
+320,5.333333333,pose2_to_pose3_retreat,0.610990455538,1.25947704016e-06,1.04001180069,0.581561690552,0.00867492594189,1.03966133601
+321,5.350000000,pose2_to_pose3_retreat,0.610347909862,1.32220079924e-06,1.04001180939,0.580919143209,0.00867498292174,1.0396613425
+322,5.366666667,pose2_to_pose3_retreat,0.609690991058,1.27385042045e-06,1.04001164352,0.580262224678,0.00867493557449,1.03966117847
+323,5.383333333,pose2_to_pose3_retreat,0.609019328196,1.22995610184e-06,1.04001155022,0.579590563197,0.00867489653183,1.03966108919
+324,5.400000000,pose2_to_pose3_retreat,0.608340061556,1.22880359769e-06,1.04001156154,0.578911297635,0.00867489895742,1.03966109855
+325,5.416666667,pose2_to_pose3_retreat,0.607655514924,1.26383104674e-06,1.04001161124,0.578226750571,0.0086749320735,1.03966113717
+326,5.433333333,pose2_to_pose3_retreat,0.606962364109,1.23469342291e-06,1.04001153444,0.577533598975,0.00867490101063,1.03966107831
+327,5.450000000,pose2_to_pose3_retreat,0.60625860306,1.25834326604e-06,1.04001156789,0.576829837907,0.00867492423455,1.03966110274
+328,5.466666667,pose2_to_pose3_retreat,0.605542905167,1.25433501981e-06,1.04001175699,0.576114139501,0.00867491840419,1.03966128976
+329,5.483333333,pose2_to_pose3_retreat,0.604818854084,1.26397554675e-06,1.04001188615,0.575390088265,0.00867492760438,1.03966142079
+330,5.500000000,pose2_to_pose3_retreat,0.60408932541,1.31579957454e-06,1.04001181364,0.574660560245,0.00867498160574,1.0396613472
+331,5.516666667,pose2_to_pose3_retreat,0.603362666113,1.31604946888e-06,1.04001180402,0.573933900249,0.00867497967848,1.03966134231
+332,5.533333333,pose2_to_pose3_retreat,0.602638053502,1.15693119112e-06,1.0400117789,0.573209290094,0.00867482821722,1.03966130044
+333,5.550000000,pose2_to_pose3_retreat,0.601920894235,1.18979882716e-06,1.04001172735,0.572492128416,0.00867485311756,1.03966125415
+334,5.566666667,pose2_to_pose3_retreat,0.601207697153,1.28134465793e-06,1.04001173052,0.571778929518,0.00867493885331,1.03966126598
+335,5.583333333,pose2_to_pose3_retreat,0.600494999506,1.32511712441e-06,1.04001174623,0.571066233202,0.00867498721479,1.03966128338
+336,5.600000000,pose2_to_pose3_retreat,0.599781845735,1.29797782445e-06,1.04001142533,0.570353079301,0.00867495992185,1.03966096962
+337,5.616666667,pose2_to_pose3_retreat,0.599065929447,1.26306654507e-06,1.04001151951,0.569637163536,0.00867492652727,1.0396610574
+338,5.633333333,pose2_to_pose3_retreat,0.598344922747,1.23152568702e-06,1.04001164756,0.568916157185,0.00867489592998,1.03966117937
+339,5.650000000,pose2_to_pose3_retreat,0.597620689949,1.27256369345e-06,1.04001175036,0.568191924399,0.00867493696246,1.03966128105
+340,5.666666667,pose2_to_pose3_retreat,0.596898282334,1.37388242362e-06,1.04001177958,0.567469516549,0.00867503772306,1.03966131616
+341,5.683333333,pose2_to_pose3_retreat,0.596181565443,1.32533671661e-06,1.04001162808,0.566752799619,0.00867498951618,1.03966117627
+342,5.700000000,pose2_to_pose3_retreat,0.595472081707,1.32961352764e-06,1.04001187906,0.566043315438,0.00867499169896,1.03966141273
+343,5.716666667,pose2_to_pose3_retreat,0.594773813601,1.28824077718e-06,1.04001178924,0.565345047491,0.00867495084621,1.03966132239
+344,5.733333333,pose2_to_pose3_retreat,0.594088548911,1.28010941883e-06,1.04001172477,0.564659783471,0.00867494518538,1.03966126282
+345,5.750000000,pose2_to_pose3_retreat,0.593418710326,1.28717131025e-06,1.04001174074,0.563989945666,0.00867495497721,1.03966128087
+346,5.766666667,pose2_to_pose3_retreat,0.592763127105,1.19987267891e-06,1.04001157774,0.563334362717,0.00867486832605,1.039661111
+347,5.783333333,pose2_to_pose3_retreat,0.592117685691,1.14797741746e-06,1.04001177188,0.562688921243,0.00867481611162,1.03966130228
+348,5.800000000,pose2_to_pose3_retreat,0.59147568518,1.23623362033e-06,1.04001167426,0.562046919593,0.00867490062821,1.03966120771
+349,5.816666667,pose2_to_pose3_retreat,0.590836073644,1.28787719287e-06,1.04001161514,0.561407308135,0.00867495263006,1.03966115087
+350,5.833333333,pose2_to_pose3_retreat,0.590206664033,1.23375612443e-06,1.04001172063,0.560777899554,0.00867490189655,1.03966125368
+351,5.850000000,pose2_to_pose3_retreat,0.589593297325,1.15149735986e-06,1.04001184091,0.560164531737,0.00867481557367,1.03966136654
+352,5.866666667,pose2_to_pose3_retreat,0.589001885356,1.2276231247e-06,1.04001181797,0.55957312024,0.00867489351973,1.03966134901
+353,5.883333333,pose2_to_pose3_retreat,0.588427766264,1.16454125481e-06,1.04001165346,0.55899900278,0.00867483615069,1.03966118882
+354,5.900000000,pose2_to_pose3_retreat,0.587866313667,1.25728030257e-06,1.04001148621,0.558437548752,0.00867492428544,1.03966102772
+355,5.916666667,pose2_to_pose3_retreat,0.587312675435,1.40737483598e-06,1.04001147174,0.557883907995,0.00867506580162,1.03966101295
+356,5.933333333,pose2_to_pose3_retreat,0.586768356032,1.23331512887e-06,1.04001175286,0.557339591354,0.00867490027363,1.03966127324
+357,5.950000000,pose2_to_pose3_retreat,0.586246344591,1.2058201756e-06,1.04001168152,0.556817578842,0.00867486978469,1.0396612177
+358,5.966666667,pose2_to_pose3_retreat,0.585748797215,1.39017573008e-06,1.04001162857,0.556320030322,0.00867505009948,1.03966116087
+359,5.983333333,pose2_to_pose3_retreat,0.585277465553,1.37326551186e-06,1.04001165442,0.5558486995,0.00867503586534,1.03966118303
+360,6.000000000,pose2_to_pose3_retreat,0.584821840106,1.22546211436e-06,1.04001170904,0.555393075858,0.00867489422815,1.03966123943
+361,6.016666667,pose2_to_pose3_retreat,0.584376575054,1.25751532254e-06,1.04001168065,0.554947810908,0.00867492691714,1.03966121786
+362,6.033333333,pose2_to_pose3_retreat,0.583934368993,1.14470931345e-06,1.04001178443,0.554505606962,0.00867482124098,1.03966132051
+363,6.050000000,pose2_to_pose3_retreat,0.58349698968,1.20886365427e-06,1.04001162683,0.554068226443,0.00867488149841,1.03966116778
+364,6.066666667,pose2_to_pose3_retreat,0.583079117362,1.2913568939e-06,1.04001152376,0.553650352079,0.00867495725071,1.03966106963
+365,6.083333333,pose2_to_pose3_retreat,0.582684799455,1.28106312802e-06,1.04001152806,0.553256033606,0.00867494496063,1.03966107205
+366,6.100000000,pose2_to_pose3_retreat,0.58232091124,1.20465745534e-06,1.04001153964,0.552892146581,0.00867487231345,1.03966107664
+367,6.116666667,pose2_to_pose3_retreat,0.581985011013,1.24014909302e-06,1.04001144053,0.552556247076,0.00867491033502,1.03966097948
+368,6.133333333,pose2_to_pose3_retreat,0.581676636781,1.17975784068e-06,1.0400117292,0.552247873453,0.00867485163495,1.03966125848
+369,6.150000000,pose2_to_pose3_retreat,0.58138494284,1.23891334933e-06,1.04001171859,0.551956178369,0.00867490684778,1.03966124642
+370,6.166666667,pose2_to_pose3_retreat,0.581107510717,1.3346946907e-06,1.04001162883,0.551678744732,0.0086749975145,1.03966115738
+371,6.183333333,pose2_to_pose3_retreat,0.5808405003,1.35714711382e-06,1.04001173568,0.551411734102,0.00867501907802,1.03966125989
+372,6.200000000,pose2_to_pose3_retreat,0.580583343783,1.23511632675e-06,1.04001157681,0.551154579234,0.00867490320367,1.03966111491
+373,6.216666667,pose2_to_pose3_retreat,0.580337020663,1.30340130752e-06,1.04001163914,0.550908254252,0.00867496517957,1.03966117758
+374,6.233333333,pose2_to_pose3_retreat,0.580103259684,1.31883643717e-06,1.0400117231,0.55067449296,0.00867497964188,1.03966126375
+375,6.250000000,pose2_to_pose3_retreat,0.579883270516,1.29666385058e-06,1.0400117255,0.550454504592,0.00867496026332,1.03966126827
+376,6.266666667,pose2_to_pose3_retreat,0.579682526968,1.2890080282e-06,1.04001170698,0.550253761277,0.00867495317605,1.03966124454
+377,6.283333333,pose2_to_pose3_retreat,0.579500379903,1.21184771115e-06,1.04001184471,0.550071614824,0.00867487766833,1.03966137159
+378,6.300000000,pose2_to_pose3_retreat,0.579337927407,1.22721640239e-06,1.04001179176,0.549909162497,0.00867489407507,1.03966133017
+379,6.316666667,pose2_to_pose3_retreat,0.579192425011,1.18238177061e-06,1.04001164952,0.54976366086,0.00867485159751,1.03966118257
+380,6.333333333,pose2_to_pose3_retreat,0.579063235203,1.19271958418e-06,1.04001170453,0.549634470021,0.00867485834712,1.0396612354
+381,6.350000000,pose2_to_pose3_retreat,0.578946599841,1.22754671138e-06,1.04001182559,0.549517833893,0.00867489059145,1.0396613569
+382,6.366666667,pose2_to_pose3_retreat,0.578842067517,1.22343924493e-06,1.0400118347,0.549413303188,0.00867489193312,1.0396613649
+383,6.383333333,pose2_to_pose3_retreat,0.578749346964,1.08851001413e-06,1.04001181861,0.549320583283,0.00867475926373,1.03966135033
+384,6.400000000,pose2_to_pose3_retreat,0.578667260852,1.30279124962e-06,1.040011718,0.549238495071,0.0086749664864,1.0396612541
+385,6.416666667,pose2_to_pose3_retreat,0.578595990861,1.31675213418e-06,1.04001166725,0.549167226237,0.00867498449966,1.03966120637
+386,6.433333333,pose2_to_pose3_retreat,0.578533262843,1.19041614353e-06,1.04001161937,0.549104500184,0.00867486489115,1.03966115806
+387,6.450000000,pose2_to_pose3_retreat,0.578478745815,1.22846521171e-06,1.04001145166,0.549049979794,0.00867489131099,1.03966098479
+388,6.466666667,pose2_to_pose3_retreat,0.578431591365,1.25128828377e-06,1.04001140441,0.549002825836,0.00867491627478,1.0396609492
+389,6.483333333,pose2_to_pose3_retreat,0.578391642015,1.22992112819e-06,1.04001158067,0.548962877467,0.00867489799596,1.03966111946
+390,6.500000000,pose2_to_pose3_retreat,0.578359057505,1.20560571917e-06,1.04001173941,0.548930293403,0.00867487501028,1.03966127364
+391,6.516666667,pose2_to_pose3_retreat,0.578332982378,1.22076780045e-06,1.04001176127,0.548904217861,0.00867488882701,1.03966129711
+392,6.533333333,pose2_to_pose3_retreat,0.578313257269,1.33264143901e-06,1.04001158146,0.548884491439,0.00867499634359,1.03966111978
+393,6.550000000,pose2_to_pose3_retreat,0.578297391119,1.29580130719e-06,1.04001178645,0.548868625388,0.00867495962899,1.03966131965
+394,6.566666667,pose2_to_pose3_retreat,0.578284567806,1.23397816336e-06,1.04001182671,0.54885580244,0.00867489898238,1.03966135851
+395,6.583333333,pose2_to_pose3_retreat,0.578274583636,1.18248099786e-06,1.04001156293,0.548845818576,0.00867484872211,1.0396610999
+396,6.600000000,pose2_to_pose3_retreat,0.578267286939,1.17279409002e-06,1.04001159122,0.548838522658,0.00867484144919,1.03966112218
+397,6.616666667,pose2_to_pose3_retreat,0.578262345417,1.20663851746e-06,1.04001167063,0.548833581104,0.00867487523452,1.03966120252
+398,6.633333333,pose2_to_pose3_retreat,0.578259394454,1.25593194683e-06,1.04001175922,0.54883062971,0.0086749232406,1.03966129544
+399,6.650000000,pose2_to_pose3_retreat,0.578258154943,1.27324422518e-06,1.0400117834,0.548829389985,0.0086749398981,1.03966132135
+400,6.666666667,pose2_to_pose3_retreat,0.578257359668,1.25924552034e-06,1.04001170256,0.548828594333,0.00867492463534,1.03966124089
+401,6.683333333,pose2_to_pose3_retreat,0.578256759539,1.24868184713e-06,1.04001164156,0.548827993919,0.00867491311779,1.03966118018
+402,6.700000000,pose2_to_pose3_retreat,0.578256023884,1.23573260165e-06,1.04001156678,0.548827257916,0.00867489899926,1.03966110575
+403,6.716666667,pose2_to_pose3_retreat,0.578255361225,1.22406823715e-06,1.04001149942,0.548826594942,0.00867488628162,1.03966103871
+404,6.733333333,pose2_to_pose3_retreat,0.578254887066,1.21572193897e-06,1.04001145123,0.548826120558,0.00867487718167,1.03966099075
+405,6.750000000,pose2_to_pose3_retreat,0.578254560323,1.19863408999e-06,1.04001143317,0.548825793957,0.00867486055153,1.03966097209
+406,6.766666667,pose2_to_pose3_retreat,0.578254374532,1.17773207259e-06,1.04001143785,0.54882560854,0.00867484087381,1.03966097569
+407,6.783333333,pose2_to_pose3_retreat,0.578254122847,1.14941688908e-06,1.0400114442,0.548825357362,0.00867481421714,1.03966098056
+408,6.800000000,pose2_to_pose3_retreat,0.578253889992,1.12322007902e-06,1.04001145007,0.548825124975,0.00867478955477,1.03966098507
+409,6.816666667,pose2_to_pose3_retreat,0.578253877102,1.12176992804e-06,1.0400114504,0.548825112111,0.00867478818956,1.03966098532
+410,6.833333333,pose2_to_pose3_retreat,0.578253833903,1.11690988388e-06,1.04001145149,0.548825068999,0.00867478361418,1.03966098616
+411,6.850000000,pose2_to_pose3_retreat,0.578253830892,1.11657107572e-06,1.04001145156,0.548825065993,0.00867478329522,1.03966098622
+412,6.866666667,pose2_to_pose3_retreat,0.578253788924,1.11184964318e-06,1.04001145262,0.54882502411,0.00867477885034,1.03966098703
+413,6.883333333,pose2_to_pose3_retreat,0.578253769165,1.10962669153e-06,1.04001145312,0.548825004391,0.00867477675759,1.03966098741
+414,6.900000000,pose2_to_pose3_retreat,0.578253606375,1.09131236148e-06,1.04001145722,0.548824841928,0.008674759516,1.03966099056
+415,6.916666667,pose2_to_pose3_retreat,0.578253335237,1.06080863773e-06,1.04001146406,0.548824571336,0.00867473079898,1.03966099581
+416,6.933333333,pose2_to_pose3_retreat,0.578253010208,1.02424201057e-06,1.04001147226,0.548824246961,0.00867469637418,1.03966100211
+417,6.950000000,pose2_to_pose3_retreat,0.578252862526,1.05808567059e-06,1.04001154506,0.548824098998,0.0086747293021,1.03966107576
+418,6.966666667,pose2_to_pose3_retreat,0.57825281014,1.07046568277e-06,1.0400115714,0.548824046509,0.00867474134324,1.03966110241
+419,6.983333333,pose2_to_pose3_retreat,0.57825265835,1.10633726473e-06,1.04001164771,0.548823894418,0.00867477623293,1.03966117963
+420,7.000000000,pose2_to_pose3_retreat,0.578252425125,1.16145366772e-06,1.04001176497,0.548823660733,0.00867482984067,1.03966129828
+421,7.016666667,pose2_to_pose3_retreat,0.578252170408,1.12245545066e-06,1.04001166342,0.548823406897,0.00867479399258,1.03966120071
+422,7.033333333,pose2_to_pose3_retreat,0.578252073144,1.12522806894e-06,1.04001154978,0.548823310147,0.00867479861468,1.03966108969
+423,7.050000000,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018404,1.03966109182

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36332b21607128fec7d8132d0cbba7b73dbdf18674b99c539f1fdca79d7dfcc2
+size 26972603

Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/simulation_data.csv

@@ -0,0 +1,427 @@
+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,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+1,0.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+2,0.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+3,0.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+4,0.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+5,0.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+6,0.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+7,0.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+8,0.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+9,0.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+10,0.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+11,0.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+12,0.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+13,0.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+14,0.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+15,0.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+16,0.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+17,0.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+18,0.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+19,0.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+20,0.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+21,0.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+22,0.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+23,0.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+24,0.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+25,0.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+26,0.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+27,0.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+28,0.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+29,0.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+30,0.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+31,0.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+32,0.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+33,0.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+34,0.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+35,0.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+36,0.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+37,0.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+38,0.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+39,0.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+40,0.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+41,0.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+42,0.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+43,0.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+44,0.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+45,0.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+46,0.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+47,0.783333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+48,0.800000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+49,0.816666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+50,0.833333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+51,0.850000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+52,0.866666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+53,0.883333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+54,0.900000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+55,0.916666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+56,0.933333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+57,0.950000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+58,0.966666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+59,0.983333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+60,1.000000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+61,1.016666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+62,1.033333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+63,1.050000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+64,1.066666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+65,1.083333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+66,1.100000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+67,1.116666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+68,1.133333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+69,1.150000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+70,1.166666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+71,1.183333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+72,1.200000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+73,1.216666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+74,1.233333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+75,1.250000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+76,1.266666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+77,1.283333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+78,1.300000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+79,1.316666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+80,1.333333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+81,1.350000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+82,1.366666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+83,1.383333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+84,1.400000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+85,1.416666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+86,1.433333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+87,1.450000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+88,1.466666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+89,1.483333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+90,1.500000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+91,1.516666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+92,1.533333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+93,1.550000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+94,1.566666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+95,1.583333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+96,1.600000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+97,1.616666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+98,1.633333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+99,1.650000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+100,1.666666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+101,1.683333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+102,1.700000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+103,1.716666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+104,1.733333333,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+105,1.750000000,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+106,1.766666667,pose1_baseline,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+107,1.783333333,pose1_to_pose2_press,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182
+108,1.800000000,pose1_to_pose2_press,0.578252133018,1.16195774539e-06,1.04001155422,0.548823369583,0.00867483382541,1.03966109331
+109,1.816666667,pose1_to_pose2_press,0.578252155393,1.16843841139e-06,1.04001155524,0.548823391826,0.00867483984426,1.03966109397
+110,1.833333333,pose1_to_pose2_press,0.578252178739,1.17309566418e-06,1.04001155745,0.54882341506,0.00867484410824,1.03966109583
+111,1.850000000,pose1_to_pose2_press,0.578252316927,1.16639653832e-06,1.04001158916,0.548823553007,0.00867483652349,1.03966112592
+112,1.866666667,pose1_to_pose2_press,0.578252443724,1.16024962519e-06,1.04001161825,0.548823679582,0.00867482956396,1.03966115353
+113,1.883333333,pose1_to_pose2_press,0.578252535512,1.15579989955e-06,1.04001163931,0.548823771209,0.00867482452598,1.03966117352
+114,1.900000000,pose1_to_pose2_press,0.57825344018,1.17157406856e-06,1.0400115469,0.548824675238,0.00867483819632,1.03966108271
+115,1.916666667,pose1_to_pose2_press,0.578256461585,1.15134183166e-06,1.04001166007,0.5488276973,0.00867482027123,1.03966119776
+116,1.933333333,pose1_to_pose2_press,0.578264941059,1.29040280169e-06,1.04001185009,0.54883617615,0.00867495720332,1.03966138743
+117,1.950000000,pose1_to_pose2_press,0.578280351123,1.30056902338e-06,1.04001169959,0.548851584028,0.00867495978101,1.03966123265
+118,1.966666667,pose1_to_pose2_press,0.578306359317,1.21945203236e-06,1.04001171519,0.548877593911,0.00867488469087,1.03966125555
+119,1.983333333,pose1_to_pose2_press,0.578342972627,1.25011637483e-06,1.04001169901,0.548914206197,0.00867491180944,1.03966123757
+120,2.000000000,pose1_to_pose2_press,0.578390053555,1.26441503712e-06,1.04001156469,0.548961289347,0.0086749337258,1.03966110512
+121,2.016666667,pose1_to_pose2_press,0.578445902702,1.23945688998e-06,1.04001168817,0.549017138191,0.00867490752088,1.03966122307
+122,2.033333333,pose1_to_pose2_press,0.578510384686,1.21287392783e-06,1.04001167222,0.549081620606,0.00867488255831,1.03966121104
+123,2.050000000,pose1_to_pose2_press,0.578582652019,1.20814857549e-06,1.04001171004,0.549153888349,0.00867487884899,1.03966123943
+124,2.066666667,pose1_to_pose2_press,0.5786636527,1.28049763764e-06,1.04001166985,0.549234887623,0.00867494639083,1.03966119846
+125,2.083333333,pose1_to_pose2_press,0.57875727867,1.24443091283e-06,1.04001154751,0.549328514503,0.00867491383563,1.03966108653
+126,2.100000000,pose1_to_pose2_press,0.578863851126,1.22465250883e-06,1.04001156562,0.549435087671,0.00867489631544,1.03966110065
+127,2.116666667,pose1_to_pose2_press,0.578985183494,1.29297712805e-06,1.04001161378,0.549556419184,0.00867496173247,1.03966114874
+128,2.133333333,pose1_to_pose2_press,0.579121581954,1.23548192086e-06,1.04001180475,0.549692816633,0.00867490066094,1.03966133604
+129,2.150000000,pose1_to_pose2_press,0.579273536017,1.33204014735e-06,1.04001165364,0.549844768509,0.00867499016804,1.03966119396
+130,2.166666667,pose1_to_pose2_press,0.579445589875,1.44483417877e-06,1.04001155106,0.550016823252,0.00867510594449,1.0396610908
+131,2.183333333,pose1_to_pose2_press,0.579637868389,1.17217906078e-06,1.04001164623,0.550209104539,0.0086748428428,1.03966118952
+132,2.200000000,pose1_to_pose2_press,0.579852581115,1.08658793884e-06,1.04001181298,0.550423819692,0.00867476498686,1.03966134381
+133,2.216666667,pose1_to_pose2_press,0.580090895047,1.13978108978e-06,1.04001172826,0.550662131857,0.00867481204554,1.03966125564
+134,2.233333333,pose1_to_pose2_press,0.58035558413,1.27097115659e-06,1.04001169855,0.550926817991,0.00867493336483,1.0396612293
+135,2.250000000,pose1_to_pose2_press,0.580640940532,1.31776329821e-06,1.04001156897,0.551212172753,0.00867497478587,1.03966110433
+136,2.266666667,pose1_to_pose2_press,0.580946656403,1.20173273637e-06,1.04001179383,0.551517892018,0.00867487025867,1.03966132887
+137,2.283333333,pose1_to_pose2_press,0.58127775841,1.2513188249e-06,1.04001168758,0.551848995053,0.00867492336331,1.03966122343
+138,2.300000000,pose1_to_pose2_press,0.581629071161,1.24253249783e-06,1.04001143506,0.552200305246,0.00867490616379,1.03966097732
+139,2.316666667,pose1_to_pose2_press,0.581994109031,1.15831660786e-06,1.04001131543,0.552565344444,0.00867482641721,1.03966085682
+140,2.333333333,pose1_to_pose2_press,0.582375044514,1.25803100659e-06,1.04001171018,0.552946279764,0.0086749254531,1.03966124841
+141,2.350000000,pose1_to_pose2_press,0.582774027794,1.28790111474e-06,1.0400117339,0.553345263366,0.00867495609986,1.03966126428
+142,2.366666667,pose1_to_pose2_press,0.583189950903,1.37143861698e-06,1.04001170449,0.553761184399,0.00867503262848,1.03966123562
+143,2.383333333,pose1_to_pose2_press,0.583628373872,1.32492309792e-06,1.04001161833,0.554199607616,0.00867498707971,1.03966115248
+144,2.400000000,pose1_to_pose2_press,0.584109437843,1.19527846274e-06,1.04001173697,0.554680673631,0.00867486411861,1.03966126489
+145,2.416666667,pose1_to_pose2_press,0.584627142826,1.23089362591e-06,1.04001182082,0.555198379275,0.00867490215257,1.03966135313
+146,2.433333333,pose1_to_pose2_press,0.585176776929,1.31944160732e-06,1.04001168054,0.555748012272,0.00867498701023,1.03966121431
+147,2.450000000,pose1_to_pose2_press,0.585742739131,1.31272233595e-06,1.04001156539,0.556313974675,0.00867498111522,1.03966110267
+148,2.466666667,pose1_to_pose2_press,0.586317212291,1.26165017297e-06,1.04001163543,0.556888447057,0.00867492727623,1.03966116948
+149,2.483333333,pose1_to_pose2_press,0.586896515652,1.19583901961e-06,1.04001177391,0.557467750411,0.00867486122848,1.03966130263
+150,2.500000000,pose1_to_pose2_press,0.587488196207,1.16226929681e-06,1.04001187616,0.558059432146,0.0086748317863,1.03966140801
+151,2.516666667,pose1_to_pose2_press,0.588111145942,1.17066572341e-06,1.04001171217,0.558682381136,0.00867483779879,1.03966124758
+152,2.533333333,pose1_to_pose2_press,0.588767981917,1.18628896835e-06,1.04001146493,0.559339216663,0.00867485208303,1.03966100472
+153,2.550000000,pose1_to_pose2_press,0.589458077983,1.17410772228e-06,1.04001172915,0.560029313771,0.00867484325421,1.03966126441
+154,2.566666667,pose1_to_pose2_press,0.590161163379,1.15873101364e-06,1.04001159475,0.560732399369,0.00867482831643,1.03966112387
+155,2.583333333,pose1_to_pose2_press,0.590870530312,1.31317068831e-06,1.04001165796,0.561441765267,0.00867497895109,1.03966117982
+156,2.600000000,pose1_to_pose2_press,0.591587547426,1.29942781817e-06,1.04001171837,0.562158781163,0.00867496155004,1.03966125198
+157,2.616666667,pose1_to_pose2_press,0.592319139383,1.37957777881e-06,1.04001174217,0.562890371179,0.00867503535958,1.03966128188
+158,2.633333333,pose1_to_pose2_press,0.593073878779,1.25059692643e-06,1.04001160274,0.563645113163,0.00867491494891,1.03966113723
+159,2.650000000,pose1_to_pose2_press,0.593848808595,1.23953280308e-06,1.04001177983,0.564420044311,0.00867490844239,1.03966131523
+160,2.666666667,pose1_to_pose2_press,0.594638849201,1.3506918669e-06,1.04001158634,0.565210082351,0.00867501081584,1.03966111978
+161,2.683333333,pose1_to_pose2_press,0.595438453921,1.44760432687e-06,1.04001177541,0.566009686941,0.00867510755178,1.03966131539
+162,2.700000000,pose1_to_pose2_press,0.596246353455,1.25237139941e-06,1.04001156202,0.566817590135,0.00867492454769,1.03966109745
+163,2.716666667,pose1_to_pose2_press,0.59705589135,1.28692006762e-06,1.04001156181,0.567627124149,0.00867494590841,1.03966109668
+164,2.733333333,pose1_to_pose2_press,0.597875506798,1.25949359943e-06,1.04001169038,0.568446742256,0.00867492743026,1.0396612235
+165,2.750000000,pose1_to_pose2_press,0.598711308537,1.28384283347e-06,1.04001165323,0.569282543859,0.00867495175607,1.03966119723
+166,2.766666667,pose1_to_pose2_press,0.599550133468,1.24574693873e-06,1.04001169722,0.570121366568,0.00867490567077,1.03966123002
+167,2.783333333,pose1_to_pose2_press,0.600390769987,1.43381406441e-06,1.04001154737,0.57096200247,0.00867509204074,1.03966109
+168,2.800000000,pose1_to_pose2_press,0.601223656697,1.29895305531e-06,1.04001165703,0.571794890827,0.00867496261471,1.03966119599
+169,2.816666667,pose1_to_pose2_press,0.602049585369,1.28536123765e-06,1.04001158941,0.572620820402,0.00867495192954,1.03966112449
+170,2.833333333,pose1_to_pose2_press,0.602871280263,1.22621624572e-06,1.04001154466,0.573442516003,0.00867489537689,1.03966108456
+171,2.850000000,pose1_to_pose2_press,0.603692631437,1.23019448894e-06,1.04001165081,0.574263866324,0.00867489624789,1.03966118556
+172,2.866666667,pose1_to_pose2_press,0.604517405654,1.35892773937e-06,1.04001166586,0.575088637809,0.00867501594625,1.03966120646
+173,2.883333333,pose1_to_pose2_press,0.605341951817,1.1549903866e-06,1.04001184743,0.575913186395,0.00867481992665,1.03966138055
+174,2.900000000,pose1_to_pose2_press,0.606162459483,1.21512188697e-06,1.0400119469,0.576733694099,0.00867488005581,1.03966147683
+175,2.916666667,pose1_to_pose2_press,0.60698318471,1.25734352962e-06,1.04001187403,0.577554420283,0.00867492554315,1.0396614045
+176,2.933333333,pose1_to_pose2_press,0.60779699914,1.18835407611e-06,1.0400117488,0.578368236036,0.00867486111189,1.03966128109
+177,2.950000000,pose1_to_pose2_press,0.608596973335,1.14896188204e-06,1.04001162284,0.579168210433,0.0086748225193,1.03966115799
+178,2.966666667,pose1_to_pose2_press,0.609385960106,1.15173763151e-06,1.04001167864,0.579957197523,0.00867482644996,1.03966121565
+179,2.983333333,pose1_to_pose2_press,0.610159826974,1.26737034033e-06,1.04001174467,0.580731063921,0.00867494046687,1.03966128124
+180,3.000000000,pose1_to_pose2_press,0.610924193151,1.30906249587e-06,1.04001163451,0.581495428313,0.00867497605434,1.03966117001
+181,3.016666667,pose1_to_pose2_press,0.611678099142,1.24510188177e-06,1.04001155737,0.582249332858,0.00867490731817,1.03966109605
+182,3.033333333,pose1_to_pose2_press,0.612413381371,1.28338408929e-06,1.04001160131,0.582984615727,0.00867494777041,1.03966114006
+183,3.050000000,pose1_to_pose2_press,0.61313657775,1.37401937615e-06,1.04001172322,0.583707811986,0.00867503792585,1.03966126028
+184,3.066666667,pose1_to_pose2_press,0.613848281593,1.40066184437e-06,1.04001168135,0.584419515612,0.00867506418732,1.03966122728
+185,3.083333333,pose1_to_pose2_press,0.6145368672,1.364199172e-06,1.04001157469,0.585108101567,0.00867502910421,1.0396611256
+186,3.100000000,pose1_to_pose2_press,0.615205502027,1.38875152076e-06,1.04001175194,0.585776734236,0.00867504592354,1.03966129268
+187,3.116666667,pose1_to_pose2_press,0.615860315548,1.26649512535e-06,1.04001169979,0.586431549772,0.00867493017199,1.03966123198
+188,3.133333333,pose1_to_pose2_press,0.616499385818,1.26026501189e-06,1.04001176274,0.587070620682,0.00867492596932,1.03966128935
+189,3.150000000,pose1_to_pose2_press,0.617113745877,1.27005708936e-06,1.04001176849,0.587684979912,0.00867493332417,1.03966130001
+190,3.166666667,pose1_to_pose2_press,0.617698139406,1.26167759793e-06,1.04001160796,0.588269374439,0.00867492847141,1.03966114068
+191,3.183333333,pose1_to_pose2_press,0.618250299053,1.19240141705e-06,1.04001172165,0.588821535236,0.00867486319181,1.03966125309
+192,3.200000000,pose1_to_pose2_press,0.618776203902,1.19147609545e-06,1.04001180054,0.589347440467,0.00867486390302,1.03966133614
+193,3.216666667,pose1_to_pose2_press,0.61928217587,1.09698979964e-06,1.04001178452,0.589853413791,0.00867477430615,1.03966132291
+194,3.233333333,pose1_to_pose2_press,0.61977494057,1.29723691829e-06,1.04001179709,0.590346174967,0.00867496268234,1.03966133371
+195,3.250000000,pose1_to_pose2_press,0.620248358492,1.32926846085e-06,1.04001183906,0.590819592164,0.00867499195978,1.03966136456
+196,3.266666667,pose1_to_pose2_press,0.620692751818,1.25058952294e-06,1.04001168671,0.591263986007,0.00867491551999,1.0396612208
+197,3.283333333,pose1_to_pose2_press,0.621103619772,1.36968978717e-06,1.0400115547,0.591674850493,0.00867502316373,1.03966109278
+198,3.300000000,pose1_to_pose2_press,0.621480693856,1.36017384094e-06,1.04001164365,0.592051925764,0.00867501791764,1.03966118431
+199,3.316666667,pose1_to_pose2_press,0.621831881359,1.05764695204e-06,1.04001179145,0.592403119302,0.00867473566276,1.03966132402
+200,3.333333333,pose1_to_pose2_press,0.622164774738,1.16093152564e-06,1.04001179989,0.592736010592,0.00867483215881,1.03966133686
+201,3.350000000,pose1_to_pose2_press,0.622487190174,1.16439363638e-06,1.04001173807,0.593058425879,0.00867483504752,1.03966127149
+202,3.366666667,pose1_to_pose2_press,0.622795972733,1.30960812667e-06,1.04001144454,0.593367206275,0.00867497327075,1.03966098405
+203,3.383333333,pose1_to_pose2_press,0.623087350229,1.37816626841e-06,1.04001163716,0.593658582331,0.00867503686585,1.03966117152
+204,3.400000000,pose1_to_pose2_press,0.623357262438,1.34773771869e-06,1.04001163992,0.593928495093,0.00867500865049,1.03966117999
+205,3.416666667,pose1_to_pose2_press,0.623605601196,1.357480028e-06,1.04001151697,0.594176833832,0.00867501866963,1.03966106231
+206,3.433333333,pose1_to_pose2_press,0.623828921284,1.33869011666e-06,1.04001153814,0.594400153997,0.00867500004194,1.03966107899
+207,3.450000000,pose1_to_pose2_press,0.624031400945,1.23055830885e-06,1.04001155143,0.59460263559,0.00867489845232,1.03966109043
+208,3.466666667,pose1_to_pose2_press,0.624214744528,1.20825366957e-06,1.04001165335,0.594785979235,0.00867487609107,1.03966118435
+209,3.483333333,pose1_to_pose2_press,0.62437916405,1.27383589619e-06,1.04001171016,0.594950398035,0.00867493927724,1.0396612411
+210,3.500000000,pose1_to_pose2_press,0.624524375592,1.31758758448e-06,1.04001167572,0.595095609681,0.00867498372299,1.03966121358
+211,3.516666667,pose1_to_pose2_press,0.624653492737,1.32428514718e-06,1.0400116402,0.595224725801,0.00867498686269,1.03966117487
+212,3.533333333,pose1_to_pose2_press,0.624767430524,1.32526675069e-06,1.04001166005,0.595338662934,0.00867498561721,1.03966119355
+213,3.550000000,pose1_to_pose2_press,0.624865154378,1.37231671699e-06,1.04001179825,0.595436387031,0.00867503368771,1.03966133513
+214,3.566666667,pose1_to_pose2_press,0.624949242837,1.35550569142e-06,1.04001175055,0.595520475504,0.00867501696615,1.0396612857
+215,3.583333333,pose1_to_pose2_press,0.625020523295,1.34551385491e-06,1.04001157752,0.595591755608,0.00867500577294,1.0396611086
+216,3.600000000,pose1_to_pose2_press,0.62508113415,1.36742842675e-06,1.04001157074,0.59565236678,0.00867502898169,1.03966110546
+217,3.616666667,pose1_to_pose2_press,0.625131479719,1.30585709569e-06,1.04001155949,0.595702714071,0.00867497305638,1.03966109703
+218,3.633333333,pose1_to_pose2_press,0.625174276085,1.24469086845e-06,1.04001170037,0.595745509341,0.00867490806852,1.03966122983
+219,3.650000000,pose1_to_pose2_press,0.625209685105,1.26555053809e-06,1.04001161139,0.595780918111,0.00867492817142,1.03966114407
+220,3.666666667,pose1_to_pose2_press,0.625237127694,1.28054988993e-06,1.04001164963,0.595808361987,0.00867494752253,1.03966118417
+221,3.683333333,pose1_to_pose2_press,0.62525865067,1.29723723846e-06,1.04001174974,0.595829885612,0.00867496645993,1.03966128489
+222,3.700000000,pose1_to_pose2_press,0.625274727447,1.326117629e-06,1.04001184835,0.595845961864,0.00867499356465,1.03966138334
+223,3.716666667,pose1_to_pose2_press,0.625285986472,1.34825793669e-06,1.04001190735,0.595857220158,0.00867501314259,1.03966144206
+224,3.733333333,pose1_to_pose2_press,0.625293164402,1.28449630443e-06,1.04001173715,0.595864399514,0.00867495444926,1.0396612774
+225,3.750000000,pose1_to_pose2_press,0.625298279677,1.26428695897e-06,1.04001166679,0.595869515033,0.00867493510026,1.03966120781
+226,3.766666667,pose1_to_pose2_press,0.625301858962,1.28103087867e-06,1.0400116799,0.595873093545,0.00867494907792,1.0396612176
+227,3.783333333,pose1_to_pose2_press,0.625304374588,1.2769267894e-06,1.04001169074,0.595875608808,0.00867494362725,1.03966122566
+228,3.800000000,pose1_to_pose2_press,0.625306385661,1.21417447698e-06,1.04001170546,0.595877620268,0.00867488203767,1.03966123655
+229,3.816666667,pose1_to_pose2_press,0.625307789976,1.17035508833e-06,1.04001171574,0.595879024853,0.00867483903021,1.03966124416
+230,3.833333333,pose1_to_pose2_press,0.625308402302,1.1512484112e-06,1.04001172022,0.595879637298,0.00867482027756,1.03966124747
+231,3.850000000,pose1_to_pose2_press,0.625308418212,1.15075198693e-06,1.04001172034,0.59587965321,0.00867481979033,1.03966124756
+232,3.866666667,pose1_to_pose2_press,0.625308583924,1.14558120685e-06,1.04001172155,0.595879818954,0.00867481471536,1.03966124846
+233,3.883333333,pose1_to_pose2_press,0.625308715515,1.14147512128e-06,1.04001172252,0.59587995057,0.00867481068536,1.03966124917
+234,3.900000000,pose1_to_pose2_press,0.625309225335,1.16351716211e-06,1.04001171559,0.595880460358,0.00867483269086,1.03966124401
+235,3.916666667,pose1_to_pose2_press,0.625310023678,1.20811873731e-06,1.04001170191,0.595881258614,0.00867487714718,1.03966123382
+236,3.933333333,pose1_to_pose2_press,0.62531090292,1.25723999332e-06,1.04001168684,0.595882137761,0.00867492610846,1.0396612226
+237,3.950000000,pose1_to_pose2_press,0.625310959327,1.26039134491e-06,1.04001168587,0.595882194162,0.00867492924955,1.03966122188
+238,3.966666667,pose1_to_pose2_press,0.625311283485,1.27850133035e-06,1.04001168032,0.595882518286,0.00867494730056,1.03966121774
+239,3.983333333,pose1_to_pose2_press,0.625311345648,1.28197420624e-06,1.04001167925,0.595882580441,0.00867495076212,1.03966121695
+240,4.000000000,pose1_to_pose2_press,0.625311435704,1.28700545503e-06,1.04001167771,0.595882670488,0.00867495577699,1.0396612158
+241,4.016666667,pose1_to_pose2_press,0.625311642547,1.27389537567e-06,1.0400116664,0.595882877294,0.00867494246215,1.03966120229
+242,4.033333333,pose1_to_pose2_press,0.625311970306,1.25203507988e-06,1.04001164815,0.595883204995,0.00867492027003,1.03966118042
+243,4.050000000,pose1_to_pose2_press,0.625312579153,1.21142731983e-06,1.04001161425,0.595883813733,0.00867487904589,1.03966113978
+244,4.066666667,pose1_to_pose2_press,0.625312870089,1.17735866934e-06,1.04001159342,0.595884104945,0.00867484602805,1.03966112243
+245,4.083333333,pose1_to_pose2_press,0.625313072011,1.15130582962e-06,1.0400115782,0.595884307112,0.00867482092541,1.03966111073
+246,4.100000000,pose1_to_pose2_press,0.62531314534,1.13634165648e-06,1.04001158523,0.595884381088,0.0086748081427,1.03966111717
+247,4.116666667,pose1_to_pose2_press,0.625313147611,1.13569416778e-06,1.04001158587,0.595884383398,0.00867480762417,1.03966111772
+248,4.133333333,pose1_to_pose2_press,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.0086748028012,1.0396611229
+249,4.150000000,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280137,1.0396611229
+250,4.166666667,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280136,1.0396611229
+251,4.183333333,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280126,1.0396611229
+252,4.200000000,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280144,1.0396611229
+253,4.216666667,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280144,1.0396611229
+254,4.233333333,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280144,1.0396611229
+255,4.250000000,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280143,1.0396611229
+256,4.266666667,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280142,1.0396611229
+257,4.283333333,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280142,1.0396611229
+258,4.300000000,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280134,1.0396611229
+259,4.316666667,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280137,1.0396611229
+260,4.333333333,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280136,1.0396611229
+261,4.350000000,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280135,1.0396611229
+262,4.366666667,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280135,1.0396611229
+263,4.383333333,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280121,1.0396611229
+264,4.400000000,pose2_hold,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280134,1.0396611229
+265,4.416666667,pose2_to_pose3_retreat,0.62531316874,1.12967173714e-06,1.0400115918,0.595884404883,0.00867480280133,1.0396611229
+266,4.433333333,pose2_to_pose3_retreat,0.625313146686,1.10106970757e-06,1.04001156553,0.595884382126,0.00867477200728,1.03966110133
+267,4.450000000,pose2_to_pose3_retreat,0.62531312878,1.09696461332e-06,1.04001155691,0.595884363969,0.00867476711263,1.03966109422
+268,4.466666667,pose2_to_pose3_retreat,0.625313109924,1.10662146021e-06,1.04001155714,0.595884345083,0.00867477666216,1.03966109435
+269,4.483333333,pose2_to_pose3_retreat,0.625313044216,1.14027413249e-06,1.04001155792,0.595884279267,0.00867480994085,1.03966109478
+270,4.500000000,pose2_to_pose3_retreat,0.625312969737,1.17841852104e-06,1.0400115588,0.595884204666,0.00867484766134,1.03966109528
+271,4.516666667,pose2_to_pose3_retreat,0.625312856337,1.23649643491e-06,1.04001156014,0.595884091081,0.00867490509384,1.03966109604
+272,4.533333333,pose2_to_pose3_retreat,0.625312657277,1.25057207317e-06,1.04001154114,0.595883891954,0.00867491893633,1.03966107693
+273,4.550000000,pose2_to_pose3_retreat,0.625312363642,1.23451528846e-06,1.04001150418,0.595883598325,0.00867490291266,1.03966104019
+274,4.566666667,pose2_to_pose3_retreat,0.625310868555,1.23195923034e-06,1.04001159109,0.595882102634,0.00867489822934,1.03966112507
+275,4.583333333,pose2_to_pose3_retreat,0.625307198345,1.25286305787e-06,1.04001183008,0.595878431798,0.00867491682078,1.03966135973
+276,4.600000000,pose2_to_pose3_retreat,0.625297573019,1.26190140877e-06,1.04001170283,0.595868806215,0.00867492520988,1.03966123705
+277,4.616666667,pose2_to_pose3_retreat,0.625280640942,1.33008858843e-06,1.04001191879,0.595851875793,0.00867499911174,1.03966145603
+278,4.633333333,pose2_to_pose3_retreat,0.625254404265,1.2887454004e-06,1.04001176773,0.595825639277,0.00867495831134,1.03966130717
+279,4.650000000,pose2_to_pose3_retreat,0.625219641387,1.20005459981e-06,1.04001160301,0.595790876624,0.00867487006047,1.03966113437
+280,4.666666667,pose2_to_pose3_retreat,0.625176787978,1.34447979009e-06,1.04001167827,0.595748020637,0.0086750059531,1.03966121368
+281,4.683333333,pose2_to_pose3_retreat,0.625128728247,1.22237927138e-06,1.04001155633,0.595699963473,0.00867489268492,1.0396610977
+282,4.700000000,pose2_to_pose3_retreat,0.625076113244,1.28641120637e-06,1.04001162324,0.595647347866,0.00867495496187,1.03966116722
+283,4.716666667,pose2_to_pose3_retreat,0.625018113824,1.288824506e-06,1.04001182775,0.59558934777,0.00867495459847,1.03966136075
+284,4.733333333,pose2_to_pose3_retreat,0.624953963865,1.32172140038e-06,1.04001187823,0.59552519642,0.00867498237475,1.03966140453
+285,4.750000000,pose2_to_pose3_retreat,0.624881971808,1.41889910035e-06,1.04001169374,0.595453202405,0.00867507312241,1.03966122734
+286,4.766666667,pose2_to_pose3_retreat,0.624801008306,1.37361446746e-06,1.04001162552,0.595372240382,0.00867503344084,1.03966117423
+287,4.783333333,pose2_to_pose3_retreat,0.624710402274,1.29636819342e-06,1.04001158714,0.595281636355,0.00867496265797,1.03966112821
+288,4.800000000,pose2_to_pose3_retreat,0.6246093691,1.30470405896e-06,1.04001155911,0.595180602919,0.00867496991228,1.03966109641
+289,4.816666667,pose2_to_pose3_retreat,0.624497437831,1.37384511454e-06,1.04001153749,0.595068669886,0.00867503317837,1.03966107865
+290,4.833333333,pose2_to_pose3_retreat,0.624371866966,1.34021432953e-06,1.04001152207,0.594943100177,0.00867500355177,1.03966106639
+291,4.850000000,pose2_to_pose3_retreat,0.624232193096,1.2471787103e-06,1.04001158482,0.594803426048,0.00867490900329,1.03966111477
+292,4.866666667,pose2_to_pose3_retreat,0.624076483474,1.23530333248e-06,1.04001155932,0.594647717483,0.00867490089758,1.03966109521
+293,4.883333333,pose2_to_pose3_retreat,0.623905322495,1.2257640999e-06,1.04001153061,0.594476557789,0.00867489595324,1.03966107373
+294,4.900000000,pose2_to_pose3_retreat,0.623718985598,1.16446183579e-06,1.04001158765,0.594290221207,0.00867483530696,1.03966112201
+295,4.916666667,pose2_to_pose3_retreat,0.623513898191,1.25443378478e-06,1.04001165435,0.594085134182,0.00867492671191,1.0396611943
+296,4.933333333,pose2_to_pose3_retreat,0.623291377581,1.26889545477e-06,1.04001157711,0.593862612554,0.00867493764715,1.03966111695
+297,4.950000000,pose2_to_pose3_retreat,0.623050987387,1.28890871916e-06,1.04001164438,0.593622221345,0.0086749539058,1.03966117858
+298,4.966666667,pose2_to_pose3_retreat,0.622793215565,1.22516682103e-06,1.04001159346,0.593364450043,0.00867489189688,1.03966112924
+299,4.983333333,pose2_to_pose3_retreat,0.622517432614,1.12565048244e-06,1.0400114408,0.593088668289,0.00867479659383,1.03966098327
+300,5.000000000,pose2_to_pose3_retreat,0.62222811303,1.19484371116e-06,1.04001157673,0.592799347415,0.00867486097102,1.0396611117
+301,5.016666667,pose2_to_pose3_retreat,0.621924753657,1.22048861234e-06,1.04001176984,0.592495989503,0.00867489146253,1.03966130479
+302,5.033333333,pose2_to_pose3_retreat,0.621604304595,1.37897510968e-06,1.0400117608,0.592175538966,0.0086750446398,1.03966129043
+303,5.050000000,pose2_to_pose3_retreat,0.621267501102,1.34706587454e-06,1.04001178926,0.591838735686,0.00867501313021,1.039661314
+304,5.066666667,pose2_to_pose3_retreat,0.620913435321,1.18507059688e-06,1.04001188342,0.591484671743,0.00867485722607,1.03966140771
+305,5.083333333,pose2_to_pose3_retreat,0.620544889624,1.19515628334e-06,1.04001193328,0.59111612646,0.0086748689451,1.03966146406
+306,5.100000000,pose2_to_pose3_retreat,0.620163442376,1.2166896594e-06,1.04001167039,0.590734677414,0.00867488398141,1.03966119732
+307,5.116666667,pose2_to_pose3_retreat,0.619765968589,1.25269551018e-06,1.04001155761,0.590337202004,0.00867491477557,1.0396610943
+308,5.133333333,pose2_to_pose3_retreat,0.619350112713,1.2363942746e-06,1.04001153795,0.58992134619,0.00867489875597,1.03966107975
+309,5.150000000,pose2_to_pose3_retreat,0.6189069348,1.19000193799e-06,1.04001164522,0.589478169763,0.00867485687211,1.03966117962
+310,5.166666667,pose2_to_pose3_retreat,0.618435630038,1.31586302877e-06,1.04001207945,0.589006864027,0.00867497885609,1.03966160313
+311,5.183333333,pose2_to_pose3_retreat,0.617935138465,1.32320248649e-06,1.04001173651,0.588506372116,0.008674985562,1.03966127548
+312,5.200000000,pose2_to_pose3_retreat,0.617421166907,1.34486173992e-06,1.04001174766,0.587992399986,0.00867500511306,1.03966128598
+313,5.216666667,pose2_to_pose3_retreat,0.616899156374,1.32654627313e-06,1.04001180248,0.587470389767,0.00867498766928,1.03966133884
+314,5.233333333,pose2_to_pose3_retreat,0.616369886402,1.2736920111e-06,1.04001181726,0.586941120669,0.00867493761506,1.03966135175
+315,5.250000000,pose2_to_pose3_retreat,0.615830265289,1.22085692216e-06,1.04001183403,0.58640150004,0.00867488609935,1.03966136283
+316,5.266666667,pose2_to_pose3_retreat,0.615272954728,1.1858441411e-06,1.04001169256,0.585844189228,0.00867485066088,1.03966123121
+317,5.283333333,pose2_to_pose3_retreat,0.614686643755,1.35475964665e-06,1.04001176407,0.585257876819,0.00867501462367,1.03966130111
+318,5.300000000,pose2_to_pose3_retreat,0.614066518103,1.34589330917e-06,1.04001173593,0.584637752316,0.00867500972578,1.03966127498
+319,5.316666667,pose2_to_pose3_retreat,0.613432561519,1.23321088593e-06,1.04001167365,0.584003796853,0.00867490086038,1.03966121292
+320,5.333333333,pose2_to_pose3_retreat,0.612790316475,1.19747985588e-06,1.04001168869,0.583361550962,0.0086748620796,1.03966122359
+321,5.350000000,pose2_to_pose3_retreat,0.612145488898,1.19219131688e-06,1.04001164572,0.582716725322,0.00867486375079,1.03966119016
+322,5.366666667,pose2_to_pose3_retreat,0.611497038572,1.17953275549e-06,1.04001157888,0.582068275311,0.00867485193038,1.0396611176
+323,5.383333333,pose2_to_pose3_retreat,0.610839877651,1.2800788273e-06,1.04001179592,0.581411112571,0.0086749460719,1.0396613289
+324,5.400000000,pose2_to_pose3_retreat,0.610169854358,1.31790700792e-06,1.04001173924,0.580741088355,0.00867498079696,1.03966127284
+325,5.416666667,pose2_to_pose3_retreat,0.609488137285,1.25213749795e-06,1.04001152557,0.580059372022,0.00867491767157,1.03966106228
+326,5.433333333,pose2_to_pose3_retreat,0.608795516516,1.17029010459e-06,1.04001181255,0.579366752355,0.00867483935172,1.03966134324
+327,5.450000000,pose2_to_pose3_retreat,0.608095827449,1.20457881474e-06,1.04001159076,0.578667064717,0.00867487880774,1.03966112877
+328,5.466666667,pose2_to_pose3_retreat,0.607390793755,1.22155437024e-06,1.04001166855,0.577962029449,0.0086748901523,1.03966119939
+329,5.483333333,pose2_to_pose3_retreat,0.606673769262,1.29137217589e-06,1.04001168909,0.577245004163,0.0086749574689,1.03966122465
+330,5.500000000,pose2_to_pose3_retreat,0.605941404692,1.3125828156e-06,1.04001157161,0.576512640013,0.00867498054104,1.03966111801
+331,5.516666667,pose2_to_pose3_retreat,0.605203190603,1.16218670642e-06,1.04001142721,0.575774426369,0.00867483157051,1.03966097148
+332,5.533333333,pose2_to_pose3_retreat,0.60446239104,1.10957958288e-06,1.04001155476,0.575033627444,0.00867478083069,1.03966109152
+333,5.550000000,pose2_to_pose3_retreat,0.603718346644,1.11502884498e-06,1.04001165894,0.574289583406,0.00867478737509,1.03966119275
+334,5.566666667,pose2_to_pose3_retreat,0.602977256459,1.18952879872e-06,1.04001175031,0.573548493047,0.00867486134138,1.03966128541
+335,5.583333333,pose2_to_pose3_retreat,0.602248021217,1.23585919601e-06,1.04001176915,0.572819257533,0.00867490667706,1.03966130254
+336,5.600000000,pose2_to_pose3_retreat,0.601522880905,1.21173960601e-06,1.04001169627,0.572094117086,0.00867488189478,1.0396612245
+337,5.616666667,pose2_to_pose3_retreat,0.60080057133,1.18073436934e-06,1.04001158351,0.571371807312,0.00867485040431,1.03966111643
+338,5.633333333,pose2_to_pose3_retreat,0.600079743065,1.19861568374e-06,1.04001160318,0.570650977969,0.00867486439021,1.03966113015
+339,5.650000000,pose2_to_pose3_retreat,0.599354826646,1.18050673153e-06,1.04001149181,0.56992606242,0.00867484964927,1.03966102903
+340,5.666666667,pose2_to_pose3_retreat,0.598619064882,1.21506428533e-06,1.04001148824,0.569190300556,0.00867488414404,1.03966103231
+341,5.683333333,pose2_to_pose3_retreat,0.597880210639,1.3062491117e-06,1.04001172504,0.56845144469,0.0086749694871,1.03966126067
+342,5.700000000,pose2_to_pose3_retreat,0.597146015978,1.23380125743e-06,1.04001194475,0.567717252999,0.00867490695167,1.03966147637
+343,5.716666667,pose2_to_pose3_retreat,0.596419085602,1.26582356766e-06,1.04001161368,0.566990321175,0.00867493443667,1.03966115456
+344,5.733333333,pose2_to_pose3_retreat,0.595698474178,1.36969148117e-06,1.04001152318,0.566269708079,0.00867503278044,1.03966106767
+345,5.750000000,pose2_to_pose3_retreat,0.594993716626,1.28995479424e-06,1.04001159011,0.565564950914,0.00867495421574,1.03966113113
+346,5.766666667,pose2_to_pose3_retreat,0.594300390845,1.15922469905e-06,1.04001171434,0.564871626328,0.00867482731366,1.0396612497
+347,5.783333333,pose2_to_pose3_retreat,0.593616443643,1.26857135863e-06,1.04001180113,0.56418767842,0.00867493422119,1.03966133543
+348,5.800000000,pose2_to_pose3_retreat,0.592948366912,1.17370480874e-06,1.04001171988,0.563519602317,0.00867484134315,1.03966125062
+349,5.816666667,pose2_to_pose3_retreat,0.592297471479,1.25203351179e-06,1.04001171757,0.562868705106,0.0086749135154,1.03966124527
+350,5.833333333,pose2_to_pose3_retreat,0.591648073796,1.24482449231e-06,1.04001177409,0.562219307863,0.00867490779554,1.03966130168
+351,5.850000000,pose2_to_pose3_retreat,0.590999141536,1.18929561809e-06,1.04001179833,0.561570377245,0.0086748579384,1.03966132843
+352,5.866666667,pose2_to_pose3_retreat,0.590359453916,1.24262208899e-06,1.04001170193,0.560930689299,0.00867491026043,1.03966123445
+353,5.883333333,pose2_to_pose3_retreat,0.589732950615,1.35245770375e-06,1.04001171629,0.560304186053,0.00867502008712,1.03966124403
+354,5.900000000,pose2_to_pose3_retreat,0.589125039807,1.30045771707e-06,1.04001168071,0.559696275847,0.00867497052188,1.03966121808
+355,5.916666667,pose2_to_pose3_retreat,0.58854057958,1.25983314959e-06,1.04001167369,0.559111815789,0.00867493054123,1.03966121285
+356,5.933333333,pose2_to_pose3_retreat,0.587977950975,1.21812118457e-06,1.04001160261,0.558549186487,0.00867488636523,1.03966113932
+357,5.950000000,pose2_to_pose3_retreat,0.587423060248,1.17370843853e-06,1.04001146464,0.557994294687,0.00867483824196,1.03966099967
+358,5.966666667,pose2_to_pose3_retreat,0.586877121592,1.23317088921e-06,1.04001156818,0.557448357508,0.00867490269159,1.03966110257
+359,5.983333333,pose2_to_pose3_retreat,0.586349530445,1.12096997678e-06,1.04001167893,0.556920766783,0.00867479181477,1.03966121068
+360,6.000000000,pose2_to_pose3_retreat,0.585842575235,1.16509397964e-06,1.04001177207,0.556413811849,0.00867483690543,1.03966130452
+361,6.016666667,pose2_to_pose3_retreat,0.585358123111,1.24016676072e-06,1.04001156817,0.555929358907,0.00867490947892,1.0396611075
+362,6.033333333,pose2_to_pose3_retreat,0.584895795895,1.2518222873e-06,1.04001123887,0.555467030156,0.00867491616497,1.03966078409
+363,6.050000000,pose2_to_pose3_retreat,0.584450734573,1.17624180595e-06,1.04001169728,0.555021969179,0.00867484098203,1.03966122335
+364,6.066666667,pose2_to_pose3_retreat,0.584007743313,1.23034839061e-06,1.04001162355,0.554578978573,0.00867489741441,1.03966115233
+365,6.083333333,pose2_to_pose3_retreat,0.583570504813,1.22637058215e-06,1.04001167375,0.554141739825,0.00867489255747,1.03966120152
+366,6.100000000,pose2_to_pose3_retreat,0.583146680809,1.23673671136e-06,1.04001165411,0.553717914969,0.00867490015133,1.03966118484
+367,6.116666667,pose2_to_pose3_retreat,0.582746295676,1.22437304175e-06,1.04001159653,0.553317530081,0.0086748888949,1.03966113413
+368,6.133333333,pose2_to_pose3_retreat,0.582375420753,1.15447874905e-06,1.04001168126,0.552946656973,0.00867482527492,1.0396612217
+369,6.150000000,pose2_to_pose3_retreat,0.582037349523,1.31104657982e-06,1.04001179965,0.552608584137,0.00867497615113,1.03966133402
+370,6.166666667,pose2_to_pose3_retreat,0.581726848392,1.26411614439e-06,1.04001158942,0.552298082322,0.0086749266272,1.03966111715
+371,6.183333333,pose2_to_pose3_retreat,0.581434900464,1.24558002901e-06,1.04001152319,0.552006134352,0.00867490800068,1.03966105245
+372,6.200000000,pose2_to_pose3_retreat,0.581154017098,1.23653126402e-06,1.04001162233,0.551725251308,0.00867490021412,1.0396611561
+373,6.216666667,pose2_to_pose3_retreat,0.580880719002,1.15270848926e-06,1.04001182239,0.551451953501,0.00867481725025,1.03966135295
+374,6.233333333,pose2_to_pose3_retreat,0.580617007619,1.22362887935e-06,1.04001151049,0.551188241698,0.00867488690208,1.03966104521
+375,6.250000000,pose2_to_pose3_retreat,0.580364696239,1.23976225735e-06,1.04001146308,0.550935931028,0.00867490533479,1.03966099502
+376,6.266666667,pose2_to_pose3_retreat,0.580128978513,1.2179204992e-06,1.04001164681,0.550700213984,0.00867488583634,1.03966117942
+377,6.283333333,pose2_to_pose3_retreat,0.579909396291,1.26278570707e-06,1.04001171891,0.550480630989,0.00867492824546,1.0396612555
+378,6.300000000,pose2_to_pose3_retreat,0.579707383324,1.33914250766e-06,1.04001156607,0.55027861666,0.00867499998819,1.03966110278
+379,6.316666667,pose2_to_pose3_retreat,0.57952285762,1.19751301819e-06,1.04001160093,0.550094092608,0.00867486357112,1.03966112822
+380,6.333333333,pose2_to_pose3_retreat,0.579357068193,1.30351972093e-06,1.04001153005,0.549928301732,0.00867496525105,1.03966107189
+381,6.350000000,pose2_to_pose3_retreat,0.579208417536,1.27246696541e-06,1.04001166454,0.549779651317,0.0086749346626,1.03966119759
+382,6.366666667,pose2_to_pose3_retreat,0.579076193349,1.2703150453e-06,1.04001166694,0.549647427332,0.00867493293027,1.03966119334
+383,6.383333333,pose2_to_pose3_retreat,0.578959169859,1.28573522643e-06,1.04001165265,0.549530404215,0.00867494960134,1.03966117863
+384,6.400000000,pose2_to_pose3_retreat,0.578854317849,1.27977401756e-06,1.04001173245,0.549425553045,0.00867494668323,1.03966126329
+385,6.416666667,pose2_to_pose3_retreat,0.578760198796,1.20743452499e-06,1.04001177721,0.549331434759,0.00867487729179,1.03966131662
+386,6.433333333,pose2_to_pose3_retreat,0.578675771367,1.16647613694e-06,1.04001178157,0.549247007894,0.0086748382229,1.03966132108
+387,6.450000000,pose2_to_pose3_retreat,0.578601021903,1.14404378942e-06,1.04001165562,0.54917225876,0.00867481695345,1.03966119639
+388,6.466666667,pose2_to_pose3_retreat,0.578536276977,1.10528766564e-06,1.04001157592,0.549107514509,0.00867478053918,1.03966111789
+389,6.483333333,pose2_to_pose3_retreat,0.578480799778,1.05676934097e-06,1.04001163128,0.549052037998,0.00867473431264,1.03966117213
+390,6.500000000,pose2_to_pose3_retreat,0.578434109096,1.16526680971e-06,1.04001145941,0.549005343948,0.00867483129049,1.0396609979
+391,6.516666667,pose2_to_pose3_retreat,0.578394763243,1.13464068863e-06,1.04001159083,0.54896599913,0.00867480421299,1.03966113038
+392,6.533333333,pose2_to_pose3_retreat,0.578362343276,1.193772226e-06,1.04001157391,0.548933578699,0.00867486155731,1.03966110812
+393,6.550000000,pose2_to_pose3_retreat,0.578335709867,1.28128155038e-06,1.04001155771,0.548906944047,0.00867494466564,1.03966108751
+394,6.566666667,pose2_to_pose3_retreat,0.578314649768,1.28646862486e-06,1.0400117873,0.548885883808,0.00867494962936,1.03966132347
+395,6.583333333,pose2_to_pose3_retreat,0.578298102386,1.19240122496e-06,1.04001181132,0.548869337106,0.00867485774003,1.03966134444
+396,6.600000000,pose2_to_pose3_retreat,0.578285290454,1.24790195662e-06,1.04001169499,0.54885652446,0.00867491094968,1.03966123118
+397,6.616666667,pose2_to_pose3_retreat,0.578275779638,1.36054692118e-06,1.04001154347,0.548847012542,0.00867502008666,1.03966108508
+398,6.633333333,pose2_to_pose3_retreat,0.578268525823,1.24063362214e-06,1.04001164508,0.548839761029,0.00867490779548,1.03966118183
+399,6.650000000,pose2_to_pose3_retreat,0.578262954274,1.14901438906e-06,1.0400116265,0.548834190976,0.00867482120909,1.03966116213
+400,6.666666667,pose2_to_pose3_retreat,0.578259097032,1.08587554144e-06,1.04001155577,0.548830334607,0.00867476106248,1.03966109219
+401,6.683333333,pose2_to_pose3_retreat,0.578257050197,1.15701332587e-06,1.04001149856,0.54882828622,0.00867482691307,1.03966103451
+402,6.700000000,pose2_to_pose3_retreat,0.578255967973,1.19663908641e-06,1.04001146793,0.548827203135,0.00867486361108,1.03966100361
+403,6.716666667,pose2_to_pose3_retreat,0.578255407217,1.21717120217e-06,1.04001145206,0.548826641934,0.00867488262617,1.0396609876
+404,6.733333333,pose2_to_pose3_retreat,0.578254996873,1.23280573137e-06,1.04001145751,0.548826231315,0.00867489735043,1.03966099361
+405,6.750000000,pose2_to_pose3_retreat,0.57825464036,1.24685620953e-06,1.0400114753,0.548825874602,0.0086749107631,1.03966101242
+406,6.766666667,pose2_to_pose3_retreat,0.578254469082,1.25360644012e-06,1.04001148384,0.548825703228,0.00867491720691,1.03966102145
+407,6.783333333,pose2_to_pose3_retreat,0.578254310333,1.25986287258e-06,1.04001149177,0.54882554439,0.00867492317934,1.03966102982
+408,6.800000000,pose2_to_pose3_retreat,0.578254283761,1.26091009231e-06,1.04001149309,0.548825517803,0.00867492417902,1.03966103122
+409,6.816666667,pose2_to_pose3_retreat,0.578254075553,1.26911574106e-06,1.04001150348,0.548825309478,0.00867493201219,1.0396610422
+410,6.833333333,pose2_to_pose3_retreat,0.578254062512,1.26962970626e-06,1.04001150413,0.54882529643,0.00867493250282,1.03966104289
+411,6.850000000,pose2_to_pose3_retreat,0.578253630667,1.28664906958e-06,1.04001152568,0.548824864343,0.00867494874961,1.03966106567
+412,6.866666667,pose2_to_pose3_retreat,0.57825339954,1.29575797567e-06,1.04001153722,0.548824633086,0.00867495744502,1.03966107786
+413,6.883333333,pose2_to_pose3_retreat,0.578253344435,1.29792971072e-06,1.04001153997,0.54882457795,0.00867495951818,1.03966108076
+414,6.900000000,pose2_to_pose3_retreat,0.578253288648,1.30012831571e-06,1.04001154275,0.548824522132,0.00867496161698,1.0396610837
+415,6.916666667,pose2_to_pose3_retreat,0.578253258957,1.30129846363e-06,1.04001154423,0.548824492424,0.00867496273401,1.03966108527
+416,6.933333333,pose2_to_pose3_retreat,0.578253096904,1.29249212949e-06,1.0400115755,0.548824330567,0.0086749545104,1.03966111452
+417,6.950000000,pose2_to_pose3_retreat,0.578253075637,1.29069166143e-06,1.04001158059,0.548824309337,0.00867495282344,1.03966111924
+418,6.966666667,pose2_to_pose3_retreat,0.578252796762,1.26708279391e-06,1.0400116473,0.548824030959,0.00867493070296,1.03966118109
+419,6.983333333,pose2_to_pose3_retreat,0.578252796127,1.26702900103e-06,1.04001164745,0.548824030325,0.00867493065256,1.03966118123
+420,7.000000000,pose2_to_pose3_retreat,0.578252662993,1.25575817462e-06,1.0400116793,0.548823897428,0.00867492009229,1.03966121076
+421,7.016666667,pose2_to_pose3_retreat,0.578252552264,1.24638415624e-06,1.04001170578,0.548823786896,0.00867491130925,1.03966123532
+422,7.033333333,pose2_to_pose3_retreat,0.57825237187,1.22532790197e-06,1.0400116755,0.548823606941,0.0086748918578,1.03966120795
+423,7.050000000,pose2_to_pose3_retreat,0.578252318396,1.21776766323e-06,1.04001164979,0.548823553623,0.00867488491962,1.03966118448
+424,7.066666667,pose2_to_pose3_retreat,0.578252127916,1.19083737133e-06,1.0400115582,0.548823363702,0.00867486020516,1.03966110087
+425,7.083333333,pose2_to_pose3_retreat,0.578252082307,1.14726965702e-06,1.04001155192,0.548823319171,0.00867482018401,1.03966109182

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9a38ba3305cfc1785a12154f03a5c33f28b32dd8f995508d93bea0c98005594
+size 26632844

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/simulation_data.csv

@@ -0,0 +1,421 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+43,0.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+46,0.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+52,0.866666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+53,0.883333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+56,0.933333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+57,0.950000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+58,0.966666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+59,0.983333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+60,1.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+61,1.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+62,1.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+63,1.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+64,1.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+65,1.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+67,1.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+68,1.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+69,1.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+70,1.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+71,1.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+72,1.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+73,1.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+74,1.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+75,1.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+101,1.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+102,1.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+103,1.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+104,1.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+105,1.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+106,1.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+107,1.783333333,pose1_to_pose2_press,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+108,1.800000000,pose1_to_pose2_press,0.578252203201,1.23456347664e-06,1.06001146674,0.548823438793,0.0086749031939,1.05966100737
+109,1.816666667,pose1_to_pose2_press,0.578252276813,1.19954006895e-06,1.06001141167,0.548823511996,0.00867486684111,1.05966095375
+110,1.833333333,pose1_to_pose2_press,0.57825244703,1.24055090292e-06,1.0600114512,0.548823681436,0.00867490525087,1.05966099415
+111,1.850000000,pose1_to_pose2_press,0.578252562759,1.26843388557e-06,1.06001147808,0.548823796637,0.00867493136539,1.05966102162
+112,1.866666667,pose1_to_pose2_press,0.578252566864,1.26942288448e-06,1.06001147903,0.548823800723,0.00867493229167,1.05966102259
+113,1.883333333,pose1_to_pose2_press,0.57825310462,1.28922518845e-06,1.06001153349,0.548824338653,0.00867495251533,1.05966107288
+114,1.900000000,pose1_to_pose2_press,0.578255068508,1.27835297698e-06,1.06001161419,0.54882630426,0.00867494709152,1.05966114412
+115,1.916666667,pose1_to_pose2_press,0.578260085211,1.30436529887e-06,1.06001155816,0.548831320806,0.0086749731466,1.05966110226
+116,1.933333333,pose1_to_pose2_press,0.578270427682,1.26811781235e-06,1.06001175161,0.548841662994,0.00867493590652,1.05966129486
+117,1.950000000,pose1_to_pose2_press,0.578287640213,1.17635945392e-06,1.06001174923,0.548858876257,0.0086748463022,1.05966128427
+118,1.966666667,pose1_to_pose2_press,0.578314843819,1.20040361987e-06,1.06001165869,0.548886079337,0.0086748686371,1.05966119557
+119,1.983333333,pose1_to_pose2_press,0.578352005445,1.15549308367e-06,1.06001168249,0.548923242446,0.00867482858607,1.05966121505
+120,2.000000000,pose1_to_pose2_press,0.578399061583,1.33849573607e-06,1.06001168861,0.548970297062,0.00867500649858,1.05966122285
+121,2.016666667,pose1_to_pose2_press,0.578455484204,1.32071650681e-06,1.0600117643,0.549026718388,0.00867498433474,1.0596612988
+122,2.033333333,pose1_to_pose2_press,0.578522161178,1.1583040897e-06,1.06001170382,0.549093397703,0.00867482989246,1.05966123896
+123,2.050000000,pose1_to_pose2_press,0.578598052586,1.24903893569e-06,1.06001176572,0.549169288609,0.00867491907315,1.05966130442
+124,2.066666667,pose1_to_pose2_press,0.578683789536,1.31783860238e-06,1.0600117311,0.549255024034,0.00867498276886,1.05966127152
+125,2.083333333,pose1_to_pose2_press,0.578784040705,1.24062532477e-06,1.06001166428,0.549355275543,0.00867490653383,1.0596612003
+126,2.100000000,pose1_to_pose2_press,0.57889893079,1.29804319407e-06,1.06001172622,0.549470165341,0.00867496255786,1.05966125185
+127,2.116666667,pose1_to_pose2_press,0.579030631167,1.22131169548e-06,1.06001172267,0.549601867002,0.00867489063946,1.05966125947
+128,2.133333333,pose1_to_pose2_press,0.579179646915,1.30901643369e-06,1.06001143598,0.549750881311,0.00867497325167,1.05966096755
+129,2.150000000,pose1_to_pose2_press,0.579347736304,1.19247811041e-06,1.06001132981,0.549918970718,0.0086748570073,1.05966086711
+130,2.166666667,pose1_to_pose2_press,0.579534349829,1.21866068263e-06,1.06001153461,0.550105585054,0.00867488607458,1.05966107521
+131,2.183333333,pose1_to_pose2_press,0.579740123531,1.24188331943e-06,1.06001161172,0.550311358629,0.00867490899329,1.05966115534
+132,2.200000000,pose1_to_pose2_press,0.579968936099,1.22890361884e-06,1.06001156019,0.55054017246,0.00867490004478,1.05966109754
+133,2.216666667,pose1_to_pose2_press,0.580218864729,1.19960044532e-06,1.06001191335,0.550790099508,0.00867486507691,1.05966144327
+134,2.233333333,pose1_to_pose2_press,0.580489535479,1.36028340272e-06,1.06001153624,0.551060767997,0.008675018525,1.05966107698
+135,2.250000000,pose1_to_pose2_press,0.580782157773,1.25746746943e-06,1.06001181003,0.551353392222,0.00867492182843,1.05966133996
+136,2.266666667,pose1_to_pose2_press,0.581096875137,1.43780213979e-06,1.06001169682,0.551668107983,0.00867509665286,1.05966122495
+137,2.283333333,pose1_to_pose2_press,0.581431424287,1.30322155007e-06,1.06001154252,0.552002659241,0.00867496964998,1.05966108108
+138,2.300000000,pose1_to_pose2_press,0.581785304353,1.32518391861e-06,1.06001165756,0.552356538198,0.00867498777492,1.0596611942
+139,2.316666667,pose1_to_pose2_press,0.582160219373,1.22509700143e-06,1.06001179494,0.552731455961,0.00867489676221,1.05966132582
+140,2.333333333,pose1_to_pose2_press,0.58255066553,1.22090065443e-06,1.06001170678,0.553121900891,0.00867488847921,1.05966123944
+141,2.350000000,pose1_to_pose2_press,0.582955762061,1.17258230989e-06,1.06001158795,0.553526997467,0.00867484037667,1.05966112219
+142,2.366666667,pose1_to_pose2_press,0.583386373106,1.25644064527e-06,1.06001160879,0.553957607082,0.00867491953743,1.05966114678
+143,2.383333333,pose1_to_pose2_press,0.583845310233,1.31410166195e-06,1.06001172405,0.55441654406,0.0086749766754,1.05966126159
+144,2.400000000,pose1_to_pose2_press,0.584334391369,1.31542387442e-06,1.06001172516,0.554905625706,0.00867497961729,1.05966125997
+145,2.416666667,pose1_to_pose2_press,0.584850149796,1.24712436601e-06,1.06001181914,0.55542138469,0.00867491292643,1.05966134691
+146,2.433333333,pose1_to_pose2_press,0.585387361958,1.21304283152e-06,1.06001176281,0.55595859689,0.00867487907245,1.05966129302
+147,2.450000000,pose1_to_pose2_press,0.585938341073,1.24761011256e-06,1.06001157157,0.556509575582,0.00867491258643,1.0596611112
+148,2.466666667,pose1_to_pose2_press,0.586503840026,1.19992252942e-06,1.0600117513,0.557075075261,0.00867486719703,1.05966128682
+149,2.483333333,pose1_to_pose2_press,0.587093957475,1.17937301047e-06,1.0600118522,0.557665192832,0.00867484691168,1.05966138397
+150,2.500000000,pose1_to_pose2_press,0.587711264424,1.2485825245e-06,1.06001167608,0.5582824992,0.00867491419058,1.05966120881
+151,2.516666667,pose1_to_pose2_press,0.58835727175,1.2573082216e-06,1.06001175147,0.558928506409,0.0086749224401,1.05966128225
+152,2.533333333,pose1_to_pose2_press,0.589018049064,1.22722257708e-06,1.06001188252,0.559589283383,0.00867489115924,1.05966141226
+153,2.550000000,pose1_to_pose2_press,0.589683365071,1.29479917909e-06,1.06001169519,0.560254598261,0.00867495489088,1.05966122456
+154,2.566666667,pose1_to_pose2_press,0.590347696853,1.35045095832e-06,1.06001167889,0.560918930802,0.00867501332928,1.05966121353
+155,2.583333333,pose1_to_pose2_press,0.591014077511,1.32321235131e-06,1.06001178666,0.561585312591,0.00867498990239,1.05966132062
+156,2.600000000,pose1_to_pose2_press,0.591702847736,1.37306981476e-06,1.06001169006,0.562274081841,0.00867503637487,1.05966122216
+157,2.616666667,pose1_to_pose2_press,0.59241677472,1.27121203972e-06,1.06001167192,0.56298801097,0.00867494205909,1.05966121053
+158,2.633333333,pose1_to_pose2_press,0.593157149199,1.25833652713e-06,1.06001183889,0.56372838305,0.00867492112389,1.05966137946
+159,2.650000000,pose1_to_pose2_press,0.593917877545,1.27559405241e-06,1.06001170935,0.564489111135,0.00867493732754,1.05966124579
+160,2.666666667,pose1_to_pose2_press,0.594698539455,1.23899549215e-06,1.06001172768,0.565269775015,0.00867490762732,1.05966126943
+161,2.683333333,pose1_to_pose2_press,0.595477301521,1.32624321433e-06,1.06001169521,0.566048535938,0.0086749908116,1.05966123234
+162,2.700000000,pose1_to_pose2_press,0.596253508329,1.27906800733e-06,1.06001137584,0.56682474257,0.00867494339336,1.05966092179
+163,2.716666667,pose1_to_pose2_press,0.597021095425,1.27348317914e-06,1.06001155126,0.567592329379,0.00867493691748,1.05966109925
+164,2.733333333,pose1_to_pose2_press,0.597781601886,1.27036694996e-06,1.06001168407,0.568352835151,0.00867493132187,1.05966122867
+165,2.750000000,pose1_to_pose2_press,0.598541603506,1.23908541652e-06,1.06001178331,0.569112837139,0.00867490086429,1.05966131735
+166,2.766666667,pose1_to_pose2_press,0.59931042265,1.2318871301e-06,1.06001189335,0.569881656963,0.00867489570153,1.05966142076
+167,2.783333333,pose1_to_pose2_press,0.600092752434,1.25565209244e-06,1.06001178961,0.57066398662,0.00867491929076,1.05966132345
+168,2.800000000,pose1_to_pose2_press,0.600897637227,1.28103850628e-06,1.06001175905,0.571468871346,0.00867494441346,1.05966129199
+169,2.816666667,pose1_to_pose2_press,0.601717144909,1.27342659608e-06,1.06001174483,0.572288378827,0.00867493614514,1.05966127853
+170,2.833333333,pose1_to_pose2_press,0.602535682907,1.30133833882e-06,1.06001183257,0.57310691783,0.00867496759923,1.05966136952
+171,2.850000000,pose1_to_pose2_press,0.60333690342,1.36140994289e-06,1.06001167853,0.573908138057,0.00867502679141,1.05966121786
+172,2.866666667,pose1_to_pose2_press,0.604108198839,1.28771872621e-06,1.06001175119,0.574679433144,0.00867495150332,1.05966127893
+173,2.883333333,pose1_to_pose2_press,0.604855264178,1.13594239746e-06,1.06001153579,0.575426501402,0.00867480956319,1.05966106188
+174,2.900000000,pose1_to_pose2_press,0.605582091528,1.34846468677e-06,1.06001204042,0.576153325758,0.00867501209233,1.05966157066
+175,2.916666667,pose1_to_pose2_press,0.606312883027,1.39611698158e-06,1.06001179628,0.576884115538,0.00867505413402,1.0596613321
+176,2.933333333,pose1_to_pose2_press,0.607053749261,1.25974150089e-06,1.06001155923,0.577624983886,0.0086749250771,1.0596610987
+177,2.950000000,pose1_to_pose2_press,0.607805163648,1.27397291092e-06,1.06001155341,0.578376398435,0.00867493965538,1.05966108789
+178,2.966666667,pose1_to_pose2_press,0.608556062489,1.2165450254e-06,1.06001146312,0.579127297822,0.00867488399791,1.05966099563
+179,2.983333333,pose1_to_pose2_press,0.609300197537,1.14001247266e-06,1.06001163869,0.579871433812,0.00867481072197,1.05966117279
+180,3.000000000,pose1_to_pose2_press,0.610009958405,1.18223518742e-06,1.06001186774,0.580581194037,0.00867485078562,1.05966140251
+181,3.016666667,pose1_to_pose2_press,0.610686527775,1.15080951555e-06,1.06001174773,0.581257763932,0.00867482091727,1.05966127699
+182,3.033333333,pose1_to_pose2_press,0.611328592484,1.20708058925e-06,1.06001175412,0.581899828135,0.00867487571676,1.0596612895
+183,3.050000000,pose1_to_pose2_press,0.611944951975,1.27566922657e-06,1.06001179256,0.582516185896,0.00867493836798,1.05966132639
+184,3.066666667,pose1_to_pose2_press,0.612542404063,1.30876020276e-06,1.0600117079,0.58311363799,0.00867497166117,1.05966124628
+185,3.083333333,pose1_to_pose2_press,0.613135691617,1.32162091581e-06,1.06001164558,0.583706925794,0.00867498544193,1.05966118576
+186,3.100000000,pose1_to_pose2_press,0.613730052556,1.2846894941e-06,1.06001167829,0.584301287702,0.0086749514887,1.0596612109
+187,3.116666667,pose1_to_pose2_press,0.614316661899,1.23414319273e-06,1.06001168228,0.584887898278,0.00867490507523,1.05966121374
+188,3.133333333,pose1_to_pose2_press,0.614888775621,1.23838926964e-06,1.06001165453,0.585460011444,0.00867490767972,1.0596611922
+189,3.150000000,pose1_to_pose2_press,0.615430464664,1.27596383409e-06,1.06001166795,0.586001700554,0.00867494541828,1.05966120429
+190,3.166666667,pose1_to_pose2_press,0.615932522614,1.29466331466e-06,1.06001163899,0.586503757932,0.00867496198598,1.05966117059
+191,3.183333333,pose1_to_pose2_press,0.616389660143,1.28906273165e-06,1.06001167198,0.586960894246,0.00867495235222,1.05966120502
+192,3.200000000,pose1_to_pose2_press,0.616818912413,1.27428003051e-06,1.06001189231,0.587390146649,0.00867493806303,1.05966142482
+193,3.216666667,pose1_to_pose2_press,0.617224063244,1.06824450968e-06,1.06001179592,0.587795299298,0.00867473814961,1.05966132452
+194,3.233333333,pose1_to_pose2_press,0.61761485809,1.40900405679e-06,1.06001166887,0.588186090651,0.00867506747024,1.05966120617
+195,3.250000000,pose1_to_pose2_press,0.617992028963,1.34574311862e-06,1.06001188814,0.58856326407,0.00867501288999,1.05966142368
+196,3.266666667,pose1_to_pose2_press,0.618353267584,1.38750974568e-06,1.06001171866,0.588924500829,0.00867504816369,1.05966124818
+197,3.283333333,pose1_to_pose2_press,0.618693350352,1.28535683377e-06,1.06001176948,0.58926458371,0.00867494668198,1.05966130389
+198,3.300000000,pose1_to_pose2_press,0.619009303728,1.28295767958e-06,1.06001172604,0.589580537682,0.00867494618836,1.05966125526
+199,3.316666667,pose1_to_pose2_press,0.619298667119,1.26138003333e-06,1.06001173592,0.589869902407,0.00867492956207,1.05966127383
+200,3.333333333,pose1_to_pose2_press,0.619563415621,1.2934382836e-06,1.06001166665,0.590134650171,0.00867495958598,1.05966121422
+201,3.350000000,pose1_to_pose2_press,0.61980559864,1.28061691517e-06,1.06001175298,0.590376833229,0.00867494665861,1.05966129282
+202,3.366666667,pose1_to_pose2_press,0.620032260049,1.23799668086e-06,1.06001189055,0.590603495922,0.00867490807688,1.05966142088
+203,3.383333333,pose1_to_pose2_press,0.620246417174,1.28897760521e-06,1.06001174666,0.590817652648,0.00867495806594,1.05966128444
+204,3.400000000,pose1_to_pose2_press,0.620447188055,1.29713301158e-06,1.06001171271,0.591018422989,0.0086749641785,1.05966124362
+205,3.416666667,pose1_to_pose2_press,0.620633520485,1.26434606191e-06,1.06001180426,0.591204754439,0.00867492815732,1.05966133557
+206,3.433333333,pose1_to_pose2_press,0.620802624812,1.25463244244e-06,1.06001177237,0.591373858888,0.00867491909187,1.05966130838
+207,3.450000000,pose1_to_pose2_press,0.620953904613,1.33498996878e-06,1.0600116429,0.591525137279,0.00867499495886,1.05966118484
+208,3.466666667,pose1_to_pose2_press,0.621084426228,1.32251076342e-06,1.06001167039,0.591655659633,0.00867498469248,1.05966120384
+209,3.483333333,pose1_to_pose2_press,0.621198745546,1.37674185361e-06,1.0600116652,0.591769978231,0.00867503661082,1.05966120086
+210,3.500000000,pose1_to_pose2_press,0.621297934544,1.207860471e-06,1.06001160651,0.591869170007,0.00867487684502,1.05966113356
+211,3.516666667,pose1_to_pose2_press,0.62138476506,1.29013613198e-06,1.06001162927,0.591955998039,0.00867495130221,1.05966116614
+212,3.533333333,pose1_to_pose2_press,0.621460093611,1.30120835838e-06,1.06001155219,0.592031327459,0.00867496568763,1.05966109579
+213,3.550000000,pose1_to_pose2_press,0.621524682913,1.25215511606e-06,1.06001165677,0.592095917415,0.00867491886047,1.05966120097
+214,3.566666667,pose1_to_pose2_press,0.621579649955,1.33079780703e-06,1.0600117806,0.592150883366,0.00867499349996,1.05966131833
+215,3.583333333,pose1_to_pose2_press,0.621624759831,1.30453750646e-06,1.06001175004,0.592195994037,0.00867496964435,1.05966128191
+216,3.600000000,pose1_to_pose2_press,0.621661405233,1.25411625126e-06,1.06001166321,0.592232640306,0.00867492236272,1.05966120043
+217,3.616666667,pose1_to_pose2_press,0.6216898284,1.31977828456e-06,1.06001163732,0.592261062909,0.00867498628839,1.05966117941
+218,3.633333333,pose1_to_pose2_press,0.621711744655,1.28668396393e-06,1.06001170186,0.592282979512,0.00867495394176,1.05966123504
+219,3.650000000,pose1_to_pose2_press,0.621728059791,1.30847000767e-06,1.0600118177,0.592299292896,0.00867496963464,1.05966134571
+220,3.666666667,pose1_to_pose2_press,0.621739515753,1.25146430884e-06,1.06001171339,0.592310752409,0.0086749246394,1.05966124126
+221,3.683333333,pose1_to_pose2_press,0.621747847444,1.33739520709e-06,1.06001184275,0.592319082189,0.00867500425311,1.05966137481
+222,3.700000000,pose1_to_pose2_press,0.621753341216,1.3473069992e-06,1.06001184342,0.592324575351,0.00867501213349,1.05966137627
+223,3.716666667,pose1_to_pose2_press,0.62175696718,1.27640164451e-06,1.06001170901,0.592328202561,0.0086749453728,1.05966123937
+224,3.733333333,pose1_to_pose2_press,0.621759029953,1.27374640507e-06,1.06001167268,0.59233026489,0.00867494135723,1.05966120674
+225,3.750000000,pose1_to_pose2_press,0.621760469936,1.2800406361e-06,1.060011656,0.592331704313,0.00867494589788,1.05966119374
+226,3.766666667,pose1_to_pose2_press,0.621761565365,1.25918389582e-06,1.06001172945,0.592332799792,0.00867492524962,1.05966126803
+227,3.783333333,pose1_to_pose2_press,0.621762476456,1.2105057714e-06,1.0600118958,0.592333711509,0.00867487862938,1.05966143266
+228,3.800000000,pose1_to_pose2_press,0.621763136963,1.17521594275e-06,1.0600120164,0.59233437247,0.00867484483144,1.05966155201
+229,3.816666667,pose1_to_pose2_press,0.621763373485,1.16842536559e-06,1.06001193246,0.592334609202,0.00867483875477,1.05966146795
+230,3.833333333,pose1_to_pose2_press,0.62176344335,1.16676610282e-06,1.06001190013,0.592334679133,0.00867483731704,1.05966143561
+231,3.850000000,pose1_to_pose2_press,0.621763448872,1.16663495839e-06,1.06001189758,0.59233468466,0.00867483720341,1.05966143305
+232,3.866666667,pose1_to_pose2_press,0.621763453069,1.16653527319e-06,1.06001189563,0.592334688861,0.00867483711703,1.05966143111
+233,3.883333333,pose1_to_pose2_press,0.621763569118,1.16377917802e-06,1.06001184193,0.592334805018,0.00867483472891,1.05966137738
+234,3.900000000,pose1_to_pose2_press,0.621763858429,1.15690822267e-06,1.06001170806,0.592335094599,0.00867482877531,1.05966124344
+235,3.916666667,pose1_to_pose2_press,0.621764065311,1.20173775528e-06,1.06001171262,0.592335301009,0.00867487197033,1.0596612471
+236,3.933333333,pose1_to_pose2_press,0.621764182609,1.24970139486e-06,1.06001176065,0.592335417737,0.00867491796906,1.05966129424
+237,3.950000000,pose1_to_pose2_press,0.621764223406,1.26638324272e-06,1.06001177736,0.592335458336,0.00867493396751,1.05966131064
+238,3.966666667,pose1_to_pose2_press,0.62176422556,1.26726404324e-06,1.06001177824,0.592335460479,0.00867493481222,1.0596613115
+239,3.983333333,pose1_to_pose2_press,0.621764237098,1.27198204278e-06,1.06001178297,0.592335471961,0.00867493933694,1.05966131614
+240,4.000000000,pose1_to_pose2_press,0.621764269435,1.28520470566e-06,1.06001179621,0.592335504141,0.00867495201791,1.05966132914
+241,4.016666667,pose1_to_pose2_press,0.621764290962,1.29353431431e-06,1.06001178308,0.592335525648,0.00867496035522,1.0596613177
+242,4.033333333,pose1_to_pose2_press,0.6217642503,1.27595745608e-06,1.0600117223,0.592335485353,0.00867494419975,1.05966126099
+243,4.050000000,pose1_to_pose2_press,0.621764194187,1.25170118218e-06,1.06001163843,0.592335429745,0.00867492190501,1.05966118272
+244,4.066666667,pose1_to_pose2_press,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980636,1.05966117535
+245,4.083333333,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980744,1.05966117535
+246,4.100000000,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980744,1.05966117535
+247,4.116666667,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980743,1.05966117535
+248,4.133333333,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980743,1.05966117535
+249,4.150000000,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980748,1.05966117535
+250,4.166666667,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980764,1.05966117535
+251,4.183333333,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980751,1.05966117535
+252,4.200000000,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980748,1.05966117535
+253,4.216666667,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980743,1.05966117535
+254,4.233333333,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980739,1.05966117535
+255,4.250000000,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980737,1.05966117535
+256,4.266666667,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980735,1.05966117535
+257,4.283333333,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980734,1.05966117535
+258,4.300000000,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980733,1.05966117535
+259,4.316666667,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980732,1.05966117535
+260,4.333333333,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980731,1.05966117535
+261,4.350000000,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980733,1.05966117535
+262,4.366666667,pose2_hold,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424512,0.00867491980734,1.05966117535
+263,4.383333333,pose2_to_pose3_retreat,0.621764188899,1.24941529176e-06,1.06001163053,0.592335424511,0.00867491980812,1.05966117535
+264,4.400000000,pose2_to_pose3_retreat,0.62176400084,1.21279878483e-06,1.06001167263,0.592335235492,0.0086748799467,1.05966121801
+265,4.416666667,pose2_to_pose3_retreat,0.621763697283,1.18638401062e-06,1.060011727,0.592334931475,0.00867485202922,1.05966127398
+266,4.433333333,pose2_to_pose3_retreat,0.621763596308,1.19231903459e-06,1.06001171707,0.592334830574,0.00867485821003,1.05966126384
+267,4.450000000,pose2_to_pose3_retreat,0.621763484201,1.19890833174e-06,1.06001170605,0.59233471855,0.00867486507221,1.05966125258
+268,4.466666667,pose2_to_pose3_retreat,0.621763326138,1.20819878374e-06,1.06001169051,0.592334560603,0.00867487474741,1.05966123672
+269,4.483333333,pose2_to_pose3_retreat,0.621763194987,1.21590740722e-06,1.06001167761,0.59233442955,0.00867488277527,1.05966122355
+270,4.500000000,pose2_to_pose3_retreat,0.621762547209,1.25172910174e-06,1.06001162357,0.59233378219,0.00867491997336,1.0596611682
+271,4.516666667,pose2_to_pose3_retreat,0.62176041041,1.30051021606e-06,1.06001174239,0.592331644948,0.00867496712283,1.05966128393
+272,4.533333333,pose2_to_pose3_retreat,0.621755413984,1.21109196632e-06,1.06001203288,0.592326649729,0.0086748813236,1.05966156293
+273,4.550000000,pose2_to_pose3_retreat,0.621746260737,1.27937219307e-06,1.06001170027,0.592317494323,0.00867494217555,1.05966122837
+274,4.566666667,pose2_to_pose3_retreat,0.621729427532,1.35379538979e-06,1.06001168876,0.592300660451,0.00867501450051,1.05966122005
+275,4.583333333,pose2_to_pose3_retreat,0.621704452226,1.35187588398e-06,1.06001177023,0.592275685655,0.00867501452488,1.05966130756
+276,4.600000000,pose2_to_pose3_retreat,0.621670351405,1.24186932419e-06,1.06001175213,0.592241587181,0.00867491239227,1.05966128861
+277,4.616666667,pose2_to_pose3_retreat,0.621628768081,1.20630723543e-06,1.06001164661,0.592200003651,0.00867487634691,1.05966118717
+278,4.633333333,pose2_to_pose3_retreat,0.621580705013,1.23221997918e-06,1.06001172219,0.592151940605,0.00867490238588,1.05966126358
+279,4.650000000,pose2_to_pose3_retreat,0.621528217974,1.28755268564e-06,1.06001165623,0.592099453575,0.0086749575794,1.05966119697
+280,4.666666667,pose2_to_pose3_retreat,0.621471151136,1.30048082552e-06,1.06001158142,0.592042386396,0.00867496906187,1.0596611189
+281,4.683333333,pose2_to_pose3_retreat,0.621407433115,1.2226025141e-06,1.06001167043,0.591978668088,0.00867488994862,1.0596612025
+282,4.700000000,pose2_to_pose3_retreat,0.621336280437,1.27093281449e-06,1.06001151881,0.591907514926,0.00867493642188,1.0596610447
+283,4.716666667,pose2_to_pose3_retreat,0.62125536203,1.27963752421e-06,1.06001156916,0.591826596444,0.00867494525778,1.05966110306
+284,4.733333333,pose2_to_pose3_retreat,0.621164447303,1.31180348778e-06,1.0600117175,0.591735682094,0.00867497900295,1.05966125836
+285,4.750000000,pose2_to_pose3_retreat,0.621062865478,1.36839333788e-06,1.06001186799,0.59163410107,0.00867503817679,1.05966140672
+286,4.766666667,pose2_to_pose3_retreat,0.62094897609,1.16795560278e-06,1.06001170566,0.591520212299,0.00867483963591,1.05966124037
+287,4.783333333,pose2_to_pose3_retreat,0.620822223299,1.18205466877e-06,1.06001181273,0.591393459047,0.00867485209095,1.05966134673
+288,4.800000000,pose2_to_pose3_retreat,0.62068061484,1.25666381887e-06,1.0600118042,0.591251849403,0.00867492279132,1.05966134226
+289,4.816666667,pose2_to_pose3_retreat,0.620525151122,1.31488581392e-06,1.06001162064,0.591096384377,0.00867497677072,1.05966116473
+290,4.833333333,pose2_to_pose3_retreat,0.620355983132,1.30616935487e-06,1.06001151524,0.590927216205,0.00867496733612,1.05966105819
+291,4.850000000,pose2_to_pose3_retreat,0.620174745494,1.4072787586e-06,1.06001149985,0.59074597719,0.00867506375919,1.05966104422
+292,4.866666667,pose2_to_pose3_retreat,0.619981255216,1.38293602352e-06,1.06001156201,0.590552488198,0.00867504369773,1.05966110596
+293,4.883333333,pose2_to_pose3_retreat,0.619772566143,1.32065391593e-06,1.06001159823,0.590343800912,0.00867498740483,1.05966114189
+294,4.900000000,pose2_to_pose3_retreat,0.619548872848,1.32667728363e-06,1.0600115038,0.590120107357,0.00867499255494,1.05966104946
+295,4.916666667,pose2_to_pose3_retreat,0.619309782725,1.27531023328e-06,1.0600115094,0.58988101724,0.00867494106123,1.05966105365
+296,4.933333333,pose2_to_pose3_retreat,0.619056304064,1.33173553172e-06,1.06001167584,0.589627537692,0.0086749940741,1.05966121201
+297,4.950000000,pose2_to_pose3_retreat,0.61878831889,1.37341738681e-06,1.06001176855,0.589359551745,0.00867503283252,1.05966129939
+298,4.966666667,pose2_to_pose3_retreat,0.618508265705,1.33142709337e-06,1.06001167637,0.589079498575,0.0086749908927,1.05966120936
+299,4.983333333,pose2_to_pose3_retreat,0.618214299749,1.25262280603e-06,1.06001167254,0.58878553401,0.00867491674677,1.05966120641
+300,5.000000000,pose2_to_pose3_retreat,0.617897252866,1.14130732569e-06,1.06001157958,0.588468489091,0.00867481224859,1.05966111877
+301,5.016666667,pose2_to_pose3_retreat,0.617557578662,1.13406683374e-06,1.06001153027,0.588128815529,0.00867480710974,1.05966106923
+302,5.033333333,pose2_to_pose3_retreat,0.617194190658,1.24072198366e-06,1.06001155955,0.587765426218,0.00867490900997,1.05966109258
+303,5.050000000,pose2_to_pose3_retreat,0.616811632999,1.21286050442e-06,1.06001152626,0.587382867075,0.00867487636701,1.05966106725
+304,5.066666667,pose2_to_pose3_retreat,0.616412111839,1.21503016613e-06,1.06001162758,0.58698334742,0.00867488344379,1.05966116469
+305,5.083333333,pose2_to_pose3_retreat,0.616003708409,1.21272083482e-06,1.0600117726,0.5865749445,0.00867488295146,1.05966131148
+306,5.100000000,pose2_to_pose3_retreat,0.615586185747,1.27426657315e-06,1.0600118876,0.586157420467,0.00867493982126,1.05966142624
+307,5.116666667,pose2_to_pose3_retreat,0.61515629426,1.42367030906e-06,1.06001191761,0.585727525972,0.00867507857131,1.05966144798
+308,5.133333333,pose2_to_pose3_retreat,0.614707994871,1.2462749555e-06,1.06001183807,0.585279230666,0.00867491505995,1.05966136725
+309,5.150000000,pose2_to_pose3_retreat,0.614234232138,1.1988159449e-06,1.06001164661,0.584805468353,0.008674869281,1.0596611815
+310,5.166666667,pose2_to_pose3_retreat,0.613731529264,1.21080899268e-06,1.06001153564,0.584302764991,0.00867487970586,1.05966107331
+311,5.183333333,pose2_to_pose3_retreat,0.613199246723,1.21154765747e-06,1.06001154375,0.583770482599,0.00867488085206,1.05966107963
+312,5.200000000,pose2_to_pose3_retreat,0.612643531508,1.14711297536e-06,1.06001156309,0.583214768257,0.00867481943832,1.05966109927
+313,5.216666667,pose2_to_pose3_retreat,0.612071879209,1.30678994351e-06,1.0600118805,0.582643113561,0.00867497082437,1.05966141251
+314,5.233333333,pose2_to_pose3_retreat,0.611494285187,1.29330865455e-06,1.06001162058,0.582065519094,0.00867495620623,1.05966116195
+315,5.250000000,pose2_to_pose3_retreat,0.610916012836,1.16729143679e-06,1.06001153338,0.58148724859,0.00867483634931,1.05966107211
+316,5.266666667,pose2_to_pose3_retreat,0.610338375316,1.14124826689e-06,1.06001163141,0.580909611622,0.0086748119865,1.05966116527
+317,5.283333333,pose2_to_pose3_retreat,0.609753221269,1.33518710024e-06,1.06001179115,0.580324454673,0.0086749961904,1.05966132751
+318,5.300000000,pose2_to_pose3_retreat,0.609157552988,1.31186106027e-06,1.06001184522,0.579728788131,0.00867497829699,1.05966136882
+319,5.316666667,pose2_to_pose3_retreat,0.608544555042,1.27961706702e-06,1.06001175727,0.579115790122,0.00867494592474,1.05966128316
+320,5.333333333,pose2_to_pose3_retreat,0.607915595741,1.30040943622e-06,1.06001168422,0.578486829896,0.00867496378151,1.05966121537
+321,5.350000000,pose2_to_pose3_retreat,0.607271434114,1.30626691045e-06,1.06001168585,0.577842668056,0.00867496910162,1.05966122162
+322,5.366666667,pose2_to_pose3_retreat,0.606610922337,1.14237116129e-06,1.06001177056,0.577182158904,0.00867481429779,1.05966131087
+323,5.383333333,pose2_to_pose3_retreat,0.605931167655,1.39220689757e-06,1.06001200935,0.57650240076,0.00867505198609,1.05966153968
+324,5.400000000,pose2_to_pose3_retreat,0.605242762747,1.28458153198e-06,1.06001170788,0.575813996999,0.00867494850679,1.05966124447
+325,5.416666667,pose2_to_pose3_retreat,0.604549632079,1.2961564551e-06,1.06001153132,0.575120865726,0.00867495813458,1.05966107046
+326,5.433333333,pose2_to_pose3_retreat,0.603862618536,1.39676751721e-06,1.06001154984,0.574433851366,0.00867505582222,1.05966108518
+327,5.450000000,pose2_to_pose3_retreat,0.603186347311,1.37648489551e-06,1.06001159358,0.573757582585,0.00867504363834,1.05966112409
+328,5.466666667,pose2_to_pose3_retreat,0.602520789371,1.25882614446e-06,1.06001176311,0.57309202453,0.00867492556069,1.05966129287
+329,5.483333333,pose2_to_pose3_retreat,0.60185173248,1.20091332692e-06,1.06001166006,0.572422968935,0.00867487209057,1.05966119089
+330,5.500000000,pose2_to_pose3_retreat,0.601173892777,1.24932173457e-06,1.06001156,0.571745128656,0.00867491860646,1.05966109232
+331,5.516666667,pose2_to_pose3_retreat,0.600478987778,1.36166842357e-06,1.06001159309,0.571050221109,0.00867502235813,1.05966112655
+332,5.533333333,pose2_to_pose3_retreat,0.599769489607,1.32532663308e-06,1.06001178488,0.570340722902,0.00867498590373,1.0596613186
+333,5.550000000,pose2_to_pose3_retreat,0.599045684513,1.34082738556e-06,1.06001177235,0.569616918293,0.00867500318875,1.05966130937
+334,5.566666667,pose2_to_pose3_retreat,0.598321326844,1.38619415447e-06,1.06001188295,0.568892559371,0.00867504396667,1.05966141159
+335,5.583333333,pose2_to_pose3_retreat,0.597601951118,1.33059326131e-06,1.06001186509,0.568173184635,0.0086749918339,1.05966139638
+336,5.600000000,pose2_to_pose3_retreat,0.596900901993,1.22144899513e-06,1.0600117658,0.567472137888,0.00867489110577,1.05966130568
+337,5.616666667,pose2_to_pose3_retreat,0.596221538107,1.19281771101e-06,1.0600117957,0.566792774396,0.00867486363098,1.05966133109
+338,5.633333333,pose2_to_pose3_retreat,0.59556531144,1.21878965457e-06,1.06001189291,0.566136547594,0.00867488910013,1.05966142712
+339,5.650000000,pose2_to_pose3_retreat,0.594922335988,1.24915978555e-06,1.06001178925,0.565493570491,0.0086749137679,1.05966132099
+340,5.666666667,pose2_to_pose3_retreat,0.594283936977,1.25976397284e-06,1.06001173145,0.56485517086,0.00867492219048,1.05966126123
+341,5.683333333,pose2_to_pose3_retreat,0.593636189625,1.24609863067e-06,1.06001181437,0.564207424824,0.00867491299336,1.05966134422
+342,5.700000000,pose2_to_pose3_retreat,0.592978616828,1.26897310871e-06,1.06001178502,0.563549851944,0.00867493581776,1.05966132049
+343,5.716666667,pose2_to_pose3_retreat,0.592319886068,1.2111894878e-06,1.06001167857,0.562891121884,0.00867488065375,1.05966122015
+344,5.733333333,pose2_to_pose3_retreat,0.591664183579,1.21319716907e-06,1.06001162964,0.562235419205,0.00867488216445,1.05966117481
+345,5.750000000,pose2_to_pose3_retreat,0.591017803974,1.26089007673e-06,1.06001163565,0.561589039256,0.00867492860774,1.05966117882
+346,5.766666667,pose2_to_pose3_retreat,0.590391355824,1.27280199185e-06,1.06001166591,0.560962591398,0.00867494119891,1.05966120133
+347,5.783333333,pose2_to_pose3_retreat,0.589794213646,1.11550680192e-06,1.0600117068,0.560365449845,0.00867478567591,1.05966123358
+348,5.800000000,pose2_to_pose3_retreat,0.589219128414,1.13731726235e-06,1.06001167846,0.559790365312,0.00867481010686,1.0596612114
+349,5.816666667,pose2_to_pose3_retreat,0.588664653852,1.19208970992e-06,1.06001160615,0.559235890213,0.00867486322414,1.05966114321
+350,5.833333333,pose2_to_pose3_retreat,0.588126721011,1.26490078749e-06,1.06001156792,0.558697955991,0.00867493143573,1.05966110706
+351,5.850000000,pose2_to_pose3_retreat,0.587594105612,1.35051531596e-06,1.0600116476,0.558165338917,0.00867501142576,1.05966118821
+352,5.866666667,pose2_to_pose3_retreat,0.587058442822,1.18180837322e-06,1.06001175463,0.557629678349,0.00867485011651,1.05966129181
+353,5.883333333,pose2_to_pose3_retreat,0.586527192268,1.18061884099e-06,1.06001172008,0.557098428123,0.00867484989693,1.05966125365
+354,5.900000000,pose2_to_pose3_retreat,0.58600480249,1.24703508469e-06,1.0600117511,0.556576037015,0.00867491158214,1.05966127925
+355,5.916666667,pose2_to_pose3_retreat,0.58550345766,1.27489006051e-06,1.06001176175,0.556074691487,0.00867493700782,1.05966128839
+356,5.933333333,pose2_to_pose3_retreat,0.585024042186,1.20939823611e-06,1.06001154371,0.555595278199,0.00867487929659,1.05966107945
+357,5.950000000,pose2_to_pose3_retreat,0.584570048787,1.30256170672e-06,1.0600115437,0.555141282493,0.00867496460537,1.05966107882
+358,5.966666667,pose2_to_pose3_retreat,0.584137014132,1.27588179259e-06,1.06001152899,0.554708248071,0.00867493888806,1.05966106829
+359,5.983333333,pose2_to_pose3_retreat,0.583722586106,1.33963952451e-06,1.06001156556,0.554293819562,0.00867500114321,1.05966110827
+360,6.000000000,pose2_to_pose3_retreat,0.58332110879,1.4271728697e-06,1.06001169379,0.553892341536,0.0086750861805,1.05966123431
+361,6.016666667,pose2_to_pose3_retreat,0.58293254763,1.31751974623e-06,1.06001194026,0.553503781904,0.0086749811892,1.05966146786
+362,6.033333333,pose2_to_pose3_retreat,0.582563814942,1.18578266862e-06,1.06001173369,0.553135050781,0.00867485488437,1.05966126428
+363,6.050000000,pose2_to_pose3_retreat,0.58221622565,1.15701515205e-06,1.06001175059,0.552787460946,0.00867482437261,1.05966128367
+364,6.066666667,pose2_to_pose3_retreat,0.581893634687,1.19882680345e-06,1.06001175426,0.552464869187,0.00867486349878,1.05966128774
+365,6.083333333,pose2_to_pose3_retreat,0.581591537816,1.2716787341e-06,1.06001164761,0.552162772095,0.00867493559559,1.05966118104
+366,6.100000000,pose2_to_pose3_retreat,0.581307686872,1.29050859926e-06,1.06001142345,0.551878921703,0.00867495665774,1.05966096573
+367,6.116666667,pose2_to_pose3_retreat,0.581032678088,1.20274709577e-06,1.06001171139,0.551603914322,0.00867487351809,1.05966125024
+368,6.133333333,pose2_to_pose3_retreat,0.580765641598,1.1844928213e-06,1.06001186598,0.551336877597,0.00867485420269,1.0596613983
+369,6.150000000,pose2_to_pose3_retreat,0.580508469681,1.24046413151e-06,1.06001176815,0.551079704439,0.00867490597556,1.05966130077
+370,6.166666667,pose2_to_pose3_retreat,0.580264750002,1.27749326914e-06,1.06001161637,0.550835984943,0.00867494425146,1.05966116448
+371,6.183333333,pose2_to_pose3_retreat,0.58003889213,1.35272087925e-06,1.06001178969,0.550610125822,0.00867501457749,1.05966132139
+372,6.200000000,pose2_to_pose3_retreat,0.579831035227,1.26694579763e-06,1.06001170361,0.550402270472,0.00867493421478,1.05966123903
+373,6.216666667,pose2_to_pose3_retreat,0.579640943847,1.21097278937e-06,1.06001166057,0.550212179241,0.00867487883747,1.0596611983
+374,6.233333333,pose2_to_pose3_retreat,0.579467018204,1.26725690488e-06,1.0600116284,0.55003825217,0.00867493022026,1.05966116478
+375,6.250000000,pose2_to_pose3_retreat,0.579307685064,1.39933124441e-06,1.06001151813,0.549878917147,0.0086750558815,1.05966105402
+376,6.266666667,pose2_to_pose3_retreat,0.57916273662,1.37103530304e-06,1.06001127186,0.549733968331,0.00867502673771,1.05966081803
+377,6.283333333,pose2_to_pose3_retreat,0.579032149332,1.30462777748e-06,1.06001169362,0.549603382622,0.00867496517521,1.05966122688
+378,6.300000000,pose2_to_pose3_retreat,0.578916829052,1.29910720016e-06,1.06001181796,0.549488062811,0.00867496105972,1.05966134676
+379,6.316666667,pose2_to_pose3_retreat,0.578813541719,1.28241231623e-06,1.06001178185,0.549384775747,0.00867494519528,1.05966130858
+380,6.333333333,pose2_to_pose3_retreat,0.578721746781,1.26508328414e-06,1.06001167988,0.54929298103,0.00867492865757,1.05966120802
+381,6.350000000,pose2_to_pose3_retreat,0.578640809977,1.35421749147e-06,1.06001151641,0.549212043556,0.00867501609797,1.05966106005
+382,6.366666667,pose2_to_pose3_retreat,0.578569664988,1.2541787406e-06,1.06001163724,0.549140899227,0.00867491800098,1.05966117282
+383,6.383333333,pose2_to_pose3_retreat,0.578508424193,1.2383592988e-06,1.06001184717,0.549079659057,0.00867490400603,1.05966137516
+384,6.400000000,pose2_to_pose3_retreat,0.578456037344,1.24370685648e-06,1.06001181802,0.549027272094,0.00867490873146,1.05966134009
+385,6.416666667,pose2_to_pose3_retreat,0.578412239553,1.26747133503e-06,1.06001162568,0.548983473473,0.00867492973628,1.05966114911
+386,6.433333333,pose2_to_pose3_retreat,0.578375631175,1.36095215019e-06,1.0600116434,0.548946864064,0.00867502044903,1.05966118488
+387,6.450000000,pose2_to_pose3_retreat,0.578345624033,1.3517639488e-06,1.06001159759,0.548916856484,0.00867500929638,1.05966112717
+388,6.466666667,pose2_to_pose3_retreat,0.578321446296,1.25554812352e-06,1.06001147396,0.548892680518,0.00867491939903,1.05966101115
+389,6.483333333,pose2_to_pose3_retreat,0.578302258147,1.25362741091e-06,1.06001146351,0.548873493206,0.00867492072656,1.05966101085
+390,6.500000000,pose2_to_pose3_retreat,0.578287653424,1.3691159018e-06,1.06001161249,0.548858887593,0.00867503330379,1.05966116255
+391,6.516666667,pose2_to_pose3_retreat,0.578276888283,1.22193463904e-06,1.06001174519,0.548848124642,0.00867489310871,1.05966128431
+392,6.533333333,pose2_to_pose3_retreat,0.578269365121,1.24005160262e-06,1.0600117794,0.54884060164,0.00867491168097,1.05966131629
+393,6.550000000,pose2_to_pose3_retreat,0.57826374754,1.3142057124e-06,1.06001177384,0.548834983457,0.00867498385658,1.0596613124
+394,6.566666667,pose2_to_pose3_retreat,0.578260095353,1.40649537339e-06,1.06001173274,0.548831330044,0.00867507234192,1.0596612801
+395,6.583333333,pose2_to_pose3_retreat,0.578258244927,1.45325507052e-06,1.06001171191,0.548829478997,0.00867511717411,1.05966126374
+396,6.600000000,pose2_to_pose3_retreat,0.578257299427,1.38786899701e-06,1.06001172426,0.548828534023,0.00867505347342,1.05966127365
+397,6.616666667,pose2_to_pose3_retreat,0.578256790621,1.3372832114e-06,1.06001173487,0.548828025646,0.00867500425518,1.05966128213
+398,6.633333333,pose2_to_pose3_retreat,0.578256409968,1.29943845956e-06,1.0600117428,0.548827645313,0.00867496743353,1.05966128848
+399,6.650000000,pose2_to_pose3_retreat,0.57825600923,1.25959680106e-06,1.06001175116,0.548827244913,0.00867492866896,1.05966129516
+400,6.666666667,pose2_to_pose3_retreat,0.578255245328,1.18364910833e-06,1.06001176708,0.548826481654,0.00867485477445,1.0596613079
+401,6.683333333,pose2_to_pose3_retreat,0.578254479514,1.13523005854e-06,1.06001176766,0.548825716178,0.00867480740416,1.05966130598
+402,6.700000000,pose2_to_pose3_retreat,0.578254082368,1.16204400098e-06,1.06001173913,0.548825318636,0.00867483287082,1.05966127745
+403,6.716666667,pose2_to_pose3_retreat,0.578253875489,1.17601183051e-06,1.06001172427,0.548825111549,0.00867484613683,1.0596612626
+404,6.733333333,pose2_to_pose3_retreat,0.578253790251,1.18176682876e-06,1.06001171815,0.548825026226,0.00867485160267,1.05966125647
+405,6.750000000,pose2_to_pose3_retreat,0.57825360117,1.19453295046e-06,1.06001170457,0.548824836956,0.00867486372735,1.05966124289
+406,6.766666667,pose2_to_pose3_retreat,0.578253298048,1.21499872684e-06,1.06001168279,0.548824533531,0.00867488316482,1.05966122112
+407,6.783333333,pose2_to_pose3_retreat,0.578253134726,1.22602569818e-06,1.06001167106,0.548824370046,0.00867489363773,1.05966120939
+408,6.800000000,pose2_to_pose3_retreat,0.578252991113,1.23572196782e-06,1.06001166075,0.548824226289,0.00867490284681,1.05966119908
+409,6.816666667,pose2_to_pose3_retreat,0.578252849456,1.23735120876e-06,1.06001164307,0.548824084505,0.00867490403825,1.05966118126
+410,6.833333333,pose2_to_pose3_retreat,0.578252848566,1.23731007266e-06,1.06001164292,0.548824083614,0.00867490399464,1.05966118109
+411,6.850000000,pose2_to_pose3_retreat,0.578252728259,1.23175198048e-06,1.06001162135,0.548823963211,0.00867489810214,1.05966115927
+412,6.866666667,pose2_to_pose3_retreat,0.578252628503,1.22714333462e-06,1.06001160347,0.548823863376,0.00867489321621,1.05966114117
+413,6.883333333,pose2_to_pose3_retreat,0.578252586814,1.22521736772e-06,1.06001159599,0.548823821655,0.00867489117437,1.0596611336
+414,6.900000000,pose2_to_pose3_retreat,0.578252522027,1.22222425647e-06,1.06001158438,0.548823756816,0.00867488800117,1.05966112185
+415,6.916666667,pose2_to_pose3_retreat,0.578252357722,1.21463349222e-06,1.06001155493,0.54882359238,0.0086748799537,1.05966109204
+416,6.933333333,pose2_to_pose3_retreat,0.578252179928,1.21380730937e-06,1.06001153683,0.548823415515,0.00867488232528,1.05966107515
+417,6.950000000,pose2_to_pose3_retreat,0.57825215442,1.21427733412e-06,1.06001153533,0.548823390225,0.00867488354821,1.05966107395
+418,6.966666667,pose2_to_pose3_retreat,0.578252135465,1.21462661272e-06,1.06001153421,0.548823371432,0.00867488445698,1.05966107306
+419,6.983333333,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977461,1.05966107186

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b0d7acef7ba14900dc97015c4f7f45cfc0f98a7fac364b2c1d97db617ab90d
+size 26808920

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/simulation_data.csv

@@ -0,0 +1,424 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+43,0.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+46,0.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+52,0.866666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+53,0.883333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+56,0.933333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+57,0.950000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+58,0.966666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+59,0.983333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+60,1.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+61,1.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+62,1.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+63,1.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+64,1.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+65,1.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+67,1.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+68,1.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+69,1.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+70,1.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+71,1.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+72,1.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+73,1.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+74,1.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+75,1.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+101,1.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+102,1.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+103,1.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+104,1.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+105,1.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+106,1.766666667,pose1_to_pose2_press,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+107,1.783333333,pose1_to_pose2_press,0.578252200755,1.23829770433e-06,1.06001147209,0.548823436365,0.00867490698225,1.05966101261
+108,1.800000000,pose1_to_pose2_press,0.578252220237,1.20854510006e-06,1.06001142949,0.548823455711,0.00867487679842,1.05966097082
+109,1.816666667,pose1_to_pose2_press,0.578252229537,1.19434299615e-06,1.06001140916,0.548823464945,0.00867486239047,1.05966095087
+110,1.833333333,pose1_to_pose2_press,0.578252232967,1.18910502568e-06,1.06001140166,0.548823468351,0.00867485707658,1.05966094351
+111,1.850000000,pose1_to_pose2_press,0.57825226462,1.19660240901e-06,1.06001140884,0.548823499859,0.00867486408977,1.05966095085
+112,1.866666667,pose1_to_pose2_press,0.578252466767,1.24530619316e-06,1.06001145579,0.548823701083,0.00867490970456,1.05966099883
+113,1.883333333,pose1_to_pose2_press,0.578253421657,1.3560207464e-06,1.0600116027,0.548824654992,0.00867501687789,1.05966114044
+114,1.900000000,pose1_to_pose2_press,0.578255984902,1.3455126358e-06,1.06001165592,0.548827219735,0.00867501148917,1.05966119464
+115,1.916666667,pose1_to_pose2_press,0.578262688001,1.27800436414e-06,1.06001189566,0.548833922262,0.00867494187645,1.05966143025
+116,1.933333333,pose1_to_pose2_press,0.578274912225,1.30172784503e-06,1.06001165627,0.54884614708,0.00867496790582,1.05966119805
+117,1.950000000,pose1_to_pose2_press,0.578296120494,1.23515084427e-06,1.06001167219,0.548867356644,0.00867490529172,1.05966120318
+118,1.966666667,pose1_to_pose2_press,0.57832627125,1.16669499917e-06,1.0600115728,0.548897505949,0.00867483225653,1.05966111231
+119,1.983333333,pose1_to_pose2_press,0.578366266401,1.23031930928e-06,1.06001176742,0.548937502265,0.00867489943191,1.05966129686
+120,2.000000000,pose1_to_pose2_press,0.57841479194,1.37325916463e-06,1.06001154049,0.548986025823,0.00867503587071,1.05966107544
+121,2.016666667,pose1_to_pose2_press,0.57847213288,1.24799842721e-06,1.0600114884,0.549043367096,0.00867491182853,1.05966102546
+122,2.033333333,pose1_to_pose2_press,0.578536905666,1.28008103696e-06,1.06001161373,0.549108140133,0.00867494472452,1.05966114977
+123,2.050000000,pose1_to_pose2_press,0.578609895587,1.31222818778e-06,1.06001160057,0.549181129932,0.00867497651066,1.05966113778
+124,2.066666667,pose1_to_pose2_press,0.578695369968,1.32547158444e-06,1.06001161042,0.549266604055,0.00867498877919,1.05966114511
+125,2.083333333,pose1_to_pose2_press,0.578793695489,1.29972196765e-06,1.0600118006,0.549364929603,0.00867496283538,1.05966132827
+126,2.100000000,pose1_to_pose2_press,0.578906894819,1.19974671233e-06,1.0600118884,0.549478129504,0.00867486491695,1.05966141895
+127,2.116666667,pose1_to_pose2_press,0.579037359389,1.19410931771e-06,1.06001181788,0.549608595197,0.00867486332737,1.0596613543
+128,2.133333333,pose1_to_pose2_press,0.579186438306,1.32036340935e-06,1.06001179208,0.549757673338,0.00867498700588,1.05966132986
+129,2.150000000,pose1_to_pose2_press,0.579353222053,1.37275821301e-06,1.06001153492,0.54992445579,0.00867503530083,1.05966107998
+130,2.166666667,pose1_to_pose2_press,0.579537683543,1.23741669718e-06,1.06001163324,0.550108918512,0.00867490379976,1.05966116981
+131,2.183333333,pose1_to_pose2_press,0.579742875034,1.13000990783e-06,1.06001156255,0.550314110945,0.00867479943914,1.05966109534
+132,2.200000000,pose1_to_pose2_press,0.579967951977,1.26466909322e-06,1.06001151609,0.550539186222,0.00867492881543,1.05966105798
+133,2.216666667,pose1_to_pose2_press,0.580215185664,1.3684600998e-06,1.06001160507,0.550786419334,0.00867503021272,1.05966113599
+134,2.233333333,pose1_to_pose2_press,0.58048462031,1.23963430014e-06,1.06001178946,0.551055854493,0.00867490305202,1.05966131839
+135,2.250000000,pose1_to_pose2_press,0.580776095232,1.21793662512e-06,1.06001148893,0.551347330369,0.00867488534637,1.05966103647
+136,2.266666667,pose1_to_pose2_press,0.581090145815,1.32381324836e-06,1.06001157118,0.551661378997,0.00867498405501,1.05966110553
+137,2.283333333,pose1_to_pose2_press,0.581423436574,1.23814982624e-06,1.06001176645,0.551994669725,0.0086748984337,1.05966130432
+138,2.300000000,pose1_to_pose2_press,0.581774062455,1.1847343061e-06,1.06001149473,0.552345297144,0.00867485066878,1.05966104333
+139,2.316666667,pose1_to_pose2_press,0.582142278645,1.16786961681e-06,1.06001177297,0.552713515578,0.008674840864,1.0596613078
+140,2.333333333,pose1_to_pose2_press,0.582529154973,1.30070417528e-06,1.06001180893,0.553100388991,0.0086749636332,1.05966133942
+141,2.350000000,pose1_to_pose2_press,0.582937263933,1.21377468433e-06,1.06001161519,0.553508499994,0.00867488370398,1.05966114723
+142,2.366666667,pose1_to_pose2_press,0.583368568536,1.22126130539e-06,1.06001155105,0.55393980387,0.00867488882808,1.05966108566
+143,2.383333333,pose1_to_pose2_press,0.58382984655,1.17500824923e-06,1.06001149997,0.554401081228,0.00867484006308,1.05966102738
+144,2.400000000,pose1_to_pose2_press,0.584318401926,1.2354561871e-06,1.06001163936,0.554889635404,0.00867489621015,1.05966116107
+145,2.416666667,pose1_to_pose2_press,0.584834638493,1.34597370357e-06,1.06001179592,0.555405871425,0.00867500489461,1.05966131816
+146,2.433333333,pose1_to_pose2_press,0.585370021075,1.36040908876e-06,1.06001178316,0.555941254184,0.00867502048685,1.05966131913
+147,2.450000000,pose1_to_pose2_press,0.585922017464,1.29107339589e-06,1.06001155336,0.556493252025,0.00867495657034,1.05966110147
+148,2.466666667,pose1_to_pose2_press,0.586495647768,1.2670769942e-06,1.06001143235,0.557066883533,0.00867493673743,1.05966098235
+149,2.483333333,pose1_to_pose2_press,0.587091099349,1.30036172121e-06,1.06001152688,0.557662333956,0.00867496571298,1.05966106745
+150,2.500000000,pose1_to_pose2_press,0.587712275836,1.32390253485e-06,1.06001171249,0.558283509741,0.00867498646813,1.05966124303
+151,2.516666667,pose1_to_pose2_press,0.588356973747,1.34582275286e-06,1.06001177355,0.558928208219,0.00867501048203,1.05966130839
+152,2.533333333,pose1_to_pose2_press,0.589023804644,1.34180505036e-06,1.06001162897,0.559595037857,0.00867500221545,1.05966116427
+153,2.550000000,pose1_to_pose2_press,0.589693521238,1.36081385105e-06,1.06001169517,0.560264753474,0.00867501771911,1.05966122579
+154,2.566666667,pose1_to_pose2_press,0.590364286751,1.43144489346e-06,1.06001153688,0.560935518507,0.00867508670386,1.05966106701
+155,2.583333333,pose1_to_pose2_press,0.591045909866,1.35914788792e-06,1.06001178375,0.561617142398,0.00867501704853,1.05966131409
+156,2.600000000,pose1_to_pose2_press,0.591741271802,1.22256481474e-06,1.06001164897,0.562312506484,0.00867488797521,1.05966118467
+157,2.616666667,pose1_to_pose2_press,0.592454815464,1.29285812571e-06,1.06001156724,0.563026049423,0.00867495569237,1.05966109995
+158,2.633333333,pose1_to_pose2_press,0.593195036178,1.3312766526e-06,1.06001178449,0.563766271123,0.00867499752566,1.05966131883
+159,2.650000000,pose1_to_pose2_press,0.593962602561,1.44833507364e-06,1.06001165153,0.564533835315,0.00867510739711,1.05966119203
+160,2.666666667,pose1_to_pose2_press,0.594745020044,1.25636368446e-06,1.06001178771,0.565316255552,0.00867492445861,1.05966132054
+161,2.683333333,pose1_to_pose2_press,0.595538962522,1.17727778489e-06,1.06001179423,0.566110198744,0.00867484778026,1.05966132667
+162,2.700000000,pose1_to_pose2_press,0.596333458922,1.22178068235e-06,1.06001179794,0.566904695241,0.00867489262162,1.05966133059
+163,2.716666667,pose1_to_pose2_press,0.59711948078,1.19434584598e-06,1.0600115737,0.567690716913,0.00867486477689,1.05966111198
+164,2.733333333,pose1_to_pose2_press,0.597888719692,1.31054761942e-06,1.0600117314,0.568459954861,0.00867497752371,1.05966126513
+165,2.750000000,pose1_to_pose2_press,0.598656895255,1.31917130548e-06,1.06001173614,0.569228128732,0.00867498013752,1.05966126325
+166,2.766666667,pose1_to_pose2_press,0.599431564343,1.29120735675e-06,1.06001178345,0.570002796953,0.0086749491203,1.05966130779
+167,2.783333333,pose1_to_pose2_press,0.600221772481,1.19488414322e-06,1.06001165738,0.570793006718,0.00867485879024,1.0596611934
+168,2.800000000,pose1_to_pose2_press,0.601032725234,1.14754935558e-06,1.060011563,0.571603960742,0.00867481619041,1.05966110954
+169,2.816666667,pose1_to_pose2_press,0.601870151125,1.14209079087e-06,1.06001163042,0.572441388056,0.00867481545089,1.05966117433
+170,2.833333333,pose1_to_pose2_press,0.602707596537,1.25489451821e-06,1.06001171896,0.573278833261,0.00867492725549,1.05966125557
+171,2.850000000,pose1_to_pose2_press,0.603535079347,1.34745879005e-06,1.06001173293,0.574106314282,0.0086750136608,1.05966126748
+172,2.866666667,pose1_to_pose2_press,0.604329693755,1.26665904539e-06,1.06001172457,0.574900928981,0.00867493380942,1.05966125819
+173,2.883333333,pose1_to_pose2_press,0.605091529197,1.22636739631e-06,1.06001183776,0.575662765058,0.00867489560611,1.0596613698
+174,2.900000000,pose1_to_pose2_press,0.605838622505,1.21351162877e-06,1.06001194065,0.57640985909,0.00867488532426,1.05966147562
+175,2.916666667,pose1_to_pose2_press,0.606581314648,1.26722792141e-06,1.06001193375,0.577152550503,0.0086749364775,1.05966146663
+176,2.933333333,pose1_to_pose2_press,0.607330375343,1.33111334395e-06,1.06001151927,0.577901609289,0.00867499418052,1.05966105955
+177,2.950000000,pose1_to_pose2_press,0.608095736953,1.15108315703e-06,1.06001156822,0.578666972962,0.00867482088116,1.05966110193
+178,2.966666667,pose1_to_pose2_press,0.608872501874,1.40102808557e-06,1.06001164036,0.579443734692,0.00867506015011,1.05966117786
+179,2.983333333,pose1_to_pose2_press,0.609631794649,1.40826471697e-06,1.06001147987,0.580203027666,0.00867506840512,1.05966102593
+180,3.000000000,pose1_to_pose2_press,0.61036681157,1.30442367277e-06,1.0600114446,0.580938045098,0.00867496599768,1.05966098334
+181,3.016666667,pose1_to_pose2_press,0.611063971641,1.21327235539e-06,1.06001166508,0.581635208137,0.00867488461401,1.05966119639
+182,3.033333333,pose1_to_pose2_press,0.611729467845,1.29515745197e-06,1.06001137812,0.582300703457,0.0086749641615,1.05966092586
+183,3.050000000,pose1_to_pose2_press,0.612363228455,1.26686646238e-06,1.06001168266,0.582934462088,0.00867492826236,1.05966120833
+184,3.066666667,pose1_to_pose2_press,0.612985129643,1.21592306709e-06,1.06001180313,0.583556364233,0.00867488064172,1.0596613308
+185,3.083333333,pose1_to_pose2_press,0.613599129925,1.16717936988e-06,1.0600116089,0.584170365475,0.0086748352745,1.05966113961
+186,3.100000000,pose1_to_pose2_press,0.614211137697,1.19762134605e-06,1.06001184017,0.584782372914,0.00867486462041,1.05966137174
+187,3.116666667,pose1_to_pose2_press,0.614819316651,1.24805291192e-06,1.06001191862,0.585390550818,0.00867491152042,1.05966145098
+188,3.133333333,pose1_to_pose2_press,0.615414683376,1.32831421291e-06,1.06001174163,0.585985918288,0.00867499419268,1.05966127118
+189,3.150000000,pose1_to_pose2_press,0.615979161238,1.3499151895e-06,1.06001176804,0.586550396685,0.00867501774122,1.05966130124
+190,3.166666667,pose1_to_pose2_press,0.616505376277,1.25497360777e-06,1.06001168731,0.587076611828,0.00867492330773,1.0596612246
+191,3.183333333,pose1_to_pose2_press,0.616990010717,1.31492112161e-06,1.06001167159,0.587561244802,0.00867497834218,1.05966120581
+192,3.200000000,pose1_to_pose2_press,0.617439064659,1.42240942686e-06,1.06001165712,0.588010297858,0.00867508305793,1.05966119545
+193,3.216666667,pose1_to_pose2_press,0.617864761391,1.38145034857e-06,1.06001156989,0.588435994023,0.00867504044042,1.05966111344
+194,3.233333333,pose1_to_pose2_press,0.618274880561,1.35470990934e-06,1.06001161736,0.588846112652,0.00867501184858,1.0596611575
+195,3.250000000,pose1_to_pose2_press,0.618672014362,1.39274866067e-06,1.06001167115,0.589243246437,0.00867504973162,1.05966120572
+196,3.266666667,pose1_to_pose2_press,0.619052119056,1.32568161373e-06,1.06001148226,0.58962335154,0.00867498427405,1.05966101979
+197,3.283333333,pose1_to_pose2_press,0.619413192159,1.38475637945e-06,1.060011617,0.589984425366,0.0086750459914,1.05966115738
+198,3.300000000,pose1_to_pose2_press,0.619747289851,1.22938005326e-06,1.0600114993,0.590318524659,0.00867489636504,1.05966104473
+199,3.316666667,pose1_to_pose2_press,0.620055319615,1.25887430217e-06,1.0600115408,0.590626554613,0.00867492628671,1.0596610784
+200,3.333333333,pose1_to_pose2_press,0.620337804563,1.25745080179e-06,1.060011529,0.590909039586,0.0086749251888,1.05966107043
+201,3.350000000,pose1_to_pose2_press,0.62060216993,1.22149105043e-06,1.06001174659,0.59117340489,0.00867488894974,1.059661284
+202,3.366666667,pose1_to_pose2_press,0.620850309187,1.29328278364e-06,1.06001178521,0.591421543108,0.00867495717753,1.05966131995
+203,3.383333333,pose1_to_pose2_press,0.621085266998,1.19952758686e-06,1.06001171176,0.59165650255,0.00867486891244,1.05966124395
+204,3.400000000,pose1_to_pose2_press,0.621305603246,1.220105193e-06,1.06001156548,0.591876838281,0.00867488809795,1.05966110417
+205,3.416666667,pose1_to_pose2_press,0.621507890162,1.35993764842e-06,1.06001163363,0.592079123153,0.00867502086918,1.05966116763
+206,3.433333333,pose1_to_pose2_press,0.621691020201,1.23727728292e-06,1.06001171248,0.592262255783,0.0086749073892,1.05966125427
+207,3.450000000,pose1_to_pose2_press,0.621852180106,1.16951268358e-06,1.06001176783,0.592423416523,0.00867484243508,1.05966130733
+208,3.466666667,pose1_to_pose2_press,0.621996291166,1.23913923344e-06,1.06001171181,0.592567526509,0.0086749084232,1.05966125021
+209,3.483333333,pose1_to_pose2_press,0.622124300642,1.29855995238e-06,1.0600118385,0.592695535502,0.00867496629172,1.05966137798
+210,3.500000000,pose1_to_pose2_press,0.622237028593,1.27604157675e-06,1.06001203552,0.592808263138,0.00867494250071,1.05966156897
+211,3.516666667,pose1_to_pose2_press,0.6223353971,1.20939462975e-06,1.06001188363,0.59290663176,0.00867487632965,1.05966141651
+212,3.533333333,pose1_to_pose2_press,0.622419832255,1.21814063243e-06,1.06001176864,0.592991067601,0.00867488766855,1.05966130322
+213,3.550000000,pose1_to_pose2_press,0.622491445317,1.28404720263e-06,1.06001184046,0.593062680756,0.00867495395403,1.05966137323
+214,3.566666667,pose1_to_pose2_press,0.622550010512,1.30355528966e-06,1.06001162199,0.593121245355,0.00867497165965,1.05966116108
+215,3.583333333,pose1_to_pose2_press,0.622599083558,1.31716643436e-06,1.06001149772,0.593170318232,0.00867498472874,1.05966103966
+216,3.600000000,pose1_to_pose2_press,0.622639087962,1.27610804086e-06,1.06001140549,0.593210322063,0.00867494168494,1.05966095037
+217,3.616666667,pose1_to_pose2_press,0.622671188776,1.15038022352e-06,1.06001164169,0.59324242499,0.00867482290645,1.05966117976
+218,3.633333333,pose1_to_pose2_press,0.622696391077,1.27380069624e-06,1.06001157357,0.593267624409,0.00867493635824,1.05966110647
+219,3.650000000,pose1_to_pose2_press,0.622715881552,1.23833149164e-06,1.06001170726,0.593287114845,0.00867490088132,1.05966124354
+220,3.666666667,pose1_to_pose2_press,0.622730702811,1.26706797887e-06,1.06001178507,0.593301936276,0.00867493018601,1.05966132094
+221,3.683333333,pose1_to_pose2_press,0.622741020826,1.29748997881e-06,1.06001166824,0.59331225491,0.0086749628641,1.05966120807
+222,3.700000000,pose1_to_pose2_press,0.622748815551,1.23810887036e-06,1.06001134094,0.593320051544,0.00867491058178,1.05966089711
+223,3.716666667,pose1_to_pose2_press,0.62275409436,1.29506859032e-06,1.06001186525,0.593325328186,0.00867495933761,1.05966140065
+224,3.733333333,pose1_to_pose2_press,0.622757137643,1.34518644583e-06,1.06001196067,0.593328370388,0.00867500548545,1.05966148806
+225,3.750000000,pose1_to_pose2_press,0.622758861838,1.38832131983e-06,1.0600118251,0.593330094144,0.00867504713837,1.0596613517
+226,3.766666667,pose1_to_pose2_press,0.622759890482,1.41405531942e-06,1.06001174422,0.593331122526,0.00867507198824,1.05966127035
+227,3.783333333,pose1_to_pose2_press,0.622760616723,1.41208452161e-06,1.06001169947,0.593331848807,0.00867507021852,1.05966122701
+228,3.800000000,pose1_to_pose2_press,0.622761149952,1.38226531374e-06,1.060011684,0.593332382382,0.0086750417096,1.05966121506
+229,3.816666667,pose1_to_pose2_press,0.622761544967,1.36017536069e-06,1.06001167254,0.593332777652,0.0086750205903,1.0596612062
+230,3.833333333,pose1_to_pose2_press,0.622761789196,1.34651760984e-06,1.06001166546,0.593333022039,0.00867500753268,1.05966120073
+231,3.850000000,pose1_to_pose2_press,0.622761940919,1.33803297116e-06,1.06001166106,0.59333317386,0.00867499942087,1.05966119732
+232,3.866666667,pose1_to_pose2_press,0.622762028445,1.33313832952e-06,1.06001165852,0.593333261443,0.0086749947413,1.05966119536
+233,3.883333333,pose1_to_pose2_press,0.622762086449,1.32989466541e-06,1.06001165683,0.593333319485,0.00867499164017,1.05966119406
+234,3.900000000,pose1_to_pose2_press,0.62276225509,1.32046390218e-06,1.06001165194,0.593333488235,0.0086749826238,1.05966119028
+235,3.916666667,pose1_to_pose2_press,0.622762468714,1.30851767317e-06,1.06001164575,0.593333701997,0.0086749712025,1.05966118549
+236,3.933333333,pose1_to_pose2_press,0.62276271837,1.28498619182e-06,1.06001162538,0.593333952319,0.00867494994439,1.05966116563
+237,3.950000000,pose1_to_pose2_press,0.622762953912,1.25916880286e-06,1.06001160121,0.593334188679,0.00867492689906,1.05966114149
+238,3.966666667,pose1_to_pose2_press,0.622763125206,1.24039354482e-06,1.06001158363,0.593334360569,0.00867491013973,1.05966112394
+239,3.983333333,pose1_to_pose2_press,0.622763367679,1.21381653808e-06,1.06001155874,0.593334603884,0.00867488641634,1.0596610991
+240,4.000000000,pose1_to_pose2_press,0.622763683145,1.17923878537e-06,1.06001152637,0.593334920447,0.00867485555126,1.05966106678
+241,4.016666667,pose1_to_pose2_press,0.622763822573,1.24018352887e-06,1.06001157171,0.593335058762,0.00867491256282,1.05966110803
+242,4.033333333,pose1_to_pose2_press,0.62276387878,1.27860701188e-06,1.06001160083,0.593335114231,0.00867494838758,1.05966113475
+243,4.050000000,pose1_to_pose2_press,0.622763886434,1.28383881013e-06,1.0600116048,0.593335121784,0.00867495326553,1.05966113838
+244,4.066666667,pose1_to_pose2_press,0.62276389316,1.28843661207e-06,1.06001160828,0.593335128421,0.00867495755237,1.05966114158
+245,4.083333333,pose1_to_pose2_press,0.622763991666,1.35577562002e-06,1.06001165932,0.593335225634,0.008675020337,1.05966118841
+246,4.100000000,pose1_to_pose2_press,0.622764089916,1.39913407211e-06,1.06001169306,0.593335323012,0.00867506066695,1.05966122029
+247,4.116666667,pose1_to_pose2_press,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383803,0.00867505176228,1.05966121747
+248,4.133333333,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176201,1.05966121747
+249,4.150000000,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176185,1.05966121747
+250,4.166666667,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176163,1.05966121747
+251,4.183333333,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176189,1.05966121747
+252,4.200000000,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176135,1.05966121747
+253,4.216666667,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176097,1.05966121747
+254,4.233333333,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176098,1.05966121747
+255,4.250000000,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176098,1.05966121747
+256,4.266666667,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176103,1.05966121747
+257,4.283333333,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176172,1.05966121747
+258,4.300000000,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176177,1.05966121747
+259,4.316666667,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.0086750517618,1.05966121747
+260,4.333333333,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176179,1.05966121747
+261,4.350000000,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.0086750517618,1.05966121747
+262,4.366666667,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.0086750517618,1.05966121747
+263,4.383333333,pose2_hold,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176114,1.05966121747
+264,4.400000000,pose2_to_pose3_retreat,0.622764150605,1.38980187008e-06,1.06001168787,0.593335383804,0.00867505176209,1.05966121747
+265,4.416666667,pose2_to_pose3_retreat,0.622764133389,1.38122290912e-06,1.06001167883,0.593335366437,0.0086750427339,1.05966121
+266,4.433333333,pose2_to_pose3_retreat,0.622764103195,1.36617728733e-06,1.06001166296,0.593335335979,0.00867502690044,1.05966119689
+267,4.450000000,pose2_to_pose3_retreat,0.622764034938,1.33199400081e-06,1.06001163618,0.593335268324,0.00867499483566,1.05966117205
+268,4.466666667,pose2_to_pose3_retreat,0.622763953908,1.29136965979e-06,1.06001160675,0.593335188322,0.00867495774029,1.0596611438
+269,4.483333333,pose2_to_pose3_retreat,0.622763730387,1.17930701909e-06,1.06001152556,0.593334967633,0.00867485541234,1.05966106588
+270,4.500000000,pose2_to_pose3_retreat,0.622763598496,1.18335239479e-06,1.06001153771,0.593334835578,0.00867485889291,1.05966107785
+271,4.516666667,pose2_to_pose3_retreat,0.622763395661,1.19261176134e-06,1.060011559,0.593334632411,0.0086748670105,1.05966109876
+272,4.533333333,pose2_to_pose3_retreat,0.622762714984,1.22368438774e-06,1.06001163043,0.593333950621,0.00867489425156,1.05966116895
+273,4.550000000,pose2_to_pose3_retreat,0.622759784687,1.3506747195e-06,1.06001180694,0.5933310184,0.00867501425957,1.05966133395
+274,4.566666667,pose2_to_pose3_retreat,0.622753271245,1.34499516843e-06,1.06001169577,0.59332450343,0.00867500342348,1.05966122423
+275,4.583333333,pose2_to_pose3_retreat,0.622740332696,1.30233262862e-06,1.06001166081,0.593311566484,0.00867496647015,1.0596611966
+276,4.600000000,pose2_to_pose3_retreat,0.622720268954,1.28846350905e-06,1.06001178964,0.59329150296,0.00867495314164,1.05966131914
+277,4.616666667,pose2_to_pose3_retreat,0.622691282992,1.2501094204e-06,1.06001189107,0.59326251729,0.00867491602558,1.05966142687
+278,4.633333333,pose2_to_pose3_retreat,0.622655284201,1.17861602681e-06,1.0600115722,0.593226519044,0.00867484613068,1.05966110499
+279,4.650000000,pose2_to_pose3_retreat,0.622612915623,1.27533191398e-06,1.06001166353,0.593184150869,0.00867494437399,1.05966120067
+280,4.666666667,pose2_to_pose3_retreat,0.622565607138,1.32719054604e-06,1.06001170218,0.593136840645,0.00867499001536,1.0596612299
+281,4.683333333,pose2_to_pose3_retreat,0.622513277537,1.32087117222e-06,1.06001174585,0.593084511708,0.00867498647352,1.05966128563
+282,4.700000000,pose2_to_pose3_retreat,0.622455317419,1.23204463869e-06,1.06001164046,0.593026552529,0.00867490069306,1.05966118011
+283,4.716666667,pose2_to_pose3_retreat,0.622390277971,1.22519302239e-06,1.06001156413,0.592961513001,0.00867489347424,1.05966110522
+284,4.733333333,pose2_to_pose3_retreat,0.622315821599,1.35373785166e-06,1.06001160054,0.592887055127,0.00867501716246,1.05966114926
+285,4.750000000,pose2_to_pose3_retreat,0.622231595805,1.28490632389e-06,1.06001157196,0.592802829045,0.0086749469287,1.05966110624
+286,4.766666667,pose2_to_pose3_retreat,0.622136751216,1.2887272983e-06,1.06001176898,0.592707985275,0.0086749535384,1.05966130357
+287,4.783333333,pose2_to_pose3_retreat,0.622028498245,1.29651033945e-06,1.06001189616,0.592599732789,0.00867496300029,1.05966143266
+288,4.800000000,pose2_to_pose3_retreat,0.621907054216,1.28725705155e-06,1.06001186545,0.592478288352,0.00867495240219,1.05966140396
+289,4.816666667,pose2_to_pose3_retreat,0.621771396072,1.26826540488e-06,1.06001174615,0.592342628962,0.00867492948292,1.0596612933
+290,4.833333333,pose2_to_pose3_retreat,0.621622338273,1.29197350104e-06,1.06001188999,0.592193571935,0.00867495517189,1.0596614228
+291,4.850000000,pose2_to_pose3_retreat,0.621459717646,1.33400870213e-06,1.06001185552,0.592030950742,0.00867499513232,1.05966138608
+292,4.866666667,pose2_to_pose3_retreat,0.621283914977,1.31091532075e-06,1.06001175529,0.591855147766,0.00867497098834,1.05966128697
+293,4.883333333,pose2_to_pose3_retreat,0.621094352276,1.21584336068e-06,1.0600117148,0.591665585708,0.00867487801882,1.05966124599
+294,4.900000000,pose2_to_pose3_retreat,0.620889093794,1.15395757916e-06,1.06001191435,0.591460328327,0.00867481966492,1.05966144316
+295,4.916666667,pose2_to_pose3_retreat,0.620668137874,1.27218333252e-06,1.06001175228,0.591239372143,0.00867493695774,1.05966128235
+296,4.933333333,pose2_to_pose3_retreat,0.620429333933,1.34358021478e-06,1.06001166528,0.591000566975,0.00867500439636,1.05966120201
+297,4.950000000,pose2_to_pose3_retreat,0.620176980158,1.31796176576e-06,1.06001169081,0.590748213522,0.00867497992317,1.05966123056
+298,4.966666667,pose2_to_pose3_retreat,0.619912227845,1.21984769471e-06,1.06001178172,0.59048346383,0.00867489040678,1.05966131644
+299,4.983333333,pose2_to_pose3_retreat,0.619634953806,1.32781466788e-06,1.06001167146,0.590206187165,0.00867498958545,1.05966121141
+300,5.000000000,pose2_to_pose3_retreat,0.619344972155,1.32504419554e-06,1.06001166416,0.589916205179,0.00867498541409,1.05966120024
+301,5.016666667,pose2_to_pose3_retreat,0.619037942759,1.28432721353e-06,1.06001168383,0.589609176217,0.00867494584712,1.05966121458
+302,5.033333333,pose2_to_pose3_retreat,0.618711820035,1.26071887641e-06,1.06001171202,0.589283054056,0.00867492395836,1.05966124054
+303,5.050000000,pose2_to_pose3_retreat,0.618363401113,1.38080196031e-06,1.06001177069,0.588934635156,0.0086750443781,1.05966130783
+304,5.066666667,pose2_to_pose3_retreat,0.617993453757,1.30568899041e-06,1.06001171772,0.588564688314,0.00867497074565,1.05966125143
+305,5.083333333,pose2_to_pose3_retreat,0.617602327049,1.33610562584e-06,1.06001181418,0.588173561014,0.00867499890994,1.05966134398
+306,5.100000000,pose2_to_pose3_retreat,0.617194807863,1.38880612623e-06,1.06001182291,0.587766041207,0.00867504952594,1.05966135406
+307,5.116666667,pose2_to_pose3_retreat,0.61677186977,1.34577970458e-06,1.06001158234,0.587343103688,0.00867500874614,1.05966112098
+308,5.133333333,pose2_to_pose3_retreat,0.6163326014,1.34531694085e-06,1.06001199219,0.586903835857,0.00867500963681,1.059661523
+309,5.150000000,pose2_to_pose3_retreat,0.615880955064,1.30364814999e-06,1.06001189439,0.586452190152,0.00867497011394,1.05966142441
+310,5.166666667,pose2_to_pose3_retreat,0.615418333926,1.2711381422e-06,1.06001173722,0.585989568147,0.00867493488768,1.05966127276
+311,5.183333333,pose2_to_pose3_retreat,0.614936248934,1.2223709217e-06,1.06001167664,0.585507482641,0.00867488452851,1.05966121688
+312,5.200000000,pose2_to_pose3_retreat,0.614432237858,1.09209817287e-06,1.06001180393,0.58500347545,0.0086747670847,1.05966133521
+313,5.216666667,pose2_to_pose3_retreat,0.61389701234,1.225813417e-06,1.06001148064,0.584468248945,0.00867489773324,1.05966101866
+314,5.233333333,pose2_to_pose3_retreat,0.613332421549,1.39236635387e-06,1.06001164849,0.583903655235,0.00867505436337,1.05966118653
+315,5.250000000,pose2_to_pose3_retreat,0.612740589505,1.41311942314e-06,1.06001178213,0.583311822454,0.00867507255716,1.05966131861
+316,5.266666667,pose2_to_pose3_retreat,0.61213875135,1.34322102839e-06,1.06001179362,0.582709985547,0.00867500680755,1.05966132768
+317,5.283333333,pose2_to_pose3_retreat,0.611534190433,1.3087896356e-06,1.06001181018,0.582105425751,0.00867497606584,1.05966134153
+318,5.300000000,pose2_to_pose3_retreat,0.610935485579,1.28639323131e-06,1.06001179082,0.581506721603,0.00867495619663,1.05966132525
+319,5.316666667,pose2_to_pose3_retreat,0.610339172343,1.26113325155e-06,1.06001188568,0.580910408631,0.00867493180545,1.05966141849
+320,5.333333333,pose2_to_pose3_retreat,0.609733664656,1.22717994231e-06,1.06001177435,0.580304900567,0.00867489674048,1.05966131223
+321,5.350000000,pose2_to_pose3_retreat,0.609113287442,1.21807414147e-06,1.060011671,0.579684522487,0.00867488486606,1.05966121344
+322,5.366666667,pose2_to_pose3_retreat,0.608474128376,1.26165863541e-06,1.06001175373,0.579045362308,0.00867492464352,1.05966129338
+323,5.383333333,pose2_to_pose3_retreat,0.607817064535,1.32456416431e-06,1.06001168174,0.578388297707,0.00867498477058,1.05966121698
+324,5.400000000,pose2_to_pose3_retreat,0.607143145853,1.29571816475e-06,1.06001166417,0.577714380838,0.00867496209898,1.05966120005
+325,5.416666667,pose2_to_pose3_retreat,0.606453500417,1.23338211626e-06,1.06001174332,0.577024736483,0.00867490329671,1.05966127586
+326,5.433333333,pose2_to_pose3_retreat,0.605751393371,1.24208378157e-06,1.06001185263,0.576322628963,0.00867491031871,1.05966138331
+327,5.450000000,pose2_to_pose3_retreat,0.605043689158,1.31497997179e-06,1.06001187563,0.57561492364,0.00867497958455,1.0596614096
+328,5.466666667,pose2_to_pose3_retreat,0.604339881968,1.16805607087e-06,1.06001168398,0.57491111773,0.0086748369264,1.059661216
+329,5.483333333,pose2_to_pose3_retreat,0.603645339201,1.38767690756e-06,1.06001166106,0.574216573357,0.00867505134111,1.05966119903
+330,5.500000000,pose2_to_pose3_retreat,0.602960076645,1.3244386876e-06,1.06001167938,0.5735313114,0.00867498998636,1.05966121363
+331,5.516666667,pose2_to_pose3_retreat,0.602279300367,1.20203250376e-06,1.06001164366,0.572850536321,0.00867487158268,1.05966117618
+332,5.533333333,pose2_to_pose3_retreat,0.601591490644,1.17882389274e-06,1.06001154083,0.57216272706,0.00867485016103,1.05966107883
+333,5.550000000,pose2_to_pose3_retreat,0.600890440285,1.22943889344e-06,1.06001166016,0.571461675399,0.00867489613905,1.05966119266
+334,5.566666667,pose2_to_pose3_retreat,0.600170819133,1.28423444284e-06,1.06001173443,0.570742054066,0.00867495060257,1.0596612739
+335,5.583333333,pose2_to_pose3_retreat,0.59943703185,1.35719291892e-06,1.06001172806,0.57000826659,0.00867502277761,1.05966126423
+336,5.600000000,pose2_to_pose3_retreat,0.598689348818,1.30475026316e-06,1.06001165259,0.569260584037,0.00867497173031,1.05966118307
+337,5.616666667,pose2_to_pose3_retreat,0.59795467995,1.172459283e-06,1.06001161871,0.568525915756,0.00867484146372,1.05966114996
+338,5.633333333,pose2_to_pose3_retreat,0.59723745821,1.31413356643e-06,1.06001179832,0.567808692024,0.00867497641932,1.05966133053
+339,5.650000000,pose2_to_pose3_retreat,0.59654843493,1.24862883688e-06,1.0600117199,0.567119670395,0.00867491640463,1.0596612493
+340,5.666666667,pose2_to_pose3_retreat,0.595883737012,1.30259164816e-06,1.06001189857,0.566454971505,0.00867496708422,1.05966142829
+341,5.683333333,pose2_to_pose3_retreat,0.595238102932,1.31192112266e-06,1.06001190978,0.565809337315,0.00867497623264,1.05966144427
+342,5.700000000,pose2_to_pose3_retreat,0.594586217803,1.23002680489e-06,1.06001165822,0.56515745388,0.00867490035889,1.05966119941
+343,5.716666667,pose2_to_pose3_retreat,0.593924685994,1.24946598936e-06,1.06001180963,0.564495921179,0.00867491626651,1.05966133827
+344,5.733333333,pose2_to_pose3_retreat,0.593253818101,1.26872498944e-06,1.06001150017,0.563825053257,0.00867493607884,1.05966104487
+345,5.750000000,pose2_to_pose3_retreat,0.592582069421,1.23919864803e-06,1.06001143165,0.56315330473,0.00867490713577,1.05966097792
+346,5.766666667,pose2_to_pose3_retreat,0.591917317289,1.23955667703e-06,1.06001158192,0.562488551716,0.00867490401041,1.05966111603
+347,5.783333333,pose2_to_pose3_retreat,0.591265586768,1.31172133229e-06,1.06001169268,0.561836819365,0.00867496960792,1.05966121793
+348,5.800000000,pose2_to_pose3_retreat,0.590628108448,1.29539959103e-06,1.06001152615,0.561199342098,0.00867495748167,1.0596610668
+349,5.816666667,pose2_to_pose3_retreat,0.590015664797,1.26300094906e-06,1.06001172321,0.560586899985,0.00867493013998,1.05966125993
+350,5.833333333,pose2_to_pose3_retreat,0.589428919832,1.15992338147e-06,1.06001179482,0.560000156443,0.00867483173553,1.05966132758
+351,5.850000000,pose2_to_pose3_retreat,0.588863987336,1.13325585858e-06,1.06001176142,0.55943522367,0.00867480407799,1.05966129296
+352,5.866666667,pose2_to_pose3_retreat,0.588316689151,1.23806190289e-06,1.06001166545,0.558887923254,0.00867490138606,1.05966119884
+353,5.883333333,pose2_to_pose3_retreat,0.587783490041,1.21798312722e-06,1.06001157574,0.558354724688,0.00867488314811,1.05966110894
+354,5.900000000,pose2_to_pose3_retreat,0.587244854691,1.27941049796e-06,1.06001160584,0.557816088999,0.00867494371251,1.05966114615
+355,5.916666667,pose2_to_pose3_retreat,0.586700084024,1.3046467869e-06,1.06001170456,0.557271318342,0.00867496896933,1.05966124457
+356,5.933333333,pose2_to_pose3_retreat,0.586167642915,1.33098697363e-06,1.06001172053,0.556738876701,0.00867499327179,1.05966125477
+357,5.950000000,pose2_to_pose3_retreat,0.585652662102,1.42154445692e-06,1.0600115834,0.556223893982,0.00867507728436,1.05966111575
+358,5.966666667,pose2_to_pose3_retreat,0.585165557344,1.34766077051e-06,1.06001179585,0.555736790558,0.00867500781202,1.0596613253
+359,5.983333333,pose2_to_pose3_retreat,0.584705500472,1.29065084853e-06,1.06001193019,0.555276735232,0.00867495577874,1.05966145309
+360,6.000000000,pose2_to_pose3_retreat,0.5842714584,1.3795661841e-06,1.06001180529,0.55484269259,0.00867504311288,1.05966133688
+361,6.016666667,pose2_to_pose3_retreat,0.583848901347,1.40492069229e-06,1.0600116169,0.554420135368,0.00867506823188,1.0596611568
+362,6.033333333,pose2_to_pose3_retreat,0.58343661875,1.21698173457e-06,1.06001156606,0.554007854883,0.00867488725204,1.05966110092
+363,6.050000000,pose2_to_pose3_retreat,0.583039658915,1.25745558276e-06,1.06001162722,0.553610894297,0.0086749255112,1.05966117031
+364,6.066666667,pose2_to_pose3_retreat,0.582662339283,1.21055182687e-06,1.06001164728,0.553233575015,0.00867487963489,1.05966118645
+365,6.083333333,pose2_to_pose3_retreat,0.582310055482,1.2524053737e-06,1.0600117296,0.552881289464,0.00867491529442,1.0596612624
+366,6.100000000,pose2_to_pose3_retreat,0.581982905556,1.31050745359e-06,1.06001180238,0.552554138792,0.00867497077177,1.0596613329
+367,6.116666667,pose2_to_pose3_retreat,0.581679413539,1.2915284885e-06,1.06001178524,0.552250650246,0.00867496381241,1.05966132181
+368,6.133333333,pose2_to_pose3_retreat,0.581387273397,1.31991401928e-06,1.06001177859,0.551958508017,0.00867498516992,1.05966131646
+369,6.150000000,pose2_to_pose3_retreat,0.581104764464,1.34832893602e-06,1.06001158893,0.551675997699,0.0086750087528,1.05966112353
+370,6.166666667,pose2_to_pose3_retreat,0.580832478357,1.39541945665e-06,1.06001148585,0.551403711405,0.00867505501904,1.05966101578
+371,6.183333333,pose2_to_pose3_retreat,0.580572114005,1.43384544587e-06,1.06001161187,0.551143347894,0.00867509623373,1.05966114021
+372,6.200000000,pose2_to_pose3_retreat,0.580326055372,1.32750117421e-06,1.0600117771,0.550897289381,0.00867499064026,1.05966131387
+373,6.216666667,pose2_to_pose3_retreat,0.580097632128,1.26191127745e-06,1.06001178929,0.550668865454,0.00867492265947,1.05966132438
+374,6.233333333,pose2_to_pose3_retreat,0.579886551254,1.30715594327e-06,1.06001182847,0.550457784919,0.00867496865549,1.05966135378
+375,6.250000000,pose2_to_pose3_retreat,0.579690391519,1.36310055242e-06,1.06001165331,0.550261624934,0.00867502391254,1.05966118269
+376,6.266666667,pose2_to_pose3_retreat,0.579509117801,1.36775843499e-06,1.06001155711,0.550080350798,0.00867502746411,1.05966109421
+377,6.283333333,pose2_to_pose3_retreat,0.579345520547,1.31637557152e-06,1.06001194286,0.549916754269,0.0086749781009,1.05966146913
+378,6.300000000,pose2_to_pose3_retreat,0.579196773229,1.29379320737e-06,1.06001192667,0.549768006972,0.00867495570981,1.05966145598
+379,6.316666667,pose2_to_pose3_retreat,0.579062822927,1.24093009328e-06,1.0600115639,0.549634057703,0.0086749065231,1.0596610973
+380,6.333333333,pose2_to_pose3_retreat,0.57894395519,1.26900708845e-06,1.06001147863,0.549515190428,0.00867493640618,1.05966101798
+381,6.350000000,pose2_to_pose3_retreat,0.578838648655,1.30298588914e-06,1.06001154107,0.549409883543,0.00867496910408,1.0596610782
+382,6.366666667,pose2_to_pose3_retreat,0.578744049811,1.29534056107e-06,1.06001161854,0.549315283891,0.0086749583069,1.05966114572
+383,6.383333333,pose2_to_pose3_retreat,0.5786599506,1.2963674937e-06,1.06001177089,0.549231184735,0.00867495982406,1.05966130688
+384,6.400000000,pose2_to_pose3_retreat,0.578587754022,1.1908480921e-06,1.06001179522,0.549158990032,0.00867486058786,1.05966132858
+385,6.416666667,pose2_to_pose3_retreat,0.578525168486,1.19155930118e-06,1.06001178607,0.549096404285,0.00867486063875,1.05966132052
+386,6.433333333,pose2_to_pose3_retreat,0.578471678056,1.21446679943e-06,1.06001173854,0.549042913886,0.00867488371427,1.05966127444
+387,6.450000000,pose2_to_pose3_retreat,0.578426142483,1.21653607913e-06,1.06001165144,0.548997379402,0.00867488948661,1.05966118751
+388,6.466666667,pose2_to_pose3_retreat,0.578387568135,1.32233489362e-06,1.06001153735,0.548958802684,0.00867498747765,1.05966107915
+389,6.483333333,pose2_to_pose3_retreat,0.578355532318,1.3348996293e-06,1.06001164558,0.548926765414,0.00867499472155,1.05966117771
+390,6.500000000,pose2_to_pose3_retreat,0.57832930927,1.25399437693e-06,1.06001160103,0.548900544173,0.00867492011704,1.0596611374
+391,6.516666667,pose2_to_pose3_retreat,0.578308966331,1.20417773715e-06,1.06001149797,0.548880202786,0.00867487593925,1.05966104352
+392,6.533333333,pose2_to_pose3_retreat,0.578293535073,1.30361297749e-06,1.06001149715,0.548864769032,0.00867496690523,1.05966104272
+393,6.550000000,pose2_to_pose3_retreat,0.578282405186,1.27624065991e-06,1.06001173535,0.548853640469,0.00867494396058,1.05966127931
+394,6.566666667,pose2_to_pose3_retreat,0.578273951092,1.24330790761e-06,1.0600118273,0.54884518729,0.00867491408687,1.05966137016
+395,6.583333333,pose2_to_pose3_retreat,0.578267685763,1.21692158375e-06,1.06001168555,0.548838921841,0.00867488728223,1.05966122813
+396,6.600000000,pose2_to_pose3_retreat,0.578263424742,1.1605710905e-06,1.06001163337,0.548834661074,0.00867483183054,1.0596611769
+397,6.616666667,pose2_to_pose3_retreat,0.578260477062,1.09973147388e-06,1.06001162244,0.54883171376,0.00867477228614,1.05966116728
+398,6.633333333,pose2_to_pose3_retreat,0.578258519429,1.09966951612e-06,1.06001162009,0.548829755947,0.00867477162121,1.05966116523
+399,6.650000000,pose2_to_pose3_retreat,0.578257384245,1.17243522542e-06,1.06001162761,0.548828619892,0.00867484139692,1.05966117187
+400,6.666666667,pose2_to_pose3_retreat,0.578256759532,1.21247954657e-06,1.06001163175,0.5488279947,0.00867487979579,1.05966117552
+401,6.683333333,pose2_to_pose3_retreat,0.578256235105,1.24609556342e-06,1.06001163522,0.54882746987,0.0086749120305,1.05966117859
+402,6.700000000,pose2_to_pose3_retreat,0.578256071384,1.25659012561e-06,1.0600116363,0.548827306024,0.00867492209384,1.05966117955
+403,6.716666667,pose2_to_pose3_retreat,0.578255766921,1.27610632633e-06,1.06001163832,0.548827001327,0.0086749408081,1.05966118133
+404,6.733333333,pose2_to_pose3_retreat,0.578255734654,1.27817459928e-06,1.06001163853,0.548826969036,0.00867494279139,1.05966118152
+405,6.750000000,pose2_to_pose3_retreat,0.578255404375,1.2993456179e-06,1.06001164072,0.548826638504,0.00867496309247,1.05966118345
+406,6.766666667,pose2_to_pose3_retreat,0.578255271094,1.30788897225e-06,1.0600116416,0.548826505121,0.00867497128477,1.05966118423
+407,6.783333333,pose2_to_pose3_retreat,0.578255195034,1.31276445533e-06,1.06001164211,0.548826429002,0.00867497595992,1.05966118468
+408,6.800000000,pose2_to_pose3_retreat,0.578254831371,1.3052156249e-06,1.06001164548,0.548826065327,0.00867496833063,1.05966118707
+409,6.816666667,pose2_to_pose3_retreat,0.578254748886,1.3008924718e-06,1.06001164632,0.548825982862,0.00867496406346,1.05966118764
+410,6.833333333,pose2_to_pose3_retreat,0.578254316277,1.2782189033e-06,1.06001165076,0.548825550357,0.00867494168351,1.05966119061
+411,6.850000000,pose2_to_pose3_retreat,0.578254105916,1.26719361539e-06,1.06001165291,0.548825340046,0.008674930801,1.05966119206
+412,6.866666667,pose2_to_pose3_retreat,0.578253997788,1.26152649374e-06,1.06001165402,0.548825231944,0.00867492520726,1.0596611928
+413,6.883333333,pose2_to_pose3_retreat,0.578253698755,1.24585375555e-06,1.06001165709,0.548824932983,0.00867490973749,1.05966119486
+414,6.900000000,pose2_to_pose3_retreat,0.578253471802,1.23395885384e-06,1.06001165942,0.548824706084,0.00867489799662,1.05966119642
+415,6.916666667,pose2_to_pose3_retreat,0.578253438962,1.23223765648e-06,1.06001165975,0.548824673252,0.00867489629771,1.05966119664
+416,6.933333333,pose2_to_pose3_retreat,0.578253300566,1.22498416983e-06,1.06001166117,0.548824534889,0.00867488913816,1.05966119759
+417,6.950000000,pose2_to_pose3_retreat,0.578252979788,1.22634594441e-06,1.06001165587,0.5488242141,0.00867489049696,1.05966119317
+418,6.966666667,pose2_to_pose3_retreat,0.57825260872,1.25209487282e-06,1.0600116383,0.548823842901,0.00867491594891,1.05966117924
+419,6.983333333,pose2_to_pose3_retreat,0.578252263207,1.2756111666e-06,1.06001162142,0.54882349728,0.0086749392339,1.0596611657
+420,7.000000000,pose2_to_pose3_retreat,0.578252243862,1.26780806968e-06,1.06001161001,0.548823478204,0.00867493231576,1.05966115363
+421,7.016666667,pose2_to_pose3_retreat,0.578252181082,1.24248449775e-06,1.060011573,0.548823416296,0.00867490986417,1.05966111446
+422,7.033333333,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977463,1.05966107186

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee221dcc7fdf7d6be68e10c1c0297be0cfb0962a7d61488490424dfbf465159a
+size 26940046

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/simulation_data.csv

@@ -0,0 +1,426 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+43,0.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+46,0.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+52,0.866666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+53,0.883333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+56,0.933333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+57,0.950000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+58,0.966666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+59,0.983333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+60,1.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+61,1.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+62,1.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+63,1.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+64,1.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+65,1.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+67,1.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+68,1.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+69,1.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+70,1.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+71,1.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+72,1.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+73,1.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+74,1.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+75,1.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+101,1.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+102,1.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+103,1.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+104,1.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+105,1.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+106,1.766666667,pose1_to_pose2_press,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+107,1.783333333,pose1_to_pose2_press,0.578252185405,1.26021407778e-06,1.06001150565,0.548823421123,0.0086749292384,1.05966104554
+108,1.800000000,pose1_to_pose2_press,0.578252197938,1.23951523331e-06,1.06001147825,0.548823433568,0.00867490826215,1.05966101866
+109,1.816666667,pose1_to_pose2_press,0.578252232935,1.18171582092e-06,1.06001140173,0.548823468319,0.00867484968809,1.05966094358
+110,1.833333333,pose1_to_pose2_press,0.578252263073,1.1822924483e-06,1.06001142238,0.548823498378,0.00867484998588,1.05966096404
+111,1.850000000,pose1_to_pose2_press,0.578252311409,1.18349846699e-06,1.06001145599,0.548823546585,0.00867485074687,1.05966099734
+112,1.866666667,pose1_to_pose2_press,0.578252425861,1.18635420401e-06,1.06001153555,0.548823660736,0.00867485254882,1.05966107617
+113,1.883333333,pose1_to_pose2_press,0.578253109601,1.22092192502e-06,1.06001174502,0.548824343923,0.00867488514209,1.05966128316
+114,1.900000000,pose1_to_pose2_press,0.578254954637,1.29260532476e-06,1.06001166349,0.548826190323,0.00867496140119,1.05966120046
+115,1.916666667,pose1_to_pose2_press,0.578260930116,1.37364448848e-06,1.06001174633,0.548832165471,0.00867504157684,1.05966128958
+116,1.933333333,pose1_to_pose2_press,0.578272331778,1.26774370514e-06,1.06001194381,0.548843568086,0.00867493828942,1.05966147169
+117,1.950000000,pose1_to_pose2_press,0.578292381949,1.24818719532e-06,1.06001189551,0.548863619201,0.00867492230901,1.05966143257
+118,1.966666667,pose1_to_pose2_press,0.578321690454,1.22732749032e-06,1.0600116622,0.548892926464,0.0086748972352,1.05966119912
+119,1.983333333,pose1_to_pose2_press,0.578360708117,1.16894840741e-06,1.06001171981,0.548931944823,0.00867484101908,1.05966125183
+120,2.000000000,pose1_to_pose2_press,0.578408904993,1.23239504818e-06,1.06001168002,0.548980140819,0.0086749015578,1.05966121387
+121,2.016666667,pose1_to_pose2_press,0.578466411901,1.25918438418e-06,1.06001168297,0.549037647073,0.00867492622702,1.05966121926
+122,2.033333333,pose1_to_pose2_press,0.578531544734,1.31681076001e-06,1.06001163574,0.549102777835,0.00867497695465,1.05966117513
+123,2.050000000,pose1_to_pose2_press,0.578604887348,1.29814363336e-06,1.06001145643,0.549176121218,0.00867496097514,1.0596609977
+124,2.066666667,pose1_to_pose2_press,0.578690692418,1.20251506776e-06,1.06001159042,0.549261928151,0.0086748715403,1.05966112844
+125,2.083333333,pose1_to_pose2_press,0.578789513961,1.19581299563e-06,1.06001186083,0.549360749844,0.00867486506308,1.05966139172
+126,2.100000000,pose1_to_pose2_press,0.578902907377,1.17049628863e-06,1.06001186558,0.549474144439,0.00867484387047,1.0596613996
+127,2.116666667,pose1_to_pose2_press,0.579033161432,1.14538943594e-06,1.06001178775,0.549604399565,0.00867482247842,1.05966132374
+128,2.133333333,pose1_to_pose2_press,0.57918069584,1.28305735115e-06,1.06001175594,0.549751930892,0.00867494962646,1.05966129021
+129,2.150000000,pose1_to_pose2_press,0.579345546814,1.3446654044e-06,1.06001166242,0.54991677994,0.00867500519138,1.05966120891
+130,2.166666667,pose1_to_pose2_press,0.579528206373,1.26416763316e-06,1.06001175552,0.550099441414,0.00867493102534,1.0596612978
+131,2.183333333,pose1_to_pose2_press,0.579733117108,1.06499883813e-06,1.06001180812,0.55030435391,0.00867473726181,1.05966133615
+132,2.200000000,pose1_to_pose2_press,0.579959741732,1.19439504167e-06,1.06001179134,0.550530977165,0.00867486223699,1.05966132489
+133,2.216666667,pose1_to_pose2_press,0.580209164513,1.33819203916e-06,1.06001175478,0.550780398727,0.00867500198184,1.05966129044
+134,2.233333333,pose1_to_pose2_press,0.580481731993,1.21692166245e-06,1.06001167488,0.551052966692,0.00867488229511,1.05966120897
+135,2.250000000,pose1_to_pose2_press,0.580775910434,1.23164617036e-06,1.06001167209,0.551347145264,0.0086748975409,1.05966120796
+136,2.266666667,pose1_to_pose2_press,0.581089636386,1.25565643269e-06,1.06001165481,0.551660870945,0.00867492075748,1.05966119381
+137,2.283333333,pose1_to_pose2_press,0.581423044555,1.41947050034e-06,1.06001163333,0.551994277128,0.00867507806319,1.05966117792
+138,2.300000000,pose1_to_pose2_press,0.581779019811,1.44666222364e-06,1.06001163769,0.55235025437,0.00867511201045,1.05966118263
+139,2.316666667,pose1_to_pose2_press,0.582153142986,1.26375473774e-06,1.06001168017,0.55272437843,0.00867493168908,1.05966121475
+140,2.333333333,pose1_to_pose2_press,0.582544034942,1.31625359642e-06,1.06001180314,0.553115268877,0.0086749789287,1.05966133426
+141,2.350000000,pose1_to_pose2_press,0.582955128886,1.35175325196e-06,1.06001170533,0.553526360819,0.0086750075903,1.05966123521
+142,2.366666667,pose1_to_pose2_press,0.583385269187,1.20919949073e-06,1.06001156265,0.553956504908,0.00867487810722,1.05966109795
+143,2.383333333,pose1_to_pose2_press,0.583840655033,1.29185393852e-06,1.06001165327,0.554411888696,0.00867495369276,1.05966118643
+144,2.400000000,pose1_to_pose2_press,0.584326006571,1.31990183467e-06,1.06001170993,0.554897240793,0.00867498335608,1.05966123609
+145,2.416666667,pose1_to_pose2_press,0.584846329736,1.36205955301e-06,1.06001157972,0.555417562921,0.00867502232866,1.05966111412
+146,2.433333333,pose1_to_pose2_press,0.585389299842,1.23952190718e-06,1.06001166498,0.555960536302,0.00867491071293,1.05966119461
+147,2.450000000,pose1_to_pose2_press,0.585950897768,1.25293192932e-06,1.06001160825,0.55652213276,0.00867491914564,1.05966113789
+148,2.466666667,pose1_to_pose2_press,0.586528220667,1.25049860755e-06,1.06001149264,0.55709945581,0.00867491722706,1.05966102234
+149,2.483333333,pose1_to_pose2_press,0.587122268225,1.2545449983e-06,1.06001160803,0.557693503261,0.0086749209218,1.05966113796
+150,2.500000000,pose1_to_pose2_press,0.587739803694,1.36351238584e-06,1.06001181831,0.558311036411,0.00867502218214,1.05966135223
+151,2.516666667,pose1_to_pose2_press,0.588386459574,1.2988812286e-06,1.06001183789,0.55895769376,0.008674962634,1.05966137426
+152,2.533333333,pose1_to_pose2_press,0.589064002396,1.19320501332e-06,1.06001178922,0.559635237836,0.00867486115639,1.05966132414
+153,2.550000000,pose1_to_pose2_press,0.589750551372,1.27090821056e-06,1.06001179551,0.560321785231,0.00867493340124,1.0596613281
+154,2.566666667,pose1_to_pose2_press,0.590439552135,1.29941795356e-06,1.06001175012,0.561010786509,0.00867496352761,1.05966127946
+155,2.583333333,pose1_to_pose2_press,0.591130376753,1.25059084723e-06,1.06001179845,0.561701612464,0.00867491915458,1.0596613258
+156,2.600000000,pose1_to_pose2_press,0.591829321359,1.20804532932e-06,1.06001171257,0.562400557283,0.00867487759436,1.05966124641
+157,2.616666667,pose1_to_pose2_press,0.592544529131,1.12946674247e-06,1.06001136524,0.563115765354,0.00867480041952,1.05966090875
+158,2.633333333,pose1_to_pose2_press,0.593292018641,1.1397129491e-06,1.06001162809,0.563863254416,0.00867480892913,1.05966116616
+159,2.650000000,pose1_to_pose2_press,0.594072544363,1.2232182201e-06,1.06001160105,0.564643779457,0.00867489002233,1.05966113668
+160,2.666666667,pose1_to_pose2_press,0.594871735564,1.23134921973e-06,1.06001181472,0.565442970755,0.00867489839751,1.05966134822
+161,2.683333333,pose1_to_pose2_press,0.595680049328,1.26545148549e-06,1.06001185662,0.566251284411,0.00867493245311,1.05966139811
+162,2.700000000,pose1_to_pose2_press,0.59648452757,1.16834236699e-06,1.06001179007,0.567055762544,0.00867483449402,1.05966131962
+163,2.716666667,pose1_to_pose2_press,0.597276188558,1.31590369623e-06,1.06001167828,0.56784742358,0.0086749823473,1.05966121109
+164,2.733333333,pose1_to_pose2_press,0.598049172634,1.2355154028e-06,1.06001166249,0.568620409106,0.00867490696037,1.05966119735
+165,2.750000000,pose1_to_pose2_press,0.5988307353,1.28641928341e-06,1.06001152842,0.569401969642,0.00867495085451,1.05966106868
+166,2.766666667,pose1_to_pose2_press,0.599626703438,1.35418343263e-06,1.0600117367,0.570197936313,0.00867501370248,1.05966127851
+167,2.783333333,pose1_to_pose2_press,0.600436455061,1.31755882088e-06,1.06001166962,0.571007688102,0.00867497746941,1.05966120721
+168,2.800000000,pose1_to_pose2_press,0.60126560096,1.36187443933e-06,1.06001156943,0.57183683364,0.00867502047245,1.05966110487
+169,2.816666667,pose1_to_pose2_press,0.602118371209,1.21269959115e-06,1.06001152484,0.572689605035,0.00867487537616,1.05966106504
+170,2.833333333,pose1_to_pose2_press,0.602966238228,1.23895105515e-06,1.0600117305,0.573537474051,0.00867490832369,1.05966126874
+171,2.850000000,pose1_to_pose2_press,0.60380241691,1.2666781352e-06,1.06001167863,0.574373652843,0.00867493641896,1.05966121687
+172,2.866666667,pose1_to_pose2_press,0.604610887012,1.2319606195e-06,1.06001176348,0.575182122178,0.00867489897544,1.05966129872
+173,2.883333333,pose1_to_pose2_press,0.605394006035,1.36056073903e-06,1.06001180119,0.575965239902,0.00867502300874,1.05966133254
+174,2.900000000,pose1_to_pose2_press,0.606164102243,1.38473663545e-06,1.06001161569,0.576735335768,0.00867504628533,1.05966115359
+175,2.916666667,pose1_to_pose2_press,0.606930108235,1.34874271206e-06,1.06001149792,0.577501342503,0.00867501316443,1.05966104463
+176,2.933333333,pose1_to_pose2_press,0.607698737503,1.31311383518e-06,1.06001160031,0.578269971423,0.00867497600313,1.05966113835
+177,2.950000000,pose1_to_pose2_press,0.608481160304,1.21450658489e-06,1.0600117485,0.579052395191,0.00867488040856,1.05966127998
+178,2.966666667,pose1_to_pose2_press,0.609271756737,1.19299982963e-06,1.06001165517,0.579842992781,0.00867486311768,1.05966119384
+179,2.983333333,pose1_to_pose2_press,0.61004877795,1.2613429249e-06,1.06001159233,0.580620012837,0.00867492761388,1.05966113304
+180,3.000000000,pose1_to_pose2_press,0.610803334093,1.24879012073e-06,1.06001166108,0.581374568258,0.00867491245646,1.05966119809
+181,3.016666667,pose1_to_pose2_press,0.611523035832,1.27077106179e-06,1.06001172602,0.582094269582,0.00867493300155,1.05966126238
+182,3.033333333,pose1_to_pose2_press,0.612209111755,1.34789310985e-06,1.06001172292,0.582780345129,0.0086750089121,1.05966126088
+183,3.050000000,pose1_to_pose2_press,0.612859706924,1.32393352418e-06,1.06001155264,0.583430940323,0.00867498514893,1.05966109348
+184,3.066666667,pose1_to_pose2_press,0.613497449789,1.25420755734e-06,1.06001149333,0.584068683812,0.00867491771872,1.05966103868
+185,3.083333333,pose1_to_pose2_press,0.614128701278,1.35203487441e-06,1.06001166338,0.584699936197,0.00867501849948,1.05966120663
+186,3.100000000,pose1_to_pose2_press,0.614761916721,1.38854517958e-06,1.06001149071,0.58533315007,0.00867504954574,1.0596610306
+187,3.116666667,pose1_to_pose2_press,0.615392942521,1.29091809695e-06,1.06001173828,0.585964174668,0.00867494761723,1.05966127279
+188,3.133333333,pose1_to_pose2_press,0.61601201858,1.38734153832e-06,1.06001155912,0.586583250824,0.00867504459128,1.05966109943
+189,3.150000000,pose1_to_pose2_press,0.616595878646,1.31197732684e-06,1.06001167994,0.587167112822,0.00867497573882,1.05966121868
+190,3.166666667,pose1_to_pose2_press,0.617138052099,1.34843729052e-06,1.06001172946,0.587709286126,0.00867501191513,1.05966127146
+191,3.183333333,pose1_to_pose2_press,0.617636556536,1.33098035798e-06,1.06001163396,0.588207791,0.00867499601942,1.05966117385
+192,3.200000000,pose1_to_pose2_press,0.618102405094,1.24876242106e-06,1.06001155026,0.588673640747,0.00867491784959,1.05966108769
+193,3.216666667,pose1_to_pose2_press,0.6185485614,1.45435325808e-06,1.06001179116,0.589119794861,0.00867511591956,1.0596613239
+194,3.233333333,pose1_to_pose2_press,0.618980733363,1.41909898491e-06,1.06001174825,0.589551966926,0.00867508156975,1.05966129166
+195,3.250000000,pose1_to_pose2_press,0.61939913171,1.37039599633e-06,1.06001177902,0.5899703657,0.00867503415853,1.05966131601
+196,3.266666667,pose1_to_pose2_press,0.619795378409,1.25258812799e-06,1.06001180469,0.590366614239,0.00867492255703,1.05966133681
+197,3.283333333,pose1_to_pose2_press,0.620167952342,1.27129798225e-06,1.06001180807,0.590739187423,0.00867493874887,1.05966133826
+198,3.300000000,pose1_to_pose2_press,0.620513946026,1.41192255929e-06,1.06001177155,0.591085179335,0.00867507383336,1.05966131141
+199,3.316666667,pose1_to_pose2_press,0.62083699819,1.38750049784e-06,1.06001182753,0.591408230817,0.00867504727256,1.05966136914
+200,3.333333333,pose1_to_pose2_press,0.621138707194,1.24083368297e-06,1.06001171137,0.5917099412,0.00867490520827,1.05966124896
+201,3.350000000,pose1_to_pose2_press,0.621425264069,1.2301438189e-06,1.0600116136,0.591996498206,0.00867489482647,1.05966114511
+202,3.366666667,pose1_to_pose2_press,0.621697521079,1.28440890403e-06,1.06001179121,0.592268755051,0.0086749484541,1.05966131824
+203,3.383333333,pose1_to_pose2_press,0.62195231912,1.17707317446e-06,1.06001186748,0.592523554957,0.00867484774616,1.05966139988
+204,3.400000000,pose1_to_pose2_press,0.622189149351,1.15762460781e-06,1.06001176169,0.592760384612,0.0086748267548,1.05966130152
+205,3.416666667,pose1_to_pose2_press,0.622405408245,1.30174914543e-06,1.06001172588,0.59297664282,0.00867496859384,1.05966126513
+206,3.433333333,pose1_to_pose2_press,0.622601427848,1.28908105656e-06,1.06001161375,0.593172662611,0.00867495665861,1.0596611533
+207,3.450000000,pose1_to_pose2_press,0.622775923485,1.17594610524e-06,1.06001146216,0.593347158861,0.0086748458485,1.05966100621
+208,3.466666667,pose1_to_pose2_press,0.622931601897,1.21310982465e-06,1.06001151603,0.593502835489,0.00867487648944,1.05966104696
+209,3.483333333,pose1_to_pose2_press,0.623068812228,1.23855862835e-06,1.06001163293,0.593640045928,0.00867490247491,1.05966116678
+210,3.500000000,pose1_to_pose2_press,0.623187031615,1.18287375918e-06,1.06001158848,0.593758266764,0.00867485164866,1.05966111962
+211,3.516666667,pose1_to_pose2_press,0.623288441801,1.20042679934e-06,1.06001166137,0.593859676408,0.00867486742346,1.05966119188
+212,3.533333333,pose1_to_pose2_press,0.623374785715,1.29179913756e-06,1.06001151421,0.593946019445,0.00867495656218,1.05966105706
+213,3.550000000,pose1_to_pose2_press,0.62344897898,1.31507111626e-06,1.06001153313,0.594020211738,0.00867497625529,1.05966107133
+214,3.566666667,pose1_to_pose2_press,0.623511156013,1.36806189421e-06,1.06001150572,0.594082390018,0.00867503369063,1.05966105081
+215,3.583333333,pose1_to_pose2_press,0.623564567564,1.34581426356e-06,1.06001166439,0.5941358005,0.00867500712804,1.05966119301
+216,3.600000000,pose1_to_pose2_press,0.623609202432,1.22450127906e-06,1.06001168907,0.594180437604,0.00867489353147,1.05966121859
+217,3.616666667,pose1_to_pose2_press,0.623645581554,1.14091056468e-06,1.06001172456,0.594216818197,0.00867481512941,1.05966125981
+218,3.633333333,pose1_to_pose2_press,0.623675458203,1.20579774939e-06,1.06001177844,0.594246693443,0.00867487527608,1.0596613165
+219,3.650000000,pose1_to_pose2_press,0.623699559234,1.36200918892e-06,1.0600117172,0.594270792501,0.0086750249344,1.0596612577
+220,3.666666667,pose1_to_pose2_press,0.62371873735,1.33585084053e-06,1.06001153915,0.594289971866,0.00867500294974,1.05966107585
+221,3.683333333,pose1_to_pose2_press,0.623732844645,1.23005730554e-06,1.06001153756,0.594304079361,0.00867489777875,1.05966107442
+222,3.700000000,pose1_to_pose2_press,0.623743237588,1.24094398825e-06,1.0600116415,0.594314472494,0.00867490918549,1.05966117508
+223,3.716666667,pose1_to_pose2_press,0.623750266935,1.29744140295e-06,1.0600117309,0.594321500765,0.00867496206166,1.05966126453
+224,3.733333333,pose1_to_pose2_press,0.623754244334,1.3474799776e-06,1.06001178349,0.594325476954,0.00867500807538,1.05966131851
+225,3.750000000,pose1_to_pose2_press,0.623756621892,1.30001603212e-06,1.06001179234,0.594327855076,0.00867496245879,1.05966132596
+226,3.766666667,pose1_to_pose2_press,0.623758106101,1.26717349477e-06,1.06001179693,0.59432933969,0.00867493094609,1.05966132957
+227,3.783333333,pose1_to_pose2_press,0.623758766007,1.25257110858e-06,1.06001179898,0.594329999776,0.00867491693497,1.05966133118
+228,3.800000000,pose1_to_pose2_press,0.623758848013,1.25075648268e-06,1.06001179923,0.594330081804,0.00867491519382,1.05966133138
+229,3.816666667,pose1_to_pose2_press,0.62375912932,1.24453172969e-06,1.0600118001,0.594330363188,0.00867490922112,1.05966133206
+230,3.833333333,pose1_to_pose2_press,0.623759552669,1.24279170138e-06,1.06001179767,0.594330786587,0.00867490767808,1.05966133021
+231,3.850000000,pose1_to_pose2_press,0.62376005568,1.25645199775e-06,1.06001178708,0.594331289524,0.0086749211965,1.05966132207
+232,3.866666667,pose1_to_pose2_press,0.623760474943,1.26783794866e-06,1.06001177825,0.594331708726,0.00867493246421,1.05966131529
+233,3.883333333,pose1_to_pose2_press,0.623760699454,1.27393499807e-06,1.06001177352,0.594331933203,0.00867493849793,1.05966131166
+234,3.900000000,pose1_to_pose2_press,0.623760784087,1.2762333791e-06,1.06001177174,0.594332017824,0.00867494077244,1.05966131029
+235,3.916666667,pose1_to_pose2_press,0.623760838496,1.27771095945e-06,1.06001177059,0.594332072225,0.00867494223468,1.05966130941
+236,3.933333333,pose1_to_pose2_press,0.62376111932,1.28533729052e-06,1.06001176467,0.594332353007,0.00867494978181,1.05966130487
+237,3.950000000,pose1_to_pose2_press,0.62376145728,1.29451528981e-06,1.06001175756,0.594332690917,0.00867495886449,1.0596612994
+238,3.966666667,pose1_to_pose2_press,0.62376175459,1.30258935627e-06,1.0600117513,0.594332988184,0.0086749668547,1.05966129459
+239,3.983333333,pose1_to_pose2_press,0.623761958136,1.30811706613e-06,1.06001174701,0.5943331917,0.008674972325,1.05966129129
+240,4.000000000,pose1_to_pose2_press,0.623761990895,1.3090067029e-06,1.06001174632,0.594333224454,0.0086749732054,1.05966129076
+241,4.016666667,pose1_to_pose2_press,0.623762008426,1.30948276831e-06,1.06001174595,0.594333241982,0.00867497367652,1.05966129048
+242,4.033333333,pose1_to_pose2_press,0.623762145796,1.31265617258e-06,1.06001174361,0.594333379337,0.00867497682273,1.05966128869
+243,4.050000000,pose1_to_pose2_press,0.623762542124,1.29120566129e-06,1.06001176732,0.594333775899,0.00867495592832,1.05966130709
+244,4.066666667,pose1_to_pose2_press,0.623763030388,1.26477930552e-06,1.06001179652,0.59433426445,0.00867493018707,1.05966132976
+245,4.083333333,pose1_to_pose2_press,0.623763552977,1.23649517777e-06,1.06001182778,0.594334787347,0.00867490263621,1.05966135403
+246,4.100000000,pose1_to_pose2_press,0.623763916812,1.22885723317e-06,1.06001178124,0.594335151255,0.00867489569728,1.05966131743
+247,4.116666667,pose1_to_pose2_press,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461226,0.00867492851391,1.05966124403
+248,4.133333333,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851395,1.05966124403
+249,4.150000000,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851393,1.05966124403
+250,4.166666667,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851421,1.05966124403
+251,4.183333333,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851416,1.05966124403
+252,4.200000000,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851417,1.05966124403
+253,4.216666667,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851418,1.05966124403
+254,4.233333333,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851425,1.05966124403
+255,4.250000000,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851418,1.05966124403
+256,4.266666667,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461228,0.00867492851421,1.05966124403
+257,4.283333333,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.0086749285135,1.05966124403
+258,4.300000000,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851383,1.05966124403
+259,4.316666667,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851389,1.05966124403
+260,4.333333333,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851406,1.05966124403
+261,4.350000000,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851419,1.05966124403
+262,4.366666667,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.0086749285142,1.05966124403
+263,4.383333333,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851419,1.05966124403
+264,4.400000000,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851416,1.05966124403
+265,4.416666667,pose2_hold,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851396,1.05966124403
+266,4.433333333,pose2_to_pose3_retreat,0.623764228632,1.26844283772e-06,1.06001172001,0.594335461229,0.00867492851342,1.05966124403
+267,4.450000000,pose2_to_pose3_retreat,0.62376416862,1.21192936906e-06,1.06001169967,0.594335402459,0.00867487637946,1.05966122798
+268,4.466666667,pose2_to_pose3_retreat,0.62376407431,1.17388271045e-06,1.06001169842,0.594335309164,0.00867484197846,1.05966123187
+269,4.483333333,pose2_to_pose3_retreat,0.623763964267,1.25272042486e-06,1.06001177156,0.594335198034,0.00867491721269,1.05966130709
+270,4.500000000,pose2_to_pose3_retreat,0.623763760432,1.38112278642e-06,1.06001189175,0.594334992438,0.00867503977452,1.05966143064
+271,4.516666667,pose2_to_pose3_retreat,0.623763350172,1.32350936472e-06,1.06001185971,0.594334583149,0.00867498536161,1.05966139639
+272,4.533333333,pose2_to_pose3_retreat,0.62376332054,1.31934813418e-06,1.06001185739,0.594334553587,0.00867498143154,1.05966139391
+273,4.550000000,pose2_to_pose3_retreat,0.62376281545,1.24841746378e-06,1.06001181794,0.594334049692,0.00867491444118,1.05966135174
+274,4.566666667,pose2_to_pose3_retreat,0.623761654451,1.28286238245e-06,1.0600118056,0.594332888426,0.00867494789081,1.05966133729
+275,4.583333333,pose2_to_pose3_retreat,0.62375763385,1.44866145212e-06,1.0600119394,0.594328865637,0.00867510621945,1.05966146939
+276,4.600000000,pose2_to_pose3_retreat,0.623749013368,1.31027861415e-06,1.06001184576,0.594320245815,0.0086749701044,1.059661377
+277,4.616666667,pose2_to_pose3_retreat,0.623732999708,1.21626756968e-06,1.0600116483,0.594304232503,0.00867487748829,1.0596611834
+278,4.633333333,pose2_to_pose3_retreat,0.623708771004,1.3668934539e-06,1.06001169706,0.594280004542,0.00867503053428,1.05966122943
+279,4.650000000,pose2_to_pose3_retreat,0.623675437927,1.32162741175e-06,1.06001183461,0.594246672325,0.00867498837999,1.05966137122
+280,4.666666667,pose2_to_pose3_retreat,0.623635145469,1.27745441955e-06,1.06001187039,0.594206379425,0.00867494262173,1.05966140438
+281,4.683333333,pose2_to_pose3_retreat,0.623588990001,1.23510253489e-06,1.06001184377,0.594160224131,0.0086749007844,1.05966137676
+282,4.700000000,pose2_to_pose3_retreat,0.62353870923,1.23658910024e-06,1.0600117934,0.594109943223,0.00867490175172,1.05966132712
+283,4.716666667,pose2_to_pose3_retreat,0.62348456322,1.26642470495e-06,1.06001178721,0.594055796747,0.00867493001207,1.05966132241
+284,4.733333333,pose2_to_pose3_retreat,0.623424734849,1.29048172303e-06,1.06001174923,0.593995968146,0.00867495361489,1.05966129141
+285,4.750000000,pose2_to_pose3_retreat,0.62335839764,1.18100858153e-06,1.06001170417,0.593929631776,0.00867484657446,1.05966123841
+286,4.766666667,pose2_to_pose3_retreat,0.623283510871,1.13372342857e-06,1.06001167492,0.593854746212,0.00867480326357,1.059661208
+287,4.783333333,pose2_to_pose3_retreat,0.623198418929,1.14930100077e-06,1.06001166596,0.593769654806,0.00867482066384,1.05966120017
+288,4.800000000,pose2_to_pose3_retreat,0.623101484628,1.23405412826e-06,1.06001168638,0.593672718662,0.00867489899464,1.05966121712
+289,4.816666667,pose2_to_pose3_retreat,0.622990857672,1.23541224265e-06,1.06001157682,0.593562092905,0.00867490458355,1.05966111276
+290,4.833333333,pose2_to_pose3_retreat,0.622866232424,1.34715904439e-06,1.06001156783,0.593437466741,0.00867501297701,1.05966109907
+291,4.850000000,pose2_to_pose3_retreat,0.622725118259,1.38432671431e-06,1.06001158979,0.593296351752,0.00867504712024,1.05966111668
+292,4.866666667,pose2_to_pose3_retreat,0.622568763479,1.26714730718e-06,1.0600116203,0.593139997956,0.00867493332863,1.05966114976
+293,4.883333333,pose2_to_pose3_retreat,0.622396931916,1.28790365231e-06,1.06001181635,0.592968167683,0.00867495834359,1.0596613443
+294,4.900000000,pose2_to_pose3_retreat,0.622211158912,1.21616575408e-06,1.06001172851,0.592782393155,0.00867488127968,1.05966125447
+295,4.916666667,pose2_to_pose3_retreat,0.622011609012,1.22652820283e-06,1.06001168022,0.59258284432,0.00867489541652,1.05966121233
+296,4.933333333,pose2_to_pose3_retreat,0.621795643194,1.25586039617e-06,1.06001164919,0.592366878365,0.00867492453686,1.05966118956
+297,4.950000000,pose2_to_pose3_retreat,0.621563564297,1.2873480262e-06,1.06001161464,0.592134797472,0.00867494928476,1.05966115752
+298,4.966666667,pose2_to_pose3_retreat,0.621313796291,1.35895408548e-06,1.06001156875,0.591885028848,0.00867501822384,1.05966109974
+299,4.983333333,pose2_to_pose3_retreat,0.621048115183,1.19265341059e-06,1.06001172608,0.591619350298,0.00867486079179,1.05966126517
+300,5.000000000,pose2_to_pose3_retreat,0.620766274066,1.23297193535e-06,1.0600116847,0.591337508422,0.00867489858796,1.05966122822
+301,5.016666667,pose2_to_pose3_retreat,0.620473088275,1.29021357033e-06,1.06001169189,0.591044321622,0.00867495223589,1.05966123366
+302,5.033333333,pose2_to_pose3_retreat,0.620168804984,1.29453407811e-06,1.0600117554,0.590740038522,0.00867495697245,1.05966129368
+303,5.050000000,pose2_to_pose3_retreat,0.619851083209,1.27114823519e-06,1.06001164195,0.590422318542,0.00867493988039,1.05966118784
+304,5.066666667,pose2_to_pose3_retreat,0.619517232571,1.3049602608e-06,1.06001159226,0.59008846539,0.00867496453455,1.05966112557
+305,5.083333333,pose2_to_pose3_retreat,0.619160851154,1.31268373322e-06,1.06001159526,0.589732084727,0.00867497486912,1.0596611323
+306,5.100000000,pose2_to_pose3_retreat,0.618782574951,1.34107092086e-06,1.06001166547,0.589353809684,0.008675007356,1.05966120926
+307,5.116666667,pose2_to_pose3_retreat,0.618382386164,1.43464461626e-06,1.06001177532,0.588953618227,0.00867509129221,1.05966130824
+308,5.133333333,pose2_to_pose3_retreat,0.617960483415,1.26933308773e-06,1.06001146676,0.588531717982,0.00867493459259,1.05966100503
+309,5.150000000,pose2_to_pose3_retreat,0.617520555195,1.26932883193e-06,1.06001151654,0.588091790687,0.008674937396,1.05966104945
+310,5.166666667,pose2_to_pose3_retreat,0.617068752781,1.25770359426e-06,1.06001173059,0.587639987661,0.00867492355145,1.05966126188
+311,5.183333333,pose2_to_pose3_retreat,0.616603506946,1.2330410067e-06,1.06001189405,0.587174741195,0.00867489673072,1.05966142574
+312,5.200000000,pose2_to_pose3_retreat,0.616121741465,1.24473041698e-06,1.06001180985,0.586692976838,0.00867491206097,1.05966133785
+313,5.216666667,pose2_to_pose3_retreat,0.615624940977,1.19303446622e-06,1.06001169171,0.586196176765,0.00867486201889,1.05966122475
+314,5.233333333,pose2_to_pose3_retreat,0.615111427772,1.25672580375e-06,1.06001166947,0.585682661968,0.00867492032631,1.05966120389
+315,5.250000000,pose2_to_pose3_retreat,0.614565823433,1.25944153685e-06,1.06001177952,0.585137058564,0.0086749261019,1.05966131225
+316,5.266666667,pose2_to_pose3_retreat,0.613991990205,1.2686020555e-06,1.06001182228,0.584563226546,0.00867493933652,1.05966135385
+317,5.283333333,pose2_to_pose3_retreat,0.613394929254,1.43473490678e-06,1.06001155018,0.583966162175,0.00867509413644,1.05966108662
+318,5.300000000,pose2_to_pose3_retreat,0.612783111711,1.36545645974e-06,1.06001149693,0.583354345956,0.00867502973243,1.05966104367
+319,5.316666667,pose2_to_pose3_retreat,0.612161507035,1.25220734467e-06,1.06001182305,0.582732742946,0.00867492167214,1.05966135872
+320,5.333333333,pose2_to_pose3_retreat,0.611543126363,1.24172371203e-06,1.06001152543,0.58211436139,0.00867490841207,1.05966106665
+321,5.350000000,pose2_to_pose3_retreat,0.610926147733,1.29562835357e-06,1.06001145122,0.581497381591,0.00867495856149,1.05966099767
+322,5.366666667,pose2_to_pose3_retreat,0.610303054064,1.35346399774e-06,1.06001175131,0.580874287664,0.00867501543765,1.05966129564
+323,5.383333333,pose2_to_pose3_retreat,0.609668223864,1.32526578609e-06,1.06001176667,0.580239458248,0.00867498971183,1.05966130638
+324,5.400000000,pose2_to_pose3_retreat,0.609016163242,1.2750508735e-06,1.06001157351,0.579587397211,0.00867493826441,1.05966111733
+325,5.416666667,pose2_to_pose3_retreat,0.608347879843,1.26357096931e-06,1.06001167122,0.578919114804,0.00867492997354,1.05966120949
+326,5.433333333,pose2_to_pose3_retreat,0.607663590994,1.29979160263e-06,1.06001172335,0.578234826258,0.0086749668656,1.05966125237
+327,5.450000000,pose2_to_pose3_retreat,0.606958994539,1.34403722093e-06,1.0600116352,0.577530228652,0.00867500706203,1.05966116107
+328,5.466666667,pose2_to_pose3_retreat,0.606238886084,1.29741493014e-06,1.06001176942,0.576810119596,0.00867495893198,1.05966130841
+329,5.483333333,pose2_to_pose3_retreat,0.605516513529,1.2476409878e-06,1.06001177451,0.576087748637,0.00867491456699,1.05966131335
+330,5.500000000,pose2_to_pose3_retreat,0.604798013417,1.10711170659e-06,1.06001179534,0.575369250718,0.00867478132341,1.05966133033
+331,5.516666667,pose2_to_pose3_retreat,0.604088137039,1.14604240375e-06,1.0600117457,0.574659374624,0.00867482114365,1.05966127873
+332,5.533333333,pose2_to_pose3_retreat,0.603390413563,1.28458128648e-06,1.06001167235,0.573961649683,0.00867495477911,1.05966120701
+333,5.550000000,pose2_to_pose3_retreat,0.60269903387,1.36400435037e-06,1.06001164367,0.573270267865,0.00867502719248,1.05966118328
+334,5.566666667,pose2_to_pose3_retreat,0.601996408711,1.27046996106e-06,1.06001164203,0.572567643879,0.00867493765482,1.05966118202
+335,5.583333333,pose2_to_pose3_retreat,0.601280539654,1.22457480909e-06,1.06001164215,0.571851775203,0.00867489309031,1.059661183
+336,5.600000000,pose2_to_pose3_retreat,0.600551076966,1.21695946345e-06,1.06001170045,0.571122312755,0.00867488624162,1.0596612401
+337,5.616666667,pose2_to_pose3_retreat,0.59980762307,1.21115203575e-06,1.06001167461,0.570378859104,0.00867488121928,1.05966121306
+338,5.633333333,pose2_to_pose3_retreat,0.599047625292,1.17846977148e-06,1.06001147013,0.569618861397,0.0086748488201,1.05966100956
+339,5.650000000,pose2_to_pose3_retreat,0.598300578072,1.24170203509e-06,1.06001192738,0.568871813999,0.00867491104207,1.05966145668
+340,5.666666667,pose2_to_pose3_retreat,0.597569137603,1.28345879264e-06,1.06001169927,0.568140372115,0.00867494849132,1.05966124077
+341,5.683333333,pose2_to_pose3_retreat,0.596859321459,1.34558329923e-06,1.06001163444,0.567430555554,0.00867500924865,1.05966117709
+342,5.700000000,pose2_to_pose3_retreat,0.59617573204,1.36524407417e-06,1.06001166549,0.566746965337,0.00867502589343,1.05966120051
+343,5.716666667,pose2_to_pose3_retreat,0.595519616726,1.34097914464e-06,1.06001170351,0.566090849155,0.00867499836411,1.05966123057
+344,5.733333333,pose2_to_pose3_retreat,0.594860737653,1.36312333517e-06,1.06001164871,0.565431972929,0.00867503071886,1.0596611894
+345,5.750000000,pose2_to_pose3_retreat,0.594191484057,1.23084287819e-06,1.06001159144,0.564762719218,0.00867489778459,1.05966112553
+346,5.766666667,pose2_to_pose3_retreat,0.593514854163,1.19634535092e-06,1.06001161985,0.564086089518,0.00867486387127,1.05966115211
+347,5.783333333,pose2_to_pose3_retreat,0.592834301634,1.23461261152e-06,1.0600117133,0.563405537024,0.00867490232042,1.05966124717
+348,5.800000000,pose2_to_pose3_retreat,0.592154417558,1.22718161174e-06,1.06001178627,0.562725652419,0.00867489299661,1.05966131764
+349,5.816666667,pose2_to_pose3_retreat,0.59148879345,1.09139833015e-06,1.06001170157,0.562060031106,0.00867476651314,1.05966122833
+350,5.833333333,pose2_to_pose3_retreat,0.590845696548,1.19213446851e-06,1.06001168536,0.561416932155,0.00867486046939,1.05966121645
+351,5.850000000,pose2_to_pose3_retreat,0.590224190292,1.30800636184e-06,1.06001165885,0.560795423869,0.00867496974516,1.05966119719
+352,5.866666667,pose2_to_pose3_retreat,0.589626682428,1.33524976731e-06,1.06001167001,0.560197915406,0.0086749948768,1.05966120633
+353,5.883333333,pose2_to_pose3_retreat,0.589055390532,1.29062003203e-06,1.06001172485,0.559626624272,0.00867495249176,1.05966125276
+354,5.900000000,pose2_to_pose3_retreat,0.588501434014,1.33568999103e-06,1.06001177894,0.559072668332,0.00867499986279,1.05966131527
+355,5.916666667,pose2_to_pose3_retreat,0.587954109282,1.21519809123e-06,1.06001179918,0.558525345157,0.00867488448869,1.05966133135
+356,5.933333333,pose2_to_pose3_retreat,0.58740713554,1.21033955241e-06,1.06001181312,0.557978370867,0.00867487762598,1.05966134177
+357,5.950000000,pose2_to_pose3_retreat,0.586860803131,1.25281871861e-06,1.06001169748,0.557432037613,0.00867491732147,1.05966122812
+358,5.966666667,pose2_to_pose3_retreat,0.586321024782,1.25300346337e-06,1.06001147253,0.556892259833,0.00867491968082,1.05966100928
+359,5.983333333,pose2_to_pose3_retreat,0.585794723523,1.39447907548e-06,1.06001180354,0.556365956309,0.00867505313922,1.05966133201
+360,6.000000000,pose2_to_pose3_retreat,0.585298103332,1.33303471929e-06,1.06001176796,0.555869336001,0.00867499174608,1.05966130751
+361,6.016666667,pose2_to_pose3_retreat,0.584827400167,1.27954028257e-06,1.06001169792,0.555398634326,0.00867494327301,1.05966123677
+362,6.033333333,pose2_to_pose3_retreat,0.584381338686,1.28406400014e-06,1.060011665,0.554952573764,0.00867495076876,1.05966120016
+363,6.050000000,pose2_to_pose3_retreat,0.583951336876,1.30588606533e-06,1.06001167262,0.55452257164,0.0086749714448,1.0596612058
+364,6.066666667,pose2_to_pose3_retreat,0.583534578727,1.22098243157e-06,1.06001167332,0.554105812502,0.00867488320408,1.05966120697
+365,6.083333333,pose2_to_pose3_retreat,0.583132276816,1.25140923101e-06,1.06001158695,0.55370351135,0.00867491613891,1.05966111889
+366,6.100000000,pose2_to_pose3_retreat,0.582746839966,1.23561718055e-06,1.06001171527,0.55331807533,0.00867490310019,1.05966124575
+367,6.116666667,pose2_to_pose3_retreat,0.582385111885,1.23439368378e-06,1.06001174094,0.552956347187,0.00867490176412,1.05966127378
+368,6.133333333,pose2_to_pose3_retreat,0.582048928172,1.2605147878e-06,1.06001166271,0.552620163021,0.008674926453,1.05966119815
+369,6.150000000,pose2_to_pose3_retreat,0.581738859889,1.29313168561e-06,1.06001169457,0.552310095323,0.0086749608339,1.05966122459
+370,6.166666667,pose2_to_pose3_retreat,0.581443503594,1.34752403921e-06,1.06001168467,0.552014738192,0.00867501246386,1.0596612165
+371,6.183333333,pose2_to_pose3_retreat,0.581160049188,1.3891231477e-06,1.06001165122,0.551731283001,0.0086750516527,1.05966118938
+372,6.200000000,pose2_to_pose3_retreat,0.580885021909,1.38811103125e-06,1.06001163654,0.551456255177,0.00867504892208,1.05966117789
+373,6.216666667,pose2_to_pose3_retreat,0.580620566845,1.32051291051e-06,1.06001165594,0.551191799961,0.00867498058452,1.05966119177
+374,6.233333333,pose2_to_pose3_retreat,0.580370540405,1.21328350713e-06,1.06001155364,0.550941773948,0.00867487475361,1.05966108834
+375,6.250000000,pose2_to_pose3_retreat,0.580137773568,1.28315132616e-06,1.06001154398,0.550709007204,0.00867494493481,1.05966107861
+376,6.266666667,pose2_to_pose3_retreat,0.579922466436,1.35433550312e-06,1.06001160243,0.550493699072,0.00867501286235,1.05966114052
+377,6.283333333,pose2_to_pose3_retreat,0.579724724084,1.3671809845e-06,1.06001169198,0.550295957001,0.00867502674901,1.05966123239
+378,6.300000000,pose2_to_pose3_retreat,0.579542569411,1.35013986905e-06,1.06001170673,0.550113803723,0.00867501440908,1.05966124637
+379,6.316666667,pose2_to_pose3_retreat,0.579375788792,1.37410426191e-06,1.06001154633,0.549947023405,0.00867503929829,1.05966108368
+380,6.333333333,pose2_to_pose3_retreat,0.579223921186,1.31034324367e-06,1.06001164752,0.549795156779,0.00867497894705,1.05966118694
+381,6.350000000,pose2_to_pose3_retreat,0.579088060844,1.34792053279e-06,1.06001163931,0.549659294951,0.00867501154816,1.05966118028
+382,6.366666667,pose2_to_pose3_retreat,0.578965835985,1.30742324474e-06,1.06001159246,0.549537070154,0.00867497114058,1.05966113041
+383,6.383333333,pose2_to_pose3_retreat,0.578856548361,1.22508015461e-06,1.06001155612,0.549427782983,0.00867489019653,1.05966109079
+384,6.400000000,pose2_to_pose3_retreat,0.578759070545,1.16990389116e-06,1.06001158773,0.549330305276,0.00867483536352,1.05966112205
+385,6.416666667,pose2_to_pose3_retreat,0.5786723518,1.1842460632e-06,1.06001178425,0.549243588917,0.0086748577371,1.05966131834
+386,6.433333333,pose2_to_pose3_retreat,0.578596268578,1.30946950995e-06,1.06001166242,0.549167503677,0.00867497649929,1.05966120521
+387,6.450000000,pose2_to_pose3_retreat,0.578530433677,1.32765413189e-06,1.06001164502,0.549101667365,0.0086749898123,1.05966118547
+388,6.466666667,pose2_to_pose3_retreat,0.578474957528,1.29387581242e-06,1.0600117193,0.549046191508,0.00867495681283,1.05966125442
+389,6.483333333,pose2_to_pose3_retreat,0.578428203736,1.31767020442e-06,1.06001180023,0.548999437977,0.00867498137623,1.05966133247
+390,6.500000000,pose2_to_pose3_retreat,0.578389324148,1.4943661451e-06,1.06001179468,0.548960556081,0.00867515031794,1.05966132866
+391,6.516666667,pose2_to_pose3_retreat,0.578357138677,1.3282134595e-06,1.06001169315,0.548928372767,0.0086749914946,1.05966122742
+392,6.533333333,pose2_to_pose3_retreat,0.578331031335,1.29519574846e-06,1.06001172744,0.54890226511,0.00867495754278,1.05966126502
+393,6.550000000,pose2_to_pose3_retreat,0.578310890718,1.32343347489e-06,1.06001177143,0.548882124307,0.00867498519565,1.0596613102
+394,6.566666667,pose2_to_pose3_retreat,0.578295037419,1.36450404144e-06,1.06001177934,0.548866271701,0.00867502854552,1.05966131628
+395,6.583333333,pose2_to_pose3_retreat,0.578283198138,1.25236474941e-06,1.06001169894,0.548854433198,0.00867491899675,1.05966123472
+396,6.600000000,pose2_to_pose3_retreat,0.578274724456,1.21488645788e-06,1.06001176762,0.548845960161,0.00867488363051,1.05966130153
+397,6.616666667,pose2_to_pose3_retreat,0.578268610799,1.21863794825e-06,1.06001190802,0.548839847033,0.00867488909147,1.05966143983
+398,6.633333333,pose2_to_pose3_retreat,0.578263767598,1.24984874509e-06,1.06001185829,0.548835003644,0.00867491972478,1.05966139155
+399,6.650000000,pose2_to_pose3_retreat,0.5782604124,1.27694739241e-06,1.06001179262,0.5488316482,0.0086749460487,1.0596613275
+400,6.666666667,pose2_to_pose3_retreat,0.578258914973,1.26160863502e-06,1.06001175033,0.548830150737,0.00867493064318,1.05966128656
+401,6.683333333,pose2_to_pose3_retreat,0.57825773149,1.24234147625e-06,1.06001171352,0.548828967245,0.00867491139592,1.05966125098
+402,6.700000000,pose2_to_pose3_retreat,0.578256772861,1.22673495722e-06,1.06001168371,0.54882800861,0.00867489580551,1.05966122216
+403,6.716666667,pose2_to_pose3_retreat,0.57825643358,1.22121145384e-06,1.06001167316,0.548827669326,0.00867489028771,1.05966121196
+404,6.733333333,pose2_to_pose3_retreat,0.578256236749,1.21800703608e-06,1.06001166704,0.548827472494,0.0086748870866,1.05966120604
+405,6.750000000,pose2_to_pose3_retreat,0.578255789337,1.21224406004e-06,1.06001165364,0.54882702507,0.00867488130276,1.05966119311
+406,6.766666667,pose2_to_pose3_retreat,0.57825563266,1.22170562611e-06,1.06001165286,0.548826868325,0.00867489054273,1.05966119251
+407,6.783333333,pose2_to_pose3_retreat,0.578255530918,1.22784964321e-06,1.06001165235,0.54882676654,0.00867489654286,1.05966119213
+408,6.800000000,pose2_to_pose3_retreat,0.578255336216,1.23960749724e-06,1.06001165138,0.548826571753,0.00867490802534,1.05966119139
+409,6.816666667,pose2_to_pose3_retreat,0.578255074031,1.25544048667e-06,1.06001165007,0.548826309455,0.00867492348752,1.0596611904
+410,6.833333333,pose2_to_pose3_retreat,0.578254908907,1.26541212221e-06,1.06001164925,0.54882614426,0.00867493322562,1.05966118978
+411,6.850000000,pose2_to_pose3_retreat,0.578254835245,1.26986042761e-06,1.06001164888,0.548826070567,0.00867493756974,1.0596611895
+412,6.866666667,pose2_to_pose3_retreat,0.57825478679,1.27278657749e-06,1.06001164864,0.548826022091,0.00867494042736,1.05966118931
+413,6.883333333,pose2_to_pose3_retreat,0.578254626181,1.28248556201e-06,1.06001164783,0.548825861412,0.0086749498992,1.05966118871
+414,6.900000000,pose2_to_pose3_retreat,0.578254461012,1.29245991638e-06,1.06001164701,0.548825696172,0.00867495963995,1.05966118808
+415,6.916666667,pose2_to_pose3_retreat,0.578254181542,1.30933673741e-06,1.06001164561,0.548825416581,0.00867497612151,1.05966118702
+416,6.933333333,pose2_to_pose3_retreat,0.57825392943,1.32456144293e-06,1.06001164435,0.548825164361,0.00867499098965,1.05966118607
+417,6.950000000,pose2_to_pose3_retreat,0.578253899187,1.32638775335e-06,1.0600116442,0.548825134105,0.00867499277319,1.05966118595
+418,6.966666667,pose2_to_pose3_retreat,0.578253646715,1.34163421812e-06,1.06001164294,0.548824881524,0.00867500766258,1.059661185
+419,6.983333333,pose2_to_pose3_retreat,0.578253132,1.37472955912e-06,1.06001165976,0.548824366173,0.00867503843345,1.05966119767
+420,7.000000000,pose2_to_pose3_retreat,0.578253066358,1.37914267704e-06,1.06001166376,0.54882430041,0.00867504239744,1.05966120069
+421,7.016666667,pose2_to_pose3_retreat,0.578252809143,1.39643527632e-06,1.06001167944,0.548824042722,0.00867505793016,1.0596612125
+422,7.033333333,pose2_to_pose3_retreat,0.57825260103,1.41042672016e-06,1.06001169212,0.548823834227,0.00867507049768,1.05966122206
+423,7.050000000,pose2_to_pose3_retreat,0.578252353954,1.32082572055e-06,1.0600116846,0.548823588439,0.00867498532291,1.05966121598
+424,7.066666667,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977466,1.05966107186

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49b60926be6e8f7dfc5c7ed3d4ceec6833f8583d2711eec538232028fa32eff
+size 27072613

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/simulation_data.csv

@@ -0,0 +1,428 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+43,0.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+46,0.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+52,0.866666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+53,0.883333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+56,0.933333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+57,0.950000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+58,0.966666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+59,0.983333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+60,1.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+61,1.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+62,1.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+63,1.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+64,1.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+65,1.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+67,1.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+68,1.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+69,1.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+70,1.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+71,1.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+72,1.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+73,1.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+74,1.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+75,1.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+101,1.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+102,1.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+103,1.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+104,1.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+105,1.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+106,1.766666667,pose1_to_pose2_press,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+107,1.783333333,pose1_to_pose2_press,0.578252184717,1.26135053732e-06,1.06001150715,0.548823420439,0.00867493039009,1.05966104702
+108,1.800000000,pose1_to_pose2_press,0.578252192258,1.24889657422e-06,1.06001149066,0.548823427927,0.00867491776922,1.05966103084
+109,1.816666667,pose1_to_pose2_press,0.578252232666,1.18216054763e-06,1.06001140232,0.548823468052,0.00867485013878,1.05966094416
+110,1.833333333,pose1_to_pose2_press,0.578252252111,1.18642726402e-06,1.06001141268,0.548823487404,0.00867485407872,1.05966095427
+111,1.850000000,pose1_to_pose2_press,0.578252348949,1.2112273335e-06,1.0600114694,0.548823583781,0.00867487726158,1.05966100969
+112,1.866666667,pose1_to_pose2_press,0.578252597155,1.27479219056e-06,1.0600116148,0.548823830805,0.00867493668137,1.05966115174
+113,1.883333333,pose1_to_pose2_press,0.578253783472,1.29385211138e-06,1.06001166151,0.548825018291,0.00867495972861,1.05966119891
+114,1.900000000,pose1_to_pose2_press,0.578256795099,1.31248297269e-06,1.06001163959,0.548828029221,0.00867497620846,1.0596611823
+115,1.916666667,pose1_to_pose2_press,0.578264294776,1.34367710536e-06,1.06001175363,0.548835529672,0.00867501003432,1.05966129644
+116,1.933333333,pose1_to_pose2_press,0.578277764475,1.36984314043e-06,1.06001190871,0.548848997872,0.00867503050897,1.05966143641
+117,1.950000000,pose1_to_pose2_press,0.578300130132,1.24051002423e-06,1.06001185868,0.548871365632,0.0086749084123,1.05966138888
+118,1.966666667,pose1_to_pose2_press,0.578331438382,1.25376114297e-06,1.06001150886,0.548902673462,0.00867492072506,1.05966105099
+119,1.983333333,pose1_to_pose2_press,0.578373253006,1.3242308555e-06,1.06001158574,0.548944488831,0.0086749935068,1.05966112246
+120,2.000000000,pose1_to_pose2_press,0.578423980788,1.34463970969e-06,1.06001167653,0.548995215315,0.00867500928311,1.05966120762
+121,2.016666667,pose1_to_pose2_press,0.57848387229,1.13563288236e-06,1.06001169516,0.549055109107,0.00867480800108,1.0596612251
+122,2.033333333,pose1_to_pose2_press,0.578552089911,1.21641136039e-06,1.06001166843,0.54912332506,0.00867488332126,1.05966120323
+123,2.050000000,pose1_to_pose2_press,0.578628964465,1.27806517182e-06,1.0600116681,0.549200199091,0.00867494327723,1.05966120478
+124,2.066666667,pose1_to_pose2_press,0.578717365991,1.27239637455e-06,1.06001177836,0.549288598721,0.00867493102293,1.05966131117
+125,2.083333333,pose1_to_pose2_press,0.578819097764,1.16222405863e-06,1.06001181541,0.54939033341,0.0086748305466,1.05966134334
+126,2.100000000,pose1_to_pose2_press,0.57893813422,1.20121543541e-06,1.06001179556,0.549509369352,0.00867486798896,1.05966132832
+127,2.116666667,pose1_to_pose2_press,0.579074859872,1.24277497201e-06,1.06001166604,0.549646096068,0.00867491354663,1.05966120838
+128,2.133333333,pose1_to_pose2_press,0.579230759372,1.35341373925e-06,1.0600117019,0.549801992123,0.00867501193511,1.05966123023
+129,2.150000000,pose1_to_pose2_press,0.57940483975,1.20701361645e-06,1.06001154781,0.54997607412,0.00867487159807,1.0596610902
+130,2.166666667,pose1_to_pose2_press,0.579596463281,1.2524472139e-06,1.06001173405,0.550167697487,0.00867491611612,1.05966126757
+131,2.183333333,pose1_to_pose2_press,0.579806523616,1.37989913948e-06,1.06001170088,0.550377756328,0.00867503866845,1.05966123849
+132,2.200000000,pose1_to_pose2_press,0.580037478243,1.35972366404e-06,1.06001161424,0.550608710687,0.008675017263,1.05966114384
+133,2.216666667,pose1_to_pose2_press,0.580294404843,1.23397389442e-06,1.06001171521,0.550865639378,0.00867489876036,1.05966124856
+134,2.233333333,pose1_to_pose2_press,0.580573896229,1.19117472185e-06,1.06001176667,0.551145132085,0.00867486068446,1.05966130594
+135,2.250000000,pose1_to_pose2_press,0.580874886182,1.24435418946e-06,1.06001167056,0.55144612166,0.00867491279396,1.05966121501
+136,2.266666667,pose1_to_pose2_press,0.581197915356,1.24852154009e-06,1.06001167539,0.551769149807,0.0086749130661,1.05966120954
+137,2.283333333,pose1_to_pose2_press,0.581539677066,1.2675108145e-06,1.060011669,0.552110911199,0.00867493103012,1.05966120446
+138,2.300000000,pose1_to_pose2_press,0.581899819741,1.2141078243e-06,1.06001166732,0.552471054479,0.00867487964378,1.05966120186
+139,2.316666667,pose1_to_pose2_press,0.582279815949,1.24924506989e-06,1.06001155172,0.552851050538,0.00867491417885,1.05966108382
+140,2.333333333,pose1_to_pose2_press,0.582681296561,1.27082294611e-06,1.06001150418,0.553252531306,0.00867493624254,1.05966103516
+141,2.350000000,pose1_to_pose2_press,0.583103640778,1.30039868444e-06,1.06001160659,0.553674875092,0.00867496447058,1.05966114032
+142,2.366666667,pose1_to_pose2_press,0.583546603211,1.37880539986e-06,1.06001161136,0.554117836309,0.00867503893989,1.0596611498
+143,2.383333333,pose1_to_pose2_press,0.584016791601,1.25342680045e-06,1.06001159572,0.554588026106,0.00867491810613,1.05966112843
+144,2.400000000,pose1_to_pose2_press,0.584514780744,1.19416403003e-06,1.06001162384,0.555086016734,0.0086748640334,1.05966116027
+145,2.416666667,pose1_to_pose2_press,0.585043810668,1.24480334597e-06,1.06001155674,0.555615045983,0.00867491251934,1.05966109657
+146,2.433333333,pose1_to_pose2_press,0.585597987807,1.26452927642e-06,1.06001165033,0.556169222674,0.0086749306806,1.05966118899
+147,2.450000000,pose1_to_pose2_press,0.586175184276,1.2379372021e-06,1.06001164048,0.556746419689,0.00867490605292,1.05966118184
+148,2.466666667,pose1_to_pose2_press,0.586768536808,1.30890335348e-06,1.06001173463,0.557339771128,0.00867497284338,1.05966126444
+149,2.483333333,pose1_to_pose2_press,0.587377853298,1.34139858484e-06,1.06001189952,0.557949086841,0.00867500279749,1.05966143165
+150,2.500000000,pose1_to_pose2_press,0.588011431185,1.24558948619e-06,1.06001177674,0.558582664644,0.00867490677989,1.05966131075
+151,2.516666667,pose1_to_pose2_press,0.588668917229,1.15611791585e-06,1.0600116975,0.559240152838,0.00867482438974,1.05966122621
+152,2.533333333,pose1_to_pose2_press,0.589350387786,1.25604058872e-06,1.0600117156,0.559921623708,0.0086749252713,1.0596612417
+153,2.550000000,pose1_to_pose2_press,0.59004231792,1.27289795994e-06,1.06001166265,0.560613551047,0.0086749330489,1.05966119868
+154,2.566666667,pose1_to_pose2_press,0.590739512853,1.26694922426e-06,1.06001166424,0.561310746206,0.00867492780092,1.05966119868
+155,2.583333333,pose1_to_pose2_press,0.591442817942,1.22696935268e-06,1.06001153533,0.562014052856,0.00867489332042,1.05966107479
+156,2.600000000,pose1_to_pose2_press,0.592156677035,1.2683852127e-06,1.06001154437,0.562727911782,0.00867493402534,1.05966108027
+157,2.616666667,pose1_to_pose2_press,0.592890286133,1.16089350103e-06,1.06001132388,0.563461522324,0.0086748316832,1.05966086597
+158,2.633333333,pose1_to_pose2_press,0.593651984829,1.25473059279e-06,1.06001139199,0.564223218804,0.00867491786656,1.05966093075
+159,2.650000000,pose1_to_pose2_press,0.594444280635,1.25396753171e-06,1.06001161656,0.565015515281,0.00867491923642,1.05966115175
+160,2.666666667,pose1_to_pose2_press,0.595258384531,1.25491120617e-06,1.0600117855,0.565829620025,0.00867492289897,1.0596613168
+161,2.683333333,pose1_to_pose2_press,0.59608848237,1.25672174295e-06,1.06001150685,0.566659717656,0.00867492420831,1.05966104324
+162,2.700000000,pose1_to_pose2_press,0.596907440509,1.1932155228e-06,1.06001150453,0.567478676629,0.00867486359901,1.05966104258
+163,2.716666667,pose1_to_pose2_press,0.597713557181,1.40623974562e-06,1.06001169454,0.568284791199,0.00867506961033,1.05966123559
+164,2.733333333,pose1_to_pose2_press,0.598504670229,1.36943191188e-06,1.06001178793,0.569075903718,0.0086750307327,1.05966132215
+165,2.750000000,pose1_to_pose2_press,0.599294984811,1.33293449212e-06,1.06001171115,0.569866218877,0.00867499625345,1.05966124695
+166,2.766666667,pose1_to_pose2_press,0.600094582291,1.30547867817e-06,1.06001168711,0.57066581719,0.00867497145364,1.05966121875
+167,2.783333333,pose1_to_pose2_press,0.600917790474,1.26757956538e-06,1.0600116654,0.571489025285,0.00867493344939,1.05966120187
+168,2.800000000,pose1_to_pose2_press,0.601765277249,1.31064174718e-06,1.06001151008,0.572336510929,0.00867497307446,1.05966105645
+169,2.816666667,pose1_to_pose2_press,0.602638007248,1.34854364482e-06,1.06001155071,0.573209240596,0.00867500936243,1.05966108513
+170,2.833333333,pose1_to_pose2_press,0.603507894626,1.29721876093e-06,1.06001169572,0.574079128754,0.00867496046676,1.05966122479
+171,2.850000000,pose1_to_pose2_press,0.604359462274,1.2897535324e-06,1.06001167396,0.574930695724,0.00867495088692,1.05966120771
+172,2.866666667,pose1_to_pose2_press,0.605179770934,1.2941680427e-06,1.06001167484,0.575751003852,0.00867495348627,1.05966120833
+173,2.883333333,pose1_to_pose2_press,0.605967009588,1.29328826504e-06,1.06001167774,0.576538242903,0.0086749539235,1.05966121054
+174,2.900000000,pose1_to_pose2_press,0.606747771772,1.35746104666e-06,1.06001166874,0.577319004954,0.00867501774603,1.05966120416
+175,2.916666667,pose1_to_pose2_press,0.607529696987,1.3492231643e-06,1.06001173845,0.578100931162,0.00867501282532,1.05966127259
+176,2.933333333,pose1_to_pose2_press,0.608318735062,1.40592857815e-06,1.06001185028,0.578889967274,0.00867506289465,1.05966138508
+177,2.950000000,pose1_to_pose2_press,0.60912076581,1.46425046296e-06,1.0600116758,0.579691998373,0.00867512261852,1.05966121595
+178,2.966666667,pose1_to_pose2_press,0.609932144794,1.33338386984e-06,1.06001171014,0.58050337989,0.00867500013567,1.05966124515
+179,2.983333333,pose1_to_pose2_press,0.610719842258,1.36660647976e-06,1.06001145603,0.581291076165,0.00867502961719,1.05966099834
+180,3.000000000,pose1_to_pose2_press,0.611480865075,1.30756357314e-06,1.06001174032,0.582052098913,0.00867496985023,1.05966127056
+181,3.016666667,pose1_to_pose2_press,0.612204345705,1.29612854747e-06,1.06001188476,0.582775579554,0.0086749583941,1.05966141368
+182,3.033333333,pose1_to_pose2_press,0.612897742411,1.29387159381e-06,1.06001167308,0.583468977484,0.00867496054371,1.05966120834
+183,3.050000000,pose1_to_pose2_press,0.613564220845,1.41059849904e-06,1.06001162614,0.584135453272,0.00867506875142,1.05966117284
+184,3.066666667,pose1_to_pose2_press,0.614220816993,1.29584355558e-06,1.0600116612,0.584792051326,0.00867496002105,1.05966119694
+185,3.083333333,pose1_to_pose2_press,0.614874501292,1.37519325244e-06,1.06001180311,0.585445734905,0.00867503677566,1.05966133518
+186,3.100000000,pose1_to_pose2_press,0.61552809764,1.21889067899e-06,1.06001167537,0.586099331832,0.00867488255318,1.05966121022
+187,3.116666667,pose1_to_pose2_press,0.616175924078,1.3398512463e-06,1.06001146162,0.586747157802,0.00867500157731,1.05966098802
+188,3.133333333,pose1_to_pose2_press,0.616802874242,1.28947089358e-06,1.06001158362,0.587374107522,0.0086749509117,1.05966114025
+189,3.150000000,pose1_to_pose2_press,0.617392537317,1.29937726054e-06,1.06001176087,0.587963772039,0.00867496528806,1.05966130416
+190,3.166666667,pose1_to_pose2_press,0.617936764432,1.29713404418e-06,1.06001178608,0.588507998752,0.00867496165426,1.05966132214
+191,3.183333333,pose1_to_pose2_press,0.61844217313,1.25769110091e-06,1.06001157661,0.589013407464,0.00867492231398,1.05966111133
+192,3.200000000,pose1_to_pose2_press,0.618915915029,1.2338045654e-06,1.06001175633,0.589487150072,0.00867490084119,1.0596612889
+193,3.216666667,pose1_to_pose2_press,0.619374037123,1.35603476899e-06,1.06001161054,0.589945270417,0.00867501734669,1.05966114491
+194,3.233333333,pose1_to_pose2_press,0.619818085214,1.32802103691e-06,1.06001169742,0.590389319717,0.00867499374484,1.0596612368
+195,3.250000000,pose1_to_pose2_press,0.620246061566,1.19170433125e-06,1.06001167898,0.590817297437,0.00867486227885,1.05966122018
+196,3.266666667,pose1_to_pose2_press,0.620652027669,1.1406812909e-06,1.06001158726,0.591223262848,0.00867480886143,1.05966112387
+197,3.283333333,pose1_to_pose2_press,0.621032857821,1.15595113782e-06,1.0600117381,0.591604093538,0.00867482606684,1.05966127375
+198,3.300000000,pose1_to_pose2_press,0.621387234754,1.14614406469e-06,1.06001190791,0.591958471853,0.00867482101292,1.05966144212
+199,3.316666667,pose1_to_pose2_press,0.621719227841,1.19375662908e-06,1.06001182921,0.592290464562,0.00867486728771,1.05966135995
+200,3.333333333,pose1_to_pose2_press,0.622034469016,1.3130890435e-06,1.06001172512,0.592605703919,0.0086749805772,1.05966125658
+201,3.350000000,pose1_to_pose2_press,0.622336020249,1.34887984456e-06,1.06001172672,0.592907253616,0.00867501130921,1.05966125919
+202,3.366666667,pose1_to_pose2_press,0.622623046135,1.34655054789e-06,1.06001152033,0.593194279371,0.00867500868053,1.0596610533
+203,3.383333333,pose1_to_pose2_press,0.622891414976,1.28410864253e-06,1.06001158538,0.593462648975,0.0086749488288,1.05966111664
+204,3.400000000,pose1_to_pose2_press,0.62313943947,1.26491311208e-06,1.06001187753,0.59371067318,0.00867492881429,1.05966141001
+205,3.416666667,pose1_to_pose2_press,0.623360522743,1.32307494286e-06,1.06001173816,0.593931756153,0.00867498627019,1.05966127605
+206,3.433333333,pose1_to_pose2_press,0.623557660675,1.41385749693e-06,1.06001168562,0.594128893666,0.00867507580333,1.05966122524
+207,3.450000000,pose1_to_pose2_press,0.623731213424,1.48855968939e-06,1.0600117418,0.594302444881,0.00867514557561,1.05966128643
+208,3.466666667,pose1_to_pose2_press,0.623884768272,1.37539753249e-06,1.06001177564,0.594456000711,0.00867503527854,1.05966130793
+209,3.483333333,pose1_to_pose2_press,0.624017911545,1.29346703762e-06,1.0600117195,0.594589144415,0.00867495440284,1.0596612405
+210,3.500000000,pose1_to_pose2_press,0.624135511659,1.14452641932e-06,1.06001153285,0.59470674582,0.0086748106279,1.05966107151
+211,3.516666667,pose1_to_pose2_press,0.624238720182,1.18412840531e-06,1.06001152501,0.594809955102,0.00867485284768,1.05966106397
+212,3.533333333,pose1_to_pose2_press,0.624328753041,1.27013391544e-06,1.06001165231,0.594899987492,0.00867493700489,1.05966118432
+213,3.550000000,pose1_to_pose2_press,0.624408434547,1.2732224999e-06,1.06001191072,0.594979670001,0.0086749438075,1.05966144483
+214,3.566666667,pose1_to_pose2_press,0.624478495794,1.28102724633e-06,1.06001195226,0.595049731854,0.00867495369863,1.05966148906
+215,3.583333333,pose1_to_pose2_press,0.624539220847,1.4055070963e-06,1.06001178039,0.595110454194,0.00867506880722,1.0596613174
+216,3.600000000,pose1_to_pose2_press,0.624590565777,1.4362762177e-06,1.06001170896,0.595161797291,0.00867509342827,1.05966124646
+217,3.616666667,pose1_to_pose2_press,0.624632199617,1.28282235615e-06,1.06001178734,0.595203433718,0.00867494872231,1.05966132177
+218,3.633333333,pose1_to_pose2_press,0.624665317369,1.21743025365e-06,1.06001180988,0.595236552888,0.00867488787609,1.05966133895
+219,3.650000000,pose1_to_pose2_press,0.624690858645,1.33515712786e-06,1.06001178247,0.595262089641,0.00867499052891,1.05966131751
+220,3.666666667,pose1_to_pose2_press,0.624710752904,1.29048382865e-06,1.06001182539,0.595281986942,0.00867495600012,1.05966135205
+221,3.683333333,pose1_to_pose2_press,0.624725740998,1.25609516914e-06,1.06001172376,0.595296974505,0.00867491996084,1.05966125517
+222,3.700000000,pose1_to_pose2_press,0.624737489994,1.23592240876e-06,1.06001154616,0.595308724098,0.00867490197731,1.05966108251
+223,3.716666667,pose1_to_pose2_press,0.624746125121,1.221905651e-06,1.0600114419,0.595317360237,0.00867489145296,1.05966098009
+224,3.733333333,pose1_to_pose2_press,0.624751846055,1.20514188803e-06,1.06001152678,0.595323081061,0.00867487422328,1.05966106333
+225,3.750000000,pose1_to_pose2_press,0.624755246836,1.23730331078e-06,1.06001165053,0.595326481799,0.00867490619499,1.05966118515
+226,3.766666667,pose1_to_pose2_press,0.624756880363,1.26026436052e-06,1.06001172304,0.595328115309,0.00867492908048,1.05966125656
+227,3.783333333,pose1_to_pose2_press,0.624757766867,1.27272517007e-06,1.06001176239,0.595329001803,0.00867494150028,1.05966129532
+228,3.800000000,pose1_to_pose2_press,0.624758176491,1.27848289026e-06,1.06001178058,0.595329411423,0.00867494723905,1.05966131322
+229,3.816666667,pose1_to_pose2_press,0.624758598202,1.28750112196e-06,1.06001178209,0.595329833003,0.0086749558386,1.05966131534
+230,3.833333333,pose1_to_pose2_press,0.624759025314,1.30133188208e-06,1.06001175746,0.59533025979,0.00867496863868,1.05966129268
+231,3.850000000,pose1_to_pose2_press,0.624759584695,1.31944579267e-06,1.0600117252,0.595330818745,0.00867498540272,1.05966126301
+232,3.866666667,pose1_to_pose2_press,0.624760108728,1.33641505287e-06,1.06001169499,0.595331342379,0.0086750011074,1.05966123522
+233,3.883333333,pose1_to_pose2_press,0.624760428732,1.34677741459e-06,1.06001167653,0.595331662139,0.00867501069755,1.05966121824
+234,3.900000000,pose1_to_pose2_press,0.62476089189,1.3617754385e-06,1.06001164983,0.595332124945,0.0086750245779,1.05966119368
+235,3.916666667,pose1_to_pose2_press,0.62476154325,1.38286779358e-06,1.06001161227,0.595332775809,0.00867504409843,1.05966115913
+236,3.933333333,pose1_to_pose2_press,0.624761986154,1.36886710008e-06,1.06001165272,0.595333218494,0.00867502923041,1.05966119643
+237,3.950000000,pose1_to_pose2_press,0.624762312018,1.35770970397e-06,1.06001168448,0.595333544201,0.00867501744098,1.05966122571
+238,3.966666667,pose1_to_pose2_press,0.624762542617,1.34981413252e-06,1.06001170696,0.595333774689,0.00867500909814,1.05966124643
+239,3.983333333,pose1_to_pose2_press,0.62476256772,1.34895461873e-06,1.06001170941,0.59533379978,0.00867500818994,1.05966124868
+240,4.000000000,pose1_to_pose2_press,0.624762715016,1.34391131671e-06,1.06001172376,0.595333947004,0.00867500286095,1.05966126192
+241,4.016666667,pose1_to_pose2_press,0.624762837031,1.3397335837e-06,1.06001173566,0.59533406896,0.00867499844655,1.05966127288
+242,4.033333333,pose1_to_pose2_press,0.624762886564,1.33803760924e-06,1.06001174048,0.595334118469,0.00867499665451,1.05966127733
+243,4.050000000,pose1_to_pose2_press,0.624762936709,1.3363206957e-06,1.06001174537,0.59533416859,0.00867499484034,1.05966128184
+244,4.066666667,pose1_to_pose2_press,0.624763054392,1.33229127778e-06,1.06001175684,0.595334286217,0.00867499058266,1.05966129241
+245,4.083333333,pose1_to_pose2_press,0.624763308651,1.32358561077e-06,1.06001178162,0.595334540353,0.00867498138384,1.05966131526
+246,4.100000000,pose1_to_pose2_press,0.624763540288,1.33135404245e-06,1.06001169309,0.59533477277,0.00867499167206,1.0596612237
+247,4.116666667,pose1_to_pose2_press,0.624763784414,1.34327063709e-06,1.0600115734,0.595335017931,0.00867500694959,1.0596611005
+248,4.133333333,pose1_to_pose2_press,0.624764065101,1.41405818218e-06,1.06001150597,0.595335298401,0.00867507711644,1.05966103581
+249,4.150000000,pose1_to_pose2_press,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415538,1.05966107829
+250,4.166666667,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415454,1.05966107829
+251,4.183333333,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415453,1.05966107829
+252,4.200000000,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415451,1.05966107829
+253,4.216666667,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.0086750841545,1.05966107829
+254,4.233333333,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415449,1.05966107829
+255,4.250000000,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415449,1.05966107829
+256,4.266666667,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415449,1.05966107829
+257,4.283333333,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.0086750841545,1.05966107829
+258,4.300000000,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387202,0.00867508415581,1.05966107829
+259,4.316666667,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415463,1.05966107829
+260,4.333333333,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.0086750841546,1.05966107829
+261,4.350000000,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415455,1.05966107829
+262,4.366666667,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415457,1.05966107829
+263,4.383333333,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.0086750841546,1.05966107829
+264,4.400000000,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387202,0.0086750841555,1.05966107829
+265,4.416666667,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415514,1.05966107829
+266,4.433333333,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.0086750841551,1.05966107829
+267,4.450000000,pose2_hold,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.0086750841551,1.05966107829
+268,4.466666667,pose2_to_pose3_retreat,0.624764154577,1.42310243039e-06,1.06001154198,0.595335387203,0.00867508415475,1.05966107829
+269,4.483333333,pose2_to_pose3_retreat,0.62476402013,1.27924257429e-06,1.06001162697,0.595335253079,0.00867494107851,1.05966115574
+270,4.500000000,pose2_to_pose3_retreat,0.624763767155,1.30590632167e-06,1.06001167315,0.59533499888,0.00867496357277,1.05966120194
+271,4.516666667,pose2_to_pose3_retreat,0.624763471383,1.33121420364e-06,1.06001160877,0.595334703527,0.00867499033561,1.05966113847
+272,4.533333333,pose2_to_pose3_retreat,0.624763437955,1.33407450124e-06,1.06001160149,0.595334670146,0.00867499336034,1.0596611313
+273,4.550000000,pose2_to_pose3_retreat,0.624763350451,1.34156178983e-06,1.06001158245,0.595334582766,0.00867500127808,1.05966111252
+274,4.566666667,pose2_to_pose3_retreat,0.624763038823,1.36822641569e-06,1.06001151462,0.595334271579,0.00867502947566,1.05966104565
+275,4.583333333,pose2_to_pose3_retreat,0.624761964965,1.3558870084e-06,1.06001149875,0.595333198777,0.00867502088834,1.05966103383
+276,4.600000000,pose2_to_pose3_retreat,0.624759500892,1.27196992955e-06,1.06001162485,0.59533073563,0.00867494035968,1.05966116548
+277,4.616666667,pose2_to_pose3_retreat,0.624753219502,1.33859866272e-06,1.06001155322,0.595324452149,0.00867499955607,1.05966108599
+278,4.633333333,pose2_to_pose3_retreat,0.624741469252,1.27605167994e-06,1.06001148239,0.59531270239,0.00867493879788,1.05966101827
+279,4.650000000,pose2_to_pose3_retreat,0.624721318637,1.31945047493e-06,1.06001172708,0.595292551037,0.00867497969592,1.05966126353
+280,4.666666667,pose2_to_pose3_retreat,0.624692453785,1.17785401672e-06,1.06001154248,0.595263687888,0.00867484403888,1.0596610811
+281,4.683333333,pose2_to_pose3_retreat,0.624654662104,1.3188815465e-06,1.0600116533,0.595225895078,0.008674981194,1.05966119064
+282,4.700000000,pose2_to_pose3_retreat,0.624610338903,1.24298305559e-06,1.0600116951,0.595181573821,0.00867491185149,1.05966123079
+283,4.716666667,pose2_to_pose3_retreat,0.62456058132,1.30559260072e-06,1.06001182248,0.595131814952,0.00867496998773,1.05966135534
+284,4.733333333,pose2_to_pose3_retreat,0.62450669163,1.29203485592e-06,1.0600118917,0.595077927609,0.0086749645591,1.059661429
+285,4.750000000,pose2_to_pose3_retreat,0.624448190816,1.23523090189e-06,1.06001151688,0.595019425817,0.00867490444315,1.05966105566
+286,4.766666667,pose2_to_pose3_retreat,0.624382597881,1.21385641069e-06,1.06001157402,0.594953833368,0.00867488437618,1.05966110709
+287,4.783333333,pose2_to_pose3_retreat,0.624309161815,1.22263815889e-06,1.0600117334,0.594880397207,0.00867489259858,1.05966126292
+288,4.800000000,pose2_to_pose3_retreat,0.624225710657,1.25555091682e-06,1.06001177797,0.594796944535,0.00867492049823,1.05966131152
+289,4.816666667,pose2_to_pose3_retreat,0.624132287318,1.26524778114e-06,1.0600115799,0.59470352305,0.00867493663538,1.05966111809
+290,4.833333333,pose2_to_pose3_retreat,0.624028287166,1.2293659843e-06,1.0600117593,0.594599523056,0.00867490108299,1.05966129348
+291,4.850000000,pose2_to_pose3_retreat,0.623912996809,1.18951976368e-06,1.06001184656,0.594484232293,0.00867485969455,1.05966137764
+292,4.866666667,pose2_to_pose3_retreat,0.623786056257,1.17455885503e-06,1.06001170381,0.594357291479,0.00867484387625,1.05966123665
+293,4.883333333,pose2_to_pose3_retreat,0.623644351814,1.23239943335e-06,1.06001188004,0.594215587963,0.00867490489345,1.05966141513
+294,4.900000000,pose2_to_pose3_retreat,0.623487504329,1.207802731e-06,1.06001167871,0.594058740208,0.00867487927857,1.0596612132
+295,4.916666667,pose2_to_pose3_retreat,0.623313486055,1.17923342737e-06,1.06001159145,0.593884720704,0.0086748465664,1.05966112852
+296,4.933333333,pose2_to_pose3_retreat,0.623122877843,1.16041245035e-06,1.06001165068,0.593694112035,0.00867482617521,1.05966118911
+297,4.950000000,pose2_to_pose3_retreat,0.622915887476,1.15262553965e-06,1.06001168314,0.593487123897,0.00867482558157,1.05966121474
+298,4.966666667,pose2_to_pose3_retreat,0.622690330549,1.29087305468e-06,1.06001164844,0.593261565432,0.00867495893653,1.05966118915
+299,4.983333333,pose2_to_pose3_retreat,0.62244709514,1.2655837841e-06,1.0600115377,0.593018330829,0.00867493650649,1.059661084
+300,5.000000000,pose2_to_pose3_retreat,0.622184982649,1.17896855469e-06,1.06001151787,0.592756218554,0.00867485033668,1.05966105966
+301,5.016666667,pose2_to_pose3_retreat,0.621905383236,1.10683844882e-06,1.06001160047,0.592476619713,0.00867477965627,1.05966113271
+302,5.033333333,pose2_to_pose3_retreat,0.62160779507,1.1343603429e-06,1.06001168455,0.592179032357,0.00867480960199,1.05966121175
+303,5.050000000,pose2_to_pose3_retreat,0.621297078597,1.36717540205e-06,1.06001154105,0.591868311902,0.0086750291636,1.05966107776
+304,5.066666667,pose2_to_pose3_retreat,0.620974065124,1.18476446423e-06,1.0600117478,0.591545300801,0.00867485450952,1.0596612799
+305,5.083333333,pose2_to_pose3_retreat,0.620640383422,1.30108364112e-06,1.06001171567,0.591211616626,0.00867496259662,1.05966125396
+306,5.100000000,pose2_to_pose3_retreat,0.620293899685,1.42428260552e-06,1.06001164802,0.590865130976,0.00867507930765,1.05966118905
+307,5.116666667,pose2_to_pose3_retreat,0.619929139539,1.36416865878e-06,1.06001170944,0.590500372706,0.00867502503326,1.05966124092
+308,5.133333333,pose2_to_pose3_retreat,0.619543948099,1.38352824486e-06,1.06001191912,0.590115180393,0.00867504100058,1.05966144328
+309,5.150000000,pose2_to_pose3_retreat,0.619136064071,1.32006457522e-06,1.06001165898,0.589707297427,0.00867498151225,1.05966119583
+310,5.166666667,pose2_to_pose3_retreat,0.618704642716,1.31171578404e-06,1.06001164126,0.589275876486,0.0086749745024,1.05966117998
+311,5.183333333,pose2_to_pose3_retreat,0.618252873187,1.29020916628e-06,1.06001173522,0.588824107682,0.00867495506602,1.05966126775
+312,5.200000000,pose2_to_pose3_retreat,0.617785425271,1.16115047914e-06,1.06001158866,0.588356662185,0.00867483406068,1.05966112012
+313,5.216666667,pose2_to_pose3_retreat,0.617304035689,1.261498238e-06,1.0600118275,0.587875270861,0.00867492796057,1.05966134714
+314,5.233333333,pose2_to_pose3_retreat,0.616808381483,1.22202971475e-06,1.06001184569,0.587379617036,0.00867488974816,1.05966136721
+315,5.250000000,pose2_to_pose3_retreat,0.616298743625,1.2621188448e-06,1.06001174682,0.586869978487,0.00867492787982,1.05966127907
+316,5.266666667,pose2_to_pose3_retreat,0.615774235806,1.29980948828e-06,1.06001164087,0.586345469913,0.00867496342675,1.05966118333
+317,5.283333333,pose2_to_pose3_retreat,0.61522038759,1.19276801256e-06,1.06001162573,0.585791622836,0.00867486025689,1.05966116777
+318,5.300000000,pose2_to_pose3_retreat,0.614639055224,1.22175326614e-06,1.06001153784,0.585210290777,0.00867489018689,1.0596610772
+319,5.316666667,pose2_to_pose3_retreat,0.614031495826,1.23638724479e-06,1.06001155122,0.584602731761,0.00867490596523,1.05966108642
+320,5.333333333,pose2_to_pose3_retreat,0.613404850095,1.30188431755e-06,1.06001177892,0.583976084994,0.00867496777001,1.05966130958
+321,5.350000000,pose2_to_pose3_retreat,0.612764036694,1.30023316701e-06,1.06001191744,0.583335271499,0.00867496583725,1.05966144912
+322,5.366666667,pose2_to_pose3_retreat,0.612125183283,1.22215567212e-06,1.0600118639,0.582696419194,0.00867489173232,1.05966140093
+323,5.383333333,pose2_to_pose3_retreat,0.611488016039,1.18222120022e-06,1.06001176956,0.582059252248,0.00867485291393,1.05966130921
+324,5.400000000,pose2_to_pose3_retreat,0.610848093576,1.3717927995e-06,1.06001179292,0.581419327423,0.0086750342439,1.05966132688
+325,5.416666667,pose2_to_pose3_retreat,0.610198737011,1.19590262515e-06,1.06001162981,0.580769972616,0.00867486436235,1.05966116488
+326,5.433333333,pose2_to_pose3_retreat,0.609532562838,1.17350492711e-06,1.06001159195,0.580103798426,0.00867484201846,1.05966112966
+327,5.450000000,pose2_to_pose3_retreat,0.608850410486,1.30228597655e-06,1.060011666,0.579421644501,0.00867496538848,1.05966120186
+328,5.466666667,pose2_to_pose3_retreat,0.608153343448,1.34759775303e-06,1.06001170892,0.578724577206,0.00867500945457,1.05966123547
+329,5.483333333,pose2_to_pose3_retreat,0.607435627156,1.16945678367e-06,1.06001177927,0.578006863182,0.00867483939015,1.05966131526
+330,5.500000000,pose2_to_pose3_retreat,0.606702760942,1.1894589716e-06,1.06001156469,0.577273996219,0.0086748572067,1.05966110941
+331,5.516666667,pose2_to_pose3_retreat,0.60596800278,1.18533143002e-06,1.0600116546,0.57653923745,0.00867485089925,1.05966119626
+332,5.533333333,pose2_to_pose3_retreat,0.605234935808,1.20030323313e-06,1.06001171955,0.575806170525,0.00867486593913,1.05966125891
+333,5.550000000,pose2_to_pose3_retreat,0.604506908176,1.25189669794e-06,1.06001163901,0.575078143429,0.00867491947908,1.0596611815
+334,5.566666667,pose2_to_pose3_retreat,0.603791670807,1.2917042443e-06,1.06001163252,0.574362906667,0.00867496142103,1.05966117679
+335,5.583333333,pose2_to_pose3_retreat,0.603084983037,1.27477671445e-06,1.06001155395,0.573656217302,0.0086749388824,1.05966109324
+336,5.600000000,pose2_to_pose3_retreat,0.602369921001,1.36595447107e-06,1.06001152453,0.572941154781,0.0086750284606,1.05966106499
+337,5.616666667,pose2_to_pose3_retreat,0.601645148039,1.31146995093e-06,1.06001163332,0.572216383275,0.00867497876712,1.05966116998
+338,5.633333333,pose2_to_pose3_retreat,0.600910845704,1.16022931075e-06,1.06001175916,0.571482082581,0.00867483285402,1.05966128983
+339,5.650000000,pose2_to_pose3_retreat,0.600160541127,1.33551943969e-06,1.06001152658,0.5707317749,0.00867499807676,1.05966106874
+340,5.666666667,pose2_to_pose3_retreat,0.599389682398,1.32470224578e-06,1.06001164642,0.569960916513,0.00867498823591,1.05966118392
+341,5.683333333,pose2_to_pose3_retreat,0.598630222632,1.25256000632e-06,1.06001175541,0.569201458324,0.00867492127578,1.05966128877
+342,5.700000000,pose2_to_pose3_retreat,0.597884758798,1.21157602249e-06,1.06001155202,0.568455994831,0.0086748818297,1.05966109466
+343,5.716666667,pose2_to_pose3_retreat,0.597159133309,1.19179880191e-06,1.06001141387,0.567730369317,0.00867486219815,1.05966096229
+344,5.733333333,pose2_to_pose3_retreat,0.596462361879,1.16924828921e-06,1.06001155612,0.56703359829,0.00867484072728,1.05966109732
+345,5.750000000,pose2_to_pose3_retreat,0.595798242836,1.13306967307e-06,1.06001178632,0.566369479737,0.0086748057458,1.05966131596
+346,5.766666667,pose2_to_pose3_retreat,0.595130297824,1.19772243588e-06,1.06001168535,0.565701534323,0.00867486942639,1.0596612247
+347,5.783333333,pose2_to_pose3_retreat,0.594450441313,1.25563792197e-06,1.06001150959,0.565021677229,0.00867492562758,1.05966105544
+348,5.800000000,pose2_to_pose3_retreat,0.593764567669,1.30215426849e-06,1.06001143036,0.564335802619,0.0086749687672,1.05966097377
+349,5.816666667,pose2_to_pose3_retreat,0.593074630345,1.32853389204e-06,1.0600115674,0.563645864059,0.00867499055436,1.05966110086
+350,5.833333333,pose2_to_pose3_retreat,0.592382739757,1.18802938218e-06,1.06001166508,0.562953974758,0.00867485444532,1.05966119919
+351,5.850000000,pose2_to_pose3_retreat,0.591706266781,1.23529724911e-06,1.06001167334,0.562277502487,0.00867490408533,1.05966120704
+352,5.866666667,pose2_to_pose3_retreat,0.591053304593,1.22899327812e-06,1.06001152317,0.561624540468,0.00867489837223,1.05966105729
+353,5.883333333,pose2_to_pose3_retreat,0.590421723621,1.2800160999e-06,1.06001157732,0.56099295816,0.0086749448913,1.0596611121
+354,5.900000000,pose2_to_pose3_retreat,0.589814326398,1.35438399762e-06,1.06001173793,0.560385559576,0.00867501463592,1.05966127253
+355,5.916666667,pose2_to_pose3_retreat,0.58923331144,1.29894713072e-06,1.06001156321,0.559804546371,0.00867496505429,1.05966109551
+356,5.933333333,pose2_to_pose3_retreat,0.588671311338,1.22199886544e-06,1.06001162254,0.559242546385,0.00867488878698,1.05966116192
+357,5.950000000,pose2_to_pose3_retreat,0.588120529373,1.13870925395e-06,1.06001171499,0.558691765189,0.00867480811907,1.05966125464
+358,5.966666667,pose2_to_pose3_retreat,0.587569064464,1.15211184904e-06,1.06001178671,0.558140300178,0.00867482101824,1.05966132252
+359,5.983333333,pose2_to_pose3_retreat,0.587014870816,1.27396708012e-06,1.06001179656,0.557586105118,0.00867493797308,1.05966132963
+360,6.000000000,pose2_to_pose3_retreat,0.586467232182,1.23537053714e-06,1.06001175446,0.557038466802,0.00867490082405,1.05966129664
+361,6.016666667,pose2_to_pose3_retreat,0.585932465353,1.27325794682e-06,1.06001155198,0.556503699643,0.00867493764358,1.05966109541
+362,6.033333333,pose2_to_pose3_retreat,0.58542525429,1.26901228773e-06,1.06001168017,0.555996489303,0.00867493580103,1.05966122237
+363,6.050000000,pose2_to_pose3_retreat,0.584945644565,1.18311394653e-06,1.06001165106,0.555516879876,0.00867485078234,1.05966119067
+364,6.066666667,pose2_to_pose3_retreat,0.584494452145,1.15736962114e-06,1.06001156957,0.555065687075,0.00867482361802,1.05966110664
+365,6.083333333,pose2_to_pose3_retreat,0.584059750119,1.31269124758e-06,1.06001166073,0.554630984223,0.00867497613207,1.05966119729
+366,6.100000000,pose2_to_pose3_retreat,0.583638280895,1.34147495119e-06,1.060011618,0.554209514023,0.00867500200058,1.05966116442
+367,6.116666667,pose2_to_pose3_retreat,0.583230583903,1.27929229472e-06,1.06001160367,0.553801818858,0.00867494614251,1.05966115319
+368,6.133333333,pose2_to_pose3_retreat,0.582839397544,1.3260613649e-06,1.06001168597,0.55341063229,0.00867499204246,1.05966123157
+369,6.150000000,pose2_to_pose3_retreat,0.582471690196,1.3459031274e-06,1.06001172834,0.553042924528,0.00867501028485,1.05966126909
+370,6.166666667,pose2_to_pose3_retreat,0.582130118957,1.22952641969e-06,1.06001163092,0.552701354666,0.00867489856224,1.05966117111
+371,6.183333333,pose2_to_pose3_retreat,0.581815375918,1.19740524527e-06,1.0600115271,0.552386612175,0.0086748684367,1.05966107016
+372,6.200000000,pose2_to_pose3_retreat,0.581515992013,1.26378752494e-06,1.0600115986,0.552087226885,0.00867493000345,1.05966113878
+373,6.216666667,pose2_to_pose3_retreat,0.58122868913,1.27095681305e-06,1.06001163748,0.551799923691,0.00867493614421,1.05966117871
+374,6.233333333,pose2_to_pose3_retreat,0.58094909748,1.24851630268e-06,1.06001165231,0.551520333005,0.00867491706022,1.05966119606
+375,6.250000000,pose2_to_pose3_retreat,0.580679599915,1.35596104865e-06,1.06001178551,0.551250836035,0.00867502624692,1.05966132204
+376,6.266666667,pose2_to_pose3_retreat,0.580424472085,1.3104349255e-06,1.06001179559,0.550995706247,0.0086749740185,1.05966133073
+377,6.283333333,pose2_to_pose3_retreat,0.580186367941,1.34630028216e-06,1.060011813,0.550757601165,0.00867500647232,1.05966134235
+378,6.300000000,pose2_to_pose3_retreat,0.579965538928,1.29366449375e-06,1.06001166602,0.550536773078,0.00867495713961,1.05966119952
+379,6.316666667,pose2_to_pose3_retreat,0.579763610753,1.22627963694e-06,1.06001153947,0.550334845349,0.00867489142735,1.05966107692
+380,6.333333333,pose2_to_pose3_retreat,0.579578094138,1.19133341714e-06,1.06001158187,0.550149327824,0.00867485320167,1.05966111448
+381,6.350000000,pose2_to_pose3_retreat,0.579407642549,1.08446494708e-06,1.06001171571,0.549978876689,0.00867474755986,1.05966124055
+382,6.366666667,pose2_to_pose3_retreat,0.579252458264,1.24218579789e-06,1.06001169933,0.549823693269,0.0086749083392,1.05966122726
+383,6.383333333,pose2_to_pose3_retreat,0.579114150775,1.16279024117e-06,1.06001159288,0.549685385335,0.00867482772752,1.05966112818
+384,6.400000000,pose2_to_pose3_retreat,0.578989585558,1.17138243811e-06,1.06001167713,0.549560819405,0.00867483381129,1.05966121039
+385,6.416666667,pose2_to_pose3_retreat,0.578878124,1.23821798017e-06,1.06001177228,0.54944935771,0.00867490002391,1.0596613016
+386,6.433333333,pose2_to_pose3_retreat,0.578779229688,1.25915762943e-06,1.06001168573,0.54935046407,0.00867492337382,1.05966121887
+387,6.450000000,pose2_to_pose3_retreat,0.578691281791,1.34640125515e-06,1.06001178785,0.549262516031,0.00867501003625,1.05966132254
+388,6.466666667,pose2_to_pose3_retreat,0.578613817634,1.32863064002e-06,1.0600118747,0.549185051882,0.0086749924577,1.05966141064
+389,6.483333333,pose2_to_pose3_retreat,0.578546360266,1.29039455763e-06,1.06001172429,0.549117595532,0.00867495750387,1.0596612549
+390,6.500000000,pose2_to_pose3_retreat,0.578489037484,1.22347699256e-06,1.06001156489,0.54906027345,0.00867489300331,1.05966109633
+391,6.516666667,pose2_to_pose3_retreat,0.578440246185,1.15075318991e-06,1.0600115036,0.549011482081,0.00867482039951,1.05966104382
+392,6.533333333,pose2_to_pose3_retreat,0.578399205044,1.16212155227e-06,1.06001140946,0.548970441151,0.00867483249419,1.05966094996
+393,6.550000000,pose2_to_pose3_retreat,0.578365585076,1.22283256129e-06,1.06001177764,0.548936821102,0.00867489284157,1.05966131591
+394,6.566666667,pose2_to_pose3_retreat,0.578338272641,1.22064133422e-06,1.06001177542,0.548909508766,0.00867489089826,1.0596613115
+395,6.583333333,pose2_to_pose3_retreat,0.578317012902,1.20968794637e-06,1.06001169962,0.548888248913,0.00867487951146,1.05966123451
+396,6.600000000,pose2_to_pose3_retreat,0.578300558739,1.23072078697e-06,1.06001178452,0.548871794159,0.00867489854447,1.05966131963
+397,6.616666667,pose2_to_pose3_retreat,0.578288436443,1.17888031752e-06,1.06001162055,0.54885967294,0.00867485059258,1.05966116142
+398,6.633333333,pose2_to_pose3_retreat,0.578278831478,1.18150131947e-06,1.06001156843,0.548850067974,0.00867485326448,1.05966111072
+399,6.650000000,pose2_to_pose3_retreat,0.578271483116,1.28784387868e-06,1.0600117373,0.548842717526,0.00867495226139,1.059661273
+400,6.666666667,pose2_to_pose3_retreat,0.578266295384,1.30817671898e-06,1.06001184296,0.548837529587,0.00867497174857,1.05966137515
+401,6.683333333,pose2_to_pose3_retreat,0.578262420085,1.29180149389e-06,1.06001191407,0.548833654864,0.00867495724414,1.05966144429
+402,6.700000000,pose2_to_pose3_retreat,0.578259648154,1.24690190268e-06,1.06001184728,0.548830883491,0.00867491430489,1.05966137907
+403,6.716666667,pose2_to_pose3_retreat,0.578257954756,1.20366022355e-06,1.06001175042,0.548829190505,0.00867487255725,1.05966128459
+404,6.733333333,pose2_to_pose3_retreat,0.578256981619,1.17881072877e-06,1.06001169476,0.548828217604,0.00867484856633,1.0596612303
+405,6.750000000,pose2_to_pose3_retreat,0.578256108539,1.16226924475e-06,1.06001164898,0.54882734499,0.0086748336278,1.05966118502
+406,6.766666667,pose2_to_pose3_retreat,0.578255542201,1.15625094065e-06,1.06001162269,0.548826779163,0.00867482933122,1.05966115845
+407,6.783333333,pose2_to_pose3_retreat,0.57825550633,1.15586975666e-06,1.06001162103,0.548826743325,0.00867482905909,1.05966115677
+408,6.800000000,pose2_to_pose3_retreat,0.57825544099,1.15517540159e-06,1.06001161799,0.548826678043,0.00867482856338,1.05966115371
+409,6.816666667,pose2_to_pose3_retreat,0.578255420836,1.15496123021e-06,1.06001161706,0.548826657907,0.00867482841048,1.05966115276
+410,6.833333333,pose2_to_pose3_retreat,0.578255085919,1.15140216832e-06,1.06001160151,0.548826323292,0.0086748258696,1.05966113705
+411,6.850000000,pose2_to_pose3_retreat,0.578254674922,1.1470346323e-06,1.06001158244,0.548825912666,0.00867482275153,1.05966111777
+412,6.866666667,pose2_to_pose3_retreat,0.578254562741,1.14584251286e-06,1.06001157723,0.548825800586,0.00867482190045,1.05966111251
+413,6.883333333,pose2_to_pose3_retreat,0.578254413365,1.14425514113e-06,1.0600115703,0.548825651345,0.0086748207672,1.05966110551
+414,6.900000000,pose2_to_pose3_retreat,0.578254322377,1.14328824093e-06,1.06001156607,0.548825560439,0.00867482007691,1.05966110124
+415,6.916666667,pose2_to_pose3_retreat,0.578254253946,1.14256103589e-06,1.0600115629,0.548825492069,0.00867481955774,1.05966109803
+416,6.933333333,pose2_to_pose3_retreat,0.578254091401,1.14083372303e-06,1.06001155535,0.548825329671,0.00867481832458,1.0596610904
+417,6.950000000,pose2_to_pose3_retreat,0.578253831579,1.13807267463e-06,1.06001154329,0.548825070084,0.00867481635342,1.05966107822
+418,6.966666667,pose2_to_pose3_retreat,0.578253599911,1.155384579e-06,1.06001156413,0.548824838064,0.00867483248298,1.05966109927
+419,6.983333333,pose2_to_pose3_retreat,0.578253319182,1.17899569006e-06,1.06001159359,0.548824556835,0.00867485441014,1.05966112904
+420,7.000000000,pose2_to_pose3_retreat,0.578253256409,1.18427526897e-06,1.06001160018,0.548824493951,0.00867485931317,1.0596611357
+421,7.016666667,pose2_to_pose3_retreat,0.57825271541,1.22977681069e-06,1.06001165695,0.548823951988,0.00867490156953,1.05966119306
+422,7.033333333,pose2_to_pose3_retreat,0.578252470818,1.22534744713e-06,1.06001162029,0.548823707103,0.00867489622549,1.05966115837
+423,7.050000000,pose2_to_pose3_retreat,0.578252438433,1.22263305421e-06,1.06001161013,0.548823674691,0.00867489343701,1.05966114862
+424,7.066666667,pose2_to_pose3_retreat,0.578252424889,1.22149790281e-06,1.06001160588,0.548823661137,0.00867489227088,1.05966114454
+425,7.083333333,pose2_to_pose3_retreat,0.57825227496,1.20893130941e-06,1.06001155884,0.548823511084,0.00867487936132,1.05966109939
+426,7.100000000,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977464,1.05966107186

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6df172fa60543abc2aa75cd3e5c6fa27de89c8e0607ca74417bff4f81cfe8593
+size 27141813

Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/simulation_data.csv

@@ -0,0 +1,429 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+1,0.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+2,0.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+3,0.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+4,0.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+5,0.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+7,0.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+8,0.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+10,0.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+11,0.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+12,0.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+13,0.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+14,0.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+15,0.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+16,0.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+17,0.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+18,0.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+20,0.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+22,0.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+23,0.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+25,0.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+26,0.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+29,0.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+30,0.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+31,0.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+32,0.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+33,0.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+34,0.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+35,0.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+36,0.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+37,0.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+38,0.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+39,0.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+40,0.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+41,0.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+42,0.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+43,0.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+44,0.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+45,0.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+46,0.766666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+47,0.783333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+48,0.800000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+49,0.816666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+50,0.833333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+51,0.850000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+52,0.866666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+53,0.883333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+54,0.900000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+55,0.916666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+56,0.933333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+57,0.950000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+58,0.966666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+59,0.983333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+60,1.000000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+61,1.016666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+62,1.033333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+63,1.050000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+64,1.066666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+65,1.083333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+66,1.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+67,1.116666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+68,1.133333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+69,1.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+70,1.166666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+71,1.183333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+72,1.200000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+73,1.216666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+74,1.233333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+75,1.250000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+76,1.266666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+77,1.283333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+78,1.300000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+79,1.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+80,1.333333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+81,1.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+82,1.366666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+83,1.383333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+84,1.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+85,1.416666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+86,1.433333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+87,1.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+88,1.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+89,1.483333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+90,1.500000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+91,1.516666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+92,1.533333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+93,1.550000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+94,1.566666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+95,1.583333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+96,1.600000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+97,1.616666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+98,1.633333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+99,1.650000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+100,1.666666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+101,1.683333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+102,1.700000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+103,1.716666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+104,1.733333333,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+105,1.750000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+106,1.766666667,pose1_to_pose2_press,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
+107,1.783333333,pose1_to_pose2_press,0.578252179262,1.27036017338e-06,1.06001151908,0.548823415023,0.00867493952048,1.05966105872
+108,1.800000000,pose1_to_pose2_press,0.578252204609,1.22849874219e-06,1.06001146366,0.548823440191,0.00867489709801,1.05966100435
+109,1.816666667,pose1_to_pose2_press,0.57825233223,1.18911879793e-06,1.06001145032,0.548823567373,0.00867485622551,1.05966099095
+110,1.833333333,pose1_to_pose2_press,0.578252477482,1.20021253964e-06,1.06001152179,0.548823712274,0.00867486605513,1.05966106065
+111,1.850000000,pose1_to_pose2_press,0.578252548313,1.20562227676e-06,1.06001155665,0.548823782933,0.00867487084843,1.05966109463
+112,1.866666667,pose1_to_pose2_press,0.578252566647,1.20702258338e-06,1.06001156567,0.548823801223,0.00867487208918,1.05966110343
+113,1.883333333,pose1_to_pose2_press,0.578253282462,1.24992350247e-06,1.06001156209,0.548824517128,0.00867491524879,1.05966109876
+114,1.900000000,pose1_to_pose2_press,0.578255622179,1.31118491156e-06,1.06001157908,0.548826857398,0.00867497831983,1.05966111402
+115,1.916666667,pose1_to_pose2_press,0.578262019032,1.28228704527e-06,1.0600119195,0.548833254149,0.0086749488975,1.05966144993
+116,1.933333333,pose1_to_pose2_press,0.578273793241,1.25262309364e-06,1.06001175985,0.548845029164,0.00867492192678,1.05966128927
+117,1.950000000,pose1_to_pose2_press,0.578294189076,1.35675833301e-06,1.06001177897,0.548865423417,0.00867502093786,1.05966131437
+118,1.966666667,pose1_to_pose2_press,0.578323618091,1.37771519926e-06,1.06001164463,0.548894851152,0.00867503775761,1.05966118505
+119,1.983333333,pose1_to_pose2_press,0.578363289605,1.19086895148e-06,1.06001173075,0.548934525439,0.00867486005571,1.05966126458
+120,2.000000000,pose1_to_pose2_press,0.578412223247,1.30276703986e-06,1.06001170033,0.54898345655,0.00867496349592,1.05966123735
+121,2.016666667,pose1_to_pose2_press,0.578471059897,1.34535616424e-06,1.06001177352,0.54904229478,0.00867501124666,1.05966130551
+122,2.033333333,pose1_to_pose2_press,0.578538301388,1.315387321e-06,1.06001177696,0.549109534338,0.00867497491678,1.05966131377
+123,2.050000000,pose1_to_pose2_press,0.578613994736,1.26683581468e-06,1.06001161832,0.549185228754,0.00867492968136,1.05966114748
+124,2.066666667,pose1_to_pose2_press,0.578700740319,1.20571703661e-06,1.06001154728,0.549271975468,0.00867487260595,1.05966108145
+125,2.083333333,pose1_to_pose2_press,0.578800245187,1.21292124826e-06,1.06001155896,0.549371480268,0.00867487949008,1.05966109085
+126,2.100000000,pose1_to_pose2_press,0.578915930122,1.21117945851e-06,1.06001145378,0.549487166046,0.00867488084073,1.05966099146
+127,2.116666667,pose1_to_pose2_press,0.579049392177,1.2931614158e-06,1.06001167317,0.549620627153,0.00867495948174,1.05966120777
+128,2.133333333,pose1_to_pose2_press,0.579201229583,1.41028675147e-06,1.06001162258,0.549772461797,0.00867506726856,1.0596611579
+129,2.150000000,pose1_to_pose2_press,0.57937090081,1.32698507461e-06,1.06001165602,0.549942132945,0.008674983384,1.05966118357
+130,2.166666667,pose1_to_pose2_press,0.579557552231,1.38117015173e-06,1.06001167604,0.550128785295,0.00867504094845,1.05966120906
+131,2.183333333,pose1_to_pose2_press,0.579763685455,1.44423806958e-06,1.06001171476,0.550334918285,0.00867510360031,1.05966125714
+132,2.200000000,pose1_to_pose2_press,0.579992080473,1.36922707191e-06,1.06001167778,0.550563313006,0.00867502765099,1.05966122179
+133,2.216666667,pose1_to_pose2_press,0.580246910052,1.25098646627e-06,1.0600115771,0.550818143216,0.00867491131802,1.05966111533
+134,2.233333333,pose1_to_pose2_press,0.580524642812,1.22726720492e-06,1.06001168865,0.551095877439,0.00867489245947,1.05966122425
+135,2.250000000,pose1_to_pose2_press,0.580823422715,1.19628507621e-06,1.06001154158,0.551394657701,0.00867486288722,1.0596610818
+136,2.266666667,pose1_to_pose2_press,0.581144129131,1.24953377503e-06,1.06001148044,0.551715362998,0.00867491228482,1.05966101926
+137,2.283333333,pose1_to_pose2_press,0.581483262234,1.18871419218e-06,1.06001170183,0.552054497436,0.00867485566414,1.05966123247
+138,2.300000000,pose1_to_pose2_press,0.581840327873,1.16650949665e-06,1.06001163945,0.552411563629,0.00867483567366,1.0596611784
+139,2.316666667,pose1_to_pose2_press,0.582218806338,1.23631326791e-06,1.06001152026,0.552790041514,0.00867490362521,1.05966106197
+140,2.333333333,pose1_to_pose2_press,0.582620532316,1.34702115407e-06,1.06001162141,0.553191765805,0.00867500818948,1.05966115268
+141,2.350000000,pose1_to_pose2_press,0.583040326487,1.38153124351e-06,1.06001167177,0.553611559256,0.00867504036108,1.0596612056
+142,2.366666667,pose1_to_pose2_press,0.583479035059,1.2871175287e-06,1.06001165095,0.554050269544,0.00867495192525,1.05966118859
+143,2.383333333,pose1_to_pose2_press,0.583945847422,1.2671227456e-06,1.06001172019,0.554517081864,0.00867493154194,1.05966125173
+144,2.400000000,pose1_to_pose2_press,0.58444031021,1.24720728404e-06,1.06001170375,0.555011545023,0.00867491321216,1.05966124335
+145,2.416666667,pose1_to_pose2_press,0.58496460313,1.36055739547e-06,1.06001157085,0.555535837043,0.00867502372865,1.05966111582
+146,2.433333333,pose1_to_pose2_press,0.585517433193,1.18466265299e-06,1.0600117826,0.556088669382,0.00867485516715,1.05966131793
+147,2.450000000,pose1_to_pose2_press,0.586095413707,1.14223013205e-06,1.06001172643,0.556666650456,0.0086748149339,1.05966126914
+148,2.466666667,pose1_to_pose2_press,0.586688785796,1.19780080129e-06,1.06001161189,0.557260021706,0.00867486741868,1.05966114871
+149,2.483333333,pose1_to_pose2_press,0.587298576153,1.20047312909e-06,1.06001140294,0.557869811309,0.00867486794604,1.05966094993
+150,2.500000000,pose1_to_pose2_press,0.587933231649,1.23292639341e-06,1.06001152277,0.558504467756,0.00867490341459,1.05966106452
+151,2.516666667,pose1_to_pose2_press,0.588591892765,1.41912719407e-06,1.06001147139,0.559163125688,0.00867507927715,1.05966102462
+152,2.533333333,pose1_to_pose2_press,0.589274591606,1.35699437436e-06,1.06001153602,0.559845825538,0.00867502014308,1.05966107869
+153,2.550000000,pose1_to_pose2_press,0.58997286581,1.46043276046e-06,1.0600116503,0.560544097826,0.00867511689869,1.05966118848
+154,2.566666667,pose1_to_pose2_press,0.590680891143,1.23531769137e-06,1.06001157925,0.561252126506,0.008674902759,1.05966110797
+155,2.583333333,pose1_to_pose2_press,0.591392404439,1.09763745868e-06,1.06001149519,0.56196364075,0.00867476901261,1.05966104172
+156,2.600000000,pose1_to_pose2_press,0.592113705885,1.1037581156e-06,1.06001180424,0.56268494357,0.00867477910672,1.05966133369
+157,2.616666667,pose1_to_pose2_press,0.592853365644,1.1830389982e-06,1.06001180181,0.563424601881,0.00867485357338,1.05966133366
+158,2.633333333,pose1_to_pose2_press,0.593617840594,1.28354021006e-06,1.06001179366,0.564189074145,0.00867494502217,1.05966132707
+159,2.650000000,pose1_to_pose2_press,0.594407964679,1.25051785837e-06,1.06001169535,0.564979199011,0.00867491462725,1.05966122818
+160,2.666666667,pose1_to_pose2_press,0.595223780743,1.3059186842e-06,1.06001177732,0.565795015393,0.00867497119073,1.0596613123
+161,2.683333333,pose1_to_pose2_press,0.596056164447,1.3513508186e-06,1.06001153861,0.566627397781,0.00867501254486,1.05966108313
+162,2.700000000,pose1_to_pose2_press,0.596888441357,1.31247071796e-06,1.06001184121,0.56745967484,0.00867497388046,1.05966137856
+163,2.716666667,pose1_to_pose2_press,0.597711572779,1.2753500883e-06,1.06001185745,0.568282808452,0.00867494367445,1.0596613821
+164,2.733333333,pose1_to_pose2_press,0.598517805422,1.25873718794e-06,1.06001170097,0.569089041252,0.00867492795295,1.05966123451
+165,2.750000000,pose1_to_pose2_press,0.599323497034,1.18978130255e-06,1.06001174837,0.569894731753,0.0086748552961,1.0596612836
+166,2.766666667,pose1_to_pose2_press,0.600137284794,1.26032735858e-06,1.060011723,0.570708518401,0.00867492193437,1.059661255
+167,2.783333333,pose1_to_pose2_press,0.600969421279,1.35054481504e-06,1.06001167294,0.571540654906,0.00867501225724,1.05966120586
+168,2.800000000,pose1_to_pose2_press,0.60182557432,1.34376600269e-06,1.06001173858,0.572396807677,0.00867500461446,1.05966127275
+169,2.816666667,pose1_to_pose2_press,0.602710223781,1.26155215908e-06,1.06001164647,0.573281458611,0.00867492739374,1.05966118061
+170,2.833333333,pose1_to_pose2_press,0.603594314031,1.28653699697e-06,1.06001154642,0.574165548762,0.00867495209183,1.05966108183
+171,2.850000000,pose1_to_pose2_press,0.604466936985,1.30772656672e-06,1.06001168908,0.575038170971,0.00867497081943,1.05966122613
+172,2.866666667,pose1_to_pose2_press,0.605305911807,1.2709919539e-06,1.06001172036,0.575877146095,0.0086749349667,1.05966125401
+173,2.883333333,pose1_to_pose2_press,0.606112380713,1.33608167135e-06,1.06001167446,0.576683614311,0.00867499765837,1.05966120679
+174,2.900000000,pose1_to_pose2_press,0.606908889084,1.35355136535e-06,1.06001178727,0.57748012263,0.00867501497785,1.05966132023
+175,2.916666667,pose1_to_pose2_press,0.607704927977,1.24147638282e-06,1.06001176763,0.578276162738,0.00867490697852,1.05966129954
+176,2.933333333,pose1_to_pose2_press,0.608508636583,1.21454437645e-06,1.06001156491,0.579079871336,0.00867487996695,1.05966109554
+177,2.950000000,pose1_to_pose2_press,0.609327423465,1.26748888646e-06,1.0600117056,0.579898657489,0.00867493039675,1.05966123534
+178,2.966666667,pose1_to_pose2_press,0.610156166475,1.30143506129e-06,1.0600118841,0.580727401001,0.00867496607938,1.05966141467
+179,2.983333333,pose1_to_pose2_press,0.610969158101,1.37283511263e-06,1.06001180924,0.581540392879,0.00867503839213,1.05966134137
+180,3.000000000,pose1_to_pose2_press,0.611758781415,1.33083727267e-06,1.06001186446,0.582330015095,0.00867499252405,1.05966139313
+181,3.016666667,pose1_to_pose2_press,0.61250948878,1.3384369564e-06,1.06001193159,0.583080722105,0.00867499893724,1.05966146071
+182,3.033333333,pose1_to_pose2_press,0.613228872453,1.3015786822e-06,1.0600119142,0.583800107817,0.00867496920583,1.05966144861
+183,3.050000000,pose1_to_pose2_press,0.613917873256,1.17826269397e-06,1.06001183701,0.584489109958,0.00867485037594,1.0596613701
+184,3.066666667,pose1_to_pose2_press,0.614590151139,1.09472917323e-06,1.0600116165,0.585161389981,0.00867477429478,1.05966115448
+185,3.083333333,pose1_to_pose2_press,0.615252258918,1.17284877448e-06,1.0600115122,0.585823495733,0.00867484570525,1.05966105444
+186,3.100000000,pose1_to_pose2_press,0.615915712442,1.26568828516e-06,1.06001155949,0.586486947265,0.00867493185942,1.05966110385
+187,3.116666667,pose1_to_pose2_press,0.616576989666,1.30825717972e-06,1.06001169898,0.587148223399,0.0086749706042,1.05966123956
+188,3.133333333,pose1_to_pose2_press,0.617226066791,1.27058860793e-06,1.0600114823,0.587797302291,0.00867493880029,1.05966101683
+189,3.150000000,pose1_to_pose2_press,0.617844365846,1.32878625957e-06,1.06001162349,0.588415599337,0.00867499060808,1.05966116387
+190,3.166666667,pose1_to_pose2_press,0.618424252131,1.30926255641e-06,1.06001152215,0.588995485418,0.00867497058283,1.05966106384
+191,3.183333333,pose1_to_pose2_press,0.618960764327,1.28928171036e-06,1.06001155139,0.589531996813,0.00867494792323,1.05966109104
+192,3.200000000,pose1_to_pose2_press,0.619462556626,1.29654935553e-06,1.06001167706,0.590033789994,0.00867495822587,1.05966121431
+193,3.216666667,pose1_to_pose2_press,0.619944562982,1.20717711037e-06,1.06001178612,0.590515798778,0.00867487715601,1.0596613211
+194,3.233333333,pose1_to_pose2_press,0.620410330262,1.23918298056e-06,1.06001166773,0.590981563667,0.00867490125389,1.05966120354
+195,3.250000000,pose1_to_pose2_press,0.62085844733,1.24872070936e-06,1.06001182356,0.591429683842,0.00867492107967,1.05966134979
+196,3.266666667,pose1_to_pose2_press,0.621285025785,1.12186761575e-06,1.06001168691,0.591856262059,0.00867479394974,1.05966122256
+197,3.283333333,pose1_to_pose2_press,0.621687505319,1.22238459217e-06,1.0600116572,0.592258739641,0.0086748880936,1.05966119568
+198,3.300000000,pose1_to_pose2_press,0.622062451515,1.23816017063e-06,1.06001146375,0.592633686499,0.00867490635186,1.05966100501
+199,3.316666667,pose1_to_pose2_press,0.622416561397,1.35630121025e-06,1.06001142633,0.592987794409,0.00867501768066,1.05966096223
+200,3.333333333,pose1_to_pose2_press,0.622756499176,1.33900105509e-06,1.06001146214,0.593327732207,0.00867500024884,1.05966098949
+201,3.350000000,pose1_to_pose2_press,0.62308269702,1.22033288994e-06,1.06001167047,0.593653932002,0.00867488850434,1.05966120196
+202,3.366666667,pose1_to_pose2_press,0.623392605661,1.25927169452e-06,1.06001168948,0.593963840908,0.008674928861,1.05966123079
+203,3.383333333,pose1_to_pose2_press,0.623681245976,1.32041870996e-06,1.06001174321,0.594252479669,0.00867498463256,1.05966127914
+204,3.400000000,pose1_to_pose2_press,0.623946556014,1.29688788441e-06,1.06001187218,0.594517789159,0.00867495925693,1.05966140565
+205,3.416666667,pose1_to_pose2_press,0.624180572181,1.20284791225e-06,1.06001182448,0.594751806665,0.0086748699751,1.05966136093
+206,3.433333333,pose1_to_pose2_press,0.624388399941,1.18577132528e-06,1.06001180355,0.594959635057,0.00867485497824,1.05966133607
+207,3.450000000,pose1_to_pose2_press,0.62457166267,1.21975619524e-06,1.06001181817,0.59514289742,0.00867488765419,1.05966134747
+208,3.466666667,pose1_to_pose2_press,0.624734698034,1.26363583524e-06,1.06001188435,0.59530593223,0.00867492956591,1.05966141
+209,3.483333333,pose1_to_pose2_press,0.624878540564,1.29423468751e-06,1.06001181348,0.595449774777,0.00867496045427,1.05966134337
+210,3.500000000,pose1_to_pose2_press,0.625008451229,1.27612596816e-06,1.06001153151,0.5955796858,0.00867494419788,1.05966107598
+211,3.516666667,pose1_to_pose2_press,0.625126284504,1.25166972181e-06,1.06001168815,0.595697517627,0.00867491430953,1.05966121883
+212,3.533333333,pose1_to_pose2_press,0.625232883645,1.31556934641e-06,1.06001164205,0.595804116459,0.00867497761414,1.05966118283
+213,3.550000000,pose1_to_pose2_press,0.625328987495,1.38086841015e-06,1.06001177562,0.595900219197,0.008675039061,1.05966131366
+214,3.566666667,pose1_to_pose2_press,0.625413973986,1.22940036981e-06,1.06001180195,0.59598520944,0.00867490008918,1.05966133588
+215,3.583333333,pose1_to_pose2_press,0.625486966916,1.26992508882e-06,1.06001167958,0.596058200989,0.00867493604951,1.05966121547
+216,3.600000000,pose1_to_pose2_press,0.625547539057,1.15660184924e-06,1.06001187883,0.596118775021,0.00867482913893,1.05966141041
+217,3.616666667,pose1_to_pose2_press,0.625596644584,1.13414385988e-06,1.06001163459,0.596167879511,0.00867480343924,1.05966116977
+218,3.633333333,pose1_to_pose2_press,0.625635869166,1.21845339356e-06,1.06001168373,0.596207104165,0.00867488818337,1.05966122334
+219,3.650000000,pose1_to_pose2_press,0.62566582399,1.26703827972e-06,1.06001153525,0.596237058656,0.00867493571897,1.05966107768
+220,3.666666667,pose1_to_pose2_press,0.62569025482,1.28622087645e-06,1.06001145499,0.596261488855,0.00867495267649,1.05966099601
+221,3.683333333,pose1_to_pose2_press,0.625710265928,1.30939694708e-06,1.06001187839,0.596281500285,0.00867497665778,1.0596614127
+222,3.700000000,pose1_to_pose2_press,0.62572597384,1.13644833257e-06,1.06001155889,0.596297209571,0.00867480845468,1.05966109864
+223,3.716666667,pose1_to_pose2_press,0.625737858452,1.15892004803e-06,1.06001160064,0.59630909263,0.00867482579356,1.05966114275
+224,3.733333333,pose1_to_pose2_press,0.625746742117,1.23026733335e-06,1.0600116803,0.596317975636,0.00867489447842,1.05966121186
+225,3.750000000,pose1_to_pose2_press,0.625752730733,1.27858511782e-06,1.06001170682,0.596323964417,0.00867494311027,1.05966123252
+226,3.766666667,pose1_to_pose2_press,0.625755794012,1.27860181642e-06,1.060011671,0.596327028096,0.00867494480038,1.05966120428
+227,3.783333333,pose1_to_pose2_press,0.625757694297,1.29936011517e-06,1.06001165099,0.59632892815,0.00867496495819,1.05966118843
+228,3.800000000,pose1_to_pose2_press,0.625758661118,1.3521598864e-06,1.0600116453,0.596329893877,0.00867501411664,1.05966118374
+229,3.816666667,pose1_to_pose2_press,0.625759461974,1.3958960272e-06,1.06001164058,0.596330693826,0.00867505483652,1.05966117986
+230,3.833333333,pose1_to_pose2_press,0.625760166735,1.43438422633e-06,1.06001163643,0.596331397789,0.0086750906704,1.05966117644
+231,3.850000000,pose1_to_pose2_press,0.625760645315,1.46052032566e-06,1.06001163361,0.596331875827,0.00867511500403,1.05966117412
+232,3.866666667,pose1_to_pose2_press,0.625761022905,1.46505330103e-06,1.06001162456,0.596332253264,0.00867511903408,1.05966116521
+233,3.883333333,pose1_to_pose2_press,0.625761365754,1.40218755386e-06,1.06001158796,0.596332597119,0.00867505953872,1.05966112767
+234,3.900000000,pose1_to_pose2_press,0.625761474246,1.3822941974e-06,1.06001157637,0.596332705929,0.0086750407119,1.05966111579
+235,3.916666667,pose1_to_pose2_press,0.625761504371,1.37677028608e-06,1.06001157316,0.596332736143,0.00867503548414,1.05966111249
+236,3.933333333,pose1_to_pose2_press,0.625761677986,1.3449358191e-06,1.06001155462,0.596332910267,0.0086750053564,1.05966109347
+237,3.950000000,pose1_to_pose2_press,0.625761900962,1.30405031504e-06,1.06001153081,0.596333133897,0.00867496666287,1.05966106906
+238,3.966666667,pose1_to_pose2_press,0.625762096005,1.26828684288e-06,1.06001150999,0.596333329512,0.00867493281676,1.0596610477
+239,3.983333333,pose1_to_pose2_press,0.625762195459,1.25005061821e-06,1.06001149937,0.596333429258,0.00867491555823,1.05966103681
+240,4.000000000,pose1_to_pose2_press,0.625762221835,1.24521417942e-06,1.06001149655,0.596333455712,0.00867491098108,1.05966103392
+241,4.016666667,pose1_to_pose2_press,0.625762392794,1.21386675234e-06,1.0600114783,0.596333627172,0.00867488131427,1.0596610152
+242,4.033333333,pose1_to_pose2_press,0.62576263262,1.16989157431e-06,1.06001145269,0.596333867701,0.00867483969671,1.05966098893
+243,4.050000000,pose1_to_pose2_press,0.625762769603,1.14477401938e-06,1.06001143807,0.596334005086,0.00867481592577,1.05966097393
+244,4.066666667,pose1_to_pose2_press,0.625763005954,1.1310199895e-06,1.06001146295,0.59633424177,0.00867480322497,1.05966099703
+245,4.083333333,pose1_to_pose2_press,0.625763119117,1.14711315793e-06,1.06001151328,0.596334354815,0.00867481884868,1.05966104565
+246,4.100000000,pose1_to_pose2_press,0.625763591402,1.21427825283e-06,1.06001172335,0.596334826609,0.0086748840545,1.05966124853
+247,4.116666667,pose1_to_pose2_press,0.625764085796,1.2876064121e-06,1.06001146029,0.596335320111,0.00867495434379,1.05966098651
+248,4.133333333,pose1_to_pose2_press,0.625764086592,1.28591396033e-06,1.06001145996,0.596335320931,0.00867495274053,1.05966098627
+249,4.150000000,pose1_to_pose2_press,0.625764129769,1.1940369746e-06,1.06001144176,0.596335365474,0.00867486570497,1.05966097294
+250,4.166666667,pose1_to_pose2_press,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.00867485047537,1.0596609706
+251,4.183333333,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.00867485047583,1.0596609706
+252,4.200000000,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047552,1.0596609706
+253,4.216666667,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047571,1.0596609706
+254,4.233333333,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047644,1.0596609706
+255,4.250000000,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047644,1.0596609706
+256,4.266666667,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047641,1.0596609706
+257,4.283333333,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047605,1.0596609706
+258,4.300000000,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047623,1.0596609706
+259,4.316666667,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.00867485047511,1.0596609706
+260,4.333333333,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.0086748504753,1.0596609706
+261,4.350000000,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.00867485047526,1.0596609706
+262,4.366666667,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.0086748504754,1.0596609706
+263,4.383333333,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047544,1.0596609706
+264,4.400000000,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047546,1.0596609706
+265,4.416666667,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047552,1.0596609706
+266,4.433333333,pose2_hold,0.625764137327,1.17795430832e-06,1.06001143857,0.59633537327,0.00867485047547,1.0596609706
+267,4.450000000,pose2_to_pose3_retreat,0.625764137327,1.17795430832e-06,1.06001143857,0.596335373269,0.00867485047552,1.0596609706
+268,4.466666667,pose2_to_pose3_retreat,0.625764052146,1.16473959024e-06,1.06001160044,0.596335287572,0.0086748353483,1.0596611283
+269,4.483333333,pose2_to_pose3_retreat,0.625763886849,1.19416928027e-06,1.06001171759,0.596335121618,0.00867486249864,1.05966124406
+270,4.500000000,pose2_to_pose3_retreat,0.625763781225,1.21297465247e-06,1.06001179244,0.596335015574,0.00867487984753,1.05966131804
+271,4.516666667,pose2_to_pose3_retreat,0.625763734762,1.22124706121e-06,1.06001182537,0.596334968926,0.00867488747923,1.05966135057
+272,4.533333333,pose2_to_pose3_retreat,0.625763696927,1.22683626585e-06,1.06001182969,0.596334930958,0.00867489262364,1.05966135495
+273,4.550000000,pose2_to_pose3_retreat,0.625763333869,1.27580886122e-06,1.06001177973,0.596334566708,0.00867493764062,1.05966130711
+274,4.566666667,pose2_to_pose3_retreat,0.625762709524,1.36002624246e-06,1.06001169382,0.596333940313,0.00867501505558,1.05966122483
+275,4.583333333,pose2_to_pose3_retreat,0.625761707406,1.3466527253e-06,1.06001178428,0.596332939294,0.00867500536761,1.05966131411
+276,4.600000000,pose2_to_pose3_retreat,0.625758471662,1.3502259436e-06,1.06001185891,0.596329705447,0.00867501555559,1.05966139305
+277,4.616666667,pose2_to_pose3_retreat,0.625751697779,1.27126624252e-06,1.06001172407,0.596322932136,0.00867493862436,1.05966126021
+278,4.633333333,pose2_to_pose3_retreat,0.625737528414,1.21843620388e-06,1.06001179738,0.596308764461,0.00867489134912,1.05966132983
+279,4.650000000,pose2_to_pose3_retreat,0.625715075861,1.29531047125e-06,1.06001167406,0.596286309974,0.00867496187184,1.05966121476
+280,4.666666667,pose2_to_pose3_retreat,0.625682967309,1.2357496124e-06,1.06001176036,0.596254201646,0.00867490262274,1.05966129095
+281,4.683333333,pose2_to_pose3_retreat,0.625643138753,1.16999930479e-06,1.06001171709,0.596214374421,0.00867484111066,1.05966124181
+282,4.700000000,pose2_to_pose3_retreat,0.625595885427,1.12288733494e-06,1.06001162242,0.596167122669,0.00867479944032,1.05966115149
+283,4.716666667,pose2_to_pose3_retreat,0.625543861901,1.15330485543e-06,1.06001161072,0.596115098349,0.00867482734969,1.05966114448
+284,4.733333333,pose2_to_pose3_retreat,0.625487147149,1.23159858314e-06,1.0600117184,0.59605838244,0.00867490169366,1.05966125134
+285,4.750000000,pose2_to_pose3_retreat,0.625424778008,1.30620388793e-06,1.06001175426,0.595996012488,0.00867497361089,1.05966128925
+286,4.766666667,pose2_to_pose3_retreat,0.625355917944,1.23216323224e-06,1.06001157079,0.595927152666,0.00867490049702,1.05966110653
+287,4.783333333,pose2_to_pose3_retreat,0.62527792182,1.22819098754e-06,1.06001161985,0.595849157411,0.00867489948951,1.05966115645
+288,4.800000000,pose2_to_pose3_retreat,0.625189679271,1.24689803821e-06,1.06001170753,0.595760915115,0.00867491905705,1.05966124514
+289,4.816666667,pose2_to_pose3_retreat,0.625089820679,1.28621874331e-06,1.06001180241,0.595661055727,0.00867495568517,1.05966134136
+290,4.833333333,pose2_to_pose3_retreat,0.624977961063,1.35000598035e-06,1.06001188912,0.595549193998,0.00867501235485,1.05966142999
+291,4.850000000,pose2_to_pose3_retreat,0.624854517973,1.41427886314e-06,1.06001169768,0.595425749191,0.00867507074763,1.05966123888
+292,4.866666667,pose2_to_pose3_retreat,0.624718688801,1.37517940221e-06,1.06001164214,0.59528992096,0.008675034774,1.059661183
+293,4.883333333,pose2_to_pose3_retreat,0.624572022674,1.31024907698e-06,1.06001165762,0.59514325664,0.00867497578561,1.0596611951
+294,4.900000000,pose2_to_pose3_retreat,0.624414298223,1.26325592393e-06,1.06001169816,0.594985533547,0.00867493313014,1.05966123056
+295,4.916666667,pose2_to_pose3_retreat,0.62424227307,1.21053381828e-06,1.06001174764,0.594813508143,0.00867487982902,1.05966128866
+296,4.933333333,pose2_to_pose3_retreat,0.624054688309,1.23611393585e-06,1.06001175645,0.594625922519,0.00867490244028,1.05966129847
+297,4.950000000,pose2_to_pose3_retreat,0.62384935283,1.28145088742e-06,1.06001171337,0.594420586284,0.00867494510384,1.05966125468
+298,4.966666667,pose2_to_pose3_retreat,0.623625720302,1.3031302382e-06,1.06001165361,0.59419695355,0.00867496594104,1.05966119339
+299,4.983333333,pose2_to_pose3_retreat,0.623379889244,1.24983758308e-06,1.06001166902,0.59395112321,0.00867491481625,1.05966120475
+300,5.000000000,pose2_to_pose3_retreat,0.623114665277,1.18937021202e-06,1.06001187144,0.593685899951,0.00867485656529,1.05966140485
+301,5.016666667,pose2_to_pose3_retreat,0.622829325747,1.24988074917e-06,1.06001176391,0.59340056017,0.00867491596499,1.05966129365
+302,5.033333333,pose2_to_pose3_retreat,0.622526315903,1.26320408817e-06,1.06001172212,0.593097550857,0.00867493121235,1.0596612577
+303,5.050000000,pose2_to_pose3_retreat,0.622206255377,1.25936436555e-06,1.06001167575,0.592777490691,0.00867492885312,1.05966122032
+304,5.066666667,pose2_to_pose3_retreat,0.621870143027,1.27684892358e-06,1.06001153012,0.592441377976,0.00867494508243,1.05966107685
+305,5.083333333,pose2_to_pose3_retreat,0.621520484373,1.1033065187e-06,1.06001173286,0.592091722604,0.00867478238405,1.0596612772
+306,5.100000000,pose2_to_pose3_retreat,0.621159603528,1.2612289218e-06,1.06001188648,0.59173083892,0.00867493004999,1.05966141843
+307,5.116666667,pose2_to_pose3_retreat,0.620785211636,1.30541598908e-06,1.06001180921,0.591356446071,0.00867497076406,1.05966133899
+308,5.133333333,pose2_to_pose3_retreat,0.620395386901,1.3009632919e-06,1.06001179183,0.590966621446,0.00867496658479,1.0596613223
+309,5.150000000,pose2_to_pose3_retreat,0.619985843977,1.33689773818e-06,1.06001202419,0.590557078191,0.00867500116202,1.05966155108
+310,5.166666667,pose2_to_pose3_retreat,0.619554758956,1.25663604239e-06,1.06001149823,0.590125992958,0.00867492044911,1.05966103578
+311,5.183333333,pose2_to_pose3_retreat,0.619097344117,1.37364704912e-06,1.0600115657,0.589668576304,0.00867503118728,1.05966110491
+312,5.200000000,pose2_to_pose3_retreat,0.618618926741,1.391042541e-06,1.06001157803,0.589190159305,0.00867504981812,1.05966111968
+313,5.216666667,pose2_to_pose3_retreat,0.618122017269,1.28882478157e-06,1.0600115558,0.588693251756,0.00867495403576,1.05966109789
+314,5.233333333,pose2_to_pose3_retreat,0.617613124078,1.17248601017e-06,1.06001165014,0.588184359881,0.0086748418547,1.05966118696
+315,5.250000000,pose2_to_pose3_retreat,0.617092914347,1.2096293063e-06,1.06001155635,0.587664149698,0.00867487732575,1.05966109226
+316,5.266666667,pose2_to_pose3_retreat,0.61655945333,1.18120440808e-06,1.0600115151,0.587130689025,0.00867485023414,1.05966105778
+317,5.283333333,pose2_to_pose3_retreat,0.616007544465,1.19389394255e-06,1.060011568,0.586578780103,0.00867486277962,1.05966111298
+318,5.300000000,pose2_to_pose3_retreat,0.615423169705,1.20606821875e-06,1.0600116854,0.585994405098,0.00867487397684,1.05966122617
+319,5.316666667,pose2_to_pose3_retreat,0.61480930104,1.19192929238e-06,1.060011778,0.585380536101,0.00867485839628,1.05966130987
+320,5.333333333,pose2_to_pose3_retreat,0.614167315627,1.25729400296e-06,1.06001169999,0.584738549369,0.00867491900139,1.0596612252
+321,5.350000000,pose2_to_pose3_retreat,0.613512473195,1.23989867408e-06,1.06001155359,0.584083707436,0.00867490370788,1.05966108895
+322,5.366666667,pose2_to_pose3_retreat,0.612852043386,1.40435206789e-06,1.0600116896,0.58342327699,0.00867506630764,1.05966123269
+323,5.383333333,pose2_to_pose3_retreat,0.612198888156,1.4303622916e-06,1.06001170833,0.582770121215,0.00867509024058,1.05966124711
+324,5.400000000,pose2_to_pose3_retreat,0.611547610575,1.36843419831e-06,1.06001171445,0.582118843842,0.00867502878155,1.05966124805
+325,5.416666667,pose2_to_pose3_retreat,0.610889790304,1.27524381356e-06,1.06001174785,0.58146102476,0.00867493973975,1.05966128337
+326,5.433333333,pose2_to_pose3_retreat,0.610217247328,1.09196835928e-06,1.06001153007,0.580788483764,0.00867476349704,1.05966107241
+327,5.450000000,pose2_to_pose3_retreat,0.609528792812,1.23630081027e-06,1.0600116497,0.580100028439,0.00867490465819,1.05966118169
+328,5.466666667,pose2_to_pose3_retreat,0.608822793759,1.27627837374e-06,1.06001170214,0.579394028686,0.00867494201481,1.05966122924
+329,5.483333333,pose2_to_pose3_retreat,0.6081019887,1.22067430886e-06,1.06001176004,0.578673224026,0.00867488770591,1.05966128569
+330,5.500000000,pose2_to_pose3_retreat,0.607366798424,1.17797306557e-06,1.06001185686,0.577938034565,0.0086748478911,1.05966138372
+331,5.516666667,pose2_to_pose3_retreat,0.606621431517,1.26685837818e-06,1.06001189744,0.577192666906,0.00867493456158,1.05966143109
+332,5.533333333,pose2_to_pose3_retreat,0.605869448168,1.14819787231e-06,1.06001167916,0.576440684835,0.00867482037258,1.05966121671
+333,5.550000000,pose2_to_pose3_retreat,0.605124483019,1.16246246319e-06,1.06001185585,0.575695719945,0.00867483521436,1.059661386
+334,5.566666667,pose2_to_pose3_retreat,0.604390671144,1.25459631174e-06,1.060011809,0.574961906584,0.0086749221681,1.05966133577
+335,5.583333333,pose2_to_pose3_retreat,0.603665542839,1.24244433044e-06,1.06001172161,0.574236777826,0.00867490862337,1.05966125183
+336,5.600000000,pose2_to_pose3_retreat,0.602943622326,1.09406685997e-06,1.06001175264,0.573514858792,0.00867476558529,1.05966129087
+337,5.616666667,pose2_to_pose3_retreat,0.602218031268,1.26040601733e-06,1.06001166009,0.572789265255,0.00867492356735,1.05966119961
+338,5.633333333,pose2_to_pose3_retreat,0.601475229945,1.2649534131e-06,1.06001166762,0.572046463236,0.00867492555058,1.05966120202
+339,5.650000000,pose2_to_pose3_retreat,0.600711233719,1.18391634283e-06,1.06001174792,0.571282468412,0.00867484909866,1.05966127803
+340,5.666666667,pose2_to_pose3_retreat,0.599934143362,1.22104280828e-06,1.06001180077,0.570505378573,0.00867488799109,1.05966133104
+341,5.683333333,pose2_to_pose3_retreat,0.59915048339,1.32762717281e-06,1.06001165938,0.569721717845,0.00867499219258,1.05966119405
+342,5.700000000,pose2_to_pose3_retreat,0.598387907514,1.21897529301e-06,1.06001132809,0.568959143094,0.00867488753043,1.05966086714
+343,5.716666667,pose2_to_pose3_retreat,0.59765091082,1.21535990801e-06,1.06001161748,0.56822214749,0.00867488767737,1.059661158
+344,5.733333333,pose2_to_pose3_retreat,0.596942815356,1.25286522128e-06,1.06001156705,0.56751405128,0.00867492262502,1.05966110696
+345,5.750000000,pose2_to_pose3_retreat,0.596255970425,1.29258599644e-06,1.06001167822,0.566827205974,0.0086749608375,1.05966121221
+346,5.766666667,pose2_to_pose3_retreat,0.595581938439,1.30685715399e-06,1.06001181345,0.56615317391,0.00867497469557,1.05966134377
+347,5.783333333,pose2_to_pose3_retreat,0.594895168542,1.2715042127e-06,1.06001178128,0.565466403883,0.00867493914156,1.05966131745
+348,5.800000000,pose2_to_pose3_retreat,0.59419814815,1.22277853008e-06,1.06001180324,0.56476938319,0.00867488920751,1.05966133478
+349,5.816666667,pose2_to_pose3_retreat,0.593499364328,1.28019849022e-06,1.06001174818,0.564070599231,0.00867494596127,1.05966127473
+350,5.833333333,pose2_to_pose3_retreat,0.592804920546,1.31890677388e-06,1.06001176903,0.563376154109,0.00867498014059,1.05966129597
+351,5.850000000,pose2_to_pose3_retreat,0.592115580118,1.29968113622e-06,1.06001171111,0.562686813652,0.00867496106694,1.05966124425
+352,5.866666667,pose2_to_pose3_retreat,0.591443430002,1.26627979086e-06,1.06001157581,0.562014665662,0.00867493513514,1.05966111532
+353,5.883333333,pose2_to_pose3_retreat,0.590789044095,1.32843823233e-06,1.06001176946,0.561360279818,0.00867499736881,1.05966130553
+354,5.900000000,pose2_to_pose3_retreat,0.590160329686,1.25777434024e-06,1.06001143055,0.560731565356,0.00867492700366,1.05966097841
+355,5.916666667,pose2_to_pose3_retreat,0.589559742726,1.30562350638e-06,1.06001164956,0.560130977887,0.00867497269569,1.05966118686
+356,5.933333333,pose2_to_pose3_retreat,0.588988190358,1.33972502354e-06,1.06001165147,0.559559424588,0.00867500354266,1.05966118631
+357,5.950000000,pose2_to_pose3_retreat,0.588427974061,1.30183181012e-06,1.06001144016,0.558999207752,0.00867496412189,1.0596609825
+358,5.966666667,pose2_to_pose3_retreat,0.587871929095,1.14981281089e-06,1.06001163186,0.558443164644,0.00867481834191,1.05966117258
+359,5.983333333,pose2_to_pose3_retreat,0.587310465545,1.2067786802e-06,1.06001144875,0.557881702026,0.00867487858364,1.0596609923
+360,6.000000000,pose2_to_pose3_retreat,0.586748502307,1.34746405661e-06,1.06001139829,0.557319736581,0.0086750117068,1.05966093995
+361,6.016666667,pose2_to_pose3_retreat,0.586201870117,1.37948979561e-06,1.06001159601,0.556773103757,0.00867504130357,1.05966113087
+362,6.033333333,pose2_to_pose3_retreat,0.585680631497,1.3056546519e-06,1.06001179583,0.556251866479,0.00867497192679,1.05966132834
+363,6.050000000,pose2_to_pose3_retreat,0.585191222988,1.22175710993e-06,1.06001177809,0.555762459293,0.00867489272099,1.05966131567
+364,6.066666667,pose2_to_pose3_retreat,0.58472665901,1.10756620059e-06,1.06001183141,0.555297897121,0.00867478416843,1.05966135688
+365,6.083333333,pose2_to_pose3_retreat,0.584283273869,1.12444360095e-06,1.06001180364,0.554854510571,0.00867479646797,1.05966133413
+366,6.100000000,pose2_to_pose3_retreat,0.583849128467,1.24419971313e-06,1.06001164322,0.55442036274,0.00867490826751,1.05966118078
+367,6.116666667,pose2_to_pose3_retreat,0.583426001995,1.32310459872e-06,1.06001152611,0.553997236074,0.00867498665383,1.05966106712
+368,6.133333333,pose2_to_pose3_retreat,0.583022333639,1.30932436787e-06,1.06001155593,0.553593569717,0.00867497963079,1.05966109629
+369,6.150000000,pose2_to_pose3_retreat,0.582642203771,1.33269048562e-06,1.06001164185,0.553213438913,0.0086749998612,1.05966118332
+370,6.166666667,pose2_to_pose3_retreat,0.582288270539,1.36261546248e-06,1.0600116945,0.55285950459,0.00867502550223,1.05966122158
+371,6.183333333,pose2_to_pose3_retreat,0.581960115343,1.33865371047e-06,1.06001150483,0.552531349611,0.00867500282969,1.05966104561
+372,6.200000000,pose2_to_pose3_retreat,0.581653302837,1.31846048256e-06,1.06001152482,0.552224537712,0.00867498486797,1.05966106982
+373,6.216666667,pose2_to_pose3_retreat,0.581358091742,1.29937655176e-06,1.06001177034,0.551929327316,0.00867496766661,1.05966130319
+374,6.233333333,pose2_to_pose3_retreat,0.581072226398,1.17427227316e-06,1.06001154846,0.551643463123,0.00867484674277,1.05966108817
+375,6.250000000,pose2_to_pose3_retreat,0.58079557807,1.28072815396e-06,1.06001172984,0.5513668128,0.00867494626312,1.05966126544
+376,6.266666667,pose2_to_pose3_retreat,0.58053249155,1.29297408008e-06,1.06001180418,0.551103725439,0.00867495547258,1.05966133525
+377,6.283333333,pose2_to_pose3_retreat,0.580284735512,1.35418739361e-06,1.06001180921,0.550855969152,0.00867501580663,1.05966133944
+378,6.300000000,pose2_to_pose3_retreat,0.580056058125,1.37841825485e-06,1.06001173227,0.550627292158,0.00867504150223,1.05966126588
+379,6.316666667,pose2_to_pose3_retreat,0.579845130655,1.1922400292e-06,1.06001158292,0.550416366388,0.00867486124957,1.05966112039
+380,6.333333333,pose2_to_pose3_retreat,0.579651769682,1.27331909559e-06,1.0600119146,0.550223007132,0.0086749478892,1.05966144558
+381,6.350000000,pose2_to_pose3_retreat,0.57947396851,1.27552539537e-06,1.06001172606,0.550045204399,0.00867494493856,1.05966126046
+382,6.366666667,pose2_to_pose3_retreat,0.579312613272,1.3456227543e-06,1.06001172547,0.549883847144,0.00867500843467,1.05966126588
+383,6.383333333,pose2_to_pose3_retreat,0.579165995073,1.34922568906e-06,1.06001177203,0.549737228968,0.00867501210968,1.05966131236
+384,6.400000000,pose2_to_pose3_retreat,0.579034257018,1.28171078343e-06,1.06001174254,0.549605492089,0.00867494850625,1.05966128104
+385,6.416666667,pose2_to_pose3_retreat,0.578918147132,1.2262859826e-06,1.06001165192,0.549489382404,0.0086748938722,1.05966119313
+386,6.433333333,pose2_to_pose3_retreat,0.578814405451,1.2458335805e-06,1.06001178519,0.549385640362,0.00867491189679,1.05966131902
+387,6.450000000,pose2_to_pose3_retreat,0.578721531277,1.3280378378e-06,1.06001171664,0.549292765709,0.00867499229225,1.05966124658
+388,6.466666667,pose2_to_pose3_retreat,0.578638966688,1.29473148145e-06,1.06001171999,0.549210201849,0.00867496185747,1.0596612599
+389,6.483333333,pose2_to_pose3_retreat,0.578567337543,1.12970184106e-06,1.06001172371,0.549138574317,0.00867480224594,1.05966126216
+390,6.500000000,pose2_to_pose3_retreat,0.578505335562,1.00156674203e-06,1.06001166468,0.549076573675,0.00867467823707,1.05966119267
+391,6.516666667,pose2_to_pose3_retreat,0.578452695665,1.12067082231e-06,1.06001157152,0.549023933611,0.00867479689644,1.05966110247
+392,6.533333333,pose2_to_pose3_retreat,0.578409345771,1.23181506217e-06,1.06001171329,0.548980582609,0.00867490390178,1.05966123474
+393,6.550000000,pose2_to_pose3_retreat,0.578373001181,1.26459668608e-06,1.06001166306,0.548944237589,0.0086749358191,1.0596611992
+394,6.566666667,pose2_to_pose3_retreat,0.57834322094,1.29696566155e-06,1.06001165881,0.548914455457,0.00867496179478,1.05966119557
+395,6.583333333,pose2_to_pose3_retreat,0.57831890287,1.27577972208e-06,1.0600117272,0.548890136902,0.00867493872903,1.0596612581
+396,6.600000000,pose2_to_pose3_retreat,0.57829980826,1.18175245173e-06,1.06001181565,0.548871044461,0.00867485201154,1.05966134533
+397,6.616666667,pose2_to_pose3_retreat,0.578285452906,1.12045624657e-06,1.06001179943,0.548856689579,0.00867479239006,1.05966133094
+398,6.633333333,pose2_to_pose3_retreat,0.578275099515,1.25502024607e-06,1.06001175666,0.548846335258,0.00867492424467,1.05966129925
+399,6.650000000,pose2_to_pose3_retreat,0.578267815028,1.32683843925e-06,1.06001165516,0.548839050063,0.00867499382596,1.05966120184
+400,6.666666667,pose2_to_pose3_retreat,0.578262755599,1.33498997556e-06,1.06001152256,0.54883399024,0.00867500057323,1.05966106755
+401,6.683333333,pose2_to_pose3_retreat,0.578259795166,1.34341596862e-06,1.06001158228,0.548831030142,0.0086750100145,1.05966112429
+402,6.700000000,pose2_to_pose3_retreat,0.578257779668,1.34959693135e-06,1.06001163962,0.548829014941,0.00867501710997,1.05966117937
+403,6.716666667,pose2_to_pose3_retreat,0.578256538891,1.36220534177e-06,1.06001166457,0.548827773894,0.00867502871166,1.05966120209
+404,6.733333333,pose2_to_pose3_retreat,0.578255583566,1.37957958305e-06,1.06001167476,0.548826817967,0.00867504394378,1.05966120984
+405,6.750000000,pose2_to_pose3_retreat,0.578254817713,1.39350794624e-06,1.06001168294,0.548826051632,0.00867505615487,1.05966121606
+406,6.766666667,pose2_to_pose3_retreat,0.578254216758,1.40443735586e-06,1.06001168935,0.548825450298,0.00867506573677,1.05966122093
+407,6.783333333,pose2_to_pose3_retreat,0.578253811325,1.38313175991e-06,1.06001168514,0.54882504475,0.00867504406942,1.05966121741
+408,6.800000000,pose2_to_pose3_retreat,0.578253591063,1.3662950258e-06,1.06001168129,0.548824824451,0.00867502713658,1.05966121425
+409,6.816666667,pose2_to_pose3_retreat,0.578253499326,1.35928270278e-06,1.06001167969,0.548824732699,0.00867502008423,1.05966121293
+410,6.833333333,pose2_to_pose3_retreat,0.578253482076,1.3579641187e-06,1.06001167939,0.548824715446,0.00867501875812,1.05966121268
+411,6.850000000,pose2_to_pose3_retreat,0.578253341401,1.34721100146e-06,1.06001167693,0.548824574748,0.00867500794363,1.05966121066
+412,6.866666667,pose2_to_pose3_retreat,0.578253336364,1.34682594472e-06,1.06001167684,0.54882456971,0.00867500755637,1.05966121059
+413,6.883333333,pose2_to_pose3_retreat,0.578253036876,1.32393321429e-06,1.06001167161,0.548824270172,0.00867498453297,1.05966120629
+414,6.900000000,pose2_to_pose3_retreat,0.578252854773,1.310013348e-06,1.06001166843,0.548824088039,0.00867497053365,1.05966120367
+415,6.916666667,pose2_to_pose3_retreat,0.578252844887,1.3092576677e-06,1.06001166826,0.548824078151,0.00867496977366,1.05966120353
+416,6.933333333,pose2_to_pose3_retreat,0.5782528235,1.30762289083e-06,1.06001166788,0.548824056761,0.00867496812955,1.05966120322
+417,6.950000000,pose2_to_pose3_retreat,0.578252713884,1.29924389342e-06,1.06001166597,0.548823947127,0.00867495970273,1.05966120165
+418,6.966666667,pose2_to_pose3_retreat,0.578252586279,1.26877586152e-06,1.06001169206,0.548823820074,0.00867493108827,1.05966122729
+419,6.983333333,pose2_to_pose3_retreat,0.578252557497,1.2604491119e-06,1.06001169994,0.548823791456,0.00867492331366,1.059661235
+420,7.000000000,pose2_to_pose3_retreat,0.578252495209,1.24242893536e-06,1.06001171698,0.548823729524,0.00867490648841,1.05966125169
+421,7.016666667,pose2_to_pose3_retreat,0.578252486664,1.23995695415e-06,1.06001171932,0.548823721028,0.00867490418034,1.05966125398
+422,7.033333333,pose2_to_pose3_retreat,0.578252383562,1.2101293228e-06,1.06001174753,0.548823618516,0.00867487633058,1.05966128161
+423,7.050000000,pose2_to_pose3_retreat,0.578252308451,1.18839960893e-06,1.06001176808,0.548823543835,0.00867485604177,1.05966130174
+424,7.066666667,pose2_to_pose3_retreat,0.578252278622,1.17977000662e-06,1.06001177624,0.548823514177,0.0086748479844,1.05966130973
+425,7.083333333,pose2_to_pose3_retreat,0.578252265979,1.1761124924e-06,1.0600117797,0.548823501606,0.00867484456941,1.05966131312
+426,7.100000000,pose2_to_pose3_retreat,0.578252195461,1.18967991558e-06,1.06001172843,0.5488234314,0.00867485924575,1.05966126312
+427,7.116666667,pose2_to_pose3_retreat,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977468,1.05966107186

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe4afcdda2f211e5396fdeff0958e3827d23a81a269080a10bdee3f19950964
+size 26728076

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/simulation_data.csv

@@ -0,0 +1,423 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+1,0.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+2,0.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+3,0.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+4,0.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+5,0.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+6,0.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+7,0.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+8,0.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+9,0.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+10,0.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+11,0.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+12,0.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+13,0.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+14,0.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+15,0.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+16,0.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+17,0.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+18,0.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+19,0.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+20,0.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+21,0.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+22,0.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+23,0.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+24,0.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+25,0.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+26,0.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+27,0.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+28,0.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+29,0.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+30,0.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+31,0.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+32,0.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+33,0.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+34,0.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+35,0.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+36,0.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+37,0.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+38,0.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+39,0.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+40,0.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+41,0.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+42,0.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+43,0.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+44,0.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+45,0.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+46,0.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+47,0.783333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+48,0.800000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+49,0.816666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+50,0.833333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+51,0.850000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+52,0.866666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+53,0.883333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+54,0.900000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+55,0.916666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+56,0.933333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+57,0.950000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+58,0.966666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+59,0.983333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+60,1.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+61,1.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+62,1.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+63,1.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+64,1.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+65,1.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+66,1.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+67,1.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+68,1.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+69,1.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+70,1.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+71,1.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+72,1.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+73,1.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+74,1.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+75,1.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+76,1.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+77,1.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+78,1.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+79,1.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+80,1.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+81,1.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+82,1.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+83,1.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+84,1.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+85,1.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+86,1.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+87,1.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+88,1.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+89,1.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+90,1.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+91,1.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+92,1.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+93,1.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+94,1.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+95,1.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+96,1.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+97,1.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+98,1.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+99,1.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+100,1.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+101,1.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+102,1.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+103,1.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+104,1.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+105,1.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+106,1.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+107,1.783333333,pose1_to_pose2_press,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.0086747376452,1.06966121473
+108,1.800000000,pose1_to_pose2_press,0.578252272971,1.23545149031e-06,1.07001170833,0.548823508957,0.00867490483919,1.06966123466
+109,1.816666667,pose1_to_pose2_press,0.578252600399,1.27916098778e-06,1.07001176254,0.548823835991,0.00867494737237,1.06966129281
+110,1.833333333,pose1_to_pose2_press,0.578253097796,1.31979093415e-06,1.07001169209,0.548824332514,0.00867498524135,1.06966122742
+111,1.850000000,pose1_to_pose2_press,0.57825338604,1.33558175571e-06,1.07001160528,0.548824620168,0.00867499913908,1.06966114327
+112,1.866666667,pose1_to_pose2_press,0.578253453583,1.33928196179e-06,1.07001158494,0.548824687573,0.00867500239569,1.06966112355
+113,1.883333333,pose1_to_pose2_press,0.578253830597,1.35993588439e-06,1.0700114714,0.548825063816,0.00867502057351,1.06966101349
+114,1.900000000,pose1_to_pose2_press,0.57825499169,1.35901042258e-06,1.07001147039,0.548826224742,0.00867501900868,1.06966101077
+115,1.916666667,pose1_to_pose2_press,0.5782577863,1.31054174925e-06,1.07001167976,0.548829020554,0.00867497423356,1.06966121046
+116,1.933333333,pose1_to_pose2_press,0.578264885839,1.25527394566e-06,1.07001159975,0.548836120947,0.00867492224059,1.06966113979
+117,1.950000000,pose1_to_pose2_press,0.578277879336,1.33695205593e-06,1.07001170091,0.54884911371,0.00867500122955,1.06966123606
+118,1.966666667,pose1_to_pose2_press,0.578300275316,1.39861145514e-06,1.07001162804,0.548871507089,0.00867505439481,1.06966117129
+119,1.983333333,pose1_to_pose2_press,0.578332732978,1.31157791694e-06,1.07001166229,0.548903967681,0.0086749773388,1.06966120634
+120,2.000000000,pose1_to_pose2_press,0.578377503639,1.3107041595e-06,1.07001169356,0.548948737735,0.00867497410621,1.06966123019
+121,2.016666667,pose1_to_pose2_press,0.578433270755,1.41911653498e-06,1.07001151817,0.549004503617,0.00867507858794,1.06966106103
+122,2.033333333,pose1_to_pose2_press,0.578500205959,1.42072236262e-06,1.07001176836,0.549071440182,0.00867508455692,1.06966130483
+123,2.050000000,pose1_to_pose2_press,0.578577400109,1.26624999526e-06,1.07001148759,0.549148632628,0.0086749238535,1.06966101288
+124,2.066666667,pose1_to_pose2_press,0.578665070259,1.34385097399e-06,1.07001176218,0.549236303824,0.00867500524203,1.06966129333
+125,2.083333333,pose1_to_pose2_press,0.578766772643,1.29735358532e-06,1.0700115381,0.549338006859,0.00867496125339,1.06966107662
+126,2.100000000,pose1_to_pose2_press,0.578882970066,1.34497450523e-06,1.07001170734,0.5494542037,0.00867500637819,1.069661233
+127,2.116666667,pose1_to_pose2_press,0.57901603924,1.37157754924e-06,1.07001174741,0.549587272039,0.00867503065574,1.06966128555
+128,2.133333333,pose1_to_pose2_press,0.579163902803,1.30729334456e-06,1.07001163881,0.549735138164,0.0086749750129,1.0696611756
+129,2.150000000,pose1_to_pose2_press,0.579326545632,1.18069155296e-06,1.07001151737,0.549897781322,0.00867484976148,1.06966105997
+130,2.166666667,pose1_to_pose2_press,0.579500999175,1.36316995926e-06,1.07001165794,0.550072232205,0.00867502281628,1.06966119063
+131,2.183333333,pose1_to_pose2_press,0.579687780469,1.33757819707e-06,1.07001177339,0.550259012648,0.00867499430376,1.0696613051
+132,2.200000000,pose1_to_pose2_press,0.579892747633,1.46976729335e-06,1.07001161132,0.550463979941,0.00867512696941,1.069661144
+133,2.216666667,pose1_to_pose2_press,0.580118321707,1.28441856492e-06,1.07001159829,0.55068955592,0.00867494841534,1.06966113912
+134,2.233333333,pose1_to_pose2_press,0.580369520927,1.11459973929e-06,1.07001153469,0.550940758515,0.00867479022867,1.06966107994
+135,2.250000000,pose1_to_pose2_press,0.580646478064,1.20121100028e-06,1.07001157234,0.551217714185,0.00867487181243,1.06966111633
+136,2.266666667,pose1_to_pose2_press,0.580948646953,1.24996391885e-06,1.07001172456,0.551519881759,0.00867491577073,1.06966126022
+137,2.283333333,pose1_to_pose2_press,0.581274906373,1.26606762392e-06,1.07001170945,0.551846140553,0.00867492974841,1.06966124502
+138,2.300000000,pose1_to_pose2_press,0.581622857994,1.25672043595e-06,1.07001169039,0.552194092164,0.00867492059892,1.06966123164
+139,2.316666667,pose1_to_pose2_press,0.581991440276,1.24183484025e-06,1.07001169903,0.55256267561,0.00867490961319,1.06966123905
+140,2.333333333,pose1_to_pose2_press,0.58238160275,1.29607319878e-06,1.07001164763,0.552952837625,0.00867496221801,1.0696611857
+141,2.350000000,pose1_to_pose2_press,0.582796264006,1.2620749882e-06,1.0700116518,0.553367498308,0.00867492626953,1.06966118971
+142,2.366666667,pose1_to_pose2_press,0.583228283696,1.23979697133e-06,1.07001169747,0.553799517935,0.00867490370184,1.06966123339
+143,2.383333333,pose1_to_pose2_press,0.583677179221,1.3272083501e-06,1.07001174427,0.554248412753,0.00867498869551,1.06966127972
+144,2.400000000,pose1_to_pose2_press,0.584149492366,1.22506046378e-06,1.07001168962,0.554720727705,0.00867489268935,1.0696612253
+145,2.416666667,pose1_to_pose2_press,0.584645538405,1.3221249994e-06,1.0700117499,0.555216773383,0.00867498857044,1.06966128651
+146,2.433333333,pose1_to_pose2_press,0.585170063554,1.37193531537e-06,1.07001166211,0.555741296844,0.00867503281037,1.0696612026
+147,2.450000000,pose1_to_pose2_press,0.585724516517,1.26804219955e-06,1.07001188,0.556295751672,0.00867493503368,1.06966141529
+148,2.466666667,pose1_to_pose2_press,0.586309266963,1.33499748462e-06,1.07001165506,0.556880500788,0.00867499744495,1.06966118947
+149,2.483333333,pose1_to_pose2_press,0.586909371271,1.28782927542e-06,1.07001170787,0.557480605918,0.00867495270179,1.06966123328
+150,2.500000000,pose1_to_pose2_press,0.587520967319,1.30017750591e-06,1.07001191598,0.55809220266,0.00867496751102,1.069661444
+151,2.516666667,pose1_to_pose2_press,0.588140781216,1.22223691946e-06,1.07001152218,0.558712016196,0.00867488891058,1.06966106416
+152,2.533333333,pose1_to_pose2_press,0.588773116507,1.4050851691e-06,1.07001175166,0.559344349982,0.0086750663967,1.06966128732
+153,2.550000000,pose1_to_pose2_press,0.589424107766,1.46450579448e-06,1.07001167033,0.559995339607,0.00867512034087,1.06966120762
+154,2.566666667,pose1_to_pose2_press,0.590097900618,1.36985408682e-06,1.07001152671,0.560669133548,0.00867502957997,1.06966106885
+155,2.583333333,pose1_to_pose2_press,0.590793637806,1.46544606799e-06,1.07001159393,0.561364869228,0.00867512010128,1.06966113717
+156,2.600000000,pose1_to_pose2_press,0.591506519022,1.18794936345e-06,1.07001167489,0.562077755115,0.00867485794044,1.06966120549
+157,2.616666667,pose1_to_pose2_press,0.592234699183,1.18854729017e-06,1.07001175678,0.562805935861,0.0086748605403,1.06966128785
+158,2.633333333,pose1_to_pose2_press,0.592982520202,1.30243327467e-06,1.07001170974,0.563553755548,0.00867497001544,1.06966124347
+159,2.650000000,pose1_to_pose2_press,0.593741335293,1.31207212482e-06,1.07001168369,0.56431256962,0.00867497605363,1.06966121383
+160,2.666666667,pose1_to_pose2_press,0.594504889371,1.29235650135e-06,1.07001159088,0.565076122843,0.00867495367429,1.0696611269
+161,2.683333333,pose1_to_pose2_press,0.595280519833,1.23879166424e-06,1.07001157846,0.565851754506,0.0086749043735,1.06966111927
+162,2.700000000,pose1_to_pose2_press,0.596065414549,1.23911701579e-06,1.07001179056,0.566636650177,0.00867490758852,1.06966132267
+163,2.716666667,pose1_to_pose2_press,0.596850131146,1.30563936392e-06,1.07001191815,0.56742136527,0.00867496895521,1.06966144906
+164,2.733333333,pose1_to_pose2_press,0.597637128407,1.30825137446e-06,1.07001177422,0.568208362062,0.00867497041969,1.06966131604
+165,2.750000000,pose1_to_pose2_press,0.598424569476,1.27337229684e-06,1.07001167848,0.56899580436,0.00867493967062,1.06966121937
+166,2.766666667,pose1_to_pose2_press,0.599209630489,1.2476238786e-06,1.07001179827,0.569780866056,0.00867491587032,1.06966133003
+167,2.783333333,pose1_to_pose2_press,0.599992789367,1.14545020068e-06,1.0700117488,0.570564026875,0.0086748203883,1.06966128326
+168,2.800000000,pose1_to_pose2_press,0.600774762953,1.09109237523e-06,1.07001172923,0.571345999602,0.00867476302912,1.06966126153
+169,2.816666667,pose1_to_pose2_press,0.601560616709,1.2922235583e-06,1.07001200821,0.572131852619,0.00867496152942,1.06966153763
+170,2.833333333,pose1_to_pose2_press,0.602356680797,1.45400201759e-06,1.07001169648,0.572927912768,0.0086751098579,1.0696612238
+171,2.850000000,pose1_to_pose2_press,0.60315999906,1.35846114102e-06,1.07001173309,0.573731233282,0.00867502256674,1.06966127559
+172,2.866666667,pose1_to_pose2_press,0.603970576898,1.24967661372e-06,1.07001151777,0.574541812637,0.00867491881307,1.06966105746
+173,2.883333333,pose1_to_pose2_press,0.604773142123,1.33931232378e-06,1.07001181019,0.575344377278,0.00867500597641,1.06966133779
+174,2.900000000,pose1_to_pose2_press,0.605563407209,1.21246080629e-06,1.07001167116,0.576134643337,0.00867488263499,1.06966120401
+175,2.916666667,pose1_to_pose2_press,0.606329994703,1.28206746819e-06,1.07001190955,0.576901229059,0.00867494598332,1.06966143636
+176,2.933333333,pose1_to_pose2_press,0.607074209769,1.28860258964e-06,1.07001182047,0.577645445611,0.00867495766116,1.06966134977
+177,2.950000000,pose1_to_pose2_press,0.607801074686,1.31566915356e-06,1.07001178853,0.578372308912,0.00867497934191,1.06966132041
+178,2.966666667,pose1_to_pose2_press,0.608518149979,1.25119472105e-06,1.07001179591,0.579089385193,0.00867491823671,1.06966132822
+179,2.983333333,pose1_to_pose2_press,0.609227084108,1.28815543625e-06,1.07001177777,0.579798318181,0.00867495144931,1.0696613133
+180,3.000000000,pose1_to_pose2_press,0.609942962868,1.24322196288e-06,1.07001167867,0.580514196886,0.00867490652667,1.06966121906
+181,3.016666667,pose1_to_pose2_press,0.610659625699,1.17160671842e-06,1.07001166666,0.58123086049,0.0086748372111,1.06966119914
+182,3.033333333,pose1_to_pose2_press,0.611358020817,1.16032464407e-06,1.07001185871,0.581929256806,0.00867482966486,1.06966138315
+183,3.050000000,pose1_to_pose2_press,0.612035384606,1.19147054744e-06,1.07001176093,0.582606619275,0.00867485655263,1.06966129094
+184,3.066666667,pose1_to_pose2_press,0.612685964624,1.2125176372e-06,1.07001165868,0.583257199989,0.00867488015091,1.06966119342
+185,3.083333333,pose1_to_pose2_press,0.613294220939,1.35447472449e-06,1.07001183298,0.583865454387,0.00867501527573,1.06966135973
+186,3.100000000,pose1_to_pose2_press,0.613856504195,1.45394896246e-06,1.07001182091,0.584427735225,0.00867510651029,1.06966134676
+187,3.116666667,pose1_to_pose2_press,0.61439764338,1.32456692629e-06,1.07001178776,0.584968876647,0.00867498470977,1.06966131354
+188,3.133333333,pose1_to_pose2_press,0.614924640227,1.19760347468e-06,1.07001195787,0.585495876485,0.0086748677142,1.0696614792
+189,3.150000000,pose1_to_pose2_press,0.615445862014,1.38192566297e-06,1.07001182216,0.586017095278,0.00867504242007,1.06966135706
+190,3.166666667,pose1_to_pose2_press,0.615963897175,1.2660321464e-06,1.07001152283,0.586535131432,0.0086749300295,1.06966106124
+191,3.183333333,pose1_to_pose2_press,0.616474928072,1.1837743856e-06,1.07001155994,0.587046164652,0.00867485565834,1.06966109801
+192,3.200000000,pose1_to_pose2_press,0.616954976681,1.29688785553e-06,1.07001179361,0.587526209286,0.00867495523903,1.06966132929
+193,3.216666667,pose1_to_pose2_press,0.617401485573,1.29763069859e-06,1.07001188729,0.587972720411,0.00867496365642,1.06966142334
+194,3.233333333,pose1_to_pose2_press,0.61781263982,1.28009035222e-06,1.07001181626,0.588383874485,0.0086749453684,1.06966134527
+195,3.250000000,pose1_to_pose2_press,0.618197041074,1.26591632437e-06,1.07001204495,0.588768276031,0.00867493211636,1.06966157196
+196,3.266666667,pose1_to_pose2_press,0.61855991359,1.205444466e-06,1.07001195936,0.589131149378,0.00867487449854,1.0696614846
+197,3.283333333,pose1_to_pose2_press,0.618907123529,1.16882415076e-06,1.07001170894,0.58947836009,0.00867484096561,1.06966124284
+198,3.300000000,pose1_to_pose2_press,0.619239033378,1.3041424544e-06,1.07001171873,0.58981026853,0.00867497194875,1.06966126084
+199,3.316666667,pose1_to_pose2_press,0.619549901935,1.25348187722e-06,1.07001170148,0.590121137347,0.00867492193871,1.06966123508
+200,3.333333333,pose1_to_pose2_press,0.619839718615,1.33029655955e-06,1.07001182736,0.590410953043,0.00867499541054,1.06966135833
+201,3.350000000,pose1_to_pose2_press,0.620105698957,1.275719335e-06,1.07001185902,0.590676934276,0.0086749438546,1.06966138752
+202,3.366666667,pose1_to_pose2_press,0.620348693752,1.19049323223e-06,1.07001175787,0.590919929548,0.00867486022712,1.06966128376
+203,3.383333333,pose1_to_pose2_press,0.620567265653,1.19121528234e-06,1.07001168369,0.591138501031,0.0086748597149,1.06966121217
+204,3.400000000,pose1_to_pose2_press,0.620765909705,1.22153694115e-06,1.07001169295,0.591337144954,0.00867488991949,1.06966122748
+205,3.416666667,pose1_to_pose2_press,0.620945974552,1.32137977572e-06,1.07001168152,0.591517208059,0.00867498409312,1.06966122099
+206,3.433333333,pose1_to_pose2_press,0.621109330004,1.38234208782e-06,1.07001143405,0.591680561696,0.00867503886389,1.06966097058
+207,3.450000000,pose1_to_pose2_press,0.621258625044,1.28276511997e-06,1.07001168176,0.591829860347,0.00867495136759,1.06966121281
+208,3.466666667,pose1_to_pose2_press,0.621395369329,1.31090951519e-06,1.07001140066,0.591966602906,0.00867497422571,1.06966094444
+209,3.483333333,pose1_to_pose2_press,0.621520180286,1.2973660291e-06,1.07001180795,0.592091413504,0.00867495930205,1.06966134638
+210,3.500000000,pose1_to_pose2_press,0.621632376385,1.36754944298e-06,1.0700119249,0.592203610634,0.00867503270566,1.0696614556
+211,3.516666667,pose1_to_pose2_press,0.621731484112,1.2563501318e-06,1.07001182451,0.592302718687,0.00867492275831,1.06966135548
+212,3.533333333,pose1_to_pose2_press,0.621816802341,1.31485165766e-06,1.07001158294,0.592388036646,0.00867498077144,1.06966112167
+213,3.550000000,pose1_to_pose2_press,0.62188711327,1.31912556917e-06,1.07001181724,0.592458346841,0.00867498228752,1.06966135027
+214,3.566666667,pose1_to_pose2_press,0.621944506774,1.31124790078e-06,1.07001175002,0.592515739913,0.00867497297323,1.06966128514
+215,3.583333333,pose1_to_pose2_press,0.621990001952,1.32234333549e-06,1.07001163357,0.592561235218,0.00867498471591,1.06966117507
+216,3.600000000,pose1_to_pose2_press,0.622027698326,1.33210811292e-06,1.07001169321,0.592598931875,0.00867499532326,1.06966123109
+217,3.616666667,pose1_to_pose2_press,0.622058757583,1.34589973384e-06,1.07001175702,0.592629991016,0.00867500834283,1.06966128408
+218,3.633333333,pose1_to_pose2_press,0.622083944268,1.38136111667e-06,1.07001158097,0.592655176983,0.00867504138003,1.06966111001
+219,3.650000000,pose1_to_pose2_press,0.622103372552,1.32463532609e-06,1.07001164602,0.59267460509,0.00867498450224,1.06966118267
+220,3.666666667,pose1_to_pose2_press,0.622117252354,1.38903001222e-06,1.07001153278,0.592688483687,0.00867504495141,1.06966107374
+221,3.683333333,pose1_to_pose2_press,0.622127192464,1.37855834067e-06,1.07001153949,0.592698424641,0.00867503706336,1.06966107452
+222,3.700000000,pose1_to_pose2_press,0.622133972246,1.37454934888e-06,1.07001158738,0.592705205293,0.00867503577622,1.06966111731
+223,3.716666667,pose1_to_pose2_press,0.622138986148,1.45660928377e-06,1.07001164517,0.592710218629,0.00867511606153,1.06966117904
+224,3.733333333,pose1_to_pose2_press,0.622142493394,1.40957451448e-06,1.0700116642,0.592713727142,0.0086750733344,1.06966119826
+225,3.750000000,pose1_to_pose2_press,0.622144899997,1.32781234361e-06,1.07001166713,0.592716135404,0.00867499715749,1.06966120009
+226,3.766666667,pose1_to_pose2_press,0.622146256027,1.34729991591e-06,1.07001170219,0.5927174907,0.00867501426578,1.06966123701
+227,3.783333333,pose1_to_pose2_press,0.622146808593,1.36426151451e-06,1.07001172108,0.592718042738,0.00867502949743,1.069661257
+228,3.800000000,pose1_to_pose2_press,0.622147097924,1.37314281423e-06,1.07001173096,0.592718331792,0.00867503747291,1.06966126746
+229,3.816666667,pose1_to_pose2_press,0.622147179672,1.37565215133e-06,1.07001173376,0.592718413462,0.00867503972632,1.06966127042
+230,3.833333333,pose1_to_pose2_press,0.622147485596,1.38504279722e-06,1.07001174421,0.592718719094,0.00867504815919,1.06966128149
+231,3.850000000,pose1_to_pose2_press,0.622147821621,1.39535743971e-06,1.0700117557,0.592719054798,0.00867505742182,1.06966129364
+232,3.866666667,pose1_to_pose2_press,0.622147831987,1.39567562369e-06,1.07001175605,0.592719065154,0.00867505770755,1.06966129401
+233,3.883333333,pose1_to_pose2_press,0.622147864177,1.39666372898e-06,1.07001175715,0.592719097313,0.00867505859488,1.06966129518
+234,3.900000000,pose1_to_pose2_press,0.62214821916,1.41826184795e-06,1.07001173097,0.592719451639,0.00867507797156,1.06966126926
+235,3.916666667,pose1_to_pose2_press,0.622148652964,1.45852078305e-06,1.07001164935,0.59271988423,0.00867511407758,1.06966118739
+236,3.933333333,pose1_to_pose2_press,0.622149154122,1.50503031463e-06,1.07001155505,0.592720383985,0.00867515578942,1.0696610928
+237,3.950000000,pose1_to_pose2_press,0.622149493174,1.44883960869e-06,1.07001162597,0.592720723851,0.00867510220863,1.06966116015
+238,3.966666667,pose1_to_pose2_press,0.622149642603,1.39367071538e-06,1.07001170396,0.592720874249,0.0086750502211,1.0696612354
+239,3.983333333,pose1_to_pose2_press,0.622149668978,1.38393324664e-06,1.07001171773,0.592720900795,0.00867504104515,1.06966124868
+240,4.000000000,pose1_to_pose2_press,0.622149790268,1.33915326088e-06,1.07001178103,0.592721022872,0.00867499884745,1.06966130976
+241,4.016666667,pose1_to_pose2_press,0.622149874005,1.29097702476e-06,1.07001178618,0.592721106729,0.00867495122669,1.06966131819
+242,4.033333333,pose1_to_pose2_press,0.622149890594,1.2773185519e-06,1.07001177801,0.592721123242,0.00867493738575,1.06966131182
+243,4.050000000,pose1_to_pose2_press,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127922,0.00867493346292,1.06966131001
+244,4.066666667,pose1_to_pose2_press,0.622149895296,1.2734474309e-06,1.07001177569,0.59272112792,0.00867493346416,1.06966131001
+245,4.083333333,pose1_to_pose2_press,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346488,1.06966131001
+246,4.100000000,pose1_to_pose2_press,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346556,1.06966131001
+247,4.116666667,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346633,1.06966131001
+248,4.133333333,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346634,1.06966131001
+249,4.150000000,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346634,1.06966131001
+250,4.166666667,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346638,1.06966131001
+251,4.183333333,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346636,1.06966131001
+252,4.200000000,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346634,1.06966131001
+253,4.216666667,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127918,0.00867493346644,1.06966131001
+254,4.233333333,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346666,1.06966131001
+255,4.250000000,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346527,1.06966131001
+256,4.266666667,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346529,1.06966131001
+257,4.283333333,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346528,1.06966131001
+258,4.300000000,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.0086749334661,1.06966131001
+259,4.316666667,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346601,1.06966131001
+260,4.333333333,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346602,1.06966131001
+261,4.350000000,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346606,1.06966131001
+262,4.366666667,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346606,1.06966131001
+263,4.383333333,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.00867493346607,1.06966131001
+264,4.400000000,pose2_hold,0.622149895296,1.2734474309e-06,1.07001177569,0.592721127919,0.0086749334661,1.06966131001
+265,4.416666667,pose2_to_pose3_retreat,0.622149895296,1.2734474309e-06,1.07001177569,0.59272112792,0.00867493346602,1.06966131001
+266,4.433333333,pose2_to_pose3_retreat,0.622149888541,1.27171707951e-06,1.07001176263,0.592721121207,0.00867493187818,1.06966129687
+267,4.450000000,pose2_to_pose3_retreat,0.622149883084,1.27031940476e-06,1.07001175208,0.592721115785,0.00867493059561,1.06966128626
+268,4.466666667,pose2_to_pose3_retreat,0.622149881386,1.26988438764e-06,1.0700117488,0.592721114098,0.00867493019642,1.06966128296
+269,4.483333333,pose2_to_pose3_retreat,0.622149875698,1.26842763931e-06,1.07001173781,0.592721108447,0.00867492885965,1.0696612719
+270,4.500000000,pose2_to_pose3_retreat,0.622149853561,1.26275724092e-06,1.07001169501,0.59272108645,0.00867492365625,1.06966122884
+271,4.516666667,pose2_to_pose3_retreat,0.622149570767,1.37702423298e-06,1.07001177445,0.592720802037,0.00867503220511,1.06966130274
+272,4.533333333,pose2_to_pose3_retreat,0.62214829809,1.3958984397e-06,1.0700116207,0.592719529887,0.00867505338643,1.06966116256
+273,4.550000000,pose2_to_pose3_retreat,0.622144844693,1.26554027357e-06,1.07001161603,0.592716080281,0.008674935586,1.06966115013
+274,4.566666667,pose2_to_pose3_retreat,0.622136986714,1.28105759568e-06,1.07001138861,0.592708221609,0.00867494906091,1.06966093039
+275,4.583333333,pose2_to_pose3_retreat,0.622123460798,1.27314256318e-06,1.07001154979,0.592694695185,0.00867493956304,1.0696610943
+276,4.600000000,pose2_to_pose3_retreat,0.622101511967,1.37727237456e-06,1.07001155184,0.592672743276,0.00867503279684,1.0696610837
+277,4.616666667,pose2_to_pose3_retreat,0.622071088589,1.30578443042e-06,1.07001161998,0.592642321823,0.00867496781052,1.06966115303
+278,4.633333333,pose2_to_pose3_retreat,0.622032516311,1.339661476e-06,1.07001150055,0.592603750912,0.0086750064663,1.06966103953
+279,4.650000000,pose2_to_pose3_retreat,0.621987527801,1.30303615233e-06,1.07001166305,0.592558762983,0.00867497202533,1.06966120473
+280,4.666666667,pose2_to_pose3_retreat,0.62193674556,1.29584553647e-06,1.07001139146,0.592507980484,0.00867496418402,1.06966093746
+281,4.683333333,pose2_to_pose3_retreat,0.621881801934,1.23177215818e-06,1.07001155707,0.592453036119,0.00867489693011,1.06966108916
+282,4.700000000,pose2_to_pose3_retreat,0.621822187168,1.27444053217e-06,1.07001160629,0.592393420972,0.00867493861288,1.06966114659
+283,4.716666667,pose2_to_pose3_retreat,0.621755587351,1.36437200902e-06,1.07001170906,0.592326820593,0.0086750264085,1.06966124594
+284,4.733333333,pose2_to_pose3_retreat,0.62168106535,1.3857339292e-06,1.07001179062,0.592252298527,0.0086750472792,1.06966132283
+285,4.750000000,pose2_to_pose3_retreat,0.621596493318,1.19360046534e-06,1.0700117595,0.592167727787,0.0086748598024,1.06966129817
+286,4.766666667,pose2_to_pose3_retreat,0.621499586753,1.26466736567e-06,1.07001176718,0.592070822031,0.00867493353262,1.06966130477
+287,4.783333333,pose2_to_pose3_retreat,0.621388620808,1.30822422807e-06,1.07001162398,0.591959855484,0.00867497518596,1.06966116608
+288,4.800000000,pose2_to_pose3_retreat,0.621264909139,1.32418534695e-06,1.07001151217,0.591836142829,0.00867498771043,1.06966105327
+289,4.816666667,pose2_to_pose3_retreat,0.621128974308,1.3197801004e-06,1.07001160576,0.591700207633,0.00867498148286,1.06966113393
+290,4.833333333,pose2_to_pose3_retreat,0.620979828252,1.28153251261e-06,1.07001188963,0.591551061463,0.00867494276889,1.06966141741
+291,4.850000000,pose2_to_pose3_retreat,0.620819508222,1.25537217111e-06,1.07001192529,0.591390743336,0.00867492307881,1.06966145516
+292,4.866666667,pose2_to_pose3_retreat,0.620648404739,1.21379996489e-06,1.07001176321,0.591219640495,0.00867488380502,1.06966129736
+293,4.883333333,pose2_to_pose3_retreat,0.620463516592,1.16831565071e-06,1.07001153222,0.591034751797,0.00867483652837,1.06966106942
+294,4.900000000,pose2_to_pose3_retreat,0.620263685498,1.16925100318e-06,1.07001156055,0.590834921173,0.00867483866071,1.06966109027
+295,4.916666667,pose2_to_pose3_retreat,0.620048428399,1.22362618195e-06,1.07001162237,0.590619662843,0.00867488894701,1.06966115684
+296,4.933333333,pose2_to_pose3_retreat,0.619817200935,1.22593815639e-06,1.07001176837,0.590388436266,0.00867489422801,1.06966130374
+297,4.950000000,pose2_to_pose3_retreat,0.619566544673,1.22551638568e-06,1.07001188525,0.590137781151,0.00867489753811,1.0696614186
+298,4.966666667,pose2_to_pose3_retreat,0.619298451599,1.31593521992e-06,1.07001179117,0.589869685825,0.00867498020476,1.06966132435
+299,4.983333333,pose2_to_pose3_retreat,0.619012157126,1.21451288352e-06,1.07001192152,0.589583391684,0.00867487951464,1.06966144732
+300,5.000000000,pose2_to_pose3_retreat,0.618705793046,1.2270236863e-06,1.07001160867,0.58927702707,0.00867489057087,1.06966114595
+301,5.016666667,pose2_to_pose3_retreat,0.618380329391,1.28567284747e-06,1.07001150766,0.588951563218,0.00867494845526,1.06966104473
+302,5.033333333,pose2_to_pose3_retreat,0.618038465136,1.32548073771e-06,1.07001170708,0.588609699249,0.00867498870805,1.06966123263
+303,5.050000000,pose2_to_pose3_retreat,0.617681313151,1.28240491566e-06,1.0700116398,0.588252546965,0.00867494508176,1.06966117879
+304,5.066666667,pose2_to_pose3_retreat,0.617307728385,1.30194579196e-06,1.07001166442,0.587878962489,0.00867496529542,1.06966119819
+305,5.083333333,pose2_to_pose3_retreat,0.616921521817,1.36654915556e-06,1.07001170656,0.587492755157,0.00867502743827,1.06966124503
+306,5.100000000,pose2_to_pose3_retreat,0.616523168538,1.41556547865e-06,1.07001162004,0.587094401227,0.00867507444243,1.06966116407
+307,5.116666667,pose2_to_pose3_retreat,0.616107000395,1.40841606604e-06,1.07001140107,0.586678233372,0.00867506825698,1.069660945
+308,5.133333333,pose2_to_pose3_retreat,0.615672202067,1.34096456057e-06,1.07001161591,0.586243436399,0.00867500518798,1.06966115432
+309,5.150000000,pose2_to_pose3_retreat,0.615212322831,1.287123805e-06,1.07001163805,0.585783557502,0.00867495253633,1.06966117766
+310,5.166666667,pose2_to_pose3_retreat,0.61472613087,1.32135836209e-06,1.07001157492,0.585297364702,0.00867498396611,1.06966111552
+311,5.183333333,pose2_to_pose3_retreat,0.614211534808,1.37043720005e-06,1.07001167682,0.584782767511,0.00867502902996,1.06966121264
+312,5.200000000,pose2_to_pose3_retreat,0.613683242836,1.32350909639e-06,1.07001200384,0.584254475761,0.00867498250567,1.06966153101
+313,5.216666667,pose2_to_pose3_retreat,0.613146620408,1.21501147303e-06,1.0700116599,0.58371785669,0.00867488592393,1.06966120095
+314,5.233333333,pose2_to_pose3_retreat,0.612606182023,1.18877587008e-06,1.07001173229,0.583177417835,0.00867485799222,1.0696612702
+315,5.250000000,pose2_to_pose3_retreat,0.612061336559,1.234736621e-06,1.07001170134,0.582632571483,0.00867490095421,1.06966123952
+316,5.266666667,pose2_to_pose3_retreat,0.611507627298,1.2423594599e-06,1.07001160025,0.582078862207,0.00867490861353,1.06966114059
+317,5.283333333,pose2_to_pose3_retreat,0.610933271924,1.13902106205e-06,1.07001150927,0.581504508165,0.00867480986436,1.06966105093
+318,5.300000000,pose2_to_pose3_retreat,0.610332796428,1.26222721217e-06,1.07001149194,0.580904030377,0.00867492552063,1.06966103845
+319,5.316666667,pose2_to_pose3_retreat,0.609712839976,1.20752588277e-06,1.07001168921,0.580284075283,0.00867487508124,1.06966122687
+320,5.333333333,pose2_to_pose3_retreat,0.609075953739,1.2123352104e-06,1.07001152648,0.579647190096,0.00867488350291,1.06966106552
+321,5.350000000,pose2_to_pose3_retreat,0.608422759395,1.28370651305e-06,1.07001137055,0.578993994669,0.00867495140251,1.06966091494
+322,5.366666667,pose2_to_pose3_retreat,0.607757653346,1.34943494409e-06,1.0700116401,0.578328885891,0.00867500765798,1.0696611791
+323,5.383333333,pose2_to_pose3_retreat,0.607082537612,1.37331721155e-06,1.07001172587,0.577653770943,0.00867503343416,1.06966124566
+324,5.400000000,pose2_to_pose3_retreat,0.606406329342,1.31418458737e-06,1.07001169887,0.576977563647,0.00867497783371,1.06966122426
+325,5.416666667,pose2_to_pose3_retreat,0.605734071278,1.25222735915e-06,1.07001159344,0.576305306255,0.00867491851841,1.06966112776
+326,5.433333333,pose2_to_pose3_retreat,0.605068052757,1.25776451232e-06,1.07001156364,0.575639287986,0.00867492511534,1.06966110293
+327,5.450000000,pose2_to_pose3_retreat,0.604405341479,1.30899128075e-06,1.07001163984,0.574976576619,0.00867497603074,1.06966117882
+328,5.466666667,pose2_to_pose3_retreat,0.603736879847,1.19694120952e-06,1.07001163788,0.574308114939,0.00867486386367,1.06966117802
+329,5.483333333,pose2_to_pose3_retreat,0.603051406935,1.17989843872e-06,1.07001183277,0.573622641865,0.00867484600002,1.06966136608
+330,5.500000000,pose2_to_pose3_retreat,0.602343291376,1.23984923848e-06,1.07001185815,0.572914526124,0.00867490524079,1.06966138914
+331,5.516666667,pose2_to_pose3_retreat,0.601625305114,1.28645903113e-06,1.07001179194,0.572196539285,0.00867494996608,1.06966132461
+332,5.533333333,pose2_to_pose3_retreat,0.600902770586,1.2636782845e-06,1.07001178322,0.571474003856,0.00867492418528,1.06966131729
+333,5.550000000,pose2_to_pose3_retreat,0.600178474104,1.3072981886e-06,1.07001179401,0.570749707857,0.00867496932803,1.06966132522
+334,5.566666667,pose2_to_pose3_retreat,0.599461260975,1.37146694565e-06,1.07001146056,0.570032494692,0.00867503389255,1.06966100444
+335,5.583333333,pose2_to_pose3_retreat,0.598764127139,1.29028638148e-06,1.07001160203,0.569335361792,0.00867495576246,1.06966114282
+336,5.600000000,pose2_to_pose3_retreat,0.59807860398,1.19583975112e-06,1.07001177775,0.568649839014,0.00867486242587,1.069661314
+337,5.616666667,pose2_to_pose3_retreat,0.59740340087,1.16030572034e-06,1.07001177796,0.567974635475,0.00867482542982,1.06966131394
+338,5.633333333,pose2_to_pose3_retreat,0.596736561833,1.16765023565e-06,1.07001180933,0.567307797616,0.00867483645704,1.06966133759
+339,5.650000000,pose2_to_pose3_retreat,0.596068663314,1.22923874073e-06,1.07001177695,0.566639899276,0.00867489895374,1.0696613126
+340,5.666666667,pose2_to_pose3_retreat,0.595383597877,1.23837338847e-06,1.07001176317,0.565954834241,0.00867490956925,1.06966130163
+341,5.683333333,pose2_to_pose3_retreat,0.594691504726,1.22923120331e-06,1.07001169978,0.565262740698,0.00867489906854,1.06966123752
+342,5.700000000,pose2_to_pose3_retreat,0.594002918832,1.26694237218e-06,1.07001155619,0.564574152571,0.00867492927409,1.06966109567
+343,5.716666667,pose2_to_pose3_retreat,0.593325817727,1.2325673481e-06,1.07001187996,0.5638970515,0.00867489466822,1.06966141079
+344,5.733333333,pose2_to_pose3_retreat,0.592661973962,1.36334787239e-06,1.07001163398,0.563233207313,0.00867502425176,1.06966117065
+345,5.750000000,pose2_to_pose3_retreat,0.592018898216,1.28037767857e-06,1.0700115199,0.5625901329,0.00867494596297,1.06966106046
+346,5.766666667,pose2_to_pose3_retreat,0.591389326378,1.19582615803e-06,1.07001160091,0.561960562135,0.00867486498584,1.06966113985
+347,5.783333333,pose2_to_pose3_retreat,0.590768079084,1.295066767e-06,1.07001176361,0.56133931386,0.00867496067619,1.06966129705
+348,5.800000000,pose2_to_pose3_retreat,0.590158000487,1.31367053874e-06,1.07001153457,0.560729233525,0.00867497362953,1.06966107408
+349,5.816666667,pose2_to_pose3_retreat,0.589560499513,1.36692196378e-06,1.07001168539,0.560131733203,0.00867502903928,1.06966122354
+350,5.833333333,pose2_to_pose3_retreat,0.588973536877,1.33164598364e-06,1.07001176672,0.559544771884,0.00867499819746,1.06966130406
+351,5.850000000,pose2_to_pose3_retreat,0.588396467105,1.23876608668e-06,1.07001176579,0.558967702929,0.00867490809789,1.06966130333
+352,5.866666667,pose2_to_pose3_retreat,0.587833082951,1.1801761718e-06,1.07001176324,0.558404318095,0.00867484719968,1.06966130077
+353,5.883333333,pose2_to_pose3_retreat,0.587285799464,1.35219762903e-06,1.07001176538,0.557857031806,0.0086750096809,1.06966130204
+354,5.900000000,pose2_to_pose3_retreat,0.586759093591,1.35912115275e-06,1.07001177209,0.557330326372,0.00867501805352,1.06966130777
+355,5.916666667,pose2_to_pose3_retreat,0.586254051896,1.31029558062e-06,1.07001173608,0.556825285628,0.00867497226763,1.06966126715
+356,5.933333333,pose2_to_pose3_retreat,0.585769988389,1.27379869511e-06,1.07001171749,0.556341222835,0.00867493803947,1.06966124475
+357,5.950000000,pose2_to_pose3_retreat,0.585294290347,1.29672116994e-06,1.07001178403,0.555865525083,0.00867496205741,1.06966131403
+358,5.966666667,pose2_to_pose3_retreat,0.584825713217,1.12198622845e-06,1.07001157869,0.555396950552,0.00867479628351,1.06966111228
+359,5.983333333,pose2_to_pose3_retreat,0.584366981099,1.17833053061e-06,1.07001161678,0.554938217806,0.00867485053208,1.06966115126
+360,6.000000000,pose2_to_pose3_retreat,0.583923803429,1.2368819968e-06,1.0700116228,0.554495038323,0.0086749027686,1.06966115323
+361,6.016666667,pose2_to_pose3_retreat,0.583502004707,1.30202668229e-06,1.07001159473,0.554073237533,0.00867496087931,1.06966112469
+362,6.033333333,pose2_to_pose3_retreat,0.583108255954,1.42678891721e-06,1.07001162058,0.553679487129,0.00867508043454,1.06966116035
+363,6.050000000,pose2_to_pose3_retreat,0.58274118258,1.31053985678e-06,1.0700115615,0.553312415686,0.00867497052628,1.06966109606
+364,6.066666667,pose2_to_pose3_retreat,0.582394028349,1.28808323515e-06,1.07001153112,0.552965262374,0.00867495128555,1.06966106809
+365,6.083333333,pose2_to_pose3_retreat,0.582060641517,1.29981030733e-06,1.07001161749,0.552631875152,0.00867496175501,1.06966115614
+366,6.100000000,pose2_to_pose3_retreat,0.581736881438,1.31854256016e-06,1.07001179083,0.552308114483,0.00867497844917,1.06966132852
+367,6.116666667,pose2_to_pose3_retreat,0.581424638606,1.3208296916e-06,1.07001188894,0.55199587402,0.00867498870916,1.06966142506
+368,6.133333333,pose2_to_pose3_retreat,0.581126272289,1.23294375014e-06,1.07001191766,0.55169750633,0.00867489590068,1.06966144728
+369,6.150000000,pose2_to_pose3_retreat,0.580847447222,1.22863630226e-06,1.07001176585,0.551418680722,0.00867488983169,1.06966129736
+370,6.166666667,pose2_to_pose3_retreat,0.580588005773,1.22202403546e-06,1.07001161064,0.551159240026,0.00867488590171,1.06966114529
+371,6.183333333,pose2_to_pose3_retreat,0.580346995968,1.21937241779e-06,1.07001158788,0.55091823144,0.0086748874032,1.06966112299
+372,6.200000000,pose2_to_pose3_retreat,0.580123507065,1.30098100505e-06,1.07001178611,0.550694742567,0.00867496898881,1.06966131815
+373,6.216666667,pose2_to_pose3_retreat,0.579919261576,1.34247648639e-06,1.07001159587,0.550490495256,0.00867500434967,1.06966112902
+374,6.233333333,pose2_to_pose3_retreat,0.579730563766,1.25478504935e-06,1.07001166601,0.550301798235,0.00867491952722,1.06966120388
+375,6.250000000,pose2_to_pose3_retreat,0.579557675115,1.24036724476e-06,1.07001168414,0.550128909994,0.00867490649751,1.0696612221
+376,6.266666667,pose2_to_pose3_retreat,0.579403011047,1.34895507213e-06,1.07001157149,0.549974244963,0.00867501161929,1.06966110465
+377,6.283333333,pose2_to_pose3_retreat,0.579263176921,1.35567741764e-06,1.07001171003,0.549834410897,0.00867501889622,1.06966125181
+378,6.300000000,pose2_to_pose3_retreat,0.579135205214,1.3554597126e-06,1.07001169211,0.549706439108,0.00867501826619,1.06966123067
+379,6.316666667,pose2_to_pose3_retreat,0.579017039824,1.34235387927e-06,1.07001169429,0.549588273954,0.00867500584722,1.06966123002
+380,6.333333333,pose2_to_pose3_retreat,0.578908512804,1.32542677897e-06,1.0700117466,0.549479747316,0.00867499027502,1.06966128371
+381,6.350000000,pose2_to_pose3_retreat,0.578808362179,1.38608376744e-06,1.07001156711,0.549379594688,0.00867504407196,1.06966110275
+382,6.366666667,pose2_to_pose3_retreat,0.578716951963,1.32565690285e-06,1.07001160503,0.549288185346,0.00867498669913,1.069661144
+383,6.383333333,pose2_to_pose3_retreat,0.578635907476,1.26977086354e-06,1.07001159442,0.549207141243,0.00867493196935,1.06966112983
+384,6.400000000,pose2_to_pose3_retreat,0.578564813214,1.22641127678e-06,1.07001163523,0.549136047827,0.00867489126736,1.06966116487
+385,6.416666667,pose2_to_pose3_retreat,0.578504363223,1.19167481159e-06,1.07001181195,0.549075599896,0.00867486344742,1.06966133967
+386,6.433333333,pose2_to_pose3_retreat,0.578452908431,1.24409841375e-06,1.07001182856,0.54902414443,0.00867491345207,1.0696613529
+387,6.450000000,pose2_to_pose3_retreat,0.578410217697,1.35005270766e-06,1.07001163489,0.548981451718,0.00867501291402,1.06966116465
+388,6.466666667,pose2_to_pose3_retreat,0.578374660831,1.27238124986e-06,1.07001154428,0.548945895691,0.00867493825886,1.06966107817
+389,6.483333333,pose2_to_pose3_retreat,0.578345302439,1.18590633238e-06,1.07001157927,0.548916538508,0.00867485610455,1.06966111855
+390,6.500000000,pose2_to_pose3_retreat,0.578321360869,1.30213008989e-06,1.07001171104,0.548892595425,0.0086749676282,1.06966126097
+391,6.516666667,pose2_to_pose3_retreat,0.578302404272,1.29885109879e-06,1.07001187835,0.548873638259,0.00867496180033,1.06966141296
+392,6.533333333,pose2_to_pose3_retreat,0.578287980118,1.25923630618e-06,1.0700119203,0.548859214051,0.00867492185504,1.06966145139
+393,6.550000000,pose2_to_pose3_retreat,0.578277147158,1.26224982277e-06,1.0700118108,0.548848381063,0.00867492495021,1.06966134628
+394,6.566666667,pose2_to_pose3_retreat,0.57826969958,1.34961284639e-06,1.07001154073,0.548840933224,0.00867501183341,1.06966108622
+395,6.583333333,pose2_to_pose3_retreat,0.578264531175,1.30513591026e-06,1.07001161548,0.548835765884,0.00867497090692,1.06966115949
+396,6.600000000,pose2_to_pose3_retreat,0.578260969813,1.24345720594e-06,1.0700117444,0.548832205623,0.00867491282125,1.06966128488
+397,6.616666667,pose2_to_pose3_retreat,0.578258579561,1.21851009752e-06,1.07001170958,0.548829815993,0.00867488997205,1.06966124976
+398,6.633333333,pose2_to_pose3_retreat,0.578256845471,1.20366264804e-06,1.07001166033,0.548828082331,0.00867487658462,1.06966120069
+399,6.650000000,pose2_to_pose3_retreat,0.578255757908,1.20112622289e-06,1.07001163814,0.548826994809,0.00867487418973,1.06966117863
+400,6.666666667,pose2_to_pose3_retreat,0.578255173673,1.23255315104e-06,1.07001166829,0.548826409491,0.00867490194622,1.06966120891
+401,6.683333333,pose2_to_pose3_retreat,0.57825499067,1.2423972049e-06,1.07001167774,0.548826226148,0.00867491064056,1.0696612184
+402,6.700000000,pose2_to_pose3_retreat,0.578254652812,1.26057108889e-06,1.07001169517,0.548825887664,0.00867492669187,1.06966123592
+403,6.716666667,pose2_to_pose3_retreat,0.578254195395,1.28517630144e-06,1.07001171878,0.548825429398,0.00867494842337,1.06966125963
+404,6.733333333,pose2_to_pose3_retreat,0.578253952009,1.29826839319e-06,1.07001173134,0.548825185561,0.00867495998641,1.06966127225
+405,6.750000000,pose2_to_pose3_retreat,0.578253804043,1.30622771285e-06,1.07001173898,0.548825037321,0.00867496701614,1.06966127992
+406,6.766666667,pose2_to_pose3_retreat,0.578253759185,1.30864071782e-06,1.0700117413,0.548824992379,0.00867496914732,1.06966128224
+407,6.783333333,pose2_to_pose3_retreat,0.578253478085,1.32338538483e-06,1.0700117556,0.548824710773,0.00867498217073,1.0696612965
+408,6.800000000,pose2_to_pose3_retreat,0.578253120919,1.32980165801e-06,1.0700117669,0.548824353434,0.00867498786509,1.0696613044
+409,6.816666667,pose2_to_pose3_retreat,0.578252848672,1.33469241574e-06,1.07001177551,0.548824081056,0.00867499220557,1.06966131043
+410,6.833333333,pose2_to_pose3_retreat,0.578252721072,1.33698467099e-06,1.07001177955,0.548823953394,0.00867499423992,1.06966131325
+411,6.850000000,pose2_to_pose3_retreat,0.578252652616,1.33821444755e-06,1.07001178171,0.548823884905,0.00867499533133,1.06966131477
+412,6.866666667,pose2_to_pose3_retreat,0.578252574866,1.33961117331e-06,1.07001178417,0.548823807118,0.00867499657091,1.06966131649
+413,6.883333333,pose2_to_pose3_retreat,0.578252574373,1.33962003593e-06,1.07001178419,0.548823806624,0.00867499657877,1.0696613165
+414,6.900000000,pose2_to_pose3_retreat,0.578252521114,1.34057679724e-06,1.07001178588,0.54882375334,0.00867499742789,1.06966131768
+415,6.916666667,pose2_to_pose3_retreat,0.578252425358,1.29880967879e-06,1.07001176612,0.548823658283,0.00867495799025,1.06966129682
+416,6.933333333,pose2_to_pose3_retreat,0.578252296972,1.23219234617e-06,1.07001173407,0.548823531018,0.00867489511219,1.06966126325
+417,6.950000000,pose2_to_pose3_retreat,0.578252293163,1.23021611205e-06,1.07001173312,0.548823527242,0.00867489324688,1.06966126225
+418,6.966666667,pose2_to_pose3_retreat,0.578252165901,1.15321291771e-06,1.07001170115,0.548823401172,0.00867482022974,1.06966122887
+419,6.983333333,pose2_to_pose3_retreat,0.578252135052,1.1023418948e-06,1.07001169282,0.54882337085,0.00867477114556,1.06966122046
+420,7.000000000,pose2_to_pose3_retreat,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.00867473764517,1.06966121473
+421,7.016666667,pose2_to_pose3_retreat,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.00867473764514,1.06966121473

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3e88526ba2a1e96b8b8934fb3d8cffef7992af327f9a2ce60c0ce1ec0cb9f5
+size 26743472

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/simulation_data.csv

@@ -0,0 +1,423 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+1,0.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+2,0.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+3,0.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+4,0.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+5,0.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+6,0.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+7,0.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+8,0.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+9,0.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+10,0.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+11,0.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+12,0.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+13,0.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+14,0.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+15,0.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+16,0.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+17,0.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+18,0.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+19,0.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+20,0.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+21,0.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+22,0.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+23,0.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+24,0.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+25,0.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+26,0.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+27,0.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+28,0.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+29,0.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+30,0.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+31,0.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+32,0.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+33,0.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+34,0.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+35,0.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+36,0.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+37,0.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+38,0.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+39,0.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+40,0.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+41,0.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+42,0.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+43,0.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+44,0.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+45,0.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+46,0.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+47,0.783333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+48,0.800000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+49,0.816666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+50,0.833333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+51,0.850000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+52,0.866666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+53,0.883333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+54,0.900000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+55,0.916666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+56,0.933333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+57,0.950000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+58,0.966666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+59,0.983333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+60,1.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+61,1.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+62,1.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+63,1.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+64,1.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+65,1.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+66,1.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+67,1.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+68,1.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+69,1.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+70,1.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+71,1.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+72,1.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+73,1.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+74,1.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+75,1.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+76,1.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+77,1.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+78,1.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+79,1.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+80,1.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+81,1.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+82,1.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+83,1.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+84,1.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+85,1.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+86,1.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+87,1.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+88,1.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+89,1.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+90,1.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+91,1.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+92,1.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+93,1.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+94,1.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+95,1.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+96,1.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+97,1.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+98,1.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+99,1.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+100,1.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+101,1.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+102,1.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+103,1.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+104,1.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+105,1.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+106,1.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+107,1.783333333,pose1_to_pose2_press,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.0086747376452,1.06966121473
+108,1.800000000,pose1_to_pose2_press,0.578252319226,1.23945394955e-06,1.07001171778,0.548823555248,0.0086749089972,1.06966124494
+109,1.816666667,pose1_to_pose2_press,0.578252479019,1.25672261709e-06,1.07001174757,0.54882371502,0.0086749262935,1.06966127716
+110,1.833333333,pose1_to_pose2_press,0.57825249419,1.25836219884e-06,1.0700117504,0.54882373019,0.0086749279357,1.06966128022
+111,1.850000000,pose1_to_pose2_press,0.578252836758,1.28868971936e-06,1.07001175507,0.548824072433,0.00867495733261,1.06966128903
+112,1.866666667,pose1_to_pose2_press,0.578253652445,1.33375761369e-06,1.0700115261,0.548824886219,0.00867499617027,1.06966106551
+113,1.883333333,pose1_to_pose2_press,0.578255409019,1.31271703636e-06,1.07001157917,0.548826641726,0.0086749713869,1.06966111562
+114,1.900000000,pose1_to_pose2_press,0.578259255701,1.23431719847e-06,1.07001166863,0.548830490039,0.0086748983741,1.06966120153
+115,1.916666667,pose1_to_pose2_press,0.578267508926,1.29567825685e-06,1.07001170277,0.548838743357,0.00867496028446,1.06966124128
+116,1.933333333,pose1_to_pose2_press,0.578283881398,1.34650133983e-06,1.07001212145,0.548855115672,0.00867501015549,1.06966164954
+117,1.950000000,pose1_to_pose2_press,0.57831050123,1.32126649171e-06,1.07001163786,0.548881735457,0.00867498511472,1.06966117463
+118,1.966666667,pose1_to_pose2_press,0.578347873717,1.19465651915e-06,1.07001158421,0.54891910942,0.00867486306277,1.06966110976
+119,1.983333333,pose1_to_pose2_press,0.578395709721,1.22678209555e-06,1.07001158333,0.548966945034,0.00867489438302,1.06966112162
+120,2.000000000,pose1_to_pose2_press,0.578453925403,1.15265316697e-06,1.07001188769,0.549025161678,0.00867482311838,1.06966141603
+121,2.016666667,pose1_to_pose2_press,0.578520748108,1.18422706208e-06,1.07001168134,0.549091983706,0.00867485264638,1.06966121588
+122,2.033333333,pose1_to_pose2_press,0.578596634772,1.31898844158e-06,1.07001151659,0.549167869003,0.00867498300637,1.06966105692
+123,2.050000000,pose1_to_pose2_press,0.57868456061,1.27698156058e-06,1.07001159595,0.549255794884,0.00867494087066,1.06966112945
+124,2.066666667,pose1_to_pose2_press,0.578785557287,1.1936215202e-06,1.0700115973,0.549356793085,0.00867486251567,1.0696611266
+125,2.083333333,pose1_to_pose2_press,0.578901731987,1.21017190531e-06,1.07001144748,0.549472966916,0.00867487646598,1.06966098547
+126,2.100000000,pose1_to_pose2_press,0.57903273956,1.21484032813e-06,1.07001160984,0.549603974274,0.008674880297,1.06966114501
+127,2.116666667,pose1_to_pose2_press,0.579179868186,1.25291407512e-06,1.0700117267,0.549751102383,0.0086749167509,1.06966126515
+128,2.133333333,pose1_to_pose2_press,0.579340306393,1.34604223508e-06,1.07001159154,0.549911540049,0.00867500827714,1.06966113571
+129,2.150000000,pose1_to_pose2_press,0.5795139047,1.21557241809e-06,1.0700115284,0.55008514076,0.00867488594053,1.06966107191
+130,2.166666667,pose1_to_pose2_press,0.579703629548,1.26140465931e-06,1.07001171447,0.550274864436,0.00867492695758,1.06966123718
+131,2.183333333,pose1_to_pose2_press,0.579910165068,1.35703802361e-06,1.07001169878,0.550481398991,0.00867501938154,1.06966122313
+132,2.200000000,pose1_to_pose2_press,0.58013678014,1.30235544483e-06,1.07001180244,0.550708013819,0.00867496400662,1.06966133007
+133,2.216666667,pose1_to_pose2_press,0.580385343377,1.18315859642e-06,1.07001180579,0.55095657918,0.00867485214355,1.06966133656
+134,2.233333333,pose1_to_pose2_press,0.580660026126,1.1966387636e-06,1.07001171455,0.55123125986,0.00867485855592,1.06966124398
+135,2.250000000,pose1_to_pose2_press,0.580958865205,1.31483918566e-06,1.07001165886,0.551530098951,0.0086749770419,1.06966119436
+136,2.266666667,pose1_to_pose2_press,0.581282147875,1.33831978815e-06,1.07001155288,0.551853383499,0.00867500710817,1.06966109361
+137,2.283333333,pose1_to_pose2_press,0.581631264884,1.38138664537e-06,1.07001142839,0.552202498825,0.00867504457632,1.06966097182
+138,2.300000000,pose1_to_pose2_press,0.582002941174,1.35523329079e-06,1.07001162726,0.552574173871,0.00867501405207,1.06966116693
+139,2.316666667,pose1_to_pose2_press,0.582392412671,1.29293313113e-06,1.07001171512,0.552963646435,0.00867495513766,1.06966124894
+140,2.333333333,pose1_to_pose2_press,0.582801039073,1.25480910096e-06,1.07001173955,0.553372274286,0.00867492185902,1.06966127161
+141,2.350000000,pose1_to_pose2_press,0.583232371234,1.29424738755e-06,1.0700116658,0.55380360607,0.00867496011293,1.06966120012
+142,2.366666667,pose1_to_pose2_press,0.583679609708,1.32101826502e-06,1.07001151878,0.554250843234,0.00867498266698,1.06966105872
+143,2.383333333,pose1_to_pose2_press,0.584144200442,1.24431727815e-06,1.07001159822,0.554715434684,0.00867490842359,1.06966113883
+144,2.400000000,pose1_to_pose2_press,0.584641380057,1.19513136491e-06,1.07001178005,0.555212616174,0.00867486528344,1.06966131282
+145,2.416666667,pose1_to_pose2_press,0.585167589689,1.26621841462e-06,1.07001174608,0.555738824461,0.00867493190878,1.06966128131
+146,2.433333333,pose1_to_pose2_press,0.585724013764,1.34203975224e-06,1.07001155465,0.556295246247,0.00867500018303,1.06966109524
+147,2.450000000,pose1_to_pose2_press,0.586307806667,1.33894507622e-06,1.0700114083,0.556879040739,0.00867500226884,1.0696609437
+148,2.466666667,pose1_to_pose2_press,0.586916265076,1.32436623093e-06,1.07001174599,0.557487499226,0.00867498753712,1.06966127106
+149,2.483333333,pose1_to_pose2_press,0.587532453911,1.17096477077e-06,1.07001147134,0.558103688691,0.00867483661659,1.06966100482
+150,2.500000000,pose1_to_pose2_press,0.588156106311,1.11937200434e-06,1.07001167196,0.558727342713,0.00867479060737,1.06966120735
+151,2.516666667,pose1_to_pose2_press,0.588794205495,1.26905000295e-06,1.07001173357,0.559365443443,0.00867494584293,1.06966127673
+152,2.533333333,pose1_to_pose2_press,0.589450722444,1.44757161743e-06,1.07001167565,0.560021955941,0.00867510878259,1.06966120689
+153,2.550000000,pose1_to_pose2_press,0.590129058981,1.19954184168e-06,1.0700116198,0.560700294787,0.00867486910196,1.06966116379
+154,2.566666667,pose1_to_pose2_press,0.590827908536,1.41029649848e-06,1.07001158007,0.561399141226,0.008675068686,1.06966110923
+155,2.583333333,pose1_to_pose2_press,0.591543396918,1.2743255411e-06,1.07001175238,0.562114631315,0.00867493871836,1.0696612868
+156,2.600000000,pose1_to_pose2_press,0.59227481888,1.27715299662e-06,1.07001164817,0.56284605313,0.00867494133851,1.06966118978
+157,2.616666667,pose1_to_pose2_press,0.593021226028,1.3528311195e-06,1.07001174376,0.56359246061,0.00867501796684,1.06966128106
+158,2.633333333,pose1_to_pose2_press,0.593782439116,1.28784475694e-06,1.07001155475,0.564353673658,0.0086749531114,1.06966109866
+159,2.650000000,pose1_to_pose2_press,0.59455752845,1.20181070187e-06,1.07001160394,0.565128764088,0.00867487070772,1.06966114568
+160,2.666666667,pose1_to_pose2_press,0.595344276377,1.23552636851e-06,1.07001164735,0.565915511924,0.00867490402644,1.06966118688
+161,2.683333333,pose1_to_pose2_press,0.596138220621,1.28486209935e-06,1.0700119162,0.566709454707,0.0086749480978,1.06966144816
+162,2.700000000,pose1_to_pose2_press,0.596939250333,1.11881737815e-06,1.07001162762,0.567510486306,0.00867478847634,1.06966116017
+163,2.716666667,pose1_to_pose2_press,0.597740939221,1.13808088724e-06,1.07001156321,0.568312175913,0.00867481029335,1.06966109854
+164,2.733333333,pose1_to_pose2_press,0.598542885471,1.33504486372e-06,1.07001159724,0.569114119459,0.00867499808665,1.06966113277
+165,2.750000000,pose1_to_pose2_press,0.599341558277,1.33786976015e-06,1.07001167489,0.569912791341,0.00867499769052,1.06966120823
+166,2.766666667,pose1_to_pose2_press,0.600138689452,1.30599385459e-06,1.07001177238,0.570709922748,0.00867496672006,1.06966130877
+167,2.783333333,pose1_to_pose2_press,0.600938293611,1.33985807403e-06,1.07001176241,0.571509526919,0.00867500069797,1.06966130058
+168,2.800000000,pose1_to_pose2_press,0.601733834023,1.36372106523e-06,1.07001187679,0.572305068038,0.00867502667567,1.06966140803
+169,2.816666667,pose1_to_pose2_press,0.602531549744,1.46028838589e-06,1.07001194889,0.573102782844,0.00867512000903,1.06966147696
+170,2.833333333,pose1_to_pose2_press,0.603347221813,1.31749688759e-06,1.07001170033,0.573918454766,0.00867497666132,1.06966122709
+171,2.850000000,pose1_to_pose2_press,0.604167193041,1.10748636383e-06,1.07001173716,0.574738428931,0.00867477676292,1.06966126756
+172,2.866666667,pose1_to_pose2_press,0.60498415796,1.21080477519e-06,1.07001182813,0.575555394263,0.00867488154965,1.06966136027
+173,2.883333333,pose1_to_pose2_press,0.605789836109,1.22845037761e-06,1.07001155949,0.576361071872,0.00867489739251,1.06966109243
+174,2.900000000,pose1_to_pose2_press,0.606577278703,1.24584827181e-06,1.07001156949,0.577148513514,0.00867491199848,1.06966111333
+175,2.916666667,pose1_to_pose2_press,0.607342146783,1.25162005634e-06,1.07001188932,0.57791338124,0.00867491596634,1.06966141828
+176,2.933333333,pose1_to_pose2_press,0.608088277426,1.23280944375e-06,1.07001165378,0.578659512243,0.00867489864529,1.06966118946
+177,2.950000000,pose1_to_pose2_press,0.608822421163,1.24277147356e-06,1.07001170059,0.579393654802,0.00867490423945,1.06966122709
+178,2.966666667,pose1_to_pose2_press,0.609557928626,1.24394286992e-06,1.07001173815,0.580129162745,0.00867490771143,1.06966128148
+179,2.983333333,pose1_to_pose2_press,0.610296419061,1.30511703041e-06,1.0700115523,0.580867652415,0.00867496588297,1.06966108553
+180,3.000000000,pose1_to_pose2_press,0.611028779885,1.13287333747e-06,1.07001178791,0.581600016641,0.0086748049954,1.06966131664
+181,3.016666667,pose1_to_pose2_press,0.611749906759,1.33781637836e-06,1.07001165726,0.582321141602,0.00867500373896,1.0696611933
+182,3.033333333,pose1_to_pose2_press,0.612441308357,1.27744170945e-06,1.07001175927,0.583012544429,0.00867494760941,1.0696612972
+183,3.050000000,pose1_to_pose2_press,0.613101718057,1.14598658109e-06,1.0700115492,0.583672954232,0.00867481647531,1.06966108649
+184,3.066666667,pose1_to_pose2_press,0.613726970133,1.11053165751e-06,1.07001176251,0.584298205559,0.00867477817957,1.06966129245
+185,3.083333333,pose1_to_pose2_press,0.614319072785,1.25150567562e-06,1.07001170703,0.58489030669,0.00867491402148,1.06966123779
+186,3.100000000,pose1_to_pose2_press,0.61488081633,1.32558691443e-06,1.07001157037,0.585452049285,0.00867498515086,1.06966110788
+187,3.116666667,pose1_to_pose2_press,0.615433284883,1.2948743877e-06,1.07001150391,0.586004518549,0.00867495708115,1.06966104727
+188,3.133333333,pose1_to_pose2_press,0.615979401764,1.24582437193e-06,1.07001158161,0.586550636081,0.00867491008609,1.069661121
+189,3.150000000,pose1_to_pose2_press,0.616517928707,1.24663041432e-06,1.07001163633,0.587089163575,0.00867491277257,1.06966117649
+190,3.166666667,pose1_to_pose2_press,0.617042785889,1.24932829709e-06,1.07001163929,0.587614021185,0.00867491693609,1.06966117936
+191,3.183333333,pose1_to_pose2_press,0.617548357747,1.26684370441e-06,1.07001160308,0.588119592494,0.00867493249735,1.06966113764
+192,3.200000000,pose1_to_pose2_press,0.618018164613,1.30988960962e-06,1.07001154681,0.588589398726,0.00867497351604,1.06966108056
+193,3.216666667,pose1_to_pose2_press,0.618453234072,1.27041993719e-06,1.07001152136,0.589024468159,0.0086749343228,1.06966106108
+194,3.233333333,pose1_to_pose2_press,0.618859178516,1.25920007026e-06,1.07001147847,0.589430412101,0.00867492188856,1.06966102745
+195,3.250000000,pose1_to_pose2_press,0.619242347557,1.36710285019e-06,1.07001156975,0.589813580046,0.00867502583722,1.06966111085
+196,3.266666667,pose1_to_pose2_press,0.619606124367,1.25046155139e-06,1.07001179012,0.590177358456,0.0086749145815,1.06966132655
+197,3.283333333,pose1_to_pose2_press,0.619954797951,1.4456640024e-06,1.07001187704,0.59052602997,0.00867510295575,1.06966141574
+198,3.300000000,pose1_to_pose2_press,0.62028769001,1.2678574893e-06,1.07001189597,0.590858923912,0.0086749313735,1.06966142664
+199,3.316666667,pose1_to_pose2_press,0.620596874011,1.21398048916e-06,1.07001162453,0.591168110029,0.00867488527116,1.06966116803
+200,3.333333333,pose1_to_pose2_press,0.620882395874,1.27191373819e-06,1.07001188744,0.591453630564,0.00867493842867,1.06966142194
+201,3.350000000,pose1_to_pose2_press,0.621140126308,1.41585198089e-06,1.07001167725,0.591711359644,0.00867507797664,1.06966121421
+202,3.366666667,pose1_to_pose2_press,0.621374439663,1.35021137336e-06,1.07001167378,0.59194567363,0.00867501426574,1.06966120395
+203,3.383333333,pose1_to_pose2_press,0.621586673654,1.27074923e-06,1.07001173449,0.592157908752,0.00867493897694,1.06966127083
+204,3.400000000,pose1_to_pose2_press,0.621784060118,1.15987384786e-06,1.07001170038,0.592355296542,0.00867483273738,1.06966123768
+205,3.416666667,pose1_to_pose2_press,0.621967580001,1.30881643678e-06,1.07001161645,0.592538813737,0.00867497239308,1.06966114758
+206,3.433333333,pose1_to_pose2_press,0.622138116725,1.41045999965e-06,1.07001160953,0.592709349107,0.00867506953113,1.069661141
+207,3.450000000,pose1_to_pose2_press,0.622295013739,1.17897467341e-06,1.07001165203,0.592866249381,0.00867484935083,1.06966118814
+208,3.466666667,pose1_to_pose2_press,0.622435180925,1.16182383007e-06,1.07001171071,0.593006415477,0.00867482846539,1.06966124472
+209,3.483333333,pose1_to_pose2_press,0.62255857214,1.31702285811e-06,1.07001174711,0.593129804476,0.0086749760919,1.06966127844
+210,3.500000000,pose1_to_pose2_press,0.622664093944,1.21154729592e-06,1.07001172112,0.593235328724,0.00867487889869,1.06966125092
+211,3.516666667,pose1_to_pose2_press,0.622754466949,1.2126948656e-06,1.07001179519,0.593325701341,0.00867487891665,1.06966132626
+212,3.533333333,pose1_to_pose2_press,0.622830870279,1.27430796719e-06,1.0700117678,0.593402105788,0.00867494488844,1.06966130717
+213,3.550000000,pose1_to_pose2_press,0.622895479055,1.23036931258e-06,1.07001175085,0.593466715187,0.0086749031079,1.06966129293
+214,3.566666667,pose1_to_pose2_press,0.62295060015,1.05550264579e-06,1.07001177509,0.593521836723,0.00867472932517,1.06966130873
+215,3.583333333,pose1_to_pose2_press,0.622996954426,1.28630725555e-06,1.07001171958,0.593568188926,0.00867495277246,1.06966124303
+216,3.600000000,pose1_to_pose2_press,0.623035462252,1.32450251079e-06,1.07001154656,0.593606695612,0.00867498756711,1.06966108487
+217,3.616666667,pose1_to_pose2_press,0.623066389552,1.27896845547e-06,1.07001173278,0.59363762319,0.00867494274142,1.06966126353
+218,3.633333333,pose1_to_pose2_press,0.623090124968,1.24028799986e-06,1.07001168529,0.593661360008,0.00867490915788,1.06966122427
+219,3.650000000,pose1_to_pose2_press,0.623107724243,1.21450125902e-06,1.07001170084,0.593678959679,0.00867488468893,1.06966123994
+220,3.666666667,pose1_to_pose2_press,0.623120386655,1.22042200272e-06,1.07001176471,0.593691621131,0.00867488699935,1.06966129516
+221,3.683333333,pose1_to_pose2_press,0.623129610402,1.2750519599e-06,1.07001169589,0.593700843086,0.00867493540937,1.06966122159
+222,3.700000000,pose1_to_pose2_press,0.623135997104,1.23614147972e-06,1.07001158021,0.593707230403,0.00867489891394,1.06966111424
+223,3.716666667,pose1_to_pose2_press,0.623140783445,1.23349349919e-06,1.07001162206,0.593712016875,0.00867489683352,1.06966115923
+224,3.733333333,pose1_to_pose2_press,0.623144005882,1.25685163236e-06,1.07001176235,0.593715239059,0.00867491929517,1.0696612986
+225,3.750000000,pose1_to_pose2_press,0.623145702284,1.26638757651e-06,1.07001178139,0.593716936014,0.00867493060988,1.06966131578
+226,3.766666667,pose1_to_pose2_press,0.623146375952,1.26999117487e-06,1.07001178532,0.593717609947,0.00867493506928,1.06966131887
+227,3.783333333,pose1_to_pose2_press,0.62314646077,1.27044488832e-06,1.07001178581,0.593717694799,0.00867493563074,1.06966131926
+228,3.800000000,pose1_to_pose2_press,0.623146529587,1.27081300472e-06,1.07001178621,0.593717763643,0.00867493608628,1.06966131958
+229,3.816666667,pose1_to_pose2_press,0.623146656811,1.2714935532e-06,1.07001178695,0.593717890916,0.00867493692845,1.06966132016
+230,3.833333333,pose1_to_pose2_press,0.623146899476,1.27279162474e-06,1.07001178837,0.593718133677,0.00867493853479,1.06966132127
+231,3.850000000,pose1_to_pose2_press,0.6231473769,1.27534547343e-06,1.07001179115,0.593718611289,0.00867494169514,1.06966132346
+232,3.866666667,pose1_to_pose2_press,0.623147810157,1.31119982728e-06,1.07001172807,0.593719043655,0.00867497460012,1.06966126203
+233,3.883333333,pose1_to_pose2_press,0.623148232425,1.35135267205e-06,1.0700116564,0.593719464891,0.00867501133492,1.0696611923
+234,3.900000000,pose1_to_pose2_press,0.62314858517,1.3848946067e-06,1.07001159653,0.593719816772,0.00867504202158,1.06966113405
+235,3.916666667,pose1_to_pose2_press,0.623148928285,1.41752089241e-06,1.0700115383,0.593720159048,0.00867507187053,1.06966107739
+236,3.933333333,pose1_to_pose2_press,0.623149232006,1.38531826771e-06,1.07001156576,0.593720463802,0.00867504319409,1.06966110536
+237,3.950000000,pose1_to_pose2_press,0.623149262684,1.3804645534e-06,1.0700115706,0.593720494631,0.0086750388534,1.06966111023
+238,3.966666667,pose1_to_pose2_press,0.623149328423,1.37006358345e-06,1.07001158099,0.593720560694,0.0086750295518,1.06966112067
+239,3.983333333,pose1_to_pose2_press,0.623149439485,1.35249192689e-06,1.07001159852,0.593720672303,0.00867501383744,1.06966113831
+240,4.000000000,pose1_to_pose2_press,0.623149512073,1.34100752509e-06,1.07001160999,0.593720745248,0.00867500356692,1.06966114984
+241,4.016666667,pose1_to_pose2_press,0.623149574914,1.33106508355e-06,1.07001161991,0.593720808399,0.00867499467538,1.06966115982
+242,4.033333333,pose1_to_pose2_press,0.623149693226,1.31716256254e-06,1.07001162269,0.593720927085,0.00867498206866,1.06966116328
+243,4.050000000,pose1_to_pose2_press,0.623149886002,1.32910937395e-06,1.07001151297,0.593721118974,0.00867499122206,1.0696610587
+244,4.066666667,pose1_to_pose2_press,0.623149905615,1.33734022948e-06,1.0700115215,0.593721138386,0.00867499878448,1.06966106783
+245,4.083333333,pose1_to_pose2_press,0.623149897474,1.34742902615e-06,1.07001155587,0.593721130114,0.00867500841105,1.06966110209
+246,4.100000000,pose1_to_pose2_press,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675893,1.06966116736
+247,4.116666667,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675947,1.06966116736
+248,4.133333333,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114346,0.00867502675994,1.06966116736
+249,4.150000000,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675979,1.06966116736
+250,4.166666667,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.0086750267595,1.06966116736
+251,4.183333333,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675956,1.06966116736
+252,4.200000000,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675974,1.06966116736
+253,4.216666667,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675983,1.06966116736
+254,4.233333333,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675987,1.06966116736
+255,4.250000000,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675984,1.06966116736
+256,4.266666667,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675992,1.06966116736
+257,4.283333333,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675983,1.06966116736
+258,4.300000000,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675999,1.06966116736
+259,4.316666667,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675987,1.06966116736
+260,4.333333333,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675963,1.06966116736
+261,4.350000000,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675943,1.06966116736
+262,4.366666667,pose2_hold,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114347,0.00867502675907,1.06966116736
+263,4.383333333,pose2_to_pose3_retreat,0.623149881959,1.36665629929e-06,1.07001162137,0.593721114348,0.00867502675879,1.06966116736
+264,4.400000000,pose2_to_pose3_retreat,0.62314981496,1.3670035597e-06,1.07001153294,0.59372104746,0.00867502724898,1.06966107282
+265,4.416666667,pose2_to_pose3_retreat,0.623149743281,1.36411964816e-06,1.07001157133,0.593720976148,0.00867502551846,1.06966110874
+266,4.433333333,pose2_to_pose3_retreat,0.623149687445,1.36187318939e-06,1.07001160123,0.5937209206,0.00867502417044,1.06966113672
+267,4.450000000,pose2_to_pose3_retreat,0.6231495555,1.35656454234e-06,1.07001167189,0.593720789331,0.00867502098493,1.06966120284
+268,4.466666667,pose2_to_pose3_retreat,0.623149139468,1.34991511347e-06,1.07001169153,0.593720373087,0.00867501352112,1.06966122
+269,4.483333333,pose2_to_pose3_retreat,0.623148998079,1.3479399042e-06,1.07001169247,0.59372023156,0.00867501105733,1.06966122043
+270,4.500000000,pose2_to_pose3_retreat,0.623148789653,1.34502818585e-06,1.07001169386,0.593720022931,0.00867500742537,1.06966122107
+271,4.516666667,pose2_to_pose3_retreat,0.623148035848,1.33118828167e-06,1.07001170457,0.593719268791,0.00867499246821,1.06966123222
+272,4.533333333,pose2_to_pose3_retreat,0.623145558865,1.28160997553e-06,1.07001175037,0.593716792089,0.00867494431247,1.06966128947
+273,4.550000000,pose2_to_pose3_retreat,0.6231405742,1.31798505215e-06,1.07001166828,0.59371180671,0.00867497804361,1.06966120176
+274,4.566666667,pose2_to_pose3_retreat,0.623130253362,1.17670475238e-06,1.07001179019,0.5937014891,0.0086748476563,1.06966132251
+275,4.583333333,pose2_to_pose3_retreat,0.623113613769,1.23775759635e-06,1.0700117347,0.59368484991,0.00867491017099,1.06966126928
+276,4.600000000,pose2_to_pose3_retreat,0.623087586566,1.26926705754e-06,1.07001172482,0.593658820243,0.00867493343971,1.0696612619
+277,4.616666667,pose2_to_pose3_retreat,0.62305300573,1.17127889882e-06,1.07001159439,0.593624240625,0.00867483934812,1.06966112875
+278,4.633333333,pose2_to_pose3_retreat,0.623010510623,1.23577336371e-06,1.0700118417,0.59358174518,0.00867490280798,1.06966137808
+279,4.650000000,pose2_to_pose3_retreat,0.622962772849,1.18848011185e-06,1.07001178344,0.593534007709,0.00867485675645,1.06966132366
+280,4.666666667,pose2_to_pose3_retreat,0.622910659807,1.20032878677e-06,1.07001176535,0.593481894825,0.00867486896868,1.06966130311
+281,4.683333333,pose2_to_pose3_retreat,0.622853755323,1.22797109077e-06,1.07001173145,0.593424989458,0.00867489345246,1.06966126541
+282,4.700000000,pose2_to_pose3_retreat,0.622790874631,1.26462315913e-06,1.07001166273,0.593362107504,0.00867492585468,1.06966119704
+283,4.716666667,pose2_to_pose3_retreat,0.622719280644,1.35618359054e-06,1.07001161099,0.59329051346,0.00867501749725,1.06966115718
+284,4.733333333,pose2_to_pose3_retreat,0.622637274767,1.23742156679e-06,1.07001165988,0.593208507841,0.00867489914613,1.06966119491
+285,4.750000000,pose2_to_pose3_retreat,0.622543352203,1.17514689178e-06,1.07001173155,0.593114586385,0.00867484047041,1.06966126312
+286,4.766666667,pose2_to_pose3_retreat,0.622437954903,1.19413789988e-06,1.07001170357,0.593009190048,0.00867486290687,1.06966124077
+287,4.783333333,pose2_to_pose3_retreat,0.622321398743,1.28188795254e-06,1.07001149987,0.592892633519,0.00867494974244,1.06966104687
+288,4.800000000,pose2_to_pose3_retreat,0.622192612441,1.36937324272e-06,1.07001175206,0.592763846325,0.00867503356582,1.06966128409
+289,4.816666667,pose2_to_pose3_retreat,0.622050691413,1.33973475642e-06,1.07001177677,0.592621924539,0.00867500143341,1.06966131253
+290,4.833333333,pose2_to_pose3_retreat,0.6218932137,1.28594756143e-06,1.07001176744,0.592464446856,0.00867494777015,1.06966130556
+291,4.850000000,pose2_to_pose3_retreat,0.621722013,1.27554798463e-06,1.07001178356,0.592293246699,0.00867493901848,1.06966131852
+292,4.866666667,pose2_to_pose3_retreat,0.621537434578,1.37222541444e-06,1.07001178009,0.592108667977,0.00867503464733,1.06966131649
+293,4.883333333,pose2_to_pose3_retreat,0.621339261994,1.37380798207e-06,1.07001168494,0.591910494892,0.00867503446184,1.06966122103
+294,4.900000000,pose2_to_pose3_retreat,0.621128813803,1.36429720488e-06,1.07001171562,0.591700046461,0.00867502398873,1.06966125011
+295,4.916666667,pose2_to_pose3_retreat,0.620905500894,1.3020602002e-06,1.07001178391,0.591476734868,0.00867496601301,1.06966131552
+296,4.933333333,pose2_to_pose3_retreat,0.620666935267,1.17050285881e-06,1.07001181678,0.59123817273,0.00867484604756,1.06966134455
+297,4.950000000,pose2_to_pose3_retreat,0.620410152734,1.33054913471e-06,1.07001200663,0.5909813875,0.00867499684718,1.0696615346
+298,4.966666667,pose2_to_pose3_retreat,0.620134139917,1.27467052257e-06,1.07001176692,0.590705375245,0.0086749427963,1.06966129571
+299,4.983333333,pose2_to_pose3_retreat,0.619838788118,1.2421014145e-06,1.07001149833,0.590410023015,0.00867490886238,1.0696610322
+300,5.000000000,pose2_to_pose3_retreat,0.619522988874,1.31281821551e-06,1.07001143827,0.590094221847,0.00867497316352,1.06966097753
+301,5.016666667,pose2_to_pose3_retreat,0.619189025064,1.36890292829e-06,1.07001167586,0.589760259262,0.0086750328374,1.06966120452
+302,5.033333333,pose2_to_pose3_retreat,0.618837248169,1.27943317439e-06,1.0700117404,0.589408484289,0.00867495013634,1.06966127704
+303,5.050000000,pose2_to_pose3_retreat,0.618468985319,1.2990597813e-06,1.07001176743,0.589040221273,0.00867496910966,1.06966130465
+304,5.066666667,pose2_to_pose3_retreat,0.618083891568,1.39203107698e-06,1.07001176229,0.588655126061,0.00867505704876,1.06966130036
+305,5.083333333,pose2_to_pose3_retreat,0.617682602714,1.4551236653e-06,1.07001170891,0.588253835986,0.00867511604909,1.06966125059
+306,5.100000000,pose2_to_pose3_retreat,0.617266106848,1.24801920488e-06,1.07001154811,0.587837342172,0.00867491561335,1.06966108536
+307,5.116666667,pose2_to_pose3_retreat,0.616835508854,1.34179340009e-06,1.07001159903,0.587406743161,0.0086750060379,1.06966114001
+308,5.133333333,pose2_to_pose3_retreat,0.61638815782,1.31456260087e-06,1.07001161867,0.586959391334,0.00867497621573,1.06966116234
+309,5.150000000,pose2_to_pose3_retreat,0.615919127606,1.23601332627e-06,1.07001158674,0.586490361108,0.0086748976023,1.06966112961
+310,5.166666667,pose2_to_pose3_retreat,0.615423338072,1.22882612243e-06,1.07001153563,0.585994572265,0.00867489257288,1.06966107393
+311,5.183333333,pose2_to_pose3_retreat,0.614898448185,1.29232310635e-06,1.07001163827,0.585469681739,0.00867495390284,1.06966117685
+312,5.200000000,pose2_to_pose3_retreat,0.614353237159,1.32323102334e-06,1.07001165358,0.584924470504,0.00867498401412,1.06966118969
+313,5.216666667,pose2_to_pose3_retreat,0.613795186361,1.28464619418e-06,1.07001180512,0.584366421191,0.00867495030046,1.06966133726
+314,5.233333333,pose2_to_pose3_retreat,0.613234561653,1.23132775142e-06,1.07001190281,0.583805797221,0.00867489949699,1.06966143535
+315,5.250000000,pose2_to_pose3_retreat,0.612674791177,1.20186115122e-06,1.07001182825,0.583246026393,0.00867486897539,1.06966136421
+316,5.266666667,pose2_to_pose3_retreat,0.612113522564,1.20945744601e-06,1.07001156484,0.582684758616,0.00867487928816,1.06966109783
+317,5.283333333,pose2_to_pose3_retreat,0.611533187266,1.27259529174e-06,1.07001181882,0.582104421833,0.00867493729392,1.06966134946
+318,5.300000000,pose2_to_pose3_retreat,0.610930541316,1.17000351818e-06,1.07001186796,0.581501777409,0.00867483975985,1.0696613956
+319,5.316666667,pose2_to_pose3_retreat,0.610300752805,1.18171868894e-06,1.07001185741,0.580871989178,0.00867485234169,1.06966138293
+320,5.333333333,pose2_to_pose3_retreat,0.60965077504,1.40713965689e-06,1.0700118777,0.580222008445,0.00867506775618,1.06966140459
+321,5.350000000,pose2_to_pose3_retreat,0.608985868373,1.17318557441e-06,1.07001154025,0.57955710467,0.00867484396631,1.06966107564
+322,5.366666667,pose2_to_pose3_retreat,0.608306283767,1.34117978472e-06,1.07001165048,0.578877516559,0.00867499988095,1.06966118027
+323,5.383333333,pose2_to_pose3_retreat,0.607608340877,1.28456184544e-06,1.07001164955,0.57817957423,0.00867494542992,1.06966118582
+324,5.400000000,pose2_to_pose3_retreat,0.606913314037,1.26369493732e-06,1.07001164929,0.577484547116,0.00867492360601,1.06966118493
+325,5.416666667,pose2_to_pose3_retreat,0.606222099053,1.28427745657e-06,1.07001166546,0.576793331572,0.0086749421178,1.06966119691
+326,5.433333333,pose2_to_pose3_retreat,0.605535278691,1.23757569504e-06,1.07001166548,0.576106513037,0.00867490178973,1.06966120122
+327,5.450000000,pose2_to_pose3_retreat,0.604857133059,1.26311724883e-06,1.0700117433,0.575428368328,0.00867493056768,1.06966128157
+328,5.466666667,pose2_to_pose3_retreat,0.604187530164,1.15099432995e-06,1.07001169781,0.574758765629,0.0086748190194,1.06966123378
+329,5.483333333,pose2_to_pose3_retreat,0.603495221468,1.17235510792e-06,1.07001164199,0.574066456393,0.00867483866642,1.06966118084
+330,5.500000000,pose2_to_pose3_retreat,0.602777445163,1.3107181368e-06,1.07001162946,0.573348679065,0.00867497365409,1.06966117063
+331,5.516666667,pose2_to_pose3_retreat,0.602044824178,1.32423143772e-06,1.0700116769,0.572616057408,0.00867498430757,1.06966120367
+332,5.533333333,pose2_to_pose3_retreat,0.601302545582,1.24433949111e-06,1.07001152982,0.571873780606,0.00867491102208,1.06966106939
+333,5.550000000,pose2_to_pose3_retreat,0.60055502032,1.36140229066e-06,1.07001142746,0.571126254036,0.0086750236818,1.06966096786
+334,5.566666667,pose2_to_pose3_retreat,0.599824598781,1.35272986539e-06,1.07001158217,0.570395833375,0.00867501807036,1.06966112454
+335,5.583333333,pose2_to_pose3_retreat,0.599120217365,1.30017570499e-06,1.0700116795,0.569691452625,0.0086749676902,1.06966121972
+336,5.600000000,pose2_to_pose3_retreat,0.598426417843,1.27186493631e-06,1.07001158201,0.568997652203,0.00867493598998,1.06966111381
+337,5.616666667,pose2_to_pose3_retreat,0.597742394823,1.10815954973e-06,1.0700117738,0.568313631445,0.0086747799647,1.06966130574
+338,5.633333333,pose2_to_pose3_retreat,0.597065001616,1.23962307596e-06,1.07001180162,0.567636237254,0.00867490802999,1.06966133203
+339,5.650000000,pose2_to_pose3_retreat,0.596381378743,1.25010499866e-06,1.0700118398,0.566952614474,0.00867491890023,1.069661372
+340,5.666666667,pose2_to_pose3_retreat,0.595681742547,1.18379681538e-06,1.070011906,0.566252979293,0.00867485601783,1.06966143772
+341,5.683333333,pose2_to_pose3_retreat,0.594982419476,1.2489732394e-06,1.07001193512,0.565553656199,0.00867492068742,1.06966145615
+342,5.700000000,pose2_to_pose3_retreat,0.594289619806,1.2167076761e-06,1.0700116086,0.564860854808,0.00867488292111,1.06966113806
+343,5.716666667,pose2_to_pose3_retreat,0.593603266717,1.19465529755e-06,1.07001173117,0.564174502827,0.00867486468954,1.06966126211
+344,5.733333333,pose2_to_pose3_retreat,0.592927087355,1.16453077683e-06,1.0700117926,0.56349832437,0.00867483772954,1.06966132581
+345,5.750000000,pose2_to_pose3_retreat,0.5922678687,1.18848984426e-06,1.07001168982,0.562839104898,0.00867485909309,1.0696612274
+346,5.766666667,pose2_to_pose3_retreat,0.591621833185,1.28869926046e-06,1.07001147883,0.562193067128,0.00867495191595,1.06966102294
+347,5.783333333,pose2_to_pose3_retreat,0.590990842453,1.31333512643e-06,1.07001134919,0.561562077055,0.00867497920712,1.06966090369
+348,5.800000000,pose2_to_pose3_retreat,0.590376621335,1.34903714552e-06,1.07001154718,0.560947856352,0.00867501596909,1.06966109309
+349,5.816666667,pose2_to_pose3_retreat,0.589776774127,1.26284725817e-06,1.0700117335,0.560348010092,0.00867493248272,1.0696612666
+350,5.833333333,pose2_to_pose3_retreat,0.589183794638,1.22543475413e-06,1.07001182267,0.559755030322,0.00867489381264,1.06966134834
+351,5.850000000,pose2_to_pose3_retreat,0.588596298449,1.35115923078e-06,1.07001179365,0.559167531949,0.00867501229934,1.06966132353
+352,5.866666667,pose2_to_pose3_retreat,0.588018185676,1.29031017792e-06,1.07001176278,0.558589420975,0.00867495791665,1.06966130167
+353,5.883333333,pose2_to_pose3_retreat,0.587459184118,1.27111569019e-06,1.07001157356,0.55803041907,0.00867493764617,1.06966111492
+354,5.900000000,pose2_to_pose3_retreat,0.586923275995,1.21290129181e-06,1.07001172832,0.557494511727,0.00867488187386,1.06966126463
+355,5.916666667,pose2_to_pose3_retreat,0.586414451894,1.14519690051e-06,1.07001187922,0.556985687909,0.00867481488811,1.06966140956
+356,5.933333333,pose2_to_pose3_retreat,0.585925150811,1.11824857906e-06,1.07001179978,0.556496385616,0.00867478379786,1.06966132923
+357,5.950000000,pose2_to_pose3_retreat,0.585441467852,1.28606254053e-06,1.070011743,0.556012701715,0.00867494896155,1.06966128594
+358,5.966666667,pose2_to_pose3_retreat,0.584962320124,1.30069961337e-06,1.07001163736,0.555533553713,0.00867496283155,1.06966118432
+359,5.983333333,pose2_to_pose3_retreat,0.58449065663,1.22039683384e-06,1.07001155704,0.555061891743,0.00867488754505,1.06966110023
+360,6.000000000,pose2_to_pose3_retreat,0.584038371258,1.2299720748e-06,1.07001160427,0.554609606764,0.00867489832245,1.06966114414
+361,6.016666667,pose2_to_pose3_retreat,0.58361003337,1.35823930178e-06,1.07001173252,0.554181266992,0.00867502020757,1.06966127262
+362,6.033333333,pose2_to_pose3_retreat,0.58321201135,1.3252742178e-06,1.07001166192,0.553783244424,0.00867498517859,1.06966119697
+363,6.050000000,pose2_to_pose3_retreat,0.58283848149,1.36739466328e-06,1.07001137262,0.553409714408,0.00867502696836,1.06966091258
+364,6.066666667,pose2_to_pose3_retreat,0.582483464415,1.3461018077e-06,1.07001148922,0.553054698275,0.00867500871032,1.06966102524
+365,6.083333333,pose2_to_pose3_retreat,0.582140227154,1.33763951194e-06,1.07001161538,0.552711461236,0.00867500101312,1.06966115168
+366,6.100000000,pose2_to_pose3_retreat,0.581809147391,1.38400732502e-06,1.07001149752,0.552380379885,0.00867504241444,1.06966104421
+367,6.116666667,pose2_to_pose3_retreat,0.581491995446,1.3495536761e-06,1.07001163468,0.552063226813,0.00867500377814,1.06966117257
+368,6.133333333,pose2_to_pose3_retreat,0.58119027563,1.18669952735e-06,1.07001166914,0.551761511176,0.00867485493244,1.06966120279
+369,6.150000000,pose2_to_pose3_retreat,0.580910492534,1.10862570363e-06,1.07001175611,0.551481730762,0.00867478574763,1.06966128483
+370,6.166666667,pose2_to_pose3_retreat,0.580649017827,1.18254021802e-06,1.07001180811,0.551220254966,0.00867485596495,1.06966133698
+371,6.183333333,pose2_to_pose3_retreat,0.580404452739,1.34082368423e-06,1.07001175977,0.550975686286,0.00867500235049,1.06966129567
+372,6.200000000,pose2_to_pose3_retreat,0.580176822099,1.24075439203e-06,1.07001164723,0.550748057636,0.00867490918765,1.06966118716
+373,6.216666667,pose2_to_pose3_retreat,0.579966397759,1.14241677552e-06,1.07001165024,0.550537634501,0.00867481475128,1.06966118566
+374,6.233333333,pose2_to_pose3_retreat,0.579773612975,1.176965092e-06,1.07001164868,0.550344848685,0.00867484583738,1.06966118487
+375,6.250000000,pose2_to_pose3_retreat,0.579597672148,1.25833379924e-06,1.07001160077,0.550168906186,0.00867492171199,1.06966114118
+376,6.266666667,pose2_to_pose3_retreat,0.579439075448,1.30287360794e-06,1.07001150849,0.550010308667,0.00867496362423,1.06966105283
+377,6.283333333,pose2_to_pose3_retreat,0.579294582612,1.24339425604e-06,1.07001164047,0.549865817517,0.00867490945704,1.06966117475
+378,6.300000000,pose2_to_pose3_retreat,0.579163475596,1.29788174806e-06,1.07001180561,0.549734709382,0.00867495999014,1.06966133592
+379,6.316666667,pose2_to_pose3_retreat,0.579041341336,1.33406589171e-06,1.07001183753,0.549612574395,0.00867499366066,1.06966136665
+380,6.333333333,pose2_to_pose3_retreat,0.57892806452,1.29898590686e-06,1.07001166562,0.549499298601,0.00867496208954,1.06966119593
+381,6.350000000,pose2_to_pose3_retreat,0.578824686391,1.35320137547e-06,1.07001152426,0.549395919912,0.00867501487402,1.06966106615
+382,6.366666667,pose2_to_pose3_retreat,0.578731139487,1.3764485994e-06,1.0700117689,0.549302372961,0.00867503784148,1.06966130852
+383,6.383333333,pose2_to_pose3_retreat,0.578648142086,1.34435774672e-06,1.07001169071,0.549219375885,0.00867500675139,1.06966122806
+384,6.400000000,pose2_to_pose3_retreat,0.578575304304,1.32434854372e-06,1.07001153154,0.549146538568,0.00867498826591,1.06966106746
+385,6.416666667,pose2_to_pose3_retreat,0.578512843152,1.31329429177e-06,1.07001155779,0.549084078301,0.00867498019723,1.06966109309
+386,6.433333333,pose2_to_pose3_retreat,0.57845890387,1.12272673904e-06,1.07001163385,0.549030141778,0.00867479919636,1.0696611742
+387,6.450000000,pose2_to_pose3_retreat,0.578413091146,1.22514397688e-06,1.0700116608,0.54898432722,0.00867489514811,1.06966119512
+388,6.466666667,pose2_to_pose3_retreat,0.578375818579,1.26083430534e-06,1.07001156795,0.548947053832,0.00867492821231,1.0696611063
+389,6.483333333,pose2_to_pose3_retreat,0.578345491994,1.32715176058e-06,1.07001162352,0.548916725716,0.00867498941726,1.06966116392
+390,6.500000000,pose2_to_pose3_retreat,0.57832131529,1.38126090263e-06,1.07001177906,0.548892547795,0.00867503923851,1.06966131554
+391,6.516666667,pose2_to_pose3_retreat,0.578302161389,1.29554992163e-06,1.07001181324,0.548873395635,0.00867495906496,1.06966134069
+392,6.533333333,pose2_to_pose3_retreat,0.57828762312,1.31151181186e-06,1.07001177562,0.548858857046,0.00867497424659,1.06966131084
+393,6.550000000,pose2_to_pose3_retreat,0.57827656375,1.29957054397e-06,1.07001162129,0.548847798726,0.00867496622459,1.06966116516
+394,6.566666667,pose2_to_pose3_retreat,0.578268602258,1.26003886608e-06,1.07001150774,0.548839838394,0.00867493080922,1.06966105582
+395,6.583333333,pose2_to_pose3_retreat,0.578263427872,1.18842880476e-06,1.07001160629,0.548834663899,0.00867485859756,1.06966114846
+396,6.600000000,pose2_to_pose3_retreat,0.578259945994,1.17312847273e-06,1.07001159477,0.548831182293,0.00867484415577,1.0696611353
+397,6.616666667,pose2_to_pose3_retreat,0.578257797961,1.18214848437e-06,1.07001154398,0.548829034622,0.00867485441455,1.06966108481
+398,6.633333333,pose2_to_pose3_retreat,0.578256148501,1.19022978648e-06,1.07001154452,0.54882738525,0.00867486275207,1.06966108437
+399,6.650000000,pose2_to_pose3_retreat,0.578254988241,1.19781776722e-06,1.07001161008,0.548826224737,0.0086748693748,1.06966114723
+400,6.666666667,pose2_to_pose3_retreat,0.57825404098,1.20401275396e-06,1.07001166361,0.54882527727,0.00867487478173,1.06966119855
+401,6.683333333,pose2_to_pose3_retreat,0.578253505764,1.23141398609e-06,1.07001170907,0.548824741484,0.00867490023439,1.06966124363
+402,6.700000000,pose2_to_pose3_retreat,0.578253478855,1.23300185067e-06,1.07001171148,0.548824714543,0.00867490171106,1.06966124603
+403,6.716666667,pose2_to_pose3_retreat,0.578253477192,1.23310001534e-06,1.07001171163,0.548824712878,0.00867490180235,1.06966124618
+404,6.733333333,pose2_to_pose3_retreat,0.57825325183,1.24639866022e-06,1.0700117319,0.548824487242,0.00867491416976,1.06966126635
+405,6.750000000,pose2_to_pose3_retreat,0.578253244561,1.24682761312e-06,1.07001173255,0.548824479964,0.00867491456868,1.069661267
+406,6.766666667,pose2_to_pose3_retreat,0.578253201246,1.2493836438e-06,1.07001173644,0.548824436597,0.00867491694572,1.06966127087
+407,6.783333333,pose2_to_pose3_retreat,0.578253031058,1.25942641307e-06,1.07001175174,0.548824266203,0.00867492628525,1.0696612861
+408,6.800000000,pose2_to_pose3_retreat,0.578252914293,1.26631674574e-06,1.07001176224,0.548824149296,0.00867493269309,1.06966129654
+409,6.816666667,pose2_to_pose3_retreat,0.578252873216,1.26874069684e-06,1.07001176594,0.54882410817,0.0086749349473,1.06966130022
+410,6.833333333,pose2_to_pose3_retreat,0.578252813086,1.27228901121e-06,1.07001177134,0.548824047966,0.00867493824715,1.0696613056
+411,6.850000000,pose2_to_pose3_retreat,0.578252807454,1.27262134639e-06,1.07001177185,0.548824042327,0.00867493855621,1.0696613061
+412,6.866666667,pose2_to_pose3_retreat,0.578252722215,1.27765130184e-06,1.07001177951,0.548823956985,0.00867494323395,1.06966131373
+413,6.883333333,pose2_to_pose3_retreat,0.578252542529,1.25590679377e-06,1.07001176695,0.54882377731,0.00867492146674,1.06966129966
+414,6.900000000,pose2_to_pose3_retreat,0.578252340979,1.20828865094e-06,1.07001173225,0.548823575938,0.00867487433999,1.06966126223
+415,6.916666667,pose2_to_pose3_retreat,0.578252224039,1.18066038224e-06,1.07001171211,0.548823459101,0.00867484699684,1.06966124051
+416,6.933333333,pose2_to_pose3_retreat,0.578252180775,1.17043884794e-06,1.07001170466,0.548823415875,0.00867483688078,1.06966123247
+417,6.950000000,pose2_to_pose3_retreat,0.578252153452,1.13268365976e-06,1.07001169779,0.548823388935,0.00867480042153,1.06966122548
+418,6.966666667,pose2_to_pose3_retreat,0.578252118116,1.07441480672e-06,1.07001168825,0.548823354204,0.00867474419948,1.06966121585
+419,6.983333333,pose2_to_pose3_retreat,0.578252117522,1.07592384624e-06,1.07001168764,0.548823353655,0.00867474587284,1.06966121549
+420,7.000000000,pose2_to_pose3_retreat,0.578252119571,1.08074931353e-06,1.07001168793,0.548823355689,0.00867475065513,1.06966121593
+421,7.016666667,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846256,1.06966122125

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8f3601c8d804d69f5047cfc0df2aa98f2b709de56482df10aea67b10bf6754
+size 26863691

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/simulation_data.csv

@@ -0,0 +1,425 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+1,0.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+2,0.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+3,0.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+4,0.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+5,0.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+6,0.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+7,0.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+8,0.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+9,0.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+10,0.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+11,0.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+12,0.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+13,0.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+14,0.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+15,0.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+16,0.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+17,0.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+18,0.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+19,0.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+20,0.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+21,0.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+22,0.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+23,0.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+24,0.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+25,0.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+26,0.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+27,0.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+28,0.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+29,0.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+30,0.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+31,0.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+32,0.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+33,0.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+34,0.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+35,0.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+36,0.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+37,0.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+38,0.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+39,0.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+40,0.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+41,0.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+42,0.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+43,0.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+44,0.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+45,0.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+46,0.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+47,0.783333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+48,0.800000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+49,0.816666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+50,0.833333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+51,0.850000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+52,0.866666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+53,0.883333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+54,0.900000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+55,0.916666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+56,0.933333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+57,0.950000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+58,0.966666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+59,0.983333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+60,1.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+61,1.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+62,1.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+63,1.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+64,1.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+65,1.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+66,1.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+67,1.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+68,1.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+69,1.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+70,1.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+71,1.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+72,1.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+73,1.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+74,1.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+75,1.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+76,1.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+77,1.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+78,1.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+79,1.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+80,1.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+81,1.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+82,1.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+83,1.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+84,1.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+85,1.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+86,1.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+87,1.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+88,1.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+89,1.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+90,1.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+91,1.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+92,1.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+93,1.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+94,1.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+95,1.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+96,1.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+97,1.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+98,1.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+99,1.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+100,1.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+101,1.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+102,1.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+103,1.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+104,1.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+105,1.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+106,1.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+107,1.783333333,pose1_to_pose2_press,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.0086747376452,1.06966121473
+108,1.800000000,pose1_to_pose2_press,0.57825223839,1.23071818662e-06,1.07001170271,0.548823474423,0.00867490024746,1.06966122863
+109,1.816666667,pose1_to_pose2_press,0.578252433245,1.25177584977e-06,1.07001173903,0.548823669252,0.00867492133881,1.06966126793
+110,1.833333333,pose1_to_pose2_press,0.578252736312,1.28255343239e-06,1.07001178464,0.548823972233,0.00867495200381,1.06966131801
+111,1.850000000,pose1_to_pose2_press,0.578253079893,1.2938688665e-06,1.07001170626,0.548824315157,0.00867496122162,1.0696612428
+112,1.866666667,pose1_to_pose2_press,0.578253578154,1.31027853186e-06,1.07001159258,0.548824812467,0.00867497458931,1.06966113373
+113,1.883333333,pose1_to_pose2_press,0.578255176975,1.24777590978e-06,1.07001156618,0.548826411625,0.00867491324615,1.06966110772
+114,1.900000000,pose1_to_pose2_press,0.578258992705,1.20746565681e-06,1.07001164249,0.548830228454,0.00867487658382,1.06966118202
+115,1.916666667,pose1_to_pose2_press,0.578267145896,1.24876441236e-06,1.07001174337,0.548838381144,0.00867491609777,1.0696612808
+116,1.933333333,pose1_to_pose2_press,0.578282514558,1.31644124235e-06,1.07001179398,0.548853749495,0.00867498260006,1.06966132842
+117,1.950000000,pose1_to_pose2_press,0.578306798636,1.36619090395e-06,1.07001183922,0.548878031864,0.00867502668303,1.0696613768
+118,1.966666667,pose1_to_pose2_press,0.578342445397,1.35593007366e-06,1.07001182647,0.548913678627,0.00867501589882,1.06966135084
+119,1.983333333,pose1_to_pose2_press,0.578388916136,1.26824357804e-06,1.07001165239,0.548960150171,0.00867493156779,1.06966119218
+120,2.000000000,pose1_to_pose2_press,0.578446527066,1.24575316731e-06,1.07001181207,0.549017763163,0.00867491560638,1.06966134026
+121,2.016666667,pose1_to_pose2_press,0.578513538665,1.24786609097e-06,1.0700117675,0.549084774225,0.00867491631897,1.06966130607
+122,2.033333333,pose1_to_pose2_press,0.578590072089,1.16342963843e-06,1.07001169664,0.549161307999,0.00867483319385,1.0696612382
+123,2.050000000,pose1_to_pose2_press,0.578676878489,1.18736340792e-06,1.07001154247,0.549248113888,0.00867485533712,1.06966108254
+124,2.066666667,pose1_to_pose2_press,0.578774700677,1.38517500933e-06,1.07001140628,0.549345933185,0.00867504366716,1.06966095438
+125,2.083333333,pose1_to_pose2_press,0.578887176695,1.25157290784e-06,1.07001157077,0.549458410807,0.00867491499504,1.06966110617
+126,2.100000000,pose1_to_pose2_press,0.579014866913,1.14748668971e-06,1.07001157895,0.549586102507,0.00867481606214,1.0696611174
+127,2.116666667,pose1_to_pose2_press,0.579160680429,1.30309733177e-06,1.07001140613,0.549731913995,0.00867496517443,1.06966095407
+128,2.133333333,pose1_to_pose2_press,0.579321942178,1.32655359698e-06,1.07001157049,0.54989317592,0.00867498898612,1.06966111236
+129,2.150000000,pose1_to_pose2_press,0.579497677184,1.25455000881e-06,1.07001177226,0.550068912466,0.00867492186857,1.06966130572
+130,2.166666667,pose1_to_pose2_press,0.579687302889,1.30183468061e-06,1.07001172022,0.550258536934,0.00867496441009,1.0696612401
+131,2.183333333,pose1_to_pose2_press,0.579891302004,1.51328083797e-06,1.07001164982,0.550462534359,0.00867517082094,1.06966118697
+132,2.200000000,pose1_to_pose2_press,0.580114442986,1.28205772478e-06,1.07001176687,0.550685678064,0.00867494875189,1.0696613018
+133,2.216666667,pose1_to_pose2_press,0.580360177648,1.2921952415e-06,1.07001159453,0.550931412171,0.00867495683954,1.06966112537
+134,2.233333333,pose1_to_pose2_press,0.58063401809,1.35433620117e-06,1.07001153869,0.551205251901,0.00867501673002,1.06966107353
+135,2.250000000,pose1_to_pose2_press,0.580933287282,1.33160575393e-06,1.07001162622,0.55150452094,0.00867499351262,1.06966116182
+136,2.266666667,pose1_to_pose2_press,0.581256919958,1.30673036609e-06,1.07001175364,0.551828154966,0.0086749731387,1.0696612872
+137,2.283333333,pose1_to_pose2_press,0.581605267759,1.24249545581e-06,1.07001157806,0.552176503273,0.00867491088522,1.06966111813
+138,2.300000000,pose1_to_pose2_press,0.581975643217,1.21269466819e-06,1.07001161149,0.552546879806,0.00867488459338,1.06966114807
+139,2.316666667,pose1_to_pose2_press,0.582365561836,1.30918321125e-06,1.07001169387,0.552936795052,0.00867496922131,1.0696612201
+140,2.333333333,pose1_to_pose2_press,0.582775754421,1.35304865534e-06,1.07001175244,0.5533469858,0.00867500697979,1.06966128175
+141,2.350000000,pose1_to_pose2_press,0.583208158762,1.33309727689e-06,1.07001185365,0.553779391429,0.00867499155289,1.0696613867
+142,2.366666667,pose1_to_pose2_press,0.583658276148,1.32310112932e-06,1.07001184921,0.554229510095,0.00867498589007,1.06966138203
+143,2.383333333,pose1_to_pose2_press,0.584126891745,1.28740626313e-06,1.07001174505,0.554698126748,0.00867495370749,1.06966127613
+144,2.400000000,pose1_to_pose2_press,0.584621504496,1.20830551127e-06,1.07001173262,0.555192740834,0.00867487905061,1.06966126147
+145,2.416666667,pose1_to_pose2_press,0.5851443336,1.26132924394e-06,1.07001178442,0.555715569251,0.00867492991093,1.06966131737
+146,2.433333333,pose1_to_pose2_press,0.585702622965,1.37952338686e-06,1.07001163393,0.556273856481,0.00867504115476,1.06966117414
+147,2.450000000,pose1_to_pose2_press,0.586289367595,1.24859299125e-06,1.07001150873,0.556860601929,0.00867491304419,1.06966105003
+148,2.466666667,pose1_to_pose2_press,0.58690118895,1.23592100507e-06,1.07001161686,0.557472424062,0.0086749031308,1.06966116109
+149,2.483333333,pose1_to_pose2_press,0.587525773949,1.17782894184e-06,1.07001148174,0.558097010735,0.00867485076237,1.06966102696
+150,2.500000000,pose1_to_pose2_press,0.588159785729,1.19434360481e-06,1.07001172352,0.558731021665,0.00867486391203,1.06966125685
+151,2.516666667,pose1_to_pose2_press,0.588801738517,1.27031913999e-06,1.07001159743,0.559372973726,0.00867493743294,1.069661131
+152,2.533333333,pose1_to_pose2_press,0.589459296279,1.29885814604e-06,1.07001174071,0.560030529391,0.00867495889931,1.06966127534
+153,2.550000000,pose1_to_pose2_press,0.590140340509,1.22965012033e-06,1.07001152712,0.560711574867,0.00867489404586,1.06966106494
+154,2.566666667,pose1_to_pose2_press,0.59084211235,1.28823855379e-06,1.07001150182,0.561413346937,0.0086749537247,1.06966104729
+155,2.583333333,pose1_to_pose2_press,0.5915619325,1.31382227574e-06,1.0700116886,0.562133166214,0.00867497558452,1.06966121526
+156,2.600000000,pose1_to_pose2_press,0.592304171715,1.24307689884e-06,1.07001164832,0.562875407609,0.00867491262689,1.06966118467
+157,2.616666667,pose1_to_pose2_press,0.593063805997,1.35117867743e-06,1.07001175815,0.563635038885,0.00867501057518,1.06966129559
+158,2.633333333,pose1_to_pose2_press,0.593836425812,1.36729775044e-06,1.07001151688,0.564407659447,0.00867502942606,1.06966105919
+159,2.650000000,pose1_to_pose2_press,0.594621973987,1.28070885226e-06,1.07001167547,0.565193209217,0.00867494778601,1.06966120638
+160,2.666666667,pose1_to_pose2_press,0.595418673347,1.21809876746e-06,1.07001181033,0.565989907632,0.00867488173236,1.06966133538
+161,2.683333333,pose1_to_pose2_press,0.596221957477,1.30902781975e-06,1.07001161135,0.566793192304,0.00867497448013,1.0696611359
+162,2.700000000,pose1_to_pose2_press,0.597032512823,1.28243366513e-06,1.07001177573,0.567603747581,0.00867494782972,1.06966130477
+163,2.716666667,pose1_to_pose2_press,0.597847933156,1.26505885573e-06,1.07001164973,0.568419167996,0.00867493126133,1.0696611918
+164,2.733333333,pose1_to_pose2_press,0.598664477197,1.1592156894e-06,1.07001175752,0.569235714189,0.00867483243806,1.06966129274
+165,2.750000000,pose1_to_pose2_press,0.59947479351,1.18876391737e-06,1.07001169844,0.570046028372,0.00867485470935,1.06966123242
+166,2.766666667,pose1_to_pose2_press,0.600284026445,1.25994086769e-06,1.07001165971,0.570855260424,0.00867492287991,1.06966119348
+167,2.783333333,pose1_to_pose2_press,0.601098118405,1.21924533825e-06,1.07001159506,0.571669352936,0.00867488394539,1.06966112611
+168,2.800000000,pose1_to_pose2_press,0.601907235586,1.27702770094e-06,1.07001161114,0.572478470169,0.00867494207415,1.0696611464
+169,2.816666667,pose1_to_pose2_press,0.602719817589,1.32792767183e-06,1.07001166952,0.573291051625,0.00867499097832,1.06966120138
+170,2.833333333,pose1_to_pose2_press,0.60355220745,1.24442484715e-06,1.07001164595,0.574123442006,0.00867490940448,1.06966118194
+171,2.850000000,pose1_to_pose2_press,0.604386931887,1.222375846e-06,1.07001149211,0.574958167181,0.00867489018775,1.06966103632
+172,2.866666667,pose1_to_pose2_press,0.605213824468,1.25641996807e-06,1.07001144622,0.575785059865,0.00867492452535,1.06966098902
+173,2.883333333,pose1_to_pose2_press,0.606031115441,1.25339983287e-06,1.07001157591,0.576602350276,0.00867491945764,1.0696611154
+174,2.900000000,pose1_to_pose2_press,0.606834130117,1.31210492854e-06,1.07001166911,0.577405362985,0.00867497116503,1.0696612006
+175,2.916666667,pose1_to_pose2_press,0.607615975171,1.3024897252e-06,1.07001152139,0.578187208832,0.00867496425737,1.06966105331
+176,2.933333333,pose1_to_pose2_press,0.608382098439,1.2615719967e-06,1.07001150367,0.578953334427,0.0086749314247,1.06966104043
+177,2.950000000,pose1_to_pose2_press,0.609140022858,1.37104510635e-06,1.07001188479,0.579711256771,0.00867503359065,1.06966141497
+178,2.966666667,pose1_to_pose2_press,0.609895159375,1.29648961852e-06,1.07001171642,0.580466393585,0.00867496016315,1.06966124968
+179,2.983333333,pose1_to_pose2_press,0.610646652823,1.21365364435e-06,1.07001157081,0.581217888917,0.00867488348872,1.06966109843
+180,3.000000000,pose1_to_pose2_press,0.611397294612,1.24906615246e-06,1.07001151799,0.581968531428,0.00867492184786,1.06966105797
+181,3.016666667,pose1_to_pose2_press,0.612141382305,1.30052891208e-06,1.07001152322,0.582712617269,0.00867496697506,1.06966106195
+182,3.033333333,pose1_to_pose2_press,0.612858170466,1.25671012009e-06,1.0700116429,0.583429404736,0.00867492053869,1.06966117522
+183,3.050000000,pose1_to_pose2_press,0.613544891005,1.24343367839e-06,1.07001183811,0.584116127066,0.0086749134497,1.06966137327
+184,3.066666667,pose1_to_pose2_press,0.614194410851,1.27895411413e-06,1.07001162199,0.58476564569,0.00867494496377,1.06966116069
+185,3.083333333,pose1_to_pose2_press,0.614804782545,1.39076589572e-06,1.07001153942,0.58537601725,0.00867505649474,1.06966108246
+186,3.100000000,pose1_to_pose2_press,0.615379749398,1.33638649394e-06,1.07001182809,0.585950985351,0.0086750056514,1.06966135393
+187,3.116666667,pose1_to_pose2_press,0.615949651541,1.38264151929e-06,1.07001165684,0.5865208847,0.0086750429449,1.06966119589
+188,3.133333333,pose1_to_pose2_press,0.616517650107,1.47770066268e-06,1.07001177788,0.587088881885,0.00867513306958,1.0696613102
+189,3.150000000,pose1_to_pose2_press,0.617080727476,1.16513070799e-06,1.07001156269,0.587651964685,0.00867483910806,1.06966109946
+190,3.166666667,pose1_to_pose2_press,0.61762941774,1.24772561845e-06,1.0700116624,0.588200652433,0.00867491297497,1.06966119135
+191,3.183333333,pose1_to_pose2_press,0.618155913727,1.1498747741e-06,1.07001153558,0.588727150366,0.00867482227794,1.06966107352
+192,3.200000000,pose1_to_pose2_press,0.618641123515,1.39339748884e-06,1.07001164114,0.589212356593,0.00867505366828,1.06966117469
+193,3.216666667,pose1_to_pose2_press,0.619089602434,1.32870137587e-06,1.07001159787,0.589660835677,0.00867498945844,1.06966112666
+194,3.233333333,pose1_to_pose2_press,0.619513730359,1.33558773022e-06,1.07001164541,0.590084963754,0.00867499701863,1.06966117424
+195,3.250000000,pose1_to_pose2_press,0.619919209267,1.3542617095e-06,1.07001172728,0.590490443267,0.00867501816165,1.06966126311
+196,3.266666667,pose1_to_pose2_press,0.62030825621,1.30364719188e-06,1.07001154303,0.590879490016,0.00867496730408,1.0696610861
+197,3.283333333,pose1_to_pose2_press,0.620677940589,1.27185897782e-06,1.07001156627,0.591249174992,0.00867493771467,1.06966111013
+198,3.300000000,pose1_to_pose2_press,0.621025185272,1.28805481846e-06,1.07001171429,0.591596420003,0.00867495496244,1.0696612537
+199,3.316666667,pose1_to_pose2_press,0.621345336063,1.33965625581e-06,1.0700117121,0.591916569505,0.0086750020977,1.0696612469
+200,3.333333333,pose1_to_pose2_press,0.621640111881,1.35205146988e-06,1.0700117004,0.592211345279,0.00867501449692,1.06966123604
+201,3.350000000,pose1_to_pose2_press,0.621910630424,1.25320784644e-06,1.07001152738,0.592481864822,0.00867491932114,1.06966106673
+202,3.366666667,pose1_to_pose2_press,0.622161756506,1.26793697045e-06,1.07001161664,0.592732990408,0.00867493217485,1.06966114728
+203,3.383333333,pose1_to_pose2_press,0.622394705009,1.28590733874e-06,1.07001194349,0.592965938976,0.00867495021293,1.06966146837
+204,3.400000000,pose1_to_pose2_press,0.62261251191,1.38902844371e-06,1.07001190303,0.593183744735,0.00867504995089,1.0696614385
+205,3.416666667,pose1_to_pose2_press,0.622815369018,1.21163896175e-06,1.07001163394,0.593386604277,0.00867488136775,1.06966118018
+206,3.433333333,pose1_to_pose2_press,0.623000930944,1.15910801914e-06,1.07001163508,0.593572167775,0.0086748339183,1.06966117448
+207,3.450000000,pose1_to_pose2_press,0.623169848435,1.14306855774e-06,1.0700117821,0.593741084016,0.00867481329912,1.06966131061
+208,3.466666667,pose1_to_pose2_press,0.623321522928,1.21239749289e-06,1.07001171748,0.593892756978,0.00867487744423,1.0696612448
+209,3.483333333,pose1_to_pose2_press,0.623455338311,1.26772537764e-06,1.0700116377,0.594026572796,0.00867493485963,1.06966117845
+210,3.500000000,pose1_to_pose2_press,0.623570579005,1.233931691e-06,1.07001165307,0.594141812222,0.00867489657358,1.0696611882
+211,3.516666667,pose1_to_pose2_press,0.623670731623,1.26884489701e-06,1.07001157812,0.594241964894,0.00867493173605,1.06966111392
+212,3.533333333,pose1_to_pose2_press,0.623756864714,1.27786541394e-06,1.0700115899,0.594328097976,0.00867494086651,1.06966112581
+213,3.550000000,pose1_to_pose2_press,0.623831140751,1.27279708411e-06,1.07001176278,0.594402373724,0.00867493482431,1.06966129455
+214,3.566666667,pose1_to_pose2_press,0.623895828395,1.27257911604e-06,1.07001188166,0.594467062427,0.00867493821352,1.0696614119
+215,3.583333333,pose1_to_pose2_press,0.623951530251,1.20635225943e-06,1.0700117374,0.594522765686,0.00867487679436,1.06966126913
+216,3.600000000,pose1_to_pose2_press,0.623998851626,1.28811656766e-06,1.07001158354,0.594570085434,0.00867495328978,1.06966112198
+217,3.616666667,pose1_to_pose2_press,0.624037555622,1.46301237509e-06,1.07001191297,0.594608786629,0.00867511841553,1.06966144671
+218,3.633333333,pose1_to_pose2_press,0.624067776596,1.47833026976e-06,1.07001190783,0.594639007247,0.00867513246972,1.06966144154
+219,3.650000000,pose1_to_pose2_press,0.624090529782,1.35268515825e-06,1.07001166269,0.594661763301,0.00867501693209,1.06966120499
+220,3.666666667,pose1_to_pose2_press,0.624107211112,1.27337188121e-06,1.07001162735,0.594678446019,0.00867494237778,1.06966117096
+221,3.683333333,pose1_to_pose2_press,0.624119713762,1.24952312094e-06,1.07001169334,0.59469094909,0.00867491979984,1.06966123364
+222,3.700000000,pose1_to_pose2_press,0.624128844235,1.25657191616e-06,1.07001174457,0.59470007937,0.00867492608351,1.06966128289
+223,3.716666667,pose1_to_pose2_press,0.624135543446,1.26772415775e-06,1.07001163184,0.594706777854,0.00867493508315,1.06966117844
+224,3.733333333,pose1_to_pose2_press,0.62413998619,1.2331834946e-06,1.07001170135,0.594711221072,0.00867490192422,1.06966124136
+225,3.750000000,pose1_to_pose2_press,0.624142654734,1.20202799617e-06,1.07001177891,0.594713890138,0.00867487229592,1.06966131195
+226,3.766666667,pose1_to_pose2_press,0.624143912235,1.23952898314e-06,1.07001171285,0.594715147085,0.00867490790823,1.06966124546
+227,3.783333333,pose1_to_pose2_press,0.624144295701,1.2606456284e-06,1.07001167367,0.594715530235,0.00867492796503,1.06966120667
+228,3.800000000,pose1_to_pose2_press,0.624144460981,1.2697472176e-06,1.07001165678,0.594715695378,0.00867493660981,1.06966118995
+229,3.816666667,pose1_to_pose2_press,0.624144491522,1.27142905658e-06,1.07001165366,0.594715725894,0.00867493820724,1.06966118686
+230,3.833333333,pose1_to_pose2_press,0.624144868492,1.29218795963e-06,1.07001161514,0.594716102552,0.00867495792425,1.06966114873
+231,3.850000000,pose1_to_pose2_press,0.624145485123,1.32614447076e-06,1.07001155213,0.594716718673,0.00867499017649,1.06966108636
+232,3.866666667,pose1_to_pose2_press,0.624146018407,1.35551125039e-06,1.07001149764,0.594717251516,0.00867501806935,1.06966103242
+233,3.883333333,pose1_to_pose2_press,0.624146615803,1.38840855421e-06,1.0700114366,0.594717848418,0.00867504931554,1.069660972
+234,3.900000000,pose1_to_pose2_press,0.624147268094,1.38132169365e-06,1.07001144275,0.594718500182,0.00867504049065,1.06966097952
+235,3.916666667,pose1_to_pose2_press,0.624147627954,1.36808622048e-06,1.07001146193,0.594718859755,0.00867502631038,1.06966099961
+236,3.933333333,pose1_to_pose2_press,0.624147717108,1.36480721103e-06,1.07001146668,0.594718948836,0.0086750227973,1.06966100459
+237,3.950000000,pose1_to_pose2_press,0.624147811908,1.36132050725e-06,1.07001147173,0.594719043561,0.0086750190617,1.06966100988
+238,3.966666667,pose1_to_pose2_press,0.624148007759,1.35411722538e-06,1.07001148217,0.594719239255,0.00867501134423,1.06966102081
+239,3.983333333,pose1_to_pose2_press,0.624148149121,1.34891798826e-06,1.0700114897,0.594719380504,0.00867500577385,1.0696610287
+240,4.000000000,pose1_to_pose2_press,0.624148241022,1.34553790904e-06,1.0700114946,0.594719472332,0.00867500215249,1.06966103383
+241,4.016666667,pose1_to_pose2_press,0.624148304964,1.34318617741e-06,1.07001149801,0.594719536222,0.00867499963288,1.0696610374
+242,4.033333333,pose1_to_pose2_press,0.624148511805,1.33557866056e-06,1.07001150903,0.594719742898,0.00867499148231,1.06966104895
+243,4.050000000,pose1_to_pose2_press,0.624148914354,1.35068341055e-06,1.07001159638,0.594720145698,0.00867500734671,1.06966113398
+244,4.066666667,pose1_to_pose2_press,0.624149310793,1.38649624239e-06,1.07001172853,0.594720542786,0.00867504517924,1.06966126151
+245,4.083333333,pose1_to_pose2_press,0.624149651717,1.41101192094e-06,1.07001175649,0.594720884278,0.00867507150598,1.06966128657
+246,4.100000000,pose1_to_pose2_press,0.624149867557,1.4143016707e-06,1.07001169821,0.594721100484,0.00867507599808,1.06966122737
+247,4.116666667,pose1_to_pose2_press,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221733,0.00867506421626,1.06966133845
+248,4.133333333,pose1_to_pose2_press,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421684,1.06966133844
+249,4.150000000,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421782,1.06966133844
+250,4.166666667,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421776,1.06966133844
+251,4.183333333,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421744,1.06966133844
+252,4.200000000,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421743,1.06966133844
+253,4.216666667,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421758,1.06966133844
+254,4.233333333,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421771,1.06966133844
+255,4.250000000,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221732,0.00867506421699,1.06966133844
+256,4.266666667,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221732,0.00867506421682,1.06966133844
+257,4.283333333,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421717,1.06966133844
+258,4.300000000,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421699,1.06966133844
+259,4.316666667,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421697,1.06966133844
+260,4.333333333,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421695,1.06966133844
+261,4.350000000,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421693,1.06966133844
+262,4.366666667,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421691,1.06966133844
+263,4.383333333,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421687,1.06966133844
+264,4.400000000,pose2_hold,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221731,0.00867506421685,1.06966133844
+265,4.416666667,pose2_to_pose3_retreat,0.624149988615,1.40200947475e-06,1.07001181183,0.594721221732,0.00867506421622,1.06966133844
+266,4.433333333,pose2_to_pose3_retreat,0.624149695495,1.35385589432e-06,1.07001170925,0.594720928451,0.00867501574415,1.06966124113
+267,4.450000000,pose2_to_pose3_retreat,0.624149496005,1.39607129754e-06,1.07001156368,0.594720728153,0.00867505523217,1.06966109571
+268,4.466666667,pose2_to_pose3_retreat,0.624149317787,1.38993399497e-06,1.07001157467,0.594720549928,0.0086750490444,1.06966110609
+269,4.483333333,pose2_to_pose3_retreat,0.624149316682,1.38987449845e-06,1.07001157481,0.594720548823,0.00867504898575,1.06966110622
+270,4.500000000,pose2_to_pose3_retreat,0.624149180505,1.38254340623e-06,1.0700115917,0.594720412683,0.00867504175983,1.0696611226
+271,4.516666667,pose2_to_pose3_retreat,0.624148817502,1.36300118174e-06,1.07001163673,0.594720049779,0.00867502249795,1.06966116625
+272,4.533333333,pose2_to_pose3_retreat,0.624148105102,1.33122924104e-06,1.07001171616,0.594719337742,0.00867499189774,1.06966124401
+273,4.550000000,pose2_to_pose3_retreat,0.624146708589,1.28944242575e-06,1.07001184401,0.594717942474,0.0086749543438,1.06966137177
+274,4.566666667,pose2_to_pose3_retreat,0.624143008614,1.3022569589e-06,1.0700117398,0.594714242835,0.00867496874353,1.06966127813
+275,4.583333333,pose2_to_pose3_retreat,0.624135760107,1.28113161918e-06,1.07001155263,0.594706992897,0.00867494288935,1.06966109378
+276,4.600000000,pose2_to_pose3_retreat,0.624121058493,1.44015399362e-06,1.07001161287,0.594692290356,0.0086750989954,1.06966115929
+277,4.616666667,pose2_to_pose3_retreat,0.624097905977,1.24362450402e-06,1.07001174975,0.594669140902,0.00867491239326,1.06966128526
+278,4.633333333,pose2_to_pose3_retreat,0.62406439513,1.40466785721e-06,1.07001194326,0.594635626918,0.00867506294554,1.06966148188
+279,4.650000000,pose2_to_pose3_retreat,0.624022233232,1.35767745841e-06,1.07001178307,0.594593466923,0.0086750224669,1.06966132659
+280,4.666666667,pose2_to_pose3_retreat,0.623972119345,1.21854417472e-06,1.0700114297,0.594543354433,0.0086748878076,1.06966097014
+281,4.683333333,pose2_to_pose3_retreat,0.623917954785,1.24835649243e-06,1.0700115699,0.594489187968,0.00867491114829,1.06966110623
+282,4.700000000,pose2_to_pose3_retreat,0.623860357426,1.26730736967e-06,1.07001175828,0.594431590407,0.0086749295417,1.06966129664
+283,4.716666667,pose2_to_pose3_retreat,0.623798372103,1.19081324132e-06,1.07001171854,0.594369607431,0.00867486112112,1.06966126164
+284,4.733333333,pose2_to_pose3_retreat,0.623730672426,1.2025652115e-06,1.07001164252,0.594301907724,0.00867487295754,1.06966118473
+285,4.750000000,pose2_to_pose3_retreat,0.623654146979,1.23188845494e-06,1.07001165269,0.594225381921,0.00867490065665,1.06966119084
+286,4.766666667,pose2_to_pose3_retreat,0.62356667544,1.25369084425e-06,1.07001171394,0.59413791035,0.00867492200604,1.06966124805
+287,4.783333333,pose2_to_pose3_retreat,0.623466555426,1.27501833992e-06,1.07001179134,0.594037790528,0.00867494386898,1.06966132346
+288,4.800000000,pose2_to_pose3_retreat,0.623354085538,1.33706596882e-06,1.07001177066,0.593925320184,0.00867500448899,1.06966130719
+289,4.816666667,pose2_to_pose3_retreat,0.623228953448,1.24010326886e-06,1.07001174395,0.593800188267,0.0086749082748,1.0696612858
+290,4.833333333,pose2_to_pose3_retreat,0.623089993822,1.2232227644e-06,1.07001170942,0.593661228092,0.00867488926721,1.06966124621
+291,4.850000000,pose2_to_pose3_retreat,0.62293783468,1.26989217232e-06,1.07001170969,0.5935090685,0.00867493410373,1.06966124051
+292,4.866666667,pose2_to_pose3_retreat,0.622771536842,1.32013882141e-06,1.07001177009,0.593342771167,0.00867498613646,1.0696613044
+293,4.883333333,pose2_to_pose3_retreat,0.622589421752,1.31332352997e-06,1.07001169945,0.593160655324,0.00867497647701,1.06966122824
+294,4.900000000,pose2_to_pose3_retreat,0.622390363571,1.32575777786e-06,1.0700117892,0.592961597157,0.00867498863447,1.06966131209
+295,4.916666667,pose2_to_pose3_retreat,0.622176278355,1.3438916274e-06,1.07001180754,0.592747511128,0.00867500412506,1.06966133582
+296,4.933333333,pose2_to_pose3_retreat,0.621948609016,1.35418033972e-06,1.07001170768,0.592519841292,0.00867501301312,1.06966124558
+297,4.950000000,pose2_to_pose3_retreat,0.621708720262,1.33729279215e-06,1.07001153833,0.592279954397,0.00867500232345,1.06966107593
+298,4.966666667,pose2_to_pose3_retreat,0.621456906213,1.12981387739e-06,1.07001173497,0.592028141673,0.00867479906675,1.06966126872
+299,4.983333333,pose2_to_pose3_retreat,0.621190801,1.21889827534e-06,1.07001176766,0.591762034853,0.00867488276424,1.06966130536
+300,5.000000000,pose2_to_pose3_retreat,0.620906412237,1.31506360984e-06,1.07001175412,0.591477645314,0.00867497633223,1.06966129501
+301,5.016666667,pose2_to_pose3_retreat,0.620602271953,1.24947729435e-06,1.07001176636,0.591173507004,0.00867491722438,1.06966130447
+302,5.033333333,pose2_to_pose3_retreat,0.620274546416,1.17305608159e-06,1.07001177938,0.590845782291,0.00867484323698,1.06966131211
+303,5.050000000,pose2_to_pose3_retreat,0.619926204336,1.18039598938e-06,1.07001177859,0.590497441151,0.00867485373428,1.06966131342
+304,5.066666667,pose2_to_pose3_retreat,0.619559182455,1.22613196372e-06,1.07001169843,0.590130418619,0.00867489738196,1.06966123908
+305,5.083333333,pose2_to_pose3_retreat,0.619175940322,1.27989494186e-06,1.07001162223,0.589747175693,0.00867494847662,1.06966116658
+306,5.100000000,pose2_to_pose3_retreat,0.618775481253,1.30283494206e-06,1.07001166131,0.58934671721,0.00867497313554,1.06966120229
+307,5.116666667,pose2_to_pose3_retreat,0.618358653751,1.19713739438e-06,1.07001188037,0.588929889324,0.0086748657137,1.0696614134
+308,5.133333333,pose2_to_pose3_retreat,0.617926164219,1.34449308345e-06,1.07001185896,0.588497396906,0.00867500285042,1.0696613846
+309,5.150000000,pose2_to_pose3_retreat,0.617478751221,1.32463198464e-06,1.07001175986,0.588049984718,0.00867498566368,1.06966128672
+310,5.166666667,pose2_to_pose3_retreat,0.617016780047,1.217479983e-06,1.07001170407,0.587588015581,0.0086748855314,1.06966123605
+311,5.183333333,pose2_to_pose3_retreat,0.616538154032,1.22467799576e-06,1.07001177771,0.587109388496,0.00867488913712,1.06966131162
+312,5.200000000,pose2_to_pose3_retreat,0.616033443838,1.3401442215e-06,1.07001163107,0.586604677862,0.00867500351433,1.0696611756
+313,5.216666667,pose2_to_pose3_retreat,0.615497551395,1.35628155367e-06,1.07001154234,0.586068785914,0.00867502131938,1.06966108571
+314,5.233333333,pose2_to_pose3_retreat,0.614939320386,1.3126452836e-06,1.07001151324,0.585510554945,0.00867497776381,1.06966105466
+315,5.250000000,pose2_to_pose3_retreat,0.614364661585,1.35546380138e-06,1.07001152337,0.58493589418,0.00867501382352,1.06966106252
+316,5.266666667,pose2_to_pose3_retreat,0.613782344621,1.4928439027e-06,1.07001156194,0.584353574407,0.00867514150841,1.06966109731
+317,5.283333333,pose2_to_pose3_retreat,0.61320238567,1.36472738604e-06,1.07001166198,0.583773618359,0.00867502323532,1.06966119707
+318,5.300000000,pose2_to_pose3_retreat,0.612627634847,1.29038232965e-06,1.07001175212,0.583198868533,0.0086749522585,1.0696612869
+319,5.316666667,pose2_to_pose3_retreat,0.612034623093,1.26756705705e-06,1.07001177191,0.582605857067,0.00867493049183,1.06966130851
+320,5.333333333,pose2_to_pose3_retreat,0.61141912213,1.24282229541e-06,1.0700117284,0.581990356971,0.0086749087308,1.06966126601
+321,5.350000000,pose2_to_pose3_retreat,0.610777876884,1.2049281921e-06,1.07001162489,0.581349113492,0.00867487677543,1.06966116106
+322,5.366666667,pose2_to_pose3_retreat,0.610113365086,1.39286385211e-06,1.07001140893,0.580684599337,0.00867505688638,1.06966094933
+323,5.383333333,pose2_to_pose3_retreat,0.609426770627,1.27454547513e-06,1.07001183419,0.579998005252,0.00867493922295,1.06966135941
+324,5.400000000,pose2_to_pose3_retreat,0.608729119176,1.21180386211e-06,1.07001180299,0.579300354769,0.00867487973414,1.06966132717
+325,5.416666667,pose2_to_pose3_retreat,0.608020125126,1.24469095721e-06,1.07001163069,0.578591359717,0.00867490948055,1.06966116048
+326,5.433333333,pose2_to_pose3_retreat,0.607310085131,1.28041377167e-06,1.07001158238,0.57788131849,0.00867494118984,1.06966111549
+327,5.450000000,pose2_to_pose3_retreat,0.606602435667,1.23282116881e-06,1.07001170113,0.577173670573,0.00867489874163,1.06966123201
+328,5.466666667,pose2_to_pose3_retreat,0.605904474729,1.32452784187e-06,1.07001189767,0.576475709231,0.00867498903173,1.06966142744
+329,5.483333333,pose2_to_pose3_retreat,0.605212851201,1.32025194519e-06,1.0700118981,0.575784085005,0.00867498259901,1.06966143307
+330,5.500000000,pose2_to_pose3_retreat,0.604521236592,1.21864571488e-06,1.07001184114,0.575092471806,0.00867488579358,1.06966137642
+331,5.516666667,pose2_to_pose3_retreat,0.603815034526,1.17627206124e-06,1.07001178346,0.57438627063,0.00867484637032,1.069661317
+332,5.533333333,pose2_to_pose3_retreat,0.603091018383,1.3663681383e-06,1.07001176101,0.573662251407,0.0086750261109,1.06966129683
+333,5.550000000,pose2_to_pose3_retreat,0.602345914067,1.32507380713e-06,1.07001165768,0.572917148081,0.00867498824355,1.06966119513
+334,5.566666667,pose2_to_pose3_retreat,0.601589517308,1.29283946464e-06,1.07001161817,0.572160752377,0.00867495982526,1.06966116143
+335,5.583333333,pose2_to_pose3_retreat,0.600833167862,1.29245936294e-06,1.07001155154,0.571404401709,0.00867495531138,1.06966109508
+336,5.600000000,pose2_to_pose3_retreat,0.600090926832,1.19690275197e-06,1.07001152698,0.570662161361,0.00867486183186,1.0696610646
+337,5.616666667,pose2_to_pose3_retreat,0.599370642553,1.07103362656e-06,1.07001157832,0.569941879593,0.00867474420865,1.06966110908
+338,5.633333333,pose2_to_pose3_retreat,0.598667661949,1.18499718326e-06,1.07001167389,0.569238897936,0.00867485461804,1.06966120508
+339,5.650000000,pose2_to_pose3_retreat,0.597978504453,1.36010939875e-06,1.07001165778,0.568549737056,0.00867501840735,1.0696611929
+340,5.666666667,pose2_to_pose3_retreat,0.597291270243,1.38626486884e-06,1.07001158647,0.567862501743,0.00867504086509,1.06966112263
+341,5.683333333,pose2_to_pose3_retreat,0.596596512538,1.31052024152e-06,1.07001161153,0.567167745562,0.00867497025442,1.06966114682
+342,5.700000000,pose2_to_pose3_retreat,0.595888277903,1.21977496345e-06,1.07001178709,0.566459513932,0.00867488964665,1.06966132086
+343,5.716666667,pose2_to_pose3_retreat,0.595178083167,1.31663745598e-06,1.07001178647,0.565749317476,0.00867498065644,1.06966131976
+344,5.733333333,pose2_to_pose3_retreat,0.594471745077,1.40988800021e-06,1.07001172729,0.565042979289,0.00867507330962,1.06966125395
+345,5.750000000,pose2_to_pose3_retreat,0.593778678991,1.33856472474e-06,1.07001163018,0.564349914174,0.0086750052952,1.06966115712
+346,5.766666667,pose2_to_pose3_retreat,0.593098474226,1.31726744495e-06,1.07001160639,0.563669709357,0.00867498403279,1.06966113853
+347,5.783333333,pose2_to_pose3_retreat,0.592430810776,1.35469314562e-06,1.07001159578,0.563002045017,0.00867501867022,1.06966113372
+348,5.800000000,pose2_to_pose3_retreat,0.591774846865,1.25861035818e-06,1.07001140596,0.562346081575,0.00867492424186,1.06966094535
+349,5.816666667,pose2_to_pose3_retreat,0.591134700095,1.23835976913e-06,1.07001151519,0.561705934392,0.00867490244438,1.06966105105
+350,5.833333333,pose2_to_pose3_retreat,0.590510277574,1.35291983731e-06,1.07001179981,0.56108151139,0.00867501507849,1.06966132832
+351,5.850000000,pose2_to_pose3_retreat,0.589901000998,1.42809876715e-06,1.07001194249,0.560472234191,0.00867508805019,1.06966146877
+352,5.866666667,pose2_to_pose3_retreat,0.589303543156,1.40218800555e-06,1.07001189866,0.559874776337,0.00867506223011,1.06966142814
+353,5.883333333,pose2_to_pose3_retreat,0.588713920078,1.27851305694e-06,1.07001178631,0.559285154925,0.00867494435842,1.06966131953
+354,5.900000000,pose2_to_pose3_retreat,0.588132059258,1.17084046211e-06,1.07001190745,0.558703294353,0.00867483730823,1.06966143525
+355,5.916666667,pose2_to_pose3_retreat,0.58756597908,1.14317884338e-06,1.07001164857,0.558137214372,0.00867481067075,1.06966118519
+356,5.933333333,pose2_to_pose3_retreat,0.587021266324,1.28105129853e-06,1.07001162904,0.557592500327,0.00867494435423,1.06966117021
+357,5.950000000,pose2_to_pose3_retreat,0.58650298797,1.44368503272e-06,1.0700116486,0.557074220542,0.00867510216537,1.06966119052
+358,5.966666667,pose2_to_pose3_retreat,0.586005807645,1.46349007189e-06,1.0700114,0.556577040434,0.00867512280253,1.0696609444
+359,5.983333333,pose2_to_pose3_retreat,0.585517566418,1.34140175197e-06,1.07001178426,0.556088801311,0.00867500787014,1.06966132903
+360,6.000000000,pose2_to_pose3_retreat,0.585035809964,1.28021608535e-06,1.07001180781,0.55560704472,0.00867494592675,1.0696613453
+361,6.016666667,pose2_to_pose3_retreat,0.584561096183,1.23784902581e-06,1.07001172943,0.555132331166,0.00867490413048,1.06966126204
+362,6.033333333,pose2_to_pose3_retreat,0.584102700617,1.21751525998e-06,1.07001166072,0.554673936446,0.00867488675347,1.06966119549
+363,6.050000000,pose2_to_pose3_retreat,0.583665379986,1.24579911174e-06,1.07001164965,0.554236615759,0.00867491514399,1.06966119173
+364,6.066666667,pose2_to_pose3_retreat,0.583259829873,1.35642062259e-06,1.07001173463,0.553831061892,0.00867501314469,1.06966127961
+365,6.083333333,pose2_to_pose3_retreat,0.582881116492,1.17008567993e-06,1.07001158258,0.553452351386,0.00867483633825,1.06966112196
+366,6.100000000,pose2_to_pose3_retreat,0.582523961613,1.13865122654e-06,1.07001165667,0.553095197202,0.0086748071781,1.06966119404
+367,6.116666667,pose2_to_pose3_retreat,0.582180581385,1.21484333213e-06,1.07001169373,0.552751816345,0.00867488118559,1.06966122982
+368,6.133333333,pose2_to_pose3_retreat,0.581849906189,1.31596753637e-06,1.07001153829,0.552421140464,0.00867497990856,1.06966107244
+369,6.150000000,pose2_to_pose3_retreat,0.581530741419,1.27602330158e-06,1.07001152597,0.552101976586,0.00867494313974,1.0696610638
+370,6.166666667,pose2_to_pose3_retreat,0.581225199928,1.41363070401e-06,1.07001169668,0.551796433454,0.00867507526628,1.06966123667
+371,6.183333333,pose2_to_pose3_retreat,0.580940339806,1.35322971459e-06,1.07001157612,0.55151157353,0.00867501531951,1.06966111104
+372,6.200000000,pose2_to_pose3_retreat,0.580674151146,1.33464723102e-06,1.07001156375,0.551245385062,0.00867499729299,1.06966109643
+373,6.216666667,pose2_to_pose3_retreat,0.580426400036,1.42675319119e-06,1.07001175444,0.550997633319,0.00867508744751,1.06966129198
+374,6.233333333,pose2_to_pose3_retreat,0.580197337397,1.33159568347e-06,1.07001163531,0.5507685711,0.00867499391145,1.06966117792
+375,6.250000000,pose2_to_pose3_retreat,0.57998686196,1.32294261081e-06,1.07001154314,0.550558096456,0.008674987873,1.06966108382
+376,6.266666667,pose2_to_pose3_retreat,0.579792451722,1.30645988949e-06,1.07001151342,0.550363685969,0.00867497059309,1.06966105509
+377,6.283333333,pose2_to_pose3_retreat,0.57961400221,1.26034573033e-06,1.07001160245,0.550185236567,0.00867492479673,1.06966114253
+378,6.300000000,pose2_to_pose3_retreat,0.579453292898,1.19788005807e-06,1.07001176289,0.550024528009,0.00867486469651,1.06966129828
+379,6.316666667,pose2_to_pose3_retreat,0.579306399535,1.22310453425e-06,1.07001165242,0.549877633316,0.00867488564399,1.06966119371
+380,6.333333333,pose2_to_pose3_retreat,0.579172409776,1.30710155091e-06,1.07001160508,0.549743643548,0.0086749692005,1.06966113634
+381,6.350000000,pose2_to_pose3_retreat,0.579048725055,1.32066655025e-06,1.07001166553,0.549619959461,0.00867498477576,1.06966119341
+382,6.366666667,pose2_to_pose3_retreat,0.578934810721,1.27065888472e-06,1.07001177194,0.549506045926,0.0086749377481,1.06966130642
+383,6.383333333,pose2_to_pose3_retreat,0.578830284011,1.26381091206e-06,1.07001174098,0.54940151946,0.00867493209349,1.06966128443
+384,6.400000000,pose2_to_pose3_retreat,0.578735872143,1.40495743984e-06,1.07001157047,0.549307104026,0.00867506092597,1.06966110875
+385,6.416666667,pose2_to_pose3_retreat,0.578652566518,1.29844099487e-06,1.07001161101,0.549223798494,0.00867495456817,1.06966114582
+386,6.433333333,pose2_to_pose3_retreat,0.578579712453,1.23614299533e-06,1.07001176496,0.549150945729,0.00867489666534,1.06966129976
+387,6.450000000,pose2_to_pose3_retreat,0.578517381912,1.28578059801e-06,1.07001182801,0.549088615686,0.00867494812145,1.06966136585
+388,6.466666667,pose2_to_pose3_retreat,0.578463923897,1.35079161851e-06,1.07001162489,0.549035156598,0.00867500965985,1.06966116693
+389,6.483333333,pose2_to_pose3_retreat,0.578418573441,1.23963784271e-06,1.07001154606,0.548989808034,0.0086749047132,1.06966108281
+390,6.500000000,pose2_to_pose3_retreat,0.578381236212,1.31309122808e-06,1.07001160955,0.548952471682,0.00867498116974,1.06966114701
+391,6.516666667,pose2_to_pose3_retreat,0.578350691123,1.28439537336e-06,1.07001164051,0.548921927241,0.00867495473857,1.06966117967
+392,6.533333333,pose2_to_pose3_retreat,0.578326570188,1.19837664512e-06,1.07001163773,0.548897806491,0.00867486934875,1.069661177
+393,6.550000000,pose2_to_pose3_retreat,0.578307228279,1.21285110606e-06,1.07001166016,0.548878463605,0.00867488035008,1.06966119564
+394,6.566666667,pose2_to_pose3_retreat,0.578292029732,1.31997708463e-06,1.07001173467,0.548863262908,0.00867498027083,1.06966127245
+395,6.583333333,pose2_to_pose3_retreat,0.578279767669,1.25482621219e-06,1.07001188247,0.548851001618,0.00867491768976,1.06966141883
+396,6.600000000,pose2_to_pose3_retreat,0.578270249841,1.1233020385e-06,1.07001194587,0.548841485924,0.00867479332491,1.06966147994
+397,6.616666667,pose2_to_pose3_retreat,0.578263567714,1.16194668963e-06,1.07001167064,0.548834803722,0.00867483186977,1.06966120837
+398,6.633333333,pose2_to_pose3_retreat,0.578259356143,1.20429993494e-06,1.07001182656,0.54883059171,0.00867487253444,1.06966135958
+399,6.650000000,pose2_to_pose3_retreat,0.578257190078,1.23199026246e-06,1.0700119073,0.548828425261,0.00867489882088,1.06966143774
+400,6.666666667,pose2_to_pose3_retreat,0.578255938632,1.26756543106e-06,1.07001185572,0.548827173053,0.00867493180888,1.06966138616
+401,6.683333333,pose2_to_pose3_retreat,0.578255209104,1.28830389304e-06,1.07001182565,0.548826443081,0.00867495103916,1.06966135609
+402,6.700000000,pose2_to_pose3_retreat,0.578254491588,1.30870090562e-06,1.07001179607,0.548825725127,0.00867496995282,1.06966132651
+403,6.716666667,pose2_to_pose3_retreat,0.578253897187,1.28148580315e-06,1.07001177835,0.548825131512,0.00867494551372,1.06966131153
+404,6.733333333,pose2_to_pose3_retreat,0.578253426978,1.2461028521e-06,1.07001176646,0.548824662284,0.00867491358454,1.06966130267
+405,6.750000000,pose2_to_pose3_retreat,0.578253102493,1.22168566211e-06,1.07001175825,0.548824338477,0.00867489155074,1.06966129655
+406,6.766666667,pose2_to_pose3_retreat,0.578252919448,1.20791163486e-06,1.07001175362,0.548824155814,0.00867487912121,1.0696612931
+407,6.783333333,pose2_to_pose3_retreat,0.578252867743,1.20402090165e-06,1.07001175232,0.548824104217,0.00867487561025,1.06966129213
+408,6.800000000,pose2_to_pose3_retreat,0.578252697695,1.20737758123e-06,1.07001174049,0.548823934139,0.00867487874781,1.06966127746
+409,6.816666667,pose2_to_pose3_retreat,0.578252612581,1.21156862913e-06,1.0700117334,0.548823848949,0.00867488260095,1.06966126833
+410,6.833333333,pose2_to_pose3_retreat,0.57825254388,1.2149514714e-06,1.07001172768,0.548823780188,0.00867488571105,1.06966126096
+411,6.850000000,pose2_to_pose3_retreat,0.578252428062,1.22065438841e-06,1.07001171803,0.548823664267,0.00867489095417,1.06966124854
+412,6.866666667,pose2_to_pose3_retreat,0.578252399972,1.22203756307e-06,1.07001171569,0.548823636152,0.00867489222582,1.06966124553
+413,6.883333333,pose2_to_pose3_retreat,0.578252380598,1.2229915531e-06,1.07001171408,0.548823616761,0.0086748931029,1.06966124345
+414,6.900000000,pose2_to_pose3_retreat,0.5782523638,1.22381868212e-06,1.07001171268,0.548823599948,0.00867489386334,1.06966124165
+415,6.916666667,pose2_to_pose3_retreat,0.578252329979,1.22548403814e-06,1.07001170986,0.548823566097,0.00867489539443,1.06966123802
+416,6.933333333,pose2_to_pose3_retreat,0.578252299743,1.22697287652e-06,1.07001170734,0.548823535834,0.00867489676323,1.06966123478
+417,6.950000000,pose2_to_pose3_retreat,0.578252293112,1.22729936269e-06,1.07001170679,0.548823529198,0.00867489706339,1.06966123407
+418,6.966666667,pose2_to_pose3_retreat,0.578252227303,1.22142031593e-06,1.07001170105,0.548823463343,0.0086748909756,1.069661227
+419,6.983333333,pose2_to_pose3_retreat,0.578252190149,1.17098901519e-06,1.07001169649,0.548823426228,0.00867484069778,1.06966122298
+420,7.000000000,pose2_to_pose3_retreat,0.578252167327,1.1400117947e-06,1.07001169369,0.54882340343,0.00867480981484,1.06966122051
+421,7.016666667,pose2_to_pose3_retreat,0.578252138984,1.1015393717e-06,1.07001169021,0.548823375116,0.0086747714595,1.06966121744
+422,7.033333333,pose2_to_pose3_retreat,0.578252130831,1.09047207039e-06,1.07001168921,0.548823366971,0.00867476042588,1.06966121655
+423,7.050000000,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846255,1.06966122125

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c501cef8f80249d5ba8bc1c451694643c50e2856d85a11e7a8502bcc953318
+size 27117980

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/simulation_data.csv

@@ -0,0 +1,429 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+1,0.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+2,0.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+3,0.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+4,0.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+5,0.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+6,0.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+7,0.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+8,0.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+9,0.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+10,0.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+11,0.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+12,0.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+13,0.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+14,0.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+15,0.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+16,0.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+17,0.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+18,0.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+19,0.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+20,0.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+21,0.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+22,0.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+23,0.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+24,0.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+25,0.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+26,0.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+27,0.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+28,0.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+29,0.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+30,0.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+31,0.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+32,0.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+33,0.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+34,0.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+35,0.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+36,0.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+37,0.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+38,0.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+39,0.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+40,0.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+41,0.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+42,0.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+43,0.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+44,0.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+45,0.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+46,0.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+47,0.783333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+48,0.800000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+49,0.816666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+50,0.833333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+51,0.850000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+52,0.866666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+53,0.883333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+54,0.900000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+55,0.916666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+56,0.933333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+57,0.950000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+58,0.966666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+59,0.983333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+60,1.000000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+61,1.016666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+62,1.033333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+63,1.050000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+64,1.066666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+65,1.083333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+66,1.100000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+67,1.116666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+68,1.133333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+69,1.150000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+70,1.166666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+71,1.183333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+72,1.200000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+73,1.216666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+74,1.233333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+75,1.250000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+76,1.266666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+77,1.283333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+78,1.300000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+79,1.316666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+80,1.333333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+81,1.350000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+82,1.366666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+83,1.383333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+84,1.400000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+85,1.416666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+86,1.433333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+87,1.450000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+88,1.466666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+89,1.483333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+90,1.500000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+91,1.516666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+92,1.533333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+93,1.550000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+94,1.566666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+95,1.583333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+96,1.600000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+97,1.616666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+98,1.633333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+99,1.650000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+100,1.666666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+101,1.683333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+102,1.700000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+103,1.716666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+104,1.733333333,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+105,1.750000000,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+106,1.766666667,pose1_baseline,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.00867480846268,1.06966122125
+107,1.783333333,pose1_to_pose2_press,0.578252113996,1.06762196593e-06,1.07001168714,0.548823350155,0.0086747376452,1.06966121473
+108,1.800000000,pose1_to_pose2_press,0.578252195114,1.1777279203e-06,1.0700116971,0.548823431187,0.00867484741612,1.06966122351
+109,1.816666667,pose1_to_pose2_press,0.578252403862,1.23766195427e-06,1.07001177534,0.548823639886,0.00867490726543,1.06966130385
+110,1.833333333,pose1_to_pose2_press,0.578252660291,1.24888152206e-06,1.07001188615,0.5488238963,0.00867491859809,1.06966141866
+111,1.850000000,pose1_to_pose2_press,0.578252849019,1.25741995566e-06,1.0700118679,0.548824084904,0.00867492673995,1.06966140109
+112,1.866666667,pose1_to_pose2_press,0.5782529683,1.2628797833e-06,1.07001183387,0.54882420408,0.00867493184094,1.06966136698
+113,1.883333333,pose1_to_pose2_press,0.578254038679,1.30520513366e-06,1.07001154911,0.54882527364,0.00867497136879,1.06966108175
+114,1.900000000,pose1_to_pose2_press,0.578257574816,1.20420234207e-06,1.07001153439,0.548828811534,0.00867487672656,1.06966107684
+115,1.916666667,pose1_to_pose2_press,0.578265931082,1.30675627716e-06,1.070011557,0.548837166505,0.00867497490049,1.06966109974
+116,1.933333333,pose1_to_pose2_press,0.578281805791,1.2146075959e-06,1.07001177332,0.548853041671,0.00867488420929,1.06966131375
+117,1.950000000,pose1_to_pose2_press,0.578306802702,1.31710375115e-06,1.07001185851,0.548878037082,0.00867498122795,1.06966138925
+118,1.966666667,pose1_to_pose2_press,0.578343073301,1.19030439812e-06,1.07001165729,0.548914309113,0.00867485962544,1.0696611964
+119,1.983333333,pose1_to_pose2_press,0.578389874086,1.31034294628e-06,1.07001190721,0.548961109224,0.00867497701992,1.06966143735
+120,2.000000000,pose1_to_pose2_press,0.578446760338,1.33931763263e-06,1.07001171218,0.549017993396,0.00867499905092,1.0696612451
+121,2.016666667,pose1_to_pose2_press,0.578512961467,1.25610126575e-06,1.07001161424,0.549084195994,0.00867492109708,1.06966115398
+122,2.033333333,pose1_to_pose2_press,0.578589438048,1.2140866361e-06,1.07001179712,0.549160673153,0.00867488066585,1.0696613274
+123,2.050000000,pose1_to_pose2_press,0.578676884383,1.28618737603e-06,1.07001175626,0.54924811856,0.00867494948455,1.06966128324
+124,2.066666667,pose1_to_pose2_press,0.578775905714,1.27139946315e-06,1.07001162318,0.549347139742,0.0086749343448,1.0696611539
+125,2.083333333,pose1_to_pose2_press,0.578890192818,1.29292562809e-06,1.07001151925,0.549461426326,0.00867495450087,1.06966105968
+126,2.100000000,pose1_to_pose2_press,0.579019272801,1.24476184911e-06,1.07001156915,0.549590508092,0.00867491241907,1.06966111031
+127,2.116666667,pose1_to_pose2_press,0.579164436712,1.147610309e-06,1.07001168979,0.549735673073,0.00867481841327,1.06966121899
+128,2.133333333,pose1_to_pose2_press,0.579324853324,1.29621186359e-06,1.07001167833,0.54989608811,0.00867496173062,1.06966120896
+129,2.150000000,pose1_to_pose2_press,0.579501045646,1.24829857597e-06,1.07001171891,0.550072281223,0.00867491644661,1.06966124811
+130,2.166666667,pose1_to_pose2_press,0.579691597632,1.28144645532e-06,1.07001180546,0.550262830626,0.0086749408578,1.06966133526
+131,2.183333333,pose1_to_pose2_press,0.579897092382,1.28927180154e-06,1.07001174194,0.550468326411,0.00867495278087,1.06966128621
+132,2.200000000,pose1_to_pose2_press,0.580122925129,1.2691234842e-06,1.07001175386,0.550694159349,0.00867493304384,1.06966129221
+133,2.216666667,pose1_to_pose2_press,0.580369905855,1.229503141e-06,1.07001166992,0.550941141876,0.00867489934133,1.0696612035
+134,2.233333333,pose1_to_pose2_press,0.580641720614,1.22506302157e-06,1.07001154846,0.551212957546,0.00867489807443,1.06966108398
+135,2.250000000,pose1_to_pose2_press,0.580940199085,1.35576268085e-06,1.07001156202,0.551511431443,0.00867501304117,1.06966109226
+136,2.266666667,pose1_to_pose2_press,0.581265965356,1.13957372024e-06,1.07001178109,0.551837202285,0.0086748123432,1.06966131077
+137,2.283333333,pose1_to_pose2_press,0.581617299763,1.32633970581e-06,1.07001173931,0.552188533589,0.00867498819853,1.06966125948
+138,2.300000000,pose1_to_pose2_press,0.581991397141,1.34609885714e-06,1.0700115398,0.552562631012,0.00867500890855,1.06966107969
+139,2.316666667,pose1_to_pose2_press,0.582387640566,1.23441739952e-06,1.07001163937,0.552958874943,0.00867489871837,1.06966117364
+140,2.333333333,pose1_to_pose2_press,0.582802878117,1.28966761609e-06,1.07001187064,0.553374113511,0.00867495724282,1.06966140049
+141,2.350000000,pose1_to_pose2_press,0.58323712532,1.26762199024e-06,1.07001158034,0.553808360465,0.00867493495871,1.06966112516
+142,2.366666667,pose1_to_pose2_press,0.583690055511,1.33034005727e-06,1.07001158271,0.554261289423,0.00867499352405,1.06966112823
+143,2.383333333,pose1_to_pose2_press,0.584163028998,1.31639216482e-06,1.07001173142,0.554734262221,0.00867497691308,1.0696612689
+144,2.400000000,pose1_to_pose2_press,0.584662467855,1.28943770746e-06,1.07001169717,0.555233701382,0.00867495097625,1.0696612343
+145,2.416666667,pose1_to_pose2_press,0.58519023183,1.23005230338e-06,1.07001180118,0.555761468194,0.00867490106802,1.06966133454
+146,2.433333333,pose1_to_pose2_press,0.585752584552,1.20530857278e-06,1.07001184176,0.556323822089,0.00867488025419,1.06966137388
+147,2.450000000,pose1_to_pose2_press,0.586342708236,1.23111702818e-06,1.07001162491,0.556913944312,0.00867490142651,1.06966116489
+148,2.466666667,pose1_to_pose2_press,0.586957471406,1.20364636407e-06,1.07001155886,0.557528708195,0.00867487661266,1.06966110467
+149,2.483333333,pose1_to_pose2_press,0.587587017982,1.26320621014e-06,1.07001169989,0.558158253582,0.00867493190908,1.06966124003
+150,2.500000000,pose1_to_pose2_press,0.588228328848,1.29165982522e-06,1.07001185726,0.558799563197,0.0086749557688,1.06966138875
+151,2.516666667,pose1_to_pose2_press,0.588880495141,1.21494394857e-06,1.07001174133,0.559451730339,0.00867488199808,1.06966127436
+152,2.533333333,pose1_to_pose2_press,0.589548251247,1.17435787122e-06,1.0700116324,0.560119486902,0.0086748430813,1.06966116829
+153,2.550000000,pose1_to_pose2_press,0.590236772536,1.22823467953e-06,1.07001169639,0.560808007848,0.0086748956662,1.0696612292
+154,2.566666667,pose1_to_pose2_press,0.590944582796,1.30999001459e-06,1.07001154321,0.561515816491,0.00867497202574,1.06966107819
+155,2.583333333,pose1_to_pose2_press,0.591669135982,1.2266974704e-06,1.07001151649,0.562240369926,0.00867488976807,1.06966105619
+156,2.600000000,pose1_to_pose2_press,0.59241710078,1.14932960893e-06,1.07001152464,0.562988336293,0.00867481765691,1.06966106267
+157,2.616666667,pose1_to_pose2_press,0.593185371663,1.21930705186e-06,1.0700115307,0.563756606536,0.00867488540466,1.06966106735
+158,2.633333333,pose1_to_pose2_press,0.593971332024,1.26164673984e-06,1.07001158812,0.564542566891,0.00867492773734,1.06966112502
+159,2.650000000,pose1_to_pose2_press,0.594769019197,1.18967156355e-06,1.07001180204,0.565340254061,0.00867485568131,1.06966133724
+160,2.666666667,pose1_to_pose2_press,0.595573644264,1.24924865522e-06,1.0700118295,0.566144879598,0.00867491699112,1.06966136814
+161,2.683333333,pose1_to_pose2_press,0.596387327165,1.19102012379e-06,1.07001165092,0.566958563304,0.00867486140968,1.06966118752
+162,2.700000000,pose1_to_pose2_press,0.597211698751,1.28732838635e-06,1.0700116928,0.567782932267,0.008674948469,1.06966122072
+163,2.716666667,pose1_to_pose2_press,0.598038760738,1.26264648609e-06,1.07001169185,0.568609995003,0.00867492621083,1.0696612169
+164,2.733333333,pose1_to_pose2_press,0.598869450656,1.30134134857e-06,1.07001153817,0.569440684834,0.00867496514473,1.06966107646
+165,2.750000000,pose1_to_pose2_press,0.599699818448,1.23440288474e-06,1.0700116658,0.570271053478,0.00867490101923,1.06966120231
+166,2.766666667,pose1_to_pose2_press,0.600522755221,1.19091747574e-06,1.07001178822,0.571093989729,0.00867485557619,1.06966132006
+167,2.783333333,pose1_to_pose2_press,0.601340152495,1.38229478124e-06,1.07001165596,0.571911386296,0.00867504471363,1.06966119185
+168,2.800000000,pose1_to_pose2_press,0.602158134444,1.2766817534e-06,1.07001154301,0.572729368727,0.00867494069722,1.06966107789
+169,2.816666667,pose1_to_pose2_press,0.602983470289,1.37312955544e-06,1.07001155568,0.573554703095,0.0086750319955,1.06966108723
+170,2.833333333,pose1_to_pose2_press,0.603827689595,1.24940572639e-06,1.0700116458,0.574398925243,0.0086749181064,1.06966118212
+171,2.850000000,pose1_to_pose2_press,0.604680653426,1.29168826592e-06,1.07001177254,0.575251887283,0.00867495418342,1.06966130571
+172,2.866666667,pose1_to_pose2_press,0.605536836654,1.19355508588e-06,1.07001154269,0.576108072374,0.00867486274773,1.0696610853
+173,2.883333333,pose1_to_pose2_press,0.606375210485,1.17737966035e-06,1.07001175954,0.576946446233,0.00867484627583,1.06966129248
+174,2.900000000,pose1_to_pose2_press,0.607189194788,1.26963155049e-06,1.07001173143,0.577760429887,0.00867493591728,1.06966125439
+175,2.916666667,pose1_to_pose2_press,0.607987718159,1.31248078481e-06,1.07001180762,0.578558952435,0.00867497588244,1.06966132837
+176,2.933333333,pose1_to_pose2_press,0.608771190295,1.30884945276e-06,1.07001163202,0.579342424747,0.00867497306843,1.06966115825
+177,2.950000000,pose1_to_pose2_press,0.609540037581,1.32472360905e-06,1.07001154126,0.580111270783,0.0086749850407,1.06966107597
+178,2.966666667,pose1_to_pose2_press,0.610309903184,1.31936043682e-06,1.07001171121,0.580881137758,0.00867498424671,1.06966124384
+179,2.983333333,pose1_to_pose2_press,0.61108299418,1.25656222885e-06,1.07001179469,0.581654230326,0.00867492673507,1.06966132625
+180,3.000000000,pose1_to_pose2_press,0.611848110141,1.31983284554e-06,1.07001167878,0.582419345175,0.00867498657107,1.06966121878
+181,3.016666667,pose1_to_pose2_press,0.612602817505,1.21348658914e-06,1.07001146347,0.583174052672,0.00867488081332,1.06966100699
+182,3.033333333,pose1_to_pose2_press,0.613335559322,1.22104873326e-06,1.07001156607,0.583906794889,0.00867488950276,1.06966110392
+183,3.050000000,pose1_to_pose2_press,0.614040437715,1.33164469347e-06,1.07001172356,0.584611673161,0.00867499972698,1.0696612625
+184,3.066666667,pose1_to_pose2_press,0.614706736062,1.25879196911e-06,1.07001176002,0.585277970835,0.00867492459903,1.06966129922
+185,3.083333333,pose1_to_pose2_press,0.615336645278,1.23799435341e-06,1.07001168868,0.58590787914,0.00867490073199,1.06966122844
+186,3.100000000,pose1_to_pose2_press,0.615933636659,1.31583823038e-06,1.070011592,0.58650486988,0.00867497632923,1.06966113004
+187,3.116666667,pose1_to_pose2_press,0.616521613789,1.30607588804e-06,1.07001151863,0.587092847476,0.00867496826001,1.06966105919
+188,3.133333333,pose1_to_pose2_press,0.617106276762,1.22282694035e-06,1.0700115413,0.58767751202,0.00867489052311,1.06966108537
+189,3.150000000,pose1_to_pose2_press,0.617687993263,1.27498540455e-06,1.070011751,0.588259228786,0.00867494319174,1.06966128263
+190,3.166666667,pose1_to_pose2_press,0.618254614008,1.35224481667e-06,1.07001182159,0.588825847827,0.0086750149878,1.06966135635
+191,3.183333333,pose1_to_pose2_press,0.618796816575,1.32444136538e-06,1.07001171516,0.589368050391,0.00867498754662,1.06966125574
+192,3.200000000,pose1_to_pose2_press,0.619299238645,1.29392944675e-06,1.07001185092,0.589870474223,0.00867496312469,1.06966139058
+193,3.216666667,pose1_to_pose2_press,0.619765853545,1.25307189501e-06,1.07001177082,0.590337087985,0.00867491844374,1.06966130796
+194,3.233333333,pose1_to_pose2_press,0.620206476333,1.27187942972e-06,1.07001179176,0.590777710212,0.00867493482045,1.06966131233
+195,3.250000000,pose1_to_pose2_press,0.620628515724,1.42323586231e-06,1.07001143362,0.591199747565,0.00867508018888,1.06966097211
+196,3.266666667,pose1_to_pose2_press,0.621036930083,1.23634696023e-06,1.07001174566,0.591608164988,0.00867490396761,1.06966128762
+197,3.283333333,pose1_to_pose2_press,0.62142489788,1.24268597314e-06,1.07001177934,0.591996132709,0.00867490990759,1.06966131406
+198,3.300000000,pose1_to_pose2_press,0.621787876432,1.19122337059e-06,1.07001179293,0.592359111669,0.0086748598214,1.06966132459
+199,3.316666667,pose1_to_pose2_press,0.622122776068,1.15569750656e-06,1.07001166973,0.592694013305,0.00867483135316,1.06966120498
+200,3.333333333,pose1_to_pose2_press,0.622430494139,1.33895864912e-06,1.07001177235,0.593001727841,0.00867500260286,1.06966130374
+201,3.350000000,pose1_to_pose2_press,0.62271169034,1.18957045676e-06,1.07001158775,0.593282923988,0.00867485347189,1.06966112717
+202,3.366666667,pose1_to_pose2_press,0.622975334448,1.1741077942e-06,1.07001159878,0.593546568832,0.00867484057196,1.06966113685
+203,3.383333333,pose1_to_pose2_press,0.623225688466,1.2307992959e-06,1.0700115831,0.59379692243,0.00867489595648,1.06966112054
+204,3.400000000,pose1_to_pose2_press,0.623462551787,1.29042870751e-06,1.07001160747,0.594033785433,0.00867495445082,1.06966114072
+205,3.416666667,pose1_to_pose2_press,0.623684076996,1.3334900603e-06,1.07001171944,0.594255310706,0.00867499783673,1.06966125337
+206,3.433333333,pose1_to_pose2_press,0.623885775405,1.28342376998e-06,1.07001175191,0.594457009266,0.00867494860996,1.0696612924
+207,3.450000000,pose1_to_pose2_press,0.624067303009,1.22589907373e-06,1.07001171819,0.594638537492,0.00867489311056,1.06966125505
+208,3.466666667,pose1_to_pose2_press,0.624226615136,1.25152520969e-06,1.07001159701,0.594797849802,0.00867491948672,1.06966113526
+209,3.483333333,pose1_to_pose2_press,0.624368258333,1.27485549244e-06,1.07001157245,0.594939493396,0.00867494437118,1.06966111459
+210,3.500000000,pose1_to_pose2_press,0.62449345063,1.24930550699e-06,1.07001176301,0.5950646865,0.00867492119279,1.06966129473
+211,3.516666667,pose1_to_pose2_press,0.624605324462,1.31582116611e-06,1.07001170317,0.595176558109,0.00867498018487,1.06966123385
+212,3.533333333,pose1_to_pose2_press,0.624704191944,1.35369397822e-06,1.07001172322,0.595275424496,0.0086750147376,1.06966126155
+213,3.550000000,pose1_to_pose2_press,0.624789544573,1.30020528997e-06,1.07001143331,0.595360778234,0.00867496538342,1.06966097143
+214,3.566666667,pose1_to_pose2_press,0.624862996278,1.26496165428e-06,1.07001190307,0.595434230504,0.00867493191108,1.06966143741
+215,3.583333333,pose1_to_pose2_press,0.624924626141,1.32248375299e-06,1.07001153814,0.595495857907,0.0086749811492,1.06966107793
+216,3.600000000,pose1_to_pose2_press,0.624976490854,1.35806604644e-06,1.07001176286,0.595547723977,0.00867502111427,1.0696612957
+217,3.616666667,pose1_to_pose2_press,0.625018855575,1.41667058839e-06,1.07001187206,0.595590087252,0.00867507483205,1.06966140717
+218,3.633333333,pose1_to_pose2_press,0.625052737684,1.30223573277e-06,1.07001158229,0.59562397146,0.00867496788137,1.06966112723
+219,3.650000000,pose1_to_pose2_press,0.625079173405,1.19880594099e-06,1.07001170838,0.595650408124,0.00867486709663,1.06966124083
+220,3.666666667,pose1_to_pose2_press,0.625099066639,1.20493866052e-06,1.07001176382,0.595670300763,0.00867487085193,1.06966128884
+221,3.683333333,pose1_to_pose2_press,0.62511387513,1.27436556939e-06,1.07001172432,0.595685108095,0.00867493647832,1.06966125305
+222,3.700000000,pose1_to_pose2_press,0.625124013592,1.34274848167e-06,1.07001177372,0.595695245464,0.0086750014488,1.06966130903
+223,3.716666667,pose1_to_pose2_press,0.625131416852,1.33285023007e-06,1.07001167802,0.595702649042,0.00867499284546,1.06966121757
+224,3.733333333,pose1_to_pose2_press,0.625136450019,1.31733556129e-06,1.0700116989,0.59570768276,0.00867497920629,1.06966123758
+225,3.750000000,pose1_to_pose2_press,0.625139690048,1.29747317528e-06,1.07001183812,0.595710923569,0.00867496179145,1.06966137101
+226,3.766666667,pose1_to_pose2_press,0.625141922163,1.28594745219e-06,1.07001192095,0.595713156131,0.008674951665,1.06966145035
+227,3.783333333,pose1_to_pose2_press,0.625143647082,1.30812096856e-06,1.07001179653,0.595714880098,0.00867497078783,1.06966133047
+228,3.800000000,pose1_to_pose2_press,0.625144967252,1.32509150607e-06,1.07001170131,0.595716199539,0.00867498542352,1.06966123872
+229,3.816666667,pose1_to_pose2_press,0.625145848664,1.33642190066e-06,1.07001163773,0.595717080465,0.00867499519505,1.06966117747
+230,3.833333333,pose1_to_pose2_press,0.62514649337,1.3462609591e-06,1.07001163043,0.595717725497,0.00867500613075,1.06966116999
+231,3.850000000,pose1_to_pose2_press,0.625146940078,1.35344362844e-06,1.07001163459,0.595718172592,0.00867501459995,1.06966117359
+232,3.866666667,pose1_to_pose2_press,0.625147150701,1.3568302675e-06,1.07001163655,0.595718383398,0.00867501859319,1.06966117529
+233,3.883333333,pose1_to_pose2_press,0.625147312337,1.35942921505e-06,1.07001163806,0.595718545173,0.00867502165765,1.0696611766
+234,3.900000000,pose1_to_pose2_press,0.625147572731,1.36361613115e-06,1.07001164049,0.595718805793,0.00867502659451,1.0696611787
+235,3.916666667,pose1_to_pose2_press,0.625147797987,1.36723804005e-06,1.07001164259,0.595719031244,0.00867503086516,1.06966118052
+236,3.933333333,pose1_to_pose2_press,0.625147975538,1.37009290213e-06,1.07001164424,0.595719208949,0.00867503423138,1.06966118195
+237,3.950000000,pose1_to_pose2_press,0.625148227365,1.37414206001e-06,1.07001164659,0.595719460994,0.0086750390058,1.06966118398
+238,3.966666667,pose1_to_pose2_press,0.625148460803,1.35741311383e-06,1.07001165126,0.595719694674,0.00867502305977,1.06966118774
+239,3.983333333,pose1_to_pose2_press,0.625148570906,1.34131527946e-06,1.07001165446,0.595719804907,0.00867500737552,1.06966119027
+240,4.000000000,pose1_to_pose2_press,0.625148697843,1.32275616941e-06,1.07001165815,0.595719931993,0.00867498929322,1.06966119318
+241,4.016666667,pose1_to_pose2_press,0.625148911304,1.29154653887e-06,1.07001166435,0.595720145707,0.00867495888543,1.06966119807
+242,4.033333333,pose1_to_pose2_press,0.625149164035,1.25459545057e-06,1.07001167169,0.595720398736,0.00867492288369,1.06966120387
+243,4.050000000,pose1_to_pose2_press,0.625149450604,1.21269696702e-06,1.07001168002,0.595720685644,0.00867488206166,1.06966121044
+244,4.066666667,pose1_to_pose2_press,0.625149602052,1.24270889627e-06,1.07001174151,0.59572083642,0.00867490991258,1.06966127518
+245,4.083333333,pose1_to_pose2_press,0.625149714788,1.28156092527e-06,1.07001180536,0.595720948387,0.00867494629174,1.06966134278
+246,4.100000000,pose1_to_pose2_press,0.625149825394,1.32565851483e-06,1.07001178186,0.595721058317,0.00867498824787,1.06966132343
+247,4.116666667,pose1_to_pose2_press,0.625149825056,1.34256536546e-06,1.07001153645,0.595721058204,0.00867500597253,1.06966107936
+248,4.133333333,pose1_to_pose2_press,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814592,1.06966104943
+249,4.150000000,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814593,1.06966104943
+250,4.166666667,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814552,1.06966104943
+251,4.183333333,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.0086750081456,1.06966104943
+252,4.200000000,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058194,0.00867500814516,1.06966104943
+253,4.216666667,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814518,1.06966104943
+254,4.233333333,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814536,1.06966104943
+255,4.250000000,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814532,1.06966104943
+256,4.266666667,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.0086750081453,1.06966104943
+257,4.283333333,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814539,1.06966104943
+258,4.300000000,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814538,1.06966104943
+259,4.316666667,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.0086750081454,1.06966104943
+260,4.333333333,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.0086750081454,1.06966104943
+261,4.350000000,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814534,1.06966104943
+262,4.366666667,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814576,1.06966104943
+263,4.383333333,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814581,1.06966104943
+264,4.400000000,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814578,1.06966104943
+265,4.416666667,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814573,1.06966104943
+266,4.433333333,pose2_hold,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814559,1.06966104943
+267,4.450000000,pose2_to_pose3_retreat,0.625149825014,1.3446392005e-06,1.07001150634,0.595721058193,0.00867500814533,1.06966104943
+268,4.466666667,pose2_to_pose3_retreat,0.625149713828,1.34668817811e-06,1.07001160844,0.595720947669,0.00867501256069,1.06966115439
+269,4.483333333,pose2_to_pose3_retreat,0.625149591466,1.26836871588e-06,1.0700116521,0.595720826162,0.00867493672799,1.06966118821
+270,4.500000000,pose2_to_pose3_retreat,0.625149425895,1.23667008446e-06,1.07001167587,0.595720660824,0.00867490572329,1.06966120962
+271,4.516666667,pose2_to_pose3_retreat,0.625149265254,1.22610883699e-06,1.07001168932,0.59572050016,0.00867489510916,1.06966122377
+272,4.533333333,pose2_to_pose3_retreat,0.625149142547,1.21804155032e-06,1.0700116996,0.595720377435,0.00867488700148,1.06966123457
+273,4.550000000,pose2_to_pose3_retreat,0.625149018276,1.20987143632e-06,1.07001171001,0.595720253146,0.00867487879046,1.06966124551
+274,4.566666667,pose2_to_pose3_retreat,0.625148360657,1.16695873828e-06,1.07001176488,0.595719595429,0.00867483565675,1.06966130322
+275,4.583333333,pose2_to_pose3_retreat,0.625146422685,1.30956261404e-06,1.07001176091,0.595717656141,0.00867497380578,1.06966129933
+276,4.600000000,pose2_to_pose3_retreat,0.625141722921,1.24600811782e-06,1.07001196845,0.595712958157,0.0086749154298,1.06966148564
+277,4.616666667,pose2_to_pose3_retreat,0.625132618206,1.25067468708e-06,1.07001171094,0.595703852809,0.00867491849457,1.0696612404
+278,4.633333333,pose2_to_pose3_retreat,0.62511549555,1.23956420834e-06,1.07001182982,0.595686730061,0.00867490704676,1.06966135905
+279,4.650000000,pose2_to_pose3_retreat,0.625089888697,1.17854810438e-06,1.07001157566,0.595661123763,0.00867484811395,1.06966111104
+280,4.666666667,pose2_to_pose3_retreat,0.62505515583,1.26196599925e-06,1.07001149918,0.595626389292,0.00867492650717,1.06966104359
+281,4.683333333,pose2_to_pose3_retreat,0.62501274247,1.26067019731e-06,1.07001201532,0.59558397654,0.00867492666244,1.0696615437
+282,4.700000000,pose2_to_pose3_retreat,0.62496356526,1.27761351956e-06,1.07001180535,0.595534799907,0.00867494555133,1.06966134103
+283,4.716666667,pose2_to_pose3_retreat,0.624909415088,1.22113529433e-06,1.07001157464,0.595480650072,0.00867489024471,1.0696611147
+284,4.733333333,pose2_to_pose3_retreat,0.62485048328,1.18392175335e-06,1.07001170326,0.595421717357,0.0086748496312,1.06966123546
+285,4.750000000,pose2_to_pose3_retreat,0.62478554012,1.21254906888e-06,1.07001175794,0.595356773411,0.00867487560732,1.06966128825
+286,4.766666667,pose2_to_pose3_retreat,0.624712970299,1.2980656872e-06,1.07001169499,0.595284203252,0.00867496028154,1.06966123028
+287,4.783333333,pose2_to_pose3_retreat,0.624629026172,1.38170654085e-06,1.07001191908,0.595200258493,0.0086750414698,1.06966144769
+288,4.800000000,pose2_to_pose3_retreat,0.62453421729,1.34922516911e-06,1.07001176775,0.595105449241,0.00867500752526,1.06966129225
+289,4.816666667,pose2_to_pose3_retreat,0.624428068203,1.37769644106e-06,1.07001161134,0.594999301129,0.00867503951171,1.06966114225
+290,4.833333333,pose2_to_pose3_retreat,0.624309284826,1.42547300726e-06,1.07001164195,0.594880518207,0.00867508896768,1.06966117748
+291,4.850000000,pose2_to_pose3_retreat,0.624178387968,1.42580647865e-06,1.07001189504,0.594749620038,0.00867508457079,1.06966142475
+292,4.866666667,pose2_to_pose3_retreat,0.624035674524,1.31706634316e-06,1.07001166796,0.594606907542,0.00867497933876,1.0696612068
+293,4.883333333,pose2_to_pose3_retreat,0.623879605893,1.23686712371e-06,1.07001182117,0.59445084039,0.00867490387658,1.06966135454
+294,4.900000000,pose2_to_pose3_retreat,0.623706571946,1.20255445387e-06,1.0700116241,0.594277806767,0.00867487072659,1.0696611608
+295,4.916666667,pose2_to_pose3_retreat,0.623517978381,1.2492022011e-06,1.07001129181,0.594089212704,0.00867491595718,1.06966083717
+296,4.933333333,pose2_to_pose3_retreat,0.623313881186,1.38112919008e-06,1.07001140134,0.593885115491,0.00867504771477,1.06966094657
+297,4.950000000,pose2_to_pose3_retreat,0.623092227216,1.2604685679e-06,1.07001173209,0.59366346266,0.00867493041692,1.06966126727
+298,4.966666667,pose2_to_pose3_retreat,0.622855569006,1.29685849492e-06,1.07001156018,0.593426803348,0.0086749627919,1.06966109074
+299,4.983333333,pose2_to_pose3_retreat,0.62260669031,1.24286566077e-06,1.0700116,0.593177924832,0.00867490928851,1.06966113001
+300,5.000000000,pose2_to_pose3_retreat,0.622344600271,1.17919528562e-06,1.07001176161,0.592915835268,0.00867484722264,1.06966129428
+301,5.016666667,pose2_to_pose3_retreat,0.622066960108,1.31312971984e-06,1.07001164747,0.592638193163,0.00867497464288,1.06966118517
+302,5.033333333,pose2_to_pose3_retreat,0.621774466782,1.25046180335e-06,1.07001174239,0.592345701188,0.00867491637891,1.06966127916
+303,5.050000000,pose2_to_pose3_retreat,0.621466121683,1.24831875709e-06,1.07001176832,0.592037357049,0.00867491738753,1.06966130565
+304,5.066666667,pose2_to_pose3_retreat,0.621136573894,1.29286510229e-06,1.07001181227,0.591707808832,0.00867496030198,1.06966134812
+305,5.083333333,pose2_to_pose3_retreat,0.620787849063,1.35075299916e-06,1.07001192109,0.59135908236,0.0086750123274,1.06966145228
+306,5.100000000,pose2_to_pose3_retreat,0.620420478379,1.31681858248e-06,1.07001203609,0.590991712763,0.00867498188315,1.06966156545
+307,5.116666667,pose2_to_pose3_retreat,0.620032357262,1.35486144828e-06,1.07001173018,0.590603589769,0.00867501400562,1.06966127374
+308,5.133333333,pose2_to_pose3_retreat,0.619621644321,1.36138987588e-06,1.07001174473,0.590192877849,0.00867502389346,1.06966128953
+309,5.150000000,pose2_to_pose3_retreat,0.619193984117,1.34297529125e-06,1.07001184094,0.589765219695,0.0086750120999,1.06966138136
+310,5.166666667,pose2_to_pose3_retreat,0.618750078109,1.32532610257e-06,1.07001172927,0.589321314047,0.00867499549087,1.06966126892
+311,5.183333333,pose2_to_pose3_retreat,0.618289308973,1.32705979994e-06,1.07001155784,0.588860542887,0.00867498997521,1.06966109265
+312,5.200000000,pose2_to_pose3_retreat,0.617816488847,1.27825129783e-06,1.07001160729,0.58838772402,0.00867494552526,1.06966114665
+313,5.216666667,pose2_to_pose3_retreat,0.617332618736,1.33468577439e-06,1.07001169998,0.587903853283,0.00867499978889,1.06966124033
+314,5.233333333,pose2_to_pose3_retreat,0.616823487275,1.39930124488e-06,1.07001166207,0.587394720652,0.00867506027432,1.06966119996
+315,5.250000000,pose2_to_pose3_retreat,0.616284644429,1.37125826791e-06,1.07001142818,0.586855877811,0.00867503215549,1.06966096447
+316,5.266666667,pose2_to_pose3_retreat,0.615719231878,1.33380470664e-06,1.07001147065,0.586290465309,0.00867499537617,1.06966101996
+317,5.283333333,pose2_to_pose3_retreat,0.61513188057,1.28659045544e-06,1.07001150624,0.585703115024,0.00867495134519,1.06966104826
+318,5.300000000,pose2_to_pose3_retreat,0.614531283175,1.30104977896e-06,1.07001145378,0.585102517881,0.0086749665139,1.0696609909
+319,5.316666667,pose2_to_pose3_retreat,0.613932061317,1.38825424056e-06,1.07001141281,0.584503295145,0.00867505072288,1.06966094872
+320,5.333333333,pose2_to_pose3_retreat,0.613338325428,1.43183423566e-06,1.07001149816,0.583909558277,0.00867509093246,1.0696610328
+321,5.350000000,pose2_to_pose3_retreat,0.612735185168,1.28575715582e-06,1.07001179341,0.583306418333,0.00867494569971,1.06966132244
+322,5.366666667,pose2_to_pose3_retreat,0.612116960435,1.33402050813e-06,1.07001166364,0.582688193282,0.00867499330292,1.06966120295
+323,5.383333333,pose2_to_pose3_retreat,0.611472442186,1.33923691025e-06,1.07001161925,0.582043676562,0.00867500390606,1.0696611635
+324,5.400000000,pose2_to_pose3_retreat,0.61080491617,1.31199253984e-06,1.07001168599,0.581376151849,0.0086749809384,1.06966122658
+325,5.416666667,pose2_to_pose3_retreat,0.610118052173,1.29182633409e-06,1.07001181537,0.580689288066,0.00867496122271,1.06966134909
+326,5.433333333,pose2_to_pose3_retreat,0.609414833562,1.3037106041e-06,1.07001183859,0.579986068938,0.00867497140043,1.06966137352
+327,5.450000000,pose2_to_pose3_retreat,0.608693113451,1.15307872819e-06,1.07001128254,0.579264348262,0.00867481929017,1.0696608282
+328,5.466666667,pose2_to_pose3_retreat,0.607967794875,1.18828457769e-06,1.07001155772,0.578539029843,0.00867485482248,1.06966109824
+329,5.483333333,pose2_to_pose3_retreat,0.607240845926,1.21032060705e-06,1.07001172019,0.577812081089,0.00867487740144,1.0696612578
+330,5.500000000,pose2_to_pose3_retreat,0.606520206526,1.16259073661e-06,1.07001172243,0.577091442107,0.0086748310282,1.06966125843
+331,5.516666667,pose2_to_pose3_retreat,0.605811713906,1.16732994833e-06,1.07001163771,0.576382949137,0.00867483452415,1.06966117226
+332,5.533333333,pose2_to_pose3_retreat,0.605114073108,1.42700598114e-06,1.07001155275,0.575685305638,0.00867508498692,1.06966108605
+333,5.550000000,pose2_to_pose3_retreat,0.604405321901,1.32972828724e-06,1.07001152422,0.5749765544,0.00867498784862,1.06966106353
+334,5.566666667,pose2_to_pose3_retreat,0.603679192663,1.31580766605e-06,1.0700116501,0.574250425546,0.00867497538925,1.06966119331
+335,5.583333333,pose2_to_pose3_retreat,0.602928331989,1.30829191329e-06,1.07001171526,0.573499565651,0.00867497033812,1.069661254
+336,5.600000000,pose2_to_pose3_retreat,0.602161097051,1.25909019545e-06,1.0700116785,0.572732331937,0.00867492494137,1.06966120855
+337,5.616666667,pose2_to_pose3_retreat,0.601388594512,1.19181573021e-06,1.07001167662,0.571959830562,0.00867486158686,1.06966120591
+338,5.633333333,pose2_to_pose3_retreat,0.600628616734,1.2646565056e-06,1.07001167633,0.571199850632,0.00867492719239,1.06966120717
+339,5.650000000,pose2_to_pose3_retreat,0.599887174371,1.30937934964e-06,1.07001175449,0.570458407716,0.00867497013438,1.0696612877
+340,5.666666667,pose2_to_pose3_retreat,0.599166111921,1.36727782636e-06,1.07001169916,0.569737344551,0.0086750257859,1.06966123684
+341,5.683333333,pose2_to_pose3_retreat,0.598461898248,1.38075025947e-06,1.07001167816,0.569033131019,0.00867503985552,1.06966121865
+342,5.700000000,pose2_to_pose3_retreat,0.597760692793,1.31583989928e-06,1.07001172519,0.568331927027,0.00867497993285,1.06966126627
+343,5.716666667,pose2_to_pose3_retreat,0.597055180353,1.17498659535e-06,1.07001150407,0.567626416483,0.00867484574638,1.06966105087
+344,5.733333333,pose2_to_pose3_retreat,0.596340025025,1.24365565018e-06,1.07001170955,0.566911260413,0.00867491143126,1.06966124483
+345,5.750000000,pose2_to_pose3_retreat,0.595620001111,1.28062533499e-06,1.07001166583,0.566191236287,0.00867494751806,1.06966119703
+346,5.766666667,pose2_to_pose3_retreat,0.594900062989,1.29096738381e-06,1.07001162699,0.56547129761,0.00867495617773,1.06966116303
+347,5.783333333,pose2_to_pose3_retreat,0.59419240995,1.29844641061e-06,1.07001172025,0.56476364382,0.00867496141582,1.06966126391
+348,5.800000000,pose2_to_pose3_retreat,0.593498293365,1.28296478219e-06,1.07001161312,0.564069528823,0.00867495138242,1.06966115827
+349,5.816666667,pose2_to_pose3_retreat,0.592819823625,1.22729641916e-06,1.07001173783,0.563391059854,0.00867489819524,1.06966127959
+350,5.833333333,pose2_to_pose3_retreat,0.592153621534,1.29087000674e-06,1.07001170814,0.562724856049,0.00867495560137,1.06966124121
+351,5.850000000,pose2_to_pose3_retreat,0.591501262523,1.29273337393e-06,1.07001160275,0.562072496961,0.00867495725758,1.06966113709
+352,5.866666667,pose2_to_pose3_retreat,0.59086386197,1.27218611504e-06,1.07001156415,0.561435097604,0.00867494086931,1.06966110095
+353,5.883333333,pose2_to_pose3_retreat,0.590241740639,1.3353125769e-06,1.07001168452,0.560812976489,0.00867500430031,1.06966121071
+354,5.900000000,pose2_to_pose3_retreat,0.589630436489,1.28240657145e-06,1.07001146217,0.560201671456,0.00867494872698,1.06966099641
+355,5.916666667,pose2_to_pose3_retreat,0.589027419135,1.24952608826e-06,1.07001177333,0.559598654013,0.00867491529371,1.06966130138
+356,5.933333333,pose2_to_pose3_retreat,0.588434353989,1.26718667193e-06,1.07001185812,0.559005588647,0.00867493224147,1.06966138693
+357,5.950000000,pose2_to_pose3_retreat,0.587855914423,1.28043088519e-06,1.07001169938,0.558427149345,0.0086749466203,1.06966123481
+358,5.966666667,pose2_to_pose3_retreat,0.587296106249,1.26988453476e-06,1.07001153609,0.557867341785,0.008674938317,1.06966107667
+359,5.983333333,pose2_to_pose3_retreat,0.586765144945,1.36932086935e-06,1.07001163986,0.557336378408,0.00867503069684,1.0696611793
+360,6.000000000,pose2_to_pose3_retreat,0.586258020864,1.30282586178e-06,1.07001163358,0.556829255315,0.00867496767156,1.06966117606
+361,6.016666667,pose2_to_pose3_retreat,0.585762728884,1.38195375235e-06,1.07001163432,0.556333963214,0.00867504641814,1.06966117745
+362,6.033333333,pose2_to_pose3_retreat,0.585273546845,1.36645510486e-06,1.0700117011,0.555844781448,0.00867503159457,1.06966123797
+363,6.050000000,pose2_to_pose3_retreat,0.584789490499,1.16731677468e-06,1.07001178666,0.555360726443,0.00867483668956,1.06966131566
+364,6.066666667,pose2_to_pose3_retreat,0.584319517968,1.24082109874e-06,1.07001161479,0.554890753357,0.00867490900446,1.06966116092
+365,6.083333333,pose2_to_pose3_retreat,0.583869079748,1.25174946599e-06,1.07001168447,0.554440314281,0.00867491636389,1.0696612141
+366,6.100000000,pose2_to_pose3_retreat,0.583449148285,1.19554017604e-06,1.07001171351,0.55402038349,0.00867486291108,1.06966125496
+367,6.116666667,pose2_to_pose3_retreat,0.58305757526,1.2164358346e-06,1.07001168055,0.553628810569,0.00867488434008,1.06966122618
+368,6.133333333,pose2_to_pose3_retreat,0.582692306692,1.29833838521e-06,1.07001161809,0.553263540892,0.00867496220835,1.06966115665
+369,6.150000000,pose2_to_pose3_retreat,0.582341360021,1.3736363883e-06,1.07001157204,0.552912591957,0.0086750293793,1.06966109971
+370,6.166666667,pose2_to_pose3_retreat,0.582001895147,1.24779324036e-06,1.07001165636,0.552573129981,0.00867491349449,1.06966118737
+371,6.183333333,pose2_to_pose3_retreat,0.581674542411,1.25346471871e-06,1.07001164155,0.552245777045,0.00867491879755,1.06966118016
+372,6.200000000,pose2_to_pose3_retreat,0.581361119471,1.29928200605e-06,1.07001165369,0.5519323533,0.00867496174247,1.06966118871
+373,6.216666667,pose2_to_pose3_retreat,0.581067805425,1.31953570997e-06,1.07001164346,0.551639039343,0.00867498207916,1.06966117308
+374,6.233333333,pose2_to_pose3_retreat,0.580793165759,1.29370313287e-06,1.07001153818,0.551364400926,0.00867496081529,1.06966107598
+375,6.250000000,pose2_to_pose3_retreat,0.580537407505,1.32200688826e-06,1.07001163698,0.551108642786,0.00867498951282,1.06966117531
+376,6.266666667,pose2_to_pose3_retreat,0.580299074912,1.29102377928e-06,1.07001174032,0.550870309007,0.00867495439962,1.06966127629
+377,6.283333333,pose2_to_pose3_retreat,0.580078217491,1.19144700646e-06,1.07001171147,0.550649452715,0.00867485868112,1.06966124814
+378,6.300000000,pose2_to_pose3_retreat,0.579873733359,1.18677541829e-06,1.07001172912,0.550444968953,0.00867485533631,1.06966126739
+379,6.316666667,pose2_to_pose3_retreat,0.579686040613,1.3380368822e-06,1.07001187416,0.550257274031,0.00867499918412,1.06966141164
+380,6.333333333,pose2_to_pose3_retreat,0.579517949541,1.34816770259e-06,1.07001180142,0.550089183165,0.00867500977567,1.06966133285
+381,6.350000000,pose2_to_pose3_retreat,0.579364715883,1.31500704864e-06,1.0700114282,0.549935949266,0.00867497620954,1.06966096984
+382,6.366666667,pose2_to_pose3_retreat,0.579225041506,1.29884460382e-06,1.07001137525,0.54979627494,0.00867496027258,1.06966091825
+383,6.383333333,pose2_to_pose3_retreat,0.579096525874,1.29648365702e-06,1.07001155028,0.549667759559,0.00867495859284,1.06966108918
+384,6.400000000,pose2_to_pose3_retreat,0.578978472258,1.28534910118e-06,1.07001162257,0.549549706023,0.00867494786704,1.06966116492
+385,6.416666667,pose2_to_pose3_retreat,0.578870100025,1.22251918658e-06,1.07001165037,0.549441333753,0.00867488470443,1.06966118755
+386,6.433333333,pose2_to_pose3_retreat,0.578771707896,1.22993857659e-06,1.07001172599,0.549342941911,0.00867489306916,1.06966126245
+387,6.450000000,pose2_to_pose3_retreat,0.578685000569,1.28244518095e-06,1.07001177416,0.549256235381,0.0086749482454,1.06966131037
+388,6.466666667,pose2_to_pose3_retreat,0.57860835881,1.30065680328e-06,1.0700118156,0.549179594908,0.00867497069569,1.06966134948
+389,6.483333333,pose2_to_pose3_retreat,0.578541656437,1.20677254028e-06,1.07001191728,0.549112893812,0.00867488096514,1.06966144662
+390,6.500000000,pose2_to_pose3_retreat,0.578484100934,1.32185379316e-06,1.07001181266,0.549055334889,0.00867498449331,1.06966134337
+391,6.516666667,pose2_to_pose3_retreat,0.578435267318,1.28739311986e-06,1.07001190445,0.549006502546,0.00867495418569,1.06966143104
+392,6.533333333,pose2_to_pose3_retreat,0.578394894853,1.23017066141e-06,1.07001192684,0.548966130884,0.00867489982168,1.06966145686
+393,6.550000000,pose2_to_pose3_retreat,0.578361282124,1.19033818789e-06,1.07001181957,0.548932518415,0.00867486114762,1.06966135661
+394,6.566666667,pose2_to_pose3_retreat,0.578333766784,1.17274659222e-06,1.07001163468,0.548905003386,0.00867484476535,1.06966117561
+395,6.583333333,pose2_to_pose3_retreat,0.57831154888,1.14201771569e-06,1.07001165551,0.548882784288,0.00867480981439,1.06966119151
+396,6.600000000,pose2_to_pose3_retreat,0.578294351811,1.29417457141e-06,1.0700117682,0.548865585548,0.00867495608763,1.06966129904
+397,6.616666667,pose2_to_pose3_retreat,0.578280976822,1.38283822621e-06,1.0700117979,0.548852209596,0.00867504155983,1.06966133035
+398,6.633333333,pose2_to_pose3_retreat,0.578271266712,1.36171974721e-06,1.07001170158,0.54884249976,0.00867502164126,1.06966124038
+399,6.650000000,pose2_to_pose3_retreat,0.578265240784,1.26345094274e-06,1.07001152245,0.548836475106,0.00867492798429,1.06966106826
+400,6.666666667,pose2_to_pose3_retreat,0.57826136867,1.23362715892e-06,1.07001164911,0.548832603454,0.00867489942803,1.06966118749
+401,6.683333333,pose2_to_pose3_retreat,0.578259003919,1.22137431526e-06,1.07001176971,0.548830238923,0.00867488764588,1.06966130142
+402,6.700000000,pose2_to_pose3_retreat,0.578257246975,1.2213960863e-06,1.07001172481,0.548828482217,0.00867488849024,1.06966125685
+403,6.716666667,pose2_to_pose3_retreat,0.578255959155,1.22604815797e-06,1.07001162355,0.54882719461,0.00867489398551,1.06966115852
+404,6.733333333,pose2_to_pose3_retreat,0.578255119676,1.22908066223e-06,1.07001155755,0.54882635527,0.00867489756765,1.06966109442
+405,6.750000000,pose2_to_pose3_retreat,0.578254561605,1.23893311812e-06,1.07001156329,0.548825797137,0.00867490725082,1.06966110118
+406,6.766666667,pose2_to_pose3_retreat,0.578254076884,1.26241450303e-06,1.07001166277,0.548825312068,0.0086749295669,1.06966120106
+407,6.783333333,pose2_to_pose3_retreat,0.578253696708,1.28083140231e-06,1.07001174079,0.548824931618,0.00867494706982,1.06966127941
+408,6.800000000,pose2_to_pose3_retreat,0.57825339864,1.29527072577e-06,1.07001180196,0.548824633336,0.00867496079257,1.06966134083
+409,6.816666667,pose2_to_pose3_retreat,0.578253248491,1.3025443849e-06,1.07001183277,0.54882448308,0.00867496770526,1.06966137177
+410,6.833333333,pose2_to_pose3_retreat,0.578253222684,1.30379453925e-06,1.07001183807,0.548824457254,0.00867496889337,1.06966137709
+411,6.850000000,pose2_to_pose3_retreat,0.578253210086,1.30440484227e-06,1.07001184065,0.548824444647,0.00867496947339,1.06966137968
+412,6.866666667,pose2_to_pose3_retreat,0.578253187942,1.30547756554e-06,1.0700118452,0.548824422487,0.00867497049288,1.06966138424
+413,6.883333333,pose2_to_pose3_retreat,0.578253114145,1.30905253057e-06,1.07001186034,0.548824348637,0.00867497389043,1.06966139945
+414,6.900000000,pose2_to_pose3_retreat,0.578252903259,1.28671780187e-06,1.07001186859,0.548824138237,0.00867495314981,1.06966140636
+415,6.916666667,pose2_to_pose3_retreat,0.578252565696,1.19968228338e-06,1.07001182658,0.548823802456,0.00867487197631,1.06966135983
+416,6.933333333,pose2_to_pose3_retreat,0.578252556214,1.19723748527e-06,1.0700118254,0.548823793024,0.00867486969617,1.06966135852
+417,6.950000000,pose2_to_pose3_retreat,0.578252415045,1.16083902177e-06,1.07001180784,0.5488236526,0.00867483574922,1.06966133907
+418,6.966666667,pose2_to_pose3_retreat,0.578252411779,1.15999701647e-06,1.07001180743,0.548823649351,0.00867483496393,1.06966133862
+419,6.983333333,pose2_to_pose3_retreat,0.5782523776,1.15118458406e-06,1.07001180318,0.548823615353,0.00867482674503,1.0696613339
+420,7.000000000,pose2_to_pose3_retreat,0.578252366702,1.14837460687e-06,1.07001180182,0.548823604512,0.00867482412431,1.0696613324
+421,7.016666667,pose2_to_pose3_retreat,0.578252281954,1.12365770685e-06,1.07001177598,0.548823519663,0.00867479902041,1.0696613055
+422,7.033333333,pose2_to_pose3_retreat,0.578252215921,1.10162705902e-06,1.07001174105,0.54882345302,0.00867477489051,1.06966126981
+423,7.050000000,pose2_to_pose3_retreat,0.578252200036,1.09632719191e-06,1.07001173265,0.548823436988,0.00867476908563,1.06966126123
+424,7.066666667,pose2_to_pose3_retreat,0.5782521514,1.08010107178e-06,1.07001170693,0.548823387904,0.00867475131336,1.06966123494
+425,7.083333333,pose2_to_pose3_retreat,0.578252131824,1.10960771536e-06,1.07001168965,0.548823367856,0.0086747792553,1.06966121856
+426,7.100000000,pose2_to_pose3_retreat,0.578252140323,1.12962329424e-06,1.07001169084,0.548823376295,0.00867479909182,1.06966122038
+427,7.116666667,pose2_to_pose3_retreat,0.578252144338,1.13907866122e-06,1.07001169141,0.548823380282,0.0086748084627,1.06966122125

Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93815a3fa467cd84f6e84f74e6405972fd38403f71721cbe8ab9f1b09f8f6158
+size 27118427